Inductive charging system for a vehicle, ground module GPM and vehicle module CPM for such an inductive charging system and method for operating the inductive charging system and ground module GPM

Abstract

The invention relates to an inductive charging system for a vehicle F, comprising a ground pad module GPM (101) with a first main coil H1 and a car pad module CPM (102) arranged in the vehicle F with a second main coil H2, wherein the ground pad module GPM (101) has a number N of armature ANK n and the Car-Pad module CPM (102) a number M of tags TAG m exhibit, where the tags TAG m Emit UWB signals that are received from the anchors ANK n as UWB signals SIGN ANKn,TAGm to be received, wherein a system (103) is available that is executed and configured to receive current POS positions F (t) of the vehicle F to provide, and an evaluation unit (104) is available which is designed and equipped to perform a mathematical estimation procedure based on the anchors ANK n received UWB signals SIGN ANKn,TAGm , the current position POS F(t) of vehicle F simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) to estimate and provide the second main coil H2 relative to the first main coil H1.

Description

[0001] The invention relates to an inductive charging system for a vehicle, a ground module GPM for such an inductive charging system and a method for operating such an inductive charging system and such a ground module GPM.

[0002] Inductive charging systems for vehicles are known to comprise a ground pad module (GPM) and a vehicle pad module (CPM) located inside the vehicle. The GPM is typically permanently installed on the ground and connected to a power grid. The CPM is installed inside the vehicle. For example, to charge energy storage devices in the vehicle, energy is inductively transferred via a first main coil H1 located in the GPM to a second main coil H2 located in the CPM. The GPM and the CPM can also be configured to inductively transfer energy from the CPM to the GPM.

[0003] Optimal energy transfer between GPM and CPM requires optimal positioning and orientation of the two main coils H1 and H2 relative to each other.

[0004] The use of so-called "Ultra-Wideband" (UWB) technology is well-known for determining the relative positions of units with high accuracy and robustness. This technology is particularly successful for indoor positioning.

[0005] A typical UWB positioning system consists of several so-called anchors at known locations and one or more so-called tags, whose position is to be estimated. The tag's position is determined based on Time-of-Arrival (ToA) or Time-Difference-of-Arrival (TDoA) measurements of the UWB signals between the tag(s) and the anchors. A key challenge with UWB positioning systems is the accurate calibration and / or knowledge of the antenna delays of the anchors and tags. The antenna delay is the time the UWB signal takes to travel from the internal signal-generating electronics of the respective transmitter to the antenna of the anchor or tag. It must be known as accurately as possible to ensure precise position estimates.Unknown or incorrect antenna delays lead to systematic distortions in distance measurements, resulting in significant errors in the estimated position(s) of the tag(s).

[0006] The invention is based on the objective of simplifying and improving the accuracy of determining the relative positioning between GPM and CPM or between the main coils H1 and H2.

[0007] The invention is defined by the features of the independent claims. Advantageous further developments and embodiments are the subject of the dependent claims. Further features, applications, and advantages of the invention will become apparent from the following description and the explanation of exemplary embodiments of the invention illustrated in the figures.

[0008] A first aspect of the invention relates to an inductive charging system for a vehicle F, comprising a ground pad module GPM with a first main coil H1 and a car pad module CPM arranged in the vehicle F with a second main coil H2, wherein energy is inductively transferable from the first main coil H1 to the second main coil H2 and / or vice versa, and wherein the ground pad module GPM has a number N of armatures ANK n and the Car-Pad module CPM a number M of tags TAG m exhibiting bidirectional signals, where the tags TAG m Emit UWB signals that are received from the anchors ANK n as UWB signals SIGN ANKn,TAGm received, with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1.

[0009] The anchor ANK also sends advantageous messages. n UWB signals emitted by the tags TAG m as UWB signals SIGN TAGm,ANKmThey can be received. Therefore, a bidirectional signal exchange takes place between anchors and tags.

[0010] The proposed inductive charging system includes a system designed and configured to monitor current POS positions. F (t) to provide, and an evaluation unit designed and configured to perform a mathematical estimation procedure based on the anchors ANK n received UWB signals SIGN ANKn,TAGm and based on the current POS position F (t) of vehicle F simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) of the second main coil H2 relative to the first main coil H1.

