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1. 发明授权

US06611228B2 Carrier phase-based relative positioning apparatus 有权
公开(公告)号：US06611228B2
公开(公告)日：2003-08-26
申请号：US09910850
申请日：2001-07-24
申请人： Hiroyuki Toda , Sadao Sato , Masaru Fukuda , Kaoru Nakayama
发明人： Hiroyuki Toda , Sadao Sato , Masaru Fukuda , Kaoru Nakayama
IPC分类号： G01S502
CPC分类号： G01S19/55 , G01S19/49
摘要： A carrier phase-based relative positioning apparatus comprises a plurality of antennas of which at least one is installed on a mobile unit. The apparatus determines the position of each antenna other than one antenna used as a reference antenna relative to the reference antenna by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single difference phase or a double difference phase, and calculating an integer ambiguity of the single difference phase or the double difference phase. The apparatus judges that the integer ambiguity has been incorrectly determined if the position of any of the antennas relative to the reference antenna (or the angle of a flat plane formed by those two antennas) falls out of a preset range in which the relative position (the angle of the flat plane) falls under normal conditions.

2. 发明授权

US06424915B1 System for determining the heading and/or attitude of a body 有权
标题翻译：用于确定身体的标题和/或态度的系统
公开(公告)号：US06424915B1
公开(公告)日：2002-07-23
申请号：US09870628
申请日：2001-06-01
申请人： Masaru Fukuda , Sadao Sato , Hiroyuki Toda
发明人： Masaru Fukuda , Sadao Sato , Hiroyuki Toda
IPC分类号： G01C1900
CPC分类号： G01C21/165 , G01S19/53 , G01S19/55
摘要： A system for determining the heading and/or attitude of a body receives radio waves from a plurality of position-fixing satellites using at least three antennas fixedly mounted at different positions of the body. To reliably obtain integer ambiguity solutions of carrier phases of the radio waves in a shorter time, the system directly determines integer ambiguities from attitude angle data obtained by an IMU attitude processing section when the integer ambiguities are to be redetermined in the event of an interruption of the received radio waves or a change in the combination of satellites to be used. This system provides a user with highly accurate uninterrupted heading and/or attitude angle information.
摘要翻译：用于确定身体的航向和/或姿态的系统使用固定地安装在身体的不同位置的至少三个天线从多个位置固定卫星接收无线电波。为了在更短的时间内可靠地获得无线电波的载波相位的整数模糊度解，系统在IMU姿态处理部分获得的姿态角度数据中直接确定整数模糊度，当在中断的情况下重新确定整数模糊度接收的无线电波或将要使用的卫星组合的变化。该系统为用户提供高度准确的不间断航向和/或姿态角度信息。

3. 发明申请

US20090030612A1 GPS-based attitude determination system with self-diagnosis function 有权
标题翻译：基于GPS的姿态测定系统具有自诊断功能
公开(公告)号：US20090030612A1
公开(公告)日：2009-01-29
申请号：US12220576
申请日：2008-07-25
申请人： Koji Hayashi , Sadao Sato , Masaru Fukuda
发明人： Koji Hayashi , Sadao Sato , Masaru Fukuda
IPC分类号： G01C21/16
CPC分类号： G01C21/165 , G01S19/47 , G01S19/53
摘要： A GPS-Based ADS for determining attitude and heading of a moving body comprises a GPS receiver, an inertial sensor unit, a blockage area calculator, a sensor anomaly detector and a monitor. The GPS-Based ADS provides information useful for making a judgment on appropriateness of installation sites and mounting conditions of a GPS antenna and inertial sensors based on blockage area information concerning each satellite signal blockage area obtained by the blockage area calculator and sensor signal anomaly information concerning each inertial sensor anomaly obtained by the sensor anomaly detector.
摘要翻译：用于确定移动体的姿态和航向的基于GPS的ADS包括GPS接收器，惯性传感器单元，阻塞区域计算器，传感器异常检测器和监视器。基于GPS的ADS提供有用的信息，用于根据关于由阻塞区域计算器获得的每个卫星信号阻塞区域和关于传感器信号异常信息的阻塞区域信息来判断安装地点的适合性和GPS天线和惯性传感器的安装条件每个惯性传感器异常由传感器异常检测器获得。

