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김천중(Cheon-Joong Kim),유준(Joon Lyou) 한국항공우주학회 2011 韓國航空宇宙學會誌 Vol.39 No.8
정지 상태에서 관성항법장치를 구성하는 가속도계 및 자이로 측정치를 이용하여 초기 자세를 구하는 것을 초기정렬 혹은 자가정렬이라 한다. 초기정렬의 정밀도는 관성항법장치에 탑재되는 관성센서의 성능에 의하여 결정되며 수평축 자세는 수평축 가속도계, 수직축 자세는 E축 자이로 성능에 의해 결정된다. 그러므로 관성센서에서 발생된 불확실한 오차는 초기정렬의 정밀도를 저하시키는 주요원인이 된다. 논 논문에서는 관성센서의 불확실한 오차 중에서 관성항법장치에 전원이 인가되어 온도가 안정화 되는 상태에서의 관성센서 오차가 초기정렬 성능에 어떠한 영향을 미치는 가를 이론적으로 분석하고 시뮬레이션을 통하여 검증한 결과를 제시한다. It is called self-alignment or initial alignment that INS(Inertial Navigation System) is aligned using the measurements from the inertial sensors as an accelerometer and. a gyroscope and the inserted reference navigation information in the stop state. The main purpose of self-alignment is to obtain the initial attitude of INS. The accuracy of self-alignment is determined by the performance grade of the used inertial sensors, especially horizontal attitude accuracy by the horizontal accelerometer and vertical attitude accuracy by the E-axis gyroscope. Therefore the uncertain errors in the inertial sensors cause the performance of self-alignment to degrade. In this paper, we analyze theoretically and through a simulation how the errors of inertial sensors in the temperature stabilizing state, one of the uncertain errors, affect the accuracy of self-alignment.
김천중(Cheon-Joong Kim),유준(Joon Lyou) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
Measurement time delay in the transfer alignment is very important. It has been well known that the time delay degrades the alignment performance and makes some navigation errors on the transfer alignment of SINS. Therefore there are many schemes to eliminate that time delay but the compensation technique through the estimation by Kalman filter through modeling the time delay as a random constant is generally used. In the case of change over measurement time delay or the large measurement time delay, estimation performance in the existing compensation technique is degraded because model of time delay is not correct any more. In this paper, we propose the method to keep the time delay almost constant even though in the abnormal communication state and very small through feedback compensation using double buffer. Double buffer consists of two moving window to temporarily store measurements from MINS and SINS in real time.
김천중(Cheon-Joong Kim),유기정(Ki-Jeong Yoo),김현석(Hyeon-Suk Kim),유준(Joon Lyou) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.11
LLNS (Laser Inertial Navigation System) consists of RLG (Ring Laser Gyroscopes)/accelerometers and provides real-time navigation information to the target system. Therefore it is very important to make a decision in the real time whether LINS is in the normal operation or not. That is called a fault detection method. In this paper, we propose the fault detection method of LINS based on the overlapping model. We also show that the fault detection probability is increased through overlapping the hardware model and the software model. It is verified through the long-term operation and RAM (Reliability Availability Maintainability) analysis of LINS that the fault detection method proposed in this paper is able to detect about 97% of probable system failures.
전달정렬 함상 발사 고속 유도무기의 보정필터 설계에 대한 연구
김천중(Cheon-Joong Kim),이인섭(In-Seop Lee),오주현(Ju-Hyun Oh),유해성(Hae-Sung Yu),박흥원(Heung-Won Park) 대한전기학회 2019 전기학회논문지 Vol.68 No.1
This paper presents the study results on the design of the correction filter to improve the azimuth error estimation of the high-speed guided missile launched from the warship after the transfer alignment. We theoretically proved that the transfer alignment performance is determined by the accuracy of the marine inertial navigation system and the observability of the attitude error state variable in the transfer alignment filter, and that most of navigation errors in high-speed guided missile are caused by azimuth error. In order to improve the azimuth estimation performance of the correction filter, the multiple adaptive estimation method and the adaptive filters adapting the measurement noise covariance or the process noise covariance are proposed. The azimuth estimation performance of the proposed adaptive filter and the existing Kalman filter are compared and analyzed each other for 8 different transfer alignment accuracy cases. As a result of comparison and analysis, it was confirmed that the adaptive filter adapting the process noise covariance has the best azimuth estimation performance. These results can be applied to the design of correction filters for high-speed guided missile.
대나무 추출액과 죽력의 혼합물이 국소 뇌혈류량 및 평균 혈압에 미치는 영향
김천중,장경선,조수인,김계엽,정현우,Kim, Cheon-Joong,Jang, Kyeong-Seon,Cho, Su-In,Kim, Gye-Yeop,Jeong, Hyun-Woo 대한동의생리학회 2006 동의생리병리학회지 Vol.20 No.6
This Study was designed to investigate the effects of Mixture of Bambusae Caulis in Liquamen and Bamboo Extract on the change of regional cerebral blood flow (rCBF) and mean arterial blood pressure (MABP) in normal and cerebral ischemic rats. Experimental materials were as follows ; BE- 1 was Bamboo Extract (BE) extracted with 70% ethyl alcohol, BE-11 was BE extracted with distilled water at $121^{\circ}C$ for 30 min, BE-111 was BE extracted with distilled water at $121^{\circ}C$ for 3 hrs, MLC was mixture of Bambusae Caulis in Liquamen (BCL) and BE-111 mixed at the ratio of 1 to 100 (MLC100), 1 to 50 (MLC50), 1 to 20 (MLC20), 1 to 10 (MLC10), 1 to 5 (MLC5). The results were as follows , The Changes of BE- 1 on the rCBF and MABP in normal rats were not showed, BE- 11 significantly decreased rCBF in a dose-dependent manner Dut increased MABP in a dose-dependent manner. BE-111 increased rCBF in a dose-dependent manner, MLC significantly increased rCBF in a dose-dependent manner and increased MABP in a dose-dependent manner. rCBF was significantly and stably increased by MLC5 (1 mg/kg, i.p.) during the period of cerebral reperfusion, which contrasted with the findings of rapid and marked increase in control group. As results above ; The present author thought that BE- 111 and MLC increased rCBF by dilating pial arterial diameter.