[0011] The system is advantageously designed and configured to provide current orientations. F(t) of vehicle F to determine. Advantageously, the evaluation unit is designed and configured to apply a mathematical estimation method based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F and the current orientations O F (t) of vehicle F simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) to estimate and provide the second main coil H2 relative to the first main coil H1.

[0012] Since the Car-Pad module CPM is permanently installed in vehicle F, the current position POS can be determined. F (t) of vehicle F and current orientation O F(t) of the vehicle F, the current position of a center point of the main coil H2 and an orientation of the main coil H2 of the Car-Pad module CPM can be easily determined.

[0013] Furthermore, the positions of the anchors ANK arranged on the ground pad module GPM are advantageous. n relative to the center point of the main coil H1 is known. Furthermore, the position of the ground pad module GPM is advantageously known, so that the evaluation unit can advantageously determine a relative positioning of the centers of the main coil H1 and the main coil H2, as well as a relative orientation of the main coil H1 and the main coil H2.

[0014] The estimated antenna delays ADTAG m the day DAY m and estimated antenna delays ADANK n the anchor ANK n as well as the estimated current POS position H2 (t) and, if applicable, current orientation O H2(t) of the second main coil H2 relative to the first main coil H1, advantageously all or parts thereof are provided by the evaluation unit for further use, e.g. to assist in positioning the CPM over the GPM.

[0015] The estimated antenna delays ADTAG will at least be advantageous. m the day DAY m and the estimated antenna delays ADANK n the anchor ANK n saved. The estimated antenna delays are advantageously ADTAG. m the day DAY m The CPM data is stored in the Car-Pad module. The estimated antenna delays are advantageously displayed as ADANK. n the anchor ANK n stored in the Ground Pad module GPM.

[0016] The system determines the current POS positions. F (t) and / or the current orientations O F(t) of the vehicle F advantageously by means of dead reckoning navigation and / or by means of a dynamic model of the vehicle F and / or by means of odometry and / or by means of an inertial measurement system (IMS) and / or by means of an acceleration measurement system and / or by means of a coupling / magnetic field measurement system.

[0017] A particularly preferred embodiment of the inductive charging system is characterized by the fact that the evaluation unit uses an algorithm for signal or data fusion as an estimation method, in particular a Kalman filter KF, especially preferably an extended Kalman filter EKF or an unscented Kalman filter UKF.

[0018] Advantageously, the Ground Pad Module GPM has a number N ≥ 2 anchors ANK. n , in particular N = 2 or 3 or 4 or 5 or 6 or 7 or 8, and the Car-Pad module CPM advantageously a number M ≥ 1 tags DAY m , especially M = 1 or 2 or 3 or 4.

[0019] The system is advantageously installed in vehicle F. The current positions (POS) determined by the system F (t) and, if applicable, current orientations O F (t) of vehicle F are advantageously transmitted to the Ground Pad Module GPM. Alternatively, the system can also be located externally to the vehicle.

[0020] The evaluation unit is advantageously located within the Car-Pad module CPM. Alternatively, the evaluation unit can be located externally, for example, within the Ground-Pad module GPM.

[0021] Another aspect of the invention relates to a ground pad module (GPM) for an inductive charging system for a vehicle F, as described above. The proposed ground pad module (GPM) has an evaluation unit designed and configured to perform a mathematical estimation procedure based on the tags TAG by applying a mathematical estimation method. m received UWB signals SIGN ANKn,TAGm , the current POS positions F(t) of vehicle F simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) of the second main coil H2 relative to the first main coil H1.

[0022] Advantageously, the evaluation unit of the GPM is designed and configured to apply a mathematical estimation method based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F and provided current orientations O F (t) of vehicle F simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) to estimate and provide the second main coil H2 relative to the first main coil H1.

[0023] The current POS positions determined by the system F (t) and the current orientations O F (t) of the vehicle F are advantageously transmitted by the system to the Ground Pad Module GPM and / or the Car Pad Module CPM.

