公开(公告)号：US06879875B1

公开(公告)日：2005-04-12

申请号：US10946598

申请日：2004-09-20

Applicant: Guohui Hu ,  Ching-Fang Lin

Inventor： Guohui Hu ,  Ching-Fang Lin

IPC: G01C21/16 ,  G01C21/26 ,  G01C21/28 ,  G01C21/34 ,  G01C21/36 ,  G01S1/00 ,  G01S5/14 ,  G01S19/44 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

CPC classification number: G01C21/165 ,  G01S19/44 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

Abstract: The design of the low cost GPS/IMU positioning and data integrating method, which employs integrated global positioning system/inertial measurement unit enhanced with dual antenna GPS carrier phase measurements to initialize and stabilize the azimuth of the low cost GPS/IMU integrated system, is performed. The utilization of the raw carrier phase measurement for the integration speeds up the ambiguity search.

Abstract translation: 低成本GPS / IMU定位和数据集成方法的设计采用综合全球定位系统/惯性测量单元，采用双天线GPS载波相位测量，初始化和稳定低成本GPS / IMU集成系统的方位角，是 执行。 利用原始载波相位测量进行集成可加快模糊搜索。

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：US06516272B2

公开(公告)日：2003-02-04

申请号：US10006447

申请日：2001-11-20

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06F1750

CPC classification number: G01S19/44 ,  G01C21/165 ,  G01S5/0247 ,  G01S11/02 ,  G01S13/58 ,  G01S13/86 ,  G01S15/58 ,  G01S17/58 ,  G01S19/26 ,  G01S19/32 ,  G01S19/47 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

Abstract: An improved positioning and data integrating process and system can substantially solve the problems encountered in system integration for personal hand-held applications, air, land, and water vehicles, wherein an integrated global positioning system/inertial measurement unit, enhanced with optional other devices to derive user position, velocity, attitude, and body acceleration and rotation information, and distributes these data to other onboard systems, for example, in case of aircraft application, flight management system, flight control system, automatic dependent surveillance, cockpit display, enhanced ground proximity warning system, weather radar, and satellite communication system.

公开(公告)号：US06489922B1

公开(公告)日：2002-12-03

申请号：US09841403

申请日：2001-04-23

Applicant: Ching-Fang Lin ,  Dong An

Inventor： Ching-Fang Lin ,  Dong An

IPC: G01S514

CPC classification number: G01C3/18 ,  G01C21/165 ,  G01S5/0284 ,  G01S5/04 ,  G01S5/16 ,  G01S11/12

Abstract: A passive ranging/tracking processing method provides information from passive sensors and associated tracking control devices and GPS/IMU integrated navigation system, so as to produce three dimensional position and velocity information of a target. The passive ranging/tracking processing method includes the procedure of producing two or more sets of direction measurements of a target with respect to a carrier, such as sets of elevation and azimuth angles, from two or more synchronized sets of passive sensors and associated tracking control devices, installed on different locations of the carrier, computing the range vector measurement of the target with respect to the carrier using the two or more sets of direction measurements, and filtering the range vector measurement to estimate the three-dimensional position and velocity information of the target.

Abstract translation: 无源测距/跟踪处理方法提供来自无源传感器和相关跟踪控制设备以及GPS / IMU集成导航系统的信息，以产生目标的三维位置和速度信息。 无源测距/跟踪处理方法包括从两个或更多个同步的无源传感器组和相关联的跟踪控制产生相对于载波的目标的两组或更多组方向测量的过程，诸如高程和方位角的集合 设备，安装在载体的不同位置，使用两组或更多组方向测量来计算目标相对于载体的距离矢量测量，并且对范围矢量测量进行滤波以估计三维位置和速度信息 目标。

公开(公告)号：US06480789B2

公开(公告)日：2002-11-12

申请号：US09730411

申请日：2000-12-04

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06F1900

CPC classification number: G05D1/0055 ,  G01S13/9303 ,  G01S13/94 ,  G08G5/0008 ,  G08G5/0021 ,  G08G5/0078 ,  G08G5/0086 ,  G08G5/045

Abstract: A positioning and proximity warning method for vehicle includes the steps of outputting global positioning system signals to an integrated positioning/ground proximity warning system processor; outputting an inertial navigation solution to an integrated positioning/ground proximity warning processor; measuring air pressure, and computing barometric measurements which is output to the integrated positioning/ground proximity warning processor; measuring time delay between transmission and reception a radio signal from a terrain surface, and computing radio altitude measurement which is output to the integrated positioning/ground proximity warning processor; accessing a terrain database for obtaining current vehicle position and surrounding terrain height data which is output to the integrated positioning/ground proximity warning processor; and receiving the position, velocity and time information or said pseudorange and delta range measurements of said global positioning system, the inertial navigation solution, the radio altitude measurement, the radio altitude measurement, and the current vehicle position and surrounding terrain height data, and computing optimal positioning solution data and optimal ground proximity warning solution data. Furthermore, a positioning and proximity warning method for vehicles further includes the steps of outputting the optimal positioning solution data and position data of near objects to an object tracking and collision avoidance processor to determine a potential collision threat with the near object.

