公开(公告)号：US06494093B2

公开(公告)日：2002-12-17

申请号：US09865849

申请日：2001-05-24

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G01P300

CPC classification number: G01C21/16 ,  G01P2015/0814

Abstract: A method for measuring motion of a user, which is adapted to apply to output signals proportional to rotation and translational motion of the carrier, respectively from angular rate sensors and acceleration sensors, is more suitable for emerging MEMS angular rate and acceleration sensors. Compared with a conventional IMU, said processing method utilizes a feedforward open-loop signal processing scheme to obtain highly accurate motion measurements by means of signal digitizing, temperature control, sensor error and misalignment calibrations, attitude updating, and damping control loops, and dramatically shrinks said size of mechanical and electronic hardware and power consumption, meanwhile, obtains highly accurate motion measurements.

Abstract translation: 用于测量用户的运动的方法适用于分别来自角速度传感器和加速度传感器的与载波的旋转和平移运动成比例的输出信号，更适合于出现的MEMS角速率和加速度传感器。 与常规IMU相比，所述处理方法利用前馈开环信号处理方案，通过信号数字化，温度控制，传感器误差和不对准校准，姿态更新和阻尼控制回路获得高精度的运动测量，并显着缩小 表示机电硬件尺寸和功耗，同时获得高精度的运动测量。

公开(公告)号：US06311555B1

公开(公告)日：2001-11-06

申请号：US09442596

申请日：1999-11-17

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G01P1500

CPC classification number: G01C19/5719

Abstract: An angular rate producer is provided for measuring vehicle angular rate, wherein high performance dither drive signal generation and angular sensing signal extracting means are provided for hands-on vibrating type angular rate detecting units, including tuning forks and vibrating strings to obtain highly accurate angular rate signals. The angular rate producer includes an vibrating type angular rate detecting unit for detecting angular rate via Corilois Effect; an interfacing circuitry for converting angular motion-induced signals from the vibrating type angular rate detecting unit into angular rate signals and converting inertial element dither motion signals from the vibrating type angular rate detecting unit into processible inertial element dither motion signals; and a digital processing system for locking the high-quality factor frequency and amplitude of the vibrating inertial elements in the vibrating type angular rate detecting unit by means of providing an electronic energy including dither drive signal for the vibrating type angular rate detecting unit using the processible inertial element dither motion signals.

Abstract translation: 提供了用于测量车辆角速率的角速率产生器，其中为手动振动型角速率检测单元提供高性能抖动驱动信号产生和角度感测信号提取装置，其包括调谐叉和振弦，以获得高精度的角速率 信号。 角速率生成器包括用于通过Corilois Effect检测角速度的振动型角速度检测单元; 用于将来自振动型角速率检测单元的角运动感应信号转换为角速率信号并将来自振动型角速率检测单元的惯性元件抖动运动信号转换为可处理的惯性元件抖动运动信号的接口电路; 以及数字处理系统，用于通过提供包括用于振动型角速率检测单元的抖动驱动信号的电子能量来使振动型角速率检测单元中的振动惯性元件的高品质因子频率和幅度锁定在振动型角速率检测单元中 惯性元件抖动运动信号。

公开(公告)号：US06596976B2

公开(公告)日：2003-07-22

申请号：US09732648

申请日：2000-12-07

Applicant: Ching-Fang Lin ,  Hiram McCall

Inventor： Ching-Fang Lin ,  Hiram McCall

IPC: F41G700

CPC classification number: F41G3/145

Abstract: A method and system for pointing and stabilizing a device that needs to be pointed and stabilized with a desired direction, are disclosed, wherein current attitude measurement and attitude rate measurement of the device measured by an attitude producer, which includes an inertial measurement unit, and the desired direction information measured by a target coordinates producer are processed by a pointing controller to compute rotation commands to an actuator. An actuator rotates and stabilizes the device at the desired direction according to the rotation commands in the presence of disturbances and parametric uncertainties to account for the undesired vibration due to disturbances. A visual and voice device provide an operator with visualization and voice indication of the pointing and stabilization procedure of the device.

