Real-time positioning system adopting ultra wide band sensor network

Abstract

A real-time positioning system for determining a location of a target object located in an internal cockpit or vehicle surroundings includes an ultra wide band (UWB) sensor network including one or more anchors mounted to the vehicle, the one or more anchors in wireless communication with tags mounted to the target object. The real-time positioning system also includes one or more controllers that are part of a vehicle that supports specific connection criteria that allow two or more Internet of Things (IoT) devices to communicate with each other. The real-time positioning system also includes one or more subnet controllers in electronic communication with the one or more controllers, or alternatively, one or more bridge controllers as part of the vehicle and in electronic communication with the one or more controllers over the vehicle communication network.

Description

Technical Field

[0001] This disclosure relates to a real-time positioning system that uses an ultra-wideband sensor network to determine the location of a target object. Background Technology

[0002] Matter is an open-source connectivity standard developed by the Connectivity Standards Alliance (CSA) that allows various smart home and Internet of Things (IoT) devices from different manufacturers to communicate with each other. The current Matter standard supports certain types of short-range wireless network protocols, such as wireless network protocols based on the IEEE 802.11 series of standards or low-power mesh network protocols based on the IEEE 802.15 series of standards. However, the current Matter connectivity standard does not currently support ultra-wideband (UWB) networks.

[0003] UWB sensor networks can be used to determine the location of objects such as people, devices, and assets with relatively high accuracy. A UWB sensor network includes one or more anchors that wirelessly communicate with tags attached to the target object. Real-time Location Systems (RTLS), also known as Real-time Tracking Systems, can employ UWB sensor networks to track the location of target objects in buildings, vehicles, or other types of enclosed areas in real time. For example, RTLS can be used to provide various features in vehicles, such as digital keys and indoor navigation. It should be understood that vehicles can adopt the Matter connectivity standard to allow various IoT devices to also communicate with each other. However, as mentioned above, the current Matter connectivity standard does not support a group of intelligent wireless sensors that collaboratively provide location services, which limits the number of options and features a vehicle can include.

[0004] Therefore, while current real-time positioning systems achieve their intended purpose, there is still a need in the art for a method that can integrate a Matter-compliant real-time positioning system that employs a UWB sensor network to determine the location of a target object. Summary of the Invention

[0005] According to several aspects, a real-time positioning system is disclosed for determining the location of a target object located in the interior cockpit or the environment surrounding a vehicle. The real-time positioning system includes an ultra-wideband (UWB) sensor network comprising one or more anchors mounted to the vehicle, the anchors wirelessly communicating with tags mounted to the target object, wherein each anchor transmits and receives sensor signals indicating a real-time distance between each anchor and the tag. The real-time positioning system also includes: one or more controllers, which are part of the vehicle and support specific connectivity standards allowing two or more Internet of Things (IoT) devices to communicate with each other; and one or more subnet controllers electronically communicating with the controllers, wherein a secure communication subnet exists between the one or more subnet controllers and each anchor and tag as part of the UWB sensor network based on a secure network communication protocol. The one or more subnet controllers include one or more processors performing subnet debugging, which includes establishing a secure communication subnet between the one or more subnet controllers and each anchor and tag as part of the UWB sensor network. Subnet commissioning involves performing subnet provisioning between each anchor and tag that is part of the UWB sensor network, wherein subnet provisioning includes configuring each anchor and tag based on multiple subnet provisioning parameters. In response to determining that each anchor and tag is configured based on the multiple subnet provisioning parameters, subnet commissioning includes allowing each anchor and tag that is part of the UWB sensor network to join a secure communication subnet.

[0006] On one hand, the parameters supplied by multiple subnets include the following: bidirectional ranging protocol configuration, role configuration, network configuration, backbone network communication protocol and communication channel of the secure communication subnet.

[0007] On the other hand, the multiple subnet provisioning parameters include one or more of the following: application layer protocol, ranging interval, communication channel, ranging role, and any relevant network certificates required for communication between the one or more subnet controllers and the one or more anchors or tags.

[0008] On the other hand, the specific connectivity standard is the Matter open-source connectivity standard.

