公开(公告)号：US20190179030A1

公开(公告)日：2019-06-13

申请号：US15759946

申请日：2017-12-07

Applicant: Topcon Positioning Systems, Inc.

Inventor： Nikolay Nikolaevich Vasilyuk ,  Sergey Ivanovich Tychinskiy ,  Alexandr Vladimirovich Doronin ,  Dmitry Konstantinovich Tokarev

IPC: G01S19/10 ,  G01S19/47 ,  G01C21/16

CPC classification number: G01S19/10 ,  G01C21/165 ,  G01S19/47

Abstract: Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users. The MIMU allows building navigation systems when the same inertial measurements are used within independent computation modules implementing different algorithms of integrating these measurements with navigation data from satellite measurements, measurements of odometer, altimeter, etc.

公开(公告)号：US10788586B2

公开(公告)日：2020-09-29

申请号：US15759946

申请日：2017-12-07

Applicant: Topcon Positioning Systems, Inc.

Inventor： Nikolay Nikolaevich Vasilyuk ,  Sergey Ivanovich Tychinskiy ,  Alexandr Vladimirovich Doronin ,  Dmitry Konstantinovich Tokarev

IPC: G01S19/10 ,  G01C21/16 ,  G01S19/47 ,  G01S19/49

Abstract: Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users. The MIMU allows building navigation systems when the same inertial measurements are used within independent computation modules implementing different algorithms of integrating these measurements with navigation data from satellite measurements, measurements of odometer, altimeter, etc.

公开(公告)号：US10724863B2

公开(公告)日：2020-07-28

申请号：US15564481

申请日：2016-02-01

Applicant: TOPCON POSITIONING SYSTEMS, INC.

Inventor： Nikolay Nikolaevich Vasilyuk ,  Alexandr Vladimirovich Doronin ,  Sergey Ivanovich Tychinskiy ,  Anton Vladimirovich Klimenkov

IPC: G01C17/38 ,  G01R33/02 ,  G01R35/00 ,  G01C17/28 ,  G01P15/18

Abstract: A method and device for calibration of a three-axis magnetometer that facilitates a more efficient and routine procedure by calibration of hard and soft iron errors of a 3D-magnetometer integrated into a mobile electronic device, and a set of operations for coprocessing measurements of the 3D-magnetometer and inertial sensors (e.g., a 3D-accelerometer and 3D-gyro), which can determine magnetic heading and attitude of the electronic device.

公开(公告)号：US11846091B2

公开(公告)日：2023-12-19

申请号：US16976480

申请日：2020-01-28

Applicant: Topcon Positioning Systems, Inc.

Inventor： Mikhail Yurievich Vorobiev ,  Alexey Vladislavovich Zhdanov ,  Ivan Alexandrovich Bogdanyuk ,  Nikolay Nikolaevich Vasilyuk

IPC: E02F9/26 ,  E02F3/76 ,  E02F9/02 ,  G01S19/52 ,  G01S19/47 ,  G06T7/70 ,  H04N13/254 ,  G06T7/20 ,  G06T7/50 ,  E02F3/80 ,  H04N13/00

CPC classification number: E02F9/264 ,  E02F3/7609 ,  E02F3/80 ,  E02F9/02 ,  E02F9/26 ,  G01S19/47 ,  G01S19/52 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  H04N13/254 ,  G06T2207/10012 ,  G06T2207/10048 ,  G06T2207/30204 ,  G06T2207/30252 ,  H04N2013/0085

Abstract: A system and method are provided for determining the position and orientation of an implement on a work machine in a non-contact manner using machine vision. A 3D camera, which is mounted on the vehicle with a field of view that includes components on the implement (e.g., markers in some examples), determines a three-dimensional position in a local coordinate system of each of the components. A global positioning system in cooperation with an inertial measurement unit determines a three-dimensional position and orientation of the 3D camera in a global coordinate system. A computing system calculates a three-dimensional position in the global coordinate system for the components using the local three-dimensional positions of the components and the global three-dimensional position and orientation of the 3D camera. The position and orientation of the implement can then be calculated based on the calculated global three-dimensional positions of the components.

公开(公告)号：US11609346B2

公开(公告)日：2023-03-21

申请号：US16092114

申请日：2018-05-29

Applicant: Topcon Positioning Systems, Inc.

Inventor： Nikolay Nikolaevich Vasilyuk ,  Mikhail Yurievich Vorobiev ,  Dmitry Konstantinovich Tokarev ,  Alexandr Vladimirovich Doronin ,  Sergey Ivanovich Tychinskiy

IPC: G01S19/54 ,  G01C21/16 ,  G01S19/47

Abstract: Determining vehicle orientation based on GNSS signals received by three antennas that are logically combined into two pairs, with one antenna common for both pairs. GNSS receiver measures first carrier phase difference within each pair of antennas, represented as sum of an integer number of periods of the carrier frequency and a fractional part of the period. The fractional parts are used to compute orientation of the vector connecting the antennas phase centers within each pair, excluding integer ambiguity resolution. Vehicle attitude is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. Each antenna has an RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. All carrier phase measurements of the three antennas are performed on a common time scale.

公开(公告)号：US11287532B2

公开(公告)日：2022-03-29

申请号：US16343899

申请日：2018-11-13

Applicant: Topcon Positioning Systems, Inc.

Inventor： Nikolay Nikolaevich Vasilyuk ,  Andrey Vladimirovich Veitsel ,  Sergey Ivanovich Tychinskiy ,  Alexandr Vladimirovich Doronin ,  Alexey Stanislavovich Lebedinsky ,  Konstantin Viktorovich Ebauer

IPC: G01S19/23 ,  G04F10/00

Abstract: GNSS timing receiver with synchronization of raw GNSS measurements to an external timescale. Synchronization is achieved by using a hardware Time Interval Measurement Unit (TIMU). The TIMU measures time intervals between two pulse signals and makes additional processing of these measurements. The first pulse signal is generated inside the GNSS receiver. The second pulse signal is the external pulse signal generated by an external time reference device. This time interval is used to control the time instant when the output GNSS measurement will be taken. In the first embodiment all actual GNSS measurements are physically taken at time instants indicated by external pulse signal. These measurements are used as output GNSS measurements. In another embodiment all actual GNSS measurements are taken at their default time instants indicated by internal pulse signal. But output GNSS measurements are calculated at the time instants indicated by the external pulse signal.