Distributed localization systems and methods and self-localizing apparatus

• US 9,885,773 B2
• Filed: 03/07/2016
• Issued: 02/06/2018
• Est. Priority Date: 03/07/2015
• Status: Active Grant

• Current Assignee: Verity AG
• Original Assignee: Verity Studios AG
• Inventors: Hehn, Markus, Waibel, Markus, D'Andrea, Raffaello
• Primary Examiner(s): CAI, WAYNE HUU
• Application Number:
  US15/063,104
• Publication Number:
  US 20160259032A1
• Time in Patent Office: 701 Days
• Field of Search: 4554042, 4554561-4566
• CPC Class Codes: G01S 1/024 of beacon transmitters
• CPC Class Codes: G01S 1/20 using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
• CPC Class Codes: G01S 5/0289 of multiple transceivers, e.g. in ad hoc networks
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: H04B 1/7163 using impulse radio
• CPC Class Codes: H04W 4/026 using orientation information, e.g. compass
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 84/18 Self-organising networks, e.g. ad-hoc networks or sensor networks

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.

Claims

1. A mobile robot, comprising:

an antenna;

analog reception electronics operationally coupled to the antenna;

a clock;

digital reception electronics operationally coupled to the analog reception electronics and to the clock, wherein the digital reception electronics are operable to;

time stamp an UWB signal received by the antenna with reference to the clock; and

receive data representative of a global property measured by a sensor at an offboard location, wherein the data representative of the global property measured by the sensor at the offboard location comprises an offboard measurement of atmospheric pressure, and wherein the global property is a property that is measurable at more than one location in a region;

an onboard sensor operable to measure the global property and produce data representative of the global property at an onboard location, wherein the onboard sensor comprises a barometer that measures atmospheric pressure; and

a localization unit operationally coupled to the digital electronics and operable to compute a location of the mobile robot based on the at least one time stamped UWB signal, the data representative of the global property at the onboard location, and the data representative of the global property measured by the sensor at the offboard location.

2. The mobile robot of claim 1, wherein the localization unit is further operable to compare the data representative of the global property at the onboard location and the data representative of the global property measured by the sensor at the offboard location and compute the location of the mobile robot based on the comparison.

3. The mobile robot of claim 2, wherein the localization unit is operable to use a global property model to compare the data representative of the global property at the onboard location and the data representative of the global property measured by the sensor at the offboard location, wherein the global property model relates the data representative of the global property at the onboard location and the data representative of the global property measured by the sensor at the offboard location to data indicative of location, orientation, or motion of the mobile robot.

4. The mobile robot of claim 1, further comprising:

a sensor operable to produce a sensor signal representative of an orientation of the antenna; and

a compensation unit operable to compute a compensation based on the sensor signal representative of an orientation of the antenna.

5. The mobile robot of claim 1, further comprising:

a compensation unit operable to compute a compensation for effects on the UWB signal.

6. The mobile robot of claim 1, wherein the localization unit is further operable to compute the location of the mobile robot based on a signal indicative of at least one of a position, an orientation, and a movement of an UWB transmitter producing the UWB signal.

7. The mobile robot of claim 6, wherein the localization unit is further operable to compute the location of the mobile robot based on a multiple of timestamped UWB signals.

8. The mobile robot of claim 1, further comprising:

a control unit operable to produce a control signal based on the computed location; and

an actuator operable to affect a movement of the mobile robot based on the control signal.

9. The mobile robot of claim 8, wherein the control unit is further operable to generate the control signal based on a reference signal, wherein the reference signal is representative of a desired position or orientation of the mobile robot, and wherein the movement reduces a disturbance to the mobile robot'"'"'s actual position or orientation relative to the mobile robot'"'"'s desired position or orientation caused by at least one of:

a change in the antenna'"'"'s orientation;

a change in the antenna'"'"'s position; and

a change in the antenna'"'"'s movement in less than 1 second.

10. The mobile robot of claim 8, wherein:

the UWB signal is transmitted by an UWB transceiver; and

the actuator is operable to affect the position of the mobile robot relative to the UWB transceiver.

11. The mobile robot of claim 8, wherein:

the UWB signal is transmitted by an UWB transceiver; and

the actuator is operable to affect the orientation of the mobile robot relative to the UWB transceiver, which causes the orientation of the antenna to vary relative to the UWB transceiver.

12. The mobile robot of claim 1, further comprising:

a control unit operable to produce a plurality of control signals based on the computed location; and

a plurality of actuators operable to affect a movement of the mobile robot, wherein each of the plurality of actuators is responsive to a respective one of the plurality of control signals.

13. The mobile robot of claim 12, wherein the plurality of actuators comprises four motors that are each (a) coupled to a respective propeller and (b) configured to rotate the respective propeller responsive to a control signal.

14. The mobile robot of claim 1, wherein:

the UWB signal is transmitted by an UWB transceiver; and

the UWB transceiver comprises the sensor.

15. A mobile robot, comprising:

an antenna;

analog reception electronics operationally coupled to the antenna;

a clock;

digital reception electronics operationally coupled to the analog reception electronics and to the clock, wherein the digital reception electronics are operable to time stamp an UWB signal received by the antenna with reference to the clock; and

an actuator operable to affect a movement of the mobile robot based on;

at least one time stamped UWB signal; and

a reference signal, wherein the mobile robot is operable to receive two UWB signals within a time window of 10 seconds, wherein the time difference between the time stamps of the two UWB signals is within 3 nanoseconds of the time difference between their reception times at the antenna with reference to the clock.

16. A mobile robot, comprising:

an antenna;

analog reception electronics operationally coupled to the antenna;

a clock;

digital reception electronics operationally coupled to the analog reception electronics and to the clock, wherein the digital reception electronics are operable to time stamp an UWB signal received by the antenna with reference to the clock;

at least one of a gyroscope, an accelerometer, an odometer, or an encoder; and

an actuator operable to affect a movement of the mobile robot based on at least one time stamped UWB signal, a reference signal, and the at least one of the gyroscope, the accelerometer, the odometer, or the encoder to reduce a disturbance to the mobile robot'"'"'s location in less than 1 second.

17. A mobile robot, comprising:

an antenna;

analog reception electronics operationally coupled to the antenna;

a clock;

digital reception electronics operationally coupled to the analog reception electronics and to the clock, wherein the digital reception electronics are operable to;

time stamp an UWB signal received by the antenna with reference to the clock; and

receive data representative of a global property measured by a sensor at an offboard location, wherein the data representative of the global property measured by the sensor at the offboard location comprises an offboard measurement of global positioning system (GPS) signals and wherein the global property is a property that is measurable at more than one location in a region;

an onboard sensor operable to measure the global property and produce data representative of the global property at an onboard location, wherein the onboard sensor comprises a GPS receiver that receives the GPS signals; and

a localization unit operationally coupled to the digital electronics and operable to compute a location of the mobile robot based on the at least one time stamped UWB signal, the data representative of the global property at the onboard location, and the data representative of the global property measured by the sensor at the offboard location.