[0009] On one hand, one or more subnet controllers and UWB sensor networks represent aftermarket systems purchased separately by consumers from their vehicles.

[0010] On the other hand, the secure network communication protocol between one or more subnet controllers and each anchor and tag that is part of the UWB sensor network is either a short-range wireless network protocol or a wired network protocol.

[0011] On the other hand, short-range wireless network protocols include the following protocols: the Institute of Electrical and Electronics Engineers (IEEE) 802.11 series of standards, the Low Power Mesh Networking Protocol based on the IEEE 802.15 series of standards, and the UWB short-range wireless network protocol.

[0012] On the one hand, short-range wireless network protocols are part of the Ethernet family of computer network technologies.

[0013] On the other hand, one or more controllers include one or more processors that execute instructions for network debugging to establish a secure communication network between one or more controllers and one or more subnet controllers.

[0014] On the other hand, network debugging includes: establishing a secure communication network between one or more controllers and one or more subnet controllers based on short-range wireless network protocols or wired connection protocols.

[0015] In one aspect, network commissioning includes performing network provisioning with one or more subnet controllers, wherein network provisioning includes selecting an operable network configuration and configuring the Internet Protocol (IP) on the selected operable network configuration.

[0016] On the other hand, network commissioning includes registering the application programming interface (API) service corresponding to the UWB sensor network with the vehicle and providing the vehicle with access control to the UWB sensor network.

[0017] On the other hand, establishing a secure communication subnet includes: receiving broadcast messages from each anchor and tag that is part of the UWB sensor network; in response to receiving broadcast messages from each anchor and tag that is part of the UWB sensor network, associating each received broadcast message with the corresponding anchor that is part of the UWB sensor network based on node matching; and exchanging security information between each anchor or tag that is part of the UWB sensor network to establish a secure communication subnet between each anchor and tag.

[0018] In one aspect, a real-time positioning system is disclosed for determining the location of a target object located in the interior cockpit or the environment surrounding the vehicle. The real-time positioning system includes a UWB sensor network comprising one or more anchors mounted to the vehicle, the anchors wirelessly communicating with tags mounted to the target object, wherein each anchor transmits and receives sensor signals indicating the real-time distance between each anchor and the tag. The real-time positioning system also includes: one or more controllers, which are part of the vehicle and support specific connectivity standards allowing two or more Internet of Things (IoT) devices to communicate with each other; and one or more bridge controllers, which are part of the vehicle and electronically communicate with the one or more controllers via a vehicle communication network, wherein a secure communication subnet exists between the one or more bridge controllers and each anchor and tag as part of the UWB sensor network based on a secure network communication protocol. The one or more bridge controllers include one or more processors performing subnet debugging, which includes establishing a secure communication subnet between the one or more bridge controllers and each anchor and tag as part of the UWB sensor network. Subnet commissioning involves performing subnet provisioning between each anchor and tag that is part of the UWB sensor network, wherein subnet provisioning includes configuring each anchor and tag based on multiple subnet provisioning parameters. In response to determining that each anchor and tag is configured based on the multiple subnet provisioning parameters, subnet commissioning includes allowing each anchor and tag that is part of the UWB sensor network to join a secure communication subnet.

[0019] On the other hand, the parameters supplied by multiple subnets include the following: bidirectional ranging protocol configuration, role configuration, network configuration, backbone network communication protocol of the secure communication subnet, and communication channel.

[0020] On the other hand, multiple subnet supply parameters include one or more of the following: application layer protocol, ranging interval, communication channel, ranging role, and any relevant network certificates required for communication between one or more bridge controllers and anchors or tags.

[0021] On one hand, the specific connection standard is the Matter open-source connection standard.

[0022] On the other hand, the secure network communication protocol between one or more bridge controllers and each anchor and tag that is part of the UWB sensor network is a short-range wireless network protocol or a wired network protocol.

[0023] On the other hand, short-range wireless network protocols include the following: IEEE 802.11 series standards, low-power mesh network protocols based on IEEE 802.15 series standards, RF-based short-range connections for portable personal devices based on IEEE 802.15.1, and UWB short-range wireless network protocols.

