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1. 发明授权

US06463357B1 Method and system for precision operational control of automated machines 有权
标题翻译：自动化机床精密操作控制方法与系统
公开(公告)号：US06463357B1
公开(公告)日：2002-10-08
申请号：US10072835
申请日：2002-02-06
申请人： Dong An , ZongKe Li , Hiram McCall , Ching-Fang Lin
发明人： Dong An , ZongKe Li , Hiram McCall , Ching-Fang Lin
IPC分类号： G06F1900
CPC分类号： B25J9/1651 , G05B2219/39505
摘要： 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.
摘要翻译：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。

2. 发明申请

US20060100781A1 Self-contained/interruption-free positioning method and system thereof 有权
标题翻译：自适应/无中断定位方法及其系统
公开(公告)号：US20060100781A1
公开(公告)日：2006-05-11
申请号：US09740539
申请日：2000-12-18
申请人： Ching-Fang Lin , Hiram McCall
发明人： Ching-Fang Lin , Hiram McCall
IPC分类号： G01C21/28
CPC分类号： G01C21/28
摘要： A self-contained/interruption-free earth's surface positioning method and system, carried by a user on the earth's surface, includes an inertial measurement unit, a north finder, a velocity producer, an altitude measurement device, a GPS (Global Positioning System) receiver, a data link, a navigation processor, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, altitude measurement device, the GPS receiver, the data link, and the north finder are processed to obtain highly accurate position measurements of the user. The user's position information can be exchanged with other users through the wireless communication device, and the location and surrounding information can be displayed on the display device by accessing a map database with the user position information.
摘要翻译：地球表面用户承载的独立/无中断的地球表面定位方法和系统包括惯性测量单元，北极探测器，速度测量仪，高度测量仪，GPS（全球定位系统）接收机，数据链路，导航处理器，无线通信设备以及显示设备和地图数据库。处理惯性测量单元，速度发生器，高度测量装置，GPS接收器，数据链路和北极探测器的输出信号，以获得用户的高精度位置测量结果。可以通过无线通信设备与其他用户交换用户的位置信息，并且可以通过使用用户位置信息访问地图数据库来将位置和周围信息显示在显示设备上。

3. 发明授权

US06459990B1 Self-contained positioning method and system thereof for water and land vehicles 有权
标题翻译：用于水陆交通工具的自适应定位方法及其系统
公开(公告)号：US06459990B1
公开(公告)日：2002-10-01
申请号：US09669185
申请日：2000-09-25
申请人： Hiram McCall , Ching-Fang Lin
发明人： Hiram McCall , Ching-Fang Lin
IPC分类号： G06F1550
CPC分类号： G01C21/165
摘要： A positioning method and system for water and land vehicles is disclosed for highly accurate and self-contained operation. In which, an inertial navigation system (INS) is built on the micro MEMS (MicroElectroMechanicalSystem) IMU that is the core of the position determination system. To compensate the error of the INS, multiple navigation sensors are integrated into the system. The magnetic sensor is used as a magnetic field sensor to measure the heading of the vehicle. The odometer is used to measure the distance when the vehicle is on land. An automated Zero velocity updating method is used to calibrate the ever increasing INS errors. When the vehicle is in the water, a velocimeter is used to measure water speed for the INS aiding.
摘要翻译：公开了一种用于水陆地车辆的定位方法和系统，用于高度精确和独立的操作。其中，作为位置确定系统的核心的微机电系统（MicroElectroMechanicalSystem）IMU构建了惯性导航系统（INS）。为了补偿INS的错误，将多个导航传感器集成到系统中。磁传感器用作磁场传感器以测量车辆的航向。里程表用于测量车辆在陆地上的距离。自动化零速度更新方法用于校准不断增加的INS误差。当车辆在水中时，使用速度计来测量INS辅助的水速。

4. 发明授权

US06415223B1 Interruption-free hand-held positioning method and system thereof 有权
标题翻译：无中断手持定位方法及其系统
公开(公告)号：US06415223B1
公开(公告)日：2002-07-02
申请号：US09726996
申请日：2000-11-29
申请人： Ching-Fang Lin , Hiram McCall
发明人： Ching-Fang Lin , Hiram McCall
IPC分类号： G01C2100
CPC分类号： G01S19/49 , G01C21/20 , G01C21/206 , G01S5/0072 , G01S11/02 , G01S13/60 , G01S13/86 , G01S15/025 , G01S17/023 , G01S19/26 , G01S19/44 , G01S19/53
摘要： An interruption-free hand-held positioning method and system, carried by a person, includes an inertial measurement unit, a north finder, a velocity producer, a positioning assistant, a navigation processor, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, the positioning assistant, and the north finder are processed to obtain highly accurate position measurements of the person. The user's position information can be exchanged with other users through the wireless communication device, and the location and surrounding information can be displayed on the display device by accessing a map database with the person position information.
摘要翻译：由人携带的无中断的手持式定位方法和系统包括惯性测量单元，北极探测器，速度发生器，定位辅助器，导航处理器，无线通信设备和显示设备以及地图数据库。处理惯性测量单元，速度发生器，定位助手和北极探测器的输出信号，以获得人的高精度位置测量。可以通过无线通信设备与其他用户交换用户的位置信息，并且可以通过使用人员位置信息访问地图数据库来将位置和周围信息显示在显示设备上。