Abstract translation: 公开了一种用于指向和稳定需要按所需方向指向和稳定的装置的方法和系统，其中由包括惯性测量单元的姿态制造商测量的装置的当前姿态测量和姿态速率测量，以及 由目标坐标产生器测量的期望的方向信息由指点控制器处理以向致动器计算旋转命令。 在存在干扰和参数不确定性的情况下，致动器根据旋转命令在所需方向上旋转并稳定装置，以解决由于扰动引起的不期望的振动。 视觉和语音设备向操作者提供设备的指向和稳定化过程的可视化和语音指示。

公开(公告)号：US06477465B1

公开(公告)日：2002-11-05

申请号：US09704211

申请日：2000-10-31

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G01C2126

CPC classification number: G01C21/16

Abstract: A vehicle self-carried positioning system, carried in a vehicle, includes an inertial measurement unit, a north finder, a velocity producer, a navigation processor, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, and the north finder are processed to obtain highly accurate position measurements of a vehicle on land and in water, and the vehicle 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 vehicle position information.

公开(公告)号：US06463357B1

公开(公告)日：2002-10-08

申请号：US10072835

申请日：2002-02-06

Applicant: Dong An ,  ZongKe Li ,  Hiram McCall ,  Ching-Fang Lin

Inventor： Dong An ,  ZongKe Li ,  Hiram McCall ,  Ching-Fang Lin

IPC: G06F1900

CPC classification number: B25J9/1651 ,  G05B2219/39505

Abstract: A system and method for precision operational control of automated machines includes a motion element, an IMU (Inital Measuring Unit) installed at an end effector of the motion element for sensing and providing a motion measurement of the motion element, a central control processor receiving output of the IMU and producing commands, and a motion actuator receiving the commands from the central control processor to control the movement of the end effector of the motion element, so as to enable autonomous/intelligent control of the automated machine's end effector by incorporating the IMU to permit direct servo-control of the end effector's acceleration, velocity, angular rate. and angle—this closed-loop system minimizes effects of such disturbances like mechanical flexing and bending due to loading and nonlinear torques due to hydraulic components.

Abstract translation: 一种用于自动化机器的精密操作控制的系统和方法包括：运动元件，安装在运动元件末端执行器上的IMU（初始测量单元），用于感测和提供运动元件的运动测量;中央控制处理器接收输出 的IMU和产生命令的运动致动器，以及接收来自中央控制处理器的命令以控制运动元件的末端执行器的运动的运动致动器，以便通过结合IMU来实现对自动化机器末端执行器的自主/智能控制 以允许直接伺服控制末端执行器的加速度，速度，角速率。 和角度 - 这种闭环系统最小化诸如机械弯曲和由于负载导致的弯曲以及由于液压部件引起的非线性扭矩的影响。

公开(公告)号：US06427131B1

公开(公告)日：2002-07-30

申请号：US09444440

申请日：1999-11-22

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G01C1900

CPC classification number: G01C21/16

Abstract: A processing method for motion measurement, which is adapted to be applied to output signals proportional to rotation and translational motion of the carrier, respectively from angular rate sensors and acceleration sensors, is more suitable for emerging MEMS (MicroElectronicMechanicalSystem) angular rate and acceleration sensors. Compared with a conventional IMU, the present invention utilizes a feedforward open-loop signal processing scheme to obtain highly accurate motion measurements by means of signal digitizing, temperature control and compensation, sensor error and misalignment calibrations, attitude updating, and damping control loops, and dramatically shrinks the size of mechanical and electronic hardware and power consumption, meanwhile, obtains highly accurate motion measurements.

公开(公告)号：US06651027B2

公开(公告)日：2003-11-18

申请号：US10033444

申请日：2001-12-26

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G06F1500

CPC classification number: G01P15/125 ,  G01C21/16 ,  G01P2015/0814

Abstract: A processing method for motion measurement, which is adapted to apply to output signals proportional to rotation and translational motion of a carrier, respectively from rate sensors and acceleration sensors, is more suitable for emerging MEMS rate and acceleration sensors. Compared with a conventional IMU, the processing method utilizes a feedforward open-loop signal processing scheme to obtain highly accurate motion measurements by means of signal digitizing, temperature control and compensation, sensor error and misalignment calibrations, attitude updating, and damping control loops, and dramatically shrinks the size of mechanical and electronic hardware and power consumption, meanwhile, obtains highly accurate motion measurements.

