KR20170008410A - Dynamic displacement calcuation device and method of calculating dynamic displacement - Google Patents

Dynamic displacement calcuation device and method of calculating dynamic displacement Download PDF

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Publication number
KR20170008410A
KR20170008410A KR1020150099537A KR20150099537A KR20170008410A KR 20170008410 A KR20170008410 A KR 20170008410A KR 1020150099537 A KR1020150099537 A KR 1020150099537A KR 20150099537 A KR20150099537 A KR 20150099537A KR 20170008410 A KR20170008410 A KR 20170008410A
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South Korea
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displacement
acceleration
dynamic displacement
target object
bias value
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KR1020150099537A
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Korean (ko)
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KR101736133B1 (en
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손훈
김기영
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한국과학기술원
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration

Abstract

The dynamic displacement calculation apparatus includes an acceleration meter, a displacement meter, a Kalman filter unit, and an operation unit. The accelerometer measures the acceleration and angular displacement of the target object. The displacement meter measures the dynamic displacement of the target object. The Kalman filter section calculates the velocity and corrected dynamic displacement of the target object based on the acceleration, the angular displacement and the dynamic displacement, and calculates a bias value included in the acceleration based on the velocity and the corrected dynamic displacement. The computing unit provides the final dynamic displacement based on the corrected dynamic displacement and the bias value. The dynamic displacement calculation apparatus according to the embodiments of the present invention calculates a bias value included in the acceleration based on the velocity and the corrected dynamic displacement of the target object determined according to the acceleration, the angular displacement and the dynamic displacement of the target object, It is possible to provide a final dynamic displacement corresponding to the displacement.

Description

TECHNICAL FIELD [0001] The present invention relates to a dynamic displacement calculation device and a dynamic displacement calculation method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure diagnosis, and more particularly, to a dynamic displacement calculation apparatus and a dynamic displacement calculation method.

Techniques for diagnosing structures in relation to the safety of structures are continuously being developed. Structural diagnostics can be performed through dynamic displacement of the structure. If the dynamic displacement of the structure is larger than the reference range, the safety of the structure may be problematic. Various studies have been carried out to accurately calculate the dynamic displacement of a structure.

An object of the present invention to solve the above problems is to calculate a bias value included in an acceleration based on a velocity and a corrected dynamic displacement of a target object determined according to an acceleration, an angular displacement and a dynamic displacement of a target object, And to provide a dynamic displacement calculation device capable of improving performance by providing dynamic displacement.

An object of the present invention to solve the above problems is to calculate a bias value included in an acceleration based on a velocity and a corrected dynamic displacement of a target object determined according to an acceleration, an angular displacement and a dynamic displacement of a target object, And to provide a dynamic displacement calculation method capable of improving performance by providing dynamic displacement.

In order to accomplish one aspect of the present invention, an apparatus for calculating dynamic displacement according to embodiments of the present invention includes an acceleration meter, a displacement meter, a Kalman filter unit, and an operation unit. The acceleration meter measures the acceleration and the angular displacement of the target object. The displacement gauge measures the dynamic displacement of the target object. Wherein the Kalman filter section calculates a velocity and a corrected dynamic displacement of the target object based on the acceleration, the angular displacement and the dynamic displacement, and calculates a bias value included in the acceleration based on the velocity and the corrected dynamic displacement . An arithmetic section provides a final dynamic displacement based on the corrected dynamic displacement and the bias value.

In an exemplary embodiment, the Kalman filter portion may include a first Kalman filter and a second Kalman filter. The first Kalman filter may provide the velocity and the corrected dynamic displacement based on the acceleration, the angular displacement, and the dynamic displacement. The second Kalman filter may provide the bias value based on the velocity and the corrected dynamic displacement.

In an exemplary embodiment, the corrected dynamic displacement may be a sum of a value obtained by multiplying the calculated dynamic displacement obtained by double integration of the acceleration by a first weight, and a value obtained by multiplying the dynamic displacement by a second weight.

In an exemplary embodiment, the first weight and the second weight may be determined according to the Kalman gain of the first Kalman filter.

In an exemplary embodiment, the bias value may be determined based on the velocity, the corrected dynamic displacement, and the Kalman gain of the second Kalman filter.

In an exemplary embodiment, the final dynamic displacement may be a difference between the corrected dynamic displacement and a displacement bias value corresponding to a value obtained by doubly integrating the bias value.

