公开(公告)号：US06246960B1

公开(公告)日：2001-06-12

申请号：US09277323

申请日：1999-03-26

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2100

CPC classification number: G01C21/165

Abstract: An enhanced positioning method and system with altitude measurement includes the steps of receiving the inertial measurements from an inertial sensor, the global positioning system raw measurements from a global positioning system processor, and the altitude measurement from an altitude measurement device and performing integrated filtering, feeding the velocity and acceleration back to the global positioning system satellite signal tracking loops, and using integration solution to aid the global positioning system satellite signal carrier phase ambiguity resolution. The present invention provides a positioning method and system with high accuracy and robustness. The global positioning system measurements assure the long term positioning accuracy and the inertial measurements assure the short term positioning accuracy. The altitude measurement improves the vertical positioning accuracy. The velocity and acceleration from the inertial device aid the global positioning system signal tracking. The integrated positioning solution is employed to derive the global positioning system carrier phase ambiguity number. The present patent supports high precision navigation in general aviation and space applications. It also supports high precision approach and landing for aircraft, reusable launch vehicles, and other air transportation vehicles.

Abstract translation: 具有高度测量的增强的定位方法和系统包括以下步骤：从惯性传感器接收惯性测量，从全球定位系统处理器接收全球定位系统原始测量值，以及从高度测量装置接收高度测量值，并执行集成滤波，进给 速度和加速度回到全球定位系统卫星信号跟踪循环，并使用集成解决方案来帮助全球定位系统卫星信号载波相位模糊度分辨率。 本发明提供了一种具有高精度和鲁棒性的定位方法和系统。 全球定位系统测量确保了长期的定位精度，惯性测量确保了短期的定位精度。 高度测量提高了垂直定位精度。 来自惯性装置的速度和加速度有助于全球定位系统的信号跟踪。 采用集成定位解决方案来导出全球定位系统载波相位模糊度数。 本专利支持通用航空和空间应用的高精度导航。 它还支持飞机，可重复使用的运载火箭和其他航空运输车辆的高精度进近和着陆。

公开(公告)号：US06205400B1

公开(公告)日：2001-03-20

申请号：US09374480

申请日：1999-08-13

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2100

CPC classification number: G01C21/165 ,  G01S19/37 ,  G01S19/45 ,  G01S19/49

Abstract: A vehicle positioning and data integrating process and system can substantially solve the problems encountered in avionics system integration, which employs integrated global positioning system/inertial measurement unit enhanced with altitude measurements to derive vehicle position, velocity, attitude, and body acceleration and rotation information. A vehicle positioning and data integrating system comprises navigation sensors and an IMU interface and preprocessing board, an altitude interface and processing board, a navigation processing board, a shared memory card, a bus arbiter, a control board, and a bus interface. The control board distributes navigation data to flight management system, flight control system, automatic dependent aurveillance, cockpit display, enhanced ground proximity warning system, weather radar, and satellite communication system.

Abstract translation: 车辆定位和数据集成过程和系统可以大大解决航空电子系统集成中遇到的问题，采用综合全球定位系统/惯性测量单元，通过高度测量来增强车辆位置，速度，姿态和车身加速度和旋转信息。 车辆定位和数据集成系统包括导航传感器和IMU接口和预处理板，高度接口和处理板，导航处理板，共享存储卡，总线仲裁器，控制板和总线接口。 控制板将导航数据分配到飞行管理系统，飞行控制系统，自动相关监视，驾驶舱显示，增强型地面接近警告系统，气象雷达和卫星通信系统。

公开(公告)号：US6167347A

公开(公告)日：2000-12-26

申请号：US246883

申请日：1999-02-08

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01S5/14 ,  G01S19/44 ,  G01S19/49 ,  G01S19/55 ,  G01C21/00 ,  H04B7/185

CPC classification number: G01C21/165 ,  G01S19/215 ,  G01S19/26 ,  G01S19/44

Abstract: An improved fully-coupled vehicle positioning process 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 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. The improved fully-coupled GPS/IMU vehicle positioning system includes an IMU (inertial measurement unit) and a GPS processor which are connected to a central navigation processor to produce navigation solution that is output to an I/O (input/output) interface.

Abstract translation: 改进的全耦合车辆定位过程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惯性解的漂移 时间，其中使用来自惯性导航处理器的速度和加速度来辅助全球定位系统卫星信号的码和载波相位跟踪，以便增强全球定位和惯性集成系统的性能，即使在重度干扰 和高动态环境。 改进的全耦合GPS / IMU车辆定位系统包括连接到中央导航处理器以产生输出到I / O（输入/输出）接口的导航解决方案的IMU（惯性测量单元）和GPS处理器。

公开(公告)号：US6127970A

公开(公告)日：2000-10-03

申请号：US161201

申请日：1998-09-25

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01S19/48 ,  G01S1/00 ,  G01S5/02 ,  H04B7/185

CPC classification number: G01S19/23 ,  G01S19/49

Abstract: A coupled real time emulation method for positioning and location system includes the steps of receiving real time trajectory data from a 6DOF trajectory generator and generating 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 thereof is able to be tested and evaluated as if carrying a real transportation test.

