Methods and systems for scheduling positioning signal transmissions and operating self-positioning devices

Abstract

The invention relates to a method and system for scheduling positioning signal transmission and operating a self-positioning device. A positioning system and method for transmitting time-stampable positioning signals from an anchor according to one or more transmission schedules. Transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit positioning signals at a different rate than other anchors, the anchor transmission order may be changed, and the signals may partially overlap. In addition, different transmission parameters may be used to simultaneously transmit two positioning signals without interference. The self-positioning device can receive the positioning signal and determine its position. The self-positioning device may have a configurable receiver that may selectively receive one of a plurality of available positioning signals. The self-positioning device may have a pair of receivers capable of simultaneously receiving two positioning signals. A bridging anchor may be provided to enable the self-positioning device to seamlessly transition between two positioning systems.

Description

[0001] This application is a divisional application of Inventive Patent Application 202210322236.1, titled "Methods and Systems for Scheduling Positioning Signal Transmission and Operating Self-Positioning Devices", having an application date of May 30, 2016; Inventive Patent Application 202210322236.1 is a divisional application of Inventive Patent Application 201680044509.3, titled "Methods and Systems for Scheduling Positioning Signal Transmission and Operating Self-Positioning Devices", having an application date of May 30, 2016.

[0002] Cross Reference to Related Applications

[0003] This application claims the benefit of priority to U.S. Provisional Application No. 62 / 168,704, filed May 29, 2015, and U.S. Non-Provisional Application No. 15 / 063,104, filed March 7, 2016, the entire contents of both of which are incorporated herein by reference. TECHNICAL FIELD

[0004] The present disclosure relates to the field of object positioning. The present disclosure also relates to positioning systems and methods using time-tagged signals such as Ultra-Wide Band (UWB) signals. The present disclosure also relates to operating self-positioning devices. BACKGROUND

[0005] Logistics and industrial automation increasingly rely on precise positioning to support and control manual and automated processes, and the range of applications extends from "smart things" to effective tracking of robots such as Automated Guided Vehicles (AGVs) and ancillary solutions.

[0006] UWB technology has been advocated as a positioning solution suitable for asset tracking applications. Such applications involve maintaining a centralized database of assets and their storage locations in a warehouse, hospital, or factory. When using UWB technology, assets such as pallets, assemblies, and the like, or people can be equipped with tags that send UWB signals at regular time intervals. UWB sensors installed in the warehouse, hospital, or factory can then detect these signals. A central server then uses the UWB signals detected by the UWB sensors to compute the location of the tags and update the centralized database.

[0007] Mobile robots are increasingly being used to facilitate task performance in consumer and industrial settings. Autonomous mobile robots in particular offer benefits including: keeping workers from performing dangerous or remote tasks; high repeatability; and also high performance in an increasing number of cases. A significant challenge in using both general mobile robots and in particular autonomous mobile robots is robot localization, i.e., determining the position of the robot in space. Current localization solutions do not work well for many mobile robot applications, including cases where the mobile robot operates in areas where localization is unreliable or ineffective, such as localization provided by Global Navigation Satellite Systems (GNSS), or applications that require operation in the vicinity of people.

[0008] Using current UWB localization solutions for robot localization will not enable a mobile robot to determine its own position directly. Rather, a robot equipped with tags will first transmit a UWB signal from its position, then a UWB sensor in the vicinity of the robot will detect the UWB signal and relay it to a central server, then the central server will compute the position of the mobile robot, then this position will have to be communicated back to the robot via a wireless link. This type of system architecture always introduces a significant communication delay (e.g., latency) for controlling the mobile robot. The communication architecture also results in a relatively high risk of lost signals (e.g., due to wireless interference) and corresponding lower system robustness, which makes it unsuitable for many safety-critical robust applications (e.g., autonomous mobile robot operation). Furthermore, in this architecture, the maximum number of tags and tag transmission rate (i.e., update rate of the localization system) are always correlated, since multiple UWB signals do not currently overlap in these systems. This results in limited scalability for a given tag transmission rate (i.e., the system can only support a limited number of tags in parallel). Additionally, if a higher tag transmission rate or redundancy is required, then a lower number of tags will need to be used. Furthermore, with such an architecture, the maximum update rate for determining tag positions is inversely proportional to the number of tags. This is not suitable for cases where a large number of objects need to be tracked at a high update rate.

[0009] Another positioning system proposed in the prior art uses mobile transceivers that communicate with fixed transceivers through a two-way exchange of UWB signals. The two-way communication with the fixed transceivers enables the mobile transceivers to calculate the time of flight between themselves and the fixed transceivers. In this architecture, the communication between the mobile transceivers and the fixed transceivers must be coordinated so that the communications do not interfere. Knowledge of the time of flight to three or more fixed transceivers enables each mobile transceiver to calculate its relative position in the environment using trilateration. Since each mobile transceiver communicates with each fixed transceiver, the update rate of the system is inversely proportional to the number of mobile transceivers and the number of fixed transceivers. This architecture is therefore not suitable for systems where a large number of objects must be localized at high frequency (e.g. tracking a group of robots where the position measurements are used in the robot control loop to influence the actions of the robots), systems where the location or identity of the mobile transceivers should remain private (e.g. tracking people), systems that require both transceiver redundancy and high update frequency (e.g. safety critical applications such as vehicle positioning systems), or in multi-path environments (e.g. robot warehouses) where the most transceivers are needed to help disambiguate multi-path signals, where high update frequency and a large number of tracked objects are required. BRIEF DESCRIPTION OF DRAWINGS

[0010] Embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like references indicate similar elements, in which:

[0011] Figure 1 is a block diagram of an illustrative positioning system in accordance with some embodiments of the present disclosure;

[0012] Figure 2 is a block diagram of a self-localization device and an illustrative transceiver of a positioning system in accordance with some embodiments of the present disclosure;

[0013] Figure 3 is a detailed block diagram of an illustrative transceiver of a positioning system in accordance with some embodiments of the present disclosure;

[0014] Figure 4 is a block diagram of an illustrative transceiver including a pair of first and second transceivers in accordance with some embodiments of the present disclosure;

[0015] Figure 5 is a block diagram of an illustrative self-localization device in accordance with some embodiments of the present disclosure;

[0016] Figure 6 is an illustrative timing diagram in accordance with some embodiments of the present disclosure;

[0017] Figure 7is a block diagram of an illustrative self-localization device including a pair of first and second first self-localization devices according to some embodiments of the present disclosure;

[0018] Figure 8 is a block diagram of an illustrative self-localization device including a plurality of selectable antennas according to some embodiments of the present disclosure;

[0019] Figure 9 is a block diagram of an illustrative localization unit including position update processing according to some embodiments of the present disclosure;

[0020] Figure 10 shows an illustrative mobile robot including a self-localization device according to some embodiments of the present disclosure;

[0021] Figure 11 is a block diagram of an illustrative control unit that can be used with a mobile robot such as Figure 10 according to some embodiments of the present disclosure;

[0022] Figure 12 shows an illustrative transceiver network having a large number of transceivers according to some embodiments of the present disclosure;

[0023] Figure 13 shows an illustrative simplified transceiver network according to some embodiments of the present disclosure;

[0024] Figure 14 shows an illustrative transceiver network having geographically adjacent cells according to some embodiments of the present disclosure;

[0025] Figure 15 shows an illustrative mobile robot operating in an area served by a plurality of transceiver cells according to some embodiments of the present disclosure;

[0026] Figure 16 shows an illustrative input parameter map that can be used to determine a schedule according to some embodiments of the present disclosure;

[0027] Figure 17 shows an illustrative dynamic localization performance map that can be used to determine a schedule according to some embodiments of the present disclosure;

[0028] Figure 18 shows an illustrative example of how a schedule can be adjusted according to some embodiments of the present disclosure;

[0029] Figure 19 shows another illustrative example of how a schedule can be adjusted according to some embodiments of the present disclosure;

[0030] Figure 20A schematic example showing how scheduling can be adjusted for two groups of mobile robots according to some embodiments of the disclosure;

[0031] Figure 21 A diagram showing a schematic structure of a positioning signal according to some embodiments of the disclosure;

[0032] Figure 22 A schematic transmission schedule that can be used to achieve a higher positioning update rate according to some embodiments of the disclosure is shown;

[0033] Figure 23 A schematic transmission schedule according to some embodiments of the disclosure, Figure 22 a part of the schematic transmission schedule and the corresponding receiver activity;

[0034] Figure 24 A schematic transmission schedule of a positioning signal comprising two payloads according to some embodiments of the disclosure is shown;

[0035] Figure 25 A schematic positioning system and corresponding performance map according to some embodiments of the disclosure is shown;

[0036] Figure 26 A schematic positioning system according to some embodiments of the disclosure, Figure 1 used with different performance maps Figure 25 A schematic positioning system according to some embodiments of the disclosure;

[0037] Figure 27 A schematic positioning system and corresponding performance map according to some embodiments of the disclosure is shown;

[0038] Figure 28 A schematic positioning system according to some embodiments of the disclosure, Figure 1 used with different performance maps Figure 25 A schematic positioning system according to some embodiments of the disclosure;

[0039] Figure 29 An example transmission schedule of a positioning signal according to some embodiments of the disclosure is shown;

[0040] Figure 30 Another schematic transmission schedule of a positioning signal according to some embodiments of the disclosure is shown;

[0041] Figure 31 A schematic flowchart showing logic that can be implemented on a self-positioning device to configure its receiver according to some embodiments of the disclosure;

[0042] Figure 32 A schematic application of performance maps to indoor and outdoor environments according to some embodiments of the disclosure is shown;

[0043] Figure 33 Two illustrative positioning networks are shown in accordance with some embodiments of the present disclosure;

[0044] Figure 34 is a block diagram of an illustrative bridge anchor in accordance with some embodiments of the present disclosure; and

[0045] Figure 35 is a block diagram of another illustrative bridge anchor in accordance with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0046] In accordance with the present disclosure, the limitations of current systems for positioning have been reduced or eliminated. In addition, the present disclosure provides various technical advantages over current positioning systems.

[0047] Technical advantages of certain embodiments of the present disclosure relate to positioning objects in two-dimensional or three-dimensional space. For example, in embodiments where a self-localizing device is used to determine the position of a wheeled mobile robot, the transmission schedule can be optimized such that it takes into account the relative position of the anchors with respect to the robot's operating area or current position, or such that it takes into account the robot's movement constraints (e.g., all possible positions are in a 2D plane). Other technical advantages of certain embodiments can optimize the performance of the positioning system in real-time or offline for a particular use case or application. For example, in certain embodiments, the transmission schedule can be dynamically reconfigured based on predetermined rules (e.g., based on comparing the self-localizing device's estimated position with one or more predetermined positions, based on time codes, based on attributes) or based on requests (e.g., operator commands).

[0048] Technical advantages of certain embodiments improve the positioning accuracy or precision. Technical advantages of certain embodiments improve the rate or latency with which positioning information can be obtained or updated. For example, in certain embodiments, overlapping positioning signals can be used instead of interfering positioning signals to allow a self-localizing device to determine its position at a higher rate in a particular area or at a particular time. Technical advantages of certain embodiments improve the information content of the positioning information. For example, in some embodiments, a self-localizing device can select to receive positioning signals such that a particularly high uncertainty in its position estimate in a particular spatial direction or along a particular spatial axis is reduced.

[0049] Additional technical advantages of certain embodiments relate to, for example, reception of wireless signals by a device to determine its own position. In some embodiments, reception of positioning signals is not degraded when a direct line of sight between a receiving device and a sufficient number of signal transmitters cannot be established. For example, some embodiments allow operation in areas without good line of sight to global navigation satellite systems (GNSS), as well as operation indoors. In some embodiments, signals are not distorted by multipath, do not suffer from multipath fading observed in narrowband signals, or do not suffer from reduced signal quality when a direct line of sight is lacking in indoor environments. For example, some embodiments do not show performance degradation in closed environments, such as indoors, in forests, or in dense urban environments, for example, those where keeping track of GNSS signals becomes more difficult.

[0050] Technical advantages of some embodiments can allow multiple positioning signals to arrive at a receiver antenna with sufficient time separation to avoid degradation of signal detection and reduction of positioning system performance even in cases of signal overlap.

[0051] Technical advantages of some embodiments make them available in real time and can be used by an unlimited number of receivers to determine their two- or three-dimensional position in environments where rejection of global positioning systems or any environment where greater accuracy or system redundancy or fail-safe operation can be desired.

[0052] Technical advantages of some embodiments can improve the performance of current mobile robots and allow new uses of mobile robots by enabling positioning with higher update rates, lower latency, in larger spaces, or with higher accuracy than currently possible, resulting in higher performance robot control.

[0053] Additional technical advantages of some embodiments can allow a person, mobile robot, or other machine to be equipped with a self-positioning device that can determine its 3D position in space without the need to emit signals. This can improve positioning performance and allow new uses of positioning technology by providing regulatory advantages; by allowing scalability (e.g., the system can be used in parallel by an unlimited number of self-positioning devices) or in arbitrarily large spaces; by allowing higher redundancy (e.g., non-emitting devices allow more emitting anchors for a given network traffic load); by enabling more efficient bandwidth usage (e.g., lower emissions, less interference); by improving energy efficiency of receivers (e.g., by not requiring energy for transmission); by enhancing the privacy of operation; and by making data available locally where it is needed, resulting in improved update rates, lower latency, higher speed, and higher system robustness.

[0054] Additional technical advantages of some embodiments can allow improved system performance by fusing data from several sources, including one or more positioning networks (e.g., a UWB network), readings of global attributes from multiple locations, and on-board motion sensors.

[0055] Additional technical advantages of some embodiments can be linked to providing a distributed positioning system. Such a system can provide increased robustness and safety of robot operation, as it does not rely on sensor signals from a single source. It can also provide good performance degradation by providing redundancy; can allow identification and resolution of inconsistencies in data by providing redundant data; and can provide higher performance by performing positioning based on comparison of signals received from various transceivers.

[0056] Still further technical advantages of some embodiments allow positioning without a direct line of sight between the transceiver and the self-locating device. In addition, further technical advantages allow lower susceptibility to perturbations from radio frequency traffic, secure communication, and increased resistance to jamming, interference, and congestion.

[0057] To those skilled in the art, additional technical advantages will be apparent from the description, drawings and claims that follow. Furthermore, although specific advantages have been enumerated, each of the various embodiments can include all, some or no specific advantages. The scope of the disclosure is not to be construed as being limited to what is specifically listed as structural and / or functional details.

[0058] The present disclosure uses time-tagable signals (sometimes referred to herein as "positioning signals"). A time-tagable signal is a radio frequency (RF) signal, and each signal has a feature that can be detected and can be precisely time-tagged. Examples of features include a signal peak, a signal front, and a signal preamble. An example of a time-tagable signal includes a radio frequency signal with a well-defined, repeatable frequency increase over time or a frequency decrease over time. Additional examples of time-tagable signals include a signal burst, a signal chirp, or a signal pulse. Additional examples of time-tagable signals include a signal with a feature suitable for phase correction or amplitude correction techniques (e.g., a signal with a code with low autocorrelation values).

[0059] In some embodiments, the time-tagable signals are "open loop" one-way radio frequency signals transmitted over a reception area. Examples include DCF77 time code signals, Global Positioning System P-code signals, and ground-based trunked radio signals. In some embodiments, the device is a non-emitting apparatus.

[0060] In some embodiments, the time-stampable signal uses a narrow frequency band. In some embodiments, a center frequency or carrier frequency in the ISM band is used. In some embodiments, a center frequency or carrier frequency in the 1-48 GHz range is used. In some embodiments, a center frequency or carrier frequency in the 2.4-12 GHz range is used. In some embodiments, a center frequency or carrier frequency in the 3.1-10.6 GHz range is used. In some embodiments, a higher frequency is used. Compared to wideband signals (e.g., ultra-wideband (UWB) signals), narrowband signals tend to suffer more from multipath attenuation. In narrowband signals, the signal duration is typically longer than the channel delay variance. Conversely, for UWB signals, the signal duration is typically shorter than the channel delay variance. For example, in the case of a UWB system with a pulse duration of 2 nanoseconds, the pulse duration is significantly smaller than the channel delay variance. Therefore, signal components can be easily distinguished, and UWB signals are robust to multipath attenuation.

[0061] In some embodiments, the time-stampable signal is a UWB signal. UWB signals are spread over a large bandwidth. As used herein, a UWB signal is a signal spread over a bandwidth greater than 125 MHz or 5% of the arithmetic center frequency, which is less than that. In some embodiments, a UWB signal is a signal spread over a bandwidth greater than 250 MHz or 10% of the arithmetic center frequency, which is less than that. In some embodiments, a UWB signal is a signal spread over a bandwidth greater than 375 MHz or 15% of the arithmetic center frequency, which is less than that. In some embodiments, a UWB signal is a signal spread over a bandwidth greater than 500 MHz or 20% of the arithmetic center frequency, which is less than that. In some embodiments, a bandwidth in the range of 400-1200 MHz is used. In some embodiments, a bandwidth in the range of 10-5000 MHz is used. In some embodiments, a bandwidth in the range of 50-2000 MHz is used. In some embodiments, a bandwidth in the range of 80-1000 MHz is used. UWB technology allows the initial radio frequency (RF) signal to be spread in the frequency domain, resulting in a signal with a wider bandwidth and a frequency content that is typically wider than that of the initial signal. UWB technology is suitable for positioning systems because it can transmit very short-duration pulses, which can be used to measure the time of arrival of signals very accurately and thus allow for applications over a wide range. UWB signals can be advantageously used in positioning systems because they have the ability to penetrate obstacles and allow for extensions of hundreds of meters without interfering with conventional narrowband and carrier waves used in the same frequency band.

[0062] In some embodiments, the time-stampable signal can be measured to be within 0.6 nanoseconds relative to a clock. In some embodiments, the arrival time of the time-stampable signal can be measured to be within 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, or 15 nanoseconds relative to a clock.

[0063] In some embodiments, the transmission rate is measured as a long-term average of the number of transmissions per second. In some other embodiments, the transmission rate is measured as the reciprocal of the long-term average of the time interval between two subsequent transmissions. In some embodiments, a typical interval is one of 1-500 microseconds, 1-1000 microseconds, 1-500 milliseconds, 1-1000 milliseconds, 1-5 seconds, 1-500 seconds, or any combination thereof. In some embodiments, no interval is used. In some embodiments, the long-term average is calculated over a window of 1-10 seconds. In some other embodiments, the long-term average is calculated over a window of 1-10 minutes. In some other embodiments, the long-term average is calculated over a window of 10 minutes.

[0064] In some embodiments, the average equivalent isotropic radiated power (EIRP) density of the signal is less than -40 dBm / MHz at all frequencies. In some embodiments, the average EIRP density of the signal is less than -80, -70, -60, -50, -30, -20, or -10 dBm / MHz at all frequencies.

[0065] In some embodiments, the maximum power of the transmitted signal is less than 0.1mW per channel. In some embodiments, the maximum power of the transmitted signal is less than 1.0mW per channel. In some embodiments, the maximum power of the transmitted signal is less than 100mW per channel. In some embodiments, the maximum power of the transmitted signal is less than 500mW per channel. In some embodiments, the maximum power of the transmitted signal is less than 10W per channel.

[0066] In some embodiments, the smaller of the maximum power of the applied signal and the EIRP density of the signal is used. In some embodiments, the larger of the maximum power of the applied signal and the EIRP density of the signal is used. In some embodiments, one of the EIRP density limit of the applied signal and a limit for the maximum power of the signal are used. In some embodiments, both the limit for the EIRP density of the applied signal and the limit for the maximum power of the signal are used. In some embodiments, the limit is applied to narrowband signals. In some embodiments, the limit is applied to wideband signals.

[0067] In some embodiments, the typical effective range of the transceiver is between 1m and 50m. In some embodiments, the typical effective range of the transceiver is between 1m and 100m. In some embodiments, the typical effective range of the transceiver is between 1m and 500m. In some embodiments, the typical effective range of the transceiver is between 1m and 1000m. In some embodiments, the typical effective range of the transceiver is between 1m and 5000m. In some embodiments, the device may receive only UWB signals from a subset of the transceivers.

[0068] In some embodiments, a maximum data rate of 50 Mbps is used. In some embodiments, a maximum data rate of 5 Mbps is used. In some embodiments, a maximum data rate of 1 Mbps is used.

[0069] In some embodiments, a linear spread spectrum (CSS) signal is used. In some embodiments, a frequency modulated continuous wave (FMCW) signal is used.

[0070] Some embodiments include a positioning unit. In some embodiments, the positioning unit may calculate at least one of the following: (i) orientation or orientation information, (ii) position, or (iii) movement of the self-positioning device.

[0071] In some embodiments, the positioning unit calculates the position of the self-positioning device based on the reception time of a time-stampable signal and the known position of the transceiver. In some embodiments, a time-of-arrival (TOA) scheme is used. In some embodiments, a time-difference-of-arrival (TDOA) scheme is used. Multipoint positioning requires the positioning unit to calculate the time difference between the reception times of two time-stampable signals. By subtracting the known time difference of signal transmission time from the difference in their reception times (also known as the "TDOA measurement"), the positioning unit can calculate the difference in distance to the two transceivers from which the signals were transmitted (e.g., because the reception of the signal from transceiver 2 is delayed by 1 ns compared to the signal from transceiver 1, transceiver 2 is 30 cm farther than transceiver 1). By calculating the difference in distance between multiple transceivers, the positioning unit can be able to calculate the position of the self-positioning device by solving a hyperbolic equation system or a linearized version thereof. Methods for solving this equation system are known to those skilled in the art and may include nonlinear least squares, least squares, Newton iteration, gradient descent, etc. Multipoint positioning methods require that the time difference of signal transmission times be known.

[0072] In some embodiments, the positioning unit of the self-positioning device can iteratively calculate the position. In some embodiments, the positioning unit iteratively updates the position estimate whenever a signal is received, without waiting for time-stampable signals to be received from all transceivers. In some embodiments, when a time-stampable signal is received, an adjustment to the current position estimate is calculated based on the difference between its reception time and the reception time of previously received time-stampable signals. In some embodiments, known filtering methods (e.g., Kalman filtering, particle filtering) are used to calculate or apply this update. In some embodiments, the adjustment is calculated based on the variance of the current position estimate (e.g., a smaller adjustment is applied if the current estimate is relatively accurate). In some embodiments, the adjustment is calculated based on the positions of the two transceivers from which it transmits time-stampable signals. In some embodiments, the adjustment is calculated based on a measurement model that describes the probability distribution of TDOA measurements based on the current position estimate and the positions of the two transceivers. In some embodiments, this allows for the application of more or less adjustment depending on how accurate the TDOA measurement is determined to be (e.g., if the first transceiver is on a line connecting the current position estimate and the second transceiver, the TDOA measurement obtained from the two transceivers can be considered unreliable, and therefore less adjustment is applied).

[0073] In some embodiments, the positioning unit updates the position estimate based on a system model describing the probability distribution of the self-positioning device's location. In some embodiments, the system model may be based on other estimated states (e.g., the self-positioning device's rate or heading). In some embodiments, the system model may be based on input history (e.g., if the input command, based on system dynamics, might give motion in the positive x-direction, then the new position estimate is more likely to be in the positive x-direction than the negative x-direction).

[0074] In some embodiments, the system model may be based on measurements from sensors or global attributes. In some embodiments, the positioning unit may calculate the position of the self-positioning device based on global attributes. In some embodiments, the positioning unit may calculate the position of the self-positioning device based on the difference between global attributes measured by the self-positioning device and global attributes measured by one or more transceivers (e.g., if both the self-positioning device and the transceiver measure air pressure, then the relative altitude difference between the two can be calculated based on the known relationship between altitude and air pressure).

[0075] In some embodiments, the positioning unit may use the history of position estimation and the system model to calculate other dynamic states of the subject, such as velocity or heading. For example, if the history of position estimation indicates motion, velocity can be estimated. Another example is that if the history of position estimation indicates motion in the positive y-direction, and the system model indicates that only positive motion is possible (e.g., a skid-steering car), then heading can be determined as heading in the positive y-direction.

[0076] In some embodiments, the location is a one-dimensional location, a two-dimensional location, a three-dimensional location, or a six-dimensional location (i.e., including both position and orientation).

[0077] In some embodiments, the performance of the positioning unit (also referred to as localization performance or positioning performance) can be expressed as the average error of the position estimation. In some embodiments, the positioning performance can be expressed as the variance of the position estimation. In some embodiments, the positioning performance can be calculated based on the dilution of accuracy. In some embodiments, the positioning performance can be calculated based on the delay (e.g., the time required for the positioning unit to detect a change in the position of the self-positioning device).

[0078] In some embodiments, the relative position calculated by the positioning unit is calculated with an accuracy of 1m, 20cm, 10cm, or 1cm. In some embodiments, the time delay between receiving the time-stamped signal and calculating the updated position estimate provided by the positioning unit is less than 50ms, 25ms, 10ms, 5ms, 2ms, or 1ms. In some embodiments, the system updates the position at a rate greater than 1Hz, 5Hz, 10Hz, 50Hz, 250Hz, 400Hz, 800Hz, 1000Hz, or 2000Hz for full or partial position updates.

[0079] In some embodiments, the positioning system includes at least 1, 2, 3, 5, 7, 10, 25, 50, 100, or 250 anchors. In some embodiments, the positioning system supports more than 1, 2, 3, 5, 10, 20, 40, 100, 200, 500, 1000, 5000, or 10000 self-positioning devices.

[0080] The clock used herein represents a circuit, structure, or device capable of providing a time measurement. This time measurement can be in any suitable unit of time. For example, a time measurement can be based on the fundamental unit of seconds. As another example, a time measurement can be based on a count that increments at a specific rate. In some embodiments, the clock includes an internal oscillator for determining the time measurement. In some embodiments, the clock determines the time measurement based on a received signal (e.g., from an external oscillator). In some embodiments, a clock interface provides a clock signal.

[0081] In some embodiments, each transceiver may use its own onboard clock. In some embodiments, a single clock may generate a clock signal that is transmitted to each transceiver via cable or wirelessly. In some embodiments, the clock signal may rely on at least one-time codes transmitted by a radio transmitter, or on at least one of a terrestrial radio clock signal, a GPS clock signal, and a time standard. In some embodiments, the clock signal may be based on a GPS-compliant oscillator, based on the transmitter, or based on time estimates calculated from at least two clocks to improve the accuracy or long-term stability of the clock signal.

[0082] The clock can, for example, use a crystal oscillator or a temperature-compensated crystal. In some embodiments, enhanced clock accuracy can be achieved through temperature stabilization via a crystal oven (OCXO), analog compensation (TCXO), or digital / microcontroller compensation (MCXO). In some embodiments, a centralized synchronization unit is used. In some embodiments, an atomic oscillator (e.g., rubidium) is used as the clock.

[0083] In some embodiments, the clock is configured to have a maximum (1x10) -8 ) 2 or (1x10) -9 ) 2 Or (5x10) -10 ) 2 The Allen variance is used for the interval between the average of 5 milliseconds and 10 milliseconds, or for the interval between the average of 5 milliseconds and 100 milliseconds, or for the interval between the average of 1 millisecond and 1 second.

[0084] The device or transceiver may be equipped with analog and digital receiving electronics. These receiving electronics amplify the received signal and convert it into a baseband signal, which can then be demodulated and transmitted to central processing electronics. An important design aspect of the receiver is minimizing noise and distortion. This can be achieved through careful selection of the components of the receiving electronics (especially the amplifiers) and by optimizing the receiver's circuit design accordingly.

[0085] In some embodiments, the self-positioning device or its antenna, analog receiving electronics, and digital receiving electronics are configured to receive two time-stampable signals within a time window of 2, 10, or 50 seconds, wherein the time difference between the timestamps of the two UWB signals is within 0.6, 3, or 15 nanoseconds relative to the device's clock and their actual reception time at the device's antenna. The terms "receiver" and "receiving electronics" as used herein refer to the antenna, analog receiving electronics, and digital receiving electronics that receive the signals.

[0086] In some embodiments, the digital receiving electronics of the device are also operable to time-stamp the received UWB signal with reference to the device's clock in less than 1 millisecond, 100 microseconds, or 10 microseconds.

[0087] The device or transceiver may be equipped with analog and digital transmitting electronic components.

[0088] In some embodiments, the transceiver, or its digital transmitting electronics, analog transmitting electronics, and antenna, are configured to transmit two time-stampable signals within a time window of 2 seconds, 10 seconds, or 50 seconds, or are configured such that, with reference to the transceiver's clock, the time difference between the transmission of two time-stampable signals from the transceiver's antenna is within 0.6 nanoseconds, 3 nanoseconds, or 15 nanoseconds of the time difference between their scheduled transmission times. As used herein, the terms "transmitter" and "transmitting electronics" refer to the antenna, analog transmitting electronics, and digital transmitting electronics used to generate the signals.

[0089] In some embodiments, the scheduling unit is used to schedule signal transmission times. It will be clear to those skilled in the art that any error in this transmission scheduling caused by the transceiver will affect the accuracy of the position calculated by the positioning unit.

[0090] In some embodiments, the scheduling time refers to the time when the first pulse of the signal leaves the transceiver's antenna. In some embodiments, the scheduling time refers to the start of the frame header delimiter (i.e., the point at which the transmitted signal transitions from the repetition of the preamble to the transmission of the frame header delimiter). In some embodiments, the apparatus is configured to compare two time-stampable signals transmitted by the same transceiver.

[0091] In some embodiments, transceivers coordinate their transmissions at the packet level. In some embodiments, signal overlap is avoided. In some embodiments, signals are transmitted in a polling manner; at fixed intervals; in a specific time sequence; or sequentially. In some embodiments, transceivers transmit signals simultaneously. In some embodiments, transceivers transmit partially overlapping signals.

[0092] In some embodiments, each of the three or more transceivers includes a scheduling unit. In some embodiments, a single scheduling unit is operatively coupled to three or more transceivers. In some embodiments, such operative coupling is a wired connection. In some embodiments, such operative coupling is a wireless connection. In some embodiments, such wireless operative coupling is achieved using a signal such as a UWB signal. In some embodiments, the scheduling unit uses an update rate lower than the location signal rate.

[0093] In some embodiments, the scheduling unit is operable to ensure a time interval of at least 5 microseconds, 10 microseconds, or 50 microseconds between the termination of a transceiver's transmission and the commencement of a transmission by a different transceiver. In some embodiments, the scheduling unit is operable to monitor positioning signals. In some embodiments, the scheduling unit is operable to calculate improved scheduling. In some embodiments, the scheduling unit is operable to ensure a time interval of at least 1 microsecond, 5 microseconds, or 10 microseconds between the end of a signal and the commencement of a second signal transmitted by the same transceiver. In some embodiments, the scheduling unit is operable to maintain a memory of the allocation of media access control addresses and scheduled transmission times.

[0094] In some embodiments, each of the three or more transceivers includes a sensor. In some embodiments, the sensor is physically and operatively coupled to the transceiver. In some embodiments, the sensor is operable to provide data representing the orientation, position, or movement of the transceiver. In some embodiments, the sensor is configured to detect disturbances to the position or orientation of the transceiver. In some embodiments, the sensor signal is a signal from a sensor physically connected to the transmitter, wherein the sensor signal is transmitted as part of the payload of a signal such as a UWB positioning signal.