In an exemplary embodiment, the dynamic displacement calculation device may further provide a final velocity corresponding to a difference between the velocity and a velocity bias value corresponding to a value obtained by integrating the bias value.

In an exemplary embodiment, the dynamic displacement calculation device may further provide final acceleration corresponding to the difference between the acceleration and the bias value.

In an exemplary embodiment, the acceleration may include a first acceleration that is an acceleration in a first direction, a second acceleration that is an acceleration in a second direction, and a third acceleration that is an acceleration in a third direction.

In an exemplary embodiment, the sampling frequency of the acceleration meter may be different from the sampling frequency of the displacement meter.

In order to achieve the object of the present invention, a method of calculating a dynamic displacement according to embodiments of the present invention is characterized in that a first Kalman filter calculates a velocity and a correction of the target object based on an acceleration, an angular displacement, Providing a dynamic displacement, a second Kalman filter providing a bias value included in the acceleration based on the velocity and the corrected dynamic displacement; And providing a final dynamic displacement based on the corrected dynamic displacement and the bias value.

According to another aspect of the present invention, there is provided a method of calculating a dynamic displacement, comprising the steps of: measuring acceleration and angular displacement of a target object by an acceleration measuring instrument, measuring a dynamic displacement of the target object, Calculating a velocity and a corrected dynamic displacement of the target object based on the acceleration, the angular displacement, and the dynamic displacement, and calculating a bias value included in the acceleration based on the velocity and the corrected dynamic displacement And providing a final dynamic displacement based on the corrected dynamic displacement and the bias value.

In an exemplary embodiment, the sampling frequency of the acceleration meter may be greater than the sampling frequency of the displacement meter.

The dynamic displacement calculation apparatus according to the embodiments of the present invention calculates a bias value included in the acceleration based on the velocity and the corrected dynamic displacement of the target object determined according to the acceleration, the angular displacement and the dynamic displacement of the target object, It is possible to provide a final dynamic displacement corresponding to the displacement.

1 is a block diagram showing a dynamic displacement calculation apparatus according to embodiments of the present invention.
FIG. 2 is a view for explaining acceleration and angular displacement measured by an acceleration measuring instrument included in the dynamic displacement calculation apparatus of FIG. 1; FIG.
3 is a view for explaining the dynamic displacement measured by the displacement measuring instrument included in the dynamic displacement calculation apparatus of FIG.
4 is a diagram for explaining a process of calculating a corrected dynamic displacement by a first Kalman filter included in the dynamic displacement calculation apparatus of FIG.
5 is a view for explaining the operation of the second Kalman filter included in the dynamic displacement calculation apparatus of FIG.
6 is a view for explaining the process of calculating the final dynamic displacement by the dynamic displacement calculation apparatus of FIG.
7 is a view for explaining a process of calculating the final speed by the dynamic displacement calculation apparatus of FIG.
8 is a view for explaining a process of calculating the final acceleration by the dynamic displacement calculation device of FIG.
9 is a flowchart showing a dynamic displacement calculation method according to embodiments of the present invention.
10 is a flowchart showing a dynamic displacement calculation method according to embodiments of the present invention.

For the embodiments of the invention disclosed herein, specific structural and functional descriptions are set forth for the purpose of describing an embodiment of the invention only, and it is to be understood that the embodiments of the invention may be practiced in various forms, The present invention should not be construed as limited to the embodiments described in Figs.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprise", "having", and the like are intended to specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be construed as meaning consistent with meaning in the context of the relevant art and are not to be construed as ideal or overly formal in meaning unless expressly defined in the present application .

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

FIG. 1 is a block diagram showing a dynamic displacement calculation apparatus according to an embodiment of the present invention, and FIG. 2 is a view for explaining acceleration and angular displacement measured by an acceleration meter included in the dynamic displacement calculation apparatus of FIG.

Referring to FIGS. 1 and 2, the dynamic displacement calculation apparatus 10 includes an acceleration meter 100, a displacement meter 200, a Kalman filter unit 300, and an operation unit 400. The acceleration measuring instrument 100 measures the acceleration ACC and the angular displacement ROT of the target object 15. [ The displacement meter 200 measures the dynamic displacement (DISP) of the target object 15. The Kalman filter unit 300 calculates the velocity VEL and the corrected dynamic displacement CDISP of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP, And a bias value BIAS included in the acceleration ACC based on the corrected dynamic displacement CDISP. The computing unit 400 provides the final dynamic displacement (FDISP) based on the corrected dynamic displacement (CDISP) and the bias value (BIAS).