[0024] On the one hand, vehicle communication networks are based on one of the following: the IEEE 802.11 series of standards, the low-power mesh network protocol based on IEEE 802.15, the On-Board Diagnostics (OBD-II) communication protocol, the Controller Area Network (CAN) bus standard, and the Ethernet series of computer network technologies.

[0025] Further areas of application will become apparent from the description provided herein. It should be understood that these descriptions and specific examples are for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0026] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way.

[0027] Figure 1 A schematic diagram of a vehicle including a disclosed real-time positioning system according to an exemplary embodiment is shown, the real-time positioning system including an ultra-wideband (UWB) sensor network, one or more subnet controllers, and one or more controllers;

[0028] Figure 2 This illustrates an embodiment for use by... Figure 1 The flowchart illustrates the process of one or more subnet controllers performing subnet debugging.

[0029] Figure 3 This illustrates an embodiment for use by... Figure 1 The flowchart shown illustrates the process by which one or more controllers perform network debugging.

[0030] Figure 4 Alternative embodiments of a real-time positioning system including a UWB sensor network, one or more bridge controllers, and one or more controllers according to exemplary embodiments are shown; and

[0031] Figure 5 This illustrates an embodiment for use by... Figure 4 The flowchart shows a method for network debugging using one or more controllers. Detailed Implementation

[0032] The following description is merely exemplary in nature and is not intended to limit this disclosure, application, or use.

[0033] refer to Figure 1 The diagram illustrates a vehicle 10 including a disclosed real-time positioning system 12. The disclosed real-time positioning system 12 determines the location of a target object 14 within the interior cockpit 16 or the surrounding environment 18 of the vehicle 10 based on an ultra-wideband (UWB) sensor network 20. In the non-limiting embodiment shown, the target object 14 is an individual 22. However, it should be understood that... Figure 1 This is merely an example. In practice, target object 14 can be any type of stationary or moving object found in the interior cockpit 16 or environment 18, such as a key card, smartphone, smartwatch or other wearable device, another vehicle, or a bicycle. It should also be understood that while a single target object 14 is shown, the real-time positioning system 12 may include multiple tags 26, each attached to a different target object 14.

[0034] Continue to refer to Figure 1 Vehicle 10 can be any type of vehicle, such as, but not limited to, a sedan, truck, SUV, van, or motorhome. Furthermore, although... Figure 1 A vehicle is shown, but it should be understood that the real-time positioning system 12 can be used in a variety of different applications. Specifically, the real-time positioning system 12 can be used to determine the location of a target object located in any type of enclosed area (such as a building or parking lot).

[0035] UWB sensor network 20 includes one or more anchors 24 that wirelessly communicate with tags 26 based on UWB radio frequency (RF) signals. The anchors 24 of UWB sensor network 20 are mounted to vehicle 10, while the tags 26 of UWB sensor network 20 are mounted to target object 14. Tags 26 are mobile sensors movably located away from vehicle 10 that transmit and receive sensor signals. Each anchor 24 of UWB sensor network 20 wirelessly communicates with tag 26 to transmit and receive sensor signals for tracking the position of tag 26. The sensor signals indicate the real-time distance between each anchor 24 mounted to vehicle 10 and tag 26. One or more subnet controllers 32 determine the position of target object 14 based on the sensor signals indicating the real-time distance between each anchor 24 and tag 26 of UWB sensor network 20.

[0036] In such Figure 1In the illustrated embodiment, the real-time positioning system 12 includes one or more controllers 30 that electronically communicate with the UWB sensor network 20 via one or more subnet controllers 32. The one or more controllers 30 communicate electronically with the one or more subnet controllers 32 based on a short-range wireless network protocol or a wired communication protocol. Some examples of short-range wireless network protocols include, but are not limited to, wireless network protocols based on the IEEE 802.11 series of standards or low-power mesh network protocols based on the IEEE 802.15 series of standards. Some examples of wired communication protocols include On-Board Diagnostics-II (OBD-II) communication protocols and Controller Area Network (CAN) bus standards.