公开(公告)号：US06611170B2

公开(公告)日：2003-08-26

申请号：US09783240

申请日：2001-02-13

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: H03F100

CPC classification number: G01C21/16

Abstract: An angular rate amplifier, which is adapted to amplify useful signals, which are proportional to rotation motion of a carrier, and to suppress noise, which is not proportional to rotation motion of a carrier, in output signals from an angular rate producer, including a MEMS (MicroElectronicMechanicalSystem) angular rate sensor. Compared with a conventional amplifiers, a noise shield and a co-resident trans impedance amplifier are utilized to achieve high signal/noise ratio. Furthermore, the angular rate producer and the noise shield and a co-resident trans impedance amplifier are used in a micro inertial measurement unit (IMU) to improve performance of the micro inertial measurement unit to form highly accurate, digital angular increments, velocity increments, position, velocity, attitude, and heading measurements of a carrier under dynamic environments.

公开(公告)号：US06516283B2

公开(公告)日：2003-02-04

申请号：US10170035

申请日：2002-06-11

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G06F1500

CPC classification number: G01C21/16

Abstract: A core inertial measurement unit, which is adapted to apply to output signals proportional to rotation and translational motion of a carrier, respectively from angular rate sensors and acceleration sensors, is employed with MEMS rate and acceleration sensors. Compared with a conventional IMU, the processing method utilizes a feedforward open-loop signal processing scheme to obtain highly accurate motion measurements by means of signal digitizing, temperature control and compensation, sensor error and misalignment calibrations, attitude updating, and damping control loops, and dramatically shrinks the size of mechanical and electronic hardware and power consumption, meanwhile, obtains highly accurate motion measurements.

Abstract translation: 用于MEMS速率和加速度传感器的核心惯性测量单元适用于分别来自角速度传感器和加速度传感器的载波的旋转和平移运动成比例的输出信号。 与传统IMU相比，该处理方法利用前馈开环信号处理方案，通过信号数字化，温度控制和补偿，传感器误差和不对准校准，姿态更新和阻尼控制回路获得高精度运动测量， 显着缩小了机电硬件的尺寸和功耗，同时获得了高精度的运动测量。

公开(公告)号：US06508122B1

公开(公告)日：2003-01-21

申请号：US09662438

申请日：2000-09-15

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G01P904

CPC classification number: G01C19/5719

Abstract: A microelectromechanical system (MEMS) for measuring angular rate of a carrier includes an angular rate sensor unit, microelectronic circuitry, and signal processing to obtain highly accurate, sensitive, stable angular rate measurements of the carrier under dynamic environments. Wherein, the angular rate sensor unit receives dither driver signals, capacitive pickoff excitation signals, and displacement restoring signals to output angle rate signals in response to the motion of the carrier and dither motion signals; the central circuitry receives the angle rate signals in response to the motion of the carrier and dither motion signals to output angular rate signals and digital low frequency inertial element displacement signals; a digital signal processing system analyzes digital low frequency inertial element displacement signals to feed back the dither drive signals to the angular rate sensor unit.

Abstract translation: 用于测量载体的角速率的微机电系统（MEMS）包括角速率传感器单元，微电子电路和信号处理，以在动态环境下获得载体的高精度，灵敏，稳定的角速率测量。 其中，角速率传感器单元接收抖动驱动器信号，电容性拾取激励信号和位移恢复信号以响应于载波和抖动运动信号的运动而输出角速率信号; 中央电路响应于载波的运动和抖动运动信号接收角速率信号以输出角速率信号和数字低频惯性元位移信号; 数字信号处理系统分析数字低频惯性元件位移信号以将抖动驱动信号反馈到角速率传感器单元。