The acceleration measuring instrument 100 can measure the acceleration ACC of the target object 15. [ For example, the position of the target object 15 at the first time may be the first position Pl. The position of the target object 15 at the second time after the first time may be the second position P2. The acceleration measuring instrument 100 can measure the acceleration ACC of the target object 15 while the target object 15 is moving from the first position P1 to the second position P2. The acceleration ACC of the target object 15 measured by the accelerometer 100 during the movement of the target object 15 from the first position P1 to the second position P2 is determined by the first acceleration ACC1, A second acceleration ACC2 and a third acceleration ACC3. The first acceleration ACC may be the acceleration in the X axis of the acceleration ACC of the target object 15 and the second acceleration ACC2 may be the acceleration in the Y axis of the acceleration ACC of the target object 15. [ And the third acceleration ACC3 may be the acceleration in the Z axis of the acceleration ACC of the target object 15. [ In the exemplary embodiment, the acceleration ACC includes a first acceleration ACC as a first direction acceleration, a second acceleration ACC2 as an acceleration in a second direction, and a third acceleration ACC3 as an acceleration in a third direction. . ≪ / RTI >

3 is a view for explaining the dynamic displacement measured by the displacement measuring instrument included in the dynamic displacement calculation apparatus of FIG.

Referring to FIG. 3, the acceleration measuring instrument 100 can measure the angular displacement (ROT) of the target object 15. FIG. For example, the position of the target object 15 at the first time may be the first position Pl. The position of the target object 15 at the second time after the first time may be the second position P2. The acceleration measuring instrument 100 can measure the angular displacement ROT of the target object 15 while the target object 15 moves from the first position P1 to the second position P2. The angular displacement ROT of the target object 15 measured by the accelerometer 100 while the target object 15 is moving from the first position P1 to the second position P2 is the first angular displacement ROT1 ), A second angular displacement ROT2, and a third angular displacement ROT3. The first angular displacement ROT1 may be a variation of an angle varying along the XY plane about the first position P1 of the angular displacement ROT of the target object 15. [ The second angular displacement ROT2 may be a change in angle that varies along the YZ plane about the first position P1 of the angular displacement ROT of the target object 15. [ The third angular displacement ROT3 may be a change in angle that varies along the ZX plane about the first position P1 of the angular displacement ROT of the target object 15. [

4 is a diagram for explaining a process of calculating a corrected dynamic displacement by a first Kalman filter included in the dynamic displacement calculation apparatus of FIG.

Referring to FIGS. 1 and 4, the Kalman filter unit 300 calculates the velocity VEL of the target object 15 and the corrected dynamic displacement (CDISP) based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP ) And calculates a bias value BIAS included in the acceleration ACC based on the velocity VEL and the corrected dynamic displacement CDISP. In an exemplary embodiment, the Kalman filter portion 300 may include a first Kalman filter 310 and a second Kalman filter 320. The first Kalman filter 310 can provide a velocity VEL and a corrected dynamic displacement (CDISP) based on acceleration ACC, angular displacement ROT and dynamic displacement DISP. The Kalman filter included in the Kalman filter unit 300 may be a general Kalman filter used for analyzing existing measured values mixed with noise and estimating a position after a predetermined time.

For example, the first Kalman filter 310 may provide computed dynamic displacement (ODISP) based on the acceleration (ACC) of the target object 15. The calculated dynamic displacement (ODISP) can be calculated by double integration of the acceleration (ACC) of the target object 15 through the first Kalman filter 310. The angular displacement ROT of the target object 15 can be used to remove noise in the first Kalman filter 310. [ The acceleration ACC measured by the accelerometer 100 may include a bias value BIAS that changes every time the acceleration meter 100 measures the acceleration ACC. The bias value (BIAS) may include low frequency noise. The bias value BIAS included in the acceleration ACC can also be amplified during the calculation of the calculated dynamic displacement ODISP by integrating the acceleration ACC through the first Kalman filter 310. [ The calculated dynamic displacement (ODISP), when the bias value BIAS included in the acceleration ACC is amplified while the calculated dynamic displacement ODISP is integrated by integrating the acceleration ACC through the first Kalman filter 310, Can not accurately represent the dynamic displacement (DISP) that the target object 15 moved between the first time and the second time.