[0037] It should be understood that one or more controllers 30 are part of the vehicle 10 and support a specific connectivity standard that allows two or more Internet of Things (IoT) devices to communicate with each other. However, it should be understood that a specific connectivity standard may not support UWB networks. An example of a connectivity standard that allows IoT devices to communicate with each other but does not support UWB networks is the Matter open-source connectivity standard; however, it should be understood that the real-time positioning system 12 is not limited to a specific connectivity standard. As an example only, in another embodiment, the specific connectivity standard is used to create a personal area network, for example... It is based on the IEEE 802.15.4 specification.

[0038] One or more subnet controllers 32 represent devices separate from vehicle 10, which electronically communicate with one or more controllers 30 of vehicle 10. For example, in one embodiment, one or more subnet controllers 32 and the UWB sensor network 20 both represent aftermarket systems purchased separately by the consumer from vehicle 10. Figure 1 In the exemplary embodiment shown, one or more subnet controllers 32 include a human-machine interface (HMI) 34, which provides an interface for input by the occupants of the vehicle 10. In such... Figure 1 In the example shown, HMI 34 is a touchscreen; however, it should be understood that other devices may also be used. In this embodiment, one or more subnet controllers 32 wirelessly communicate with personal electronic devices 36 associated with the occupants of vehicle 10, whereby the occupants can use the personal electronic devices 36 for input. The personal electronic devices 36 may be, for example, a smartphone or a laptop computer.

[0039] One or more subnet controllers 32 support specific connectivity standards (e.g., the Matter open-source connectivity standard) and secure network communication protocols for communicating with anchors 24 and tags 26. The secure network communication protocol is a short-range wireless network protocol or a wired network protocol. Some examples of short-range wireless network protocols include, but are not limited to, the IEEE 802.11 series of standards, low-power mesh network protocols based on the IEEE 802.15 series of standards, and UWB short-range wireless network protocols. An example of a wired network protocol is the Ethernet series of computer networking technologies.

[0040] One or more subnet controllers 32 perform subnet commissioning to discover and configure one or more anchors 24 and tags 26 into the UWB sensor network 20. Once subnet commissioning is complete, the one or more subnet controllers 32 can receive sensor signals from the one or more anchors 24 and tags 26 to determine the location of the target object 14. Subnet commissioning includes establishing a secure communication subnet 50 between the one or more subnet controllers 32 and each anchor 24 and tag 26 that is part of the UWB sensor network 20 based on a secure network communication protocol. Subnet commissioning also includes subnet provisioning (i.e., service activation) to establish communication between each anchor 24 and tag 26 that is part of the UWB sensor network 20.

[0041] Figure 2 An exemplary process flowchart is shown, illustrating a method 200 for performing subnet debugging by one or more subnet controllers 32. (Reference) Figure 1 and Figure 2 Method 200 may begin at block 202. In block 202, one or more subnet controllers 32 establish a secure communication subnet 50 between the one or more subnet controllers 32 and each anchor 24 and tag 26 that is part of the UWB sensor network 20, based on a secure network communication protocol. Specifically, establishing the secure communication subnet 50 includes blocks 202A-202C.

[0042] In block 202A, one or more subnet controllers 32 receive broadcast messages from each anchor 24 and tag 26 that are part of the UWB sensor network 20. Method 200 can then proceed to block 202B.

[0043] In block 202B, in response to receiving a broadcast message from each anchor 24 and tag 26 that is part of the UWB sensor network 20, one or more subnet controllers 32 associate each received broadcast message with a corresponding anchor 24 or tag 26 that is part of the UWB sensor network 20 based on node matching. In a non-limiting example, using a camera (not shown) that is part of a personal electronic device 36 that wirelessly communicates with one or more subnet controllers 32, node matching is performed by scanning a Quick Response (QR) code (not shown) printed on the exterior of each anchor 24 and tag 26 that is part of the UWB sensor network 20. One or more subnet controllers 32 may associate each received broadcast message with a corresponding anchor 24 or tag 26 that is part of the UWB sensor network 20 based on the QR code. In an alternative approach, node matching may be performed based on a unique Media Access Control (MAC) address of each anchor 24 or tag 26 that is part of the UWB sensor network 20. Method 200 can then proceed to block 202C.

[0044] In block 202C, one or more subnet controllers 32 exchange security information with each anchor 24 or tag 26 that is part of the UWB sensor network 20 to establish a secure communication subnet 50 between each anchor 24 and tag 26. Method 200 can then proceed to block 204.

