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Method and system for determining precise robotic position and orientation using near-simultaneous radio frequency measurements

  • US 10,539,647 B2
  • Filed: 06/26/2017
  • Issued: 01/21/2020
  • Est. Priority Date: 01/06/2015
  • Status: Active Grant
First Claim
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1. A method for determining a position of a robotic device within an environment, the method comprising:

  • transmitting, by a master transceiver tag associated with the robotic device, a request to join a network, the network comprising at least one master node and a plurality of anchor nodes;

    receiving, by the master transceiver tag, distance information for at least a portion of the master node and the plurality of anchor nodes;

    determining, by the master transceiver tag, a set of best fit anchor nodes based upon the distance information;

    determining, by the master transceiver tag, ranging information from the master transceiver tag to each of the set of best fit anchor nodes;

    calculating, by the master transceiver tag, a position of the robotic device based upon the determined ranging information;

    receiving, by the master transceiver tag, relative positioning information from a plurality of additional transceiver tags operably attached to the robotic device;

    calculating, by the master transceiver tag, a location for each of the plurality of additional transceiver tags based upon the received relative positioning information and the position of the robotic device; and

    determining, by the master transceiver tag, a pose of the robotic device based upon the calculated location of each of the plurality of additional transceiver tags.

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