[0024] The estimated antenna delays ADTAG m the day DAY m and estimated antenna delays ADANK n the anchor ANK n as well as the estimated current POS position H2 (t) and, if applicable, determined current orientation O H2 (t) of the second main coil H2 relative to the first main coil H1, advantageously all or parts thereof are provided by the evaluation unit for further use, e.g. to assist in positioning the CPM over the GPM.

[0025] The estimated antenna delays ADTAG will at least be advantageous. m the day DAY m and the estimated antenna delays ADANK n the anchor ANK nsaved. The estimated antenna delays are advantageously ADTAG. m the day DAY m The CPM data is stored in the Car-Pad module. The estimated antenna delays are advantageously displayed as ADANK. n the anchor ANK n stored in the Ground Pad module GPM.

[0026] A particularly preferred further development of the Ground Pad Module GPM is characterized by the fact that the evaluation unit uses an algorithm for signal or data fusion as an estimation method, in particular a Kalman filter KF, especially preferably an Extended Kalman filter EKF or an Unscented Kalman filter UKF.

[0027] Another aspect of the invention relates to a Car-Pad module CPM for an inductive charging system for a vehicle F, as described above, wherein the Car-Pad module CPM has an evaluation unit which is designed and configured to perform a mathematical estimation procedure based on the tags TAG by applying a mathematical estimation method.m received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F, simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) to estimate and provide the second main coil H2 relative to the first main coil H1.

[0028] Advantageously, the evaluation unit is designed and configured to apply a mathematical estimation method based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F and the current orientations O F (t) of vehicle F simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2(t) to estimate and provide the second main coil H2 relative to the first main coil H1.

[0029] A particularly preferred further development of the Car-Pad module CPM is characterized by the fact that the evaluation unit uses an algorithm for signal or data fusion as an estimation method, in particular a Kalman filter KF, especially preferably an Extended Kalman filter EKF or an Unscented Kalman filter UKF.

[0030] Another aspect of the invention relates to a method for operating an inductive charging system for a vehicle F, as described above. The method comprises the following steps.

[0031] In one step, a current POS position is provided. F (t) of vehicle F.

[0032] In a further step, the tags TAG are received. m UWB signals emitted by the anchor ANK n as UWB signals SIGN ANKn,TAGm, with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1.

[0033] In a further step, a mathematical estimation procedure is applied based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F a simultaneous estimation of antenna delays ADTAG m the day DAY m and from antenna delays ADANK n the anchor ANK n as well as a current POS position H2 (t) of the second main coil H2 relative to the first main coil H1.

[0034] The procedure also advantageously includes the following additional steps: - Providing up-to-date guidance O F (t) of vehicle F; and - by applying a mathematical estimation procedure based on the anchors ANK n received UWB signals SIGN ANKn,TAGm , the current POS positions F(t) of vehicle F and the current orientations O F (t) of vehicle F simultaneous estimation and provision (203) of antenna delays ADTAG m the day DAY m and from antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) of the second main coil H2 relative to the first main coil H1.

[0035] The determined antenna delays ADTAG are advantageous. m the day DAY m and / or from antenna delays ADANK n the anchor ANK n stored, specifically in the Ground Pad Module (GPM). Regarding antenna delays (ADTAG). m the day DAY m It is advantageous to use an identification identifier for the corresponding tags TAG m saved, creating a database in which all tags are TAG m Antenna delays corresponding to a CPM are stored.

[0036] The determined antenna delays ADTAG are advantageous. m the day DAY m and the antenna delays ADANK n the anchor ANK n as well as the current POS position H2 (t) and, if applicable, determined current orientation O H2 (t) of the second main coil H2 relative to the first main coil H1 provided for further use at an interface of the evaluation unit.

[0037] The provision of current POS positions is advantageous. F (t) and current orientations O F (t) of the vehicle F based on dead reckoning navigation and / or based on a dynamic model of the vehicle F and / or based on odometry and / or by means of an inertial measurement system (IMS) and / or by means of an acceleration measurement system.

[0038] The POS positions F (t) and orientations O F (t) of the vehicle F are advantageously three-dimensional quantities.