4. 发明授权

US07987049B2 GPS-based attitude determination system with self-diagnosis function 有权
标题翻译：基于GPS的姿态测定系统具有自诊断功能
公开(公告)号：US07987049B2
公开(公告)日：2011-07-26
申请号：US12220576
申请日：2008-07-25
申请人： Koji Hayashi , Sadao Sato , Masaru Fukuda
发明人： Koji Hayashi , Sadao Sato , Masaru Fukuda
IPC分类号： G01C21/00
CPC分类号： G01C21/165 , G01S19/47 , G01S19/53
摘要： A GPS-Based ADS for determining attitude and heading of a moving body comprises a GPS receiver, an inertial sensor unit, a blockage area calculator, a sensor anomaly detector and a monitor. The GPS-Based ADS provides information useful for making a judgment on appropriateness of installation sites and mounting conditions of a GPS antenna and inertial sensors based on blockage area information concerning each satellite signal blockage area obtained by the blockage area calculator and sensor signal anomaly information concerning each inertial sensor anomaly obtained by the sensor anomaly detector.
摘要翻译：用于确定移动体的姿态和航向的基于GPS的ADS包括GPS接收器，惯性传感器单元，阻塞区域计算器，传感器异常检测器和监视器。基于GPS的ADS提供有用的信息，用于根据关于由阻塞区域计算器获得的每个卫星信号阻塞区域和关于传感器信号异常信息的阻塞区域信息来判断安装地点的适合性和GPS天线和惯性传感器的安装条件每个惯性传感器异常由传感器异常检测器获得。

5. 发明授权

US07076342B2 Attitude sensing apparatus for determining the attitude of a mobile unit 失效
标题翻译：姿态检测装置，用于确定移动单元的姿态
公开(公告)号：US07076342B2
公开(公告)日：2006-07-11
申请号：US10800698
申请日：2004-03-16
申请人： Masaru Fukuda , Hiroyuki Toda
发明人： Masaru Fukuda , Hiroyuki Toda
IPC分类号： B64C7/00 , G05D1/00 , G05D3/00 , G06F17/00 , G06F19/00
CPC分类号： G01C21/165 , G01S5/0247 , G01S19/21 , G01S19/26 , G01S19/49 , G01S19/53
摘要： An attitude sensing apparatus for determining the attitude of a mobile unit is provided that can reliably estimate an alignment angle between a GPS antenna coordinate system and an IMU coordinate system with good accuracy regardless of the magnitude of the alignment angle. Based on observation of the difference between a GPS angular velocity and an IMU angular velocity, an alignment angle estimating section estimates an alignment angle and sensor errors. An alignment angle adder and a sensor error adder cumulatively add and update the estimated alignment angle and sensor errors, respectively. The estimated alignment angle is fed back to an inertia data converter while the estimated sensor errors are fed back to an inertia data correcting section. The apparatus repeatedly performs estimation until the estimated alignment angle gradually approaches a true alignment angle by successively feeding back estimated values to a flow of alignment angle estimation process.
摘要翻译：提供了一种用于确定移动单元的姿态的姿态感测装置，其可以与对准角度的大小无关地可靠地估计GPS天线坐标系和IMU坐标系之间的对准角度，而且精度高。基于对GPS角速度和IMU角速度之间的差异的观察，对准角估计部估计对准角度和传感器误差。对准角加法器和传感器误差加法器分别累积地添加和更新估计的对准角度和传感器误差。估计的对准角度被反馈到惯性数据转换器，而估计的传感器误差被反馈到惯性数据校正部分。该装置重复执行估计，直到估计的对准角逐渐接近真正的对准角，通过连续地将估计值反馈到对准角度估计处理的流程。