[0095] In some embodiments, the self-localization device includes a sensor physically and operatively coupled to the device and operable to provide data indicating the orientation of the device. In some embodiments, the sensor is operable to provide data indicating the orientation, position, or movement of the device. In some embodiments, the sensor is configured to provide data indicating the orientation of the antenna of the self-localization device.

[0096] Data from sensors can be processed by a localization unit or a position calibration unit. For example, landmark-related data can be compared with other data (e.g., data related to another landmark, data from memory, sensor data, data representing location) to improve the position estimation or position calibration unit. As another example, comparing the position of a landmark detected by a first camera relative to a transceiver with the position of the same landmark detected by a second camera relative to the self-localization device can allow the localization unit to improve its localization estimation. The comparison can use data related to one or more landmarks. The comparison can also use data related to observations from one or more visual sensors.

[0097] Typical examples of sensors that can be usefully used as part of this disclosure include optical sensors, accelerometers, magnetometers, and gyroscopes.

[0098] In some embodiments, microelectromechanical systems (MEMS) or piezoelectric systems can be used to allow the acquisition of the operational characteristics outlined in this disclosure. Examples of such microsensors that can be advantageously used with this disclosure include MEMS gyroscopes, MEMS accelerometers, piezoelectric gyroscopes, and piezoelectric accelerometers. In some embodiments, the use of microsensors allows the use of one or more inertial measurement units (IMUs), each IMU may combine multiple gyroscopes or accelerometers in each subsystem, or a multi-axis gyroscope or accelerometer may be used. In some embodiments, this selection of microsensors allows for the creation or use of self-localizing devices suitable for highly dynamic movement, requiring low weight and low power consumption, but also high performance. For example, a 3-axis MEMS gyroscope can be used to monitor the attitude of the self-localizing device and allow for the triggering of signals when an attitude threshold is exceeded. As another example, a MEMS gyroscope can be used to control a small flying robot equipped with a self-localizing device hovering nearby, regardless of its low time constant. Examples of optical sensors include infrared sensors, linear cameras, optical flow sensors, and imaging sensors, etc.

[0099] Some embodiments include a global attribute sensor, i.e., a sensor capable of operating to provide data representing global attributes.

[0100] Examples of global attributes include fields that have deterministic values ​​at multiple points or per point in a region, such as gravity, electromagnetic force, hydraulic pressure, and air pressure. Further examples of global attributes include radio frequency signal strength, Global Positioning System (GPS) signals, the Earth's magnetic field, the Earth's gravitational field, air pressure, landmarks, and radio time signals (e.g., radio time signals transmitted by a DCF77 timecode transmitter). Examples of landmarks include the horizon, the sun, the moon or stars, mountains, buildings, and prominent environmental features. Prominent environmental features can include unique natural features such as mountains, unique architectural features such as monuments, and other environmental features such as those used in Simultaneous Localization and Mapping (SLAM). Further examples of landmarks include those features used in Scale Invariant Feature Transformation (SIFT) and Speed-Up Robust Feature Transformation (SURF). Note that in this disclosure, GPS or GNSS may be used as a placeholder to describe any similar signals generated by other global navigation satellite systems such as GLONASS, Galileo, IRNSS, or BeiDou-2, and their improved versions (e.g., Real-time Dynamic (RTK) GPS or DGPS).

[0101] In some embodiments, both the device and the transceiver are configured to detect the same global attribute. In some embodiments, the transceiver is configured to transmit data representing a global attribute at the location of the transceiver to the device or another transceiver, and the device or other transceiver is configured to compare the data with data representing the same global attribute at the location of the device or other transceiver. In some embodiments, the global attribute may be associated with a global attribute model.

[0102] In some embodiments, the global attribute sensor is an orientation sensor. The orientation sensor enables the transceiver to measure its orientation relative to a common frame of reference shared by the transceiver and the self-positioning device. The transceiver can then transmit a signal representing its orientation, which is included as data (payload) in the positioning signal. In some embodiments, the transceiver is capable of measuring its orientation and transmitting this orientation as a payload of the positioning signal.

[0103] In some embodiments, the position calibration unit may calculate an estimate of the transceiver's position. In some embodiments, the transceiver position is calculated once (e.g., as part of a calibration routine during the establishment of the positioning system). In some embodiments, the transceiver position is calculated continuously (e.g., each time new data related to the transceiver's position becomes available). In some embodiments, the transceiver position unit is initialized using known, partially known, estimated, or partially estimated position information (e.g., initial transceiver distance, position, or orientation can be manually measured or input).

[0104] Position calibration can be implemented in various ways. For example, the position calibration unit can calculate the transceiver's position based on time-stamped signals received from other transceivers with known locations. This, for example, could allow adding additional transceivers to an existing transceiver network. In some embodiments, the position calibration unit operates similarly to a positioning unit, or vice versa. In some embodiments, the position calibration unit is operatively coupled to a compensation unit.

[0105] In some embodiments, a single location calibration unit can be used to calculate the positions of multiple transceivers relative to each other. This can, for example, allow for the initialization of a network of transceivers that do not yet have known positions. In some embodiments, multiple location calibration units are used (e.g., one location calibration unit per transceiver).

[0106] In some embodiments, the position calibration unit is implemented offboard. For example, the position calibration unit may be implemented on a laptop computer that is connected to the transceiver via a cable. This may allow for a more user-friendly interface, for example.

[0107] In some embodiments, the synchronization unit is operable to synchronize based on at least one of (i) the offset of the first clock and (ii) the rate of the first clock. In some embodiments, correction or synchronization is calculated based on at least one of the average, median, and statistical characteristics of clocks from a plurality of positioning systems. In some embodiments, global attributes that also provide timing information, such as those provided by GPS, DCF 77, and other systems, are used. In some embodiments, the synchronization unit uses global attributes that also provide timing information.

[0108] In some embodiments, the synchronization unit is operable to explicitly or implicitly account for timing errors introduced by at least one of: (i) a first difference between the rate of the device clock and the rate of the clock of the first communication transceiver; and (ii) a second difference between the rate of the device clock and the rate of the clock of a different second communication transceiver.

[0109] In some embodiments, the synchronization unit is capable of performing synchronization or calculating clock correction based on compensation calculated by the compensation unit or data stored in the memory.

[0110] In some embodiments, the synchronization unit is operable to synchronize the onboard clock rate such that the statistically average error between the onboard clock rate and the median of the onboard clock rates of two other transceivers is less than ten parts per million, one part per million, or one hundred parts per billion. In some embodiments, the synchronization unit is operable to synchronize the offset of the onboard clock such that the statistically average error between the offset of the onboard clock and the median of the offsets of the onboard clocks of the two other transceivers is less than 10 nanoseconds, 5 nanoseconds, 1 nanosecond, or 10 picoseconds. In some embodiments, this is achieved by explicitly or implicitly taking into account timing errors introduced by the transceiver's antenna and one or more of the transceiver's analog and digital transmission electronics, or by calculating a clock correction for the onboard clock offset based on a time-stamped UWB clock synchronization signal and data provided by the transceiver's memory cells, or by changing the clock rate (e.g., changing the clock's voltage, temperature, or crystal trimmer).

[0111] In some embodiments, the compensation unit is used to correct signal delay. The compensation unit calculates compensation for the impact on the time-stampable signal from the moment the signal transmission time is scheduled at the transceiver to the moment the signal is time-stamped at the receiving electronics of the transceiver or device.

[0112] Compensation is typically achieved, for example, by correcting the receive timestamp or the transmit timestamp (e.g., the transmit timestamp included as a payload in UWB data) based on signal quality or group delay. This correction can be calculated and applied immediately (e.g., by calculating or modifying individual timestamps) or in batches (e.g., by calculating or modifying timestamps in batches). Compensation can be determined using several data sources; examples of data sources include (i) data representations of the transceiver and device's position and orientation; (ii) data provided by airborne sensors; (iii) data stored in memory; (iv) data provided by a synchronization unit; and (v) quality metrics provided by digital receiver electronics.

[0113] In some embodiments, the compensation unit compensates for the effects of the position, orientation, or movement of the antenna of the compensation device relative to the antenna of the transceiver. In some embodiments, the compensation unit compensates for the effects of obstacles. In some embodiments, compensation is performed by calculating: (i) a corrected data representation of distance, time, or duration; (ii) a corrected data representation of a comparison of first and second distances, times, or durations; or (iii) a corrected data representation of a comparison of multiple distances, times, or durations. In some embodiments, the corrected data representation is provided to the positioning unit.

[0114] In some embodiments, the compensation unit may also consider the effects of the relative orientation, direction, and distance of the device's antenna relative to the transceiver's antenna. This is important due to the difficulty of creating omnidirectional antennas for time-stamped signals such as UWB signals. It is also important because some devices, depending on their spatial position relative to the transceiver or the communication architecture used, may be receiving signals from a large number of transceivers, receiving signals at a high update rate, or receiving signals of higher quality than others. Corresponding values ​​associated with the calculation of compensation values ​​may be determined as part of a calibration routine or during use (e.g., provided by the operator) and may be refined using assumptions (e.g., radiation symmetry) or data from other system components as described above. These can then be stored in memory for use, for example, as lookup tables for different pairs of compensation values ​​relative to antenna orientation, direction, and distance.

[0115] Similar strategies to those outlined above for compensation units and time-stamped signals can also be used by synchronization units or for clock synchronization signals.

[0116] It should be understood that although compensation and its aspects are sometimes interpreted for signals traveling between devices and transceivers, the interpretation can be equally valid and can be used similarly for signals traveling between two devices or two transceivers.

[0117] The control unit is used to generate control signals for the actuator based on data received from the positioning unit (e.g., position estimation) or sensors (e.g., airborne sensors) or global properties (e.g., atmospheric pressure).

[0118] The control unit can implement control laws that are well-established or widely used in the prior art. Examples of such control laws include PID control; model predictive control; sliding mode control; full-state feedback; and backoff control. Depending on the control law, the control unit can use state estimates provided by the positioning unit.

[0119] The control unit can calculate control signals for a single actuator. In some embodiments, the control unit calculates different sets of control signals for different sets of actuators. For example, the control unit can calculate a first set of control signals for two actuators of a first module or a first axis of a robot, or a second set of control signals for a second module or a second axis of a robot.

[0120] Actuators can belong to the group of electronic motors, magnetic motors, and mechanical motors of moving or controlling mechanisms or systems. Examples include piezoelectric actuators, brushless motors, and servo motors.

[0121] In some embodiments, the actuators of the device are configured to move the device in three translational degrees of freedom. In some embodiments, the actuators are configured to move the device in three rotational degrees of freedom. In some embodiments, the actuators are configured to move a portion of the device, such as an antenna. In some embodiments, multiple actuators are used in combination.

[0122] In some embodiments, the actuator of the device is configured to move the position of the device by at least 30 cm. In some embodiments, the actuator of the device is configured to move the position of the device by at least 100 cm. In some embodiments, the actuator of the device is configured to rotate the device by at least 30 degrees. In some embodiments, the actuator of the device is configured to rotate the device by at least 90 degrees.

[0123] Figure 1 This is a block diagram of an illustrative positioning system 100 (sometimes referred to herein as a "network") according to some embodiments of the present disclosure, which includes components involved in generating and executing a timetable for transmitting positioning signals. System 100 includes a scheduler 110, a scheduling unit controller 120, and a transceiver 130 (also referred to herein as an "anchor").

[0124] Scheduler 110 uses one or more input parameters to determine the schedule. As shown, input parameters may include one or more user requests, anchor locations, and anchor attributes. User requests may include desired positioning performance. For example, a user may specify minimum positioning performance within a positioning area. As another example, a user may specify different positioning performance within a positioning area. In some embodiments, positioning performance may be input via a two-dimensional or three-dimensional map, where partitions within the positioning area are marked with the desired positioning performance. Anchor locations may be input based on a known coordinate system. In some embodiments, a user may input anchor locations. In some embodiments, positioning system 100 may be configured to use positioning signals to determine the anchor locations. Anchor attributes may include the connectivity of anchors to each other and other anchor attributes such as available configurations (e.g., whether the anchor can receive and transmit simultaneously), the frequency the anchor can be set to, the antenna radiation mode, any other suitable anchor attributes, and any combination thereof.

[0125] Scheduler 110 may include one or more inputs, such as communication inputs or user inputs for receiving input parameters. User inputs may include, for example, a keyboard, mouse, touchscreen, buttons, switches, touchpads, or any other suitable user input device. Communication inputs may include, for example, a wired interface (e.g., using USB, RS-232, Ethernet, or other standards) or a wireless interface (e.g., using Wi-Fi, IR, WiMAX, Bluetooth, or other standards). Scheduler 110 may also include a processor and memory. The processor may be adapted to execute computer program instructions stored in memory, which may include an operating system and one or more applications as part of performing the functions described herein. For example, the processor may be configured to receive one or more input parameters, process one or more inputs, and determine appropriate scheduling as explained in more detail below. Scheduler 110 may also include outputs for outputting a schedule to an anchor (such as transceiver 130). In some embodiments, the schedule is first output to scheduling unit controller 120. This output may include, for example, a wired interface or a wireless interface. In some embodiments, the output may be the same as the communication input. In some embodiments, scheduler 110 may be implemented as a personal computer.

[0126] The scheduling unit controller 120 facilitates the transmission of timetables to anchors. In some embodiments, the scheduling unit controller 120 may communicate with one or more anchors (such as transceiver 130). In some embodiments, the scheduling unit controller 120 may process timetables received from the scheduler 110. For example, the scheduling unit controller 120 may prepare timetables to be transmitted to anchors. In one embodiment, this process includes transforming the timetable and preparing it for transmission to the anchor. This may involve parsing the timetable file format (e.g., an XML or YAML file), converting the data in the file into a scheduling unit-specific format, adding information such as a unique timetable ID, serializing the data, and adding data protection information such as a CRC. The scheduling unit controller 120 may transmit the timetable (e.g., in its transformed format) to an anchor such as transceiver 130. In some embodiments, the transmission is performed using the same type of wireless signal typically used for positioning purposes. In this case, the scheduling unit controller 120 includes digital transmission electronics, analog transmission electronics, and an antenna. These components will be described in more detail below. In some embodiments, the transmission is performed via a separate wireless transmission channel or wired interface available for both the scheduling unit controller 120 and the anchor.

[0127] The scheduling unit controller 120 is shown as a separate component of the positioning system 100. However, it will be understood that this is merely illustrative. In some embodiments, the functionality of the scheduling unit controller 120 or the scheduling unit controller 12 may be integrated into other components. For example, the scheduling unit controller 120 may be integrated into the scheduler 110. As another example, the scheduling unit controller 120 may be integrated into one or more anchors, such as transceiver 130.

[0128] As described above, the positioning system 100 may include a transceiver 130. The transceiver 130 is configured to receive a schedule from the scheduling unit controller 120. Each transceiver 130 may receive the schedule directly or indirectly from the scheduling unit controller 120 via one or more other transceivers. The received schedule may be stored in the memory within each transceiver, accessible from there by the scheduling unit of each transceiver. Details of the transceiver 130 are described below.

[0129] In some embodiments, transceiver 130 can switch between different schedules. This can be achieved by including several scheduling units in each transceiver, or by using a single scheduling unit configured to receive signals that would cause the scheduling unit to switch to a different schedule. Several schedules can be received from scheduling unit controller 120, including, for example, a unique identifier that allows the scheduling unit to determine which schedule to use based on the received signals. In some embodiments, the received signals may cause the scheduling unit to interrupt the current schedule to restart the current schedule or jump to a specific point in the schedule. In some embodiments, a first portion of the long-running schedule may be designed to facilitate clock synchronization between network transceivers, while a second portion may be designed to optimize positioning performance. When network synchronization errors increase beyond a certain threshold, the scheduling unit controller may send a signal to restart the execution of the schedule. In other embodiments, the execution of the schedule may have to be restarted from a beginning or from a point in time whenever the self-locating device enters a spatial area covered by the transceiver's network. In some embodiments, the time from which the schedule restarts execution may depend on the location of the self-locating device entering the spatial area. In some embodiments, a default schedule (e.g., a schedule based on the ALOHA protocol) may be permanently stored in the transceiver's memory, and an additional schedule may be transmitted by the scheduling unit controller 120. The transceiver may then operate in a default mode (based on the default schedule) or in a performance-enhanced mode (e.g., based on an optimized schedule received from the scheduling unit controller 120).

[0130] Figure 2 This is a block diagram of three illustrative transceivers 130 and two self-positioning devices 140 of an illustrative positioning system 100 according to some embodiments of the present disclosure. In some embodiments, Figure 2 Positioning system 100 and Figure 1 The positioning system 100 is the same. In some embodiments, Figure 2 The positioning system 100 is with Figure 1 The positioning system 100 shown is a different positioning system. Each of the three transceivers 130 transmits a timestamped positioning signal 202. In some embodiments, the three fixed transceivers 130 have a known relative position with respect to each other. In some embodiments, the three transceivers 130 have a synchronized clock 210. The transceivers are sometimes referred to herein as “anchors” or “beacons.” It should be understood that, although Figure 2 The diagram shows three transceivers and two self-positioning devices. Any suitable number of transceivers and self-positioning devices can be used in the positioning system 100.

[0131] Figure 2Each transceiver 130 includes analog electronics 214 and digital electronics 216. Antenna 212 is coupled to analog transmission electronics 214. Analog transmission electronics 214 can generate analog transmission signals from at least one digital data packet. This digital data packet is provided by digital transmission electronics 216. The analog transmission signals can be generated using an analog pulse generator. The analog transmission signals can also be amplified by an amplifier before being passed to antenna 212 for transmission.

[0132] exist Figure 2 In this configuration, transmission electronics 214 and 216 are used to convert payload data (sometimes referred to as "payload") into a signal 202 that can subsequently be transmitted by transmitter 130. In some embodiments, signal 202 is a UWB signal. A single UWB signal 202 transmitted by a single transceiver 130 can be received by multiple devices 140. Each device can use the information obtained from the multiple signals 202 to calculate its position without transmitting its own signal.

[0133] Clock 210 is coupled to transmission electronics 214, 216 and provides timing information for transmitting signal 202. Clock 210 may include an onboard clock, or may have a wireless or wired connection (not shown) for receiving time information from, for example, a non-onboard clock (not shown) at a remote location.

[0134] Transmissions from the three transceivers 130 (e.g., signal 202) can be coordinated using a scheduling unit 218, operable to schedule the transmission of signal 202. In some embodiments, the scheduling unit 218 can provide sufficient time intervals between positioning signals to prevent transceiver messages from reaching the receiver's antenna without sufficient time intervals (which can lead to poor signal detection and thus degrade the performance of the positioning system 100). In some embodiments, the scheduling unit 218 can implement the ALOHA protocol to reduce or prevent the consequences of insufficient time intervals. In some embodiments, signal transmissions can follow a pre-programmed schedule, or scheduling can be performed centrally and, for example, as... Figure 1 The schedule described herein is for transmission to each transceiver. In some embodiments, scheduling may be performed by each transceiver. For example, transceiver scheduling may be based on information stored by the transceiver about other transceivers (e.g., an ordered list of other transceivers in the range or a transmission schedule). In some embodiments, the scheduling unit may further provide configuration signals to the transmission electronics. These configuration signals may be interpreted by the transmission electronics to adjust certain settings of the transmitter, such as center frequency, signal bandwidth, preamble, preamble length, transmission power, or antenna.

[0135] Analog transmission electronics 214 are coupled to digital transmission electronics 216, and together they allow the transmission of UWB signal 202. Such transmission can be performed such that the transmission of signal 202 from antenna 212 occurs precisely at a specified transmission time relative to clock 210. This can be achieved using digital transmission electronics 216. Digital transmission electronics 216 can coordinate its operation with scheduling unit 218. Preferably, signal transmission at a specified time is performed such that a specific symbol is transmitted from antenna 212 at that specified time. For transmissions conforming to the IEEE 802.15.4 standard, the common choice for transmitting a symbol at that time is the beginning of the start-of-frame delimiter, i.e., the point at which the transmitted signal changes from repeated transmission of the preamble to transmission of the start-of-frame delimiter. In this transmission at the specified time, digital transmission electronics 216 can use the signal provided by clock 210 as a reference; the transmission time can therefore be represented relative to that clock.

[0136] Figure 2 The two self-positioning devices 140 shown are each configured to receive UWB radio signals 202 transmitted by transceiver 130.

[0137] Figure 3 This is a detailed block diagram of an illustrative transceiver 130 according to some embodiments of the present disclosure. In some embodiments, Figure 3 The transceiver 130 is used in Figure 1 Positioning system 100 or Figure 2 In the positioning system 100. In some embodiments, Figure 3 The transceiver 130 is different from Figure 1 and Figure 2 The positioning system described in the text is used together with the positioning system.

[0138] Figure 3 The transceiver 130 may each include an antenna 212 coupled to analog transmission electronics 214 and analog receiving electronics 220. In some embodiments, a TX / RX switch is used to connect the antenna to one or the other of electronics 214, 220. Analog receiving electronics 220 is coupled to digital receiving electronics 222, and together they allow reception of signal 302 transmitted by the other transceiver 130. The analog and digital receiving electronics 220, 222 may have [unclear meaning - likely referring to a specific feature or characteristic]. Figure 2Similar capabilities to the electronics on the self-positioning device 130. For example, analog and digital receiving electronics 220, 222 can convert signal 302 into data (payload), accurately determine the time when the transmitted signal arrives at antenna 212, and provide additional quality metrics related to the received signal 302, such as signal strength, standard deviation of reception time, and metrics for determining whether the signal is traveling in line of sight, etc.

[0139] Digital receiving electronics 222 are operatively coupled to synchronization unit 224, which can be used to identify and compensate for clocks 210 of any transceiver that are not fully synchronized with the clocks of other transceivers. Upon receiving a UWB radio signal, the received data, timestamps, and quality metrics are sent to synchronization unit 224. Synchronization unit 224 can compare the received timestamps with previous received timestamps, transmission time information included in the data (payload) of the signal, and transmission time information included in the previous signal 202. Based on this information, synchronization unit 224 can calculate the current behavior of clock 210, such as its current clock rate or the current rate of change of the current clock rate. Additionally, synchronization unit 224 can determine the signal flight time between fixed transceivers by evaluating the differences between locally measured received timestamps, locally set transmission times, measured received timestamps reported from other transceivers, and transmission times set by other transceivers. By carefully correcting for errors such as different clock offsets, clock rates, and signal propagation times, synchronization unit 224 can calculate corrections to allow transceivers to obtain a common, synchronized reference time. In some embodiments, the signal 302 received from other transceivers 130 is used for synchronization. Time synchronization between transceivers is beneficial, for example, because any offset in transceiver timing may translate into an error in the positioning of the self-positioning device.

[0140] Figure 3 The transceiver 130 may also include sensor 226 and global attribute sensor 228. Both sensors are coupled to digital transmission electronics 216. This makes it possible to include signals representing measurements taken by sensor 226 and global attribute sensor 228 in data transmitted in the form of positioning signal 202 by digital transmission electronics 216, analog transmission electronics 214 and antenna 212.

[0141] In some embodiments, sensor 226 or global attribute sensor 228 can be used to sense the orientation of the transceiver. Knowing the orientation of the transceiver, a self-localization device (e.g., receiving a positioning signal from the transceiver) can then... Figure 2The self-positioning device 140 may be able to compensate for the signal delay introduced by the orientation of the transceiver's antenna 212 relative to the antenna of the self-positioning device. For example, this can be achieved by transmitting the orientation detected by the transceiver as part of its transmitted positioning signal.

[0142] Each transceiver 130 may be equipped with a memory 230, which may be used to store data such as configuration data, desired signal amplification, synchronization data (e.g., clock offset or rate correction), or range accuracy calibration data. The memory 230 may also be used to buffer data after reception and before transmission. In some embodiments, the memory 230 may be rewritable multiple times or may be non-volatile memory. In some embodiments, the memory 230 is used to store one or more transmission schedules.

[0143] Figure 3 An illustrative transceiver (sometimes referred to herein as a “wireless transceiver” or “wireless UWB transceiver”) is shown, capable of receiving and processing wireless signals from other transceivers. This is implemented by a transceiver 130 having analog receiving electronics 220 and digital receiving electronics 222, operable to receive signals transmitted by other transceivers 130.

[0144] The first transceiver 130 can use one or more signals 302 from the second transceiver 130 or from a plurality of other transceivers 130 to adjust its transmission schedule, for example, to provide better time intervals between transmissions. This can be achieved, for example, by scheduling unit 218 from the network (e.g., Figure 2 The timing of other transceivers 130 in the network 100 receiving signal 302 is stored in memory 230 and subsequently used to adjust the local transmission schedule. In some embodiments, a better time interval between transmissions results in reduced interference between location signal 202 and signal 302. In some embodiments, the measurement of the time interval between location signals 202 can be a metric used for evaluation or to improve the performance of the location network.

[0145] In some embodiments, transceiver 130 may use signal 302 to indicate the occurrence of an event. In some embodiments, signal 302 may be used by transceiver 130 to trigger action of other transceivers 130. In some embodiments, this action results in a change in the scheduling or transmission schedule of location signal 202. In some embodiments, dynamic transmission scheduling may be used to respond to the addition or removal of transceivers from the system. In some embodiments, the location network (e.g., Figure 2 The response of a network (100) to the addition or removal of transceivers (e.g., due to failure) can be used as a metric for assessing the robustness of the network.

[0146] In some embodiments, signal 302 may be the same type of signal used by the self-positioning device (e.g., signal 202). In some embodiments, signal 302 may be different from signal 202 in some way. For example, signal 302 may have a different payload. In some embodiments, signal 302 may be transmitted at a different time than signal 202. For example, signal 302 may be transmitted during installation or during the calibration phase of the positioning system, and signal 202 may be transmitted while the system is running. Signals 302 and 202 may also be different in other ways (e.g., their signal strength, preamble, etc.). In some embodiments, the use of signal 202 and signal 302 may differ. For example, the transceiver may transmit signal 202 at an update rate different from the update rate used by signal 302, or the signal transmission may follow a different schedule.

[0147] Figure 4 This is a block diagram of an illustrative transceiver including a pair of first and second transceivers 130a, 103b, according to some embodiments of the present disclosure. The transceivers 130a, 130b are physically coupled together using structural element 400. Each transceiver 130a, 130b includes antennas 212a, 212b, analog transmission electronics 214a, 214b, digital transmission electronics 216a, 216b, and clock interfaces 402a, 402b. The first transceiver 130a may also include a global attribute sensor 228, which can be operatively coupled to the digital transmission electronics 216a.

[0148] For many applications, transceivers will have fewer constraints (e.g., weight constraints, size constraints, power constraints) than self-locating devices because transceivers do not need to be mobile. Therefore, shifting the complexity from self-locating devices to transceivers may be preferable. Figure 4 The illustrated embodiment has several technical advantages. First, Figure 4 The transceiver pair shown can be implemented as redundant receivers to provide additional protection against failure. Depending on the application, redundancy can be implemented for some or all of the transceiver components. Secondly, transceivers 130a and 130b can be configured to use different antennas 212a and 212b as shown to provide additional functionality. For example, antennas 212a and 212b can differ in their orientation, antenna polarization, or gain. This can provide technical advantages to the receiver, including improved signal-to-noise ratio or less variation in signal reception across different receiver antenna orientations. In some embodiments, Figure 1-3 The transceiver 130 can use multiple antennas 212, for example, connected to an RF switch.

[0149] When paired with a similar self-positioning device (e.g., such as...) Figure 7When used together (as shown), as Figure 4 Using a pair of transceivers can have additional advantages. In some embodiments, transceivers 130a and 130b can use different positioning signals. For example, transceiver 130a can use a first frequency band, while transceiver 130b can use a different second frequency band. Using two different positioning signals simultaneously allows for a higher update rate. It can provide improved immunity to interference. It can also allow the elimination of signal dependence effects based on true distance differences. For example, because the speed of a signal depends on the refractive index of the obstacle and the wavelength of the signal, using two different signals with two different wavelengths allows for the inference of delays introduced by obstacles.

[0150] Paired implementations can also be used to detect faults. This can be achieved, for example, by receiving a first signal from a first transceiver; receiving a second signal from a second transceiver physically attached to the first transceiver; comparing data related to the first signal and data related to the second signal while taking into account the differences between the two signals; and comparing the result with a threshold. Examples of the data being compared include: signal reception; accuracy of signal arrival; and peak power of the signal. Examples of differences between the two signals include: relative antenna positions; time delay between the transmission of the first and second signals; and signal preambles.

[0151] In some embodiments, a fault detection unit (not shown) is used to detect faults. In some embodiments, the fault detection unit is on the self-positioning device. In some embodiments, the fault detection unit is not on the self-positioning device. In some embodiments, a single fault detection unit is used. In some embodiments, a multi-antenna setup can be implemented using paired antennas.

[0152] Figure 4 The transceivers shown also include digital receiving electronics 222a, 222b and analog receiving electronics 220a, 220b. This allows each of the transceivers 130a, 130b to wirelessly exchange signal 302. In some embodiments, the transceivers 130a, 130b do not include some or all of the electronics 222a, 222b, 220a, 220b.

[0153] In some embodiments, the transceiver disclosed herein can be used with a multi-antenna setup. A multi-antenna setup includes at least two resonant elements (sometimes referred to as “antennas”) having known diversity (e.g., spatial diversity, time diversity, polarization diversity, pattern diversity, etc.).

[0154] The resonant elements of a multi-antenna setup may differ in one or more characteristics, such as polarity, frequency response, sensitivity, orientation, etc. For example, the antennas may be spaced at a known distance. As another example, the antennas may be orthogonally oriented relative to each other. The resonant elements of a multi-antenna setup can be used and combined in various ways using well-known radio frequency techniques, such as duplexers, power dividers, etc. A multi-antenna setup may include specialized electronics for individual resonant elements.

[0155] In some embodiments, the transceiver antennas 212a and 212b can be used to implement a multi-antenna setup. The multi-antenna setup may include individual electronic components 214a, 214b, 216a, 216b, 220a, 220b, 222a, or 222b for individual resonant elements. For example, the multi-antenna setup may include individual receiving electronics for the antennas.

[0156] In some embodiments, the transceiver is equipped with multiple antennas. In some embodiments, the multiple antennas of the transceiver are used to implement a multi-antenna setup. In some embodiments, the self-localization device is equipped with multiple antennas. In some embodiments, the multiple antennas of the self-localization device are used to implement a multi-antenna setup. In some embodiments, both the transceiver and the self-localization device have multi-antenna setups.

[0157] In some embodiments, the same antenna is used for both transmission and reception. In some embodiments, different antennas are used for both transmission and reception. For example, a transmitter may use a directional antenna while a self-localizing device uses an omnidirectional antenna, or vice versa. Various types of antennas can be used and combined to achieve the desired behavior for a given use case. For example, antennas using multiple resonant elements, multi-beam adaptive antennas, or multiple-input multiple-output (MIMO) antennas can be used. In some embodiments, antennas supporting multiple frequency bands can be used. In some embodiments, the antennas of a multi-antenna device can be isolated from each other.

