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1. 发明授权

US07561961B2 Vehicle position estimating apparatus and vehicle position estimating method 有权
标题翻译：车辆位置估计装置和车辆位置估计方法
公开(公告)号：US07561961B2
公开(公告)日：2009-07-14
申请号：US11566502
申请日：2006-12-04
申请人： Kotaro Wakamatsu , Takayuki Watanabe
发明人： Kotaro Wakamatsu , Takayuki Watanabe
IPC分类号： G01C21/00 , G08G1/123
CPC分类号： G01C21/00
摘要： A vehicle position estimating apparatus for estimating a vehicle position on the basis of a vehicle position (GPS position) calculated from a signal received from a GPS satellite includes a travel direction history storage unit for storing a plurality of pieces of vehicle travel direction history information and a position estimating unit for predicting the position of a vehicle at the next position measurement time and a vehicle position range in which the vehicle is likely to be located at the next position measurement time on the basis of the GPS position, a vehicle velocity (GPS velocity), and a vehicle travel direction (GPS travel direction) which are calculated from the transmitted GPS signal or on the basis of the position of the vehicle that has been predicted at the previous position measurement time, the GPS velocity, and data on a vehicle travel direction stored in the travel direction history storage unit.
摘要翻译：根据从GPS卫星接收的信号算出的车辆位置（GPS位置）来估计车辆位置的车辆位置估计装置包括：行驶方向历史存储单元，其存储多条车辆行驶方向历史信息;以及基于GPS位置来预测车辆在下一个位置测量时间的位置的位置估计单元和车辆在下一个位置测量时间可能位于的车辆位置范围，车速（GPS 速度）以及从所发送的GPS信号计算的车辆行驶方向（GPS行驶方向），或者基于在前一位置测量时间预测的车辆的位置，GPS速度和a上的数据车辆行驶方向存储在行驶方向历史存储单元中。

2. 发明申请

US20090063051A1 Method And Apparatus Of Updating Vehicle Position And Orientation 审中-公开
标题翻译：更新车辆位置和方向的方法和装置
公开(公告)号：US20090063051A1
公开(公告)日：2009-03-05
申请号：US12190374
申请日：2008-08-12
申请人： Takayuki Watanabe , Takayuki Hoshizaki , Kotaro Wakamatsu , Takehiko Sakagami
发明人： Takayuki Watanabe , Takayuki Hoshizaki , Kotaro Wakamatsu , Takehiko Sakagami
IPC分类号： G01C21/28
CPC分类号： G01C21/26 , G01C21/165
摘要： A method of updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor includes the acts of storing the vehicle position and orientation when the navigation system is inoperative and setting the stored vehicle position and orientation as the initial vehicle position and orientation when the navigation system is operative; estimating a vehicle position and orientation by using a signal output from the dead reckoning sensor and the initial vehicle position and orientation after the navigation system becomes operative; determining whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the navigation system becomes operative; and updating the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high.
摘要翻译：在使用GPS接收机和航位推算传感器的导航系统启动时，更新车辆的位置和姿势的方法包括当导航系统不工作时存储车辆位置和姿态的动作，并且设置所存储的车辆位置和方向作为导航系统运行时的初始车辆位置和方向; 在导航系统变得可操作之后，通过使用从推算传感器输出的信号和初始车辆位置和姿态来估计车辆位置和姿态; 在导航系统变得可操作之后，确定由GPS接收器获得的GPS定位的可靠性是否足够高; 并且当GPS接收机获得的GPS定位的可靠性变得足够高时，通过使用GPS定位和估计的车辆位置来更新当前车辆位置。