6. 发明授权

US07026982B2 Carrier-phase-based relative positioning device 有权
公开(公告)号：US07026982B2
公开(公告)日：2006-04-11
申请号：US10758034
申请日：2004-01-16
申请人： Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
发明人： Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
IPC分类号： H04B7/185 , G01S5/02
CPC分类号： G01S19/55 , G01S19/36 , G01S19/44
摘要： A carrier-phase-based relative positioning device employs a signal processing method which makes it possible to continue estimation of integer ambiguity values even when the number of positioning satellites has changed, determine an integer ambiguity value by efficiently verifying the integer ambiguities in a short time, and calculate a baseline vector. The positioning device includes an integer ambiguity resolving section which determines integer ambiguities of single or double phase differences using a Kalman filter and lambda notation. The Kalman filter is used to calculate estimated values of floating ambiguities and the lambda notation is used to calculate estimated values of the integer ambiguities based on the floating ambiguities. A candidate of a potentially true integer ambiguity that is considered most reliable is determined through various verification processes. When the number of positioning satellites has increased or decreased, or when a reference satellite has been switched, a floating ambiguity after the change in satellite information is estimated from a baseline vector estimated before the change.

7. 发明授权

US06720914B2 Carrier-phase-based relative positioning device 有权
标题翻译：载波相位相对定位装置
公开(公告)号：US06720914B2
公开(公告)日：2004-04-13
申请号：US10321666
申请日：2002-12-18
申请人： Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
发明人： Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
IPC分类号： H04B7185
CPC分类号： G01S19/55 , G01S19/36 , G01S19/44
摘要： A carrier-phase-based relative positioning device employs a signal processing method which makes it possible to continue estimation of integer ambiguity values even when the number of positioning satellites has changed, determine an integer ambiguity value by efficiently verifying the integer ambiguities in a short time, and calculate a baseline vector. The positioning device includes an integer ambiguity resolving section which determines integer ambiguities of single or double phase differences using a Kalman filter and lambda notation. The Kalman filter is used to calculate estimated values of floating ambiguities and the lambda notation is used to calculate estimated values of the integer ambiguities based on the floating ambiguities. A candidate of a potentially true integer ambiguity that is considered most reliable is determined through various verification processes. When the number of positioning satellites has increased or decreased, or when a reference satellite has been switched, a floating ambiguity after the change in satellite information is estimated from a baseline vector estimated before the change.
摘要翻译：基于载波相位的相对定位装置采用信号处理方法，即使当定位卫星的数量已经改变时，也可以继续估计整数模糊度值，通过在短时间内有效地验证整数模糊度来确定整数模糊度值，并计算基线矢量。定位装置包括整数模糊度分解部分，其使用卡尔曼滤波器和λ符号确定单相或双相位差的整数模糊度。卡尔曼滤波器用于计算浮动模糊度的估计值，并且使用lambda符号来计算基于浮点模糊度的整数模糊度的估计值。通过各种验证过程确定被认为最可靠的潜在真正整数模糊度的候选者。当定位卫星的数量增加或减少时，或者当参考卫星已经被切换时，卫星信息改变之后的浮动模糊度是从改变之前估计的基线矢量估计出来的。

8. 发明授权

US07527517B2 Terminal and connector 失效
标题翻译：端子和连接器
公开(公告)号：US07527517B2
公开(公告)日：2009-05-05
申请号：US11555422
申请日：2006-11-01
申请人： Harunori Tashiro , Masaru Fukuda
发明人： Harunori Tashiro , Masaru Fukuda
IPC分类号： H01R4/24
CPC分类号： H01R13/11 , H01R4/245 , H01R13/432 , H01R13/506 , H01R43/01 , H01R2201/20 , Y10S439/912
摘要： A connector, including a housing and a terminal received in the housing. The terminal includes a wire connecting portion which connects to a wire and an extension portion which is extended from the wire connecting portion. The extension portion has a conductive portion which is formed in a direction intersecting a direction in which the terminal is inserted into the housing and the housing has an exposure hole through which at least part of the conductive portion is exposed to the exterior.
摘要翻译：连接器，包括容纳在壳体中的壳体和端子。端子包括连接到电线的电线连接部分和从电线连接部分延伸的延伸部分。延伸部具有导电部，该导电部形成在与端子插入壳体的方向相交的方向上，并且壳体具有曝光孔，至少一部分导电部通过该曝光孔暴露于外部。