[0039] Particularly advantageous is the use of a signal or data fusion algorithm as a mathematical estimation method, in particular a Kalman filter KF, especially preferably an extended Kalman filter EKF or an unscented Kalman filter UKF.

[0040] Another aspect of the invention relates to a method for operating a Ground Pad Module (GPM) for an inductive charging system, as described above.

[0041] The procedure includes the following steps.

[0042] In one step, current POS positions are provided. F (t) of vehicle F.

[0043] In a further step, the tags TAG are received. m UWB signals emitted by the anchor ANK n as UWB signals SIGN ANKn,TAGm , with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1.

[0044] In a further step, a mathematical estimation procedure is applied based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm and based on the current POS positions F (t) of vehicle F a simultaneous estimation of the antenna delays ADTAG m the day DAY m and the antenna delays ADANK n the anchor ANK n as well as from current POS position H2 (t) of the second main coil H2 relative to the first main coil H1.

[0045] The procedure also advantageously includes the following additional steps: - Providing up-to-date guidance O F (t) of vehicle F; and - by applying a mathematical estimation procedure based on the anchors ANK n received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F and the current orientations O F(t) of vehicle F simultaneous estimation and provision (203) of antenna delays ADTAG m the day DAY m and from antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) of the second main coil H2 relative to the first main coil H1.

[0046] The determined antenna delays ADTAG are advantageous. m the day DAY m and the determined antenna delays ADANK n the anchor ANK n saved.

[0047] The determined antenna delays ADTAG are advantageous. m the day DAY m and the antenna delays ADANK n the anchor ANK n as well as the current POS position H2 (t) and current orientation O H2 (t) of the second main coil H2 relative to the first main coil H1 provided for further use at an interface of the evaluation unit.

[0048] The provision of current POS positions is advantageous. F (t) and current orientations O F (t) of the vehicle F based on dead reckoning navigation and / or based on a dynamic model of the vehicle F and / or based on odometry and / or by means of an inertial measurement system (IMS) and / or by means of an acceleration measurement system.

[0049] Particularly advantageous is the use of a signal or data fusion algorithm as a mathematical estimation method, in particular a Kalman filter KF, especially preferably an extended Kalman filter EKF or an unscented Kalman filter UKF.

[0050] Another aspect of the invention relates to a method for operating a Car-Pad module CPM for an inductive charging system, as described above.

[0051] The procedure includes the following steps.

[0052] In one step, current POS positions are provided. F (t) of vehicle F.

[0053] In a further step, the tags TAG are received. m UWB signals emitted by the anchor ANK n as UWB signals SIGN ANKn,TAGm , with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1.

[0054] In a further step, a mathematical estimation procedure is applied based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm and based on the current POS positions F (t) of vehicle F a simultaneous estimation of the antenna delays ADTAG m the day DAY m and the antenna delays ADANK n the anchor ANK n as well as from current POS position H2 (t) of the second main coil H2 relative to the first main coil H1.

[0055] The procedure also advantageously includes the following additional steps: - Providing up-to-date guidance O F (t) of vehicle F; and - by applying a mathematical estimation procedure based on the anchors ANK n received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F and the current orientations O F (t) of vehicle F simultaneous estimation and provision (203) of antenna delays ADTAG m the day DAY m and from antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) of the second main coil H2 relative to the first main coil H1.

[0056] The determined antenna delays ADTAG are advantageous. m the day DAY m and the determined antenna delays ADANK n the anchor ANK n saved.

[0057] The determined antenna delays ADTAG are advantageous. m the day DAY m and the antenna delays ADANK n the anchor ANK n as well as the current POS position H2 (t) and current orientation O H2 (t) of the second main coil H2 relative to the first main coil H1 provided for further use at an interface of the evaluation unit.

[0058] The provision of current POS positions is advantageous. F (t) and current orientations O F (t) of the vehicle F based on dead reckoning navigation and / or based on a dynamic model of the vehicle F and / or based on odometry and / or by means of an inertial measurement system (IMS) and / or by means of an acceleration measurement system.

[0059] Particularly advantageous is the use of a signal or data fusion algorithm as a mathematical estimation method, in particular a Kalman filter KF, especially preferably an extended Kalman filter EKF or an unscented Kalman filter UKF.

