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강결합 방식의 INS/GPS 시스템에서의 자세 오차 추정 성능 비교
유해성,김천중,유기정,이윤선,박흥원,Yu, Hae-Sung,Kim, Cheon-Joong,Yoo, Ki-Jeong,Lee, Youn-Seon,Park, Heung-Won 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.1
This paper addresses the performance comparisons of the GPS pseudorange and pseudorange rate measurements in the tightly coupled INS/GPS Navigation systems. Even though the two measurements have the same ability in estimating level attitude errors, pseudorange rate has an advantage in improving estimating heading attitude error performance. The performance of pseudorange and pseudorange rate measurements is compared in numerical simulations and van test.
항체의 비행거리 정보를 이용한 운항 중 정렬 기법 연구
유해성,Yu, Hae-Sung 한국군사과학기술학회 2005 한국군사과학기술학회지 Vol.8 No.3
This paper presents the new in-flight alignment method using the flight distance of vehicle in order to improve the performance of the heading error estimation. In the proposed method, the Kalman filter having the difference between GPS and SDINS position as measurements is used for levelling of SDINS and heading error is estimated utilizing the flight distance information. It is shown in the simulation results that the in-flight method proposed in this paper has the high accuracy in heading error estimation and the heading error can be very quickly estimated at the high speed vehicle, compared with the existing method using the Kalman filter.
관성항법장치의 관성 센서축과 하우징 축과의 비정렬 측정과 보상에 관한 연구
유해성,김태훈,김천중,이윤선,박흥원,Yu, Hae-Sung,Kim, Tae-Hoon,Kim, Cheon-Joong,Lee, Youn-Seon,Park, Heung-Won 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.4
In guided missile systems, reducing terminal-position error is the primary objective of the inertial navigation system. As a seeker is used to sense and track a target, the critical function of the inertial navigation system is to provide the seeker with accurate missile attitude information and help the seeker to keep tracking a target continuously. As inertial sensor body and missile body alignment errors are taken into account, it is desirable to minimize the alignment errors between the missile seeker and the attitude of inertial navigation system. Among the alignment errors, this paper addresses the methods of measuring and compensating misalignment between inertial sensor body and housing frame and shows test results of several experiments.
링레이저 자이로 기반 2축 회전형 관성항법장치 오차해석에 대한 연구
김천중(Cheon-Joong Kim),유해성(Hae-Sung Yu),이인섭(In-Seop Lee),오주현(Ju-Hyun Oh),이상정(Sang-Jeong Lee) 한국항공우주학회 2018 韓國航空宇宙學會誌 Vol.46 No.11
관성항법장치 순수항법 성능을 개선하는 방법으로 관성센서 오차가 상호 상쇄되도록 관성센서뭉치를 회전시켜 항법 성능을 개선하는 방법이 있으며 이러한 원리로 동작하는 항법장치를 회전형 관성항법장치라 한다. 관성센서 오차에 의한 회전형 관성항법장치의 정확한 항법 성능 분석을 위해서는 이에 대한 이론적 오차해석이 요구되나 기존의 많은 연구에서는 지구회전 각속도 및 중력 가속도에 의한 영향을 무시하고 오차해석을 수행하여 회전형 관성항법장치의 정확한 항법 성능 분석이 수행되지 않았다. 본 논문에서는 링레이저 자이로 기반 회전형 관성항법장치의 정확한 항법 성능 분석을 위하여 지구회전 각속도 및 중력 가속도 항을 포함한 이론적인 오차해석을 수행하고 이를 기반으로 회전형 관성항법장치의 항법 성능 분석 결과를 제시하였다. There is a method to enhance the pure navigation performance of INS(Inertial Navigation System) through the rotation of inertial measurement unit to compensate error sources of inertial sensors each other and that INS using this principle of operation is called rotational INS. In this paper, the exact error analysis of rotational INS based on ring laser gyro considering the coupling effect with gravity and earth rate is performed to evaluate the navigation performance by inertial sensor error sources. And error analysis and performance evaluation result confirmed by modelling and simulation is also proposed in this paper.
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.