초록 ▼

A positioning and navigation method 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

A positioning and navigation method 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 and an attitude and heading solution from an AHRS 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 and when the GPS satellite signals are not available.

대표청구항 ▼

A positioning and navigation method 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

A positioning and navigation method 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 and an attitude and heading solution from an AHRS 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 and when the GPS satellite signals are not available. of Process Control (2000) pp 1-38. Seiver et al., "A Pyramid Approach to Advanced Control", Control Magazine (2000). herein said plural action means are at least movement action means for performing the movement action, light emission means for performing the light emission and sound outputting means for outputting the sound. 10. A method for controlling the actions of a robot apparatus having a plurality of action means for performing actions; wherein the synchronous actions by the plural action means are carried out as temporally late actions in succession to a preceding action performed by the action means; whereby said apparatus is selectively operable to either (i) issue a command for performing said preceding action prior to issuing commands for performing said actions in synchronization with each other, or (ii) issue a command for performing said preceding action at substantially the same time as issuing commands for performing said actions in synchronization with each other. 11. The method for controlling the actions of a robot apparatus according to claim 10 wherein transition between a plurality of posture states or action states is rendered possible; and wherein the preceding actions by said action means being the actions for transition to the posture or action state preparatory to the start of the temporally later actions. 12. The method for controlling the actions of a robot apparatus according to claim 10 wherein the synchronization actions by the plural action means are started based on the information relevant to anticipated termination of preceding actions by said action means. 13. The method for controlling the actions of a robot apparatus according to claim 10 comprising: a command control step of outputting an output command associated with an input command; an action control data converting step of outputting action control data associated with an output command output at said command control step; a data transmission control step of controlling the transmission of each action control data output at said action control data converting step; and a plurality of action control steps for controlling said action means based on each action control data output at said data transmission control step; said data transmission control step sending action control data for synchronization, output at said control data conversion step, in synchroneity to each of said action control steps. 14. A robot apparatus comprising: a plurality of action performing means for performing actions, and a plurality of action control means for controlling said action means; said robot apparatus further comprising: command control means for outputting a plurality of synchronization commands relevant to action performing commands for causing the robot apparatus to perform preset actions; and command transmission control means for controlling the synchronization commands output by said command control means to send the synchronization commands to said plural action control means; said command control means affording a label indicating at least the IDs of the synchronization commands to be synchronized and the total number of the synchronization commands to be synchronized to each of the plural synchronization commands to output said synchronization commands; said command transmission control means sending the plural synchronization commands in synchroneity based on said IDs and said total number. 15. A method for controlling the actions of a robot apparatus including a plurality of action performing means for performing actions, and a plurality of action control means for controlling said plural action means, said method comprising: a step of command control means affording a label indicating at least the IDs of the synchronization commands to be synchronized and the total number of the synchronization commands to be synchronized to each of plural synchronization commands relevant to action performing commands which cause the robot apparatus to perform preset actions; and a step of command transmission control means contr olling the synchronization commands output by said command control means to cause the plural synchronization commands to be synchronized based on said IDs and said total number to send the synchronization commands to said plural action control means. 16. A robot apparatus comprising: a plurality of action performing means for performing actions and a plurality of action control means for controlling the actions of the plural action performing means; said robot apparatus further comprising: command control means for outputting a plurality of synchronization commands relevant to action performing commands adapted for performing preset actions of said robot apparatus; a plurality of buses over which said action performing commands are transmitted; a plurality of command transmission control means provided for each of said buses for controlling said synchronization commands output by said command control means and for transmitting said synchronization commands to said plural action control means; and a co-owned memory that can be accessed by said plural command transmission control means; said command control means affording a label at least indicating the IDs of the synchronization commands to be synchronized and the total number of the synchronization commands to be synchronized to each of said plural synchronization commands and outputting the synchronization command; said command transmission control means causing the IDs and the total number to be stored in said co-owned memory and referencing said co-owned memory to synchronize the plural synchronization commands to send the synchronized synchronization commands to said action control means over said buses. 