• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.4
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• pp.116-123
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• 2008

In this paper we study the performance of the measurement time-delay estimation of tightly-coupled GPS/INS(Global positioning system/Inertial Navigation system) system. Generally, the heading error estimation performance of loosely-coupled GPS/INS system using GPS's Navigation Solution is poor. In the case of tightly-coupled GPS/INS system using pseudo-range and pseudo-range rate, the heading error estimation performance is better. However, the time-delay error on the measurement(pseudo-range rate) make the heading error estimation performance degraded. So that, we propose the time-delay model on the measurement and compose the time-delay estimator. And we confirm that the heading error estimation performance in the case of measurement time-delay existence is similar with the case of no-delay by Monte-Carlo simulation.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.684-693
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• 2011

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 slave INS(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 master INS and slave INS in real time.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.953-957
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• 2001

This paper is concerned with a transfer alignment method for the SDINS under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonliner measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.385-388
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• 1996

A time delay controller with state feedback is proposed for azimuth motion control of the frictionless positioning device which is subject to the variations of inertia in the presence of measurement noise. The time delay controller, which is combined with a low-pass filter to attenuate the effect of measurement noise, ensures the asymptotic stability of the closed loop system. It is found that the low-pass filter tends to increase the robustness in the design of time delay controller as well as the gain and phase margins of the closed loop system. Numerical and experimental results support that the proposed controller guarantees a good tracking performance irrespective of the variation of inertia and the presence of measurement noise.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.5B
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• pp.365-369
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• 2012

It is very important to control synchronization by inter-network delay compensation in high speed synchronous optcial transmission network systems. In this study we designed a delay measurement system based on OTDR using Rayleigh backscatterer in order to compensate for time delay due to the length of optical fiber line. We observed waveform variations on both averaging time and peak power of laser pulse. Finally, we executed experimental demonstration on its accuracy and test repeatability by comparison to the methods practically used in the industry. Experimental results show maximum error of 0.06usec and standard deviation of 0.021usec, which means it's possibly applied to delay control system for mobile repeaters and stations.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.1
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• pp.225-233
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• 2001

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. Specifically, to reduce alignment errors induced by measurement time-delay and ship body flexure, an error compensation method is suggested based on delay state augmentation and DCM(Direction Cosine Matrix) partial matching. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then DCM partial matching is properly combined to reduce effects of a ship's Y axis flexure. The simulation results show that the suggested method is effective enough resulting in considerably less azimuth alignment errors.

• ETRI Journal
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• v.32 no.6
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• pp.854-862
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• 2010

One-way delay variation (OWDV) has become increasingly of interest to researchers as a way to evaluate network state and service quality, especially for real-time and streaming services such as voice-over-Internet-protocol (VoIP) and video. Many schemes for OWDV measurement require clock synchronization through the global-positioning system (GPS) or network time protocol. In clock-synchronized approaches, the accuracy of OWDV measurement depends on the accuracy of the clock synchronization. GPS provides highly accurate clock synchronization. However, the deployment of GPS on legacy network equipment might be slow and costly. This paper proposes a method for measuring OWDV that dispenses with clock synchronization. The clock synchronization problem is mainly caused by clock skew. The proposed approach is based on the measurement of inter-packet delay and accumulated OWDV. This paper shows the performance of the proposed scheme via simulations and through experiments in a VoIP network. The presented simulation and measurement results indicate that clock skew can be efficiently measured and removed and that OWDV can be measured without requiring clock synchronization.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.1
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• pp.25-32
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• 2017

Most of weapon systems use aided navigation system which integrates inertial navigation and aiding sensors to compensate the INS errors increasing with the passage of time. Various aid sensors can be applied such as Global Navigation Satellite System (GNSS), radar, barometer, etc., but there might exist time delay caused by signal processing or transferring aid information. This time delay leads out-of-sequence measurements (OOSM) systems. Previously, optimal and suboptimal measurment update method for OOSM systems, where the time delay length are known, are proposed. However, previous algorithm does not guarantee the positive definite property of covariance matrix. In order to improve numerical stability for aided navigation using delayed-measurement, this paper proposes a new measurement covariance update algorithm be similar to Joseph-form in Kalman filter. Futhermore, we propose how to implement it in indirect feedback Kalman filter structure, which is commonly used in aided navigation systems, for time-delayed measurement systems. Simulation and vehicle test results show effectiveness of a proposed algorithm.

• The KIPS Transactions:PartC
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• v.12C no.3 s.99
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• pp.437-442
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• 2005

The measurement of RTT (Round Trip Time) can be used for the analysis of Internet congestion. However, simple measuring of RTT which measures only hun around time of a packet can not infer a packet forward/backward delay variation. In this thesis, we present a new algorithm which can be used for the estimation of forward/backward delay variation of packets. These delay variations are implication of network congestion state. In this algorithm, the reference forward/backward delay can be determined based on the minimum RTT value. The delay variation of each packet can be calculated by comparing reference delay with the packet delay. We verified our proposed algorithm by NS-2 simulation and delay measuring in a real network.