MOBILE LOCALIZATION USING SPARSE TIME-OF-FLIGHT RANGES AND DEAD RECKONING
First Claim
1. A system for mobile localization of an object having an object positional frame of reference using sparse time-of-flight data and dead reckoning, the system comprising:
- one or more transmitters;
a dead reckoning module wherein the dead reckoning module creates a dead reckoning local frame of reference;
a time-of-flight module wherein, responsive to the object being within range of one of the one or more transmitters based on the dead reckoning local frame of reference, the time-of-flight module receives a signal from the transmitter and collects range data between the object and the transmitter; and
a localization module communicatively coupled to the dead reckoning module and the time-of-flight module, wherein the localization module updates the object positional frame of reference based on the collected range data.
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Accused Products
Abstract
Mobile localization of an object having an object positional frame of reference using sparse time-of-flight data and dead reckoning can be accomplished by creating a dead reckoning local frame of reference, including an estimation of object position with respect to known locations from one or more Ultra Wide Band transceivers. As the object moves along its path, a determination is made using the dead-reckoning local frame of reference. When the object is within a predetermine range of one or more of the Ultra Wide Band transceivers, a “conversation” is initiated, and range data between the object and the UWB transceiver(s) is collected. Using multiple conversations to establish accurate range and bearing information, the system updates the object'"'"'s position based on the collected data.
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Citations
13 Claims
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1. A system for mobile localization of an object having an object positional frame of reference using sparse time-of-flight data and dead reckoning, the system comprising:
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one or more transmitters; a dead reckoning module wherein the dead reckoning module creates a dead reckoning local frame of reference; a time-of-flight module wherein, responsive to the object being within range of one of the one or more transmitters based on the dead reckoning local frame of reference, the time-of-flight module receives a signal from the transmitter and collects range data between the object and the transmitter; and a localization module communicatively coupled to the dead reckoning module and the time-of-flight module, wherein the localization module updates the object positional frame of reference based on the collected range data. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for mobile localization of an object having an object positional frame of reference using sparse time-of-flight data and dead reckoning, the method comprising the steps:
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creating a dead reckoning local frame of reference wherein the dead reckoning local frame of reference includes an estimation of localization of the object with respect to known locations of one or more Ultra Wide Band (UWB) transceivers; determining when the estimation of localization of the object is within a predetermine range of one or more of the Ultra Wide Band transceivers; initiating a conversation with one of the one or more of the UWB transceivers within the predetermined range; receiving a signal from the one of the one or more UWB transceivers within the predetermined range; collecting range data between the object and the one of the one or more UWB transceivers within the predetermined range; and updating the object positional frame of reference based on the collected range data. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification