• Journal of Advanced Marine Engineering and Technology
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• 제32권7호
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• pp.1068-1079
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• 2008

Tilt and heading angles information of a remotely operated vehicle (ROV) are very important in underwater navigation. This paper presents a low.cost tilt and heading estimation system. Three single.axis rate gyros, a tri-axis accelerometer, and a tri-axis magnetometer are used. Output signals coming from these sensors are fused by two Kalman filters. The first Kalman filter is used to estimate roll and pitch angles and the other is for heading angle estimation. By using this method, we have obtained tilt (roll and pitch angles) and heading information which are reliable over long period of time. Results from experiments have shown the performance of the presented system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.201-203
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• 2006

This paper describes a new LOS(Line-of-Sight) estimator for BTT missiles. The dynamic models of LOS rate and a seeker are derived. Based on these dynamic models, we design a nonlinear estimator, which takes into account roll motion of BTT missiles and sensor noises. Simulation results show that the LOS rate estimates of the proposed estimator are more accurate than those of the conventional estimator.

• 한국항해항만학회지
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• 제44권3호
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• pp.145-150
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• 2020

대형 LNG 선박의 선체 운동은 선박의 안전에 영향을 미친다. 본 연구의 목적은 153,000 ㎥ 급 대형 LNG 선박의 선체 운동 중에서 롤 운동에 대한 전달함수를 추정하기 위한 것이다. 단일-입력과 단일-출력 그리고 시스템 전달함수를 갖는 선형 시 불변(Linear Time-Invarient) 시스템을 이용하여 선체 운동 전달함수를 모델링 하였다. 모델의 입력으로 단일 해양파를 이용하고, 모델의 출력으로는 ANSYS를 통해서 획득한 LNG 선박의 롤 운동을 이용하여 시스템 식별법을 기반으로 선체 운동의 전달함수를 추정하였다. 실험 결과의 유용성은 전달함수 차원이 서로 다른 경우에 대한 모델의 안정도와 추정률을 이용하여 평가하였다. 실험 결과 안정도는 99%와 98%로 나타나고, 추정률은 78%와 50%로 나타났다. 이러한 결과로부터, 본 연구에서 제안한 선체 운동 전달함수 추정 방법이 타당함을 알았다. 향후, 실제 해상에서 운항 중인 선박의 선체 운동 데이터를 획득하여 다중-입력 그리고 다중-출력을 갖는 모델 구축에 적용하여 실용화를 추진할 예정이다.

• International Journal of Ocean System Engineering
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• 제2권4호
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.1024-1030
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• 2001

In this paper, a horizontal LOS(line of sight) rate estimator for conventional sea skimming ASM(anti-ship missile) is proposed. A LOS rate dynamics model for a 2-axis gimbal system and the homing geometry is derived. A new LOS rate estimator is proposed by applying the Kalman filter theory to the LOS rate dynamics model. The proposed filter estimates LOS rates by taking roll motions into account. Simulation results show that the proposed filter produces smaller estimation errors than a conventional method.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• 한국통신학회논문지
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• 제25권5A호
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• pp.634-640
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• 2000

본 논문에서는 OQPSK 신호에 대한 공상 변수(Maximum Likelihood parameter) 평가에 기반을 둔 확장된 DD-DEO(Decision Directed-Decision Estimate) 위상 동기 알고리즘을 제안한다. 제안한 방식은 기존의 방식과 비교할 때, 위상 검출기 블록 전에 I(In-phase), Q(Quadrature-phase)채널 당 2 tap을 가지는 필터 블록을 첨가함으로써, 위상 동기 루프에 입력되는 데이터 의존적인 잡음을 줄일 수 있다. 제안한 방식은 송 수신단 기저대역 필터의 롤오프 요소(roll-off factor), 위성 채널의 백오프(back-off) 그리고 루프 대역(loop bandwidth)을 결정하는 $\beta$를 변화시키며 위상 오차와 오류 확률 관점에서 기존의 방식 및 QPSK와 비교하여 성능 평가를 행하였다.

• 한국해양공학회지
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• 제31권2호
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• pp.177-182
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• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

• 유공압시스템학회논문집
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• 제5권4호
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• pp.10-16
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• 2008

In this paper, the authors benchmark a servo valve model for the fuel supply system of Auxiliary Power Unit (APU) in the KHP helicopter. This valve is directly driven with a torque motor, and the size of small gap controlled by a flapper can make change of flow rate under given pressure drop between inlet and outlet. CFD analyses using a commercial code, ANSYS-CFX 10 are performed for the series of three-dimensional models at various openness conditions. The computational results on simplified models show that CFD can play a fine roll in the design of flow path as well as in the estimation of flow force due to its precision and good repeatability. Consequently, the CFD analysis helps valve designers to understand its flow characteristics from the basis of physical fundamentals.

• 농촌계획
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• 제20권4호
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• pp.253-262
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• 2014

This, an association research for design-improvement and model-development of exhibition shops at rural tourism communities, is to secure objective data by analyzing customers' awareness-tendency of and demand for agricultural-specialty exhibition shops. Survey-questions for finding out consumers' awareness-tendency and demand were determined through brainstorming of a professional council, 30 rural communities of which visit-rate by consumers is considerably high were selected for the recruit of 200 consumers. For investigation and analysis, survey and in-depth interview were carried out at the scene with the application of frequency analysis and summarization of their opinions, which revealed that they have a strong will to visit the rural tourism communities for the purchase of agricultural specialties along with the experience of learning-program and on-the-scene direct dealing and that their viewpoint on the direct dealing at the scene was very positive. Also it was confirmed hat their satisfaction with the purchase of agricultural specialties by on-the-scene direct dealing, their pleasure at the purchase, their satisfaction with services and their intention for re-purchase of them were very high while their satisfaction with the exhibition shops was very low. With on-the-scene survey, the consumers' opinions could be listened to in depth. Almost all of them said their satisfaction with the trip to those rural tourism communities was considerably high since they could go to those communities themselves to relieve the stress from their modern life, to experience healing and to see the goods on the scene. Their satisfaction also was attributed to the fact that they have enough trust in purchase along with feeling the warm-heartedness of rural residents. As to their awareness of exhibition shops, they showed a positive response to the on-the-scene direct dealing at rural communities while they, thinking that the space in those exhibition shops was not sufficiently wide, demanded for more systematic counters in more accessible and affordable exhibition shops so that they might be more satisfied with the exhibition shops. Their demand for the necessity of exhibition shops selling agricultural specialties was found to be over 80%, which indicates that the necessity is very high. As to the suitability of function, they have the opinion that the business at those shops had better be focused on sales since they have the understanding of information when they take a trip to the rural communities, while there was another opinion: since agricultural products are seasonal items they should be exhibited and sold at the same time. More than 90% of the respondents had a positive viewpoint on direct dealing of agricultural specialties on the scene, which showed that their response to it was very high. They preferred the permanent shops equipped with roll-around table-booths. In addition, it was revealed that they want systematic exhibition shops in rural communities because they frequent those communities for on-the-scene direct purchase. The preferred type and opinion resulting from estimation of consumers' demands have been reflected for development of practical designs. The structure of variable principles has been designed so that the types of display-case and table-booth might be created. The result of this study is a positive data as a design model which can be utilized at rural communities and will be commercialized for the verification of its validity.