Ho-Hwan Chun

Observability of error States in GPS/INS integration

Observability properties of errors in an integrated navigation system are studied with a control-theoretic approach in this paper. A navigation system with a low-grade inertial measurement unit and an accurate single-antenna Global Positioning System (GPS) measurement system is considered for observability analysis. Uncertainties in attitude, gyro bias, and GPS antenna lever arm were shown to determine unobservable errors in the position, velocity, and accelerometer bias. It was proved that all the errors can be made observable by maneuvering. Acceleration changes improve the estimates of attitude and gyro bias. Changes in angular velocity enhance the lever arm estimate. However, both the motions of translation and constant angular velocity have no influence on the estimation of the lever arm. A covariance simulation with an extended Kalman filter was performed to confirm the observability analysis.

Two-dimensional and unsteady natural convection in a horizontal enclosure with a square body

A two-dimensional solution for unsteady natural convection in an enclosure with a square body is obtained using an accurate and efficient Chevyshev spectral collocation method. A spectral multidomain methodology is used to handle a square body located at the center of the computational domain. The physical model considered here is that a square body is located at the center between the bottom hot and top cold walls. To see the effects of the presence of a body on natural convection between the hot and cold walls, we considered the cases that the body maintains the adiabatic and isothermal thermal boundary conditions for different Rayleigh numbers varying in the range of 103 to 106. When the Rayleigh number is small, the flow and temperature distribution between the hot and cold walls shows a symmetrical and steady pattern. At the intermediate Rayleigh number, the fluid flow and temperature fields maintain the steady state but change their shape to the nonsymmetrical pattern. When the Rayleigh number is high, the flow and temperature fields become time dependent, and their time-averaged shapes approach the symmetric pattern again. The Rayleigh number for the fluid flow and temperature fields to become nonsymmetrical and time dependent depends on the thermal boundary conditions of a body. The variation of time- and surface-averaged Nusselt numbers on the hot and cold walls and at the body surfaces for different Rayleigh numbers and thermal boundary conditions are also presented to show the overall heat transfer characteristics in the system.

Anomalous decrease in structural disorder due to charge redistribution in Cr-doped Li4Ti5O12 negative-electrode materials for high-rate Li-ion batteries

Since one of the main drawbacks of Li4Ti5O12 as a negative-electrode material is its low electronic conductivity, several researchers have attempted to improve the conductivity by narrowing the band gap through transition-metal doping. Herein, we report another, more significant effect of doping in addition to the band gap narrowing, namely, an anomalous decrease in the structural disorder in Li4Ti5O12 upon Cr3+-ion doping. Although it is generally recognized that doping with heterogeneous elements increases the structural disorder, the Cr3+-ion doping in Li4Ti5O12 demonstrated an unexpected structural phenomenon. From the results of various structural analyses using a synchrotron beam, such anomalous structural changes were revealed to originate from charge redistribution at nearby Ti4+ ions. Finally, the capacity was markedly enhanced, especially at high C-rates (125 mA h g−1 for 10C charge/10C discharge, 145 mA h g−1 for 1C charge/50C discharge) because of both the band gap narrowing and the increased ionic diffusivity due to the decreased structural disorder, but was decreased instead for too-high doping levels.

A car test for the estimation of GPS/INS alignment errors

Misalignment can be an important error source in the integration of the global positioning system (GPS) and inertial navigation systems. This paper presents car test results on the estimation of alignment errors in the integration of a low-grade inertial measurement unit (IMU) with accurate GPS measurement systems. The car test was conducted with a low-cost solid-state IMU and carrier-phase differential GPS measurement systems. Test results showed that changes in the angular velocity improve the estimation of the lever arm between the GPS antenna and IMU. They also showed that changes in acceleration improve the estimation of the relative attitude between the GPS antenna array and IMU. The lever arm was estimated with a 10-cm error. The relative attitude was estimated with a half-degree error. An iterative scheme was used to improve the estimation of the alignment errors during postprocessing. The scheme was shown to be useful when the test car could not have sufficient changes in motion due to limitations in its path. With the given set of test data, the estimation error decreased as the number of iterations increased.

Experimental study on the estimation of lever arm in GPS/INS

Lever-arm uncertainty can be an important error source in the integration of the Global Positioning System (GPS) and inertial navigation system (INS). This paper presents both numerical and experimental studies on the estimation of the lever arm in the integration of a very-low-grade inertial measurement unit (IMU) with an accurate single-antenna GPS measurement system. Covariance simulation results showed that maneuvers play an important role on the estimation of the lever arm and attitude. The length of the lever arm has a rather insignificant effect on the estimation of these. Experimental tests conducted with a low-cost microelectromechanical system (MEMS) IMU and a carrier-phase differential GPS (CDGPS) measurement system showed that the lever arm can be estimated with centimeter-level accuracy. The test results confirmed that angular motions and horizontal accelerations improve the estimates of the lever arm and yaw angle, respectively.