[0158] In some embodiments, a multi-antenna setup can improve the positioning performance of a positioning unit or position calibration unit. In some embodiments, this can be achieved by improving reception (e.g., signal-to-noise ratio, etc.). In some embodiments, the antennas and receiving electronics are configured to detect signal strength. In some embodiments, signal strength is used to provide a relative indication of the distance to the transmitter.

[0159] In some embodiments, a directional antenna is used. In some embodiments, the antenna is configured to detect the orientation of a signal that can indicate the direction of a signal source. In some embodiments, the antenna and receiving electronics are configured to allow the detection of the amplitude or phase of the signal. In some embodiments, knowledge of the amplitude or phase of the transmitted signal, and the detected amplitude or phase of the signal, are used to provide a relative indication of the orientation or distance relative to the transmitter.

[0160] In some embodiments, a multi-antenna setup can allow the orientation of a self-localizing device to be determined. For example, in some embodiments, a multi-antenna setup can be used to detect the polarization direction of a signal. Knowing the transmitted polarization of the signal and the detected polarization of the signal can provide a relative indication of the orientation of the transmitter (e.g., a transceiver) and the receiver (e.g., another transceiver or self-localizing device).

[0161] In some embodiments, the antennas in a multi-antenna configuration can operate at different frequencies. For example, a multi-antenna configuration can be used in a redundant transceiver network operating at two different frequencies. As another example, a multi-antenna configuration can be used in a self-locating device used in a redundant transceiver network, where the network operates at two different frequencies.

[0162] In some embodiments, the antenna, analog receiving electronics, and digital receiving electronics are configured to measure the Doppler frequency shift of the signal. For example, this can allow the positioning unit to improve its positioning estimation by providing data relating to the movement of the self-positioning device relative to the known position of the transceiver.

[0163] In some embodiments, the advantages of a multi-antenna configuration of a transceiver and a multi-antenna configuration of a self-localization device can be combined. For example, this can be achieved by combining knowledge of the properties of the multi-antenna configuration of the transceiver (e.g., the transceiver's location), knowledge of the properties of the transmitted signal (e.g., signal strength, signal polarization), and knowledge of the properties of the multi-antenna configuration of the self-localization device (e.g., the relative alignment of the resonant elements of its antenna array and its receiving characteristics).

[0164] In some embodiments, the positioning unit is used to fuse data from one or more of the following: a multi-antenna setup; a sensor; a global attribute sensor; first and second global attribute sensors; and a known location.

[0165] Multiple antenna configurations can offer technical advantages. In some embodiments, multiple antenna configurations can allow for optimized reception, improved signal-to-noise ratio, or increased data rates. This can be achieved, for example, by allowing for better reception at a range of receiver locations or orientations. As another example, multiple antenna configurations can be used to implement spatial multiplexing in MIMO systems to increase data rates.

[0166] In some embodiments, the effects of system components on the positioning signal are known. For example, the RF components of a transceiver may have well-known transmission properties. As a further example, the electronics and structural components of a self-positioning device have well-known RF responses. In some embodiments, known RF effects are compensated by a compensation unit. In some embodiments, shielding may be used for the antenna.

[0167] It should be understood that, although in different embodiments, Figure 2-4 The transceiver 130 is described as having both wireless transmission and wireless reception capabilities; however, the wireless reception capability is optional. For example, in some embodiments, the transceiver 130 does not include a wireless receiving component. In some embodiments, the transceiver 130 is configured to exchange synchronization information and other information with other transceivers 130, scheduling unit controllers 120, or schedulers 110 using a wired connection. As mentioned above, the transceiver is also referred to as an anchor. Therefore, it will also be understood that an anchor, as used herein, may include both wireless transmission and wireless receiving components, or only wireless transmission components.

[0168] Figure 5 This is a block diagram of an illustrative self-localization device 140 according to some embodiments of the present disclosure. The self-localization device 140 includes an antenna 502 for receiving a positioning signal 202. The antenna 502 is operatively coupled to analog receiving electronics 504, which can amplify the signal. Digital receiving electronics 506 can then be used to time-stamp the signal with reference to a clock 508. A synchronization unit 510 can compare input from clock 508 with input from other clocks (e.g., received from another part of the positioning system as part of a synchronization signal or message and received by digital receiving electronics 506). The synchronization unit 510 can use this information to calculate a clock correction for clock offset or clock rate, which can be transmitted to positioning unit 512 or compensation unit 516 or stored in memory 518. Additionally, information from compensation unit 516 can be used.

[0169] Figure 5 The self-positioning device 140 can, for example, be with Figure 2 The positioning system 100 is used together. In this embodiment, Figure 5 The self-positioning device 140 receives signals from its antenna 502, analog receiving electronics 504, and digital receiving electronics 506. Figure 2 The transceiver 130 transmits a time-stamped positioning signal 202. The self-positioning device 140 can use the signal 202 to calculate its position relative to the transceiver 130. In some embodiments, this is achieved by time-stamping the signal 202, converting the timestamps into distances, and using these distances to calculate the relative position. This conversion can use an estimate of the speed of the signal 202 in the transmission medium (e.g., the speed of light in air). This conversion can be performed using a positioning unit 512. The positioning unit 512 can calculate the position of the self-positioning device relative to a known location of the transceiver 130 using trilateration or multipoint positioning. Digital receiving electronics 506 and clock 508 can provide sufficiently accurate time stamps.

[0170] Receiver electronics 504 and 506 can precisely determine the reception time of the transmitted signal arriving at antenna 502. Determining the reception time of the signal (“timestamping”) can be performed by determining the time when a symbol is detected. For transmissions conforming to the IEEE 802.15.4 standard, the common choice for timestamping symbols is the beginning of the start-of-frame delimiter (i.e., the point at which the transmitted signal changes from repeated transmission of the preamble to transmission of the start-of-frame delimiter). Digital receiver electronics 506 uses a signal provided by the device's clock 508 as a reference in this timestamping process. The timestamping can therefore be represented relative to this clock. In some embodiments, clock 508 includes an onboard clock. Receiver electronics 504 and 506 can also provide additional metrics related to the received signal 202.

[0171] For example, quality metrics can include signal strength, reception time standard deviation, or the noise properties of the signal. Quality metrics can be calculated based on absolute values ​​(e.g., absolute signal strength) or relative values ​​(e.g., differences in signal strength). Quality metrics can also be calculated by comparing signals. For example, quality metrics can be based on comparisons of signals relative to time, comparisons of signals from different transceivers, comparisons of signals received from different directions, comparisons of signals against thresholds, comparisons of signals against their expected properties, and so on. Comparisons can use individual signal properties (e.g., peak power) or the entire signal (e.g., the spectral shape of the signal). For example, quality metrics can be used to determine whether signal 202 is traveling within the line of sight, or what material it might pass through, or how it might be reflected.

[0172] Figure 5 (and Figure 2 The self-positioning device 140 may further include a global attribute sensor 520. By providing additional reference data about a reference point (e.g., a transceiver or coordinate system), the global attribute allows for a more accurate calculation of the relative position of the self-positioning device 140. This can be achieved by equipping at least one transceiver 130 and the self-positioning device 140 to detect the global attribute. The accuracy of the positioning system can be improved by including the following steps: (i) transmitting global attribute readings from the transceiver to the device; (ii) comparing the global attribute readings of the transceiver at its position with the global attribute readings of the device at its position; (iii) converting the comparison into data relating to orientation, position, or movement using a model of the global attribute (“global attribute model”); and (iv) appropriately fusing the data with other sensor data using an estimator. Steps (ii) and (iii) can be performed using a positioning unit 512 (such as shown in Figure 140). Figure 5This is accomplished by the positioning unit 512, which is part of the self-positioning device 140. The global attribute model allows one or more readings of global attributes to be converted into data that can be processed by the positioning system (e.g., an equation describing atmospheric pressure as a function of altitude / height). The model can take various forms, such as functions or lookup tables.

[0173] In addition to other data provided by the positioning system (e.g., from local sources, airborne sensors, etc.), Figure 5 In addition to data from the airborne sensor 514, data also comes from one or more global property sensors (e.g., Figure 3 The global attribute sensor 228 can be particularly useful when there are system sensor errors or sensors with high noise rates. For example, in an exemplary embodiment installed outdoors, the device and multiple transceivers can be equipped to receive GPS signals in addition to the positioning signal 202. This allows the self-positioning device 140 to use the positioning unit 512 to determine its position not only relative to the transceiver 130 but also relative to a global reference frame. Furthermore, this combination of positioning modes can allow for the detection of erroneous data by comparing readings from two independent measurement systems. The positioning system can be further improved by equipping the transceiver and device with additional sensors (e.g., barometers) to detect global attributes. This can be particularly useful for allowing the positioning unit 512 to achieve more accurate, reliable, or faster positioning in the vertical direction, where both GPS and local positioning systems can provide poor information for vertical positioning due to the unfavorable positioning of the transceivers (typically all on the ground, below the device) and GPS satellites (at high altitude, typically above the device).

[0174] The global signal can also be used to determine the relative orientation of the transceiver's antenna 212 and the self-positioning device's antenna 502, which can have a significant impact on signal quality or group delay and therefore on their calculated relative positions. Orientation can be determined, for example, by detecting the transceiver's gravity vector (e.g., using an accelerometer), transmitting this information to the device (e.g., as part of the payload of the positioning signal), and comparing it with the gravity vector detected by the device relative to the accelerometer model of each of the transceiver's antenna orientation and the device's antenna orientation (possibly corrected for the effects of the device's motion). This comparison can be performed by a compensation unit (e.g., Figure 5 The compensation unit 516) is executed.

[0175] As described above, the positioning unit 512 uses data to calculate a position estimate. The data may include received signal 202, data from one or more onboard sensors 514, data from one or more external sensors (e.g., global attribute sensor 228 of the transceiver), or other data. Data related to the received signal 202 may include payload, timestamps, signal characteristics (e.g., signal strength, peak shape, etc.). This can be achieved by using an estimator to calculate an estimate of the position (and possibly, orientation, or motion) of the self-positioning device 140 based on a fusion of the current value of the data and other information (e.g., knowledge of the input history, a dynamic model of the device). Each individual received signal 202 can be used recursively to provide an updated (posterior) position estimate by merging it with a previous (earlier) estimate. In some embodiments, the estimate may be recursively calculated using an extended Kalman filter, a complementary filter, a particle filter, a Luenberger observer, or any other suitable technique. The positioning unit 512 can collect a plurality of positioning signal receptions (e.g., 3, 4, 5, 6, 7, 8, 9, 10, etc.) by storing a plurality of positioning signal receptions in a memory (e.g., memory 518) and batching them (after receiving a predetermined number of signals, or at fixed time intervals). The batching method can be based on multi-point positioning techniques by resolving the time difference of arrival (TDOA) metric for the location of device 140. In some embodiments, a combination of recursion and batching can be used.

[0176] The memory 518 can be used to store information (such as data from the received signal 202 for batch current position estimation) or parameters for recursive calculation and sensor fusion. The positioning unit 512 can also use data from the compensation unit (e.g., compensation values) or information about the received signal 202 generated by the digital receiving electronics 506 (e.g., quality metrics).

[0177] Variations in signal quality or group delay may be caused by the transceivers and self-positioning devices being small and possibly operating relatively close to each other. This can result in various relative orientations, relative distances, and relative directions of the transmitter antenna 212 relative to the receiver antenna 502, as used in typical applications and encountered during typical use, such as multiple transceivers located on a plane and the device operating above or below that plane, or multiple transceivers located around a volume and the device operating within the convex hull of that volume.

[0178] Unlike other positioning systems, the signal 202 arriving at the self-localization device here can have different quality or different group delay. In some embodiments, the positioning unit 512 can be used to improve position estimation on existing positioning systems by using the characteristics of the positioning signal and quality metrics associated with the received positioning signal, such as quality metrics provided by the receiving component (e.g., UWB peak signal strength, UWB peak shape). This can be achieved, for example, by associating the measurement variance with the signal metric, such that measurements with higher variance have a lower impact on the positioning unit's state estimation. As another example, the positioning unit can place more emphasis on data unrelated to the positioning signal (e.g., inertial sensor data, global attributes). As yet another example, the positioning unit can completely discard measurements from certain transceivers that do not conform to quality metrics (such as minimum signal quality or group delay).

[0179] Unlike existing systems, here, the positioning unit 512 can be located on the self-positioning device 140 because the time-stamped positioning signal traveling from the transceiver to the self-positioning device can contain enough information to allow the device to perform self-positioning. For example, the transceivers can be synchronized, and their positions are known to the device.

[0180] Figure 6 This is an illustrative timing diagram depicting the propagation of a received positioning signal (e.g., a UWB signal) through an antenna 502, analog receiving electronics 504, and digital receiving electronics 506 of a self-positioning device, according to some embodiments of this disclosure. The interconnection of these components will be referred to as the receiving conduit. Each of these components introduces a delay in the propagation of the received signal. Time is shown on the vertical axis, where the symbol... At The time t used to indicate time is measured by the clock of the self-positioning device A.

[0181] Considering time A t0 Rx The signal arrives at antenna 502 of the self-positioning device at point 602. This signal propagates through the receiving channel, and thereafter its arrival time is... A A time marker is added at t0606 by digital receiving electronics 506. The delay introduced by the pipeline (by...) A t0606 and A t0 Rx The difference between 602 is given as A δ0 = 604 and is referred to as the pipeline delay. Now consider the second signal, which has a time delay of 604. A t1 Rx The antenna at position 502 of the self-positioning device reaches position 612, and there is a delay in the conduit through the receiving conduit. A After δ1614, in time AA time marker is added at t1 616. The change in pipeline delay between these two signals is given as | A δ 1-A δ0|. Note that this measurement is about the clock of the self-positioning device 140 and is therefore independent of clock rate offset. In some embodiments, the difference between the pipe delays 604 and 614 is less than 0.01, 0.6, 3, or 15 nanoseconds, which allows for more accurate positioning.

[0182] Variations in the pipeline delay are influenced by physically measurable factors, including the frequency response of the self-positioning device antenna 502, internal amplification, and the accuracy and variation of the time stamps generated by the digital receiving electronics 506. Since antennas are non-ideal electromagnetic devices, their frequency response is described by the angle-dependent amplitude response and the angle-dependent phase response, which correspond to how much the radio signal is amplified or attenuated by the antenna, and how much the radio signal is delayed by the antenna. These responses are deterministic functions of the angle at which the signal is received and cause an electrical delay in the signal as it travels through antenna 502. In some embodiments, the signal propagation via analog receiving electronics 504 and digital receiving electronics 506 can be further delayed by internal amplification of the signal (for achieving a consistent signal level regardless of the received signal strength). Furthermore, the ability of digital receiving electronics 506 to consistently and accurately time-stamp the arrival of UWB signals requires it to consistently and accurately identify the “first path” of the signal. Errors in this identification, discussed below, lead to non-constant errors in the time-stamping process and thus result in a perceived delay in the signal propagation time through the receiving pipeline. In addition to systematic pipeline delays, in some embodiments, random, external, or unmodeled processes can also affect pipeline delays, thereby introducing non-systematic delays in the receive pipeline. In some embodiments, temperature is an example of such a process, where changes in temperature can affect the processing time required by the digital receive electronics 506.

[0183] The effect of non-constant pipe delay is the introduction of non-constant error into the reception time of any signal 202. Therefore, it will be apparent to those skilled in the art that, as... Figure 6 The non-constant pipe delay shown can correspond to a non-constant error in any arrival time or arrival distance time measurement derived from the reception time of any signal 202. In some embodiments, a compensation unit (e.g., Figure 5 The compensation unit 516 can compensate for this systematic but non-constant error.

[0184] Figure 7This is a block diagram of an illustrative self-localization device including a pair of first and second self-localization devices 140a, 140b according to some embodiments of the present disclosure. The self-localization devices 140a, 140b are physically coupled together by structural element 700. Each self-localization device 140a, 140b includes antennas 502a, 502b, analog receiving electronics 504a, 504b, digital receiving electronics 506a, 506b, and positioning units 512a, 512b. As shown, the pair of positioning units 512a, 512b are operatively coupled using a communication path 702. The communication path 702 allows the positioning units 512a, 512b to exchange data related to their positions (e.g., their current position estimates).

[0185] Structural element 700 provides a rigid or semi-rigid attachment between self-positioning devices 140a and 140b. In some embodiments, structural element 700 may include one or more of the following: a printed circuit board (PCB) mount, a multi-purpose enclosure, a support, or a connecting rod, etc. Because self-positioning devices 140A and 140B are physically connected, their relative positions are fully or partially known. This allows the first positioning unit 512a to improve its position estimation based on data related to the second positioning unit 512b and data related to the known relative positions of the first and second positioning units 512a and 512b.

[0186] In some embodiments, Figure 7 The pair of self-positioning devices 140a and 104b shown can operate as redundant self-positioning devices, which provides protection against failure. For example, if a component in the first self-positioning device 140a fails, the positioning system can rely on the second self-positioning device 140b. Depending on the application, redundancy can be implemented for some or all of the components of the self-positioning devices.

[0187] As shown in the figure, the first and second self-positioning devices 130a and 130b use different antennas 502a and 502b. In some embodiments, antennas 502a and 502b may have different characteristics. For example, antennas 502a and 502b may differ in factors such as their orientation, their antenna polarization, or their gain. This can produce technical advantages, including improved signal-to-noise ratio or smaller variations in signal reception when the self-positioning device moves.

[0188] In some embodiments, a multi-antenna setup can be implemented using antennas 502a, 502b of the self-positioning device. A multi-antenna setup may include separate electronic components 504a, 504b, 506a, 506b for a single resonant element. For example, a multi-antenna setup may include separate receiving electronics for the antennas.

[0189] In some embodiments, the self-localization devices 140a, 140b further include corresponding sensors 514a, 514b. Each sensor 514a, 514b is operatively coupled to a corresponding positioning unit 512a, 512b. Sensors 514a, 514b can allow the corresponding self-localization device to improve its positioning. In some embodiments, the first positioning unit 512a can transmit data related to its position (e.g., its current position estimate, its sensor 514a readings) to the second positioning unit 512b. This can allow the second positioning unit 512b to improve its position estimate.

[0190] You will understand, and can use Figure 7 The self-positioning device is used to replace Figure 2 and Figure 5 The single self-positioning device shown.

[0191] Figure 8 This is a block diagram of an illustrative self-localization device 140 including multiple selectable antennas 502a, 502b, 502c according to some embodiments of the present disclosure. The self-localization device 140 also includes a radio frequency switch (RF switch) 800 for selecting a specific antenna among the antennas 502a, 502b, 502c for use. In some embodiments, the RF switch 800 includes a single-pole double-throw (SPDT) switch or a multi-port (SPnT) switch. Parameters of the RF switch 800 (e.g., frequency range, isolation, switching speed, etc.) can be optimized to suit specific use cases. Figure 8 As shown, the RF switch 800 is used as a multi-antenna setup. In some embodiments, antennas 502a, 502b, and 503c may have different characteristics. For example, antennas 502a, 502b, and 503c may differ in one or more of the following characteristics: orientation, polarization, gain, and antenna type. The positioning unit 512 or other components of the self-positioning device 140 may control the RF switch 800 to select one of the multiple antennas based on positioning information. The positioning information may include, for example, one or more of the following: the location of the self-positioning device, the orientation of the self-positioning device, the next positioning signal to be received, the quality associated with one or more antennas, the antenna type, and any other positioning information. It will be understood that in some embodiments, the RF switch 800 and the multiple selectable antennas 502a, 502b, and 502c may be used with any other self-positioning device of this disclosure.

[0192] Figure 9 This is a block diagram of an illustrative positioning unit 512 including a location update process according to some embodiments of the present disclosure. Figure 9The localization algorithm described herein employs an extended Kalman filter (EKF). Localization unit 512 can be used with any suitable self-localization device 140 disclosed herein. At the start of a cycle, localization unit 512 performs a process update step 920, in which it uses a previously estimated state of the device, and, if available, data from signals sent from control unit 940 to one or more actuators. The result of this step is a prior estimate 922 (e.g., an estimate of the current state of device 140 without considering any recent measurements). This prior estimate is then fused with available measurements. The prior estimates, measurements, and other data used by localization unit 512 can be temporarily stored in a memory (not shown).

[0193] The first type of measurement is the reception of the positioning signal 202. In this case, the time stamp 900 of the received signal is first processed by clock correction 902 (using data from synchronization unit 510) and effect compensation 904 (using data from compensation unit 516). The resulting corrected arrival time 906 represents an estimate of when the positioning signal will arrive at the self-positioning device antenna 212, and this estimate can then be fused with the prior estimate in the EKF measurement update step.

[0194] As described above, the obtained corrected time of arrival 906 represents an estimate of the time when the positioning signal 202 arrives at the antenna 212 of the device. In some embodiments, transmission information is included in the payload of the received positioning signal, indicating when the signal was transmitted and by which transceiver 130. This transmission information, along with the corrected time of arrival, is a measure of the distance between the device 140 and the transceiver 130. In the positioning unit 512, the corrected time of arrival and transmission information can be fused with the prior estimate in the EKF measurement update step 924.

[0195] If new data is available, the second type of measurement is data from a local measurement representing a global attribute (e.g., from global attribute sensor 520). This data is then compared at comparison 912 with data from one or more remote measurements representing that global attribute (e.g., from global attribute sensor 228) (provided by digital receiving electronics 506), and the global attribute model 914 provides information on how this comparison relates to the position, orientation, or movement of the self-localization device 140. This information can then be fused into the state estimate in the EKF measurement update step 924. An example of a global attribute is the signal strength of a wireless signal. The free-space path loss of a radio frequency signal transmitted at frequency f over a distance d is:

[0196] FSPL(dB) = 20log10(d) + 20log10(F) + K, where K is a constant that depends on the units used for d and f. This equation allows us to determine the distance from the self-locating device to the wireless signal source, which can be related to the distance from one or more transceivers 130 to the same source.

[0197] If new data becomes available, a third type of measurement comes from a sensor such as sensor 514. Such measurements can also be incorporated into the state estimate in EKF measurement update step 924.

[0198] The estimation of local clock behavior by synchronization unit 510 and the estimation of compensation value by compensation unit 516 can depend on the estimated position calculated by positioning unit 512. This dependency can be resolved by first calculating the clock behavior and compensation value using the prior position estimate and then calculating the new posterior position estimate 926. Alternatively, this dependency can be resolved by estimating the clock behavior or clock correction, compensation value, and position in parallel, or by iteratively resolving the dependency by alternating between: 1) calculating the new clock behavior or clock correction and calculating the compensation value using the current position estimate, and 2) estimating the position using the current clock and compensation value until the calculated values ​​have substantially converged.

[0199] In some embodiments, Figure 9 The positioning unit 512 and other components depicted can be integrated with a mobile robot. In such a configuration, the control unit 940 can be configured to calculate actuator commands to control the mobile robot based on the position calculated by the positioning unit 512.

[0200] Figure 10 An illustrative mobile robot 1000 including a self-localization device 140 is shown according to some embodiments of the present disclosure. The mobile robot 1000 may also include one or more sensors (e.g., MEMS sensors and sensor 514). In some embodiments, the mobile robot 1000 includes an accelerometer 1006 and a gyroscope 1008. In some embodiments, the mobile robot 1000 further includes one or more of a magnetometer, a barometer, a GPS receiver, and body sensing sensors (e.g., sensors monitoring battery levels and motor current). The illustrated mobile robot 1000 also includes actuators 1004 (e.g., four motors) for rotating four propellers 1010, which allow the mobile robot to remain in the air and control its movement through space. In some embodiments, the actuators 1004 are battery-powered. In some embodiments, a transceiver or device is battery-powered.

[0201] Figure 10The self-positioning device 140 can be integrated with the electronics of the mobile robot 1000 (e.g., central processing unit 1002). For example, the device 140 can access the sensors of the mobile robot 1000 (e.g., sensor 514, accelerometer 1006, and gyroscope 1008). This can be useful or convenient, for example, for achieving a specific weight distribution on a flying robot, thereby allowing for better antenna reception or co-location of related electronic components.

[0202] Depending on the application, flight electronics may be more complex than the embodiments described herein, and may include, for example, multiple electronic processing units, multiple antennas, or multiple self-positioning devices.

[0203] Figure 11 According to some embodiments of this disclosure, it is possible, for example, with Figure 10 A block diagram of an illustrative control unit 940 used in conjunction with a mobile robot 1000. The control unit 940 uses cascaded controllers (horizontal controller 1102, vertical controller 1110, attitude descent controller 1120, yaw controller 1130, and body velocity controller 1142; for clarity, reference / feedback signal streams are omitted).

[0204] The control scheme depicted in control unit 940 is used to follow the desired vehicle position and yaw trajectory. The airborne control comprises four separate loops: horizontal position control 1102 and vertical position control 1110 loops, attitude reduction control 1120 loop, and yaw control 1130 loop. It should be understood that... Figure 11 The reference numerals on the controller within the control unit 940 also refer to the control loops associated with the controller. The outputs of the four control loops are... Figure 10 The three volume rate commands of the flying mobile robot 1000 shown, and the collective thrust generated by the four propellers 1010 of the mobile robot.

[0205] Figure 11The control strategy shown is based on a cascaded loop shaping design strategy. Therefore, the controller design is broken down into the design of several low-order dynamic system controllers. The vertical control loop 1110 is shaped to respond to elevation errors using a collective thrust c1112, acting like a second-order system. Similar to the vertical control loop 1110, the two horizontal control loops 1102 are shaped to behave as second-order systems. However, instead of directly calculating the control input, the commanded accelerations a(x)1104 and a(y)1106 are assigned as setpoints to the attitude controller 1120. The attitude controller 1120 controls the robot's attitude to decrease, satisfying the commanded accelerations a(x)1104 and a(y)1106. The commanded accelerations are then converted into commanded rotation matrix entries. Using the rotational kinematics of the robot, the desired body velocities p1122 and q1124 can be calculated using the rate of change of the matrix entries. The above controller fully defines the translational behavior of the robot. The yaw controller 1130 can then be implemented as a proportional controller based on the measured yaw angle to calculate the desired yaw rate r (e.g., as measured by sensor 514 on the mobile robot 1000). The body rate controller 1142 receives (measured or estimated) the current body rate, the desired vehicle body rates p1122, q1124, and i1132 along with the collective thrust c1112. The control unit 940 outputs actuator commands f1, f2, f3, f4 to actuator 1004 to induce movement 1146 of the mobile robot 1000.

[0206] Figure 12 An illustrative transceiver network including multiple transceivers 130 is shown according to some embodiments of the present disclosure. Such a transceiver network allows the use of the self-locating device 140 over a wide geographical area by allowing the simultaneous use of a large number of transceivers. Figure 12 As shown, when the transmission ranges 1400 of two transceivers overlap, the transceivers will be referred to as "interfering" because the simultaneous transmission of positioning signals 202 by both transceivers may cause the positioning signals 202 to interfere with each other. The transmission range can be defined, for example, as the boundary of the area where the signal strength of the transmitted signal drops below the receiver sensitivity. To avoid signal interference, signal transmissions from transceivers in a specific area are typically coordinated. In some embodiments, this can be achieved by ensuring sufficient spacing of signals in time (e.g., through sufficient time between two signal transmissions, e.g., using a scheduling unit), space (e.g., through sufficient geographical spacing between transceivers), or frequency (e.g., through sufficient spacing of the transmission carrier frequencies of UWB signals).

[0207] The amount of time required for a sufficiently long signal interval can depend on many factors (e.g., signal strength, signal packet size, signal pulse / peak shape, transceiver antenna, receiver antenna, transceiver geographic location (including their geographic spacing), obstacles, background noise, etc.). Guaranteeing a signal interval can mean that the duration between subsequent signals from any particular transceiver increases with the number of transceivers. This can be particularly problematic for dynamically autonomous mobile robots, where even a relatively small reduction in the update rate can lead to significant degradation in localization performance. A known method for ensuring intervals is Time Division Multiple Access (TDMA). The Aloha method can also be used in embodiments where occasional signal interference is acceptable and signal timing is not critical.

[0208] Sufficient spatial spacing related to the transmission range of each transceiver can depend on many factors (e.g., signal strength, signal frequency, signal bandwidth, signal pulse / peak shape, transceiver antenna, receiver antenna, geographical location of the transceivers (including their geographical spacing), obstacles, background noise, etc.). In some embodiments, typical spatial spacing is 1-100 meters. In some embodiments, typical spatial spacing is 10-500 meters. In some embodiments, typical spatial spacing is 200-2000 meters. In some embodiments, typical spatial spacing is on the order of kilometers. In some embodiments, two transceivers can be co-located. In some embodiments, a combination of multiple spatial spacings is used. Figure 12 For simplicity, the transmission range 1200 is graphically represented as a circle; however, it will be clear to those skilled in the art that the transmission range 1200 can have a more complex shape. When ensuring spatial spacing of transmissions, it is desirable to position the transceivers 130 such that the self-positioning device 140 will be able to receive transmissions from a predetermined number of transceivers 130 at each point within the defined geographical area. This number of transceivers 130 can depend on many factors (e.g., desired update rate, desired system robustness, transmission time intervals, transmission frequency intervals, background noise, obstacles, etc.).

[0209] Sufficient spatial spacing can be further aided by selecting appropriate antennas. Some embodiments use directional antennas. Some embodiments use omnidirectional antennas. In some embodiments, directional antennas are used to help ensure spatial spacing of positioning signals. In some embodiments, by using directional antennas to orient the transmission of transceiver 130, it is possible to more precisely control which transceivers 130 transmit to which areas in a defined space, and thus more precisely control the spatial spacing of positioning signals 202. In some embodiments, by using directional antennas to orient the transmission of transceiver 130, it is possible to achieve longer transmission distances in the desired direction. Other methods that can aid spatial spacing include shielding, placement (e.g., away from noise sources), optimization of radiation patterns, and combinations thereof. In some embodiments, by equipping the self-positioning device 140 with directional antennas, orientation information can be estimated based on comparing which signals are received with the known locations of transceivers 130.

[0210] In some embodiments, transceiver 130 is arranged such that coverage of the desired operating area is optimized relative to a certain metric. In some embodiments, the operation of transceiver 130 is optimized relative to a certain metric. Suitable metrics may include the number of transceivers in the range, signal strength, update rate from a particular transceiver combination, multipath effects, or other metrics, including combined metrics. Transceiver arrangement may include transceiver location, transceiver antenna orientation, transceiver operating frequency, transceiver bandwidth, or other factors. The operating area may be a geographic region, the flight volume of the flying robot 1000, a predefined operating volume, or other regions. Optimization may involve physical parameters (e.g., geographic placement of transceivers, antenna orientation, etc.) or operational parameters (e.g., the operation of scheduling unit 218). In some embodiments, optimization may be performed by a scheduler. In some embodiments, optimization may be pre-calculated. In some embodiments, the schedule is created manually. In some embodiments, the schedule is created based on optimization. For example, in some embodiments, given constraints that each point within a predefined area can receive data from, for example, at least three transceivers, the optimal schedule can be determined by minimizing the number of transceivers per partition or per region. For certain problems, such a schedule can ensure that the autolocality device can achieve three-dimensional localization over the entire defined area, while further minimizing the TDOA cycle time within the cell (which can be proportional to the number of transceivers in the cell). As another example, in some embodiments, the schedule can be computed as a solution to an optimization problem that trades off the cost of changing the frequency of the autolocality device against the cost of the increased TDOA cycle time.

