公开(公告)号：KR101444656B1

公开(公告)日：2014-09-24

申请号：KR1020130018196

申请日：2013-02-20

Applicant: 국방과학연구소

Inventor： 황태원 ,  이용인 ,  최동균 ,  강치우

IPC: G06T17/00 ,  G06T7/00

Abstract: 본 발명은 표적 포착성능 향상을 위한 탐색기의 유효 탐색영역 산출방법에 관한 것으로, 비행체의 항법오차와 표적의 위치오차를 고려하여 실제 표적이 존재할 수 있는 공간영역을 3차원 타원체로 모델링하고, 상기 모델링된 3차원 타원체 공간영역에서 탐색기의 표적 포착확률을 최대화할 수 있는 타원체 공간영역의 크기를 결정한 후 상기 결정된 3차원 타원체 공간영역을 탐색기 시야 화면내의 2차원 유효탐색영역으로 변환하여, 상기 변환된 2차원 유효탐색영역내에 탐색기의 지향점이 존재하는지 판단하여 탐색기 정보의 유효성을 검증함으로써 표적 인식시 상기 결정된 유효 탐색영역에서만 탐색을 수행함으로써 표적 오포착 확률을 줄일 수 있는 효과가 있다.

公开(公告)号：KR101261240B1

公开(公告)日：2013-05-07

申请号：KR1020110107202

申请日：2011-10-19

Applicant: 국방과학연구소

Inventor： 이용인 ,  최동균

IPC: G06F19/00 ,  G06F17/10

Abstract: 본명세서는추력벡터제어(Thrust Vector Control: TVC) 방식을이용하는비행체의피치각(pitch angle) 명령을산출하기위한방법에있어서, 상기비행체에대한초기비행상태정보및 로켓의추력특성정보를입력정보로획득하는단계; 상기비행체에대한목표정점고도및 성형종료피치각에대한파라미터값을설정하는단계; 상기획득된입력정보및 상기설정된파라미터값을이용하여, 상기로켓분리후 상기비행체가목표정점고도에도달하기위한피치각성형구간을결정하는단계; 및상기결정된피치각성형구간및 상기성형종료피치각에기초하여, 상기비행체에대한피치각명령을산출하는단계를포함하여이루어진다.

公开(公告)号：KR1020120070891A

公开(公告)日：2012-07-02

申请号：KR1020100132412

申请日：2010-12-22

Applicant: 국방과학연구소

Inventor： 정상근 ,  최동균

IPC: G01C21/16 ,  G01C21/10

CPC classification number: G01C21/16 ,  G01C11/00 ,  G01C25/005 ,  G01S5/02

Abstract: PURPOSE: A 3D image auxiliary navigation device and an inertial navigation system are provided to calculate a distance from a current position to a target object on the ground by using a viewing angle difference at two spots with respect to the target object on the ground in which location information is known and to calculate errors between the location information and the current location calculated by an inertial navigation system based on the calculated distance. CONSTITUTION: A 3D image auxiliary navigation device and an inertial navigation system comprise an inertial navigation device(170), an image sensor(110), a 3D image auxiliary navigation device(130), and an induction control device(150). The inertial navigation device calculates a current location of a flight vehicle. The image sensor is installed in the flight sensor, thereby photographing a target object in which location information is known. The 3D image auxiliary navigation device calculates a location information error of the calculated current location and the actual current location based on viewing angle measurement values of two spots of the image sensor with respect to the target object on the ground. The induction control device extracts an optimal condition of each factor used for calculating the location information deviation minimizing own errors with respect to the calculated location information and controls the flight vehicle in order to move according to the extracted optimal condition.

Abstract translation: 目的：提供3D图像辅助导航装置和惯性导航系统，以通过使用相对于地面上的目标物体的两个点处的视角差来计算从当前位置到地面上的目标物体的距离，其中 位置信息是已知的，并且基于所计算的距离来计算由惯性导航系统计算的位置信息和当前位置之间的误差。 构成：3D图像辅助导航装置和惯性导航系统包括惯性导航装置（170），图像传感器（110），3D图像辅助导航装置（130）和感应控制装置（150）。 惯性导航装置计算飞行器的当前位置。 图像传感器安装在飞行传感器中，从而拍摄位置信息已知的目标对象。 3D图像辅助导航装置基于图像传感器的两个点相对于地面上的目标对象的视角测量值来计算计算出的当前位置和实际当前位置的位置信息误差。 感应控制装置提取用于计算相对于所计算的位置信息最小化自身误差的位置信息偏差的每个因子的最佳条件，并且控制飞行器以根据提取的最佳条件移动。

公开(公告)号：KR101208448B1

公开(公告)日：2012-12-05

申请号：KR1020100132412

申请日：2010-12-22

Applicant: 국방과학연구소

Inventor： 정상근 ,  최동균

IPC: G01C21/16 ,  G01C21/10

Abstract: 본발명에따른관성항법시스템은비행체의현재위치를산출하는관성항법장치, 상기비행체에설치되어위치정보를알고있는지상목표물을촬영하는영상센서, 상기지상목표물에대한상기영상센서의두 지점에서의시선각측정치를통해실 현재위치와상기산출된현재위치의위치정보오차를산출하는 3차원영상보조항법장치및 상기산출된위치정보오차의자체오차를최소화하는상기위치정보오차산출에사용되는각 인자들의최적조건을추출하고, 상기추출된최적조건에부합하는운동을하도록상기비행체를제어하는유도제어장치를포함함으로써, 현재위치를신뢰성있게파악할수 있다.

