10 research outputs found
๊ฐ์ธํํฐ ์ค๊ณ ๋ฐ ์คํธ๋ฉ๋ค์ด ๊ด์ฑํญ๋ฒ์์คํ ์์์ ์์ฉ
Thesis (doctoral)--์์ธ๋ํ๊ต ๋ํ์ :์ ๊ธฐยท์ปดํจํฐ๊ณตํ๋ถ,2002.Docto
Flexure Error Analysis of RLG based INS
Any input acceleration that bends RLG dithering axis causes flexure error, which is a source of the noncommutative error that can not be compensated by simply using integrated gyro sensor output. This paper introduces noncommutative error equations that define attitude errors caused by flexure errors. In this paper, flexure error is classified as sensor level error if the sensing axis coincides with the dithering axis and as system level error if the two axes do not coincide. The relationship between gyro output and the rotation vector is introduced and is used to define the coordinate transformation matrix and angular motion. Equations are derived for both sensor level and system level flexure error analysis. These equations show that RLG based INS attitude error caused by flexure is directly proportional to time, amount of input acceleration and the dynamic frequency of the vehicle.๋ณธ ๋
ผ๋ฌธ์ ๋์ฐ์ธํ๋ผ์ฝ์ด(์ฃผ)์ ๊ตญ๋ฐฉ๊ณผํ์ฐ๊ตฌ์์ ๋ถ๋ถ์ ์ง์์ ์ํ์ฌ ์ฐ๊ตฌ๋์์
Noncommutativity Error Analysis with RLG-based INS
In this paper, we analyze a noncommutativity error that is not able to be compensated with integrating gyro outputs in RLG-based INS. The system can suffer from some motion known as RLG dithering motion, coning motion, ISA motion derived by an AV mount and vehicle real dynamic motion. So these motions are a cause of the noncornmutativity error, the system error derived by each motion has to be analyzed. For the analysis, a relation between rotation vector and gyro outputs is introduced and applied to define the coordinate transformation matrix and the angular vector
A Performance Comparison of Extended and Unscented Kalman Filters for INS/GPS Tightly Coupled Approach
This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the
nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an
accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the
sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo
range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results
show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is
demonstrated in case ofthe feedforward filer form.๋ณธ ์ฐ๊ตฌ๋ ๊ตญ๋ฐฉ๊ณผํ์ฐ๊ตฌ์์ ๋ถ๋ถ์ ์ง์์ ์ํ์ฌ ์ฐ๊ตฌ๋์์
Hybrid Dual Quaternion Algorithm For Precise Strapdown Inertial Navigation
Dual quaternion is efficient methodology to express rotation and translation of the
vehicles movements in the unified frame work. Recently, a strapdown inertial navigation algorithm based on dual quaternion was introduced. By comparing and analyzing the
