公开(公告)号：US06697758B2

公开(公告)日：2004-02-24

申请号：US10080176

申请日：2002-02-19

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G06F1500

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.

Abstract translation: 用于运动测量的处理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，更适合于新兴的MEMS（MicroElectronicMechanicalSystem）角速率和加速度传感器。 与传统IMU相比，本发明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：US06697736B2

公开(公告)日：2004-02-24

申请号：US10072834

申请日：2002-02-06

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2100

CPC classification number: G01C21/165

Abstract: A 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: 其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，干扰和欺骗的敏感性以及随时间的惯性解的漂移 来自惯性导航处理器的速度和加速度以及来自AHRS处理器的姿态和航向解决方案用于辅助全球定位系统卫星信号的码和载波相位跟踪，从而提高全球定位和惯性的性能 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：US06671648B2

公开(公告)日：2003-12-30

申请号：US10017310

申请日：2001-10-22

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G01P500

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.

公开(公告)号：US06658354B2

公开(公告)日：2003-12-02

申请号：US10098964

申请日：2002-03-15

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2100

CPC classification number: G01C21/165

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.

Abstract translation: 无中断导航器包括惯性测量单元，北极探测器，速度发生器，定位辅助器，导航处理器，高度测量，物体检测系统，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，定位助手，高度测量，物体检测系统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：US06522992B1

公开(公告)日：2003-02-18

申请号：US09624366

申请日：2000-07-25

Applicant: Hiram McCall ,  Ching-Fang Lin

Inventor： Hiram McCall ,  Ching-Fang Lin

IPC: G06F700

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.

公开(公告)号：US06473713B1

公开(公告)日：2002-10-29

申请号：US09399980

申请日：1999-09-20

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：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。