WO2016196717A3 - Mobile localization using sparse time-of-flight ranges and dead reckoning - Google Patents

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

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Publication number
WO2016196717A3
WO2016196717A3 PCT/US2016/035396 US2016035396W WO2016196717A3 WO 2016196717 A3 WO2016196717 A3 WO 2016196717A3 US 2016035396 W US2016035396 W US 2016035396W WO 2016196717 A3 WO2016196717 A3 WO 2016196717A3
Authority
WO
WIPO (PCT)
Prior art keywords
dead reckoning
sparse time
reckoning
mobile localization
range
Prior art date
Application number
PCT/US2016/035396
Other languages
French (fr)
Other versions
WO2016196717A2 (en
Inventor
David Bruemmer
David Rohr
Josh SENNA
Akshay Jain
J Alan ATHERTON
Original Assignee
5D Robotics, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US15/149,064 external-priority patent/US20170023659A1/en
Priority claimed from US15/170,665 external-priority patent/US10365363B2/en
Application filed by 5D Robotics, Inc. filed Critical 5D Robotics, Inc.
Publication of WO2016196717A2 publication Critical patent/WO2016196717A2/en
Publication of WO2016196717A3 publication Critical patent/WO2016196717A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

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 objects position based on the collected data.
PCT/US2016/035396 2015-06-02 2016-06-02 Mobile localization using sparse time-of-flight ranges and dead reckoning WO2016196717A2 (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US201562169689P 2015-06-02 2015-06-02
US62/169,689 2015-06-02
US201662332234P 2016-05-05 2016-05-05
US62/332,234 2016-05-05
US15/149,064 2016-05-06
US15/149,064 US20170023659A1 (en) 2015-05-08 2016-05-06 Adaptive positioning system
US15/170,665 US10365363B2 (en) 2015-05-08 2016-06-01 Mobile localization using sparse time-of-flight ranges and dead reckoning
US15/170,665 2016-06-01

Publications (2)

Publication Number Publication Date
WO2016196717A2 WO2016196717A2 (en) 2016-12-08
WO2016196717A3 true WO2016196717A3 (en) 2017-05-04

Family

ID=57441694

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2016/035396 WO2016196717A2 (en) 2015-06-02 2016-06-02 Mobile localization using sparse time-of-flight ranges and dead reckoning

Country Status (1)

Country Link
WO (1) WO2016196717A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106842155B (en) * 2017-01-17 2020-02-07 北京工业大学 Wireless fixed emission source positioning method based on spatial interpolation and cluster analysis
CN108681487B (en) * 2018-05-21 2021-08-24 千寻位置网络有限公司 Distributed system and method for adjusting and optimizing sensor algorithm parameters
EP4033727B1 (en) * 2021-01-26 2023-01-04 Deutsche Telekom AG Method for providing adapted positioning information towards at least one consuming application regarding a plurality of objects comprising at least one specific object, system or telecommunications network for providing adapted positioning information, positioning information consuming application, program and computer-readable medium
CN114526735B (en) * 2022-04-24 2022-08-05 南京航空航天大学 Method for determining initial relative pose of unmanned aerial vehicle cluster only by ranging

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050134440A1 (en) * 1997-10-22 2005-06-23 Intelligent Technolgies Int'l, Inc. Method and system for detecting objects external to a vehicle
US20140305204A1 (en) * 2012-06-22 2014-10-16 Fitbit, Inc. Use of gyroscopes in personal fitness tracking devices and bicycling activities

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050134440A1 (en) * 1997-10-22 2005-06-23 Intelligent Technolgies Int'l, Inc. Method and system for detecting objects external to a vehicle
US20140305204A1 (en) * 2012-06-22 2014-10-16 Fitbit, Inc. Use of gyroscopes in personal fitness tracking devices and bicycling activities

Also Published As

Publication number Publication date
WO2016196717A2 (en) 2016-12-08

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