[0045] In box 204, one or more subnet controllers 32 perform subnet provisioning between each anchor 24 and tag 26 that are part of the UWB sensor network 20. Subnet provisioning includes configuring each anchor 24 and tag 26 that are part of the UWB sensor network 20 based on a plurality of subnet provisioning parameters. The plurality of subnet provisioning parameters may include default values ​​or factory settings, or alternatively, an individual may input custom values ​​for one or more network provisioning parameters. For example, an individual may input custom values ​​for the plurality of subnet provisioning parameters by using an HMI 34 that is part of one or more subnet controllers 32.

[0046] Multiple subnet provisioning parameters include bidirectional ranging protocol configuration, role configuration, network configuration, backbone communication protocol of secure communication subnet 50, and communication channels. The bidirectional ranging protocol configuration is the unicast or multicast transmission between one or more subnet controllers 32 and each anchor 24 and tag 26 that is part of the UWB sensor network 20. Some examples of bidirectional ranging protocol configurations include, but are not limited to, the Car Connectivity Consortium (CCC) digital key standard and the Proximity Interaction Framework. The role configuration indicates the type of device communicating with one or more subnet controllers 32, where the device type indicates anchor 24 or tag 26. The network configuration indicates the network identifier for each anchor 24 and tag 26. One example of a network identifier is the MAC address associated with one of anchor 24 or tag 26. Another example of a network identifier is an authenticator provided in a QR code or broadcast over a wireless network, such as a network based on a low-power mesh network protocol of the IEEE 802.15 series standards. The backbone network communication protocol used for the secure communication subnet 50 indicates the underlying communication protocol between one or more subnet controllers 32 and anchors 24 or tags 26, such as IEEE 802.11 series standards, low-power mesh network protocols based on IEEE 802.15 series standards, UWB wireless network protocols, and Ethernet series of computer networking technologies. The communication channel indicates the communication medium between one or more subnet controllers 32 and anchors 24 or tags 26, such as the bandwidth range of a wired or wireless connection.

[0047] The multiple subnet provisioning parameters may also include one or more optional parameters, including one or more of the following: application layer protocol, ranging interval, communication channel, ranging role, and any relevant network certificates required for communication between one or more subnet controllers 32 and anchors 24 or tags 26. Some examples of application layer protocols include, but are not limited to, Hypertext Transfer Protocol (HTTP). Once each anchor 24 and tag 26 as part of the UWB sensor network 20 is configured based on the multiple subnet provisioning parameters, each anchor 24 and tag 26 joins the secure communication subnet 50, and then the method 200 can proceed to block 206.

[0048] In block 206, in response to determining that each anchor 24 and tag 26 as part of the UWB sensor network 20 is configured based on multiple subnet provisioning parameters, one or more subnet controllers 32 allow each anchor 24 and tag 26 as part of the UWB sensor network 20 to join the secure communication subnet 50. For example, one or more subnet controllers 32 may allow each anchor 24 and tag 26 to join the secure communication subnet 50 by sharing a network identifier associated with the secure communication subnet 50. Method 200 can then proceed to block 208.

[0049] In box 208, one or more anchors 24 and tags 26 send information via secure communication subnet 50 to one or more subnet controllers 32, instructing the application programming interface (API) supported by the anchors 24 or tags 26 to perform services. An example of an API service includes distance verification between an individual and a vehicle as the individual approaches, where the vehicle door is unlocked based on the distance between the individual and the vehicle. Another example of an API service is precise smartphone-based vehicle positioning for customized individual vehicle services. Anchors 24 send location coordinates to one or more subnet controllers 32, and tags 26 send the distance measured between tags 26 and each anchor 24, which is part of the UWB sensor network 20. Method 200 can then terminate.

