公开(公告)号：US20180356227A1

公开(公告)日：2018-12-13

申请号：US15984923

申请日：2018-05-21

申请人： Haechitech Corporation

发明人： Dong Yoon KIM ,  Seong Min CHOE ,  Chel Ho CHUNG

IPC分类号： G01C19/5776 ,  G05B19/408 ,  G05B19/401

摘要： A processor-implemented method based on an acceleration sensor and a geomagnetic sensor for determining an angular velocity of an object includes: deriving a state variable and a variance of the state variable based on an error quaternion and converting a quaternion-based rotation matrix into an error quaternion-based rotation matrix; calculating an observation matrix and an output matrix of the Kalman filter based on the error quaternion-based rotation matrix; calculating a gain of the Kalman filter based on the transferred variance of the state variable and the observation matrix of the Kalman filter after transferring the state variable and the variance of the state variable through a discretized transfer matrix; calculating a quaternion-based on a calibrated state variable and an estimated quaternion after calibrating the state variable and the variance of the state variable through the gain of the Kalman filter; and calculating angular velocity based on the quaternion.

公开(公告)号：US20210067678A1

公开(公告)日：2021-03-04

申请号：US16864742

申请日：2020-05-01

申请人： Haechitech Corporation

发明人： Yeon Kyu KIM ,  Yong Ho NAM ,  Hyun Il CHANG ,  Seong Min CHOE

IPC分类号： H04N5/235 ,  H04N5/225

摘要： Disclosed are a method and apparatus for composing a plurality of images of the celestial bodies. The method and apparatus can compose a plurality of images using various pieces of information associated with the plurality of images and a time interval during the plurality of images are taken, such that objects are accurately matched with no afterimage.

公开(公告)号：US20190195656A1

公开(公告)日：2019-06-27

申请号：US16204629

申请日：2018-11-29

申请人： Haechitech Corporation

发明人： Dong Yoon KIM ,  Seong Min CHOE ,  Eun Joong KIM ,  Joon Yul YUN

IPC分类号： G01D5/14

CPC分类号： G01D5/145

摘要： A rotation angle detecting method includes detecting a first rotation angle based on a first measured magnetic value received from a first hall element, detecting a first magnetic value received from a second hall element corresponding to the first detected rotation angle, adjusting a gain based on a first difference value between a second measured magnetic value received from the second hall element, in response to one of the magnetic pieces being rotated at the first rotation angle, and the first magnetic value, redetecting a second rotation angle by applying the gain to the first magnetic value and redetecting a second magnetic value received from the second hall element, corresponding to the second rotation angle, and outputting the second rotation angle as a confirmed rotation angle in response to a second difference value between the second magnetic value and the second measured magnetic value becoming less than a delta value.