• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1860-1863
• /
• 1997

Transfer alignement is the process of initializing attitude of slave INS using the data of master INS. This paper presents the performance analysis of transfer alignment at sea using convariance analysis method. Velocity & angle matching and angular rate & acceleration matching are used for analysis, and the performance of two matching methods are compared. We propose a new method for angular rate & acceleration matching. Under the assumption of accurate modeling of ship flexure, the performance of transfer alignment time and accuray is improved very much for the new method.

• 제어로봇시스템학회논문지
• /
• 제7권4호
• /
• pp.363-363
• /
• 2001

We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using a robust H₂ filter. We suggest an uncertainty model and a discrete robust H₂filter for INS and apply the suggested robust H₂ filter to the uncertainty model. The discrete robust H₂filter is shown by simulation to have better performance time and accuracy than Kalman filter.

• 한국군사과학기술학회지
• /
• 제26권3호
• /
• pp.214-226
• /
• 2023

A transfer alignment is used to initialize, align, and calibrate a SINS(Slave INS) using a MINS(Master INS) in motion. This paper presents an airborne transfer alignment with velocity and azimuth matching to estimate inertial sensor biases under the wing flexure influence. This study also considers the lever arm, time delay and relative orientation between MINS and SINS. The traditional transfer alignment only uses velocity matching. In contrast, this paper utilizes the azimuth matching to prevent divergence of the azimuth when the aircraft is stationary or quasi-stationary since the azimuth is less affected by the wing flexibility. The performance of the proposed Kalman filter is analyzed using two factors; one is the estimation performance of gyroscope and accelerometer bias and the other is comparing aircraft dynamics and attitude covariance. The performance of the proposed filter is verified using a long term flight test. The test results show that the proposed scheme can be effectively applied to various platforms that require airborne transfer alignment.

• 제어로봇시스템학회논문지
• /
• 제7권4호
• /
• pp.369-373
• /
• 2001

This paper is concerned with a transfer alignment of SDINS under ship motions. To reduce alignment errors induced by the ship body flexure, an error compensation method is suggested based on velocity and DCM partial matching, and by interpreting the simulation results and comparing with the conventional velocity and quaternion partial matching, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.

• 공학논문집
• /
• 제2권1호
• /
• pp.5-11
• /
• 1997

입자 물질의 흐름(granular flow)은 일반 산업체의 거의 모든 공정에서 발생한다. 본 논문은 중력 하에서 경사진 슈트 (chute)를 통하여 흐르는 입자들의 속도를 측정하기 위하여 고속 디지털 영상을 이용한 방법을 논한다. 유리 입자 들이 이 실험에서 사용되었다. 유리 입자 들의 평균 속도를 측정하기 위하여 블록 매칭 (block matching)이 사용되었으며 유리입자 들의 평균속도는 변동 정규 상관 함수에 보간법을 적용함으로서 화소 간격보다 적은 단위로 측정하였다.

• Current Optics and Photonics
• /
• 제5권4호
• /
• pp.458-465
• /
• 2021

Borate nonlinear optical crystals have been used as frequency conversion devices in many fields due to their unique transparency and nonlinearity from ultraviolet to visible spectral range. In this study, we theoretically and numerically investigate the properties of broadband second harmonic generation (SHG) in the recently reported Pna2₁-Ba₃Mg₃(BO₃)₃F₃ (BMBF) crystal. The technique is based on the simultaneous achievement of birefringence phase matching and group velocity matching between interacting waves. We discussed all factors required for broadband SHG in the BMBF in terms of two types of phase matching and group velocity matching conditions, the beam propagation direction and the corresponding effective nonlinearity and spatial walk-off, and the spectral responses. The results show that bandwidths calculated in the broadband SHG scheme are 220.90 nm (for Type I) and 165.85 nm (for Type II) in full-width-half-maximum (FWHM). The central wavelength in each case is 2047.76 nm for Type I and 1828.66 nm for Type II at room temperature. The results were compared with the non-broadband scheme at the telecom C-band.

• 제어로봇시스템학회논문지
• /
• 제7권4호
• /
• pp.362-368
• /
• 2001

We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using a robust H$_2$ filter. We suggest an uncertainty model and a discrete robust H$_2$filter for INS and apply the suggested robust H$_2$ filter to the uncertainty model. The discrete robust H$_2$filter is shown by simulation to have better performance time and accuracy than Kalman filter.

• 한국군사과학기술학회지
• /
• 제27권5호
• /
• pp.544-557
• /
• 2024

This paper theoretically analyzes the effect of the velocity and attitude errors of Master Inertial Navigation System(MINS) on the accuracy of Slave Inertial Navigation System(SINS) transfer alignment in velocity and attitude matching, and validates the analysis through simulation. Theoretical analysis involves deriving a new state equation that considers the velocity and attitude errors of MINS from the state equation of the transfer alignment filter, and deriving the state estimation equation of the Kalman filter based on this. The analysis confirms that MINS's velocity and attitude errors induce the same level of velocity and attitude errors in SINS. A reference inertial navigation system model is added to the simulation model, and the transfer alignment accuracy is analyzed by comparing the navigation information of MINS and SINS with the reference inertial navigation system. It is confirmed that the accuracy analysis results through simulation are consistent with the theoretically analyzed results, and through this, the validity of the theoretically analysis in this paper is verified. The research findings indicate that when performing transfer alignment using MINS, which is likely to be operated for prolonged periods in pure inertial navigation mode, the navigation errors of MINS are transferred to SINS. This implies that initial correction navigation is necessary to be considered for SINS

• 한국항행학회논문지
• /
• 제19권5호
• /
• pp.389-394
• /
• 2015

본 논문에서는 관성항법시스템의 전달정렬 기법인 속도정합에 대하여 지렛대 거리 오차와 속도 측정치의 시간 지연을 고려하였고, 시스템 레벨에서 성능을 향상시키기 위한 방법을 제안하였다. 먼저 확장형 칼만필터의 공정잡음과 측정잡음의 공분산 값에 따른 추정 성능을 분석하였다. 그리고 가관측성 분석을 통하여 방위각 자세 오차의 추정 성능을 향상시키기 위한 항체의 운항 조건을 제시하였고 시뮬레이션을 통하여 성능을 분석하였다. 방위각 자세 오차를 추정하기 위한 항체의 운항 조건을 분석하였는데 항체가 순항을 하는 경우에는 방위각 자세 오차를 추정하지 못하며 북측 혹은 동측 가속도가 있어야만 추정이 됨을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.26-26
• /
• 2000

We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using robust H$_2$ filter. We suggest an uncertainty model for INS and apply the suggested discrete robust H$_2$ filter to the uncertainty model compared with kalman filter, the discrete robust H$_2$ filter is shown by simulation to have good performance of alignment time and accuracy.