Robot Pose Estimation Using Uncalibrated Ranging Nodes
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Solution Overview
Problem
Existing navigation methods for autonomous mobile devices in GPS-denied environments require pre-set and calibrated ranging beacons, which is impractical for time-pressed applications like indoor search and rescue missions, and dynamic cluttered environments like warehouses.
Innovation Solution
A method for determining a change in pose of a mobile device using ranging nodes with unknown locations, where the mobile device receives ranging information at multiple time instances from stationary nodes, allowing for the calculation of distance and movement direction without requiring the location of the stationary nodes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If pre-setup and calibration of ranging beacons is performed, then navigation accuracy is improved, but deployment time and system complexity increase
Solution Approach 1:
The system performs preliminary action by having the mobile device autonomously determine the locations of stationary ranging nodes during its initial movement through the environment. This preliminary location determination eliminates the need for manual pre-setup and calibration of ranging beacons, resolving the contradiction by enabling accurate navigation without time-consuming deployment procedures
Solution Approach 2:
The system implements self-service by enabling the mobile device to automatically determine its own pose changes using ranging measurements from stationary nodes with unknown locations. The device independently calculates distances, determines its position relative to the nodes, and computes pose changes without external intervention or pre-calibration, achieving both accuracy and rapid deployment
2Measurement precision
If pre-setup and calibration of ranging beacons is performed, then navigation accuracy is improved, but system complexity increases
Solution Approach 1:
The system extracts and removes the complex manual pre-setup and calibration process from the navigation system. By enabling the mobile device to autonomously determine ranging node locations through movement and ranging measurements, the system eliminates the need for complex calibration procedures while maintaining navigation accuracy
Solution Approach 2:
The system inverts the traditional approach by not requiring the locations of ranging nodes to be known in advance. Instead of having stationary nodes transmit their known positions and having the mobile device use these positions for navigation, the system allows the mobile device to determine the nodes' positions autonomously through its movement and ranging measurements, thereby simplifying the overall system
3Adaptability or versatility
If ranging devices are placed in dynamic and cluttered environments, then navigation capability is improved, but pre-setup and measurement becomes unrealistic
Solution Approach 1:
The system embraces dynamics by allowing the mobile device to determine ranging node locations during its movement through dynamic and cluttered environments. The method adapts to changing environmental conditions and device positions, enabling navigation capability improvement without requiring static pre-setup procedures that are unrealistic in dynamic settings
Solution Approach 2:
The mobile device performs self-service by autonomously determining the locations of stationary ranging nodes through its own movement and ranging measurements. This eliminates the need for manual deployment and measurement in difficult-to-access dynamic environments, making the system easy to deploy while maintaining navigation capability
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
This approach enables accurate navigation of mobile devices in challenging environments without the need for pre-set ranging beacons, improving navigation accuracy and feasibility in dynamic and cluttered settings.
Implementation Method 1
receiving first data representative of a first ranging information received at a first receiver located at a first position on the mobile device and received on a second receiver located at a second position on the mobile device from a stationary node
Data Source
AI summary
A method, apparatus and system for determining change in pose of a mobile device include determining from first ranging information received at a first and a second receiver on the mobile device from a stationary node during a first time instance, a distance from the stationary node to the first receiver and the second receiver, determining from second ranging information received at the first receiver and the second receiver from the stationary node during a second time instance, a distance from the stationary node to the first receiver and second receiver, and determining from the determined distances during the first time instance and the second time instance, how far and in which direction the first receiver and the second receiver moved between the first time instance and the second time instance to determine a change in pose of the mobile device, where a position of the stationary node is unknown.