公开(公告)号：US06408245B1

公开(公告)日：2002-06-18

申请号：US09767285

申请日：2001-01-22

Applicant: Dong An ,  Ching-Fang Lin

Inventor： Dong An ,  Ching-Fang Lin

IPC: G06G778

CPC classification number: G01S19/52 ,  G01C21/165 ,  G01S19/20 ,  G01S19/47

Abstract: A filtering mechanization method is provided for integrating a Global positioning System receiver with an Inertial Measurement Unit to produce highly accurate and highly reliable mixed GPS/IMU position, velocity, and attitude information of a carrier. The GPS filtered position and velocity data are first individually used as measurements of the two local filters to produce estimates of two sets of the local state vector. Then, the estimates of the two sets of local state vectors are mixed by a master filter device to produce global optimal estimates of master state vector including INS (Inertial Navigation System) navigation parameter errors, inertial sensor errors, and GPS correlated position and velocity errors. The estimates of the two sets of local state vector and master state vector are analyzed by a GPS failure detection/isolation logic module to prevent the mixed GPS/IMU position, velocity, and attitude information from becoming contaminated by undetected GPS failures.

Abstract translation: 提供了一种过滤机械化方法，用于将全球定位系统接收机与惯性测量单元集成，以产生高精度和高可靠性的载波的GPS / IMU位置，速度和态度信息。 GPS滤波位置和速度数据首先被单独用作两个局部滤波器的测量值，以产生两组局部状态向量的估计。 然后，通过主滤波器装置混合两组局部状态矢量的估计，以产生包括INS（惯性导航系统）导航参数误差，惯性传感器误差和GPS相关位置和速度误差的主状态向量的全局最优估计 。 通过GPS故障检测/隔离逻辑模块分析两组局部状态向量和主状态矢量的估计，以防止混合的GPS / IMU位置，速度和姿态信息被未检测到的GPS故障污染。

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：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：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：US06795772B2

公开(公告)日：2004-09-21

申请号：US10179765

申请日：2002-06-24

Applicant: Ching-Fang Lin ,  Dong An

Inventor： Ching-Fang Lin ,  Dong An

IPC: G08G504

CPC classification number: G08G5/0008 ,  G08G5/0078

Abstract: A method and system for collision avoidance, carried by each aircraft, includes a miniature MEMS (MicroElectroMechanical Systems) IMU (Inertial Measurement Unit), a miniature GPS (Global Positioning System) receiver, a display, a data link receiver/transmitter, and a central processing system. Each aircraft carries a GPS receiver coupled with a self-contained miniature IMU for uninterrupted position determination. This position information is shared with other aircraft over an RF (Radio Frequency) data link. An intelligent display shows the relative positions of the aircraft in the immediate vicinity of the host aircraft and issues voice and flashing warnings if a collision hazard exists. This system provides situational awareness to the pilot and enhances the safety of flight.

Abstract translation: 每个飞机携带的用于防撞的方法和系统包括微型MEMS（微电子机械系统）IMU（惯性测量单元），微型GPS（全球定位系统）接收器，显示器，数据链接接收器/发射器和 中央处理系统。 每架飞机都携带一个GPS接收器，并配有独立的微型IMU，用于不间断的位置确定。 该位置信息通过RF（射频）数据链路与其他飞机共享​​。 智能显示屏显示飞机在主机附近的相对位置，如果存在碰撞危险，则发出声音和闪烁警告。 该系统为飞行员提供情境意识，提高飞行安全。

公开(公告)号：US06725173B2

公开(公告)日：2004-04-20

申请号：US09946908

申请日：2001-09-04

Applicant: Dong An ,  Ching-Fang Lin

Inventor： Dong An ,  Ching-Fang Lin

IPC: G01S502

CPC classification number: G01V11/00

Abstract: The present invention provides a digital signal processing method and system thereof for producing precision platform orientation measurements and local Earth's magnetic measurements by measuring threes axes gravity acceleration digital signals by an acceleration producer, detecting Earth's magnetic field vector measurement by an Earth's magnetic field detector to achieve digital three-axes Earth's magnetic field vector signals, and producing pitch, roll, and heading angles using said three-axes gravity acceleration digital signals and said digital three-axes Earth magnetic field vector signals by a Digital Signal Processor (DSP) chipset.

