公开(公告)号：US06278945B1

公开(公告)日：2001-08-21

申请号：US09197958

申请日：1998-11-20

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2100

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

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：US5170969A

公开(公告)日：1992-12-15

申请号：US276834

申请日：1988-11-23

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G05D1/02 ,  G05D1/08

CPC classification number: G05D1/0202 ,  G05D1/0808

Abstract: An aircraft rudder command system for allowing a pilot to directly input a sideslip command for yaw-axis control through use of the rudder pedals is disclosed. The aircraft rudder command system includes a pedal input device for receiving a pedal input signal indicative of pilot rudder pedal input, a signal-receiving device for receiving feedback signals indicative of the current state of aircraft operation, a command generator system responsive to the pedal input signal and at least one of the feedback signals for generating a sideslip angle command, command limiting means for generating a limited sideslip angle command, and a feedback control system for transmitting a sideslip control rudder command to a rudder actuation system. The rudder actuation system causes the rudder to move in such a manner so as to produce an actual aircraft sideslip angle which follows the limited sideslip angle command. The aircraft rudder command system may also include a sideslip estimator. The sideslip estimator includes a component for receiving an airmass sideslip signal, a sideslip rate estimator for generating a sideslip rate estimate signal, and a complementary filter for synthesizing a sideslip angle estimate signal from the airmass sideslip signal and the sideslip rate estimate signal. The rudder actuation system, in turn, causes the rudder to move in such a manner so as to cause the sideslip angle estimate signal to follow the limited sideslip angle command.

Abstract translation: 公开了一种用于允许飞行员通过使用方向舵踏板直接输入用于偏航轴控制的侧滑命令的飞行舵指令系统。 飞机舵指令系统包括用于接收指示飞行员舵踏板输入的踏板输入信号的踏板输入装置，用于接收指示飞行器操作的当前状态的反馈信号的信号接收装置，响应踏板输入的指令发生器系统 信号和用于产生侧滑角度指令的反馈信号中的至少一个，用于产生有限的侧滑角度指令的指令限制装置，以及用于将侧滑控制舵指令发送到方向舵致动系统的反馈控制系统。 方向舵致动系统使得方向舵以这样的方式移动，以产生遵循有限的侧滑角度命令的实际飞行器侧滑角。 飞机舵指令系统还可以包括侧滑估计器。 侧滑估计器包括用于接收空气侧滑信号的部件，用于产生侧滑速率估计信号的侧滑速率估计器，以及用于合成来自气门侧滑信号和侧滑速率估计信号的侧滑角估计信号的互补滤波器。 方向舵致动系统又使得方向舵以这样的方式移动，以便使侧滑角估计信号遵循有限的侧滑角度命令。

公开(公告)号：US08682416B2

公开(公告)日：2014-03-25

申请号：US13135544

申请日：2011-07-08

Applicant: Ching-Fang Lin ,  Stephen Oonk

Inventor： Ching-Fang Lin ,  Stephen Oonk

IPC: A61B19/00 ,  A61B6/00

CPC classification number: A61B34/73 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2034/302 ,  A61B2034/303

Abstract: A miniature in-vivo robotic module to be used for conducting dexterous manipulations on organs and other target entities in a patient's abdominal or peritoneal cavity as part of Natural Orifice Transluminal Endoscopic Surgery (NOTES) is disclosed in this invention. The robotic module is a serial manipulator consisting of seven cylindrical links and six actively controllable rotational degrees of freedom, thereby enabling an end effector equipped with a laparoscopic type instrument to assume a commanded position and orientation within the robot's workspace. After overtube navigation starting from a natural orifice or preexisting wound, the module must be anchored and guided to a designated location along the inner abdominal cavity wall. This is accomplished via magnetic coupling forces between internal embedded magnets and magnets fixed to the end of a different robotic manipulator located external to the patient.