The dynamic displacement calculation apparatus 10 according to the embodiments of the present invention calculates the displacement of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP of the target object 15 The final dynamic displacement FDISP corresponding to a more accurate dynamic displacement can be provided by calculating the bias value BIAS included in the acceleration ACC based on the corrected dynamic displacement (VEL) and the corrected dynamic displacement (CDISP).

FIG. 5 is a view for explaining the operation of the second Kalman filter included in the dynamic displacement calculation apparatus of FIG. 1, and FIG. 6 is a view for explaining a process of calculating the final dynamic displacement by the dynamic displacement calculation apparatus of FIG.

5 and 6, the corrected dynamic displacement (CDISP) is a value obtained by multiplying the calculated dynamic displacement (ODISP), which is the double integration of the acceleration ACC, by the first weight A1 and the second weight A2). ≪ / RTI > For example, the corrected dynamic displacement (CDISP) may be a weighted average value of the calculated dynamic displacement (ODISP) and dynamic displacement (DISP). The corrected dynamic displacement (CDISP) is obtained by multiplying the calculated dynamic displacement (ODISP) by 0.8 and the dynamic displacement (DISP) multiplied by 0.2 when the first weight (A1) is 0.8 and the second weight (A2) . The first weight A1 and the second weight A2 can be determined according to the Kalman gain KG1 of the first Kalman filter 310. [ When the input of the first Kalman filter 310 is determined, the Kalman gain KG1 of the first Kalman filter 310 can be calculated internally of the first Kalman filter 310. [

The second Kalman filter 320 may provide a bias value BIAS based on the velocity VEL and the corrected dynamic displacement CDISP. The corrected dynamic displacement CDISP provided from the first Kalman filter 310 may include a displacement bias value PBIAS in which the bias value BIAS included in the acceleration ACC is doubly integrated. The final dynamic displacement (FDISP) can be obtained by removing the displacement bias value (PBIAS) from the corrected dynamic displacement (CDISP). In an exemplary embodiment, the bias value BIAS may be determined based on the velocity VEL, the corrected dynamic displacement CDISP, and the Kalman gain KG2 of the second Kalman filter 320. [ For example, the Kalman gain KG2 of the second Kalman filter 320 may be determined according to the velocity VEL, the corrected dynamic displacement CDISP, and the Kalman gain KG1 of the first Kalman filter 310. [ When the Kalman only of the second Kalman filter 320 is determined, the third weight multiplied by the velocity VEL and the fourth weight multiplied by the corrected dynamic displacement CDISP can be determined. The bias value BIAS can be determined based on the velocity VEL * the third weight, the corrected dynamic displacement * CDISP * fourth weight.

In an exemplary embodiment, the final dynamic displacement (FDISP) may be a difference between a corrected dynamic displacement (CDISP) and a displacement bias value (PBIAS) corresponding to a bi-integral of the bias value (BIAS). For example, the operation unit 400 may include a first calculator 410. The first calculator 410 may receive the corrected dynamic displacement (CDISP) and the displacement bias value (PBIAS). The corrected dynamic displacement (CDISP) may be provided from the first Kalman filter 310 and the displacement bias value PBIAS may be calculated by bi-integrating the bias value BIAS. When the first calculator 410 receives the corrected dynamic displacement (CDISP) and the displacement bias value (PBIAS), the first calculator 410 calculates the difference between the corrected dynamic displacement (CDISP) and the displacement bias value (PBIAS) Can be provided as displacement (FDISP).

The dynamic displacement calculation apparatus 10 according to the embodiments of the present invention calculates the displacement of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP of the target object 15 The final dynamic displacement FDISP corresponding to a more accurate dynamic displacement can be provided by calculating the bias value BIAS included in the acceleration ACC based on the corrected dynamic displacement (VEL) and the corrected dynamic displacement (CDISP).

7 is a view for explaining a process of calculating the final speed by the dynamic displacement calculation apparatus of FIG.

Referring to FIGS. 1 and 7, the dynamic displacement calculation apparatus 10 includes an acceleration meter 100, a displacement meter 200, a Kalman filter unit 300, and a calculator 400. The acceleration measuring instrument 100 measures the acceleration ACC and the angular displacement ROT of the target object 15. [ The displacement meter 200 measures the dynamic displacement (DISP) of the target object 15. The Kalman filter unit 300 calculates the velocity VEL and the corrected dynamic displacement CDISP of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP, And a bias value BIAS included in the acceleration ACC based on the corrected dynamic displacement CDISP. The computing unit 400 provides the final dynamic displacement (FDISP) based on the corrected dynamic displacement (CDISP) and the bias value (BIAS).

