公开(公告)号：US20060100781A1

公开(公告)日：2006-05-11

申请号：US09740539

申请日：2000-12-18

Applicant: Ching-Fang Lin ,  Hiram McCall

Inventor： Ching-Fang Lin ,  Hiram McCall

IPC: G01C21/28

CPC classification number: G01C21/28

Abstract: A self-contained/interruption-free earth's surface positioning method and system, carried by a user on the earth's surface, includes an inertial measurement unit, a north finder, a velocity producer, an altitude measurement device, a GPS (Global Positioning System) receiver, a data link, a navigation processor, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, altitude measurement device, the GPS receiver, the data link, and the north finder are processed to obtain highly accurate position measurements of the user. 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 user position information.

Abstract translation: 地球表面用户承载的独立/无中断的地球表面定位方法和系统包括惯性测量单元，北极探测器，速度测量仪，高度测量仪，GPS（全球定位系统） 接收机，数据链路，导航处理器，无线通信设备以及显示设备和地图数据库。 处理惯性测量单元，速度发生器，高度测量装置，GPS接收器，数据链路和北极探测器的输出信号，以获得用户的高精度位置测量结果。 可以通过无线通信设备与其他用户交换用户的位置信息，并且可以通过使用用户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：US06792353B2

公开(公告)日：2004-09-14

申请号：US10359851

申请日：2003-02-07

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2130

CPC classification number: G01S19/49 ,  G01C21/165

Abstract: The present invention relates generally to a geospatial database access and query method, and more particularly to a map and Inertial Measurement Unit/Global Positioning System (IMU/GPS) navigation process. With the location information provided by an IMU/GPS integrated system, the geospatial database operations, such as database access and query, are sped up. With the map data from a geospatial database, the navigation performance and accuracy are enhanced. The present invention also supports real time mapping by using IMU/GPS integrated system as the positioning sensor.

Abstract translation: 本发明一般涉及地理空间数据库访问和查询方法，更具体地涉及地图和惯性测量单元/全球定位系统（IMU / GPS）导航过程。 通过IMU / GPS集成系统提供的位置信息，数据库访问和查询等地理空间数据库操作将加快。 利用来自地理空间数据库的地图数据，导航性能和准确性得到提升。 本发明还通过使用IMU / GPS集成系统作为定位传感器来支持实时映射。

公开(公告)号：US06757569B2

公开(公告)日：2004-06-29

申请号：US09840511

申请日：2001-04-20

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G05B1302

CPC classification number: G05B17/02 ,  G05B13/0275 ,  G05B13/04 ,  Y10S706/90

Abstract: A filtering process is adapted for eliminating the need of prediscretizing a continuous-time differential model into a discrete-time difference model. It provides a universal robust solution to the most general formulation, in the sense that the system dynamics are described by nonlinear continuous-time differential equations, and the nonlinear measurements are taken at intermittent discrete times randomly spaced. The filtering process includes the procedures of validating the measurement using fuzzy logic, and incorporating factorized forward filtering and backward smoothing to guarantee numerical stability. It provides users a reliable and convenient solution to extracting internal dynamic system state estimates from noisy measurements, with wider applications, better accuracy, better stability, easier design, and easier implementation.

Abstract translation: 滤波过程适用于消除将连续时间差分模型预分析成离散时间差分模型的需要。 在通过非线性连续时间微分方程描述系统动力学的意义上，它提供了通用的最通用公式的通用鲁棒解决方案，并且非线性测量是在间歇性离散时间间隔进行的。 滤波过程包括使用模糊逻辑验证测量的过程，并结合分解前向滤波和后向平滑来保证数值稳定性。 它为用户提供了可靠和方便的解决方案，从噪声测量中提取内部动态系统状态估计，具有更广泛的应用，更高的准确性，更好的稳定性，更容易的设计和更容易实现。

公开(公告)号：US06704619B1

公开(公告)日：2004-03-09

申请号：US10453963

申请日：2003-06-03

Applicant: Norm Coleman ,  Ching-Fang Lin

Inventor： Norm Coleman ,  Ching-Fang Lin

IPC: G06F1900

CPC classification number: G05D1/0255 ,  G05B2219/37388 ,  G05B2219/39259 ,  G05B2219/42064 ,  G05D1/0278

Abstract: A system for universal guidance and control of automated machines incorporates with an IMU (Initial Measuring Unit) installed at an end effector of a motion element of an automated machine, fast-response feedback control for both position and angle servo-loops (for the end effector) greatly decreases the operational time needed to complete a preplanned trajectory. In addition, the closed-control loop design provides stabilization and isolation of the end effector from external disturbances. This unique navigation solution is based upon the uses of a set of equations performing an open loop computation with the inertial data as its input. This formulation of equations requires a periodic update of the open loop solution in order to bind the growth of system errors. The source of this update is the automated machine position measurement derived from the mechanical sensors in the system.