[0211] Sufficient spacing on transmission frequencies can depend on many factors (e.g., signal strength, signal frequency, signal bandwidth, signal pulse / peak shape, transceiver antenna, receiver antenna, geographical location of the transceivers (including their geographical spacing), obstacles, background noise, etc.). In some embodiments, this spacing can be achieved using a scheduling unit. In some embodiments, the spacing is in the range of 1-50 MHz. In some embodiments, the spacing is in the range of 100-500 MHz. In some embodiments, the spacing is in the range of 200-1000 MHz. In some embodiments, overlapping transmission frequencies are used. When designing for frequency spacing of signals, it may be important to consider that the self-positioning device 140 may need to change its receiving frequency to receive positioning signals 202 spaced out on frequencies. A known method for ensuring frequency spacing is Frequency Division Multiple Access (FDMA). In some embodiments, combinations of various frequency spacings are used.

[0212] In some embodiments, TDMA can be used to ensure the time interval of the positioning signal 202. In some embodiments, if the transceiver network includes N transceivers, N time slots will be allocated (one time slot per transceiver), thereby employing a simple method. The time to cycle through all time slots is sometimes referred to as the TDMA cycle time. Allocating N transceivers to N time slots is optimal when all transceivers in the network are experiencing interference, as this is the shortest amount of time allowed for each transceiver to transmit once per cycle. Other optimization criteria, such as positioning performance or information propagation time, can be used. However, in situations such as Figure 13 In cases where not all transceivers are interfering, as shown, different optimal TDMA allocation schedules are possible, which use fewer time slots than N time slots, and thus reduce the TDOA cycle time and increase the average rate at which the self-positioning device 140 will receive the positioning signal 202.

[0213] Figure 13 A simplified, illustrative transceiver network is shown according to some embodiments of the present disclosure. Figure 13 In this configuration, transceivers 130a and 130b do not interfere with each other. It will be clear to those skilled in the art that, in this case, both transceivers 130a and 130b can utilize the same TDMA time slot because the self-locating device cannot simultaneously receive signals from both transceivers (due to the spatial separation between them), and therefore simultaneous transmissions will not interfere with each other. Figure 13 This is illustrated by the fact that transceivers 130a and 130b have the same shading.

[0214] In some embodiments, scheduling unit 218 can coordinate the scheduling of TDMA time slots. In some embodiments, synchronization of multiple transceivers 130 can be achieved to achieve a consistent schedule through synchronization unit 224 or by sharing a common clock 210 among transceivers 130. In some embodiments, time slot allocation (e.g., schedule) can be determined manually or programmed into the transceiver's memory (e.g., memory 230). In some embodiments, the schedule can be calculated autonomously by the scheduler. In some embodiments, the schedule determined by the scheduler can be transmitted through the scheduling unit controller.

[0215] In some embodiments, the scheduler (e.g., scheduler 110) may operate periodically, or may be triggered by transceiver 130 via the transmission of appropriate signal 302. In some embodiments, signal 302 is transmitted in response to an event. In some embodiments, additional TDMA time slots are allocated for the transmission of arbitrary location signal 202 or transceiver signal 302. In some embodiments, the use of this TDMA time slot is coordinated by ALOHA. In some embodiments, transceiver 130 uses the TDMA time slot to alert other transceiver 130 events. In some embodiments, the time slot is used by the scheduling unit controller to trigger a switch to a new schedule.

[0216] In some embodiments, periodic or triggered reallocation allows the network to adjust its schedule so that the allocation of TDMA slots compensates for transceivers joining or leaving the transceiver network. In some embodiments, adding a transceiver 130 to the network can be achieved by leaving a TDMA slot unallocated to allow new transceivers 130 to announce their joining the network and triggering a reallocation of the transmission schedule (i.e., the allocation of TDMA slots). In some embodiments, removing a transceiver 130 from the network can be achieved by enabling the transceiver 130 to monitor for non-transmissions and triggering a redefinition of the transmission schedule if the transceiver 130 has not transmitted within a predetermined number of TDMA slots.

[0217] In some embodiments, TDMA slot lengths of less than 0.1 milliseconds, 0.5 milliseconds, 1 millisecond, 2 milliseconds, 2.5 milliseconds, 5 milliseconds, 10 milliseconds, or 50 milliseconds are used.

[0218] In some embodiments, transceiver 130 may include estimated location or timing information of itself within the payload of its positioning signal 202 or transceiver signal 302. In some embodiments, transceiver 130 may be operable to receive these transmitted signals 202, 302. In some embodiments, the receiving transceiver may include a synchronization unit 224 for synchronizing the receiving transceiver's schedule with the transmitting transceiver's schedule based on the received timing or location information.

[0219] In some embodiments, transceivers 130 may be allocated more than one TDMA time slot in at least one time schedule, thereby allowing them to transmit more frequently within a TDMA cycle. In some embodiments, the allocation of multiple time slots may be determined, for example, based on Fisher Information added to transceivers 130—a heuristic known to those skilled in the art, which can be calculated based on the relative positions of the transceivers.

[0220] In some embodiments, Frequency Division Multiple Access (FDMA) is used to mitigate transceiver interference, thereby assigning different transmission frequencies to interfering transceivers so that they no longer interfere with each other. In some embodiments, interfering transceivers can be assigned different preamble or pulse repetition frequencies to achieve a similar effect.

[0221] Figure 14 An exemplary transceiver network according to some embodiments of the present disclosure is illustrated, wherein transceivers 130 are grouped into neighboring cells 1410. In some embodiments, neighboring cells 1410 may employ FDMA technology to enable transceivers 130 from different cells 1410 to operate simultaneously without significant interference in the transmission overlap region 1420. In some embodiments, different cells 1410 may use different transmission parameters for the transmission of the location signal 202, such as different transmission center frequencies, bandwidths, preambles, preamble modulation schemes, or pulse repetition frequencies, so that different cells 1410 can operate simultaneously without significant interference. This allows the self-localizing device 140 to receive the location signal 202 at any location in the network (even when moving through more than one cell during reception). Within each cell, TDMA may be used to coordinate the transmissions of the individual transceivers 130.

[0222] Figure 15This illustration shows a mobile robot 1000 operating within an area 1420 served by multiple transceiver cells 1410 of different frequencies, according to some embodiments of the present disclosure. The mobile robot 1000 includes two self-localization devices 140 physically coupled to the mobile robot 1000. Because the mobile robot 1000 operates within an area served by multiple transceiver cells 1410, multiple positioning signals 202 of different frequencies can coexist in the area 1420. In some embodiments, this means that the two self-localization devices 140 coupled to the mobile robot 1000, when considered together, receive the positioning signals 202 at a higher rate than if they were transmitting at the same frequency as all transceivers 130 and using TDMA to coordinate their transmissions. In some embodiments, by using two self-localization devices 140, this can allow one or more positioning units to update their position estimates at a higher rate. In some embodiments, a communication path between the two self-localization devices 140 (e.g., communication path 702) can allow the positioning unit to calculate the orientation and the subject to which the two self-localization devices are attached (e.g., Figure 15 The position of the mobile robot 1000 in the system. In some embodiments, having multiple self-positioning devices 140 may allow one or more positioning units to calculate the position more accurately.

[0223] As mentioned above, such as Figure 1 Scheduler 110, such as scheduler 110, can use one or more input parameters to determine a schedule for transmitting positioning signals by anchors in the positioning network. In some embodiments, the inputs to scheduler 110 include the location of the anchors and user requirements, such as desired positioning performance. Figure 16 Schematic input parameter maps 1610 and 1620, which can be used to determine a schedule according to some embodiments of the present disclosure, are shown.

[0224] Input parameter map 1610 illustrates two input parameters. The first input parameter is the location of anchors 130. As shown, the positioning network comprises six anchors 130. The location of anchors 130 can be automatically identified during the calibration step or determined by the user during system installation (e.g., based on a survey conducted or based on an available map indicating the installation location). The second input parameter is the desired positioning performance of the positioning network. Input parameter map 1610 illustrates a contour line of the desired positioning performance. As shown, a range from 1 to 0 is used to reflect the desired positioning performance, with 1 reflecting high performance (e.g., performance is extremely important) and 0 reflecting low performance (e.g., positioning performance is not required here). Intermediate values ​​between 1 and 0 indicate that some positioning performance is required, but degradation to varying degrees is acceptable. In some embodiments, the contour line of input parameter map 1610 reflects discrete levels of desired performance. For example, the desired positioning performance could be 0 below contour line 0, 0.5 between contour lines 0 and 0.5, 0.8 between contour lines 0.5 and 0.8, and 1 above contour line 1. In some embodiments, the contour lines reflect continuous values ​​between 0 and 1. Input parameter map 1620 is similar to input parameter map 1610, but input parameter map 1620 uses a binary map to reflect the desired positioning performance. The binary positioning performance includes two regions—the region (1) where positioning is required and another region (0) where positioning is not required.

[0225] In some embodiments, the desired positioning performance in maps 1610 and 1620 is determined directly by the user (e.g., based on a building plan from which the area of ​​interest has been extracted), or it can be automatically generated (e.g., based on a known motion pattern of an autonomous machine). It should be understood that maps 1610 and 1620 are merely illustrative, and the position of anchor 130 and the desired positioning performance can be input to the scheduler in any suitable form. For example, the position of anchor 130 can be input in a coordinate system using its coordinates. As another example, the desired positioning performance can be input using a function that defines the positioning performance. As another example, the desired positioning performance can be input using an array of values ​​that define the positioning performance within a coordinate system. As another example, the desired positioning performance can be input using the shape or position of a contour line.

[0226] In some embodiments, the input parameter map is a static map generated during the initialization of the positioning system and remains unchanged until subsequent initialization or calibration of the positioning system. In some embodiments, the input parameter map changes over time and can therefore be dynamic. Figure 17A schematic dynamic positioning performance map 1710 for determining a schedule is illustrated according to some embodiments of the present disclosure. Map 1710 includes multiple distinct frames illustrating how positioning coverage requirements change over time. Shaded portions of each frame indicate areas requiring positioning coverage. Unshaded portions of each frame indicate areas not requiring positioning coverage. As shown, positioning performance map 1710 is a binary map. Successive frames of map 1710 represent snapshots of a time-parameterized binary performance map. Using a parametric model (e.g., using a periodic function), any other suitable model, or any other suitable technique, such a map can be stored as a dense sequence of snapshots, a sparse sequence of snapshots (using interpolation techniques between snapshots). It will be understood that the binary nature of positioning performance map 1710 is merely illustrative, and map 1710 can also be implemented using continuous values ​​or multiple discrete performance levels.

[0227] Figure 18 A schematic example of how a schedule can be adjusted according to some embodiments of this disclosure is shown. In some embodiments, the schedule can be adjusted in real time based on positioning requirements. As shown in the upper left portion of panel 1810, location map 1820a shows the positions of three mobile robots 1000 in a coordinate system. Each of the mobile robots 1000 may include one or more self-localization devices 140 and is configured to transmit its position back to the positioning network. For example, the mobile robot 1000 may be configured to wirelessly transmit its position (e.g., via antenna 502 of the self-localization device 140) back to one or more anchors of the positioning network. The mobile robot 1000 may also transmit additional information to the positioning network, such as its current speed or planned movement. Based on this information, a coverage requirement map 1830a can be extracted. In some embodiments, a scheduler, such as scheduler 110, may receive information from the mobile robots 1000 and generate the coverage requirement map 1830a. In some embodiments, the coverage requirement map 1830a can be generated by requesting coverage around a fixed radius of the current position of each mobile robot 1000 and around a fixed radius of the planned movement path of the mobile robot.

[0228] The coverage requirement map 1830a can be used by the scheduler to calculate an appropriate schedule 1840a for a given requirement. Depending on the trade-off between positioning performance and computational complexity, the scheduler can select the most suitable schedule from a range of pre-calculated and stored schedules, or it can calculate a new, optimized schedule based on the requirement map 1830a. Information about the schedule 1840a can be transmitted to one or more control units in the positioning network to control the transmission of positioning signals from the network's anchors.

[0229] In some embodiments, the scheduler transmits information about schedule 1840a to the scheduling unit controller, which then signals the anchor to perform transmissions according to that schedule. When schedule 1840a is a pre-calculated schedule, the scheduling unit controller may simply send a signal indicating which schedule to use (e.g., "Use schedule nr. 3"). When schedule 1840a is a newly calculated schedule, the scheduling unit controller may transmit the new schedule to the anchor and then signal a change to the schedule as soon as the anchor receives it.

[0230] The described process is then repeated to adjust the schedule in real time. As shown at the bottom of panel 1810, the position of mobile robot 1000 has changed in location map 1820b. The new position depicted in location map 1820b can be used to generate a new coverage requirement map 1830b, which in turn can be used to determine schedule 1840b. Schedule 1840b can then be used to control the transmission of positioning signals from anchors in the network as described above.

[0231] Figure 19 Another illustrative example of how a timeline can be adjusted according to some embodiments of this disclosure is shown. In this example, a group of mobile robots 1000 move in a relatively large space according to a predefined set of trajectories, and a set of anchors is distributed throughout the space. Location maps 1910a, 1910b, 1910c, and 1910d show the positions of the mobile robots 1000 as they move along the predefined set of trajectories. Specifically, the group of mobile robots starts in the lower right quadrant and then moves counterclockwise through all four quadrants. To improve the positioning performance of the positioning network, it may be desirable to use only a subset of the anchors close to the group of mobile robots 1000 and configure the other anchors not to transmit. In location map 1810a, since the mobile robots 1000 are located in the lower right quadrant, it may be desirable not to use the anchors in the upper left quadrant. For example, these anchors may be too far from the mobile robots 1000 for their signals to be successfully received. It may be desirable to enable the mobile robot 1000 to receive positioning signals at a relatively high rate, and not using a distant anchor can increase the rate at which the mobile robot 1000 can receive positioning signals.

[0232] Accordingly, in some embodiments, the timetable can be adjusted so that only anchors located within region A are used to transmit positioning signals. In other embodiments, the timetable can be adjusted so that a subset of anchors are used to provide positioning capabilities only in region A. Figure 19As shown, as the position of the group of mobile robots 1000 changes over time, region A follows them through the four quadrants. As a result of these schedule changes, the region (region A) that the mobile robots can locate themselves in moves over time. Schedule adjustments can be implemented in several ways. In one case, the transmission schedule can be changed periodically based on the position of the group of mobile robots 1000. This can be implemented in an open-loop manner, assuming the central unit knows the target position of the mobile robots, or in a closed-loop manner based on position information provided by the mobile robots. Therefore, different schedules can be used over time. In another, potentially more complex example, adjustments can be made using a single long-duration schedule synchronized with the movement of the mobile robots (e.g., the schedule can be started when the mobile robots begin to move or a few seconds before they begin to move), and said single long-duration schedule has a duration at least as long as the duration of the mobile robot trajectory.

[0233] although Figure 19 The diagram illustrates adjusting a schedule based on the location of a group of mobile robots, and it also shows how to adjust a schedule based on two or more groups of mobile robots. Figure 20 A schematic example of how to adjust a schedule for two groups of mobile robots according to some embodiments of this disclosure is shown. In this case, the mobile robots are organized into two distinct groups that move according to different sets of trajectories.

[0234] This raises the technical problem of how to configure scheduling to adapt to and optimize the transmission of positioning signals. In some embodiments, the anchors of the positioning network can be conveniently organized into two clusters, and a schedule can be defined in a way that allows the first and second groups of mobile robots to independently receive data (e.g., commands) from the anchors and locate themselves. This can be achieved, for example, by using two different carrier frequencies for the two clusters or by setting the transmit power in a way that the transmission of anchors allocated to the first group of mobile robots does not interfere with the transmission of anchors dedicated to the second group of mobile robots.

[0235] As shown in location map 2010a, the first group of mobile robots starts from the top of the space within cluster A, while the second group starts from the bottom within cluster B. The schedule allows the first group of anchors (cluster A) to cover the area occupied by the first group of mobile robots and the second group of anchors (cluster B) to cover the area occupied by the second group of mobile robots.

[0236] As part of the target trajectory, the first group of mobile robots converges towards the center of the upper part of the space, while the second group of mobile robots separates and moves to the sides of the lower part. This is shown in location map 2010b. These movements, for example, do not require updates to the transmission schedule.

[0237] Next, the target trajectory allows the first group of mobile robots to move towards the bottom section, while the second group moves towards the top section. This is shown in the location map 2010C. To perform these maneuvers, the transport schedule is updated by changing the anchor set belonging to cluster A and the anchor set belonging to cluster B. This creates a central aisle for the first group of mobile robots and lateral corridors for the second group. It is worth noting that in some cases, the spatial area covered by cluster B may overlap with the spatial area covered by cluster A.

[0238] Ultimately, the target trajectory might cause the first group of mobile robots to deploy in the lower part of the space, and the second group of mobile robots to deploy in the upper part. This is shown in location map 2010d. This is achieved again by redistributing the anchors in the two clusters.

[0239] The concept presented in the use case is that the swarm can move together with the mobile robot group to provide the desired positioning performance in the spatial area occupied by the individual mobile robot groups.

[0240] It will be understood that, although described in the context of positioning for mobile robot 1000 Figures 18-20 It can be used with any other suitable object, such as a vehicle, a person, or any other object including a self-locating device for receiving positioning signals. Figures 18-20 In some embodiments, the transceiver 130 and self-positioning device 140 described herein may be used. Figures 18-20 .

[0241] Figure 21 This is a schematic diagram of the structure of a positioning signal 202 according to some embodiments of the present disclosure. In some embodiments, the structure of the positioning signal 202 is similar to that defined in IEEE standard 802.15.4. This same standard describes other aspects of the positioning system, such as the signal transmission process. The transmission of the positioning signal 202 occurs at time t. start The transmission of the preamble sequence 2110 begins at position 2122. This sequence is typically predefined and known to the transmitter (e.g., transceiver 130) and receiver (e.g., self-positioning device 140) of the positioning signal 202. In some embodiments, the preamble sequence 2110 may be stored in memory. In some embodiments, the preamble sequence 2110 may be configurable during system operation. In some embodiments, the preamble sequence 2110 may be encoded via an interconnection of digital or analog electronic components.

[0242] In some embodiments, preamble 2110 defines a sequence in which radio pulses (e.g., UWB radio pulses) are transmitted at a specific rate over a particular transmission channel. This rate may sometimes be referred to as the pulse repetition frequency. The pulse repetition frequency is typically known to both the transmitter and receiver of the positioning signal 202. In some embodiments, the pulse repetition frequency may be stored in memory. In some embodiments, the pulse repetition frequency may be configurable during system operation. In some embodiments, the pulse repetition frequency may be encoded via an interconnection of digital or analog components.

[0243] If the receiver is configured to operate at a transmission center frequency with the same transmission frequency bandwidth, the same preamble, and the same preamble modulation scheme (e.g., frequency shift or phase shift), the receiver is generally able to receive positioning signals (e.g., UWB signals). In some embodiments, this can be achieved by appropriately configuring the receiver's analog receiving electronics (e.g., analog receiving electronics 504) or digital receiving electronics (e.g., digital receiving electronics 506) or the transmitter's analog transmission electronics (e.g., analog transmission electronics 214) or digital transmission electronics (e.g., digital transmission electronics 216). In some embodiments, appropriate selection of the channel or preamble 2110 or pulse repetition frequency can enable the receiver to receive UWB signals from a specific subset of transmitters. In some embodiments, appropriate selection of the channel or preamble 2110 or pulse repetition frequency can enable the transmitter to transmit UWB signals to a specific subset of the receiver. In some embodiments, appropriate selection of the channel or preamble 2110 or pulse repetition frequency can allow multiple positioning signals to be transmitted simultaneously with reduced interference or without interference.

[0244] After transmitting the preamble 2110, the transmitter transmits a start frame delimiter 2112 to indicate the start of the data portion of the signal. After transmitting the start frame delimiter 2112, the transmitter transmits a physical layer header (PHR) 2114 containing information related to the encoding of the signal payload 2116 (e.g., data rate). After transmitting the PHR 2114, the signal payload 2116 is transmitted. In some embodiments, the payload is empty. In some embodiments, the payload contains information from the global attribute sensor 228. In some embodiments, the payload 2116 contains information facilitating synchronization by a synchronization unit (e.g., synchronization unit 510). In some embodiments, the payload 2116 contains information enabling a scheduling unit (e.g., scheduling unit 218) to schedule future transmissions. In some embodiments, the payload 2116 contains information enabling a self-localizing device to receive future transmissions (e.g., notification of future signal transmissions, including transmission time, transmission channel, transmission preamble, or transmission pulse repetition frequency). In some embodiments, payload 2116 includes information about previously transmitted or received signals (e.g., signals 202 or 302). In some embodiments, payload 2116 includes other information. In some embodiments, payload 2116 may include multiple pieces of information. In some embodiments, payload 2116 includes error-checking information that can be used to assess the integrity of the received payload 2116. The transmission of the signal occurs at a time t after the transmission of payload 2116. end End at point 2124.

[0245] By detecting and receiving the preamble 2110 of the positioning signal, the receiver is able to detect the transmission of the start-of-frame delimiter (SFD) 2112. In some embodiments, the time of detection of the start-of-frame delimiter 2112 is time-stamped by the receiver's digital receiving electronics (e.g., digital receiving electronics 506). After detecting the start-of-frame delimiter 2112, the receiver is able to detect the physical header 2114. The receiver can use the information encoded in the physical header 2114 to decode the information encoded in the signal payload 2116.

[0246] In some embodiments, payload 2116 may be used for error checking. In some embodiments, payload 2116 may be used within other units of the receiver. In some embodiments, payload 2116 may be used to calculate time difference. In some embodiments, payload 2116 may be used to calculate distance. In some embodiments, payload 2116 may be compared with measurements from a global property sensor (e.g., global property sensor 520) of the receiver. In some embodiments, payload may be stored in memory (e.g., memory 230, 516).

[0247] As will be clear to those skilled in the art, although this embodiment discloses a specific signal structure similar to the specific signal structure defined in IEEE standard 802.15.4, many other signal structures are equally effective and can be used with this disclosure.

[0248] Figure 22 A schematic transmission schedule 2200 is shown that can be used to achieve higher positioning updates according to some embodiments of the present disclosure. For example, the transmission schedule 2200 can be used when it is not critical for the self-positioning device to receive each transmitted data payload. The transmission schedule 2200 is depicted in the form of a graph with time on the x-axis and transceiver numbers on the y-axis. As shown, the transmission schedule 2200 is determined such that transceiver 1 starts transmitting the preamble of the positioning signal 2202a at time t0. The transmission duration of the signal 2202a from transceiver 1 is T, and thus the transmission will complete at t2 = t0 + T. The preamble and SFD of the signal 2202a are transmitted during a first duration T'. Therefore, the self-positioning device can time-stamp the reception time of the signal at time t1 = t0 + T'.

[0249] At time t3, the transmission of the positioning signal 2202b from transceiver 2 is scheduled. In a traditional schedule, t3 > t2 would be selected so that the self-positioning device can fully receive the signal from transceiver 1 before transmitting the second positioning signal. However, in this example, T3 is deliberately chosen such that t0 < t3 < t2 (i.e., the transmission of the signal 2202b from transceiver 2 starts after transceiver 1 begins its transmission but before it completes its transmission). In some embodiments, the transmission will be scheduled such that t1 < t3 < t2.

[0250] The schedule 2200 allows the self-positioning device that receives the signals of the positioning system to choose, near or prior to time t1, whether it is more beneficial for its performance to: (1) fully receive the signal 2202a from transceiver 1 by keeping the receiving electronics of the self-positioning receiving device tuned to the signal 2202a throughout the entire duration T, or (2) only time-stamp the signal from receiver 1 but ignore its payload, and instead also time-stamp the signal 2202b from receiver 2 by tuning to the signal from transceiver 1 for a duration T' and then aborting the reception and tuning to the signal 2202b from transceiver 2.

[0251] The schedule 2200 shows two additional signal transmissions 2202c, 2202d from the respective transceivers 3, 4, where the self-positioning device that performs the reception can make a similar choice for reception.

[0252] In order for a self-localization device to selectively time-stamp a signal without receiving the entire signal, the analog or digital receiving electronics in the self-localization device must be operable to receive a signal by which reception of the signal from the antenna can be restricted to time-stamping of the preamble and SFD portions. In some embodiments, the digital receiving electronics provide a signal to the interface to stop ongoing signal reception when time-stamping has been completed; subsequently, this signal and the interface can be used in combination to stop signal reception after time-stamping has been completed. In some embodiments, the digital receiving electronics provide interfaces in which they can be configured to automatically stop reception once time-stamping is completed.

[0253] Figure 23 Some embodiments according to this disclosure are shown. Figure 22 This is part of an illustrative transmission schedule and the corresponding receiver activity 2310. Figure 23 Further details are shown regarding the operation of the receiver of the self-localization device when the positioning signals are scheduled to partially overlap. Specifically, Figure 23 It shows Figure 21 The two overlapping positioning signals 2202a and 2202b are shown. The corresponding schematic receiver activity 2310 is shown below the positioning signals 2202a and 2202b.

[0254] Before time t0, the receiver scans for the preamble. Shortly after the transmission of the preamble from the first transceiver begins at time t0, the receiver begins to lock onto the preamble sequence of the positioning signal 2202a. After the transmission of the preamble and SFD is complete, the receiver (e.g., digital receiving electronics) has time-stamped the reception of the positioning signal 2202a. At this point, the receiver stops receiving signals from transceiver 1 and begins scanning for a new preamble. Shortly after transmitter 2 begins transmitting the preamble of the positioning signal 2202b at time t3, the receiver locks onto the preamble sequence. The receiver then remains locked onto the positioning signal 2202b to receive the entire signal from transceiver 2, generate a reception time stamp, and receive the data payload of that signal.

[0255] In some embodiments, the self-positioning device includes decision logic that determines whether it is more advantageous to receive the positioning signal as a whole or only the portion required for time-stamping. For example, this decision could be based on the required minimum payload reception frequency, a list of positioning anchors from which payloads must be received (while other anchors may only be time-stamped), or logic that monitors whether sufficient information (such as which anchors transmit the signal, at what times, etc.) is available to interpret the time-stamped signal.

[0256] In some embodiments, the self-localization device includes a scheduling unit that configures the receiver to receive the signal as a whole or to time-stamp the signal only according to a schedule stored in memory. In some embodiments, the payload of the localization signal includes a schedule of future transmissions, which the self-localization device uses to determine whether to time-stamp the future localization signal or to receive it as a whole.

[0257] Figure 24 A schematic transmission schedule of positioning signals 2402a, 2402b, 2402c including two payloads is shown according to some embodiments of the present disclosure. Figure 24 The transmission schedule is similar to Figure 22 However, there is no single payload; the positioning signal payload is organized into two parts. The first part of the payload (payload 1) may contain all or most of the information that the self-positioning device wants to receive, while the second part of the payload (payload 2) may contain only some of the information that the self-positioning device is interested in.

[0258] Before time t0, the receiver of the self-locating device scans the preamble received shortly after time t0. From this moment on, the receiver can lock onto signal 2402a, receive the SFD, and time-stamp the message. Some receivers may determine that the information is sufficient and therefore stop receiving and begin scanning for a new preamble. Some other receivers may be interested in receiving more information and therefore continue receiving until the first part of the payload (payload 1) is fully received. At this point, these receivers can decide whether to continue and receive the remaining part of the payload (payload 2) or interrupt reception and begin scanning for a new preamble.

[0259] Figure 24 The timetable shown allows the self-localizing device to determine how much information to receive and at what frequency. For example, some self-localizing devices might want to receive the second portion of the payload every four incoming location signals, the first portion of the payload every two incoming location signals, and the SFD (e.g., message time stamp) for each incoming signal or any possible time. This would allow for faster time stamping of incoming signals compared to a receiver that always receives the entire location signal.

[0260] In some embodiments, the payload of the positioning signal can be organized into three or more parts, and the self-positioning device can determine which part to receive.

[0261] Figure 25A schematic positioning system 2500 and a corresponding performance map 2510 according to some embodiments of the present disclosure are shown. The positioning system 2500 includes 12 anchors labeled A to L. The performance map 2510 indicates that the positioning performance of the positioning system 2500 throughout the positioning space is 1. Therefore, the performance map 2510 indicates that the same positioning performance should be provided throughout the positioning space.

[0262] Anchors A through L of the positioning system 2500 can be configured (e.g., using a schedule determined by a scheduler) to transmit positioning signals according to any of several different schedules, thereby achieving similar positioning performance within the positioning area. In one example, anchors can be scheduled to transmit in alphabetical order (i.e., ABCDEFGHIJKL). In another example, anchors can be scheduled to transmit in such a manner that the transmission of anchors located on the ground is followed by the transmission of anchors located on the ceiling (e.g., ALCKDHEGFJBI). This is likely desirable, as it maximizes the difference in the direction in which the self-localizing device receives positioning signals, thereby optimizing the positioning performance of the self-localizing device by minimizing accuracy dilution. It is worth noting that these two schedules are consistent in terms of space and transmission rate. It should also be noted that these schedules are merely illustrative, and other schedules can also be used to achieve the same positioning performance within the positioning space.

[0263] Figure 26 The following are some embodiments of the present disclosure, used in different performance maps 2610. Figure 25 The schematic positioning system 2500. Performance map 2610 and... Figure 25 The difference between performance map 2510 and performance map 2610 is that performance map 2610 only needs to perform positioning in the right part of the positioning space. The left part of the positioning space is not needed. For example, performance map 2610 can be used when there is no self-positioning device in the left part of the positioning space.

[0264] To achieve the positioning performance required by performance map 2610, a subset of anchors can be configured (e.g., using a schedule determined by a scheduler) to transmit positioning signals according to any of several different schedules, thereby achieving the desired positioning performance. For example, anchors can be configured such that anchors on the left side of the positioning space do not transmit positioning signals. The resulting transmission schedule thus has the advantage of providing a faster transmission rate for anchors covering the right side of the positioning space. Similar to... Figure 25The transmission order can be alphabetical (i.e., BCEFHIKL) or more complex (e.g., BLEIFHCK). It is worth noting that these two timelines are consistent in terms of transmission rate, but inconsistent in terms of location space.

[0265] Figure 27 A schematic positioning system 2700 and a corresponding performance map 2710 according to some embodiments of the present disclosure are shown. The positioning system 2700 includes five anchors labeled A through E. The distribution of the anchors in the positioning system 2700 differs from... Figure 25 The distribution of the positioning system 2500 differs because the number of anchors installed on the ground differs from the number of anchors installed on the ceiling. Performance map 2710 indicates that the desired positioning performance is consistent throughout the positioning space.