Abstract translation: 用于车辆的定位和接近警告方法包括以下步骤：将全球定位系统信号输出到集成的定位/接地警戒系统处理器; 将惯性导航解决方案输出到集成定位/接地警告处理器; 测量空气压力和计算输出到集成定位/接地警告处理器的气压测量; 测量来自地形表面的无线电信号的发射和接收之间的时间延迟，以及输出到集成定位/接地警告处理器的无线电高度测量; 访问地形数据库以获得当前车辆位置和输出到集成定位/接地警告处理器的周围地形高度数据; 并且接收所述全球定位系统，惯性导航解决方案，无线电高度测量，无线电高度测量以及当前车辆位置和周围地形高度数据的位置，速度和时间信息或所述伪距和δ范围测量，以及计算 最佳定位解决方案数据和最佳地面邻近警报解决方案数据。 此外，用于车辆的定位和接近警告方法还包括以下步骤：将最佳定位解数据和邻近对象的位置数据输出到对象跟踪和碰撞避免处理器，以确定与近物体的潜在的碰撞威胁。

公开(公告)号：US06480152B2

公开(公告)日：2002-11-12

申请号：US09912158

申请日：2001-07-20

Applicant: Ching-Fang Lin ,  Dong An

Inventor： Ching-Fang Lin ,  Dong An

IPC: H04B7185

CPC classification number: G01S19/47 ,  G01C21/165 ,  G01S19/35 ,  G01S19/41 ,  G01S19/52 ,  G01S19/53

Abstract: An integrated Global Positioning System (GPS)/Inertial Measurement Unit (IMU) method and MicroSystem is disclosed, wherein data from an IMU, a MEMS IMU preferred, a GPS chipset, and an earth magnetic field detector are mixed in a mixed GPS/IMU/Magnetic Data microprocessor to achieve a low cost, micro size, and low power consumption mixed GPS/IMU/magnetic position, velocity, and attitude solution. Furthermore, to deal with sensitivity of the MEMS inertial sensors to environment temperature, a temperature based scheduler, error estimator, and a current acting error estimator are co-operated to minimize the mismatching between the filter system modules and the actual ones due to change of environment temperature, so that the system of the present invention can provide high performance and stable navigation solution over a wide range of environment temperature.

Abstract translation: 公开了一种综合全球定位系统（GPS）/惯性测量单元（IMU）方法和微系统，其中来自IMU，MEMS IMU优选的数据，GPS芯片组和地磁场检测器在混合的GPS / IMU /磁数据微处理器实现低成本，微尺寸，低功耗混合GPS / IMU /磁位置，速度和姿态解决方案。 此外，为了处理MEMS惯性传感器对环境温度的灵敏度，协调基于温度的调度器，误差估计器和电流作用误差估计器，以使过滤器系统模块与实际模块之间的不匹配最小化 使得本发明的系统能够在宽范围的环境温度下提供高性能和稳定的导航解决方案。

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：US06473034B2

公开(公告)日：2002-10-29

申请号：US09957114

申请日：2001-09-19

Applicant: Ching-Fang Lin ,  Qiang Deng

Inventor： Ching-Fang Lin ,  Qiang Deng

IPC: G01S502

CPC classification number: H04K3/94 ,  G01S19/015 ,  G01S19/215 ,  H04K3/228 ,  H04K3/28 ,  H04K3/42 ,  H04K3/43 ,  H04K3/44 ,  H04K3/90

Abstract: A real time simulation method for jamming and anti-jamming evaluation of GPS systems and GPS/IMU integrated systems includes the steps of receiving real time trajectory data from a 6DOF trajectory generator and generating jamming signals, global positioning system simulated measurements, and inertial measurement unit simulated electronic signals which are injected into an on-board integrated global positioning system/inertial measurement unit system. When the on-board integrated global positioning system/inertial measurement unit system is excited in dynamic operation, a performance under various jamming conditions is able to be tested and evaluated as if carrying a real transportation test under a real jamming environment.

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.