公开(公告)号：US06449559B2

公开(公告)日：2002-09-10

申请号：US09808688

申请日：2001-03-14

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: B01S514

CPC classification number: G01S19/26 ,  G01C21/165 ,  G01S19/44 ,  G01S19/49

Abstract: A positioning system is disclosed for measuring a position of a vehicle on land, air, and space, using measurements from a global positioning system receiver and an inertial measurement unit. In the present invention, an integrated Kalman filter processes the all-available measurements of the global positioning system: pseudorange, delta range, carrier phase, and the solution of an inertial navigation system. The integrated Kalman filter is a multi-mode, robust kalman filter, in which optimal integrated mode is selected based on the measurement availability and filter stability. The high accurate solution of the inertial navigation system, which is corrected by the Kalman filter, is used to aid on-the-fly resolution of the carrier phase integer ambiguity of global positioning system in order to incorporate the carrier phase measurements into the Kalman filter, and to aid the carrier phase and code tracking loops of the receiver of the global positioning system to improve the receiver jamming and high dynamic resistance.

Abstract translation: 公开了一种使用来自全球定位系统接收机和惯性测量单元的测量来测量车辆在陆地，空中和空间上的位置的定位系统。 在本发明中，集成卡尔曼滤波器处理全球定位系统的全部可用测量：伪距，Δ范围，载波相位和惯性导航系统的解。 集成卡尔曼滤波器是一种多模式，鲁棒的卡尔曼滤波器，其中基于测量可用性和滤波器稳定性选择最佳集成模式。 由卡尔曼滤波器校正的惯性导航系统的高精度解决方案用于帮助全球定位系统的载波相位整数模糊度的即时分辨率，以将载波相位测量结合到卡尔曼滤波器 并且帮助全球定位系统的接收机的载波相位和码跟踪环路改善接收机干扰和高动态电阻。

公开(公告)号：US06415223B1

公开(公告)日：2002-07-02

申请号：US09726996

申请日：2000-11-29

Applicant: Ching-Fang Lin ,  Hiram McCall

Inventor： Ching-Fang Lin ,  Hiram McCall

IPC: G01C2100

CPC classification number: G01S19/49 ,  G01C21/20 ,  G01C21/206 ,  G01S5/0072 ,  G01S11/02 ,  G01S13/60 ,  G01S13/86 ,  G01S15/025 ,  G01S17/023 ,  G01S19/26 ,  G01S19/44 ,  G01S19/53

Abstract: An interruption-free hand-held positioning method and system, carried by a person, includes an inertial measurement unit, a north finder, a velocity producer, a positioning assistant, a navigation processor, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, the positioning assistant, and the north finder are processed to obtain highly accurate position measurements of the person. The user's position information can be exchanged with other users through the wireless communication device, and the location and surrounding information can be displayed on the display device by accessing a map database with the person position information.

Abstract translation: 由人携带的无中断的手持式定位方法和系统包括惯性测量单元，北极探测器，速度发生器，定位辅助器，导航处理器，无线通信设备和显示设备以及地图 数据库。 处理惯性测量单元，速度发生器，定位助手和北极探测器的输出信号，以获得人的高精度位置测量。 可以通过无线通信设备与其他用户交换用户的位置信息，并且可以通过使用人员位置信息访问地图数据库来将位置和周围信息显示在显示设备上。

公开(公告)号：US06311129B1

公开(公告)日：2001-10-30

申请号：US09287574

申请日：1999-04-06

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01S502

CPC classification number: G09B9/08 ,  Y10S345/952

Abstract: A positioning method and a system are disclosed for measuring a position of a vehicle on land, air, and space, using measurements from a global positioning system receiver and an inertial measurement unit. In the present invention, an integrated Kalman filter processes the all-available measurements of the global positioning system: pseudorange, delta range, carrier phase, and the solution of an inertial navigation system. The integrated Kalman filter is a multi-mode, robust kalman filter, in which optimal integrated mode is selected based on the measurement availability and filter stability. The high accurate solution of the inertial navigation system, which is corrected by the Kalman filter, is used to aid on-the-fly resolution of the carrier phase integer ambiguity of global positioning system in order to incorporate the carrier phase measurements into the Kalman filter, and to aid the carrier phase and code tracking loops of the receiver of the global positioning system to improve the receiver jamming and high dynamic resistance.