[0266] In practice, uniformly distributing anchors within a positioning space can be difficult. For example, in some installations, it may be more practical to install a larger number of anchors on the ceiling and a smaller number on the ground. Positioning system 2700 represents this situation. If all anchors in system 2700 transmit positioning signals at the same rate, positioning performance may be degraded compared to a system with uniformly distributed anchors, because four out of five positioning signals will originate from the ceiling. To mitigate the effects of uneven anchor distribution, as in positioning system 2700, a transmission schedule can be defined such that anchors on the ground transmit signals more frequently than those on the ceiling. For example, positioning signal transmission can alternate between the ground and the ceiling, such that the transmission rate of positioning signals originating from anchors on the ground is the same as the transmission rate of positioning signals originating from anchors on the ceiling. For example, a suitable transmission sequence for positioning system 2700 is: AEDEBECE. Note that this schedule is consistent throughout the space, but inconsistent in transmission rates (i.e., different anchors have different transmission rates).

[0267] Figure 28 The following are some embodiments of the present disclosure, used in different performance maps 2810. Figure 25 The schematic positioning system 2500. The performance map 2810 differs from... Figure 25 The performance map is designed because different levels of positioning performance are required within the positioning space. Specifically, positioning performance is needed in the right-hand side of the positioning space to be higher than in the left-hand side. For example, performance map 2810 can be used when most self-localizing devices are located in the right-hand side of the positioning space. As another example, performance map 2810 can be used when there are more obstacles in the right-hand side of the positioning space, and therefore higher performance is desired to reduce the chance of collisions with obstacles.

[0268] Different levels of positioning performance can be achieved by configuring anchors such that anchors on the left side of the coverage space transmit at a lower frequency than anchors on the right side. For example, a suitable transmission order is BLEIFHCKALCKDHEGFJB, which results in twice the transmission rate for anchors on the right side of the coverage space. Another suitable transmission order is BLEIAFHCKJBLEIDFHCKG, which also results in twice the transmission rate for anchors on the right side of the coverage space.

[0269] Figure 29 A schematic transmission schedule 2900 for positioning signals according to some embodiments of the present invention is shown. Schedule 2900 represents the transmission of positioning signals for... Figure 25 The positioning system 2500 has a more complex transmission schedule, which enables it to... Figure 28 The performance map 2810 reflects the desired positioning performance. Schedule 2900 includes nine lines of information. Line 1 indicates the time slot. Lines 2-5 indicate the transmission parameters for the first set of positioning signals to be transmitted according to this schedule, while lines 6-9 indicate the transmission parameters for the second set of positioning signals to be transmitted according to this schedule. Lines 2 and 6 identify the anchors. Lines 3 and 7 identify the transmission carrier frequency. Lines 4 and 8 indicate the preamble. Lines 5 and 9 indicate the transmit power. Therefore, Schedule 2900 differs from the previous exemplary schedule in that it specifies not only the anchor transmission order but also additional transmission parameters such as carrier frequency, preamble, and transmit power. The goal of Schedule 2900 is to achieve high performance in high-performance areas with minimal impact on low-performance areas.

[0270] Timetable 2900 can be considered as having two sub-timetables with time synchronization. Line 1 shows the time slots that organize the sub-timetables. Lines 2-5 can be considered as constituting the first sub-timetable, which is for... Figure 25 The optimized sequence discussed. Lines 6-9 can be considered to constitute the second sub-timetable, which defines additional transmissions for anchors around the high-performance region. In this configuration, the first sub-timetable achieves consistent coverage throughout the space, and the second sub-timetable improves positioning performance in the high-performance region.

[0271] During time slot T1, anchor A transmits a signal at the same time as anchor E. Because the two anchors transmit at different frequencies, the self-positioning device can choose to receive from either anchor A or anchor E to optimize its positioning performance based on its location. This can be achieved by having the self-positioning device receive data representing possible choices for the anchors transmitting in that time slot. Data can be received from a remote location (e.g., as part of the payload of an earlier positioning signal) or by using a pre-known transmission sequence and retrieving data from memory. The selection can be made in real time (e.g., by calculating a predicted dilution of accuracy that can be achieved by receiving either signal) or pre-calculated (e.g., stored in memory as a map of the preferred transceiver based on the current location). Similar selections can be performed during time slots T5 and T10, where two different anchors transmit positioning signals at different frequencies.

[0272] During time slot T6, anchor H transmits two signals simultaneously. The second signal is transmitted at a different frequency than the first signal and includes a longer preamble, which allows for reception of the second signal over a greater distance and with more precise time stamping. As shown, the longer preamble of the second signal may result in it being transmitted over more than one time slot. Therefore, the self-locating device can choose to receive signals from anchor H and E transmitted during time slots T6 and T7 at frequency 1, or a more precisely time-stamped signal from anchor H transmitted during both time slots T6 and T7 at frequency 2. In this example, anchor H includes a pair of transceivers. A similar principle applies to anchors that do not require a pair of transceivers, used in time slots T11 and T12.

[0273] During time slot T8, anchor G transmits at the same frequency and at the same time as anchor C. In this case, the parameters of anchor C are adjusted to avoid interference, anchor C transmits at a lower transmission power, and can only be received by devices (including self-positioning devices and other anchors) outside the range of anchor G.

[0274] What will be understood is... Figure 29 The timetable shown is merely illustrative and other variations can be used. In one variation, the first timetable (i.e., rows 2-5) can be modified so that all transmissions use a longer preamble length to anticipate the preamble transmission. For example, it can be configured to... K The anchor that transmits during this period can be in time slot T. K-1 The preamble is transmitted starting from the last part of the time slot T. The self-positioning device can therefore choose to receive the entire preamble or only the part transmitted in time slot T. K The preamble portion transmitted during the period. The first option allows for transmission in time slot T. K The second option allows the self-positioning device to receive two positioning signals, while the first option provides a more precise time stamp of the positioning signal transmitted during the period.

[0275] Figure 30 Another schematic transmission schedule 3000 for positioning signals according to some embodiments of this disclosure is shown. Schedule 3000 represents another complex transmission schedule. Schedule 3000 specifies even more configuration parameters than those specified in Schedule 2900. Schedule 3000 specifies the transmission time, anchor mode (i.e., receive or transmit), carrier frequency, preamble, preamble length, transmit power, and antenna for receiving or transmitting. Schedule 3000 specifies the configuration parameters for three transceivers (A, B, and C) and organizes them by time slots (T1, T2, T3, T4, and T5).

[0276] Anchor A transmits during time slots T1 and T4. Anchor B transmits during time slots T2 and T5. Anchor C transmits during time slot T3. When anchors are not transmitting, they are configured to receive positioning signals transmitted by other anchors.

[0277] Anchor A always operates on frequency F1. Anchor B operates on frequency F1 during time slots T2, T3, and T5, and on frequency F2 for the remaining time slots. Anchor C operates on frequency F1 during time slots T1 and T2, and on frequency F2 for the remaining time slots. Using different frequencies allows for multiple transmissions to occur simultaneously (not shown in Schedule 3000).

[0278] Anchor A always uses preamble 1. Anchor B uses preamble 5 during time slots T1 and T5, and preamble 1 during the remaining time slots. Anchor C always uses preamble 5. Using different preambles allows for multiple transmissions to occur simultaneously (not shown in Schedule 3000).

[0279] Anchors A and C consistently transmit positioning signals with a preamble length of 250 microseconds. Anchor B consistently transmits positioning signals with a preamble length of 500 microseconds. As mentioned above, the longer preamble length allows for receiving positioning signals at greater distances and provides more accurate time stamping.

[0280] Anchor A always transmits the positioning signal at a transmit power of 5 dBm. Anchors B and C always transmit the positioning signal at a transmit power of 0.5 dBm. Using different transmit powers allows for transmissions with longer or shorter coverage periods. This can be used to achieve simultaneity without interfering with transmissions from different anchors using the same frequency and preamble.

[0281] Anchor A always uses antenna 1 to receive and transmit positioning signals. Anchor B always uses antenna 1 for transmission and always uses antenna 2 for reception. Anchor C uses antenna 2 for the first three time slots and antenna 1 for the last two time slots. Using different antennas allows for transmissions with different radiation patterns (i.e., different areas of space can be reached with different signal qualities) and allows for better reception.

[0282] Self-localizing devices can use knowledge encoded in a schedule to configure their own receiving parameters to receive data from specific transmitters. For example, a self-localizing device can choose to receive specific signals to optimize its positioning performance based on its location.

[0283] In some embodiments, the anchor can be configured (as part of timetable 3000) to receive specific signals, thereby improving network clock synchronization or information propagation on the network.

[0284] Figure 31 A schematic flowchart 3100 is shown of logic that can be implemented on a self-locating device according to some embodiments of the present disclosure, the logic configuring its receiver based on identifying the received payload of a future transmission.

[0285] In step 3102, the self-positioning device can read the raw received data from the digital receiving electronics upon receiving a positioning signal. This reading process can be implemented using a digital transmission protocol (e.g., SPI, I2C, UART, or parallel digital protocol).

[0286] In step 3104, after reading the data, the self-positioning device can decode the received payload. Decoding may include multiple processing steps (not shown). For example, such processing may include: deserializing the data, parsing data representing the payload size, parsing data representing the payload type, any other processing steps, or any combination thereof.

[0287] At decision 3106, a data integrity check can be performed. For example, a CRC checksum can be verified. If the data integrity check fails (e.g., if the CRC checksum is incorrect), the self-locating device can discard the received data at step 3108, and the process can return to step 3102. If the integrity check succeeds, the process can continue to decision 3110.

[0288] At decision 3110, the contents of the payload can be examined to determine if it contains a payload that identifies future transport via the locating anchor. In some embodiments, step 3110 may be the final step in preprocessing the payload. If the payload is found not to identify future transport, the process may terminate at step 3112 and return to step 3102. If the payload is found to identify future transport via the locating anchor, the process may continue to decision 3114.

[0289] At this point, the self-positioning device can perform steps to determine which available positioning signal is preferably received. For example, this decision can be made based on status information provided by the locator.

[0290] At decision 3114, the self-localization device can determine whether the locator has been successfully initialized (i.e., whether the locator has a current estimated position). If the self-localization device determines that the locator has not been successfully initialized, the process can proceed to step 3120. If the self-localization device determines that the locator has been successfully initialized, the process can proceed to step 3116.

[0291] At step 3120, when the locator is not initialized, the self-localization device can make a decision about which signal to receive based on a backup heuristic. For example, the self-localization device can decide to receive the signal that provides the widest coverage to determine the initial position estimate. The process can then proceed to step 3122.

[0292] At step 3116, when the locator is initialized, the self-localization device may perform a first check based on its estimated location. This location may be compared to the locations of the positioning anchors that will transmit signals in future time slots. If good reception at the location of the self-localization device would be impossible for some of these anchors, they are marked as undesirable signals. In some embodiments, this check may additionally consider the orientation of both the anchor antenna and the self-localization device antenna to more accurately estimate the reception quality. In some embodiments, the metric used for what estimated reception quality is considered acceptable may also be adjusted based on other metrics (e.g., how important the captured signal is to the quality of the location estimation).

[0293] At step 3118, the quality of the locator's position estimation can be examined. Quality can be represented, for example, as the current dilution of accuracy or as the variance of the position estimation. The reduction in uncertainty for each candidate positioning signal can be calculated based on the possible range of the self-localizing device's location. For example, simulated versions of future positioning signals can be provided to the locator to evaluate changes in variance. These evaluations can be performed for each candidate positioning signal, and a metric can then be applied to determine the preferred positioning signal. In some embodiments, such a metric can be the total position variance, the total variance in the plane, or the root mean square of the variance along a particularly important direction. The process can then proceed to step 3122.

[0294] After the above steps are performed, the preferred positioning signal to be received has been determined. At step 3122, the receiver settings are determined. However, the payload may have already provided high-level information about the configuration of future positioning signals, so more low-level receiver settings may often be required to configure the receiving electronics. In some embodiments, these low-level receiver settings may be hardware-dependent settings. For example, hardware-dependent settings may include the configuration of the phase-locked loop in the receiving electronics, the preamble for scanning during reception, the position of the RF switch, at least one of other hardware settings, or any combination thereof. In some embodiments, the receiver settings may be stored in memory in the form of a lookup table to allow the self-localizing device to determine the correct low-level configuration from the received high-level information.

[0295] At step 3124, a low-level receiver configuration can be applied to the receiver. In some embodiments, the configuration can be applied by writing configuration parameters to the registers of the receiving electronics via a protocol such as SPI, I2C, or UART. In some embodiments, the configuration can be applied by, for example, by changing the state of the output pins of the microcontroller to change the values ​​of the digital or analog input pins of the transmitting electronics.

[0296] In some embodiments, status information from the locator can be used to determine which positioning signal to receive. In some embodiments, many other decision criteria can be used for the same purpose. For example, the decision can be based on the known planned movement of the self-locating device, the signal strength of the received positioning signal, a stored list of positioning signal priorities, other criteria, or any combination thereof.

[0297] It should be understood that the steps and decision elements of flowchart 3100 are merely illustrative and various modifications can be made within the scope of this disclosure. For example, in some embodiments, the top portion of flowchart 3100 can be performed independently of the bottom portion. For example, logic elements 3102-3112 can be performed for each received signal, while logic elements 3114-2124 can be selected individually and repeatedly depending on what signal is received. As another example, in some embodiments, logic elements 3102-3112 may not be required if the self-positioning device stores a schedule in which anchors are scheduled to transmit positioning signals.

[0298] Figure 32 The illustration shows a performance diagram of an exemplary application of flight operations to an indoor and outdoor environment 3200, according to some embodiments of the present disclosure. The environment includes an indoor area within a building 3210 (e.g., a warehouse) with an access area 3220 through which the aircraft 3230 enters and exits the outdoor area. In this example, two positioning systems have been installed. One is installed outdoors, and the second is installed indoors.

[0299] Identify the required positioning performance in different areas of the environment. Landing area 3240 surrounds the landing area of ​​aircraft 3230. This area is marked as requiring particularly high positioning performance due to the potentially tight flight tolerances during landing. Second area 3250 covers most of the remaining indoor space and requires a positioning performance level sufficient for normal safe flight. The remaining indoor space has no positioning performance requirements because the aircraft does not operate in these spaces.

[0300] Because the flight maneuvering space decreases in the access area 3220 connecting the indoor and outdoor areas, a second area surrounding this access area 3220 requires particularly high positioning performance. The remaining outdoor areas from the approach area to the access area require normal positioning performance, while positioning performance is not required in other areas.

[0301] in addition, Figure 32 The availability of other positioning mechanisms (in this case, GPS) is shown. The availability of these mechanisms can also be provided to the scheduler. If the self-positioning device is configured to fuse different positioning systems (such as the systems disclosed herein and GPS) to enhance performance, the scheduler can take this into account and adjust its positioning performance requirements to achieve the desired overall positioning performance, assuming that other positioning mechanisms can be used as supporting tools. For example, when aircraft 3230 operates above a building, GPS can provide sufficient positioning performance in the absence of the positioning system described herein, and therefore the program does not need to consider coverage in that area.

[0302] Figure 32 The application of bridging anchors is also shown, where they are used to allow the aircraft to seamlessly transition between indoor and outdoor positioning systems.

[0303] Figure 33 Two exemplary positioning networks 3310 and 3320 according to some embodiments of the present disclosure are also shown. Positioning network 3310 and positioning network 3320 partially overlap. In some embodiments, positioning network 3310 includes a plurality of synchronized anchors, and positioning network 3320 includes a plurality of synchronized anchors. However, because positioning networks 3310 and 3320 are different networks, they may be out of sync with each other. Therefore, a self-localization device may have difficulty moving between positioning networks 3310 and 3320. To solve this problem, one or more bridging anchors can be used to enable the self-localization device to switch from one network to another. As illustrated, two bridging anchors 3330 are located in the overlapping area between the two networks.

[0304] Figure 34 This is a block diagram of an exemplary bridging anchor configured to allow synchronization of two positioning systems (e.g., positioning networks 3310, 3320) according to some embodiments of this disclosure. When two separate positioning systems are used in proximity to each other, self-localization devices (e.g., as they move from a location where the first system provides better performance to a location where the second system provides better performance) typically need to reinitialize their positioning units to recognize the timing information of the second positioning system and then determine their position again when switching from receiving signals from the first system to receiving signals from the second system. This creates an interruption period when the self-localization device switches from one network to the next, during which positioning is unavailable (or only degraded positioning is available). Figure 34 The bridge transceiver shown allows for the synchronization of timing information between two adjacent networks, enabling the self-localization device to switch between networks while maintaining its local timing information, as if it were still receiving a location signal from the first network.

[0305] Like some anchors disclosed herein, this bridging anchor includes a clock 210, a scheduling unit 218a, digital transmission electronics 216a, analog transmission electronics 214a, an antenna 212a, analog receiving electronics 220a, and digital receiving electronics 222a. These components are used to bridge the anchor to communicate with a first positioning system and provide positioning signals about the first positioning system.

[0306] To enable bridging functionality, the bridging anchor in this embodiment includes a second set of components for the first positioning system. Specifically, the bridging anchor here additionally includes a scheduling unit 218b, digital transmission electronics 216b, analog transmission electronics 214b, an antenna 212b, analog receiving electronics 220b, and digital receiving electronics 224b. These additional components are configured to receive and transmit signals from the second positioning system.

[0307] The bridging anchor in this embodiment also includes a synchronization unit 224a coupled to the digital receiving electronics 222a and the clock 210. The synchronization unit 224a determines timing information for the first positioning system. The bridging anchor here also includes a synchronization unit 224b to similarly determine timing information for the second positioning system. Additionally, the synchronization unit 224b receives timing information from the synchronization unit 224a to compare timing information from the two positioning systems. The synchronization unit 224b is coupled to the scheduling unit 218b and can adjust the scheduling operation of the second positioning system by at least one of the following: (1) adjusting the scheduling of the second positioning system such that the second positioning system is guided to synchronize with the scheduling of the first positioning system, and (2) including information that causes the anchors in the second positioning system to adjust their timing to that of the first positioning system in the transmission payload. The timing information referred to in this context may, for example, be the apparent clock rate, apparent clock offset, or apparent clock skew of the positioning system.

[0308] Figure 35 This is a block diagram of another exemplary bridging anchor configured to enable a seamless transition of a self-positioning device from one positioning system to another, according to some embodiments of this disclosure. Figure 34 The bridging anchors are different. Figure 35 The bridging anchor does not share common timing information between the two positioning systems to synchronize them. Therefore, Figure 35 The bridging anchor needs to achieve a seamless transition between two asynchronous positioning systems. The difficulty that causes the positioning of the self-positioning device to be temporarily unavailable (or degraded in performance) is that, in order to provide meaningful positioning data, the self-positioning device needs to identify the timing of the second positioning system when the locator is reinitialized. Figure 35 The bridge transceiver shown allows the self-positioning device to quickly switch from the first positioning system to the second positioning system by warm-starting its locator after reinitialization, using additional timing information from the second positioning system.

[0309] In order to achieve this goal, Figure 35The bridge transceiver includes analog receiving electronics 220 and digital receiving electronics 222 coupled to antenna 212, which receives signals from a second positioning system. Digital transmission electronics 216 and analog transmission electronics 214 are configured to transmit signals with a configuration of the first positioning system. The receiving and transmitting electronics share a clock 210. Signals received from digital receiving electronics 222 are provided to a synchronization unit 224, which identifies timing information of the received signals (which are signals from the second positioning system). The identified timing information is sent to a scheduling unit 218, which may include the identified timing information in the payload transmitted on the first positioning system. The self-positioning device receiving signals from the first positioning system can decode the timing information and may use the timing information to hot-start the locator for the second positioning system when switching from the first positioning system to the second positioning system.

[0310] According to one aspect of this disclosure, a positioning system is provided that includes a plurality of positioning anchors configured to wirelessly transmit positioning signals. The positioning signals may be usable by self-positioning devices within an area to determine location information. For example, a self-positioning device can use the positioning signals to determine its own position within a defined three-dimensional area.

[0311] In some embodiments, the plurality of positioning anchors may include a first positioning anchor, a second positioning anchor, and a third positioning anchor. The first positioning anchor may be configured to wirelessly transmit a first positioning signal. The second positioning anchor may be configured to wirelessly transmit a second positioning signal. The third positioning anchor may be configured to wirelessly transmit a third positioning signal.

[0312] In some embodiments, each of the plurality of positioning anchors may be communicatively coupled to a scheduling unit. In some embodiments, the scheduling unit may be configured to schedule the transmission of positioning signals. For example, the scheduling unit may schedule the transmission of a first positioning signal, a second positioning signal, and a third positioning signal. In some embodiments, the scheduling unit may schedule the transmission of positioning signals to control positioning performance. For example, the scheduling unit may schedule a first positioning anchor to transmit a first positioning signal at a first transmission rate, schedule a second positioning anchor to transmit a second positioning signal at a second transmission rate, and schedule a third positioning anchor to transmit a third positioning signal at a third transmission rate. In some embodiments, the first transmission rate may be greater than the second transmission rate. In some embodiments, the first, second, and third transmission rates may be selected to provide higher positioning performance within a portion of the area.

[0313] In some embodiments, the scheduling unit may be configured to adjust the transmission rate of any one of the first, second, and third positioning signals, or any combination thereof, to alter positioning performance within the area during operation. In some embodiments, the scheduling unit may be configured to receive the location of the self-localizing device and / or the flight mode of the self-localizing device. In some embodiments, the scheduling unit may be configured to adjust the transmission rate based on the known location of the self-localizing device. In some embodiments, the scheduling unit may be configured to adjust the transmission rate based on the known motion (e.g., flight mode) of the self-localizing device.

[0314] In some embodiments, each of the first, second, and third positioning signals may include an ultra-wideband (UWB) positioning signal. Each UWB positioning signal may include a preamble and a payload. In some embodiments, some UWB positioning signals may include a payload containing a command. In some embodiments, a scheduling unit may be configured to schedule the transmission of UWB positioning signals to optimize the propagation of commands to the self-positioning device and at least one of the plurality of anchors.

[0315] In some embodiments, each of the plurality of positioning anchors may include a clock. In some embodiments, some UWB positioning signals may include a payload containing synchronization data. Each of the plurality of positioning anchors may be configured to receive synchronization data from UWB positioning signals received from at least one other positioning anchor. In some embodiments, at least one scheduling unit may be configured to schedule the transmission of UWB positioning signals to optimize clock synchronization.

[0316] In some embodiments, clock synchronization can be optimized by including an objective function or constraints that can represent clock synchronization performance. For example, such optimization could include a model that predicts time stamp variability based on environmental influences, with the goal of achieving high communication rates between anchors with low time stamp variability.

[0317] In some embodiments, each of the plurality of positioning anchors may include a synchronization unit, wherein each synchronization unit may be configured to calculate a correction for at least one of clock offset and clock rate for its corresponding clock based on the received synchronization data.

[0318] In some embodiments, the scheduling unit may be configured to schedule the transmission of positioning signals to increase at least one of the precision, accuracy, or update rate in one or more portions of the area. In some embodiments, the scheduling unit may be configured to schedule the transmission of positioning signals based on time slots in a schedule. In some embodiments, the first positioning anchor may be allocated more time slots in the schedule compared to the second positioning anchor.

[0319] In some embodiments, the scheduling unit may include a first scheduling unit, a second scheduling unit, and a third scheduling unit. The first scheduling unit may be physically coupled to a first positioning anchor and may be configured to schedule the transmission of a first positioning signal. The second scheduling unit may be physically coupled to a second positioning anchor and may be configured to schedule the transmission of a second positioning signal. The third scheduling unit may be physically coupled to a third positioning anchor and may be configured to schedule the transmission of a third positioning signal.

[0320] In some embodiments, a method for transmitting positioning signals in a positioning system is provided. In some embodiments, the positioning system may include a plurality of positioning anchors.

[0321] In some embodiments, the method may include a first positioning anchor among a plurality of positioning anchors that wirelessly transmits a first positioning signal during two or more time slots of a transmission schedule. The method may also include a second positioning anchor among a plurality of positioning anchors that wirelessly transmits a second positioning signal during one or more time slots of a transmission schedule. The method may further include a third positioning anchor among a plurality of positioning anchors that wirelessly transmits a third positioning signal during one or more time slots of a transmission schedule.

[0322] In some embodiments, the first, second, and third positioning signals may be usable by self-positioning devices within the area to determine location information. The first positioning anchor may be allocated more time slots in the transmission schedule than the second positioning anchor to provide higher positioning performance within a portion of the area.

[0323] In some embodiments, the method may include one or more scheduling units that adjust the number of time slots allocated to the first, second, and third positioning anchors in a transmission schedule during operation. In some embodiments, the method may include wirelessly receiving the known location of the self-locating device. In some embodiments, the number of time slots may be adjusted based on the known location of the self-locating device.

[0324] In some embodiments, the time slots of the transmission schedule may be allocated based on one or more of the following: the known location of the self-positioning device; optimization of the propagation of commands that are part of at least some of the first, second, and third positioning signals; optimization of the synchronization of clocks associated with the first, second, and third positioning anchors; and at least one of improved accuracy, precision, or update rate in one or more portions of the region.

[0325] In some embodiments, the method may further include using a first clock to generate a first timing signal for determining when a first positioning anchor wirelessly transmits a first positioning signal. The method may further include using a second clock to generate a second timing signal for determining when a second positioning anchor wirelessly transmits a second positioning signal. The method may further include using a third clock to generate a third timing signal for determining when a third positioning anchor wirelessly transmits a third positioning signal, wherein the first, second, and third clocks are synchronized.

[0326] According to another aspect of this disclosure, a positioning system is provided that includes a plurality of positioning anchors, which can be configured to wirelessly transmit positioning signals usable by self-positioning devices within an area to determine location information. In some embodiments, the area may include a three-dimensional region.

[0327] In some embodiments, the positioning system may further include at least one scheduling unit. This at least one scheduling unit may be communicatively coupled to a plurality of positioning anchors. In some embodiments, the at least one scheduling unit may be configured to schedule the transmission of positioning signals according to a first transmission schedule. The first transmission schedule may define a first time sequence for transmitting positioning signals for each of the plurality of positioning anchors. In some embodiments, the positioning signals may include ultra-wideband (UWB) positioning signals. In some embodiments, each positioning signal may include a preamble and a payload.

[0328] In some embodiments, the at least one scheduling unit may be configured to determine when to change from a first transmission schedule to a second transmission schedule. The second transmission schedule may define a second time sequence for transmitting positioning signals for each of a plurality of positioning anchors. The second transmission schedule may define a second transmitter (TX) or receiver (RX) mode for each of the plurality of positioning anchors. In some embodiments, the second time sequence may differ from the first time sequence. In some embodiments, the second time sequence may be the same as the first time sequence.

[0329] In some embodiments, the at least one scheduling unit can be configured to determine when to restart transmission scheduling. In some embodiments, the at least one scheduling unit can be configured to start or restart transmission scheduling from a specific time (i.e., scheduling does not start or restarts from the starting point of scheduling). In some embodiments, the first transmission schedule and the second transmission schedule can provide at least one of increased precision, accuracy, and update rate in different parts of the region.

[0330] In some embodiments, the at least one scheduling unit may be configured to schedule the transmission of positioning signals according to the second transmission schedule in response to determining a change from a first transmission schedule to a second transmission schedule. In some embodiments, the change from the first transmission schedule to the second transmission schedule may alter positioning performance within the area.

[0331] In some embodiments, the at least one scheduling unit may be configured to receive the known location of the self-localization device and / or the flight mode of the self-localization device. In some embodiments, the at least one scheduling unit may be configured to determine when to change from a first transmission schedule to a second transmission schedule based on the known location of the self-localization device. In some embodiments, the at least one scheduling unit may be configured to determine when to change from a first transmission schedule to a second transmission schedule based on user input. In some embodiments, the at least one scheduling unit may be configured to determine when to change from a first transmission schedule to a second transmission schedule based on the known motion of the self-localization device.

[0332] In some embodiments, the payload of at least some of the UWB positioning signals may include commands. In some embodiments, the at least one scheduling unit may be configured to change from a first transmission schedule to a second transmission schedule to optimize the propagation of commands to at least one of the self-positioning devices and multiple anchors.

[0333] In some embodiments, each of the plurality of positioning anchors may include a clock. In some embodiments, the payload of at least some of the UWB positioning signals may include synchronization data. Each of the plurality of positioning anchors may be configured to receive synchronization data from UWB positioning signals received from at least one other positioning anchor. The at least one scheduling unit may be configured to change from a first transmission schedule to a second transmission schedule to optimize for clock synchronization.

[0334] In some embodiments, each of the plurality of positioning anchors may include a synchronization unit. Each synchronization unit may be configured to calculate a correction for at least one of clock offset and clock rate for its corresponding clock based on the received synchronization data.

[0335] In some embodiments, the first transmission schedule and the second transmission schedule may each include multiple time slots. In some embodiments, at least one of the multiple positioning anchors may be assigned a different number of time slots in the first transmission schedule and the second transmission schedule. In some embodiments, at least one of the multiple positioning anchors may be assigned different transmitter (TX) modes or receiver (RX) modes. In some embodiments, at least one of the multiple positioning anchors may be assigned different transmitter (TX) modes or receiver (RX) modes in the first transmission schedule and the second transmission schedule.

[0336] In some embodiments, the at least one scheduling unit may include multiple scheduling units. In some embodiments, each of the multiple scheduling units may be physically coupled to a corresponding positioning anchor among the multiple positioning anchors. In some embodiments, each of the multiple scheduling units may be configured to schedule the transmission of positioning signals for its respective positioning anchor according to a time slot allocated to its respective positioning anchor.

[0337] In some embodiments, a method for transmitting positioning signals in a positioning system is provided. In some embodiments, the positioning system may include a plurality of positioning anchors.

[0338] In some embodiments, the method may include using a plurality of positioning anchors to wirelessly transmit positioning signals usable by self-locating devices within an area to determine location information. In some embodiments, the method may further include using at least one scheduling unit communicatively coupled to the plurality of positioning anchors to schedule the transmission of positioning signals according to a first transmission schedule. In some embodiments, the first transmission schedule may define a first time sequence for transmitting positioning signals for each of the plurality of positioning anchors.

[0339] In some embodiments, the method may further include using the at least one scheduling unit to determine when to change from a first transmission schedule to a second transmission schedule. In some embodiments, the second transmission schedule may define a second timing order for transmitting positioning signals for each of a plurality of positioning anchors. The second transmission schedule may define a second transmitter (TX) or receiver (RX) mode for each of the plurality of positioning anchors. In some embodiments, the second timing order may differ from the first timing order.

[0340] In some embodiments, the method may further include: using the at least one scheduling unit to schedule the transmission of positioning signals according to the second transmission schedule in response to determining a change from a first transmission schedule to a second transmission schedule. In some embodiments, such scheduling may alter positioning performance within an area.

