지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2021.12
- 수록면
- 1,589 - 1,597 (9page)
이용수
초록· 키워드
오류제보하기
Due to the low output rate and time delay of vehicle"s navigation results, the electro-optical tracking system(EOTS) cannot estimate accurate target positions. If an inertial measurement unit(IMU) is additionally mounted into the EOTS and inertial navigation system(INS) is constructed, the high navigation output rate can be obtained. And the time-delay can be compensated by using the augmented Kalman filter. An accurate initial attitude is required in order to have accurate navigation outputs. In this paper, an attitude determination algorithm is proposed using the augmented Kalman filter in order to compensate measurement delay of the EOTS and have accurate initial attitude. The proposed initial attitude determination algorithm consists of an augmented Kalman filter, an INS, and an integrated Kalman filter. The augmented Kalman filter compensates the time-delay of the vehicle"s navigation results and the integrated Kalman filter estimates the navigation error of the INS. In order to evaluate performance of the proposed algorithm, vehicle"s navigation outputs and IMU measurements were generated using sensors" model-based measurement generator and initial attitude estimation errors of the proposed algorithm and the conventional algorithm without the augmented Kalman filter were compared for the generated measurements. The evaluation results show that the proposed algorithm has better accuracy.
목차
ABSTRACT
1. 서론
2. Augmented 칼만 필터를 이용한 EOTS의 초기자세 결정
3. 성능 평가
4. 결론 및 추후 계획
REFERENCE
참고문헌 (15)
참고문헌 신청
C.J. Willers, Electro-Optical System Analysis and Design-A Radiometry Perspective, SPIE Press, Bellingham, Washington, 2013.
J.-B. Yim, S.-M. Moon, and J. Lyou, “Compensation of Geo-pointing Error due to Information Transport Delay for Electro-Optical Tracking Systems,” The Institute of Electronics Engineers of Korea - Computer and Information, Vol. 48, No. 5, pp. 1-7, 2011.
J.-K. Park and S. Jung, “An Experimental Study on Coordinates Trackers Realization for EOTS Slaved to the Radar of a Helicopter,” Journal of Control, Automation and Systems Engineering, Vol. 11, No. 4, pp. 369-377, 2005.
S.-S. Kim, S.-M. Moon, K.-H. Kwon, and C.-R. Yun, “Enhanced of Geo-pointing Performance for Electro-Optical Systems by Compensating Transmission Time Delay of Navigation Data,” Journal of the Korea Institute of Military Science and Technology, Vol. 16, No. 2, pp. 191-198, 2013.
B. Das and G. Dobie, “Delay Compensated State Estimation for Telepresence Robot Navigation,” Robotics and Autonomous Systems, Vol. 146, pp. 1-15, 2021.
J.-B. Yim, S.-M. Moon, and J. Lyou, “Compensation of Geo-pointing Error due to Information Transport Delay for Electro-Optical Tracking Systems,” The Institute of Electronics Engineers of Korea - Computer and Information, Vol. 48, No. 5, pp. 1-7, 2011.
J.-K. Park and S. Jung, “An Experimental Study on Coordinates Trackers Realization for EOTS Slaved to the Radar of a Helicopter,” Journal of Control, Automation and Systems Engineering, Vol. 11, No. 4, pp. 369-377, 2005.
S.-S. Kim, S.-M. Moon, K.-H. Kwon, and C.-R. Yun, “Enhanced of Geo-pointing Performance for Electro-Optical Systems by Compensating Transmission Time Delay of Navigation Data,” Journal of the Korea Institute of Military Science and Technology, Vol. 16, No. 2, pp. 191-198, 2013.
B. Das and G. Dobie, “Delay Compensated State Estimation for Telepresence Robot Navigation,” Robotics and Autonomous Systems, Vol. 146, pp. 1-15, 2021.
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UCI(KEPA) : I410-ECN-0101-2022-004-000132021