the INS systems, from the first realizations on, have enjoyed a strong push to miniaturization. On the one hand, this has made them less prone to various mechanical-electrical problems and therefore reduced many of the errors due to technology. On the other hand, the intrinsic errors due to the inseparable error of the instrument remains. This paper examines a simple methodology for filtering and deleting the propagation errors of the INS systems. Most of the errors that can be mathematically compensated through an appropriate series of Kalman’s filters

Inertial Navigation Systems for UAV: Uncertainty and Error Measurements

In this study, the optimization of the amount of enzyme consumed in the enzymatic phase of substitution of butanol solvent instead of methanol in the powder washing phase after filtration was investigated. To perform this study, different amounts of the enzyme penicillin G amidase (PGA) were tested in reactions with the same conditions. The highest efficiency was observed in the reaction that the ratio of penicillin powder to the amount of enzyme was 2:1. In this reaction, for every 100 g of penicillin consumed, 50 g of the PGA was used. Replacement of butanol instead of methanol after filtration, the powder obtained from this step was washed with butanol instead of methanol and the powder obtained from this step was examined after drying. The resulting solvent powder was very small and the drying speed of the powder increased compared to the time of methanol usage. Optimizing the amount of enzyme in this process due to the high cost of the enzyme made this reaction more economically viable at the end of this study. In this study, for the first time, butanol was used as a suitable substitute for methanol and the ratio of enzyme use to penicillin powder was optimized. This research deals with the future perspective in the field of research in this regard.

Investigation of enzymes and solvents in the production process of 6-ammonium penicillanic acid (6-APA) in industry to reduce costs and improve production conditions.

Frequency lock-in-induced deadband phenomena are major problems of ring laser gyroscopes (RLGs), which deteriorate linear responses to changes in the applied rotation rate. In this work, the frequency lock-in phenomenon occurring in the RLG was successfully investigated by compensating for the Sagnac effect through frequency analysis using a newly defined error function. Integrative and generalized viewpoints from the analyzed results provide new possibilities for relevant performance improvements of optical gyroscopes, as well as a deeper understanding of locked states in principle aspects.

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Sagnac Effect Compensations and Locked States in a Ring Laser Gyroscope

Frequency lock-in is the most principal phenomenological feature to be characterized and eliminated for the development of high precision ring laser gyroscope (RLG). As an effective method to solve the lock-in induced problem, sinusoidal dithering by mechanical manner has been proposed and has widely used successfully to date. However, in real applications, pure-sinusoidal dithering is nearly impossible, so additional nonlinear factors should be considered for modeling of dithered RLG. In this work, output variations of RLG in the presence of non-ideal sinusoidal dithering are investigated by performing numerical experiments.

Investigation on output variations of ring laser gyroscope in the presence of non-ideal sinusoidal dithering

A control for an electrical device, where in the control can include a receiver for receiving modulated electromagnetic radiation. The received radiation can be integrated by an analyzer, and an aspect of the electrical device can be controlled when radiation is detected. The integration period used by the analyzer can be greater than the period of a pulse in the modulated electromagnetic radiation such that the aspect of the device can be controlled independently of modulation in the received electromagnetic radiation.

Control of the apparatus

Effective approach for actually uncorrelated angular vibration pattern design of a ring laser angle sensor

In this paper, we propose the new method to decrease the navigation error by measurement time synchronization error in RLG Trapping signal processing. There are two methods to eliminate the dither motion in RLG. One is the stripping signal processing method. Another is the trapping signal processing method. This two methods have various error sources in measurement output. We perform the error modelling and analysis for the measurement time synchronization error between angular rate from RLG and acceleration from accelerometer in the trapping signal processing method. And we verify the navigation performance through simulation and experiment. Results of simulation and experiment show that the proposed method is very effective in decreasing the navigation error. 

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A study on the Performance Improvement in Trapping Signal Processing Method of RLG

It is required for getting the ring laser gyro output purely related to the input rotation to eliminate the output of the modulated angular vibration from the ring laser signal. In this paper we discuss the dither stripping methods of compensating the ring laser signal by converting the rate signal of dither detector from voltage to frequency for a dither type ring laser gyro. We discuss the differential methods for getting rid of the offset of the V-F signal. And we develope the methods of compensating the phase differences between the ring laser signals and the V-F differential signals by using analog integrator and digital time delays. And also, we develope the gain calculation method by comparing the standard deviations of the ring laser signals with V-F differential signals. We implemented these methods and analyzed the effectiveness of these methods by comparing the dither trapping methods.

Dither-stripping with the differential of dither rate signal for a ring laser gyroscope

In this paper we confirm the relation between the phases and phase errors of the beat signal at the lock-in region of the amplitude modulation type ring laser gyroscope by numerical calculation. Based on this facts, we, numerically, study the envelopes and magnitudes of the dither noise for statistically summing out the beat signal phase error, and we, experimently, confirm these numerical results. As a result, we find that the dither noise requires the increase gradient and the decrease gradient of the dither amplitudes, and those gradients should be combined with white noise. The magnitude of the dither noise which is satisfied with these requirements should be more than 5 percents of the average dither amplitude.

Kyu-Min Shim

Papers

Effective approach for actually uncorrelated angular vibration pattern design of a ring laser angle sensor

A study on the Performance Improvement in Trapping Signal Processing Method of RLG

Dither-stripping with the differential of dither rate signal for a ring laser gyroscope

ft Study on the Dither Random Noise for Improving the Bias Stability of Ring Laser Gyroscope

Sagnac Effect Compensations and Locked States in a Ring Laser Gyroscope