Mobile localization using sparse time-of-flight ranges and dead reckoning

• US 10,365,363 B2
• Filed: 06/01/2016
• Issued: 07/30/2019
• Est. Priority Date: 05/08/2015
• Status: Active Grant

• Current Assignee: Humatics Corporation
• Original Assignee: Humatics Corporation
• Inventors: Rohr, David, Senna, Josh, Jain, Akshay Kumar, Atherton, J. Alan, Bruemmer, David J.
• Primary Examiner(s): Nguyen, Chuong P
• Application Number:
  US15/170,665
• Publication Number:
  US 20160349362A1
• Time in Patent Office: 1,154 Days
• Field of Search: 342 21, 34235765, 34235771, 342450, 701472, 701494, 701500
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 13/0209 Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 19/26 involving a sensor measurement for aiding acquisition or tracking
• CPC Class Codes: G01S 5/0264 at least one of the systems being a non-radio wave positioning system

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.

Claims

1. A method for mobile localization of an object time-of-flight data and dead reckoning, the method comprising:

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 predetermined 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, wherein the signal includes a time stamp associated with the conversation and paired with the dead reckoning local frame of reference;

collecting range data between the object and the one of the one or more UWB transceivers within the predetermined range; and

updating object position based on the collected range data.