classical and dual-quaternion algorithms, this paper proposes a new strapdown inertial
navigation algorithm that maintains the accurracy benefit of the dual-quaternion algorithm
with considerable computational reduction. Simulation results show the efficiency of the
proposed hybrid strapdown navigation algorithm.
๊ทผ๋์ ๋ค์ด ๊ด์ฑํญ๋ฒ ์๊ณ ๋ฆฌ์ฆ์ ์ฑ๋ฅ ํฅ์์ ์ด์ฒด ์ฟผํฐ๋์ธ(dual quaternion)์ด ์๋ก์ด ์ ์ฉ๋๊ธฐ ์์ํ์๋ค. ์ด์ฒด ์ฟผํฐ๋์ธ์ ์ ํ ๋ฏธ๋ถ๋ฐฉ์ ์์ผ๋ก ๊ณ์ฐํ๋ ์ฟผํฐ๋์ธ์ ํ์ ์ด๋๊ณผ ๋ณ์ง์ด๋์ ๋์์ ์ทจ๊ธํ๋ ์ด์ฒด์(dual number)์ฒด๊ณ๋ก ํ์ฅํ ํํ์ด๋ค. ๋ณธ
๋
ผ๋ฌธ์์๋ ๊ธฐ์กด์ ๊ด์ฑํญ๋ฒ ์๊ณ ๋ฆฌ์ฆ๊ณผ ๊ทผ๋์ ์๊ฐ๋ ์ด์ฒด ์ฟผํฐ๋์ธ ์๊ณ ๋ฆฌ์ฆ์ ๋ถ์ํ์ฌ ๋ ์๊ณ ๋ฆฌ์ฆ์ ์ฅ์ ์ ๊ฒฐํฉํ ์๋ก์ด ํํ์ ์ ๋ฐ ์ด์ฒด ์ฟผํฐ๋์ธ ์๊ณ ๋ฆฌ์ฆ์ ์ ์ํ์๋ค. ์ ์๋ ํผํฉ ์๊ณ ๋ฆฌ์ฆ์ ๊ธฐ์กด ์๊ณ ๋ฆฌ์ฆ๊ณผ ์ ์ฌํ ์์น์ ์ฐ์ฐ๋์ผ๋ก ์ด์ฒด ์ฟผํฐ๋์ธ์
์๊ณ ๋ฆฌ์ฆ๊ณผ ์ ์ฌํ ์ ํ๋ ํฅ์์ ์ป์ ์ ์๋ค. ์์จ ๋ ์ด์
์ ํตํ์ฌ ์ ์๋ ํผํฉ ์๊ณ ๋ฆฌ์ฆ์ ์ฐ์ฐ๋ ๋ฐ ์ ํ๋๋ฅผ ํ๊ฐํ์๋ค.ADD/FVRC/ํ๊ตญํญ๊ณต๋ํ๊ต ํญ๊ณต์ ์์ฐ๊ตฌ
The design of the GPS Signal Acquisition Algorithm for Weak Signals
์ํํธ์จ์ด ๊ธฐ๋ฐ GPS์์ ๊ธฐ์์ ์ ํธํ๋ ์๊ณ ๋ฆฌ์ฆ์ ์ค์ํ ์ ํธ์ฒ๋ฆฌ ๊ณผ์ ์ค ํ๋๋ค. ์ ํธํ๋ ๊ณผ์ ์์ ๊ตฌํ ์ฝ๋์์๊ณผ ๋ํ๋ฌ ์ด๋๋ ์ฃผํ์๋ฅผ ๋ค์๋จ๊ณ์ธ ์ ํธ ์ถ์ ์๊ณ ๋ฆฌ์ฆ์ ๋ณด๋ด๊ธฐ ์ํด์๋ ์ ํํ๊ณ ํจ์จ์ ์ธ ์ ํธ ํ๋ ํ๋ณ ๋ฐฉ๋ฒ์ด ํ์ํ๋ค. ๋ณธ ๋
ผ๋ฌธ์์๋ ์ ํธ ํ๋ ํ๋ณ ๋ฐฉ๋ฒ ์ค ์ํ์๊ด๊ด๊ณ ๊ฐ์ ๋น๋ฅผ ํ๋ผ๋ฏธํฐ๋ก ์ค์ ํ์ฌ ์ ํธ ํ๋ ์ฌ๋ถ๋ฅผ ํ๋ณํ๋ ๋ฐฉ๋ฒ์ ์ฌ์ฉํ๋ค. ์ค์ ํ ํ๋ผ๋ฏธํฐ์ ์ค๊ฒฝ๋ณด์จ๊ณผ ๊ฒ์ถํ๋ฅ ์ ํตํด ์ฑ๋ฅ์ ๋ถ์ํ๊ณ , ๋ฏธ์ฝ ์ ํธ ํ๋์ ์ํ ์๊ณ์น ์ค์ ๋ฐฉ๋ฒ์ ์ฐ๊ตฌํ์๋ค. ๊ทธ๋ฆฌ๊ณ ๋ถ์ํ ์๊ณ์น๋ฅผ ๊ฐ์ง๊ณ ์ค์ GPS์ ํธ๋ฅผ ํ๋ํ๋๋ฐ ์ฌ์ฉํ์๋ค.๋ณธ ์ฐ๊ตฌ๋ ๋ฐฉ์์ฌ์
์ฒญ๊ณผ ๊ตญ๋ฐฉ๊ณผํ์ฐ๊ตฌ์๊ฐ ์ง์ํ๋ ๊ตญ๋ฐฉ์์ฑํญ๋ฒํนํ์ฐ๊ตฌ์ผํฐ ์ฌ์
์ ์ผํ์ผ๋ก ์ํ๋์์ต๋๋ค
GNSS Interference Detection using Adaptive notch filter
์์ฑํญ๋ฒ์์คํ
์ ํ์ฉ์ด ์ฆ๊ฐํ๋ฉด์ ์์ฑํญ๋ฒ์์คํ
์ ์ฑ๋ฅ์ ์ ํ์ํค๋ ์์ธ ์ค ํ๋์ธ ์ ํ๊ฐ์ญ ์
ํธ์ ๋ํ ์ฐ๊ตฌ์ ํ์์ฑ์ด ๋์์ง๊ณ ์๋ค. ์ ํ๊ฐ์ญ ์ ํธ์ ์ํฅ์ ๊ฐ์ธํ๊ณ ์์ฑํญ๋ฒ์์คํ
์ ํญ๋ฒํด
์ ํ๋๋ฅผ ๋์ด๊ธฐ ์ํด์๋ ์ ํ๊ฐ์ญ ์ ํธ์์ ๊ฒ์ถํ๊ณ ์ ํ๊ฐ์ญ ์ํฅ์ ์ํ์ํค๋ ๋ฐฉ๋ฒ์ ๋ํ ์ฐ๊ตฌ
๊ฐ ํ์ํ๋ค. ์ด๋ฅผ ์ํด์ ๋ณธ ๋
ผ๋ฌธ์์๋ ์ ์ ๋
ธ์น ํํฐ๋ฅผ ์ด์ฉํ์ฌ ํ๋์ญ ๋จ์ผ์ฃผํ์ ์ ํ๊ฐ์ญ ์ ํธ
(single-tone CWI)์ ๋ค์ค์ฃผํ์ ์ ํ๊ฐ์ญ ์ ํธ(multi-tone CWI)๋ฅผ ๊ฒ์ถํ๊ธฐ ์ํ ์๊ณ ๋ฆฌ์ฆ์ ๊ตฌํํ
๊ณ ์๋ฎฌ๋ ์ด์
์ ํตํด ๊ฒ์ถํ๊ณ ๊ฒฐ๊ณผ๋ฅผ ๋ถ์ํ์๋ค.
In this paper, an adaptive IIR notch filter structure based on a low-complexity time domain
approach and the interference detection algorithms is employed to track single-tone CW and
multi-tone CW interference signal. The center frequency of the interference is detected using
the adaptive lattice IIR notch filter. Theoretical analysis and simulation are carried out to show
the feasibility and performance estimation of the proposed methods.DAPA/ADD/NGRC(๊ตญ๋ฐฉ์์ฑํญ๋ฒํนํ์ฐ๊ตฌ์ผํฐ