• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2011.05a
• /
• pp.100-103
• /
• 2011

GFINS(gyro-free inertial navigation system)는 가속도 센서에서 계측된 데이터를 2차 적분하여 yaw를 계산한다. 하지만 가속도 센서는 외란과 적분 오차에 의한 누적오차가 지속적으로 커지는 문제가 있다. 따라서 본 논문에서는 퍼지 추론 시스템(FIS: fuzzy inference system)을 이용해 가속도 센서의 데이터를 보정함으로써 누적오차를 줄이는 방법을 제안한다. 제안된 방법의 성능평가를 위해, 직접 설계한 전방향 AGV를 이용하여 직선과 측면, 대각에 대해 반복 실험하였다. 실험 결과, 제안된 방법이 가속도 센서의 데이터를 효과적으로 보정하는 것을 확인하였다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.3
• /
• pp.204-209
• /
• 2003

The line-of-sight stabilization system is an equipment which is loaded on a vehicle and stabilizes the direction of the line-of-sight of the vision sensor to obtain a not-swayed image in the existence of external disturbances. To obtain accurate Euler angles and angular velocities simultaneously we usually need a control system which uses high-price inertial sensors including Vertical Gyro(VG) or Rate Integrating Gyro(RIG). In this paper, we design and implement a control system of a gimbal, which is a line-of-sight stabilization system using a low-cost mixed algorithm of a rate gyro and an accelerometer instead of a VG and a RIG. In the experiment where we laid the implemented line-of-sight stabilization system on the rate table. we can see the stabilized performance to external disturbances.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.12
• /
• pp.1243-1251
• /
• 2007

In this paper a study on the simplified observability analysis of GPS/INS is introduced. Errors for the position, velocity, attitude, gyro and accelerometer biases, and lever arm between GPS antenna and inertial sensors are considered in the observablity analysis. From the error dynamics model in which relatively small terms are neglected, simple observability conditions are obtained such that the observability of GPS/INS is determined by the test on the attutude, gyro bias, and lever arm. Unobservable errors for the position, velocity, and accelerometer bias are determined by those for the attitude, gyro bias, and lever arm. The simplified observability conditions are applied to a constant speed horizontal motion. It is shown that there are seven unobservable modes for the motion including the vertical component of gyro bias. The analytic observability analysis results are confirmed with a covariance simulation.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.11
• /
• pp.1199-1206
• /
• 2012

Recently, technologies to help the elderly or disabled people who have difficulty in walking are being developed. In order to develop these technologies, it is necessary to construct a system that gathers the gait data of people and analysis of these data is also important. In this research, we constructed the development of sensor system which consists of pressure sensor, three-axis accelerometer and two-axis gyro sensor. We used k-means clustering algorithm to classify the data for characterization, and then calculated the symmetry index with histogram which was produced from each cluster. We collected gait data from sensors attached on two subjects. The experiment was conducted for two kinds of gait status. One is walking with normal gait; the other is walking with abnormal gait (abnormal gait means that the subject walks by dragging the right leg intentionally). With the result from the analysis of acceleration component, we were able to confirm that the analysis technique of this data could be used to determine gait symmetry. In addition, by adding gyro components in the analysis, we could find that the symmetry index was appropriate to express symmetry better.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.12 no.3
• /
• pp.368-377
• /
• 2009

In this paper we study the gyro bias calibration method of SDINS(Strap-Down Inertial Navigation System). Generally, SDINS's calibration is performed in 2-axis(or 3-axis) rate table with chamber for varying ambient temperature. We assumed that the majority of calibration-parameter except for gyro bias is knowned. During gyrobias calibration procedure, it can be induced some disturbances(accelerometer's short-term error induced rate table rotation and anti-vibration mount's rotation). In these cases, old gyro-bias calibration methods(using velocity error or attitude error) have an error, because these disturbances are not detectable at the same time. So that, we propose a new gyro-bias calibration method(heading error minimizing using equivalent linear transformation) that can detect anti-vibration mount's rotation. And we confirm efficiency of the new gyro-bias calibration method by simulation.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.6
• /
• pp.814-819
• /
• 2010

This paper is presented to study the error minimization of angular velocity for AGV(autonomous ground vehicle). The error minimization of angular velocity is related to localization technique which is the most important technique for autonomous vehicle. Accelerometer, yaw gyro and electronic compass have been used to measure angular velocity. And methods for error minimization of angular velocity have been actively studied through probabilistic methods and sensor fusion for AGVs. However, those sensors still occure accumulated error by mathematical error, system characters of each sensor, and computational cost are increased greatly when several sensor are used to correct accumulated error. Therefore, this paper studies about error minimization of angular velocity that just uses encoder and gyro. To experiment, we use autonomous vehicle which is made by ourselves. In experimental result, we verified that the localization error of proposed method has even less than the localization errors which we just used encoder and gyro respectively.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.3
• /
• pp.351-358
• /
• 2006

The proposed inertial measurement unit (IMU) is composed of accelerometers only. It can determine a vehicle's position and attitude, which is the Gyro-free INS. The Gyro-free INS error is deeply affected by the sensor bias, scale factor and misalignment. However, these parameters can be obtained in the laboratory. After these misalignments are corrected, the Gyro-free strap-down INS could be more accurate. This paper presents a compensator design for the strap-down six-accelerometer INS to correct misalignment. A calibration experiment is taken to get the error parameters. A simulation results show that it will decrease the INS error to enhance the performance after compensation.

• The Journal of Korea Robotics Society
• /
• v.5 no.4
• /
• pp.279-285
• /
• 2010

This paper presents the use of 3 axis accelerometer for getting the gait information including the number of gaits, stride and walking distance. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We proposed a way of minimizing the error due to the change of the orientation. Pedestrian localization is implemented with the heading angle and the travel distance. Heading angle is estimated from the rate gyro and the magnetic compass measurements. The performance of the localization is presented with experimental data.

• Journal of Korea Multimedia Society
• /
• v.23 no.11
• /
• pp.1372-1382
• /
• 2020

This paper proposes a core technology for a micro river monitoring terminal device suitable for flood monitoring in small rivers and valleys. Our proposed device is basically equipped with a 77GHz radar, gyro and accelerometer sensors. To measure the flow velocity and water level, we proposed a signal processing technique that extracts pure water energy components from the observed Doppler velocity and reflection intensity from the radar. And to determine the stability of the river structure equipped with our device, we constantly monitor the displacement of the measured values of the gyro and accelerometer sensors. Experimental result verified that our method detects pure water energy in various river environments and distinguishes between flow velocity and water level well. And we verified that vibration and position change of structures can be determined through a gyro sensor. In future research, we will work to build a secure digital twin river network by lowering the cost of supplying RF-WAV devices. Also we expect our device to contribute to securing a preventive golden time in rivers.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.1045-1050
• /
• 2005

This paper describes a design experience of a low-cost 6 DOF spatial tracker system where relative low accuracy and relatively long ranges, wireless communication will be achieved by means of low cost accelerometers and gyros with contemporary microprocessor. However, there are two key problems; one is the bias drift problem and the other is that single or double integration of acceleration signal suffers not only from noise but also from nonlinear effects caused by gravity. To be specific, beginning and stopping of hand motions needs to be accurately detected to initiate and terminate integration process to get position and pose of the hand from accelerometer and gyro signals, since errors due to noise and/or hand-shaking motions accumulated by integration processes. Several experimental results are shown to validate our proposed algorithms.