In the exemplary embodiment, the dynamic displacement calculation device 10 calculates the final velocity FVEL corresponding to the difference between the speed VEL and the speed bias value VBIAS corresponding to the value obtained by integrating the bias value BIAS You can provide more. For example, the operation unit 400 may include a second calculator 420. The second calculator 420 may receive the velocity VEL and the velocity bias value VBIAS. The velocity VEL may be provided from the first Kalman filter 310. The speed VEL can be calculated by integrating the acceleration ACC. The speed bias value VBIAS can be calculated by integrating the bias value BIAS. When the second calculator 420 receives the velocity VEL and the velocity bias value VBIAS, the second calculator 420 calculates the final velocity VEL corresponding to the difference between the velocity VEL and the velocity bias value VBIAS FVEL < / RTI >

8 is a view for explaining a process of calculating the final acceleration by the dynamic displacement calculation device of FIG.

Referring to FIG. 8, the dynamic displacement calculation apparatus 10 may further provide a final acceleration (FACC) corresponding to the difference between the acceleration ACC and the bias value BIAS. For example, the operation unit 400 may include a third calculator 430. The third calculator 430 may receive the acceleration ACC and the bias value BIAS. The acceleration ACC may be provided from the acceleration meter 100 and the bias value BIAS may be provided from the second Kalman filter 320. [ When the third calculator 430 receives the acceleration ACC and the bias value BIAS, the third calculator 430 calculates the final acceleration FACC corresponding to the difference between the acceleration ACC and the bias value BIAS, Lt; / RTI >

In the exemplary embodiment, the acceleration ACC includes a first acceleration ACC1 as an acceleration in the first direction, a second acceleration ACC2 as an acceleration in the second direction, and a third acceleration ACC3 as an acceleration in the third direction. . ≪ / RTI >

In an exemplary embodiment, the sampling frequency of the accelerometer 100 may be different from the sampling frequency of the displacement meter 200. For example, the acceleration measuring instrument 100 can measure the acceleration ACC and the angular displacement ROT of the target object 15. [ Since the sampling frequency of the acceleration measuring instrument 100 is high, the accuracy of the acceleration ACC of the target object 15 measured by the acceleration measuring instrument 100 can be high. Also, since the sampling frequency of the acceleration measuring instrument 100 is high, the accuracy of the angular displacement ROT of the target object 15 measured by the acceleration measuring instrument 100 can be high. On the other hand, since the sampling frequency of the displacement measuring device 200 is low, the precision of the dynamic displacement (DISP) of the target object 15 measured by the displacement measuring device 200 may be low.

The dynamic displacement calculation apparatus 10 according to the embodiments of the present invention calculates the displacement of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP of the target object 15 The final dynamic displacement FDISP corresponding to a more accurate dynamic displacement can be provided by calculating the bias value BIAS included in the acceleration ACC based on the corrected dynamic displacement (VEL) and the corrected dynamic displacement (CDISP).

9 is a flowchart showing a dynamic displacement calculation method according to embodiments of the present invention.

1 and 9, the dynamic displacement calculation apparatus 10 includes an acceleration meter 100, a displacement meter 200, a Kalman filter unit 300, and an operation unit 400. The acceleration measuring instrument 100 measures the acceleration ACC and the angular displacement ROT of the target object 15. [ The displacement meter 200 measures the dynamic displacement (DISP) of the target object 15. The Kalman filter unit 300 calculates the velocity VEL and the corrected dynamic displacement CDISP of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP, And a bias value BIAS included in the acceleration ACC based on the corrected dynamic displacement CDISP. The computing unit 400 provides the final dynamic displacement (FDISP) based on the corrected dynamic displacement (CDISP) and the bias value (BIAS). In the dynamic displacement calculation method, the first Kalman filter 310 calculates the velocity VEL of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP of the target object 15, And provides dynamic displacement (CDISP) (SlOO). The second Kalman filter 320 provides a bias value BIAS included in the acceleration ACC based on the velocity VEL and the corrected dynamic displacement CDISP. The operation unit 400 provides the final dynamic displacement FDISP based on the corrected dynamic displacement (CDISP) and the bias value BIAS (S120).

10 is a flowchart showing a dynamic displacement calculation method according to embodiments of the present invention.