Abstract translation: 公开了一种定位方法和系统，用于使用来自全球定位系统接收机和惯性测量单元的测量来测量车辆在陆地，空中和空间上的位置。 在本发明中，集成卡尔曼滤波器处理全球定位系统的全部可用测量：伪距，Δ范围，载波相位和惯性导航系统的解。 集成卡尔曼滤波器是一种多模式，鲁棒的卡尔曼滤波器，其中基于测量可用性和滤波器稳定性选择最佳集成模式。 由卡尔曼滤波器校正的惯性导航系统的高精度解决方案用于帮助全球定位系统的载波相位整数模糊度的即时分辨率，以将载波相位测量结合到卡尔曼滤波器 并且帮助全球定位系统的接收机的载波相位和码跟踪环路改善接收机干扰和高动态电阻。

公开(公告)号：US06292750B1

公开(公告)日：2001-09-18

申请号：US09556343

申请日：2000-04-24

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2100

CPC classification number: G01C21/165 ,  G01S19/215 ,  G01S19/26 ,  G01S19/44

Abstract: An improved fully-coupled vehicle positioning process and system thereof can substantially solve the problems encountered in global positioning system-only and inertial navigation system-only, such as loss of global positioning satellite signal, sensibility to jamming and spoofing, and inertial solution's drift over time, in which the velocity and acceleration from an inertial navigation processor are used to aid the code and carrier phase tracking of the global positioning system satellite signals, so as to enhance the performance of the global positioning and inertial integration system, even in heavy jamming and high dynamic environments. The improved fully-coupled GPS/IMU vehicle positioning system includes an IMU (inertial measurement unit) and a GPS processor which are connected to a central navigation processor to produce navigation solution that is output to an I/O (input/output) interface.

Abstract translation: 改进的全耦合车辆定位过程及其系统可以基本上解决仅在全球定位系统和惯性导航系统中遇到的问题，例如全球定位卫星信号的丢失，干扰和欺骗的敏感度以及惯性解的漂移 时间，其中使用来自惯性导航处理器的速度和加速度来辅助全球定位系统卫星信号的码和载波相位跟踪，以便增强全球定位和惯性集成系统的性能，即使在重度干扰 和高动态环境。 改进的全耦合GPS / IMU车辆定位系统包括连接到中央导航处理器以产生输出到I / O（输入/输出）接口的导航解决方案的IMU（惯性测量单元）和GPS处理器。

公开(公告)号：US08670964B2

公开(公告)日：2014-03-11

申请号：US12924359

申请日：2010-09-24

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06G7/48

CPC classification number: G06F17/5086 ,  G01C19/38

Abstract: A Modeling, Design, Analysis, Simulation, and Evaluation (MDASE) aspects of gyrocompassing in relation to Far-Target Location (FTL) systems include a Gyrocompass Modeling and Simulation System (GMSS). The GMSS has four major components: the 6 degree-of-freedom (6DOF) Motion Simulator, the IMU Sensor Simulator, the Gyrocompass System and Calibration Process Simulator, and the Gyrocompass System Evaluation and Analysis Module. The modular architecture of GMSS makes it very flexible for programming, testing, and system maintenance. The realization of the GMSS is based on any computer platforms for the GMSS software is written in high level language and is portable. The stochastic signal analysis and sensor testing and modeling tools include a suite of generic statistical analysis software, including Allan Variance and power spectral density (PSD) analysis tools, which are available to every GMSS module and greatly enhanced the system functionality.

Abstract translation: 与目标定位（FTL）系统相关的陀螺仪的建模，设计，分析，仿真和评估（MDASE）方面包括陀螺仪建模与仿真系统（GMSS）。 GMSS有四个主要部分：6自由度（6DOF）运动模拟器，IMU传感器模拟器，陀螺仪系统和校准过程模拟器以及陀螺仪系统评估和分析模块。 GMSS的模块化架构使其对于编程，测试和系统维护非常灵活。 GMSS的实现是基于任何用于GMSS软件的计算机平台，以高级语言编写并且是便携式的。 随机信号分析和传感器测试和建模工具包括一套通用统计分析软件，包括Allan方差和功率谱密度（PSD）分析工具，可用于每个GMSS模块，并大大增强了系统功能。