Abstract translation: 用于定位和定位系统的耦合实时仿真方法包括以下步骤：从6DOF轨迹发生器接收实时轨迹数据，并产生全局定位系统模拟测量和惯性测量单元模拟电子信号，将其注入车载集成全球定位 系统/惯性测量单元系统。 当车载集成全球定位系统/惯性测量单元系统在动态操作中激发时，其性能能够像进行真正的运输测试一样进行测试和评估。

公开(公告)号：US07548835B2

公开(公告)日：2009-06-16

申请号：US11805701

申请日：2007-05-23

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06F19/00

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：US20090089001A1

公开(公告)日：2009-04-02

申请号：US12228754

申请日：2008-08-14

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C25/00 ,  G01C19/00 ,  G06F19/00

CPC classification number: G01C25/005 ,  G01C21/16

Abstract: A method and system for Self-calibrated Azimuth and Attitude Accuracy Enhancing are disclosed, wherein SAAAEMS approach is based on fully auto-calibration self-contained INS principles, not depending on magnetometers for azimuth/heading determination, and thus the system outputs and performance are not affected by the environmental magnetic fields. In order to reduce the system size and cost, this new innovative methods and algorithms are used for SAAAEMS system configuration and integration. Compared to a conventional INS for gyrocompassing, AGNC's approach uses a smaller number of high accuracy sensors: SAAAEMS uses only one 2-axis high accuracy gyro (for example, one DTG) instead of 3-axis; the third axis gyro is a MEMS gyro. It uses only 2 high accuracy accelerometers instead of 3, since the two accelerometers are used only for gyrocompassing not for navigation. These two changes to the conventional INS system configuration remarkably reduce the whole system size and cost. SAAAEMS, uses dynamic gyrocompassing processing for isolation of Base motion disturbance/interference and vibration. SAAAEMS provides a method and system for using automatic methods for system calibration.

Abstract translation: 公开了一种用于自校准方位和姿态精度提高的方法和系统，其中SAAAEMS方法基于完全自动校准自包含INS原理，而不依赖于用于方位角/方位确定的磁力计，因此系统输出和性能是 不受环境磁场的影响。 为了降低系统尺寸和成本，这种新的创新方法和算法用于SAAAEMS系统的配置和集成。 与传统的用于陀螺仪的INS相比，AGNC的方法使用较少数量的高精度传感器：SAAAEMS仅使用一个2轴高精度陀螺仪（例如一个DTG）而不是3轴; 第三轴陀螺仪是一个MEMS陀螺仪。 它仅使用2个高精度加速度计而不是3个，因为两个加速度计仅用于不用于导航的陀螺仪。 对传统INS系统配置的这两个改变显着地降低了整个系统的尺寸和成本。 SAAAEMS使用动态陀螺仪处理来分离基运动扰动/干扰和振动。 SAAAEMS提供了一种使用自动方法进行系统校准的方法和系统。

公开(公告)号：US20090087029A1

公开(公告)日：2009-04-02

申请号：US12229450

申请日：2008-08-22

Applicant: Norman P. Coleman ,  Ching-Fang Lin

Inventor： Norman P. Coleman ,  Ching-Fang Lin

IPC: G06K9/00

CPC classification number: G06K9/0063 ,  G06K9/00208 ,  G06K9/3241 ,  G06T7/277 ,  G06T2207/10016 ,  G06T2207/30212 ,  G06T2207/30241

Abstract: The technology of the 4D-GIS system deploys a GIS-based algorithm used to determine the location of a moving target through registering the terrain image obtained from a Moving Target Indication (MTI) sensor or small Unmanned Aerial Vehicle (UAV) camera with the digital map from GIS. For motion prediction the target state is estimated using an Extended Kalman Filter (EKF). In order to enhance the prediction of the moving target's trajectory a fuzzy logic reasoning algorithm is used to estimate the destination of a moving target through synthesizing data from GIS, target statistics, tactics and other past experience derived information, such as, likely moving direction of targets in correlation with the nature of the terrain and surmised mission.

Abstract translation: 4D-GIS系统的技术部署了基于GIS的算法，用于通过注册从具有数字的移动目标指示（MTI）传感器或小型无人机（UAV）摄像机获得的地形图像来确定移动目标的位置 地图GIS。 对于运动预测，使用扩展卡尔曼滤波器（EKF）估计目标状态。 为了增强移动目标轨迹的预测，采用模糊逻辑推理算法，通过合成GIS数据，目标统计，战术等经验导出信息，将可能的移动方向 目标与地形的性质和推测的使命相关。

公开(公告)号：US20080243383A1

公开(公告)日：2008-10-02

申请号：US11999310

申请日：2007-12-04

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C21/16 ,  G01S5/00

CPC classification number: G01C21/165 ,  G01S13/9303 ,  G01S13/94 ,  G01S19/15 ,  G08G5/0078 ,  G08G5/0086 ,  G08G5/045

Abstract: Collision with ground/water/terrain and midair obstacles is one of the common causes of severe aircraft accidents. The various data from the coremicro AHRS/INS/GPS Integration Unit, terrain data base, and object detection sensors are processed to produce collision warning audio/visual messages and collision detection and avoidance of terrain and obstacles through generation of guidance commands in a closed-loop system. The vision sensors provide more information for the Integrated System, such as, terrain recognition and ranging of terrain and obstacles, which plays an important role to the improvement of the Integrated Collision Avoidance System.

Abstract translation: 与地面/水/地形和空中障碍物的碰撞是严重飞机事故的常见原因之一。 处理核心AHRS / INS / GPS集成单元，地形数据库和物体检测传感器的各种数据，以产生碰撞警告音频/视觉消息和碰撞检测，避免地形和障碍物通过生成指导命令， 循环系统。 视觉传感器为集成系统提供了更多的信息，例如地形识别和地形和障碍物的范围，这对改进综合碰撞避免系统起着重要的作用。

公开(公告)号：US07409290B2

公开(公告)日：2008-08-05

申请号：US11102523

申请日：2005-04-08

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C21/26 ,  G01C21/00

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：US20060265120A1

公开(公告)日：2006-11-23

申请号：US11212062

申请日：2005-08-24

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

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

IPC: G01C21/30

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。