[0050] refer to Figure 1 Once one or more subnet controllers 32 have performed subnet commissioning to establish a secure communication subnet 50 between the one or more subnet controllers 32 and each anchor 24 and tag 26 that are part of the subnet controllers 32, the one or more controllers 30 may perform network commissioning to establish a secure communication network 52 between the one or more controllers 30 and the one or more subnet controllers 32. Network commissioning includes establishing a secure communication network 52 between the one or more subnet controllers 32 and each anchor 24 and tag 26 that are part of the UWB sensor network 20 based on short-range wireless network protocols (e.g., IEEE 802.11 series standards or low-power mesh network protocols based on IEEE 802.15 series standards) or wired communication protocols (e.g., OBD-II and CAN). Network commissioning also includes network provisioning to establish communication between the one or more controllers 30 and the one or more subnet controllers 32.

[0051] Figure 3 An exemplary process flowchart is shown, illustrating a method 300 for performing network debugging by one or more controllers 30. (Reference) Figure 1 and Figure 2 Method 300 may begin at block 302. In block 302, one or more controllers 30 establish a secure communication network 52 with one or more subnet controllers 32 based on a short-range wireless network protocol or a wired connection protocol. Specifically, establishing the secure communication network 52 includes blocks 302A-302C.

[0052] In block 302A, one or more controllers 30 receive broadcast messages from one or more subnet controllers 32. It should be understood that the subnet controller 32 aggregates sensor signals received from each anchor 24 and tag 26 as part of the UWB sensor network 20, and then broadcasts the sensor signals to the controllers 30. Method 300 can then proceed to block 302B.

[0053] In block 302B, in response to receiving a broadcast message from one or more subnet controllers 32, one or more controllers 30 then associate the broadcast message with one or more subnet controllers 32 based on node matching. Method 300 can then proceed to block 302C.

[0054] In block 302C, one or more controllers 30 exchange security information with one or more subnet controllers 32 to establish a secure communication network 52. Then, method 300 can proceed to block 304.

[0055] In block 304, one or more controllers 30 and one or more subnet controllers 32 perform network provisioning. Network provisioning includes selecting an operational network configuration for a secure communication network 52, wherein the operational network configuration is a short-range wireless network protocol or a wired connection protocol. Network provisioning also includes configuring the Internet Protocol (IP) on the selected operational network configuration. For example, if the selected operational network configuration is a CAN bus standard, then the Internet Protocol is enabled for CAN-based messages. Method 300 can then proceed to block 306.

[0056] In block 306, one or more controllers 30 then register API services corresponding to the UWB sensor network 20 with the vehicle 10, and also provide the vehicle 10 with access control to the UWB sensor network 20. Method 300 can then terminate.

[0057] Figure 4 An alternative embodiment of the real-time positioning system 412 is shown, which determines the location of a target object 414 in the interior cockpit 416 or the surrounding environment 418 of the vehicle 10 based on a UWB sensor network 420. The UWB sensor network 420 includes one or more anchors 424 that wirelessly communicate with a tag 426 attached to the target object 414. The real-time positioning system 412 includes one or more controllers 430 and one or more bridge controllers 432.

[0058] One or more controllers 430 are part of the vehicle 10 and support specific connectivity standards, such as Matter, that allow two or more IoT devices to communicate with each other. Figure 1Unlike the illustrated embodiment, one or more bridge controllers 432 are also part of the vehicle 10. Therefore, one or more controllers 430 communicate electronically with one or more bridge controllers 432 via a vehicle communication network 452. The vehicle communication network 452 allows electronic control units (ECUs) and other devices that are part of the vehicle 10 to communicate with each other. The vehicle communication network 452 is based on short-range wireless network protocols (e.g., the IEEE 802.11 standard series or low-power mesh network protocols based on the IEEE 802.15 standard series) or wired communication protocols (e.g., OBD-II, CAN, and Ethernet).

[0059] One or more controllers 430 communicate electronically with an HMI 434, which provides an interface for input to the passengers of vehicle 10. In one embodiment, one or more controllers 430 communicate wirelessly with a personal electronic device 436 associated with an occupant of vehicle 10, whereby the occupant can use the personal electronic device 436 for input.

[0060] In such Figure 4 In the illustrated embodiment, the UWB sensor network 420 may further include one or more existing or internal anchors 444, which are part of the vehicle 10 and communicate electronically with one or more controllers 430 based on a short-range wireless network protocol or a wired communication protocol. The remaining anchors 424 of the UWB sensor network 420 that are not internal anchors communicate electronically with one or more bridge controllers 432 based on a secure network communication protocol.