3. 发明授权

US08195392B2 Position detecting apparatus and method used in navigation system 有权
标题翻译：导航系统中使用的位置检测装置和方法
公开(公告)号：US08195392B2
公开(公告)日：2012-06-05
申请号：US12428182
申请日：2009-04-22
申请人： Takayuki Watanabe , Takehiko Sakagami , Kotaro Wakamatsu
发明人： Takayuki Watanabe , Takehiko Sakagami , Kotaro Wakamatsu
IPC分类号： G01C21/00
CPC分类号： G01C21/12 , G01C21/26
摘要： A position detecting apparatus and method used in a navigation system, which can improve positional accuracy and bearing accuracy even in a system equipped with few sensors, are provided. A position detecting apparatus used in a navigation system for detecting a vehicle position includes: a sensor unit including a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor; and a dead reckoning calculating unit for calculating state quantity inclusive of a current vehicle position, a vehicle speed, and a vehicle attitude angle based on a signal output from each of the sensors at a predetermined periodic interval. The dead reckoning calculating unit includes: a movement calculating unit for calculating a movement during a period from a previous state quantity calculation time up to a current state quantity calculation time; a change amount detecting unit for calculating an amount of change in vehicle attitude; a movement resolving unit for resolving the movement into a vehicle longitudinal component, a vehicle lateral component, and a vehicle vertical component based on the amount of change in vehicle attitude; and a state quantity calculating unit for determining, by calculation, a vehicle position at the current state quantity calculation time using each of the components.
摘要翻译：提供了一种在导航系统中使用的位置检测装置和方法，其即使在配备有少量传感器的系统中也能够提高位置精度和轴承精度。在用于检测车辆位置的导航系统中使用的位置检测装置包括：传感器单元，包括车速传感器，加速度传感器和角速度传感器; 以及用于以预定的周期性间隔基于从每个传感器输出的信号来计算包括当前车辆位置，车辆速度和车辆姿态角度的状态量的航位推算计算单元。航位推算计算单元包括：运动计算单元，用于计算从先前状态量计算时间直到当前状态量计算时间的期间的移动; 改变量检测单元，用于计算车辆姿态的变化量; 基于车辆姿态的变化量，将移动到车辆纵向部件中的移动分解单元，车辆侧向部件和车辆垂直部件; 以及状态量计算单元，用于通过计算使用每个部件来确定当前状态量计算时间的车辆位置。

4. 发明授权

US07414575B2 Position calculating apparatus, position calculating method, and program 有权
标题翻译：位置计算装置，位置计算方法和程序
公开(公告)号：US07414575B2
公开(公告)日：2008-08-19
申请号：US11671218
申请日：2007-02-05
申请人： Takayuki Watanabe , Kotaro Wakamatsu
发明人： Takayuki Watanabe , Kotaro Wakamatsu
IPC分类号： G01S5/14 , G01S3/02 , G01C21/00
CPC分类号： G01S19/53 , G01S19/49
摘要： A position calculating apparatus that calculates a position of a moving body by using results of positioning by a GPS satellite and a self-contained sensor includes receiving means for receiving GPS orientation data measured by the GPS satellite and navigation orientation data measured by the self-contained sensor; first determining means for determining a reliability of the GPS orientation data; second determining means for determining a reliability of the navigation orientation data; and movement angle calculating means for calculating a movement angle of the moving body from the GPS orientation data or the navigation orientation data in accordance with the determination results of the first and second determining means.
摘要翻译：通过使用GPS卫星和独立传感器的定位结果来计算移动体的位置的位置计算装置包括：接收装置，用于接收由GPS卫星测量的GPS定向数据和由独立的传感器; 用于确定GPS定位数据的可靠性的第一确定装置; 用于确定导航定向数据的可靠性的第二确定装置; 以及移动角度计算装置，用于根据第一和第二确定装置的确定结果，根据GPS定向数据或导航定向数据计算移动体的移动角度。