[0341] In some embodiments, the positioning signal may include an ultra-wideband (UWB) positioning signal. In some embodiments, each positioning signal may include a preamble and a payload. In some embodiments, the payloads of at least some UWB positioning signals may include commands. In some embodiments, the method may further include changing the at least one scheduling unit from a first transmission schedule to a second transmission schedule to optimize the propagation of the commands to the self-positioning device and at least one of the plurality of anchors.

[0342] In some embodiments, each of the plurality of positioning anchors may include a clock. In some embodiments, the payload of at least some of the UWB positioning signals may include synchronization data. In some embodiments, the method may further include using each of the plurality of positioning anchors to receive synchronization data from UWB positioning signals received from at least one other positioning anchor. In some embodiments, the method may further include changing the at least one scheduling unit from a first transmission schedule to a second transmission schedule to optimize for clock synchronization.

[0343] In some embodiments, each of the plurality of positioning anchors may include a synchronization unit. In some embodiments, the method may further include using each synchronization unit to calculate a correction for at least one of a clock offset and a clock rate for its respective clock based on the received synchronization data.

[0344] In some embodiments, the first transmission schedule and the second transmission schedule may provide at least one of increased precision, accuracy, and update rate in different parts of the region.

[0345] In some embodiments, the first transmission schedule and the second transmission schedule may each include a plurality of time slots. In some embodiments, the method may further include assigning different numbers of time slots from the first transmission schedule and the second transmission schedule to at least one of a plurality of positioning anchors.

[0346] In some embodiments, the first transmission schedule and the second transmission schedule may each include multiple time slots. In some embodiments, the at least one scheduling unit may include multiple scheduling units. In some embodiments, each of the multiple scheduling units may be physically coupled to a corresponding one of the multiple positioning anchors. In some embodiments, the method may further include using each of the multiple scheduling units to schedule the transmission of positioning signals for their respective positioning anchors according to the time slots allocated to their respective positioning anchors.

[0347] According to another aspect of this disclosure, a system for determining a transmission schedule for a positioning system is provided. In some embodiments, the positioning system may include a plurality of positioning anchors configured to wirelessly transmit positioning signals. The plurality of positioning anchors may be used to determine location information within an area.

[0348] In some embodiments, the system may include an input. The input may be operable to receive: the locations of a plurality of positioning anchors, at least one anchor attribute of the plurality of positioning anchors, and the desired positioning performance within at least one partition of the area.

[0349] In some embodiments, the system may include at least one processor. The at least one processor may be configured to determine a transmission schedule for a plurality of anchors based on: (a) the locations of the plurality of anchors, (b) the attributes of at least one of the plurality of anchors, and (c) the desired positioning performance within at least one partition. In some embodiments, the plurality of anchors may be configured to wirelessly transmit positioning signals according to the transmission schedule.

[0350] In some embodiments, the system may include an output operable to transmit a transmission schedule to multiple positioning anchors.

[0351] In some embodiments, the desired positioning performance within a first partition of the at least one partition may be higher than the desired positioning performance within a second partition of the at least one partition. In some embodiments, the determined transmission schedule may be determined to provide higher positioning performance within the first partition. In some embodiments, the at least one partition may cover the area.

[0352] In some embodiments, the at least one processor may be configured to determine a transmission schedule by predicting positioning performance within at least one partition based on the locations of a plurality of positioning anchors and at least one anchor attribute of the plurality of positioning anchors; and to compare the predicted positioning performance with the expected positioning performance within the at least one partition.

[0353] In some embodiments, the at least one anchor attribute may include a transmission power level. In some embodiments, the at least one processor may also be configured to determine the transmission power level of a transmission schedule. In some embodiments, the transmission schedule may indicate the power level at which each positioning anchor can be scheduled to transmit its positioning signal.

[0354] In some embodiments, the at least one anchor attribute may include a transmission center frequency. In some embodiments, the at least one processor may also be configured to determine the transmission center frequency of a transmission schedule. In some embodiments, the transmission schedule may indicate the transmission center frequency at which each positioning anchor can be scheduled to transmit its positioning signal.

[0355] In some embodiments, the at least one anchor attribute may include a transmission frequency bandwidth. In some embodiments, the at least one processor may also be configured to determine the transmission frequency bandwidth of a transmission schedule. In some embodiments, the transmission schedule may indicate the transmission frequency bandwidth that each positioning anchor can be scheduled for transmitting its positioning signal.

[0356] In some embodiments, the at least one anchor attribute may include a preamble. In some embodiments, the at least one processor may also be configured to determine a preamble for a transmission schedule. In some embodiments, the transmission schedule may indicate a preamble scheduled for use with each positioning signal.

[0357] In some embodiments, the at least one anchor attribute may include a preamble modulation scheme. In some embodiments, the at least one processor may also be configured to determine a preamble modulation scheme for a transmission schedule. In some embodiments, the transmission schedule may indicate a preamble modulation scheme scheduled for use with each positioning signal.

[0358] In some embodiments, the at least one anchor attribute may include a preamble length. In some embodiments, the at least one processor may also be configured to determine the preamble length of a transmission schedule. In some embodiments, the transmission schedule may indicate the preamble length scheduled for use with each positioning signal.

[0359] In some embodiments, the transmission schedule may include multiple time slots. In some embodiments, the at least one processor may also be configured to assign one or more positioning signals to each of the multiple time slots.

[0360] In some embodiments, the at least one processor may also be configured to determine the amount of overlap of multiple time slots in a transmission schedule. In some embodiments, the amount of overlap of the multiple time slots may be fixed. In some embodiments, the amount of overlap of the multiple time slots may be variable. In some embodiments, the at least one processor may be configured to determine a transmission schedule by determining the time order in which multiple positioning anchors wirelessly transmit positioning signals.

[0361] In some embodiments, the at least one processor may be configured to determine a transmission schedule by determining the transmission rate at which multiple positioning anchors wirelessly transmit positioning signals.

[0362] In some embodiments, the transmission schedule may include multiple time slots. In some embodiments, the at least one processor may also be configured to allocate more time slots to anchors with higher transmission rates than to anchors with lower transmission rates.

[0363] In some embodiments, the at least one processor may be configured to determine a transmission schedule by using an optimization algorithm. In some embodiments, the at least one processor may be configured to determine a transmission schedule by minimizing a cost function.

[0364] In some embodiments, the input may also be operable to receive real-time location information from self-localization devices within the area. In some embodiments, the at least one processor may also be configured to determine an updated transmission schedule based on the real-time location information. In some embodiments, the real-time location information may be received from the system's memory. In some embodiments, desired positioning performance may include a flight mode.

[0365] In some embodiments, a method is provided for determining a transmission schedule for a positioning system. In some embodiments, the positioning system may include a plurality of positioning anchors configured to wirelessly transmit positioning signals that can be used to determine location information within an area.

[0366] In some embodiments, the method may include using input to receive the locations of a plurality of positioning anchors, at least one anchor attribute of the plurality of positioning anchors, and the desired positioning performance within at least one partition of the area.

[0367] In some embodiments, the method may further include using at least one processor to determine a transmission schedule for a plurality of anchors based on: (a) the locations of the plurality of anchors, (b) at least one anchor attribute of the plurality of anchors, and (c) desired positioning performance within the at least one partition, wherein the plurality of anchors are configured to wirelessly transmit the positioning signal according to the transmission schedule. In some embodiments, the method may further include using an output to transmit the transmission schedule to the plurality of anchors.

[0368] In some embodiments, the method may further include using the at least one processor to predict positioning performance within the at least one partition based on the locations of the plurality of positioning anchors and at least one anchor attribute of the plurality of positioning anchors. The method may further include using the at least one processor to compare the predicted positioning performance with the expected positioning performance within the at least one partition.

[0369] In some embodiments, the at least one anchor attribute may include a transmission power level. The method may also include using at least one processor to determine the transmission power level of a transmission schedule. In some embodiments, the transmission schedule may indicate the power level at which each positioning anchor can be scheduled to transmit its positioning signal.

[0370] According to another aspect of this disclosure, the positioning system may include a plurality of positioning anchors configured to wirelessly transmit positioning signals during time slots in a transmission schedule. In some embodiments, each positioning signal may include a payload. In some embodiments, the payload of each positioning signal may identify at least one positioning anchor among the plurality of positioning anchors configured to transmit positioning signals during at least one future time slot.

[0371] In some embodiments, the positioning system may include a plurality of positioning anchors configured to wirelessly transmit wireless signals during time slots in a transmission schedule. In some embodiments, each wireless signal may include a payload. In some embodiments, the payload of each wireless signal may identify a transmitter (TX) mode configuration or a receiver (RX) mode configuration of at least one of the plurality of positioning anchors configured to transmit or receive positioning or wireless signals during at least one future time slot. In some embodiments, the payload may identify only the configuration for TX mode, and the anchor may determine its RX mode.

[0372] In some embodiments, the positioning system may include a self-localization device. In some embodiments, the self-localization device may include a receiver. The self-localization device may be configured to receive at least some positioning signals and extract the payload of the received positioning signals. The self-localization device may also be configured to determine, based on the extracted payload of the received positioning signals, which positioning signal to receive for determining positioning information of the self-localization device. The self-localization device may be configured to configure the receiver based on the determined positioning signal. The self-localization device may also be configured to use the configured receiver to receive the determined positioning signal and determine positioning information of the self-localization device based on the received determined positioning signal.

[0373] In some embodiments, each positioning signal may include a header portion and a payload portion. In some embodiments, the header portion may be a preamble. In some embodiments, the positioning signals may include a first subgroup and a second subgroup. In some embodiments, the first subgroup and the second subgroup may include at least one different transmission characteristic. In some embodiments, the at least one different transmission characteristic may include at least one of a transmission center frequency, a transmission frequency bandwidth, a preamble, and a preamble modulation scheme. In some embodiments, positioning signals from the first subgroup and positioning signals from the second subgroup may both be scheduled for transmission during the same time slot in the transmission schedule.

[0374] In some embodiments, the self-localization device can be configured to determine which positioning signals to receive based on state information. In some embodiments, the state information may include the current location of the self-localization device. In some embodiments, the state information may include variance information associated with the positioning estimator of the self-localization device.

[0375] In some embodiments, the self-localization device may be configured to determine which localization signals to receive in order to minimize the variance associated with the localization estimator.

[0376] In some embodiments, the payload for each positioning signal can identify two positioning anchors among a plurality of positioning anchors configured to transmit positioning signals during the same future time slot. In some embodiments, the payload for each positioning signal can identify at least one positioning anchor among a plurality of positioning anchors configured to transmit positioning signals during each of at least two future time slots.

[0377] In some embodiments, a positioning method is provided. The method may include using a plurality of positioning anchors to wirelessly transmit positioning signals during time slots in a transmission schedule. In some embodiments, each positioning signal may include a payload. In some embodiments, the payload for each positioning signal may identify at least one of a plurality of positioning anchors configured to transmit the positioning signal during at least one future time slot.

[0378] The method may include using a self-localization device to receive at least some positioning signals, extracting the payload of the received positioning signals, and determining, based on the extracted payload of the received positioning signals, which positioning signals to receive to determine positioning information for the self-localization device. In some embodiments, the method may include configuring a receiver for the self-localization device based on the determined positioning signals. In some embodiments, the method may further include using the configured receiver to receive the determined positioning signals and determine the positioning information.

[0379] In some embodiments, the positioning signal may include a first subgroup and a second subgroup, wherein the first subgroup and the second subgroup include at least one different transmission characteristic.

[0380] In some embodiments, at least one different transmission characteristic includes at least one of transmission center frequency, transmission frequency bandwidth, preamble, and preamble modulation scheme. In some embodiments, positioning signals from the first subgroup and positioning signals from the second subgroup can both be scheduled for transmission during the same time slot in the transmission schedule.

[0381] In some embodiments, the method may further include using a self-localization device to determine which positioning signals to receive based on state information. In some embodiments, the state information may include the current location of the self-localization device. In some embodiments, the state information may include variance information associated with a positioning estimator of the self-localization device.

[0382] In some embodiments, the method may further include using a self-localization device to determine which localization signals to receive in order to minimize the variance associated with the localization estimator.

[0383] In some embodiments, the payload of each positioning signal can identify two positioning anchors among a plurality of positioning anchors configured to transmit positioning signals during the same future time slot. In some embodiments, the payload of each positioning signal can identify at least one positioning anchor among a plurality of positioning anchors configured to transmit positioning signals during each of at least two future time slots.

[0384] According to another aspect of this disclosure, a positioning system is provided, comprising a first positioning network configured to wirelessly transmit a first positioning signal using a first set of time synchronization anchors. In some embodiments, the first positioning signal may be used to determine location information within a first area.

[0385] In some embodiments, the positioning system may further include a second positioning network configured to wirelessly transmit a second positioning signal using a second set of time synchronization anchors. In some embodiments, the second positioning signal may be used to determine location information within a second area.

[0386] In some embodiments, the positioning system may further include bridging anchors. In some embodiments, the bridging anchors may be configured to receive first time synchronization information relating to a first set of time synchronization anchors. The bridging anchors may be configured to receive second time synchronization information relating to a second set of time synchronization anchors, and to transmit the time synchronization information relating to the first time synchronization information to a second positioning network. In some embodiments, the time synchronization information may include at least one of a clock offset and a clock rate of the first positioning network.

[0387] In some embodiments, the second positioning network may be configured to adjust at least one of clock offset and clock rate based on received time synchronization information to synchronize the second positioning network with the first positioning network in time.

[0388] In some embodiments, the bridging anchor may be configured to wirelessly transmit time synchronization information. In some embodiments, at least one anchor of the second positioning network may be configured to wirelessly receive time synchronization information.

[0389] In some embodiments, the bridging anchor may also be configured to transmit time synchronization information related to the second time synchronization information to the first positioning network.

[0390] In some embodiments, the bridging anchor can be configured to wirelessly transmit time synchronization information to a self-localizing device of a first positioning network, enabling the self-localizing device to determine its location using both the first and second positioning networks.

[0391] In some embodiments, the self-localization device can be configured to switch between receiving positioning signals from a first positioning network and from a second positioning network based on received time synchronization information. In some embodiments, the switching can be achieved by reconfiguring the receiver of the self-localization device. In some embodiments, the signal transmitted by the bridging anchor can include a payload configured to represent the receiver of at least one of the two positioning networks. In some embodiments, the self-localization device can reconfigure its receiver based on the payload received from the bridging anchor.

[0392] In some embodiments, the bridging anchor may also be configured to wirelessly transmit one or more second positioning signals. In some embodiments, one or more of the second positioning signals may each include a preamble and a payload. In some embodiments, the payload of one or more second positioning signals may include time synchronization information.

[0393] In some embodiments, the positioning system of the claims may further include a self-positioning device. In some embodiments, the self-positioning device may be configured to receive a second positioning signal and determine location information based on the received second positioning signal. In some embodiments, the self-positioning device may be configured to configure its receiver to receive a first positioning signal and determine location information based on the received first positioning signal.

[0394] In some embodiments, the self-positioning device may also be configured to receive time synchronization information from the bridging anchor. In some embodiments, determining the location information based on the received first positioning signal may also rely on the time synchronization information from the bridging anchor.

[0395] In some embodiments, the self-positioning device may be configured to receive one or more first positioning signals from a first positioning network, one or more second positioning signals from a bridging anchor, and one or more second positioning signals from a second positioning network. In some embodiments, the self-positioning device may also be configured to determine location information based on one or more first positioning signals received from the first positioning network, one or more second positioning signals received from the second positioning network, and time synchronization information received from the bridging anchor.

[0396] In some embodiments, the bridging anchor may be configured to alternately receive positioning signals from a first positioning network and a second positioning network. In some embodiments, the first region and the second region at least partially overlap.

[0397] In some embodiments, the bridging anchor can be configured to determine relative time information based on received first time synchronization information and received second time synchronization information, wherein the time synchronization information transmitted by the bridging anchor includes relative time information.

[0398] In some embodiments, the positioning system may include a first positioning network configured to transmit a first positioning signal using a first time-synchronized anchor set. In some embodiments, the first positioning signal may be used to determine location information within a first area.

[0399] In some embodiments, the positioning system may include a second positioning network configured to transmit a second positioning signal using a second set of time-synchronized anchors. In some embodiments, the second positioning signal may be used to determine location information within a second area. In some embodiments, the positioning system may include bridging anchors.

[0400] In some embodiments, the bridging anchor may be configured to receive first time synchronization information associated with a first time synchronization anchor set, and to receive second time synchronization information associated with a second time synchronization anchor set. In some embodiments, the bridging anchor may be configured to transmit a first positioning signal as part of a first positioning network based on the received first time synchronization information in a first operating mode; and to transmit a second positioning signal as part of a second positioning network based on the received second time synchronization information in a second operating mode.

[0401] In some embodiments, the bridging anchor can be configured to switch between a first operating mode and a second operating mode based on the desired positioning performance of at least one of a first positioning network and a second positioning network.

[0402] In some embodiments, a positioning method is provided. In some embodiments, the positioning method may include using a first positioning network to wirelessly transmit a first positioning signal using a first time-synchronized anchor set. The first positioning signal may be location information that can be used to determine a first area.

[0403] In some embodiments, the positioning method may include using a second positioning network to wirelessly transmit a second positioning signal utilizing a second set of time-synchronized anchors. The second positioning signal may be location information that can be used to determine a location within a second area.

[0404] In some embodiments, the positioning method may further include using bridging anchors to receive first time synchronization information associated with a first set of time synchronization anchors and receiving second time synchronization information associated with a second set of time synchronization anchors. The positioning method may further include using bridging anchors to transmit time synchronization information associated with the first time synchronization information to a second positioning network.

[0405] In some embodiments, the positioning method may further include a self-positioning device that uses a bridging anchor to wirelessly transmit time synchronization information to a first positioning network, so that the self-positioning device can use the first positioning network and the second positioning network to determine its location.

[0406] In some embodiments, another positioning method is provided. In some embodiments, the positioning method may include using a first positioning network to transmit a first positioning signal using a first time-synchronized anchor set. The first positioning signal may be location information that can be used to determine a first area.

[0407] In some embodiments, the positioning method may further include using a second positioning network to transmit a second positioning signal using a second set of time-synchronized anchors. The second positioning signal may be location information that can be used to determine a second region.

[0408] In some embodiments, the positioning method may further include using a bridging anchor to receive first time synchronization information in relation to a first time synchronization anchor set and receiving second time synchronization information in relation to a second time synchronization anchor set.

[0409] In some embodiments, the positioning method may further include using a bridging anchor to transmit a first positioning signal as part of a first positioning network based on received first time synchronization information in a first operating mode, and to transmit a second positioning signal as part of a second positioning network based on received second time synchronization information in a second operating mode.

[0410] According to another aspect of this disclosure, a positioning system is provided, comprising a first anchor configured to transmit a first time-stampable positioning signal. In some embodiments, the first time-stampable positioning signal includes a preamble followed by a payload.

[0411] The positioning system may further include a second anchor configured to transmit a second time-stampable positioning signal. In some embodiments, the second time-stampable positioning signal may include a preamble followed by a payload. In some embodiments, the transmission of the second time-stampable positioning signal may partially overlap with the transmission of the first time-stampable positioning signal, such that the second time-stampable positioning signal does not overlap with the preamble of the first time-stampable positioning signal. In some embodiments, the first and second time-stampable positioning signals may be received in a public area.

[0412] In some embodiments, the transmission of the second time-stampable positioning signal may begin before the transmission of the first time-stampable positioning signal ends. In some embodiments, the transmission of the second time-stampable positioning signal may begin after the transmission of the preamble of the first time-stampable positioning signal ends. In some embodiments, the preamble of the second time-stampable positioning signal may overlap with the payload of the first time-stampable positioning signal.

[0413] In some embodiments, the preamble of the first time-stampable positioning signal may include a first coded preamble. In some embodiments, the preamble of the second time-stampable positioning signal may include a second coded preamble with the same encoding.

[0414] In some embodiments, the positioning system may include a self-positioning device. In some embodiments, the self-positioning device may be configured to receive the entire first time-stampable positioning signal or the entire second time-stampable positioning signal, but not the entire first time-stampable positioning signal and the entire second time-stampable positioning signal. In some embodiments, the self-positioning device may be configured to receive a preamble of the first time-stampable positioning signal and the entire second time-stampable positioning signal.

[0415] In some embodiments, the first time-stampable positioning signal may further include the start of a frame delimiter (SFD) between the preamble and the payload. In some embodiments, the second time-stampable positioning signal may not overlap with the SFD of the first time-stampable positioning signal. In some embodiments, the self-positioning device may be configured to receive the preamble and SFD of the first time-stampable positioning signal, as well as the entire second time-stampable positioning signal.

[0416] In some embodiments, the self-positioning device may be further configured to determine a time stamp of the reception corresponding to a preamble or SFD of a first positioning signal; and to determine location information based on the known transmission time of the first time-stampable positioning signal and the time stamp.

[0417] In some embodiments, the payload of the first time-stampable positioning signal may include a first payload and a second payload. In some embodiments, the second time-stampable positioning signal may overlap with the second payload but not with the first payload of the first time-stampable positioning signal. In some embodiments, the self-positioning device may be configured to receive the first payload of the first time-stampable positioning signal and the entire second time-stampable positioning signal.

[0418] In some embodiments, the first anchor may be configured to transmit a first time-stampable positioning signal using a transmission center frequency and a transmission frequency bandwidth. In some embodiments, the second anchor may be configured to transmit a second time-stampable positioning signal using a transmission center frequency and a transmission frequency bandwidth.

[0419] In some embodiments, the first anchor may be configured to transmit a plurality of first time-stampable positioning signals. In some embodiments, the second anchor may be configured to transmit a plurality of second time-stampable positioning signals. In some embodiments, each of the plurality of second time-stampable positioning signals may partially overlap with a corresponding one of the plurality of first time-stampable positioning signals.

[0420] In some embodiments, the positioning system may further include four or more anchors. In some embodiments, the four or more anchors may include a first anchor and a second anchor. In some embodiments, the four or more anchors may be configured to transmit the time-stampable positioning signal according to a transmission schedule that overlaps with the transmission portion of the time-stampable positioning signal, thereby enabling the time-stamped positioning system to transmit more time-stamped signals per time unit than if the time-stampable positioning signals did not overlap.

[0421] In some embodiments, the payload of each of the first time-stampable positioning signal and the second time-stampable positioning signal identifies when the anchor can be configured to transmit the positioning signal during a future time slot.

[0422] In some embodiments, the self-positioning device may be configured to receive an identification of when an anchor may be configured to transmit a positioning signal during a future time slot, and to select which time-stamped signal to receive overall based on the received identification.

[0423] In some embodiments, a method for positioning is provided. In some embodiments, the method may include using a first anchor to transmit a first time-stampable positioning signal. In some embodiments, the first time-stampable positioning signal may include a preamble followed by a payload.

[0424] In some embodiments, the method may further include using a second anchor to transmit a second time-stampable positioning signal. In some embodiments, the second time-stampable positioning signal may include a preamble followed by a payload. In some embodiments, the transmission of the second time-stampable positioning signal may partially overlap with the transmission of the first time-stampable positioning signal, such that the second time-stampable positioning signal does not overlap with the preamble of the first time-stampable positioning signal. In some embodiments, the first and second time-stampable positioning signals may be received in a public area.

[0425] In some embodiments, the first time-stampable positioning signal may include a first ultra-wideband (UWB) signal, and the second time-stampable positioning signal may include a second UWB signal.

[0426] In some embodiments, the first time-stampable positioning signal may further include the start of a frame delimiter (SFD) between the preamble and the payload. In some embodiments, the second time-stampable positioning signal may not overlap with the SFD of the first time-stampable positioning signal. In some embodiments, the method may further include using a self-positioning device to receive the preamble and SFD of the first time-stampable positioning signal as well as the entire second time-stampable positioning signal.

[0427] In some embodiments, the method may further include using a self-positioning device to determine a timestamp corresponding to the reception of a preamble or SFD of a first positioning signal; and determining location information based on the known transmission time of the first time-markable positioning signal and the timestamp.

[0428] In some embodiments, the payload of the first time-stampable positioning signal may include a first payload and a second payload, wherein the second time-stampable positioning signal may overlap with the second payload but not with the first payload of the first time-stampable positioning signal. In some embodiments, the method may further include using a self-positioning device to receive the first payload of the first time-stampable positioning signal and the entire second time-stampable positioning signal.

[0429] According to another aspect of this disclosure, a method for operating a positioning system is provided. In some embodiments, the positioning system may include a plurality of positioning anchors. In some embodiments, the method may include assigning a first subset of the plurality of positioning anchors to a first subnet. The method may further include operating the first subnet of the first subset of positioning anchors to transmit a first positioning signal according to a first transmission schedule. In some embodiments, the first positioning signal may be used by a self-positioning device to determine location information within a first geographic area;

[0430] The method may further include adjusting the allocation of a plurality of positioning anchors to a first subnet such that a second subset of the plurality of positioning anchors can be allocated to the first subnet. In some embodiments, at least one positioning anchor of the first subset is not included in the second subset, and at least one positioning anchor of the second subset is not included in the first subset.

[0431] The method may further include operating a first subnet of a second subset of the positioning anchors to transmit a second positioning signal according to a second transmission schedule. In some embodiments, the second positioning signal may be used by a self-positioning device to determine location information within a second geographic area. In some embodiments, the first geographic area and the third geographic area do not overlap.

[0432] In some embodiments, the first positioning signal may include a first ultra-wideband (UWB) signal, and the second positioning signal may include a second UWB signal.

[0433] In some embodiments, the method may further include assigning a third subset of the plurality of positioning anchors to a second subnet, and operating the second subnet of the third subset of positioning anchors to transmit a third positioning signal according to a third transmission schedule. In some embodiments, the third positioning signal may be used by a self-positioning device to determine location information within a third geographic area.

[0434] In some embodiments, the method may further include operating the first subnet and the second subnet simultaneously. In some embodiments, the third subset of the plurality of positioning anchors may not include any positioning anchors of the first subset of the plurality of positioning anchors.

[0435] In some embodiments, the method may further include simultaneously operating a first subnet and a second subnet of a first subset of multiple positioning anchors. In some embodiments, a third subset of the multiple positioning anchors may include at least one positioning anchor of the first subset of the multiple positioning anchors. In some embodiments, the transmission of the first positioning signal and the third positioning signal may use at least one different transmission characteristic. In some embodiments, at least one different transmission characteristic may include at least one of a transmission center frequency, a transmission frequency bandwidth, a preamble, and a preamble modulation scheme.

[0436] In some embodiments, the method may further include simultaneously operating a first subnet and a second subnet of a first subset of multiple positioning anchors. In some embodiments, at least one anchor of the first subnet may be operated using a lower transmission power to reduce the size of the first geographic region, such that the first geographic region and the second geographic region do not overlap.

[0437] In some embodiments, the first subnet and the second subnet may use the same transmission characteristics to transmit the first positioning signal and the second positioning signal. In some embodiments, the first positioning signal and the second positioning signal may overlap in time.

[0438] In some embodiments, the method may further include adjusting the allocation of a plurality of positioning anchors to a second subnet such that a fourth subset of the plurality of positioning anchors can be allocated to the second subnet. In some embodiments, at least one positioning anchor of a third subset is not included in the fourth subset, and at least one positioning anchor of the fourth subset is not included in the third subset.

[0439] In some embodiments, the method may further include adjusting the allocation of a plurality of positioning anchors to a first subnet to dynamically change the geographic area served by the first subnet. In some embodiments, the allocation of the plurality of positioning anchors to the first subnet may be adjusted based on the known motion of at least one self-positioning device served by the first subnet. In some embodiments, the motion may be a flight mode.

[0440] In some embodiments, the method may further include receiving a known location of at least one self-localization device. In some embodiments, the location may be received from the memory of the self-localization device. In some embodiments, the received known location retrieved from the memory is the expected location of the self-localization device. In some embodiments, the expected location is predicted based on the time elapsed since the start of trajectory execution. In some embodiments, the use of a first subnet in the positioning system may improve positioning performance within a first geographic area.

[0441] In some embodiments, a positioning system is provided. The positioning system may include a plurality of positioning anchors. In some embodiments, the positioning system may be configured to assign a first subset of the plurality of positioning anchors to a first subnet. The positioning system may be configured to operate the first subnet of the first subset of positioning anchors to transmit a first positioning signal according to a first transmission schedule. In some embodiments, the first positioning signal may be used by a self-positioning device to determine location information within a first geographic area;

[0442] The positioning system can also be configured to adjust the allocation of a plurality of positioning anchors to a first subnet, such that a second subset of the plurality of positioning anchors can be allocated to the first subnet. In some embodiments, at least one positioning anchor of the first subset is not included in the second subset, and at least one positioning anchor of the second subset is not included in the first subset.

[0443] The positioning system can also be configured to operate a first subnet of a second subset of positioning anchors to transmit a second positioning signal according to a second transmission schedule. In some embodiments, the second positioning signal can be used by a self-positioning device to determine location information within a second geographic area.

[0444] In some embodiments, the first positioning signal may include a first ultra-wideband (UWB) signal, and the second positioning signal may include a second UWB signal.

[0445] In some embodiments, the positioning system may be further configured to assign a third subset of a plurality of positioning anchors to a second subnet; and to operate the second subnet of the third subset of positioning anchors to transmit a third positioning signal according to a third transmission schedule. In some embodiments, the third positioning signal may be used by a self-positioning device to determine location information within a third geographic area.

[0446] In some embodiments, another positioning system is provided. In some embodiments, the positioning system may include a plurality of positioning anchors. In some embodiments, the plurality of positioning anchors may include at least a first positioning anchor, a second positioning anchor, and a third positioning anchor.

[0447] In some embodiments, a first subset of the positioning anchors may be configured to transmit a first positioning signal during a first time period according to a first transmission schedule. In some embodiments, the first positioning signal may be used by a self-positioning device to determine location information within a first geographic area. In some embodiments, the first subset of anchor positioning may include a first positioning anchor and a second positioning anchor. In some embodiments, a third positioning anchor may be configured not to transmit during the first time period.

[0448] In some embodiments, a second subset of the positioning anchors may be configured to transmit a second positioning signal during a second subsequent time period according to a second transmission schedule. In some embodiments, the second positioning signal may be used by a self-positioning device to determine location information within a second geographic area. In some embodiments, the second subset of the positioning anchors may include a first positioning anchor and a third positioning anchor. In some embodiments, the second positioning anchor may be configured not to transmit during the second time period.

[0449] According to another aspect of this disclosure, a method for operating a positioning system is provided. In some embodiments, the positioning system may include a plurality of positioning anchors. In some embodiments, the method may include using the plurality of positioning anchors to transmit a first time-stampable positioning signal according to a first transmission schedule. In some embodiments, the first time-stampable positioning signal may include a first set of transmission characteristics, and wherein the first time-stampable positioning signal may be used by a self-positioning device to determine location information within a first geographic area.

[0450] In some embodiments, the method may further include using a plurality of positioning anchors to transmit a second time-stampable positioning signal according to a second transmission schedule. In some embodiments, the second time-stampable positioning signal may include a second set of transmission characteristics. In some embodiments, the second time-stampable positioning signal may be used by a self-locating device to determine location information within a second geographic area.