17. A method for controlling the actions of a robot apparatus including a plurality of action performing means for performing actions, and a plurality of action control means for controlling the actions of the plural action performing means, said method comprising: a step of command control means affording a label indicating at least the IDs of the synchronization commands to be synchronized and the total number of the synchronization commands to be synchronized to each of the plural synchronization commands relevant to action performing commands which cause the robot apparatus to perform preset actions; and a step of command transmission control means provided on each of plural buses, usable for transmitting said commands, controlling the synchronization commands output by said command control means to cause said IDs and the total number to be stored in said co-owned memory, and referencing said co-owned memory to synchronize said synchronization commands that can be accessed by said plural command transmission control means to transmit said synchronization commands to said plural command transmission control means over said buses. 5. A system as in claim 1 wherein said controller in determining occupant classification evaluates amplitude and frequency of said frequency domain representation to determine weight of an object in said seat system. 6. A collision countermeasure system for an automotive vehicle comprising: an occupant classification system comprising; a weight-sensing device generating a weight signal; an accelerometer generating an acceleration signal; a seat system coupled to said weight-sensing device and said accelerometer; and a controller electrically coupled to said weight-sensing device and said accelerometer, said controller determining occupant classification in response to said weight signal and said acceleration signal by monitoring a frequency domain representation of the weight signal divided by a frequency domain representation of the acceleration signal; said controller determining whether to activate a countermeasure in response to said occupant classification. 7. A system as in claim 6 wherein said controller in determining whether to activate a countermeasure adjusts deployment rate of said countermeasure in response to said occupant classification. 8. A system as in claim 6 wherein said countermeasure is at least one of: an air bag, a seatbelt, a knee bolster, a head restraint, a load limiting pedal, a load limiting steering device, or a pretensioner. 9. A system as in claim 6 further comprising: an object classification sensor electrically coupled to said controller and generating a object classification signal; said controller determining whether to activate said countermeasure in response to said object classification signal. 10. A system as in claim 9 wherein said object classification sensor is at least one of: an infrared sensor, an ultrasonic sensor, a heart rate sensor, or a force array sensor. 11. A method of classifying an occupant within an automotive vehicle comprising: generating a weight signal in response to a weight of an object in a seat system; generating an acceleration signal in response to an acceleration of at least a portion of said seat system; and determining classification of said object in response to said weight signal and said acceleration signal by monitoring a frequency domain representation of said weight signal divided by said acceleration signal. 12. A method as in claim 11 further comprising comparing amplitude and frequency of said frequency domain representation to determine weight of an object in said seat system. 13. A method as in claim 11 farther comprising determining whether to activate a countermeasure in response to said occupant classification. 14. A method as in claim 11 further comprising adjusting deployment rate of said countermeasure in response to said occupant classification. 15. A method as in claim 11 further comprising determining whether said object is an occupant. 16. A method as in claim 11 wherein determining occupant classification said controller compares predetermined statistical occupant classifications to said frequency domain representation. 17. A method as in claim 11 wherein a countermeasure is activated when a dynamic frequency factor is greater than or equal to a predetermined dynamic mass threshold. 18. An occupant classification system for an automotive vehicle comprising: a weight-sensing device coupled to a seat system and generating a weight signal; an accelerometer coupled to said seat system and generating an acceleration signal; and a controller electrically coupled to said weight-sensing device and said accelerometer, said controller determining occupant classification in response to said weight signal and said acceleration signal by monitoring a frequency domain representation of the weight signal divided by the acceleration signal, said controller evaluating the amplitude and frequency of said frequency domain representation to determine weight of an object in said seat system. 19. A system as in claim 18 wherei n said controller in determining occupant classification activates a countermeasure when a dynamic frequency factor is greater than or equal to a predetermined dynamic mass threshold. 