5. 发明授权

US07295155B2 Satellite positioning apparatus and method 有权
标题翻译：卫星定位装置及方法
公开(公告)号：US07295155B2
公开(公告)日：2007-11-13
申请号：US11073024
申请日：2005-03-04
申请人： Kotaro Wakamatsu
发明人： Kotaro Wakamatsu
IPC分类号： G01S1/00 , G01S3/02 , G01C21/00 , G08G1/123
CPC分类号： G01S19/28 , G01S19/49
摘要： Available-satellite data indicating satellites available for satellite positioning is obtained from a GPS receiver, and satellites continuously available for satellite positioning in the current instance and the previous n times are extracted as candidate satellites referring to available-satellite record data. Four of the candidate satellites are selected so that the satellites used for satellite positioning the previous time are selected with priority as the satellites to be used for satellite positioning in the current instance, and the selected satellites are set in designated-satellite data. The GPS receiver performs three-dimensional positioning using the four satellites designated by the designated-satellite data. If the number of extracted candidate satellites is three, these three extracted candidate satellites are selected as the designated satellites and are set in the designated-satellite data. The GPS receiver performs two-dimensional positioning using these three designated satellites. If the number of extracted candidate satellites is smaller than three, satellite positioning is not performed.
摘要翻译：可从GPS接收机获得可用于卫星定位的卫星的可用卫星数据，并且在当前实例和先前n次连续可用于卫星定位的卫星参考可用的卫星记录数据提取作为候选卫星。选择四颗候选卫星，使得用于前一次卫星定位的卫星被优先选择作为当前情况下用于卫星定位的卫星，并且所选择的卫星被设置在指定的卫星数据中。 GPS接收机使用由指定卫星数据指定的四颗卫星进行三维定位。如果提取的候选卫星的数量是三个，则选择这三个提取的候选卫星作为指定的卫星，并将其设置在指定的卫星数据中。 GPS接收机使用这三个指定的卫星进行二维定位。如果提取的候选卫星的数量小于3，则不执行卫星定位。

6. 发明授权

US06224568B1 Dual-chamber type injector and connector used therefor 失效
标题翻译：双室型注射器和连接器用于此
公开(公告)号：US06224568B1
公开(公告)日：2001-05-01
申请号：US09083201
申请日：1998-05-22
申请人： Shuji Morimoto , Kazuhiro Okochi , Kotaro Wakamatsu , Nobuyoshi Tanaka
发明人： Shuji Morimoto , Kazuhiro Okochi , Kotaro Wakamatsu , Nobuyoshi Tanaka
IPC分类号： A61M3700
CPC分类号： A61J1/2096 , A61J1/201 , A61J1/2031 , A61J1/2041 , A61J1/2051 , A61J1/2055 , A61J1/2072 , A61J1/2089 , A61M5/3202 , Y10S604/905
摘要： A needle connecting portion of a syringe which includes a drug accommodating chamber accommodating a first component is arranged opposite to a takeout port of a hermetically closed container which includes a container chamber accommodating a second component. The syringe is connected to the container through a connector so as to be movable in mutual proximity and adapted to be separable from the connector. There is provided a communication passage capable of communicating the drug accommodating chamber with the container chamber. The communication passage is cut off by a closure member arranged between both of the chambers. The syringe and the container chamber are moved in proximity to each other, thereby displacing the closure member so as to open the communication passage. An injector of the present invention is compact in shape but can surely retain sterility while being stored and surely mix both of the components accommodated therein through a simple operation just before administration. Further, it can prevent the sharpness of an injection needle from being damaged at the time of a mixing operation and easily remove a syringe after the mixing operation.
摘要翻译：注射器的针连接部分包括容纳第一部件的药物容纳室，与包含容纳第二部件的容器室的气密密闭容器的取出口相对。注射器通过连接器连接到容器，以便相互接近地可移动并且适于与连接器分离。提供了能够将药物容纳室与容器室连通的连通通道。连通通道由布置在两个室之间的封闭构件切断。注射器和容器室彼此靠近地移动，从而使闭合件移位以打开连通通道。本发明的注射器的形状紧凑，但是在储存时可以确实地保持不育，并且通过在施用前的简单操作可靠地将容纳在其中的组分混合。此外，它可以防止注射针的清洁度在混合操作时被损坏，并且在混合操作之后容易地移除注射器。