[0060] Further advantages, features, and details will become apparent from the following description, in which – possibly with reference to the drawing – at least one embodiment is described in detail. Identical, similar, and / or functionally equivalent parts are identified by the same reference numerals.

[0061] They show: Fig. 1 a highly schematic structure of an inductive charging system according to the invention for a vehicle F, and Fig. 2 a highly schematic flowchart of a method according to the invention for operating an inductive charging system according to the invention for a vehicle.

[0062] The inventors recognized that antenna delays pose a significant problem when using UWB systems for positioning in inductive charging systems. These antenna delays arise because signal transmission between the armatures and tags of the UWB system is not instantaneous. Every UWB device (armature, tag) has an inherent antenna delay that affects timing measurements and can therefore reduce positioning accuracy. These antenna delays must be precisely measured and accounted for during positioning to minimize errors and maximize accuracy.

[0063] The inventors have further recognized that wireless charging systems for electric vehicles (inductive charging systems) exhibit significant inefficiencies due to inaccurate vehicle positioning (and thus inaccurate relative positioning between charging coils such as main coils H1 and H2) and unaccounted-for antenna delays. These shortcomings lead to suboptimal energy transfer and increased charging times. Inaccuracies in the relative coil alignment of the main coils H1 (GPM) and H2 (CPM) result in energy losses. Unknown or incorrect antenna delays significantly reduce the positioning accuracy of H1 and H2. This leads, in particular, to increased operating costs and reduced user satisfaction due to inefficient charging processes.

[0064] The present invention particularly employs Kalman filter methods or other signal or data fusion methods to simultaneously measure antenna delays ADTAG.m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) to estimate and provide the second main coil H2 relative to the first main coil H1.

[0065] This allows for dynamic and precise adjustment of the corresponding position and orientation data in real time. By specifically addressing and correcting distortions caused by antenna delays, the accuracy of the position determination is significantly improved. This is particularly important for applications where precise localization is critical.

[0066] The advantages of this approach are: • Optimizing the relative coil alignment (H1 to H2) leads to maximum energy efficiency. • Dynamic adaptation to environmental and system changes in real time. • Reduction of overall charging time and improvement of system reliability. • Increased user satisfaction

[0067] The proposed approach advantageously includes the following additional features: • Adaptability of the proposed inductive charging system for different vehicle types and charging infrastructures. • Integration of additional sensors to improve estimation accuracy and system robustness.

[0068] Traditional wireless charging systems use fixed algorithms that cannot flexibly adapt to changes in vehicle position or antenna delays. These systems are often unable to effectively minimize the efficiency losses described.

[0069] Fig. Figure 1 shows a highly schematic setup of an inductive charging system according to the invention for a vehicle F, comprising a ground pad module GPM 101 with a first main coil H1 (not shown) and a car pad module CPM 102 arranged in the vehicle F with a second main coil H2 (not shown), wherein energy can be inductively transferred from the first main coil H1 to the second main coil H2 and / or vice versa, and the ground pad module GPM 101 has a number N = 4 of armature ANK n and the Car-Pad module CPM 102 a number M = 2 of tags DAY m exhibit, where the tags TAG m Emit UWB signals that are received from the anchors ANK n as UWB signals SIGN ANKn,TAGm be received.

[0070] The inductive charging system further comprises a system 103 arranged in the vehicle F, which is designed and configured to record current positions POS. F (t) and current orientations O F(t) of vehicle F to be provided.

[0071] The inductive charging system further includes an evaluation unit 104 arranged in the Car-Pad module CPM 102, which is designed and configured to perform a mathematical estimation procedure based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm , the current position POS F (t) of vehicle F and current orientation O F (t) of vehicle F simultaneous antenna delays ADTAG m the day DAY m and antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) to estimate and provide the second main coil H2 relative to the first main coil H1.

[0072] An Extended Kalman Filter (EKF) is used as the mathematical estimation method for this.

[0073] The state vector of the extended Kalman filter includes, in particular, the following quantities:

[0074] State vector x: x=[x,y,θ,δ]T

[0075] This refers to: x, y: Position coordinates of vehicle F θ: Vehicle orientation F δ: Antenna delay or antenna delays

[0076] Fig. Figure 2 shows a highly schematic flowchart of a method for operating an inductive charging system according to the invention for a vehicle F. The method comprises the following steps.

