Anchor Signal Scheduling for Self-Localization Under UWB Interference
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Solution Overview
Problem
Current localization systems for mobile robots are inadequate due to high communication latency, susceptibility to interference, and limited scalability, making them unsuitable for safety-critical applications and environments with multiple objects requiring high update rates.
Innovation Solution
A self-localizing apparatus that uses timestampable signals, such as UWB signals, to determine its own position without emitting signals, allowing for higher update rates, improved accuracy, and increased robustness by optimizing transmission schedules and utilizing multiple antennas for better signal reception and interference avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a centralized server architecture is used to compute tag locations from UWB signals, then localization can be achieved, but communication latency increases and system robustness decreases
Solution Approach 1:
The mobile robot performs self-localization by directly computing its position from UWB signals received from stationary transceivers, without requiring a centralized server to compute and communicate location data. This eliminates communication latency while maintaining localization accuracy.
2Quantity of substance
If multiple UWB signals are transmitted simultaneously by multiple tags, then the system can support more objects, but signal interference increases and measurement precision decreases
Solution Approach 1:
Tags transmit UWB signals at different periodic time intervals or time slots, allowing multiple objects to be tracked simultaneously without signal interference. This time-division approach maintains localization precision while increasing the number of trackable objects.
3Productivity
If the tag emission rate is increased to improve update rate, then localization freshness improves, but the maximum number of supported tags decreases
Solution Approach 1:
The system implements time-division multiplexing where tags transmit at different periodic intervals, enabling high update rates for multiple tags simultaneously. Each tag has its designated time slot, allowing the system to maintain high productivity while supporting a large number of tags.
4Measurement precision
If direct line of sight is required for UWB signal reception, then measurement precision is maintained, but adaptability to complex environments decreases
Solution Approach 1:
The system uses multiple stationary transceivers distributed throughout the environment as intermediaries to provide localization signals. This redundancy allows the mobile robot to maintain accurate localization even when direct line of sight to some transceivers is blocked, significantly improving environmental adaptability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables mobile robots to operate with lower latency and higher accuracy, supporting multiple objects with high update rates and improved system robustness, even in complex environments, by allowing self-localization without direct line of sight and reducing interference.
Implementation Method 1
uses timestampable signals such as ultra-wideband (UWB) signals
Data Source
AI summary
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.