[0451] In some embodiments, the first geographic region and the second geographic region may at least partially overlap. In some embodiments, at least some of a first time-stampable positioning signal and a second time-stampable positioning signal may be transmitted such that they overlap in time. In some embodiments, at least one type of transmission characteristic may differ from the transmission characteristics in the first and second transmission characteristic sets to reduce interference between the overlapping first and second time-stampable positioning signals.

[0452] In some embodiments, the first time-stampable positioning signal may include a first ultra-wideband (UWB) signal, and the second time-stampable positioning signal may include a second UWB signal.

[0453] In some embodiments, at least one type of transmission characteristic may include at least one of transmission center frequency, transmission frequency bandwidth, preamble, and preamble modulation scheme.

[0454] In some embodiments, one of the plurality of positioning anchors may include a first antenna and a second antenna, and one of the plurality of positioning anchors may be configured to use the first antenna to transmit one of a first time-stampable positioning signals and to use the second antenna to transmit one of a second time-stampable positioning signals.

[0455] In some embodiments, a positioning anchor may be configured to transmit a first time-stamped positioning signal and a second time-stamped positioning signal such that they overlap in time.

[0456] In some embodiments, the self-localization device may include at least one receiving setting. In some embodiments, the method may further include configuring at least one receiving setting of the self-localization device to select which of a first time-stampable positioning signal and a second time-stampable positioning signal to receive.

[0457] In some embodiments, the method may further include using a self-localization device to determine, based on information, whether to receive one of a first time-stampable positioning signal or one of a second time-stampable positioning signal. In some embodiments, the information may include configuration information received as part of a previously received time-stampable positioning signal. In some embodiments, the information may include information stored in the memory of the self-localization device. In some embodiments, the information may include one of internal measurements of the self-localization device and internal states of the self-localization device.

[0458] In some embodiments, the method may further include using one of a plurality of positioning anchors to receive at least one of a first time-stampable positioning signal and a second time-stampable positioning signal transmitted by at least one of the other plurality of positioning anchors. In some embodiments, the method may further include using a positioning anchor to determine, based on information, whether to receive one of the first time-stampable positioning signals or one of the second time-stampable positioning signals. In some embodiments, the information may include configuration information received as part of a previously received time-stampable positioning signal. In some embodiments, the information may include information stored in the memory of a positioning anchor.

[0459] In some embodiments, the first transmission characteristic set and the second transmission characteristic set may include the same center frequency and transmission frequency bandwidth.

[0460] In some embodiments, a positioning system is provided. In some embodiments, the positioning system may include a plurality of positioning anchors. In some embodiments, the plurality of positioning anchors may be configured to transmit a first time-stampable positioning signal according to a first transmission schedule. In some embodiments, the first time-stampable positioning signal may include a first set of transmission characteristics. In some embodiments, the first time-stampable positioning signal may be used by a self-positioning device to determine location information within a first geographic area.

[0461] In some embodiments, a plurality of positioning anchors may be configured to transmit a second time-stampable positioning signal according to a second transmission schedule. In some embodiments, the second time-stampable positioning signal may include a second set of transmission characteristics. In some embodiments, the second time-stampable positioning signal may be used by a self-locating device to determine location information within a second geographic area.

[0462] In some embodiments, the first geographic region and the second geographic region may at least partially overlap. In some embodiments, at least some of a first time-stampable positioning signal and a second time-stampable positioning signal may be transmitted such that they overlap in time. In some embodiments, at least one type of transmission characteristic may differ from the transmission characteristics in the first and second transmission characteristic sets to reduce interference between the overlapping first and second time-stampable positioning signals.

[0463] In some embodiments, the first time-stampable positioning signal may include a first ultra-wideband (UWB) signal, and the second time-stampable positioning signal may include a second UWB signal.

[0464] In some embodiments, the plurality of positioning anchors may further include a first set of three radio frequency (RF) anchors and a second set of three RF anchors. Each of the RF anchors may be configured to transmit radio frequency signals. In some embodiments, each of the RF anchors may include an anchor antenna, an anchor clock interface operable to receive an anchor clock signal, and analog transmission electronics.

[0465] In some embodiments, each of the RF anchors may include analog transmission electronics operatively coupled to the anchor clock interface and digital transmission electronics operatively operable to transmit RF signals during the scheduling of transmission time reference anchor clock signals.

[0466] In some embodiments, the system may further include a self-localization device. In some embodiments, the self-localization device may be configured to receive radio frequency signals. In some embodiments, the self-localization device may include a device antenna; a device clock interface configured to receive a device clock signal; and device analog receiving electronics.

[0467] In some embodiments, the system may further include device analog receiving electronics operatively coupled to a device clock interface and device digital receiving electronics configured to time-stamp the received radio frequency signals with reference to a device clock signal. In some embodiments, the first set of radio frequency anchors and the second set of radio frequency anchors may operate in geographically adjacent cells having overlapping areas. In some embodiments, the self-location device may be configured to receive radio frequency signals from the first set of radio frequency anchors or from the second set of radio frequency anchors when located in the overlapping area. In some embodiments, the plurality of location anchors may be configured to use at least one of signal intervals in time, signal intervals in space, or signal intervals in frequency to mitigate signal interference between the first set of radio frequency anchors and the second set of radio frequency anchors.

[0468] In some embodiments, at least one type of transmission characteristic may include at least one of transmission center frequency, transmission frequency bandwidth, preamble, and preamble modulation scheme.

[0469] In some embodiments, one of the plurality of positioning anchors may be further configured to receive at least one of a first time-stampable positioning signal and a second time-stampable positioning signal transmitted by at least one of the other plurality of positioning anchors.

[0470] According to another aspect of this disclosure, a self-positioning device for determining the location of a vehicle is provided. In some embodiments, the self-positioning device may include a first subsystem and a second subsystem.

[0471] In some embodiments, the first subsystem may include a first antenna operable to receive a first radio frequency signal, and a first analog receiving electronics configured to amplify the first radio frequency signal. The first subsystem may also include a first digital receiving electronics configured to time-stamp the amplified first radio frequency signal with a reference clock signal; and a first positioning unit configured to calculate a first estimate of the position of the self-positioning device in a coordinate system based on the time-stamping of the amplified first radio frequency signal.

[0472] In some embodiments, the second subsystem may include a second antenna operable to receive a second radio frequency signal, and a second analog receiving electronics configured to amplify the second radio frequency signal. The second subsystem may also include a second digital receiving electronics configured to time-stamp the amplified second radio frequency signal with a reference clock signal; and a second positioning unit configured to calculate a second estimate of the position of the self-positioning device in a coordinate system based on the time-stamping of the amplified second radio frequency signal.

[0473] In some embodiments, each of the first subsystem and the second subsystem may be configured to be used selectively to control the vehicle without relying on the other subsystems.

[0474] In some embodiments, the first subsystem and the second subsystem may be fully redundant. For example, in some embodiments, the first subsystem may further include a first clock. In some embodiments, the first digital receiving electronics may be configured to time-stamp the amplified first radio frequency signal with reference to a first clock signal generated by the first clock. In some embodiments, the second subsystem may further include a second clock. In some embodiments, the second digital receiving electronics may be configured to time-stamp the amplified second radio frequency signal with reference to a second clock signal generated by the second clock.

[0475] In some embodiments, the first subsystem may further include a first synchronization unit configured to calculate clock correction for a first clock. In some embodiments, the second subsystem may further be configured to calculate a second synchronization unit for a second clock.

[0476] In some embodiments, the first subsystem may further include a first sensor for sensing at least one of the position, orientation, or velocity of the self-localization device relative to an external reference frame. In some embodiments, the first positioning unit may be configured to further calculate a first estimate of the position of the self-localization device based on a first signal generated by the first sensor. In some embodiments, the second subsystem may further include a second sensor for sensing at least one of the position, orientation, or velocity of the self-localization device relative to an external reference frame. In some embodiments, the second positioning unit may be configured to further calculate a second estimate of the position of the self-localization device based on a second signal generated by the second sensor. In some embodiments, the first sensor may be a first global attribute sensor; and the second sensor may be a second global attribute sensor.

[0477] In some embodiments, the first subsystem may further include a first compensation unit. In some embodiments, the first positioning unit may be configured to calculate a first estimate of the position of the self-positioning device based on data provided by the first compensation unit. In some embodiments, the second subsystem may further include a second compensation unit. In some embodiments, the second positioning unit may be configured to calculate a second estimate of the position of the self-positioning device based on data provided by the second compensation unit.

[0478] In some embodiments, the first subsystem and the second subsystem may be partially redundant. For example, in some embodiments, the self-localization device may include a clock. A first digital receiving electronics may be configured to time-stamp amplified first radio frequency signal with reference to a first clock signal generated by the clock. A second digital receiving electronics may also be configured to time-stamp amplified second radio frequency signal with reference to the first clock signal generated by the clock. In some embodiments, the self-localization device may include a synchronization unit. In some embodiments, the synchronization unit may be configured to calculate clock corrections for the clock.

[0479] In some embodiments, the self-localization device may further include a sensor for sensing at least one of position, orientation, or velocity of the self-localization device relative to an external reference frame. In some embodiments, a first localization unit may be configured to further calculate a first estimate of the position of the self-localization device based on a first signal generated by the sensor. In some embodiments, a second localization unit may be configured to calculate a second estimate of the position of the self-localization device based on the first signal generated by the sensor. In some embodiments, the sensor is a global attribute sensor.

[0480] In some embodiments, the self-localization device may further include a compensation unit. In some embodiments, the first positioning unit may be configured to further calculate a first estimate of the position of the self-localization device based on data provided by the compensation unit. In some embodiments, the second positioning unit may be configured to further calculate a second estimate of the position of the self-localization device based on data provided by the compensation unit.

[0481] In some embodiments, a self-localization device for use in a positioning network is provided. In some embodiments, the positioning network may include a plurality of anchors configured to transmit radio frequency signals. In some embodiments, the self-localization device may include an antenna operable to receive radio frequency signals from the positioning network. In some embodiments, the self-localization device may include analog receiving electronics that may be configured to amplify the radio frequency signals received by the antenna.

[0482] In some embodiments, the self-localization device may include digital receiving electronics configured to time-stamp an amplified radio frequency signal with reference to a first clock signal to generate a plurality of time stamps. In some embodiments, the self-localization device may include a positioning unit. In some embodiments, the positioning unit may be configured to calculate an estimate of the position of the self-localization device in a coordinate system based on the time stamps, and to determine whether to receive a selected future radio frequency signal from at least two future radio frequency signals.

[0483] In some embodiments, the positioning unit may be configured to configure at least one of an antenna, analog receiving electronics, and digital receiving electronics to receive a selected radio frequency signal; and to calculate an updated estimate of the position of the self-positioning device in the coordinate system based on the received selected radio frequency signal.

[0484] In some embodiments, the self-positioning device may further include digital and analog transmission electronics that can be configured to transmit the position of the self-positioning device to at least one of a plurality of anchors.

[0485] In some embodiments, the received radio frequency signals may all include a payload. In some embodiments, digital receiving electronics may be configured to extract the payload. In some embodiments, the payload may identify at least one of a plurality of anchors that may be configured to transmit positioning signals during at least one future time slot.

[0486] In some embodiments, the positioning unit may be configured to determine the reception of the selected future radio frequency signal based on the location of the anchor, which may be configured to transmit the selected future radio frequency signal, and the variance associated with an estimate of the calculated location of the self-positioning device.

[0487] In some embodiments, at least two future radio frequency (RF) signals may partially overlap in time. In some embodiments, the positioning unit may be configured to determine whether to receive the entire selected future RF signal and only a portion of the other of the at least two future RF signals. In some embodiments, the positioning unit is configured to receive one of the following: (i) a portion of the first of the at least two future RF signals and the entire second of the at least two future RF signals, or (ii) the entire first of the at least two future RF signals but not the second of the at least two future RF signals. In some embodiments, the at least two future RF signals may use different preambles. In some embodiments, the at least two future RF signals may be transmitted by different positioning networks.

[0488] In some embodiments, the positioning unit may be further configured to calculate an estimate of the position of the self-positioning device in a coordinate system based on the known position of the anchor configured to transmit radio frequencies received by the antenna.

[0489] In some embodiments, a method is provided for determining the position of a vehicle using a self-positioning device. In some embodiments, the self-positioning device may include a first subsystem and a second subsystem.

[0490] In some embodiments, the method may include using a first antenna of the first subsystem to receive a first radio frequency signal. The method may further include using a first analog receiving electronics of the first subsystem to amplify the first radio frequency signal.

[0491] The method may further include time-stamping the amplified first radio frequency signal using a reference clock signal from a first digital receiving electronics device of the first subsystem. The method may further include using a first positioning unit of the first subsystem to calculate a first estimate of the position of the self-positioning device in a coordinate system.

[0492] In some embodiments, the method may include using a second antenna of the second subsystem to receive a second radio frequency signal. The method may further include using a second analog receiving electronics of the second subsystem to amplify the second radio frequency signal.

[0493] The method may further include time-stamping the amplified second radio frequency signal using a reference clock signal from a second digital receiving electronics device of the second subsystem. The method may further include using a second positioning unit of the second subsystem to calculate a second estimate of the position of the self-positioning device in the coordinate system.

[0494] The method may further include controlling the vehicle using one of the first and second subsystems without relying on the other subsystem.

[0495] In some embodiments, a positioning method for a self-positioning device in a positioning network is provided. In some embodiments, the positioning network may include a plurality of anchors configured to transmit radio frequency signals. In some embodiments, the method may include using an antenna to receive radio frequency signals from the positioning network. The method may also include using analog receiving electronics to amplify the radio frequency signals received by the antennas. The method may further include using digital receiving electronics to time-stamp the amplified radio frequency signals with reference to a first clock signal to generate a plurality of time stamps.

[0496] The method may further include using a positioning unit to calculate an estimate of the position of the self-positioning device in the coordinate system based on a time stamp. The method may also include using the positioning unit to determine the reception of a selected future radio frequency signal from at least two future radio frequency signals. The method may further include using the positioning unit to configure analog receiving electronics and using digital receiving electronics to receive the selected radio frequency signal. The method may further include using the positioning unit to calculate an updated estimate of the position of the self-positioning device in the coordinate system based on the received selected radio frequency signal.

[0497] While certain aspects of this disclosure have been specifically shown and described with reference to exemplary embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made therein without departing from the spirit and scope of this disclosure as defined by the following claims. For example, specific aspects of this disclosure applied to time-stamped signals may be equally applied to UWB signals, and vice versa. As another example, specific aspects of this disclosure applied to time-stamped signals may be equally applied to non-time-stamped positioning signals.

[0498] It will also be understood that the transceivers, apparatuses, and components of this disclosure may include hardware components or a combination of hardware and software components. Hardware components may include any suitable tangible components configured or arranged to operate as described herein. Some hardware components (e.g., schedulers, scheduling unit controllers, scheduling units, synchronization units, scheduling units, positioning units, compensation units, control units, digital receiving electronics, digital transmitting electronics, etc.) may include processing circuitry (e.g., a processor or a set of processors) to perform the operations described herein. Software components may include code recorded on a tangible computer-readable medium. Processing circuitry may be configured by the software components to perform the described operations.

[0499] Therefore, this embodiment is intended to be illustrative rather than restrictive in all respects.

[0500] Figure Labels

[0501] 100 Positioning System

[0502] 110 scheduler

[0503] 120 Dispatch Unit Controller

[0504] 130, 130a, 130b transceivers

[0505] 140, 140a, 140b self-positioning devices

[0506] 202 is a positioning signal capable of being time-stamped.

[0507] 210 clock

[0508] 212, 212a, 212b antennas

[0509] 214, 214a, 214b transceivers analog transmission electronics

[0510] 216, 216a, 216b transceivers digital transmission electronics

[0511] 218 Dispatch Unit

[0512] 220, 220a, 220b transceiver analog receiving electronics

[0513] 222, 222a, 222b transceiver digital receiving electronics

[0514] 224 transceiver synchronization unit

[0515] 226 sensors

[0516] 228 Global Attribute Sensors

[0517] 230 transceiver memory

[0518] 302 Transceiver Signal

[0519] 400 structural components

[0520] 402a, 402b clock interfaces

[0521] 502, 502a, 502b, 502c self-positioning device antennas

[0522] 504, 504a, and 502b self-positioning devices simulate receiving electronic components.

[0523] Digital receiving electronics for 506, 506a, and 506b self-positioning devices

[0524] 508 self-positioning device clock

[0525] 510 Self-positioning Device Synchronization Unit

[0526] Positioning units of 512, 512a, and 512b self-positioning devices

[0527] 514, 514a, 514b self-positioning device vehicle-mounted sensors

[0528] 516 compensation unit

[0529] 518 self-positioning device memory

[0530] 520 Global Property Sensor

[0531] Progress of time measured in the clock of self-positioning device A 600

[0532] 602 Arrival time of the first message at the antenna of self-positioning device A

[0533] The time stamp of the first message from the digital receiving electronics of the 604 self-positioning device A

[0534] The difference between the arrival time of the first message at the antenna of self-positioning device A and the arrival time of the first message.

[0535] 606 receives the first message from the electronic device via the digital receiver of the self-positioning device A.

[0536] mark

[0537] 612 Arrival time of the second message at the antenna of self-positioning device A

[0538] 614 The difference between the time stamp of the second message received by the digital receiving electronics of the self-positioning device A and the arrival time of the second message at the antenna of the self-positioning device A.

[0539] 616 receives a second message from an electronic device via a digital receiver of the self-positioning device A.

[0540] 700 structural components

[0541] 702 Communication Path

[0542] 800 RF switch

[0543] 900 Receive Time Stamp

[0544] 902 Clock Correction

[0545] 904 effect compensation

[0546] 906 Corrected arrival time

[0547] 910 Remote Global Attributes

[0548] 912 comparison

[0549] 914 Global Attribute Model

[0550] 920 Extended Kalman Filter Processing Update

[0551] Before 922

[0552] 924 Extended Kalman Filter Measurement Update

[0553] After 926

[0554] 930 position

[0555] 940 control unit

[0556] 1000 mobile robots

[0557] 1002 Central Processing Electronics

[0558] 1004 actuator

[0559] 1006 accelerometer

[0560] 1008 gyroscope

[0561] 1010 propeller

[0562] 1102 Horizontal Controller

[0563] 1104 is a command that specifies vehicle acceleration in the x-direction.

[0564] 1106 is a command that specifies vehicle acceleration in the y-direction.

[0565] 1110 Vertical Controller

[0566] 1112 is a command that specifies vehicle acceleration in the z-direction.

[0567] 1120 Height Reduction Controller

[0568] 1122 Command to specify vehicle pitch rate

[0569] Command 1124 specifies the vehicle roll rate

[0570] 1130 Yaw Controller

[0571] Command 1132 specifies the vehicle yaw rate

[0572] 1142 Body Speed ​​Controller

[0573] 1144 Actuator Command

[0574] 1146 Mobile

[0575] Radial coverage of 1200 transceiver signals

[0576] 1210 Wireless communication between transceivers within two ranges

[0577] 1220 achieves spatial coverage within a cell through the overlapping of multiple transceivers.

[0578] 1240 achieves spatial coverage through the overlap of multiple transceiver cells.

[0579] 1410 achieves spatial coverage within a cell through the overlapping of multiple transceivers.

[0580] 1420 achieves spatial coverage through the overlap of multiple transceiver cells.

[0581] 1610 Input parameter map with performance contour lines

[0582] 1620 Input Parameter Mapping with Binary Performance

[0583] 1710 Dynamic Positioning Performance Diagram

[0584] 1810 panel

[0585] Location maps of 1820a and 1820b

[0586] 1830a and 1830b Coverage Requirements Map

[0587] 1840a, 1840b Timetable

[0588] Location maps of 1910a, 1910b, 1910c, and 1910d

[0589] Location maps for 2010a, 2010b, 2010c, and 2010d

[0590] 2110 Positioning Signal Preamble

[0591] 2112 Location Signal Start Frame Delimiter (SFD)

[0592] 2114 Positioning Signal Packet Header

[0593] 2116 Positioning Signal Payload

[0594] 2122 Positioning signal transmission start time

[0595] 2124 Positioning signal transmission end time

[0596] 2200 Transmission Schedule

[0597] Positioning signals 2202a, 2202b, 2202c, and 2202d

[0598] 2310 Receiver Activity

[0599] 2402a, 2402b, 2402c positioning signals

[0600] 2500 Positioning System

[0601] 2510 performance diagram

[0602] 2610 performance diagram

[0603] 2700 Positioning System

[0604] 2710 performance diagram

[0605] 2810 performance diagram

[0606] 2900 Transmission Schedule

[0607] 3000 Transmission Schedule

[0608] 3100 Flowchart

[0609] 3102 Flowchart Steps

[0610] 3104 Flowchart Steps

[0611] 3106 Flowchart Decision

[0612] 3108 Flowchart Steps

[0613] 3110 Flowchart Decision

[0614] 3112 Flowchart Steps

[0615] 3114 Flowchart Decision

[0616] 3116 Flowchart Steps

[0617] 3118 Flowchart Steps

[0618] 3210 Flowchart Steps

[0619] 3222 Flowchart Steps

[0620] 3124 Flowchart Steps

[0621] 3200 Indoor and Outdoor Environments

[0622] Building 3210

[0623] 3220 visited regions

[0624] 3230 aircraft

[0625] 3240 Landing Zone

[0626] 3250 Second Region

[0627] 3310 Positioning Network

[0628] 3320 Positioning Network

[0629] 3330 bridging anchor

Claims

1. A positioning system, comprising: Multiple positioning anchors are configured to wirelessly transmit positioning signals in time slots of a transmission schedule, wherein: Each positioning signal includes a payload; and The payload of each positioning signal identifies at least one of the plurality of positioning anchors, the at least one positioning anchor being configured to transmit the positioning signal in at least one future time slot; and A self-positioning device, including a receiver, wherein the self-positioning device is configured to: Receive at least some positioning signals; Extract the payload of the received positioning signal; Based on the extracted payload from the received positioning signals, determine which positioning signals are received to determine the positioning information of the self-positioning device; Configure the receiver based on the determined positioning signal; Using the configured receiver, the determined positioning signal is received; and The self-positioning device determines its positioning information based on the received and determined positioning signals.

2. The positioning system as claimed in claim 1, wherein the positioning signal comprises a first subgroup and a second subgroup, wherein, The first subgroup and the second subgroup include at least one different transmission characteristic.

3. The positioning system according to claim 2, wherein, The at least one different transmission characteristic includes at least one of the following: transmission center frequency, transmission frequency bandwidth, preamble, and preamble modulation scheme.

4. The positioning system as described in claim 2 or 3, wherein, Positioning signals from the first subgroup and positioning signals from the second subgroup are scheduled to be transmitted in the same time slot of the transmission schedule.

5. The positioning system according to any one of claims 1-4, wherein the self-positioning device is configured to determine which positioning signals to receive based on status information.

6. The positioning system according to claim 5, wherein the status information includes the current position of the self-positioning device.

7. The positioning system of claim 5 or 6, wherein the state information includes variance information associated with the positioning estimator of the self-positioning device.

8. The positioning system of claim 7, wherein the self-positioning device is configured to determine which positioning signals to receive in order to minimize the variance associated with the positioning estimator.

9. The positioning system according to any one of claims 1-8, wherein, The payload of each positioning signal identifies two of the plurality of positioning anchors, which are configured to transmit positioning signals in the same future time slot.

10. The positioning system according to any one of claims 1-9, wherein, The payload of each positioning signal identifies at least one of the plurality of positioning anchors, the at least one positioning anchor being configured to transmit the positioning signal in each of at least two future time slots.

11. A positioning method, comprising: Using multiple positioning anchors, positioning signals are wirelessly transmitted in time slots of the transmission schedule, where Each positioning signal includes a payload; and The payload of each positioning signal identifies at least one of the plurality of positioning anchors, the at least one positioning anchor being configured to transmit the positioning signal in at least one future time slot; Use a self-positioning device to receive at least some positioning signals; Use a self-positioning device to extract the payload of the received positioning signal; Using a self-positioning device, based on the extracted payload of the received positioning signals, it is determined which positioning signals are received to determine the positioning information of the self-positioning device. Configure the receiver of the self-positioning device based on the determined positioning signal; Use the configured receiver to receive the determined location signal; and Use a self-positioning device to determine positioning information.

12. The method of claim 11, wherein the positioning signal comprises a first subgroup and a second subgroup, wherein, The first subgroup and the second subgroup include at least one different transmission characteristic.

13. The method according to claim 12, wherein, The at least one different transmission characteristic includes at least one of the following: transmission center frequency, transmission frequency bandwidth, preamble, and preamble modulation scheme.

14. The method according to claim 12 or 13, wherein, Positioning signals from the first subgroup and positioning signals from the second subgroup are scheduled to be transmitted in the same time slot of the transmission schedule.

15. The method according to any one of claims 11-14, further comprising: Using a self-positioning device, the system determines which positioning signals to receive based on status information.

16. The method of claim 15, wherein the status information includes the current position of the self-positioning device.

17. The method of claim 15 or 16, wherein the state information includes variance information associated with the positioning estimator of the self-localization device.

18. The method of claim 17, further comprising: Using a self-localization device, determine which localization signals to receive in order to minimize the variance associated with the localization estimator.

19. The method according to any one of claims 11-18, wherein, The payload of each positioning signal identifies two of the plurality of positioning anchors, which are configured to transmit positioning signals in the same future time slot.

20. The method according to any one of claims 11-19, wherein, The payload of each positioning signal identifies at least one of the plurality of positioning anchors, the at least one positioning anchor being configured to transmit the positioning signal in each of at least two future time slots.

21. A positioning system, comprising: Multiple positioning anchors are configured to wirelessly transmit positioning signals, which can be used by self-positioning devices within the area to determine location information. and At least one scheduling unit is communicatively coupled to the plurality of positioning anchors, wherein the at least one scheduling unit is configured to: The transmission of positioning signals is scheduled according to a first transmission schedule, wherein the first transmission schedule defines a first time order for transmitting positioning signals for each of the plurality of positioning anchors. Determine when to change from a first transmission schedule to a second transmission schedule, wherein the second transmission schedule defines a second time order for transmitting positioning signals for each of the plurality of positioning anchors, and wherein the second time order differs from the first time order; and In response to determining a change from a first transmission schedule to a second transmission schedule, the transmission of positioning signals is scheduled according to the second transmission schedule, thereby altering the positioning performance within the area.

22. The positioning system of claim 21, wherein the at least one scheduling unit is configured to: determine when to change from a first transmission schedule to a second transmission schedule based on the known location of the self-positioning device.

23. The positioning system of claim 21 or 22, wherein the at least one scheduling unit is configured to receive the known location of the self-positioning device.

24. The positioning system according to any one of claims 21-23, wherein the at least one scheduling unit is configured to: determine when to change from a first transmission schedule to a second transmission schedule based on the known motion of the self-positioning device.

25. The positioning system of claim 24, wherein the motion is a flight mode.

26. The positioning system according to any one of claims 21-25, wherein, The positioning signals include ultra-wideband (UWB) positioning signals, each UWB positioning signal including a preamble and a payload.

27. The positioning system of claim 26, wherein the payload of at least some of the UWB positioning signals includes commands, and wherein the at least one scheduling unit is configured to change from a first transmission schedule to a second transmission schedule to optimize the propagation of commands to at least one of the plurality of anchors and self-positioning devices.

28. The positioning system as claimed in claim 26 or 27, wherein, Each of the plurality of positioning anchors includes a clock, wherein the payload of at least some of the UWB positioning signals includes synchronization data, wherein each of the plurality of positioning anchors is configured to receive synchronization data of UWB positioning signals received from at least one other positioning anchor, and wherein the at least one scheduling unit is configured to change from a first transmission schedule to a second transmission schedule to optimize clock synchronization.

29. The positioning system according to claim 28, wherein, Each of the plurality of positioning anchors includes: a synchronization unit, wherein each synchronization unit is configured to calculate a correction of at least one of the clock offset and clock rate of its corresponding clock based on the received synchronization data.

30. The positioning system according to any one of claims 21-29, wherein, The first and second transmission schedules provide at least one of improved accuracy, precision, and update rate in different parts of the region.

31. The positioning system according to any one of claims 21-30, wherein, The first and second transmission schedules each include multiple time slots, wherein at least one of the multiple positioning anchors is assigned a different number of time slots in the first and second transmission schedules.

32. The positioning system according to any one of claims 21-31, wherein, The first transmission schedule and the second transmission schedule each include multiple time slots, wherein the at least one scheduling unit includes multiple scheduling units, wherein each of the multiple scheduling units is physically coupled to a corresponding one of the multiple positioning anchors, and wherein each of the multiple scheduling units is configured to schedule the transmission of positioning signals of its corresponding positioning anchor according to the time slot allocated to its corresponding positioning anchor.

33. The positioning system according to any one of claims 21-32, wherein, The region includes a three-dimensional region.

34. A method for transmitting a positioning signal in a positioning system comprising a plurality of positioning anchors, the method comprising: The multiple positioning anchors are used to wirelessly transmit positioning signals, which can be used by self-positioning devices within the area to determine location information. At least one scheduling unit is communicatively coupled to the plurality of positioning anchors to schedule the transmission of the positioning signals according to a first transmission schedule, wherein the first transmission schedule defines a first time order for the transmission of positioning signals for each of the plurality of positioning anchors. Using the at least one scheduling unit, it is determined when to change from a first transmission schedule to a second transmission schedule, wherein the second transmission schedule defines a second time order for transmitting positioning signals for each of the plurality of positioning anchors, and wherein the second time order differs from the first time order; and In response to determining a change from a first transmission schedule to a second transmission schedule, the at least one scheduling unit is used to schedule the transmission of positioning signals according to the second transmission schedule, thereby changing the positioning performance within the area.

35. The method of claim 34, wherein the positioning signal comprises an ultra-wideband (UWB) positioning signal, each UWB positioning signal comprising a preamble and a payload, wherein the payload of at least some of the UWB positioning signals comprises a command, the method further comprising: The at least one scheduling unit is changed from a first transmission schedule to a second transmission schedule to optimize the propagation of commands to at least one of the plurality of anchors and self-positioning devices.

36. The method of claim 34 or 35, wherein, Each of the plurality of positioning anchors includes a clock, wherein the payload of at least some of the UWB positioning signals includes synchronization data, and the method further includes: Synchronization data of UWB positioning signals received from at least one other positioning anchor, using each of the plurality of positioning anchors; and The at least one scheduling unit is changed from the first transmission schedule to the second transmission schedule to optimize clock synchronization.

37. The method according to any one of claims 34-36, wherein, Each of the plurality of positioning anchors includes a synchronization unit, and the method further includes... Using each synchronization unit, a correction is calculated for at least one of the clock offset and clock rate of its corresponding clock based on the received synchronization data.

38. The method according to any one of claims 34-37, wherein, The first and second transmission schedules provide at least one of improved accuracy, precision, and update rate in different parts of the region.

39. The method according to any one of claims 34-38, wherein, The first and second transmission schedules each include multiple time slots, and the method further includes: At least one of the plurality of positioning anchors is allocated a different number of time slots in a first transmission schedule and a second transmission schedule.