Abstract translation: 在本发明中公开了一种用于对患者的腹部或腹膜腔中的器官和其他目标实体进行灵巧操作的微型体内机器人模块，作为天然口腔内镜手术（NOTES）的一部分。 机器人模块是由七个圆柱形连杆和六个主动控制的旋转自由度组成的串联操纵器，从而使具有腹腔镜型仪器的末端执行器能够在机器人工作空间内采取指令位置和方位。 在从天然孔或预先存在的伤口开始的超声导管之后，模块必须锚定并被引导到沿着内腹壁的指定位置。 这是通过固定在位于患者外部的不同机器人操纵器的端部的内部嵌入式磁体和磁体之间的磁耦合力来实现的。

公开(公告)号：US20090070058A1

公开(公告)日：2009-03-12

申请号：US12228766

申请日：2008-08-14

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01P21/00 ,  G01P15/14

CPC classification number: G01C21/16 ,  F41G1/50 ,  F41G3/02 ,  F41G3/14 ,  F41G3/18 ,  F41G5/06

Abstract: An innovative configuration of Miniaturized Smart Self-calibration EPD for mortar applications, as the azimuth/heading and elevation measurement device. This innovative EPD configuration uses only two FOGs or DTG and accelerometers and it is self-contained. This leads to a new EPD implementation that produces a small and light device with lower cost and adequate accuracy for the small dismounted mortar applications.

Abstract translation: 作为方位角/航向和仰角测量装置，用于砂浆应用的小型智能自校准EPD的创新配置。 这种创新的EPD配置仅使用两个FOG或DTG和加速度计，它是独立的。 这导致了一种新的EPD实现，可以为小型拆卸的砂浆应用产生较小的成本和足够的精度的小型轻型设备。

公开(公告)号：US20080071480A1

公开(公告)日：2008-03-20

申请号：US11805701

申请日：2007-05-23

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01B5/28 ,  G01B5/30

CPC classification number: G01C21/18

Abstract: The present invention provides a method and system for an innovative design of the automatic stabilization and pointing control of a device based on the MEMS technology, which is small enough and has acceptable accuracy to be integrated into many application systems, such as, laser pointing systems, telescopic systems, imaging systems, and optical communication systems. The stabilization mechanism configuration design is based on utilization of AGNC commercial products, the coremicro IMU and the coremicro AHRS/INS/GPS Integration Unit. The coremicro AHRS/INS/GPS Integration Unit is used as the processing platform core for the design of the MEMS coremicro IMU based stabilization mechanism.

Abstract translation: 本发明提供了一种用于基于MEMS技术的设备的自动稳定和指向控制的创新设计的方法和系统，该MEMS技术足够小并且具有可接受的精度被集成到许多应用系统中，例如激光指向系统 伸缩系统，成像系统和光通信系统。 稳定机构配置设计是基于AGNC商用产品，核心IMU和核心AHRS / INS / GPS集成单元的利用。 核心微型AHRS / INS / GPS集成单元用作基于MEMS芯片IMU的稳定机制设计的处理平台核心。

公开(公告)号：US20070057842A1

公开(公告)日：2007-03-15

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: H01Q3/00

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.

Abstract translation: 平台驻留观察传感器和指点系统/武器。 操作员系统在由观察传感器观察的显示器上远程监视场景，使得操作者系统可以通过用眼睛扫描场景并将视力锁定在所选择的目标上并用眼睛跟踪目标来注视，获取和跟踪目标 。 该系统还包括一个双摄像头传感器，跟踪并监视操作员系统的眼睛运动，以便操作员系统可以同时监视外部观察传感器的场景，锁定和跟踪一些所选择的目标。 所选择的目标的显示坐标被用于将指示系统/武器指向外部平台，以便操作者系统可以根据需要在目标点火。 因此，该问题被总结为控制已经被选择并由观察显示器的操作者系统的眼睛跟踪的目标上的武器指向，移动和射击。