20. A system as in claim 18 further comprising: an object classification sensor electrically coupled to said controller and generating an object classification signal; said controller determining whether to activate a countermeasure in response to said object classification signal. signal which feeds the received signal to a receiver provided with one or more crystals, and a microprocessor which receives a digitized time signal from the receiver and updates the display means of the ignition state in accordance with collected data. 6. A device according to claim 5, wherein the microprocessor includes a memory for storing the time for updating the display means at a pre-determined time interval as long as the ignition of the vehicle is on and subsequently updates the display after the ignition has been turned off and then turned back on again. 7. A device according to claim 5, wherein a manually operated switch is interfaced with the microprocessor in order to allow setting of the time of parking manually. 8. A device according to claim 1, wherein the display means comprises an LCD display with a translucent or transparent background. 9. A device according to claim 1, wherein at least one display, preferably the outwardly facing display, is a clock dial. 10. A device according to claim 1, wherein the inwardly facing display is an LCD display with four digits separated in pairs of two. 11. A device according to claim 1, wherein a data signal representing the position of the vehicle is received, and wherein the data transmitting means are provided for collecting arrival and departure time data when entering and leaving a geographically defined zone which transmits said data to a central recording unit. 12. A device according to claim 11, wherein the data transmitted by the data transmitting means additionally or alternatively comprises information, such as an SMS message, to a dedicated mobile communication device about the vehicle in order for the user of said communication device to monitor the duration of the parking time of the vehicle. motion of the loins for balancing a moment on the selected ZMP trajectory; and means for realizing the motion of the loins on the basis of the obtained solution for the motion of the loins. 3. Control apparatus for controlling a robot to walk, said robot having at least lower limbs, upper limbs, a trunk and loins to move on two feet of the lower limbs of the robot in order to cause zero moment point (ZMP) of the robot to get to a target position, said apparatus comprising: means for selecting motion of the feet, motion of the trunk and motion of the upper limbs and attitude and height of the loins in order to realize a requested action; means for selecting a trajectory of the ZMP on the basis of the selected motion of the feet; means for obtaining a first approximate solution for the motion of the loins for balancing a moment on the selected ZMP trajectory by means of a non-strict model; means for obtaining a second approximate solution for the motion of the loins for balancing the moment on the selected ZMP trajectory by means of a strict model; means for finalizing the solution for the motion of the loins when the difference between the first and second approximate solutions is less than a predetermined admissible value; means for modifying the moment on the ZMP of the non-strict model and inputting the modified value to said means for obtaining a first approximate solution when the difference between the first and second approximate solutions is not less than the predetermined admissible value; and means for realizing the motion of the loins on the basis of the finalized solution for the motion of the loins. 4. The control apparatus according to claim 3, wherein said non--strict model is a linear and/or non-interference multiple material point approximation model for robots; and wherein said strict model is a rigid body model or a non-linear and/or interference approximation model of a multiple material point system. 5. The control apparatus according to claim 3, further comprising: means for reselecting/modifying a pattern of movement of the trunk and a pattern of movement of the upper limbs when the selected motion of the trunk and the selected motion of the upper limbs cannot be realized by the first approximate solution. 6. The control apparatus according to claim 3, wherein said means for obtaining a first approximate solution for the motion of the loins comprises means for obtaining an approximate solution for the motion of the loins by solving a balancing equation of the moment on the selected ZMP generated by the motions of the feet, the trunk and the upper limbs and the moment on the ZMP generated by a horizontal plane motion of the loins. 7. The control apparatus according to claim 3, wherein said means for obtaining a first approximate solution for the motion of the loins comprises means for replacing a time function with a frequency function for computation. 8. The control apparatus according to claim 3, wherein said means for obtaining a first approximate solution for the motion of the loins comprises means for computationally determining Fourier coefficients of a horizontal plane trajectory of the loins by applying a Fourier series development to the moment on the selected ZMP generated by the motions of the feet, the trunk and the upper limbs and also to the horizontal plane trajectory of the loins and additionally obtaining an approximate solution of the motion of the loins by applying an inverse Fourier series development. 9. An ambulation control method for controlling a robot having an entire body including at least lower limbs, upper limbs, a trunk, feet and loins and moving by bipedalism; said method being adapted to obtain a pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, trajectory of zero moment point (ZMP) of the robot, the pattern of movement of the trunk and t he pattern of movement of the upper limbs. 