公开(公告)号：US08509965B2

公开(公告)日：2013-08-13

申请号：US11999310

申请日：2007-12-04

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C23/00 ,  G05D1/00 ,  G08G5/04

CPC classification number: G01C21/165 ,  G01S13/9303 ,  G01S13/94 ,  G01S19/15 ,  G08G5/0078 ,  G08G5/0086 ,  G08G5/045

Abstract: Collision with ground/water/terrain and midair obstacles is one of the common causes of severe aircraft accidents. The various data from the coremicro AHRS/INS/GPS Integration Unit, terrain data base, and object detection sensors are processed to produce collision warning audio/visual messages and collision detection and avoidance of terrain and obstacles through generation of guidance commands in a closed-loop system. The vision sensors provide more information for the Integrated System, such as, terrain recognition and ranging of terrain and obstacles, which plays an important role to the improvement of the Integrated Collision Avoidance System.

Abstract translation: 与地面/水/地形和空中障碍物的碰撞是严重飞机事故的常见原因之一。 处理核心AHRS / INS / GPS集成单元，地形数据库和物体检测传感器的各种数据，以产生碰撞警告音频/视觉消息和碰撞检测，避免地形和障碍物通过生成指导命令， 循环系统。 视觉传感器为集成系统提供了更多的信息，例如地形识别和地形和障碍物的范围，这对改进综合碰撞避免系统起着重要的作用。

公开(公告)号：US08275193B2

公开(公告)日：2012-09-25

申请号：US12008205

申请日：2008-01-08

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06K9/00 ,  G06K9/62 ,  G06K9/66 ,  G01C21/00

CPC classification number: G06K9/3216 ,  G06K9/6293 ,  G06T7/13 ,  G06T7/74 ,  G06T2207/20164

Abstract: This invention documents the efforts on the research and development of a miniaturized GPS/MEMS IMU integrated navigation system. A miniaturized GPS/MEMS IMU integrated navigation system is presented; Laser Dynamic Range Imager (LDRI) based alignment algorithm for space applications is discussed. Two navigation cameras are also included to measure the range and range rate which can be integrated into the GPS/MEMS IMU system to enhance the navigation solution.

Abstract translation: 本发明记录了小型化GPS / MEMS IMU综合导航系统的研究与开发工作。 提出了一种小型化GPS / MEMS IMU综合导航系统; 讨论了基于激光动态范围成像仪（LDRI）的空间应用对准算法。 还包括两个导航相机来测量可以集成到GPS / MEMS IMU系统中的范围和射程，以增强导航解决方案。

公开(公告)号：US08229163B2

公开(公告)日：2012-07-24

申请号：US12229450

申请日：2008-08-22

Applicant: Norman P. Coleman ,  Ching-Fang Lin

Inventor： Norman P. Coleman ,  Ching-Fang Lin

IPC: G06K9/00

CPC classification number: G06K9/0063 ,  G06K9/00208 ,  G06K9/3241 ,  G06T7/277 ,  G06T2207/10016 ,  G06T2207/30212 ,  G06T2207/30241

Abstract: The technology of the 4D-GIS system deploys a GIS-based algorithm used to determine the location of a moving target through registering the terrain image obtained from a Moving Target Indication (MTI) sensor or small Unmanned Aerial Vehicle (UAV) camera with the digital map from GIS. For motion prediction the target state is estimated using an Extended Kalman Filter (EKF). In order to enhance the prediction of the moving target's trajectory a fuzzy logic reasoning algorithm is used to estimate the destination of a moving target through synthesizing data from GIS, target statistics, tactics and other past experience derived information, such as, likely moving direction of targets in correlation with the nature of the terrain and surmised mission.

Abstract translation: 4D-GIS系统的技术部署了基于GIS的算法，用于通过注册从具有数字的移动目标指示（MTI）传感器或小型无人机（UAV）摄像机获得的地形图像来确定移动目标的位置 地图GIS。 对于运动预测，使用扩展卡尔曼滤波器（EKF）估计目标状态。 为了增强移动目标轨迹的预测，采用模糊逻辑推理算法，通过合成GIS数据，目标统计，战术等经验导出信息，将可能的移动方向 目标与地形的性质和推测的使命相关。

公开(公告)号：US08005635B2

公开(公告)日：2011-08-23

申请号：US12228754

申请日：2008-08-14

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C25/00 ,  G01C19/00 ,  G01F19/00