Abstract translation: 本发明提供了一种数字信号处理方法及其系统，用于通过加速度生成器测量三轴重力加速度数字信号，通过地磁场检测器检测地球的磁场矢量测量，从而产生精确的平台定位测量和局部地磁测量，以实现 数字三轴地球磁场矢量信号，并通过数字信号处理器（DSP）芯片组使用所述三轴重力加速度数字信号和所述数字三轴接地磁场矢量信号产生俯仰角，俯仰角和方向角。

公开(公告)号：US06639553B2

公开(公告)日：2003-10-28

申请号：US10194500

申请日：2002-07-13

Applicant: Ching-Fang Lin ,  Dong An

Inventor： Ching-Fang Lin ,  Dong An

IPC: G01S302

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跟踪产生相对于载波的目标的两组或更多组方向测量的过程，例如高程和方位角的集合 控制装置，安装在载体的不同位置，使用两组或更多组方向测量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 的目标。

公开(公告)号：US08510234B2

公开(公告)日：2013-08-13

申请号：US12930418

申请日：2011-01-05

Applicant: Francisco J. Maldonado Diaz ,  Ching-Fang Lin

Inventor： Francisco J. Maldonado Diaz ,  Ching-Fang Lin

IPC: G06G7/00 ,  G06E1/00 ,  G06E3/00 ,  G06F15/00 ,  G06N1/00

CPC classification number: G06N3/086

Abstract: A real time kernel for deploying health monitoring functions in Condition Base Maintenance (CBM) and Real Time Monitoring (RTM) systems is disclosed in this invention. The Optimized Neuro Genetic Fast Estimator (ONGFE) allows embedding failure detection, identification, and prognostics (FDI&P) capability by using Intelligent Software Element (ISE) based upon Artificial Neural Network (ANN). ONGFE enables embedded fast and on-line training for designing ANNs, which perform very high performance FDI&P functions. An advantage is the optimization block based on pseudogenetic algorithms, which compensate for effects due to initial weight values and local minimums without the computational burden of genetic algorithms. It provides a synchronization block for communication with secondary diagnostic modules. Also a scheme for conducting sensor data validation is embedded in Smart Sensors (SS). The algorithms are designed for a distributed, scalar, and modular deployment. The system electronics is built upon a network of smart sensors and a health monitoring computer for providing data acquisition capability and distributed computational power.

Abstract translation: 在本发明中公开了一种用于在条件库维护（CBM）和实时监控（RTM）系统中部署健康监控功能的实时内核。 优化的神经遗传快速估计器（ONGFE）通过使用基于人工神经网络（ANN）的智能软件元素（ISE），允许嵌入失败检测，识别和预测（FDI＆P）能力。 ONGFE可以进行嵌入式快速和在线培训，用于设计执行非常高性能的FDI和P功能的ANN。 优点是基于假基因算法的优化块，其补偿由初始权重值和局部最小值引起的影响，而没有遗传算法的计算负担。 它提供了一个用于与辅助诊断模块通信的同步块。 传感器数据验证方案也嵌入在智能传感器（SS）中。 算法设计用于分布式，标量化和模块化部署。 系统电子设备基于智能传感器网络和健康监控计算机，用于提供数据采集能力和分布式计算能力。

公开(公告)号：US20100283832A1

公开(公告)日：2010-11-11

申请号：US12008205

申请日：2008-01-08

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: H04N13/02

CPC classification number: G06K9/3216 ,  G06K9/6293 ,  G06T7/13 ,  G06T7/74 ,  G06T2207/20164

Abstract: This invention documents the efforts on the research and development of a miniaturized GPS/MEMS IMU integrated navigation system. A miniaturized GPS/MEMS IMU integrated navigation system is presented; Laser Dynamic Range Imager (LDRI) based alignment algorithm for space applications is discussed. Two navigation cameras are also included to measure the range and range rate which can be integrated into the GPS/MEMS IMU system to enhance the navigation solution.

Abstract translation: 本发明记录了小型化GPS / MEMS IMU综合导航系统的研究与开发工作。 提出了一种小型化GPS / MEMS IMU综合导航系统; 讨论了基于激光动态范围成像仪（LDRI）的空间应用对准算法。 还包括两个导航相机来测量可以集成到GPS / MEMS IMU系统中的范围和射程，以增强导航解决方案。

公开(公告)号：US07239976B2

公开(公告)日：2007-07-03

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: G06F15/00

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.