公开(公告)号：KR1020140104245A

公开(公告)日：2014-08-28

申请号：KR1020130018196

申请日：2013-02-20

Applicant: 국방과학연구소

Inventor： 황태원 ,  이용인 ,  최동균 ,  강치우

IPC: G06T17/00 ,  G06T7/00

CPC classification number: G06T17/10 ,  G06T3/0031 ,  G06T7/277 ,  G06T2207/20076

Abstract: The present invention relates to a method for calculating an effective search area for a seeker to improve a lock-on-target (LOT) performance, which models a space area where a real target may exist into a three-dimensional ellipsoid considering a navigational error of an aircraft and a location error of a target, determines the size of the ellipsoid space area capable of maximizing the LOT probability of the seeker in the modeled three-dimensional ellipsoid space area, converts the determined three-dimensional ellipsoid space area into a two-dimensional effective search area within a viewing screen of the seeker, and determines whether a directing point of the seeker exists within the converted two-dimensional effective search area to verify the validity of seeker information, thereby reducing the probability of wrong lock-on-target by searching the target only in the determined effective search area when recognizing the target.

Abstract translation: 本发明涉及一种用于计算寻求者的有效搜索区域以改善锁定目标（LOT）性能的方法，其将真实目标可能存在的空间区域建模成三维椭圆体，考虑导航误差 的飞机和目标的位置误差，确定能够最大化建模的三维椭圆空间区域中的寻求者的LOT概率的椭球空间区域的大小，将确定的三维椭圆空间区域转换为二 在寻求者的观看屏幕内的维度有效搜索区域，并且确定寻求者的指向点是否存在于转换的二维有效搜索区域内以验证寻求者信息的有效性，从而降低错误锁定的概率， 在识别目标时，仅在确定的有效搜索区域中搜索目标。

公开(公告)号：KR1020130043007A

公开(公告)日：2013-04-29

申请号：KR1020110107202

申请日：2011-10-19

Applicant: 국방과학연구소

Inventor： 이용인 ,  최동균

IPC: G06F19/00 ,  G06F17/10

CPC classification number: F02K9/80 ,  G05D1/107 ,  G06F17/10 ,  G06F17/5009

Abstract: PURPOSE: A method for calculating a pitch angle command and an induction control device using the same are provided to operate the pitch angle command according to a flight condition of a flight vehicle by using sensor information. CONSTITUTION: An induction control device obtains initial flight condition information for a flight vehicle as input information(S110). The induction control device sets a parameter value for a target peak altitude for the flight vehicle and a deformation end pitch angle(S120). The induction control device determines a pitch angle deformation section after a rocket is separated(S130). The induction control device calculates a pitch angle command for the flight vehicle based on the pitch angle deformation section and the deformation end pitch angle(S140). Initial flight condition information includes flight altitude, rising speed, and a pitch angle. Rocket thrust characteristic information includes the thrust size of the rocket and the burning time of the rocket. [Reference numerals] (AA) Start; (BB) End; (S110) Inputting initial flight condition information and rocket thrust feature information; (S120) Setting a target peak altitude and deformation end pitch angle; (S130) Setting a pitch angle deformation section; (S140) Calculating a pitch angle command;

Abstract translation: 目的：提供一种用于计算俯仰角指令的方法和使用其的感应控制装置，以通过使用传感器信息根据飞行器的飞行状况来操作俯仰角命令。 构成：感应控制装置获取作为输入信息的飞行器的初始飞行状态信息（S110）。 感应控制装置设定用于飞行车辆的目标峰值高度的参数值和变形结束俯仰角度（S120）。 感应控制装置在火箭分离后确定俯仰角变形部（S130）。 感应控制装置基于俯仰角变形部和变形结束俯仰角来计算飞行用车辆的俯仰角指令（S140）。 初始飞行条件信息包括飞行高度，上升速度和俯仰角。 火箭推力特征信息包括火箭的推力尺寸和火箭的燃烧时间。 （附图标记）（AA）开始; （BB）结束; （S110）输入初始飞行情况信息和火箭推力特征信息; （S120）设定目标峰值高度和变形端部俯仰角度; （S130）设定俯仰角变形部; （S140）计算俯仰角指令;