公开(公告)号：US06456939B1

公开(公告)日：2002-09-24

申请号：US09477151

申请日：2000-01-04

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G01C2126

CPC classification number: G01C19/5719

Abstract: A micro 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: 微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与载波的旋转和平移运动成比例的输出信号，与MEMS速率和加速度传感器一起使用。 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：US08510234B2

公开(公告)日：2013-08-13

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: G06G7/00 ,  G06E1/00 ,  G06E3/00 ,  G06F15/00 ,  G06N1/00

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。

公开(公告)号：US20100283832A1

公开(公告)日：2010-11-11

申请号：US12008205

申请日：2008-01-08

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: H04N13/02

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：US07239976B2

公开(公告)日：2007-07-03

申请号：US11588596

申请日：2006-10-27

Applicant: Norman Coleman ,  Ken Lam ,  Ching-Fang Lin

Inventor： Norman Coleman ,  Ken Lam ,  Ching-Fang Lin

IPC: G06F15/00

CPC classification number: H01Q3/02

Abstract: A platform residing viewing sensor and a pointing system/weapon. An operator system is remotely monitoring the scene on a display as viewed by the viewing sensor such that an operator system can gaze, acquire and track targets by scanning the scene with eyes and locking the eyesight onto a selected target and track the target with the eyes. The system further includes a dual camera sensor that follows and monitors the operator system's eyes motion so that the operator system can simultaneously monitor the external viewing sensor's scene, locking and tracking some selected target. The display coordinates of the selected target are utilized to point the pointing system/weapon on the external platform so that the operator system can fire at the target as desired. The problem is thus summarized as one of controlling the weapon pointing, movement and firing on a target that has been selected and is tracked by the eyes of an operator system viewing a display.

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：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。