7. 发明申请

US20090150075A1 Angular Velocity Correcting Device, Angular Velocity Correcting Method, and Navigation Device 有权
标题翻译：角速度校正装置，角速度校正方法和导航装置
公开(公告)号：US20090150075A1
公开(公告)日：2009-06-11
申请号：US12268845
申请日：2008-11-11
申请人： Takayuki Watanabe , Kotaro Wakamatsu , Takehiko Sakagami , Koji Sewaki
发明人： Takayuki Watanabe , Kotaro Wakamatsu , Takehiko Sakagami , Koji Sewaki
IPC分类号： G01C21/00
CPC分类号： G01C21/005
摘要： Angular velocity correcting devices, angular velocity correcting methods, and navigation devices are disclosed. In some implementations, a first sensor sensitivity correcting method for considering variation of sensor sensitivity due to an oblique angle of an angular velocity detecting sensor with respect to a horizontal plane and a sensitivity error of the angular velocity detecting sensor and correcting the sensor sensitivity is enabled. A second sensor sensitivity correcting method for considering the variation of the sensor sensitivity due to the oblique angle of the angular velocity detecting sensor with respect to the horizontal plane without considering the sensitivity error and correcting the sensor sensitivity is enabled. The sensitivity error is calculated on the basis of a ratio of the sensor sensitivity obtained by the first sensor sensitivity correcting method to the sensor sensitivity obtained by the second sensor sensitivity correcting method. The angular velocity from the angular velocity detecting sensor using the sensitivity error is corrected.
摘要翻译：公开了角速度校正装置，角速度校正方法和导航装置。在一些实施方式中，使用用于考虑角速度检测传感器相对于水平面的倾斜角度的传感器灵敏度的变化和角速度检测传感器的灵敏度误差以及校正传感器灵敏度的第一传感器灵敏度校正方法。能够考虑到角速度检测传感器相对于水平面的倾斜角度的传感器灵敏度的变化而不考虑灵敏度误差和校正传感器灵敏度的第二传感器灵敏度校正方法。基于通过第一传感器灵敏度校正方法获得的传感器灵敏度与通过第二传感器灵敏度校正方法获得的传感器灵敏度的比率来计算灵敏度误差。来自角速度检测传感器的使用灵敏度误差的角速度被校正。

8. 发明授权

US5716339A Prefilled syringe 失效
标题翻译：预充注射器
公开(公告)号：US5716339A
公开(公告)日：1998-02-10
申请号：US530764
申请日：1995-09-19
申请人： Nobuo Tanaka , Jotaro Kishimoto , Kotaro Wakamatsu , Takayuki Hagihara , Seiji Chtani
发明人： Nobuo Tanaka , Jotaro Kishimoto , Kotaro Wakamatsu , Takayuki Hagihara , Seiji Chtani
IPC分类号： A61M5/28 , A61M5/31 , A61M5/315 , A61M37/00 , A61M5/00
CPC分类号： A61M5/31596 , A61M5/284 , A61M5/315 , A61M5/31511 , A61M2005/3132 , A61M5/31505 , A61M5/31513
摘要： A prefilled syringe is capable of separate storage of different substances before use. It includes a tubular body having an injection needle at one end and a plunger at the other end, and a partition axially slidable in the tubular body. The partition includes a front part and a rear part independent of each other, and as a whole divides the interior space of the tubular body into a front compartment and a rear compartment in a sealing manner for storing mutually different substances. A bypass is disposed generally between the front and rear compartments to introduce the substance in the rear compartment into the front compartment when the partition is slid under pressure provided by the plunger to be adjacent to the bypass to thereby mix the substances immediately prior to injection.
摘要翻译：预充式注射器在使用前能够分离储存不同的物质。它包括管状体，其一端具有注射针，另一端具有柱塞，以及在管状体中可轴向滑动的分隔件。分隔件包括彼此独立的前部和后部，并且整体上以密封方式将管状体的内部空间分隔成前隔室和后隔间以存储彼此不同的物质。旁路通常设置在前隔室和后隔室之间，以便当隔板在由柱塞提供的压力下滑动以邻近旁路时将后部隔室中的物质引入前隔室，从而在注射之前立即混合物质。