40. The method according to any one of claims 34-39, wherein, The first transmission schedule and the second transmission schedule each include multiple time slots, wherein the at least one scheduling unit includes multiple scheduling units, each of which is physically coupled to a corresponding one of the multiple positioning anchors, and the method further includes: Each of the plurality of scheduling units is used to schedule the transmission of the positioning signal of its corresponding positioning anchor according to the time slot allocated to its corresponding positioning anchor.

41. A system for determining a transmission schedule for a positioning system, the positioning system comprising a plurality of positioning anchors configured to wirelessly transmit positioning signals, the positioning signals being usable by self-locating devices within an area to determine location information, the system comprising: The input terminal is operable for receiving data. The positions of the plurality of positioning anchors; At least one anchor attribute of the plurality of positioning anchors; The desired positioning performance within at least one partition of the area; At least one processor is configured to determine a transmission schedule for the plurality of anchors based on: (a) the location of the plurality of anchors, (b) the at least one anchor attribute of the plurality of anchors, and (c) the desired positioning performance within the at least one partition, wherein the plurality of anchors are configured to wirelessly transmit positioning signals according to the transmission schedule. and The output end is operable to transmit the transmission schedule to the plurality of positioning anchors.

42. The system of claim 41, wherein the desired positioning performance in the first partition of the at least one partition is higher than the desired positioning performance in the second partition of the at least one partition, wherein the determined transmission schedule is determined to provide higher positioning performance in the first partition.

43. The system of claim 41 or 42, wherein the at least one processor is configured to determine the transmission schedule in such a way as: Based on the locations of the plurality of positioning anchors and the at least one anchor attribute of the plurality of positioning anchors, predict the positioning performance within the at least one partition; and Compare the predicted positioning performance with the expected positioning performance within the at least one partition.

44. The system according to any one of claims 41-43, wherein, The at least one anchor attribute includes a transmit power level, wherein the at least one processor is further configured to determine the transmit power level for the transmission schedule, and wherein the transmission schedule indicates the power level at which each positioning anchor is scheduled to transmit its positioning signal.

45. The system according to any one of claims 41-44, wherein, The at least one anchor attribute includes a transmission center frequency, wherein the at least one processor is further configured to determine the transmission center frequency for the transmission schedule, and wherein the transmission schedule indicates the transmission center frequency at which each positioning anchor is scheduled to transmit its positioning signal.

46. ​​The system according to any one of claims 41-45, wherein, The at least one anchor attribute includes a transmission frequency bandwidth, wherein the at least one processor is further configured to: determine a transmission frequency bandwidth for a transmission schedule, and wherein the transmission schedule indicates the transmission frequency bandwidth at which each positioning anchor is scheduled to transmit its positioning signal.

47. The system according to any one of claims 41-46, wherein, The at least one anchor attribute includes a preamble, wherein the at least one processor is further configured to: determine a preamble for a transmission schedule, and wherein the transmission schedule indicates a preamble scheduled for each positioning signal.

48. The system according to any one of claims 41-47, wherein, The at least one anchor attribute includes a preamble modulation scheme, wherein the at least one processor is further configured to determine a preamble modulation scheme for the transmission schedule, and wherein the transmission schedule indicates a preamble modulation scheme scheduled for each positioning signal.

49. The system according to any one of claims 41-48, wherein, The transmission schedule includes multiple time slots, and the at least one processor is further configured to assign one or more positioning signals to each of the multiple time slots.

50. The system of claim 49, wherein the at least one processor is further configured to determine the amount of overlap of the plurality of time slots of the transmission schedule.

51. The system according to any one of claims 41-50, wherein, The at least one processor is configured to determine the transmission schedule by determining the time sequence in which the plurality of positioning anchors wirelessly transmit positioning signals.

52. The system according to any one of claims 41-51, wherein, The at least one processor is configured to determine the transmission schedule by determining the transmission rate at which the plurality of positioning anchors wirelessly transmit positioning signals.

53. The system according to claim 52, wherein, The transmission schedule includes multiple time slots, and the at least one processor is further configured to allocate more time slots to anchors with higher transmission rates than to anchors with lower transmission rates.

54. The system according to any one of claims 41-53, wherein, The at least one processor is configured to determine the transmission schedule by using an optimization algorithm.

55. The system according to any one of claims 41-54, wherein, The at least one processor is configured to determine the transmission schedule by minimizing a cost function.

56. The system according to any one of claims 41-55, wherein, The input is further operable to receive real-time positioning information from self-positioning devices within the area, and wherein the at least one processor is further configured to determine an updated transmission schedule based on the real-time positioning information.

57. The system according to any one of claims 41-56, wherein, The desired positioning performance includes flight modes.

58. A method for determining a transmission schedule for a positioning system, the positioning system comprising a plurality of positioning anchors configured to wirelessly transmit positioning signals capable of determining location information within an area, the method comprising: The input terminal is used to receive the positions of the plurality of positioning anchors, at least one anchor attribute of the plurality of positioning anchors, and the desired positioning performance within at least one partition of the area; At least one processor is used to determine the transmission schedule of the plurality of anchors based on: (a) the location of the plurality of anchors, (b) the at least one anchor attribute of the plurality of anchors, and (c) the desired positioning performance within the at least one partition, wherein the plurality of anchors are configured to wirelessly transmit positioning signals according to the transmission schedule. and The transmission schedule is transmitted to the plurality of positioning anchors using the output terminal.

59. The method of claim 58, further comprising: Using the at least one processor, based on the location of the plurality of positioning anchors and the at least one anchor attribute of the plurality of positioning anchors, the positioning performance within the at least one area is predicted; and Using the at least one processor, the predicted positioning performance is compared with the expected positioning performance within the at least one partition.

60. The method of claim 58 or 59, wherein the at least one anchor attribute includes a transmit power level, the method further comprising: Using at least one processor, a transmit power level for the transmission schedule is determined, wherein the transmission schedule indicates the power level at which each positioning anchor is scheduled to transmit its positioning signal.

61. A positioning system, comprising: A first positioning network is configured to wirelessly transmit a first positioning signal using a first set of time synchronization anchors, wherein the first positioning signal can be used to determine location information within a first area; The second positioning network is configured to wirelessly transmit a second positioning signal using a second set of time synchronization anchors, wherein the second positioning signal can be used to determine location information within a second area; and The bridging anchor is configured as follows: Receive the first time synchronization information related to the first group of time synchronization anchors; Receive second time synchronization information associated with the second set of time synchronization anchors; and Time synchronization information related to the first time synchronization information is transmitted to the second positioning network.

62. The positioning system according to claim 61, wherein, The time synchronization information includes at least one of the clock offset and clock rate of the first positioning network.

63. The positioning system as described in claim 62, wherein, The second positioning network is configured to adjust at least one of clock offset and clock rate based on the received time synchronization information to synchronize the second positioning network with the first positioning network in time.

64. The positioning system according to any one of claims 61-63, wherein, The bridging anchor is configured to wirelessly transmit time synchronization information, and at least one anchor in the second positioning network is configured to wirelessly receive the time synchronization information.

65. The positioning system according to any one of claims 61-64, wherein, The bridging anchor is also configured to transmit time synchronization information related to the second time synchronization information to the first positioning network.

66. The positioning system according to any one of claims 61-65, wherein, The bridging anchor is configured as a self-locating device that wirelessly transmits time synchronization information to a first positioning network, enabling the self-locating device to determine its location using both the first and second positioning networks.

67. The positioning system of claim 66, wherein the self-positioning device is configured to switch between receiving positioning signals from a first positioning network and receiving positioning signals from a second positioning network based on received time synchronization information.

68. The positioning system according to any one of claims 61-67, wherein, The bridging anchor is further configured to wirelessly transmit one or more second positioning signals.

69. The positioning system of claim 68, wherein each of the one or more second positioning signals includes a preamble and a payload, wherein the payload of the one or more second positioning signals includes the time synchronization information.

70. The positioning system according to any one of claims 61-69, further comprising a self-positioning device, said self-positioning device being configured to: Receive the second positioning signal; Location information is determined based on the received second positioning signal; Configure its receiver to receive the first positioning signal; and The location information is determined based on the first received positioning signal.

71. The positioning system of claim 70, wherein the self-positioning device is further configured to receive time synchronization information from the bridging anchor, and in, The location information is determined based on the first received positioning signal, and also by using time synchronization information from the bridging anchor.

72. The positioning system of claim 69, further comprising a self-positioning device, the self-positioning device being configured to: Receive one or more first positioning signals from the first positioning network; Receive the one or more second positioning signals from the bridging anchor; Receive one or more second positioning signals from a second positioning network; and The location information is determined based on one or more first positioning signals received from a first positioning network, one or more second positioning signals received from a second positioning network, and time synchronization information received from a bridging anchor.

73. The positioning system according to any one of claims 61-72, wherein, The bridging anchor is configured to alternately receive positioning signals from a first positioning network and a second positioning network.

74. The positioning system according to any one of claims 61-73, wherein, The first and second regions overlap at least partially.

75. The positioning system according to any one of claims 61-74, wherein, The bridging anchor is configured to determine relative time information based on received first time synchronization information and received second time synchronization information, wherein the time synchronization information transmitted by the bridging anchor includes the relative time information.

76. A positioning system, comprising: A first positioning network is configured to wirelessly transmit a first positioning signal using a first set of time synchronization anchors, wherein the first positioning signal can be used to determine location information within a first area; A second positioning network is configured to wirelessly transmit a second positioning signal using a second set of time-synchronized anchors, wherein the second positioning signal can be used to determine location information within a second area; and The bridging anchor is configured as follows: Receive the first time synchronization information related to the first group of time synchronization anchors; Receive second time synchronization information related to the second set of time synchronization anchors; When a portion of the first positioning network is in a first operating mode, a first positioning signal is transmitted based on the received first time synchronization information. and When a portion of the second positioning network is in the second operating mode, a second positioning signal is transmitted based on the received second time synchronization information.

77. The positioning system of claim 76, wherein the bridging anchor is configured to switch between a first operating mode and a second operating mode based on the desired positioning performance of at least one of the first and second positioning networks.

78. A positioning method, comprising: The first positioning signal is wirelessly transmitted using a first positioning network and a first set of time synchronization anchors, wherein the first positioning signal can be used to determine location information within a first area; The second positioning signal is wirelessly transmitted using a second set of time synchronization anchors via a second positioning network, wherein the second positioning signal can be used to determine location information within a second area; Using a bridging anchor, receive the first time synchronization information associated with the first set of time synchronization anchors; Using bridging anchors, receive second time synchronization information associated with the second set of time synchronization anchors; and Using a bridging anchor, time synchronization information related to the first time synchronization information is transmitted to the second positioning network.

79. The method of claim 78, further comprising: The self-positioning device uses a bridging anchor to wirelessly transmit time synchronization information to the first positioning network, so that the self-positioning device can determine its location using the first positioning network and the second positioning network.

80. A positioning method, comprising: A first positioning signal is transmitted using a first set of time synchronization anchors using a first positioning network, wherein the first positioning signal can be used to determine location information within a first area; A second positioning network is used, and a second set of time synchronization anchors are used to transmit a second positioning signal, wherein the second positioning signal can be used to determine location information within a second area; Using a bridging anchor, receive the first time synchronization information associated with the first set of time synchronization anchors; Using a bridging anchor, receive second time synchronization information associated with the second set of time synchronization anchors; Using a bridging anchor, when a portion of the first positioning network is in a first operating mode, a first positioning signal is transmitted based on received first time synchronization information. and Using a bridging anchor, when a portion of the second positioning network is in the second operating mode, a second positioning signal is transmitted based on the received second time synchronization information.

81. A method for operating a positioning system comprising a plurality of positioning anchors, the method comprising: Assign a first subset of the plurality of positioning anchors to a first subnet; The first subnet of the first subset of the operational positioning anchors transmits a first positioning signal according to a first transmission schedule, wherein the first positioning signal can be used by a self-positioning device to determine location information within a first geographic area; The allocation of the plurality of positioning anchors to the first subnet is adjusted such that a second subset of the plurality of positioning anchors is allocated to the first subnet, wherein at least one positioning anchor of the first subset is not included in the second subset, and at least one positioning anchor of the second subset is not included in the first subset; and The first sub-network of the second subset of the operational positioning anchors transmits a second positioning signal according to a second transmission schedule, wherein the second positioning signal can be used by the self-positioning device to determine location information within a second geographic area.

82. The method of claim 81, further comprising: Assign a third subset of the plurality of positioning anchors to the second subnet; and The second subnet of the third subset of the operational positioning anchors transmits a third positioning signal according to a third transmission schedule, wherein the third positioning signal can be used by the self-positioning device to determine location information within a third geographic area.

83. The method according to claim 82, further comprising: Simultaneously operate the first subnet and the second subnet.

84. The method of claim 82 or 83, wherein the third subset of the plurality of positioning anchors does not include any positioning anchor of the first subset of the plurality of positioning anchors.

85. The method according to any one of claims 82-84, further comprising simultaneously operating a first subnet and a second subnet of a first subset of the plurality of positioning anchors, wherein: The third subset of the plurality of positioning anchors includes at least one positioning anchor from the first subset of the plurality of positioning anchors; and The transmission of the first and third positioning signals uses at least one different transmission characteristic.

86. The method of claim 85, wherein the at least one different transmission characteristic comprises: At least one of the following: transmission center frequency, transmission bandwidth, preamble, and preamble modulation scheme.

87. The method according to any one of claims 82-86, wherein, The first and third geographical regions do not overlap.

88. The method according to any one of claims 82-87, further comprising simultaneously operating a first subnet and a second subnet of a first subset of the plurality of positioning anchors, wherein, At least one anchor of the first subnet operates with lower transmission power to reduce the size of the first geographic region, so that the first geographic region and the second geographic region do not overlap.

89. The method of claim 88, wherein the first subnet and the second subnet transmit the first and second positioning signals using the same transmission characteristics, and wherein the first and second positioning signals overlap in time.

90. The method according to any one of claims 82-89, further comprising adjusting the allocation of the plurality of positioning anchors to the second subnet such that a fourth subset of the plurality of positioning anchors is allocated to the second subnet, wherein, At least one anchor of the third subset is not included in the fourth subset, and at least one anchor of the fourth subset is not included in the third subset.

91. The method according to any one of claims 81-90, further comprising additionally adjusting the allocation of the plurality of positioning anchors to the first subnet to dynamically change the geographical area served by the first subnet.

92. The method according to any one of claims 81-91, wherein, The allocation of the plurality of positioning anchors to the first subnet is adjusted based on the known motion of at least one self-positioning device served by the first subnet.

93. The method of claim 92, wherein the motion is a flight mode.

94. The method according to any one of claims 81-93, further comprising: Receive the known position of the at least one self-positioning device.

95. The method according to any one of claims 81-94, wherein, The use of the first subnet of the positioning system increases positioning performance within the first geographic area.

96. The method according to any one of claims 81-95, wherein, The first positioning signal includes a first ultra-wideband (UWB) signal, and the second positioning signal includes a second UWB signal.

97. A positioning system, comprising: Multiple positioning anchors; The positioning system is configured as follows: Assign a first subset of the plurality of positioning anchors to a first subnet; The first subnet of the first subset of the operational positioning anchors transmits a first positioning signal according to a first transmission schedule, wherein the first positioning signal can be used by a self-positioning device to determine location information within a first geographic area; The allocation of the plurality of positioning anchors to the first subnet is adjusted such that a second subset of the plurality of positioning anchors is allocated to the first subnet, wherein at least one positioning anchor of the first subset is not included in the second subset, and at least one positioning anchor of the second subset is not included in the first subset; and The first sub-network of the second subset of the operational positioning anchors transmits a second positioning signal according to a second transmission schedule, wherein the second positioning signal can be used by the self-positioning device to determine location information within a second geographic area.

98. The system according to claim 97, wherein, The positioning system is further configured as follows: Assign a third subset of the plurality of positioning anchors to the second subnet; and The second subnet of the third subset of the operational positioning anchors transmits a third positioning signal according to a third transmission schedule, wherein the third positioning signal can be used by the self-positioning device to determine location information within a third geographic area.

99. The system according to claim 97 or 98, wherein, The first positioning signal includes a first ultra-wideband (UWB) signal, and the second positioning signal includes a second UWB signal.

100. A positioning system, comprising: Multiple positioning anchors, wherein the multiple positioning anchors include at least a first positioning anchor, a second positioning anchor, and a third positioning anchor; A first subset of positioning anchors, the first subset of positioning anchors being configured to transmit a first positioning signal during a first time period according to a first transmission schedule, wherein the first positioning signal can be used by a self-positioning device to determine location information within a first geographic area, wherein the first subset of positioning anchors includes a first positioning anchor and a second positioning anchor, and wherein a third positioning anchor is configured not to transmit during the first time period; and A second subset of positioning anchors, the second subset of positioning anchors being configured to transmit a second positioning signal during a second subsequent time period according to a second transmission schedule, wherein the second positioning signal can be used by a self-positioning device to determine location information within a second geographic area, wherein the second subset of positioning anchors includes a first positioning anchor and a third positioning anchor, and wherein the second positioning anchor is configured not to transmit during the second time period.

101. A method for operating a positioning system comprising a plurality of positioning anchors, the method comprising: The plurality of positioning anchors are used to transmit a first time-stampable positioning signal according to a first transmission schedule, wherein the first time-stampable positioning signal includes a first set of transmission characteristics, and wherein the first time-stampable positioning signal can be used by a self-positioning device to determine location information within a first geographic area. as well as The plurality of positioning anchors are used to transmit a second time-stampable positioning signal according to a second transmission schedule, wherein the second time-stampable positioning signal includes a second set of transmission characteristics, wherein the second time-stampable positioning signal can be used by the self-positioning device to determine location information within a second geographic area, and wherein: The first and second geographical regions overlap at least partially; At least some of the time-stampable positioning signals, a first time-stampable positioning signal and a second time-stampable positioning signal, are transmitted such that they overlap in time; and At least one type of transmission characteristic in the first set of transmission characteristics and the second set of transmission characteristics is different to reduce interference between at least some of the time-stampable positioning signals in the overlapping first time-stampable positioning signal and the second time-stampable positioning signal.

102. The method of claim 101, wherein the at least one type of transmission characteristic includes at least one of transmission center frequency, transmission frequency bandwidth, preamble, and preamble modulation scheme.

103. The method according to claim 101 or 102, wherein one of the plurality of positioning anchors includes a first antenna and a second antenna, and is configured to use the first antenna to transmit a first time-stampable positioning signal of a first time-stampable positioning signal and use the second antenna to transmit a second time-stampable positioning signal of a second time-stampable positioning signal.

104. The method according to claim 103, wherein, The positioning anchor is configured to transmit a first time-stamped positioning signal and a second time-stamped positioning signal such that they overlap in time.

105. The method according to any one of claims 101-104, wherein the self-positioning device includes at least one receiving device, and the method further includes: The at least one receiving setting of the self-positioning device is configured to select which of the first time-stampable positioning signal and the second time-stampable positioning signal to receive.

106. The method according to any one of claims 101-105, further comprising: The self-positioning device uses information to determine whether to receive one of the first time-stampable positioning signals or one of the second time-stampable positioning signals.

107. The method of claim 106, wherein the information includes configuration information, wherein the configuration information is received as part of a previously received time-stampable positioning signal.

108. The method according to claim 106 or 107, wherein, The information includes information stored in the memory of the self-positioning device.

109. The method according to any one of claims 106-108, wherein the information includes one of the internal measurements of the self-positioning device and the internal state of the self-positioning device.

110. The method according to any one of claims 101-109, further comprising: One of the plurality of positioning anchors is used to receive at least one of a first time-stampable positioning signal and a second time-stampable positioning signal transmitted by at least one of the other positioning anchors.

111. The method of claim 110, further comprising: The location anchor is used to determine, based on information, whether to receive one of the first time-stampable location signals or one of the second time-stampable location signals.

112. The method of claim 111, wherein the information includes configuration information, wherein the configuration information is received as part of a previously received time-stampable positioning signal.

113. The method according to claim 111, wherein, The information includes information stored in the memory of the one positioning anchor.

114. The method according to any one of claims 101-113, wherein the first set of transmission characteristics and the second set of transmission characteristics include the same center frequency and transmission frequency bandwidth.

115. The method according to any one of claims 101-114, wherein, The first time-stampable positioning signal includes a first ultra-wideband (UWB) signal, and the second time-stampable positioning signal includes a second UWB signal.

116. A positioning system, comprising: Multiple positioning anchors, wherein the multiple positioning anchors are configured as follows: A first time-stampable positioning signal is transmitted according to a first transmission schedule, wherein the first time-stampable positioning signal includes a first set of transmission characteristics, and wherein the first time-stampable positioning signal can be used by a self-positioning device to determine location information within a first geographic area. A second time-stampable positioning signal is transmitted according to a second transmission schedule, wherein the second time-stampable positioning signal includes a second set of transmission characteristics, wherein the second time-stampable positioning signal can be used by the self-positioning device to determine location information within a second geographic area, and wherein: The first and second geographical regions overlap at least partially; At least some of the time-stampable positioning signals, including the first time-stampable positioning signal and the second time-stampable positioning signal, are transmitted such that they overlap in time. In the first set of transmission characteristics and the second set of transmission characteristics, at least one type of transmission characteristic is different to reduce interference between at least some of the time-stampable positioning signals in the overlapping first time-stampable positioning signal and the second time-stampable positioning signal.

117. The positioning system of claim 116, wherein the plurality of positioning anchors further comprises a first set and a second set of three radio frequency anchors, wherein each radio frequency anchor is configured to transmit a radio frequency signal, and wherein each radio frequency anchor comprises: Anchor antenna; Anchor clock interface, capable of receiving anchor clock signals; Analog transmission electronic components; and A digital transmission electronics component, operably coupled to the anchor clock interface and the analog transmission electronics component and operable to transmit radio frequency signals at a scheduled transmission time with reference to the anchor clock signal; as well as The system further includes a self-positioning device capable of operating to receive the radio frequency signal, the self-positioning device comprising: Device antenna; A device clock interface configured to receive device clock signals; The device simulates receiving electronic components; and A device digital receiving electronics component, which is operatively coupled to the device clock interface and the device analog receiving electronics component and configured to time-stamp the received radio frequency signal with reference to the device clock signal; The first and second sets of radio frequency anchors operate in geographically adjacent cells with overlapping areas; The self-positioning device is configured to receive the radio frequency signal from a first set of radio frequency anchors or from a second set of radio frequency anchors when positioned in the overlapping area; and The plurality of positioning anchors are configured to use at least one of signal time intervals, signal spatial intervals, or signal frequency intervals to mitigate signal interference between a first set and a second set of radio frequency anchors.

118. The system of claim 116 or 117, wherein the at least one type of transmission characteristic includes at least one of transmission center frequency, transmission frequency bandwidth, preamble, and preamble modulation scheme.

119. The system according to any one of claims 116-118, wherein one of the plurality of positioning anchors is further configured to: Receive at least one of a first time-stampable positioning signal and a second time-stampable positioning signal transmitted by at least one of the other positioning anchors among the plurality of positioning anchors.

120. The system according to any one of claims 116-119, wherein the first time-stampable positioning signal comprises a first ultra-wideband (UWB) signal, and the second time-stampable positioning signal comprises a second UWB signal.

121. A self-positioning device for determining the position of a vehicle, the self-positioning device comprising: The first subsystem includes: A first antenna, which is operable to receive a first radio frequency signal; A first analog receiving electronic component, configured to amplify a first radio frequency signal; A first digital receiving electronic component, configured to time-mark an amplified first radio frequency signal using a reference clock signal; and A first positioning unit is configured to calculate a first estimate of the position of the self-positioning device in a coordinate system based on a time stamp of the amplified first radio frequency signal; and A second subsystem, operatively coupled to the first subsystem, comprising: A second antenna, which is operable to receive a second radio frequency signal; A second analog receiving electronic component, configured to amplify a second radio frequency signal; A second digital receiving electronic component, configured to time-mark an amplified second radio frequency signal using a reference clock signal; and A second positioning unit is configured to calculate a second estimate of the position of the self-positioning device in a coordinate system based on a time stamp of the amplified second radio frequency signal; and Each of the first and second subsystems is configured to be selectively used to control the vehicle without relying on the other subsystem.

122. The self-positioning device according to claim 121, wherein: The first subsystem also includes a first clock, wherein the first digital receiving electronics is configured to time-mark the amplified first radio frequency signal with reference to a first clock signal generated by the first clock; as well as The second subsystem also includes a second clock, wherein the second digital receiving electronics are configured to time-mark the amplified second radio frequency signal with reference to a second clock signal generated by the second clock.

123. The self-positioning device as claimed in claim 121 or 122, wherein: The first subsystem also includes a first synchronization unit configured to calculate clock correction for the first clock; The second subsystem also includes a second synchronization unit configured to calculate clock corrections for the second clock.

124. The self-positioning device according to any one of claims 121-123, wherein: The first subsystem further includes a first sensor for sensing at least one of position, orientation, or velocity of the self-localization device relative to an external reference frame, wherein the first positioning unit is configured to further calculate a first estimate of the position of the self-localization device based on a first signal generated by the first sensor; and The second subsystem also includes a second sensor for sensing at least one of the position, orientation, or velocity of the self-positioning device relative to an external reference frame, wherein the second positioning unit is configured to further calculate a second estimate of the position of the self-positioning device based on a second signal generated by the second sensor.

125. The self-positioning device according to claim 124, wherein: The first sensor is the first global attribute sensor; and The second sensor is the second global attribute sensor.

126. The self-positioning device according to any one of claims 121-125, wherein: The first subsystem further includes a first compensation unit, wherein the first positioning unit is configured to further calculate a first estimate of the position of the self-positioning device based on data provided by the first compensation unit; and The second subsystem also includes a second compensation unit, wherein the second positioning unit is configured to further calculate a second estimate of the position of the self-positioning device based on data provided by the second compensation unit.

127. The self-positioning device according to any one of claims 121-126, further comprising a clock, wherein: The first digital receiving electronics is configured to time-mark the amplified first radio frequency signal with reference to a first clock signal generated by the clock; as well as The second digital receiving electronics are configured to time-mark the amplified second radio frequency signal with reference to a first clock signal generated by the clock.

128. The self-positioning device of claim 127, further comprising a synchronization unit, wherein the synchronization unit is configured to calculate a clock correction for the clock.

129. The self-positioning device according to any one of claims 121-127, further comprising a sensor for sensing at least one of position, orientation, or velocity of the self-positioning device relative to an external reference frame, wherein: The first positioning unit is configured to further calculate a first estimate of the position of the self-positioning device based on a first signal generated by the sensor; as well as The second positioning unit is configured to further calculate a second estimate of the position of the self-positioning device based on the first signal generated by the sensor.

130. The self-positioning device according to claim 129, wherein the sensor is a global attribute sensor.

131. The self-positioning device according to any one of claims 121-130, further comprising a compensation unit, wherein: The first positioning unit is configured to further calculate a first estimate of the position of the self-positioning device based on the data provided by the compensation unit; as well as The second positioning unit is configured to further calculate a second estimate of the position of the self-positioning device based on the data provided by the compensation unit.

132. A self-localization device for use in a positioning network, the self-localization device comprising a plurality of anchors configured to transmit radio frequency signals, the self-localization device comprising: An antenna capable of receiving radio frequency signals from the positioning network; Analog receiving electronics configured to amplify radio frequency signals received by the antenna; A digital receiving electronic component, configured to time-mark an amplified radio frequency signal with reference to a first clock signal to generate multiple time markers; and Positioning unit, the positioning unit being configured to: The position of the self-positioning device in the coordinate system is estimated based on the time stamp. Determine which of the following future radio frequency signals to receive from at least two future radio frequency signals; Configure at least one of the antenna, the analog receiving electronics, and the digital receiving electronics to receive a selected radio frequency signal; and An updated estimate of the self-positioning device's position in the coordinate system is calculated based on the received selected radio frequency signals.

133. The self-positioning device of claim 132, further comprising digital and analog transmission electronics configured to transmit the position of the self-positioning device to at least one of the plurality of anchors.

134. The self-positioning device according to claim 132 or 133, wherein, Each of the received radio frequency signals includes a payload, and the digital receiving electronics are configured to extract the payload.

135. The self-positioning device according to any one of claims 132-134, wherein the payload identifies at least one of the plurality of anchors configured to transmit a positioning signal during at least one future time slot.

136. The self-positioning device according to any one of claims 132-135, wherein the positioning unit is configured to determine receiving the selected future radio frequency signal based on the position of the anchor configured to transmit the selected future radio frequency signal and the variance associated with an estimate calculated for the position of the self-positioning device.

137. The self-positioning device according to any one of claims 132-136, wherein the at least two future radio frequency signals partially overlap in time, and wherein the positioning unit is configured to receive the entire selected future radio frequency signal and only a portion of another future radio frequency signal among the at least two future radio frequency signals.

138. The self-positioning device according to any one of claims 132-137, wherein, The at least two future radio frequency signals use different preambles.

139. The self-positioning device according to any one of claims 132-138, wherein, The at least two future radio frequency signals are transmitted by different positioning networks.

140. The self-positioning device according to any one of claims 132-139, wherein, The positioning unit is also configured to calculate an estimate of the position of the self-positioning device in the coordinate system based on the known position of the anchor configured to transmit radio frequencies received by the antenna.

141. A method for determining the position of a vehicle using a self-positioning device including a first subsystem and a second subsystem, the method comprising: The first antenna of the first subsystem is used to receive the first radio frequency signal; The first analog receiving electronic component of the first subsystem amplifies the first radio frequency signal; The amplified first radio frequency signal is time-marked using a reference clock signal from the first digital receiving electronic component of the first subsystem; The first positioning unit of the first subsystem is used to calculate a first estimate of the position of the self-positioning device in the coordinate system; The second antenna of the second subsystem is used to receive the second radio frequency signal; The second analog receiving electronic component of the second subsystem amplifies the second radio frequency signal; The amplified second radio frequency signal is time-marked using a reference clock signal from the second digital receiving electronic component of the second subsystem. The second positioning unit of the second subsystem is used to calculate a second estimate of the position of the self-positioning device in the coordinate system; as well as The vehicle is controlled using one of the first and second subsystems without relying on the other subsystem.

142. A positioning method for a self-positioning device in a positioning network, wherein the positioning network includes a plurality of anchors configured to transmit radio frequency signals, the method comprising: Use an antenna to receive radio frequency signals from the positioning network; The radio frequency signal received by the antenna is amplified using analog receiving electronics; The amplified radio frequency signal is time-stamped using digital receiving electronics as a reference to a first clock signal to generate multiple time stamps; The positioning unit is used to calculate an estimate of the position of the self-positioning device in the coordinate system based on a time stamp; Using the positioning unit, a selected future radio frequency signal is determined to be received from at least two future radio frequency signals; The positioning unit is used to configure at least one of the antenna, the analog receiving electronics, and the digital receiving electronics to receive a selected radio frequency signal; as well as The positioning unit uses the received selected radio frequency signals to calculate an updated estimate of the self-positioning device's position in the coordinate system.

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