Abstract translation: 用于自动化机器的通用引导和控制的系统与安装在自动机器的运动元件的末端执行器上的IMU（初始测量单元）结合，用于位置和角度伺服回路的快速响应反馈控制 效应器）大大降低了完成预计划轨迹所需的操作时间。 此外，闭环控制回路设计提供端部执行器的稳定和隔离以免外部干扰。 这种独特的导航解决方案是基于以惯性数据作为其输入执行开环计算的一组方程的使用。 这种公式的公式需要定期更新开环解决方案，以便限制系统错误的增长。 该更新的来源是从系统中的机械传感器得到的自动机器位置测量。

公开(公告)号：US06677941B2

公开(公告)日：2004-01-13

申请号：US09924225

申请日：2001-08-06

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06T1500

CPC classification number: G05D1/12 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/20 ,  G06T7/74

Abstract: The present invention relates to a process and system for three-dimensional (3D) relative positioning and tracking, utilizing a range image and reflectance image producer including a laser dynamic range imager (LDRI), wherein a complete suite of unique 3D relative positioning and tracking algorithms and processing methods, including cross plane correlation, subpixel tracking, focal length determination, Kalman filtering, and orientation determination, is employed to take full advantage of the range information and reflectance information provided by the LDRI to provide relative position and orientation of a target to simultaneously provide the 3-D motion of multiple points of a target without the necessity of using multiple cameras and specific targets and the relative attitude of the target with respect to a carrier of the LDRI.

Abstract translation: 本发明涉及一种用于三维（3D）相对定位和跟踪的方法和系统，其利用包括激光动态范围成像器（LDRI）的范围图像和反射率图像生成器，其中完整的一套独特的3D相对定位和跟踪 采用包括横平面相关，子像素跟踪，焦距确定，卡尔曼滤波和方向确定的算法和处理方法，充分利用LDRI提供的范围信息和反射信息，提供目标的相对位置和方向 同时提供目标的多个点的三维运动，而不需要使用多个摄像机和特定目标，以及目标相对于LDRI的运营商的相对态度。

公开(公告)号：US06510354B1

公开(公告)日：2003-01-21

申请号：US09551897

申请日：2000-04-19

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G05B1302

CPC classification number: G05B13/0275 ,  G05B13/04 ,  G05B17/02 ,  Y10S706/90

Abstract: A universal robust filtering process is adapted for eliminating the need of prediscretizing a continuous-time differential model into a discrete-time difference model. It provides a universal robust solution to the most general formulation, in the sense that the system dynamics are described by nonlinear continuous-time differential equations, and the nonlinear measurements are taken at intermittent discrete times randomly spaced. The universal robust filtering process includes the procedures of validating the measurement using fuzzy logic, and incorporating factorized forward filtering and backward smoothing to guarantee numerical stability. It provides users a reliable and convenient solution to extracting internal dynamic system state estimates from noisy measurements, with wider applications, better accuracy, better stability, easier design, and easier implementation.

Abstract translation: 通用鲁棒滤波过程适用于消除将连续时间差分模型预分析成离散时间差分模型的需要。 在通过非线性连续时间微分方程描述系统动力学的意义上，它提供了通用的最通用公式的通用鲁棒解决方案，并且非线性测量是在间歇性离散时间间隔进行的。 通用鲁棒滤波过程包括使用模糊逻辑验证测量的过程，并结合分解前向滤波和后向平滑来保证数值稳定性。 它为用户提供了可靠和方便的解决方案，从噪声测量中提取内部动态系统状态估计，具有更广泛的应用，更高的准确性，更好的稳定性，更容易的设计和更容易实现。

公开(公告)号：US06459990B1

公开(公告)日：2002-10-01

申请号：US09669185

申请日：2000-09-25

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G06F1550

CPC classification number: G01C21/165

Abstract: A positioning method and system for water and land vehicles is disclosed for highly accurate and self-contained operation. In which, an inertial navigation system (INS) is built on the micro MEMS (MicroElectroMechanicalSystem) IMU that is the core of the position determination system. To compensate the error of the INS, multiple navigation sensors are integrated into the system. The magnetic sensor is used as a magnetic field sensor to measure the heading of the vehicle. The odometer is used to measure the distance when the vehicle is on land. An automated Zero velocity updating method is used to calibrate the ever increasing INS errors. When the vehicle is in the water, a velocimeter is used to measure water speed for the INS aiding.

Abstract translation: 公开了一种用于水陆地车辆的定位方法和系统，用于高度精确和独立的操作。 其中，作为位置确定系统的核心的微机电系统（MicroElectroMechanicalSystem）IMU构建了惯性导航系统（INS）。 为了补偿INS的错误，将多个导航传感器集成到系统中。 磁传感器用作磁场传感器以测量车辆的航向。 里程表用于测量车辆在陆地上的距离。 自动化零速度更新方法用于校准不断增加的INS误差。 当车辆在水中时，使用速度计来测量INS辅助的水速。

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。