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.

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：USD377005S

公开(公告)日：1996-12-31

申请号：US42828

申请日：1995-08-18

Applicant: Ching-fang Lin

Designer： Ching-fang Lin

公开(公告)号：US20130012821A1

公开(公告)日：2013-01-10

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：US08311757B2

公开(公告)日：2012-11-13

申请号：US12228766

申请日：2008-08-14

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C25/00 ,  G01C19/00

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。