[0077] In step 201, a current POS position is provided. F (t) and a current orientation O F (t) of vehicle F.

[0078] In step 202, the tags TAG are received. m UWB signals emitted by the anchor ANK n as UWB signals SIGN ANKn,TAGm, with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1.

[0079] In step 203, a mathematical estimation procedure is applied based on the anchors ANK. n received UWB signals SIGN ANKn,TAGm , the current POS positions F (t) of vehicle F, and the current orientations O F (t) of vehicle F a simultaneous estimation and provision of antenna delays ADTAG m the day DAY m and from antenna delays ADANK n the anchor ANK n as well as current POS positions H2 (t) and current orientations O H2 (t) of the second main coil H2 relative to the first main coil H1.

[0080] Although the invention has been further illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned as examples are truly only examples and are not to be understood in any way as limiting, for example, the scope of protection, the possible applications, or the configuration of the invention.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without leaving the scope of protection defined by the claims and their legal equivalents, such as a further explanation in the description. Reference symbol list 101 Ground Pad Module GPM 102 Car-Pad-Module CPM 103 System for determining POS F (t) and O F (t) 104 evaluation unit 201-203 Procedural steps

Claims

Inductive charging system for a vehicle F, comprising a ground pad module GPM (101) with a first main coil H1 and a car pad module CPM (102) arranged in the vehicle F with a second main coil H2, wherein energy is inductively transferable from the first main coil H1 to the second main coil H2 and / or vice versa, and wherein the ground pad module GPM (101) has a number N of armatures ANKn and the car pad module CPM (102) has a number M of tags TAGm, which exchange signals bidirectionally, wherein the tags TAGm transmit UWB signals which are received by the armatures ANKn as UWB signals SIGNANKn,TAGm, with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1; wherein a system (103) is provided which is designed and configured to provide current positions POSF(t) of the vehicle F, and an evaluation unit (104) is provided which is designed and configured to estimate and provide, by applying a mathematical estimation procedure based on the UWB signals SIGNANKn,TAGm received by the armatures ANKn, the current positions POSF(t) of the vehicle F, the antenna delays ADTAGm of the tags TAG and the antenna delays ADANK of the armatures ANKn, as well as the current positions POSH2(t) of the second main coil H2 relative to the first main coil H1. Inductive charging system according to claim 1, wherein the system (103) is designed and configured to determine current orientations OF(t) of the vehicle F, and wherein the evaluation unit (104) is designed and configured to simultaneously estimate and provide antenna delays ADTAGm of the tags TAG and antenna delays ADANK of the armature ANKn, as well as current positions POSH2(t) and current orientations OH2(t) of the second main coil H2 relative to the first main coil H1, by applying a mathematical estimation method based on the UWB signals SIGNANKn,TAGm received by the armatures ANKn, the current positions POSF(t) of the vehicle F, and the current orientations OF(t) of the vehicle F. Inductive charging system according to claim 1, wherein the system (103) is designed and configured to determine the current positions POSF(t) and / or the current orientations OF(t) of the vehicle F by means of dead reckoning navigation and / or by means of a dynamic model of the vehicle F and / or by means of odometry and / or by means of an inertial measurement system (IMS) and / or by means of an acceleration measurement system. Inductive charging system according to claim 1 or 2, wherein the evaluation unit (104) uses as an estimation method an algorithm for signal or data fusion, in particular a Kalman filter KF, more preferably an extended Kalman filter EKF or an unscented Kalman filter UKF. Inductive charging system according to one of claims 1 to 3, wherein the ground pad module GPM (101) has a number N ≥ 2 anchors ANKn and the car pad module CPM (102) has a number M ≥ 1 tags TAGm. Inductive charging system according to one of claims 1 to 4, wherein the system (103) is arranged in the vehicle F. Inductive charging system according to one of claims 1 to 6, wherein the evaluation unit (104) is arranged in the car pad module