[0061] One or more bridge controllers 432 support specific connectivity standards (e.g., the Matter open-source connectivity standard) and secure network communication protocols for communicating with anchors 424 and tags 426. The secure network communication protocol is a short-range wireless network protocol or a wired network protocol. Some examples of short-range wireless network protocols include, but are not limited to, the IEEE 802.11 series of standards, low-power mesh network protocols based on the IEEE 802.15 series of standards, RF-based short-range connections for portable personal devices under IEEE 802.15.1, and UWB short-range wireless network protocols. An example of a wired network protocol is the Ethernet series of computer networking technologies.

[0062] One or more bridge controllers 432 perform subnet commissioning to discover and configure one or more anchors 424 and tags 426 into the UWB sensor network 420. Once subnet commissioning is complete, the one or more bridge controllers 432 can receive sensor signals from the one or more anchors 424 and tags 426 to determine the location of the target object 414. Subnet commissioning includes establishing a secure communication subnet 450 between the one or more bridge controllers 432 and each anchor 424 and tag 426 that is part of the UWB sensor network 420 based on a secure network communication protocol. Subnet commissioning also includes subnet provisioning to establish communication between each anchor 424 and tag 426 that is part of the UWB sensor network 420.

[0063] Figure 5 An exemplary process flowchart is shown, illustrating a method 500 for subnet debugging performed by one or more bridge controllers 432. (Reference) Figure 4 and Figure 5 Method 500 may begin at block 502. In block 502, one or more bridge controllers 432 establish a secure communication subnet 450 between the one or more bridge controllers 432 and each anchor 424 and tag 426 that is part of the UWB sensor network 420, based on a secure network communication protocol. Specifically, establishing the secure communication subnet 450 includes blocks 402A-402C.

[0064] In block 502A, one or more bridge controllers 432 receive broadcast messages from each anchor 424 and tag 426, which are part of the UWB sensor network 420. Method 500 can then proceed to block 502B.

[0065] In block 502B, in response to receiving a broadcast message from each anchor 424 and tag 426 that is part of the UWB sensor network 420, one or more bridge controllers 432 associate each received broadcast message with the corresponding anchor 424 or tag 426 that is part of the UWB sensor network 420 based on node matching. Method 500 can then proceed to block 502C.

[0066] In block 502C, one or more bridge controllers 432 exchange security information with each anchor 424 or tag 426 that is part of the UWB sensor network 420 to establish a secure communication subnet 450 between each anchor 424 and tag 426. Method 500 can then proceed to block 504.

[0067] In block 504, one or more bridge controllers 432 perform subnet provisioning between each anchor 424 and tag 426 that are part of the UWB sensor network 420. Subnet provisioning includes configuring each anchor 424 and tag 426 that are part of the UWB sensor network 420 based on a plurality of subnet provisioning parameters. Once each anchor 424 and tag 426 that are part of the UWB sensor network 420 are configured based on the plurality of subnet provisioning parameters, each anchor 424 and tag 426 joins the secure communication subnet 450, and then the method 500 can proceed to block 506.

[0068] In block 506, in response to determining that each anchor 424 and tag 426 as part of the UWB sensor network 420 is configured based on multiple subnet supply parameters, one or more bridge controllers 432 allow each anchor 424 and tag 426 as part of the UWB sensor network 420 to join the secure communication subnet 450. Method 500 can then proceed to block 508.

[0069] In block 508, one or more anchors 424 and tags 426 transmit information via secure communication subnet 450 to one or more bridge controllers 432 indicating API services supported by the anchors 424 or tags 426. Anchors 424 send location coordinates to one or more bridge controllers 432, and tags 426 send the distance measured between tags 426 and each anchor 424, which is part of the UWB sensor network 420. Method 500 can then terminate.

[0070] Referring generally to the accompanying drawings, the disclosed real-time object positioning system offers various technical effects and benefits. Specifically, the real-time positioning system provides a method for integrating a UWB sensor network into a vehicle that currently does not support UWB networks. It should be understood that the vehicle may support connectivity standards that allow IoT devices to communicate with each other, but not UWB networks, such as the Matter open-source connectivity standard. In some embodiments, the real-time positioning system includes one or more subnet controllers, which are provided as aftermarket components to allow the vehicle to communicate with the UWB sensor network.

