Distributed localization systems and methods and self-localizing apparatus
First Claim
1. A method for calibrating ultra wideband (UWB) transceivers in an UWB transceiver network comprising at least a first UWB transceiver, a second UWB transceiver, and a third UWB transceiver, each with at least partially unknown relative positions, the method comprising:
- wirelessly transmitting, using at least two of the first, second, and third UWB transceivers, at least two UWB signals;
receiving one or more of the at least two UWB signals at at least two of the first, second, and third UWB transceivers, wherein there are at least three receptions of the at least two UWB signals;
timestamping each of the at least three receptions to generate at least three reception timestamps;
receiving the at least three reception timestamps at a position calibration unit; and
computing, using the position calibration unit, a position of the first UWB transceiver, a position of the second UWB transceiver, and a position of the third UWB transceiver based on the at least three reception timestamps.
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Accused Products
Abstract
A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.
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Citations
22 Claims
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1. A method for calibrating ultra wideband (UWB) transceivers in an UWB transceiver network comprising at least a first UWB transceiver, a second UWB transceiver, and a third UWB transceiver, each with at least partially unknown relative positions, the method comprising:
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wirelessly transmitting, using at least two of the first, second, and third UWB transceivers, at least two UWB signals; receiving one or more of the at least two UWB signals at at least two of the first, second, and third UWB transceivers, wherein there are at least three receptions of the at least two UWB signals; timestamping each of the at least three receptions to generate at least three reception timestamps; receiving the at least three reception timestamps at a position calibration unit; and computing, using the position calibration unit, a position of the first UWB transceiver, a position of the second UWB transceiver, and a position of the third UWB transceiver based on the at least three reception timestamps. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An ultra wideband (UWB) system, comprising:
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a first UWB transceiver comprising a first clock; a second UWB transceiver comprising a second clock; a third UWB transceiver comprising a third clock, wherein; at least two of the first, second, and third UWB transceivers are configured to transmit at least two UWB signals; and at least two of the first, second, and third UWB transceivers are configured to receive one or more of the at least two UWB signals, wherein there are at least three receptions of the at least two UWB signals and wherein each reception is timestamped based on the clock of the receiving UWB transceiver; and a position calibration unit configured to; receive the at least three reception timestamps; and compute a position of the first UWB transceiver, a position of the second UWB transceiver, and a position of the third UWB transceiver based on the at least three reception timestamps. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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Specification