CPM (102) or in the ground pad module GPM (101). Car-Pad module CPM (102) for an inductive charging system for a vehicle F according to one of claims 1 to 6, wherein the Car-Pad module CPM (102) has an evaluation unit (104) designed and configured to estimate and provide, by applying a mathematical estimation method based on the UWB signals SIGNANKn,TAGm received by the tags TAGm, the current positions POSF(t) of the vehicle F, the antenna delays ADTAGm of the tags TAGm and the antenna delays ADANK of the armature ANKn, as well as the current positions POSH2(t) of the second main coil H2 relative to the first main coil H1. Car-Pad module CPM (102) according to claim 8, wherein the evaluation unit (104) is designed and configured to estimate and provide, by applying a mathematical estimation method based on the UWB signals SIGNANKn,TAGm received by the armatures ANKn, the current positions POSF(t) of the vehicle F and the current orientations OF(t) of the vehicle F, antenna delays ADTAGm of the tags TAG and antenna delays ADANK of the armatures ANKn, as well as current positions POSH2(t) and current orientations OH2(t) of the second main coil H2 relative to the first main coil H1. Car-Pad module CPM (102) according to claim 8 or 9, wherein the evaluation unit (104) uses as an estimation method an algorithm for signal or data fusion, in particular a Kalman filter KF, most preferably an Extended Kalman filter EKF or an Unscented Kalman filter UKF. A method for operating an inductive charging system for a vehicle F according to any one of claims 1 to 6, comprising the following steps: - providing (201) current positions POSF(t) of the vehicle F; - receiving (202) the UWB signals transmitted by the tags TAGm by the armatures ANKn as UWB signals SIGNANKn,TAGm, with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1; - simultaneously estimating and providing (203) antenna delays ADTAGm of the tags TAG and antenna delays ADANK of the armatures ANKn, as well as current positions POSH2(t) of the second main coil H2 relative to the first main coil by applying a mathematical estimation method based on the UWB signals SIGNANKn,TAGm received by the armatures ANKn, the current positions POSF(t) of the vehicle F H1. The method of claim 11, comprising the steps of: - providing (201) current orientations OF(t) of the vehicle F; and - simultaneously estimating and providing (203) antenna delays ADTAGm of the tags TAG and antenna delays ADANK of the armature ANKn, as well as current positions POSH2(t) and current orientations OH2(t) of the second main coil H2 relative to the first main coil H1 by applying a mathematical estimation method based on the UWB signals SIGNANKn,TAGm received by the armatures ANKn, the current positions POSF(t) of the vehicle F and the current orientations OF(t) of the vehicle F. Method for operating a Car-Pad-Module CPM (102) for an inductive charging system for a vehicle F according to any one of claims 8 to 10, comprising the following steps: - providing (201a) current positions POSF(t) of the vehicle F; - receiving (202) the UWB signals transmitted by the tags TAGm by the anchors ANKn as UWB signals SIGNANKn,TAGm, with n = 1, ..., N and N ≥ 1, and m = 1, ..., M and M > 1; - simultaneously estimating and providing (203a) the antenna delays ADTAGm of the tags TAG and the antenna delays ADANK of the anchors ANKn, as well as current positions, by applying a mathematical estimation method based on the UWB signals SIGNANKn,TAGm received by the anchors ANKn, the current positions POSF(t) of the vehicle F POSH2(t) of the second main coil H2 relative to the first main coil H1. The method of claim 13, comprising the steps of: - providing (201b) current orientations OF(t) of the vehicle F; and - simultaneously estimating and providing (203b) antenna delays ADTAGm of the tags TAG and antenna delays ADANK of the armature ANKn, as well as current positions POSH2(t) and current orientations OH2(t) of the second main coil H2 relative to the first main coil H1 by applying a mathematical estimation method based on the UWB signals SIGNANKn,TAGm received by the armatures ANKn, the current positions POSF(t) of the vehicle F and the current orientations OF(t) of the vehicle F. Method according to claim 13 or 14, wherein the evaluation unit (104) uses as an estimation method an algorithm for signal or data fusion, in particular a Kalman filter KF, most preferably an Extended Kalman filter EKF or an Unscented Kalman filter UKF.

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