Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
First Claim
1. A localization system, comprising:
- a first anchor comprising a first clock and a first antenna, wherein the first anchor is configured to emit a first timestampable localization signal from the first antenna at a first time based on a clock signal of the first clock, wherein the first timestampable localization signal comprises a preamble followed by a payload; and
a second anchor comprising a second clock and a second antenna, wherein the second anchor is configured to emit a second timestampable localization signal from the second antenna at a second time based on a clock signal of the second clock, wherein;
the first clock and second clock are synchronized in time;
the second timestampable localization signal comprises a preamble followed by a payload;
the emission of the second timestampable localization signal partially overlaps with the emission of the first timestampable localization signal such that the second timestampable localization signal does not overlap the preamble of the first timestampable localization signal; and
the first timestampable localization signal and the second timestampable localization signal can be received within a common region.
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Abstract
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
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Citations
30 Claims
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1. A localization system, comprising:
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a first anchor comprising a first clock and a first antenna, wherein the first anchor is configured to emit a first timestampable localization signal from the first antenna at a first time based on a clock signal of the first clock, wherein the first timestampable localization signal comprises a preamble followed by a payload; and a second anchor comprising a second clock and a second antenna, wherein the second anchor is configured to emit a second timestampable localization signal from the second antenna at a second time based on a clock signal of the second clock, wherein; the first clock and second clock are synchronized in time; the second timestampable localization signal comprises a preamble followed by a payload; the emission of the second timestampable localization signal partially overlaps with the emission of the first timestampable localization signal such that the second timestampable localization signal does not overlap the preamble of the first timestampable localization signal; and the first timestampable localization signal and the second timestampable localization signal can be received within a common region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for localization, the method comprising:
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emitting, from a first antenna of a first anchor, a first timestampable localization signal at a first time based on a clock signal of a first clock, wherein the first timestampable localization signal comprises a preamble followed by a payload; and emitting, from a second antenna of a second anchor, a second timestampable localization signal at a second time based on a clock signal of a second clock, wherein the first clock and the second clock are synchronized in time, wherein the second timestampable localization signal comprises a preamble followed by a payload, wherein the emission of the second timestampable localization signal partially overlaps with the emission of the first timestampable localization signal such that the second timestampable localization signal does not overlap the preamble of the first timestampable localization signal, and wherein the first timestampable localization signal and the second timestampable localization signal can be received within a common region. - View Dependent Claims (17, 18, 19, 20)
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21. A localization system, comprising:
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a first anchor configured to transmit a first timestampable localization signal based on a transmission schedule, wherein the first timestampable localization signal comprises a preamble followed by a payload; and a second anchor configured to transmit a second timestampable localization signal based on the transmission schedule, wherein; the second timestampable localization signal comprises a preamble followed by a payload; the transmission schedule causes the second timestampable localization signal to partially overlap with the first timestampable localization signal such that (a) the second timestampable localization signal does not overlap the preamble of the first timestampable localization signal and (b) the preamble of the second timestampable localization signal at least partially overlaps the payload of the first timestampable localization signal; and the first timestampable localization signal and the second timestampable localization signal can be received within a common region. - View Dependent Claims (22, 23, 24, 25, 26)
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27. A method for localization, the method comprising:
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transmitting, using a first anchor, a first timestampable localization signal based on a transmission schedule, wherein the first timestampable localization signal comprises a preamble followed by a payload; and transmitting, using a second anchor, a second timestampable localization signal based on the transmission schedule, wherein; the second timestampable localization signal comprises a preamble followed by a payload; the transmission schedule causes the second timestampable localization signal to partially overlap with the first timestampable localization signal such that (a) the second timestampable localization signal does not overlap the preamble of the first timestampable localization signal and (b) the preamble of the second timestampable localization signal at least partially overlaps the payload of the first timestampable localization signal; and the first timestampable localization signal and the second timestampable localization signal can be received within a common region. - View Dependent Claims (28, 29, 30)
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Specification