9. 发明授权

US07136015B2 Method and apparatus for satellite positioning 有权
标题翻译：卫星定位方法和装置
公开(公告)号：US07136015B2
公开(公告)日：2006-11-14
申请号：US11098007
申请日：2005-04-01
申请人： Kotaro Wakamatsu
发明人： Kotaro Wakamatsu
IPC分类号： G01S1/02
CPC分类号： G01S19/28 , G01C21/26 , G01S19/42 , G01S19/50
摘要： When there is a large difference greater than a threshold value between a position determined at a time in satellite positioning by a GPS receiver based on a propagation delay of signals received from a GPS satellite, and an anterior position determined at an anterior time in satellite positioning by the GPS receiver, in position determination in a first period after the times, a present position is found based on a velocity vector found at the anterior time by the GPS receiver based on a Doppler shift occurring in the signals received from the GPS satellite and a previously determined position. In position determination in a second period after the first period, the present position is found based on a velocity vector found in the second period and the previously determined position. After that, processing is returned in which a satellite-determined position is used as a determined position.
摘要翻译：当基于GPS卫星接收的信号的传播延迟和在卫星定位的前方确定的前位置时，存在大于由GPS接收机在卫星定位时确定的位置之间的阈值的大差异通过GPS接收机，在时间之后的第一时间段中进行位置确定，基于在GPS卫星接收到的信号中发生的多普勒频移，基于GPS接收机在前方发现的速度矢量找到当前位置，以及先前确定的位置。在第一时段之后的第二时段中的位置确定中，基于在第二周期和先前确定的位置中找到的速度向量来找到当前位置。之后，返回其中使用卫星确定位置作为确定位置的处理。

10. 发明申请

US20050259003A1 Method and apparatus for satellite positioning 有权
标题翻译：卫星定位方法和装置
公开(公告)号：US20050259003A1
公开(公告)日：2005-11-24
申请号：US11098007
申请日：2005-04-01
申请人： Kotaro Wakamatsu
发明人： Kotaro Wakamatsu
IPC分类号： G09B29/00 , G01C21/00 , G01C21/26 , G01S19/28 , G01S19/42 , G01S19/50 , G08G1/0969 , G09B29/10 , G01S5/14
CPC分类号： G01S19/28 , G01C21/26 , G01S19/42 , G01S19/50
摘要： When there is a large difference greater than a threshold value between a position determined at a time in satellite positioning by a GPS receiver based on a propagation delay of signals received from a GPS satellite, and an anterior position determined at an anterior time in satellite positioning by the GPS receiver, in position determination in a first period after the times, a present position is found based on a velocity vector found at the anterior time by the GPS receiver based on a Doppler shift occurring in the signals received from the GPS satellite and a previously determined position. In position determination in a second period after the first period, the present position is found based on a velocity vector found in the second period and the previously determined position. After that, processing is returned in which a satellite-determined position is used as a determined position.
摘要翻译：当基于GPS卫星接收的信号的传播延迟和在卫星定位的前方确定的前位置时，存在大于由GPS接收机在卫星定位时确定的位置之间的阈值的大差异通过GPS接收机，在时间之后的第一时间段中进行位置确定，基于在GPS卫星接收到的信号中发生的多普勒频移，基于GPS接收机在前方发现的速度矢量找到当前位置，以及先前确定的位置。在第一时段之后的第二时段中的位置确定中，基于在第二周期和先前确定的位置中找到的速度向量来找到当前位置。之后，返回其中使用卫星确定位置作为确定位置的处理。

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