CPC classification number: G01C25/005 ,  G01C21/16

Abstract: A method and system for Self-calibrated Azimuth and Attitude Accuracy Enhancing are disclosed, wherein SAAAEMS approach is based on fully auto-calibration self-contained INS principles, not depending on magnetometers for azimuth/heading determination, and thus the system outputs and performance are not affected by the environmental magnetic fields. In order to reduce the system size and cost, this new innovative methods and algorithms are used for SAAAEMS system configuration and integration. Compared to a conventional INS for gyrocompassing, AGNC's approach uses a smaller number of high accuracy sensors: SAAAEMS uses only one 2-axis high accuracy gyro (for example, one DTG) instead of 3-axis; the third axis gyro is a MEMS gyro. It uses only 2 high accuracy accelerometers instead of 3, since the two accelerometers are used only for gyrocompassing not for navigation. These two changes to the conventional INS system configuration remarkably reduce the whole system size and cost. SAAAEMS, uses dynamic gyrocompassing processing for isolation of Base motion disturbance/interference and vibration. SAAAEMS provides a method and system for using automatic methods for system calibration.

Abstract translation: 公开了一种用于自校准方位和姿态精度提高的方法和系统，其中SAAAEMS方法基于完全自动校准自包含INS原理，而不依赖于用于方位角/方位确定的磁力计，因此系统输出和性能是 不受环境磁场的影响。 为了降低系统尺寸和成本，这种新的创新方法和算法用于SAAAEMS系统的配置和集成。 与传统的用于陀螺仪的INS相比，AGNC的方法使用较少数量的高精度传感器：SAAAEMS仅使用一个2轴高精度陀螺仪（例如一个DTG）而不是3轴; 第三轴陀螺仪是一个MEMS陀螺仪。 它仅使用2个高精度加速度计而不是3个，因为两个加速度计仅用于不用于导航的陀螺仪。 对传统INS系统配置的这两个改变显着地降低了整个系统的尺寸和成本。 SAAAEMS使用动态陀螺仪处理来分离基运动扰动/干扰和振动。 SAAAEMS提供了一种使用自动方法进行系统校准的方法和系统。

公开(公告)号：US20110167024A1

公开(公告)日：2011-07-07

申请号：US12930418

申请日：2011-01-05

Applicant: Francisco J. Maldonado Diaz ,  Ching-Fang Lin

Inventor： Francisco J. Maldonado Diaz ,  Ching-Fang Lin

IPC: G06N3/04

CPC classification number: G06N3/086

Abstract: A real time kernel for deploying health monitoring functions in Condition Base Maintenance (CBM) and Real Time Monitoring (RTM) systems is disclosed in this invention. The Optimized Neuro Genetic Fast Estimator (ONGFE) allows embedding failure detection, identification, and prognostics (FDI&P) capability by using Intelligent Software Element (ISE) based upon Artificial Neural Network (ANN). ONGFE enables embedded fast and on-line training for designing ANNs, which perform very high performance FDI&P functions. An advantage is the optimization block based on pseudogenetic algorithms, which compensate for effects due to initial weight values and local minimums without the computational burden of genetic algorithms. It provides a synchronization block for communication with secondary diagnostic modules. Also a scheme for conducting sensor data validation is embedded in Smart Sensors (SS). The algorithms are designed for a distributed, scalar, and modular deployment. The system electronics is built upon a network of smart sensors and a health monitoring computer for providing data acquisition capability and distributed computational power.

Abstract translation: 在本发明中公开了一种用于在条件库维护（CBM）和实时监控（RTM）系统中部署健康监控功能的实时内核。 优化的神经遗传快速估计器（ONGFE）通过使用基于人工神经网络（ANN）的智能软件元素（ISE），允许嵌入失败检测，识别和预测（FDI＆P）能力。 ONGFE可以进行嵌入式快速和在线培训，用于设计执行非常高性能的FDI和P功能的ANN。 优点是基于假基因算法的优化块，其补偿由初始权重值和局部最小值引起的影响，而没有遗传算法的计算负担。 它提供了一个用于与辅助诊断模块通信的同步块。 传感器数据验证方案也嵌入在智能传感器（SS）中。 算法设计用于分布式，标量化和模块化部署。 系统电子设备基于智能传感器网络和健康监控计算机，用于提供数据采集能力和分布式计算能力。