公开(公告)号：US07187451B2

公开(公告)日：2007-03-06

申请号：US10935172

申请日：2004-09-08

Applicant: Ching-Fen Kao ,  Chung-Chu Chang ,  Ching-Fang Lin

Inventor： Ching-Fen Kao ,  Chung-Chu Chang ,  Ching-Fang Lin

IPC: G01B11/02

CPC classification number: G01B9/02027 ,  G01B2290/30 ,  G01B2290/70

Abstract: An apparatus for measuring a two-dimensional displacement is disclosed and includes a laser light source, a collimator lens, a beam splitter, a plurality of staggered conjugate optic lens and a plurality of interference optical dephasing modules. The laser light source provides a laser light incident on the collimator lens to generate collimated laser beams. Each of the collimated laser beams are incident on the beam splitter to be separated into two incident beams and incident on a two-dimensional diffraction unit to generate a plurality of first diffracted beams and a plurality of second-order diffracted beams. The staggered conjugate optic lens are used to reflect the first diffracted beams so that the first diffracted beams return to the two-dimensional diffraction unit to generate a plurality of second diffracted beams where the second diffracted beams and the second-order diffracted beams generated as a result of the first diffraction of the beams stagger.

Abstract translation: 公开了一种用于测量二维位移的装置，包括激光源，准直透镜，分束器，多个交错共轭光学透镜和多个干涉光学去相位模块。 激光源提供入射在准直透镜上的激光以产生准直激光束。 每个准直激光束入射到分束器上，以分离成两个入射光束并入射到二维衍射单元上，以产生多个第一衍射光束和多个二次衍射光束。 交错共轭光学透镜用于反射第一衍射光束，使得第一衍射光束返回到二维衍射单元以产生多个第二衍射光束，其中第二衍射光束和二阶衍射光束作为 梁的第一次衍射的结果交错。

公开(公告)号：US20060287824A1

公开(公告)日：2006-12-21

申请号：US11342354

申请日：2006-01-28

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C21/00

CPC classification number: G01C21/165 ,  G01C21/20 ,  G01C21/206 ,  G01S19/48

Abstract: An interruption free navigator includes an inertial measurement unit, a north finder, a velocity producer, a positioning assistant, a navigation processor, an altitude measurement, an object detection system, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, the positioning assistant, the altitude measurement, the object detection system, 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.

公开(公告)号：US20050234644A1

公开(公告)日：2005-10-20

申请号：US11102523

申请日：2005-04-08

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C21/00 ,  G01C21/26

CPC classification number: G01C21/005 ,  G01C21/165

Abstract: A improved positioning and navigation method 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 and an attitude and heading solution from an AHRS 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 and when the GPS satellite signals are not available.

Abstract translation: 改进的定位和导航方法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随时间推移的惯性解的漂移， 其中使用来自惯性导航处理器的速度和加速度以及来自AHRS处理器的姿态和方向解决方案来辅助全球定位系统卫星信号的码和载波相位跟踪，以便增强全球定位的性能， 惯性集成系统，即使在重型干扰和高动态环境下，以及当GPS卫星信号不可用时。

公开(公告)号：US06940999B2

公开(公告)日：2005-09-06

申请号：US09881272

申请日：2001-06-13

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06K9/32 ,  G06K9/00

CPC classification number: G06K9/0063

Abstract: An efficient approach to exploit hyperspectral imagery and detect target of interest is disclosed. This approach uses proximity pixels as reference signatures to detect potential discontinuity that represents material of unknown existing on the terrain. By incorporating signature of a chosen material of interest, this approach provides an effective way for target detection and identification. An evolutionary algorithm is employed to estimate the abundance of material of interest.

Abstract translation: 披露了利用高光谱图像和检测目标的有效方法。 该方法使用接近像素作为参考签名来检测表示地形上未知的材料的潜在不连续性。 通过结合所选择的感兴趣材料的签名，该方法为目标检测和识别提供了有效的方法。 采用进化算法来估计感兴趣的物质的丰度。