5. 发明授权

US06697758B2 Processing method for motion measurement 有权
标题翻译：运动测量的处理方法
公开(公告)号：US06697758B2
公开(公告)日：2004-02-24
申请号：US10080176
申请日：2002-02-19
申请人： Hiram McCall , Ching-Fang Lin
发明人： Hiram McCall , Ching-Fang Lin
IPC分类号： G06F1500
CPC分类号： G01C21/16
摘要： 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.
摘要翻译：用于运动测量的处理方法适用于分别来自角速度传感器和加速度传感器的与载波的旋转和平移运动成比例的输出信号，更适合于新兴的MEMS（MicroElectronicMechanicalSystem）角速率和加速度传感器。与传统IMU相比，本发明利用前馈开环信号处理方案，通过信号数字化，温度控制和补偿，传感器误差和不对准校准，姿态更新和阻尼控制回路获得高精度运动测量，显着缩小了机电硬件的尺寸和功耗，同时获得了高精度的运动测量。

6. 发明授权

US06671648B2 Micro inertial measurement unit 有权
公开(公告)号：US06671648B2
公开(公告)日：2003-12-30
申请号：US10017310
申请日：2001-10-22
申请人： Hiram McCall , Ching-Fang Lin
发明人： Hiram McCall , Ching-Fang Lin
IPC分类号： G01P500
CPC分类号： G01C19/5719
摘要： A micro inertial measurement unit, which is adapted to apply to output signals proportional to rotation and translational motion of a carrier, respectively from angular rate sensors and acceleration sensors, is employed with MEMS rate and acceleration sensors. Compared with a conventional IMU, the processing method 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.

7. 发明授权

US06522992B1 Core inertial measurement unit 有权
公开(公告)号：US06522992B1
公开(公告)日：2003-02-18
申请号：US09624366
申请日：2000-07-25
申请人： Hiram McCall , Ching-Fang Lin
发明人： Hiram McCall , Ching-Fang Lin
IPC分类号： G06F700
CPC分类号： G01C21/16
摘要： A core inertial measurement unit, which is adapted to apply to output signals proportional to rotation and translational motion of a carrier, respectively from angular rate sensors and acceleration sensors, is employed with MEMS rate and acceleration sensors. Compared with a conventional IMU, the processing method 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.

8. 发明授权

US06473713B1 Processing method for motion measurement 有权
公开(公告)号：US06473713B1
公开(公告)日：2002-10-29
申请号：US09399980
申请日：1999-09-20
申请人： Hiram McCall , Ching-Fang Lin
发明人： Hiram McCall , Ching-Fang Lin
IPC分类号： G06F1500
CPC分类号： G01P15/125 , G01C21/16 , G01P2015/0814
摘要： A processing method for motion measurement, which is adapted to apply to output signals proportional to rotation and translational motion of a carrier, respectively from rate sensors and acceleration sensors, is more suitable for emerging MEMS rate and acceleration sensors. Compared with a conventional IMU, the processing method 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.

9. 发明授权

US06596976B2 Method and system for pointing and stabilizing a device 有权
标题翻译：指向和稳定设备的方法和系统
公开(公告)号：US06596976B2
公开(公告)日：2003-07-22
申请号：US09732648
申请日：2000-12-07
申请人： Ching-Fang Lin , Hiram McCall
发明人： Ching-Fang Lin , Hiram McCall
IPC分类号： F41G700
CPC分类号： F41G3/145
摘要： A method and system for pointing and stabilizing a device that needs to be pointed and stabilized with a desired direction, are disclosed, wherein current attitude measurement and attitude rate measurement of the device measured by an attitude producer, which includes an inertial measurement unit, and the desired direction information measured by a target coordinates producer are processed by a pointing controller to compute rotation commands to an actuator. An actuator rotates and stabilizes the device at the desired direction according to the rotation commands in the presence of disturbances and parametric uncertainties to account for the undesired vibration due to disturbances. A visual and voice device provide an operator with visualization and voice indication of the pointing and stabilization procedure of the device.
摘要翻译：公开了一种用于指向和稳定需要按所需方向指向和稳定的装置的方法和系统，其中由包括惯性测量单元的姿态制造商测量的装置的当前姿态测量和姿态速率测量，以及由目标坐标产生器测量的期望的方向信息由指点控制器处理以向致动器计算旋转命令。在存在干扰和参数不确定性的情况下，致动器根据旋转命令在所需方向上旋转并稳定装置，以解决由于扰动引起的不期望的振动。视觉和语音设备向操作者提供设备的指向和稳定化过程的可视化和语音指示。

10. 发明授权

US06477465B1 Vehicle self-carried positioning method and system thereof 有权
公开(公告)号：US06477465B1
公开(公告)日：2002-11-05
申请号：US09704211
申请日：2000-10-31
申请人： Hiram McCall , Ching-Fang Lin
发明人： Hiram McCall , Ching-Fang Lin
IPC分类号： G01C2126
CPC分类号： G01C21/16
摘要： A vehicle self-carried positioning system, carried in a vehicle, includes an inertial measurement unit, a north finder, a velocity producer, a navigation processor, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, and the north finder are processed to obtain highly accurate position measurements of a vehicle on land and in water, and the vehicle position information can be exchanged with other users through the wireless communication device, and the location and surrounding information can be displayed on the display device by accessing a map database with the vehicle position information.

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