Observability Measures and Their Application to GPS/INS

In this paper, two observability measures are introduced for a discrete linear system. The degrees of observability of both the system and its subspaces can be examined with these measures. The measures are well conditioned to perturbation and applicable to multi-input/multi-output time-varying systems. The relations among observability, observability measures, error covariance, and the information matrix are presented. It is shown that the measures have direct connections with the singular value decomposition of the information matrix. In contrast to the error covariance, the measures are determined by the system model and independent of the initial error covariance. An example of the observability analysis of the Global Positioning System/inertial navigation system is given. The measures are confirmed to be less sensitive to the system model perturbation. It is also shown that the vertical component of the gyro bias can be considered unobservable with a tactical-grade inertial measurement unit for a horizontal constant-speed motion.

Longitudinal stability and dynamic motions of a small passenger WIG craft

The longitudinal stability characteristics of a Wing-In-Ground (WIG) effect craft are quite different from those of the conventional airplane due to the existence of force and moment derivatives with regard to height. These stability characteristics play an important role in designing a safe and efficient WIG due to its potential danger in sea surface proximity. The static and dynamic stability criteria are derived from the motion equations of WIG in the framework of small disturbance theory and discussed in this paper. The static and dynamic stability analyses of a 20-passenger WIG are conducted based on wind tunnel test data, and dynamic motion behaviors are investigated for changes in design parameters. Finally, the flying quality of the 20-passenger WIG is analyzed at cruising conditions according to the military regulations.

Stabilization of oxygen-deficient structure for conducting Li4Ti5O12-δ by molybdenum doping in a reducing atmosphere.

Li4Ti5O12 (LTO) is recognized as being one of the most promising anode materials for high power Li ion batteries; however, its insulating nature is a major drawback. In recent years, a simple thermal treatment carried out in a reducing atmosphere has been shown to generate oxygen vacancies (VO) for increasing the electronic conductivity of this material. Such structural defects, however, lead to re-oxidization over time, causing serious deterioration in anode performance. Herein, we report a unique approach to increasing the electronic conductivity with simultaneous improvement in structural stability. Doping of LTO with Mo in a reducing atmosphere resulted in extra charges at Ti sites caused by charge compensation by the homogeneously distributed Mo6+ ions, being delocalized over the entire lattice, with fewer oxygen vacancies (VO) generated. Using this simple method, a marked increase in electronic conductivity was achieved, in addition to an extremely high rate capability, with no performance deterioration over time.

Fully nonlinear numerical wave tank (NWT) simulations and wave run-up prediction around 3-D structures

Abstract A finite-difference scheme and a modified marker-and-cell (MAC) algorithm have been developed to investigate the interactions of fully nonlinear waves with two- or three-dimensional structures of arbitrary shape. The Navier–Stokes (NS) and continuity equations are solved in the computational domain and the boundary values are updated at each time step by the finite-difference time-marching scheme in the framework of a rectangular coordinate system. The fully nonlinear kinematic free-surface condition is implemented by the marker-density function (MDF) technique developed for two fluid layers. To demonstrate the capability and accuracy of the present method, the numerical simulation of backstep flows with free-surface, and the numerical tests of the MDF technique with limit functions are conducted. The 3D program was then applied to nonlinear wave interactions with conical gravity platforms of circular and octagonal cross-sections. The numerical prediction of maximum wave run-up on arctic structures is compared with the prediction of the Shore Protection Manual (SPM) method and those of linear and second-order diffraction analyses based on potential theory and boundary element method (BEM). Through this comparison, the effects of non-linearity and viscosity on wave loading and run-up are discussed.

Time-Resolved PIV Investigation on the Unsteadiness of a Low Reynolds Number Confined Impinging Jet

The flow characteristics in a confined slot jet impinging on a flat plate were investigated in low Reynolds number regime by using time-resolved Particle Image Velocimetry technique. The jet Reynolds number was varied from 404 to 1026, where it is presumed that the transient regime exists. We found that the vortical structures in the shear layer are developed with increase of Reynolds number and that the jet becomes remains steady at the Reynolds number of 404. Vortical structures and their temporal evolution are verified and the results were compared with previous numerical studies.