10. An ambulation control method for controlling a robot having at least lower limbs, upper limbs, a trunk and loins to move on two feet of the lower limbs of the robot in order to cause zero moment point (ZMP) of the robot to get to a target position, said method comprising the steps of: selecting motion of the feet, motion of the trunk and motion of the upper limbs and attitude and height of the loins in order to realize a requested action; selecting a trajectory of the ZMP on the basis of the selected motion of the feet; obtaining a solution for the motion of the loins for balancing a moment on the selected ZMP; and realizing the motion of the loins on the basis of the obtained solution for the motion of the loins. 11. An ambulation control method for controlling a robot having at least lower limbs, upper limbs, a trunk and loins to move on two feet of the lower limbs of the robot in order to cause zero moment point (ZMP) of the robot to get to a target position, said method comprising the steps of: selecting motion of the feet, motion of the trunk and motion of the upper limbs and attitude and height of the loins in order to realize a requested action; selecting a trajectory of the ZMP on the basis of the selected motion of the feet; obtaining a first approximate solution for the motion of the loins for balancing a moment on the selected ZMP trajectory by means of a non-strict model; obtaining a second approximate solution for the motion of the loins for balancing the moment on the selected ZMP trajectory by means of a strict model; finalizing the solution for the motion of the loins when the difference between the first and second approximate solutions is less than a predetermined admissible value; modifying the moment on the ZMP of the non-strict model and inputting the modified value for use in obtaining said first approximate solution when the difference between the first and second approximate solutions is not less than the predetermined admissible value; and realizing the motion of the loins on the basis of the finalized solution for the motion of the loins. 12. An ambulation control method according to claim 11, wherein said non-strict model is a linear and/or non-interference multiple material point approximation model for robots; and wherein said strict model is a rigid body model or a non-linear and/or interference approximation model of a multiple material point system. 13. An ambulation control method according claim 11, further comprising the step of reselecting/modifying a pattern of movement of the trunk and a pattern of movement of the upper limbs when the selected motion of the trunk and the selected motion of the upper limbs cannot be realized by the first approximate solution. 14. An ambulation control method according to claim 11, wherein said step of obtaining a first approximate solution for the motion of the loins comprises obtaining an approximate solution for the motion of the loins by solving a balancing equation of the moment on the selected ZMP generated by the motions of the feet, the trunk and the upper limbs and the moment on the ZMP generated by a horizontal plane motion of the loins. 15. An ambulation control method according to claim 11, wherein said step of obtaining a first approximate solution for the motion of the loins comprises replacing the time function with a frequency function for computation. 16. An ambulation control method according to claim 11, wherein said step of obtaining a first approximate solution for the motion of the loins comprises computationally determining Fourier coefficients of a horizontal plane trajectory of the loins by applying a Fourier series development to the moment on the selected ZMP generated by the motions of the feet, the trunk and the upper limbs and also to the horizontal plane trajectory of the loins and additionally obtaining an approximate solution of the motion of the loins b y applying an inverse Fourier series development. 17. Control apparatus for controlling a robot having an entire body, including at least lower limbs, feet, a trunk, upper limbs and loins, comprising: means for generating a motion pattern of a predetermined part of said robot based on a motion pattern of the upper limbs of said robot and, optionally, one or more of a motion pattern of the feet of said robot, a trajectory of zero moment point (ZMP) of said robot, and a motion pattern of the trunk of said robot; means for generating a motion pattern of the entire body of said robot based on the motion pattern of said predetermined part of said robot; and means for controlling said robot according to said motion pattern of said entire body. 18. The control apparatus of claim 17 wherein said predetermined part of said robot is said loins. 19. A method for controlling a robot having an entire body, including at least lower limbs, feet, a trunk, upper limbs and loins, said method comprising the steps of: generating a motion pattern of a predetermined part of said robot based on a motion pattern of the upper limbs of said robot and, optionally, one or more of a motion pattern of the feet of said robot, a trajectory of zero moment point (ZMP) of said robot, and a motion pattern of the trunk of said robot; generating a motion pattern of the entire body of said robot based on the motion pattern of said predetermined part of said robot; and controlling said robot according to said motion pattern of said entire body. 20. The method of claim 19, wherein said predetermined part of said robot is said loins. 21. A bipedal robot comprising: a body, including at least lower limbs, feet, a trunk, upper limbs and loins, and control apparatus, comprising: means for generating a motion pattern of a predetermined part of said robot based on a motion pattern of the upper limbs of said robot and, optionally, one or more of a motion pattern of the feet of said robot, a trajectory of zero moment point (ZMP) of said robot, and a motion pattern of the trunk of said robot; means for generating a motion pattern of the entire body of said robot based on the motion pattern of said predetermined part of said robot; and means for controlling said robot according to said motion patter of said entire body. 22. The robot of claim 21, wherein said predetermined part of said robot is said loins.