9. 发明授权

US06830490B2 Battery terminal and battery post adaptor 失效
标题翻译：电池端子和电池柱适配器
公开(公告)号：US06830490B2
公开(公告)日：2004-12-14
申请号：US09873364
申请日：2001-06-05
申请人： Takao Murakami , Masaru Fukuda , Keiichi Ito , Kazuyuki Shiraki , Masanori Wakui
发明人： Takao Murakami , Masaru Fukuda , Keiichi Ito , Kazuyuki Shiraki , Masanori Wakui
IPC分类号： H01R430
CPC分类号： H01R11/282 , H01R11/283 , H01R11/287
摘要： An adapter has a cylindrical body which is screwed onto a battery post, and a flange portion formed on a top portion of the cylindrical body to be clamped by a screwing tool. A terminal body includes a substantially U-shaped adaptor fitting portion which accommodates the adapter therein, and a seat portion on which an electric wire terminal is fixed. A lever includes a cam portion and is supported on the terminal body so as to be pivotable between a first position and a second position. A space in which the flange portion is capable of passing through is secured inside of the adaptor fitting portion when the lever is in the first position. The cam portion is abutted against an outer periphery of the cylindrical body of the adaptor so that the adaptor is retained between the cam portion and an inner face of the adaptor fitting portion, when the lever is in the second position. The flange portion of the adaptor is engaged with a top end face of the adapter fitting portion of the terminal body.
摘要翻译：一个适配器具有一个圆筒体，该圆柱体被拧在一个电池柱上，一个凸缘部分形成在圆柱体的顶部上，由一个螺丝刀夹紧。端子体包括容纳适配器的大致U形的适配器装配部分和固定有电线端子的座部分。杠杆包括凸轮部分并且被支撑在终端主体上，以便能够在第一位置和第二位置之间枢转。当杠杆处于第一位置时，凸缘部能够穿过的空间被固定在适配器配合部分的内部。凸轮部分抵靠适配器的圆筒体的外周，使得当杠杆处于第二位置时，适配器保持在凸轮部分和适配器装配部分的内表面之间。适配器的凸缘部分与终端主体的适配器装配部分的顶端面接合。

10. 发明授权

US06553400B1 Suspend and resume processing method for suspending and resuming a plurality of states of programmed operations 有权
标题翻译：用于暂停和恢复多个编程操作状态的暂停和恢复处理方法
公开(公告)号：US06553400B1
公开(公告)日：2003-04-22
申请号：US09511770
申请日：2000-02-24
申请人： Masaru Fukuda
发明人： Masaru Fukuda
IPC分类号： G06F900
CPC分类号： G06F1/3215
摘要： A suspend and resume processing method for suspending and resuming a plurality of hardware states of program tasks is disclosed. In the suspend operation, a key code designated by the user is recognized to determine one of storage areas in which the hardware execution state of the target task is saved, and data of information on the task, such as the task, a key code designated by the user, a target storage area, and the number of resume operations, are stored in a look-up table. In the resume operation, a list of the data of the look-up table is displayed so that the user can easily select a target task to be resumed, the target task is determined by detecting data input by the user, and necessary data is loaded from the relevant storage area, and the number of resume operations is counted and the data of the look-up table is updated.
摘要翻译：公开了暂停和恢复程序任务的多个硬件状态的暂停和恢复处理方法。在暂停操作中，识别由用户指定的键码，以确定保存目标任务的硬件执行状态的存储区域中的一个，以及任务等信息的数据，例如指定的密钥代码用户，目标存储区域和恢复操作的数量被存储在查找表中。在恢复操作中，显示查找表的数据的列表，使得用户可以容易地选择要恢复的目标任务，通过检测用户输入的数据来确定目标任务，并且加载必要的数据从相关的存储区域开始计数恢复操作的次数，更新查找表的数据。

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