Referring to FIG. 10, in the dynamic displacement calculation method, the acceleration measuring instrument 100 measures the acceleration ACC and the angular displacement ROT of the target object 15 (S200). The displacement measuring device 200 measures the dynamic displacement (DISP) of the target object 15 (S210). The Kalman filter unit 300 calculates the velocity VEL and the corrected dynamic displacement CDISP of the target object 15 based on the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP, And a bias value BIAS included in the acceleration ACC based on the corrected dynamic displacement CDISP (S220). The operation unit 400 provides the final dynamic displacement FDISP based on the corrected dynamic displacement (CDISP) and the bias value BIAS (S230). The sampling frequency of the acceleration measuring instrument 100 may be larger than the sampling frequency of the displacement measuring instrument 200. [ The dynamic displacement calculation method according to the embodiments of the present invention calculates the velocity VEL of the target object 15 determined according to the acceleration ACC, the angular displacement ROT and the dynamic displacement DISP of the target object 15, The final dynamic displacement FDISP corresponding to a more accurate dynamic displacement can be provided by calculating the bias value BIAS contained in the acceleration ACC based on the corrected dynamic displacement CDISP.

The dynamic displacement calculation device according to the embodiments of the present invention calculates the residual bias value included in the corrected dynamic displacement based on the velocity and the corrected dynamic displacement of the target object determined according to the acceleration, the angular displacement and the dynamic displacement of the target object It is possible to provide a final dynamic displacement corresponding to a more accurate dynamic displacement and can be applied to various structures diagnostic apparatuses.

While the present invention has been described with reference to the preferred embodiments thereof, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined in the appended claims. It will be understood.

Claims (13)

An acceleration measuring unit for measuring an acceleration and an angular displacement of the target object;
A displacement measuring device for measuring a dynamic displacement of the target object;
A Kalman filter unit for calculating a velocity and a corrected dynamic displacement of the target object based on the acceleration, the angular displacement and the dynamic displacement, and calculating a bias value included in the acceleration based on the velocity and the corrected dynamic displacement;
And a computation unit for providing a final dynamic displacement based on the corrected dynamic displacement and the bias value. The filter according to claim 1,
A first Kalman filter that provides the velocity and the corrected dynamic displacement based on the acceleration, the angular displacement, and the dynamic displacement; And
And a second Kalman filter that provides the bias value based on the velocity and the corrected dynamic displacement. 3. The method of claim 2,
Wherein the dynamic displacement calculation means is a sum of a value obtained by multiplying the calculated dynamic displacement obtained by double integration of the acceleration by a first weight and a value obtained by multiplying the dynamic displacement by a second weight. The method of claim 3,
Wherein the first weight and the second weight are determined according to the Kalman gain of the first Kalman filter. 3. The method of claim 2,
The corrected dynamic displacement, and the Kalman gain of the second Kalman filter. 2. The method of claim 1,
And a displacement bias value corresponding to a value obtained by double integration of the bias value and the corrected dynamic displacement. The dynamic displacement calculation apparatus according to claim 1,
And a final velocity corresponding to a difference between the velocity bias value corresponding to a value obtained by integrating the bias value and the velocity. The dynamic displacement calculation apparatus according to claim 1,
Further comprising a final acceleration corresponding to a difference between the acceleration and the bias value. 2. The method of claim 1,
A first acceleration which is an acceleration in a first direction, a second acceleration which is an acceleration in a second direction, and a third acceleration which is an acceleration in a third direction. The method according to claim 1,
Wherein the sampling frequency of the acceleration measuring device is different from the sampling frequency of the displacement measuring device. Providing a velocity and corrected dynamic displacement of the target object based on acceleration, angular displacement and dynamic displacement of the target object;
Providing a bias value wherein a second Kalman filter is included in the acceleration based on the velocity and the corrected dynamic displacement; And
And wherein the computing unit provides a final dynamic displacement based on the corrected dynamic displacement and the bias value. Measuring an acceleration and an angular displacement of the target object;
Measuring a displacement of the target object by a displacement meter;
Calculating a velocity and a corrected dynamic displacement of the target object based on the acceleration, the angular displacement and the dynamic displacement, and calculating a bias value included in the acceleration based on the velocity and the corrected dynamic displacement, ; And
And wherein the computing unit provides a final dynamic displacement based on the corrected dynamic displacement and the bias value. 13. The method of claim 12,
Wherein the sampling frequency of the acceleration measuring device is larger than the sampling frequency of the displacement measuring device.
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