[0071] A controller can refer to (or a portion thereof) electronic circuitry, combinational logic circuitry, a field-programmable gate array (FPGA), a processor (shared, dedicated, or grouped) that executes code, or a combination of some or all of the above, such as in a system-on-a-chip. Alternatively, the controller can be microprocessor-based, such as a computer having at least one processor, memory (RAM and / or ROM), and associated input and output buses. The processor can operate under the control of an operating system residing in memory. The operating system can manage computer resources so that computer program code embodied as one or more computer software applications (e.g., applications residing in memory) can have instructions that are executed by the processor. In alternative embodiments, the processor can directly execute the application, in which case the operating system can be omitted.

[0072] The descriptions in this disclosure are merely exemplary in nature, and changes that do not depart from the spirit and scope of this disclosure are intended to fall within its scope. Such changes should not be considered as departing from the spirit and scope of this disclosure.

Claims

1. A real-time positioning system for determining the location of a target object located in the interior cockpit or the environment surrounding a vehicle, the real-time positioning system comprising: An ultra-wideband (UWB) sensor network, comprising one or more anchors mounted to the vehicle, the anchors wirelessly communicating with a tag mounted to the target object, wherein each anchor transmits and receives sensor signals indicating the real-time distance between each anchor and the tag; One or more controllers, which are part of the vehicle, and the vehicle supports specific connectivity standards that allow two or more Internet of Things (IoT) devices to communicate with each other; and One or more subnet controllers, the one or more subnet controllers communicating electronically with the one or more controllers, wherein a secure communication subnet exists between the one or more subnet controllers and each anchor and tag as part of the UWB sensor network based on a secure network communication protocol, and wherein the one or more subnet controllers include one or more processors performing subnet debugging, the subnet debugging including: Establish a secure communication subnet between the one or more subnet controllers and each anchor and tag that is part of the UWB sensor network; Subnet provisioning is performed between each anchor and the tag, which are part of the UWB sensor network, wherein the subnet provisioning includes configuring each anchor and the tag based on a plurality of subnet provisioning parameters; and In response to determining that each anchor and the tag are configured based on the multiple subnet supply parameters, each anchor and the tag, as part of the UWB sensor network, is allowed to join the secure communication subnet.

2. The real-time positioning system according to claim 1, wherein, The multiple subnet supply parameters include the following: Configuration of two-way ranging protocol, role configuration, network configuration, backbone network communication protocol of secure communication subnet, and communication channel.

3. The real-time positioning system according to claim 2, wherein, The multiple subnet supply parameters include one or more of the following: application layer protocol, ranging interval, communication channel, ranging role, and any relevant network certificates required for communication between the one or more subnet controllers and the one or more anchors or tags.

4. The real-time positioning system according to claim 1, wherein, The specific connection standard mentioned is the Matter open-source connection standard.

5. The real-time positioning system according to claim 1, wherein, The one or more subnet controllers and the UWB sensor network each represent an after-sales system purchased separately by the consumer from the vehicle.

6. The real-time positioning system according to claim 1, wherein, The secure network communication protocol between the one or more subnet controllers and each anchor and tag that is part of the UWB sensor network is a short-range wireless network protocol or a wired network protocol.

7. The real-time positioning system according to claim 6, wherein, The short-range wireless network protocol is one of the following: the IEEE 802.11 series of standards, the low-power mesh network protocol based on the IEEE 802.15 series of standards, and the UWB short-range wireless network protocol.

8. The real-time positioning system according to claim 6, wherein, The short-range wireless network protocol is the Ethernet series of computer network technologies.

9. The real-time positioning system according to claim 1, wherein, The one or more controllers include one or more processors that execute instructions to perform network debugging to establish a secure communication network between the one or more controllers and the one or more subnet controllers.

10. The real-time positioning system according to claim 9, wherein, The network debugging includes: The secure communication network is established between the one or more controllers and the one or more subnet controllers based on a short-range wireless network protocol or a wired connection protocol.

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