Single-Base-Station Robot Positioning with Inertial Drift Correction

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Solution Overview

Problem

Inertial navigation systems in mobile robots suffer from inaccurate global coordinate positioning due to systematic errors and require multiple base stations for precise location calculation, increasing communication complexity and data processing volume.

Innovation Solution

A mobile robot positioning method using a single wireless ranging base station, where distances between successive positions and the base station are calculated, and numerical relationships are used to determine real-time coordinates, reducing the need for multiple base stations and simplifying data processing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If multiple UWB base stations are arranged to calculate relative distances for positioning, then positioning accuracy is improved, but device complexity and communication difficulty increase

Engineering Contradiction:

Improvepositioning accuracyVSAvoidbase station arrangement complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent extracts the positioning function from multiple base stations and concentrates it into a single base station by using the robot's own movement to create multiple measurement points. Instead of distributing positioning capability across multiple stationary base stations, the system uses one base station combined with the robot's inertial navigation data to achieve the same positioning effect.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent introduces the robot's inertial navigation system (odometer and gyroscope) as an intermediary to bridge the single base station measurement with the robot's position calculation. The inertial sensors provide movement data that, when combined with the single base station's distance measurements, enable accurate positioning without requiring multiple base stations.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If multiple base stations are used for positioning calculation, then positioning precision is improved, but data processing volume increases

Engineering Contradiction:

Improvepositioning precisionVSAvoiddata processing efficiency

Core Design Contradiction:

Measurement precisionVSProductivity

Solution Approach 1:

The patent extracts the redundant data processing requirements by using only one base station instead of multiple base stations. The system processes distance measurements from a single base station combined with inertial navigation data, eliminating the need to process and cross-validate data from multiple base stations while maintaining positioning accuracy.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The robot's inertial navigation system serves itself by providing movement data (odometer readings and gyroscope angles) that supplements the single base station measurements. This self-service capability reduces the data processing burden on external base stations while maintaining accurate positioning through the fusion of inertial and ranging data.

Inventive Principle:

Principle #25Self-service

3Device complexity

If inertial navigation is used for positioning, then device complexity is reduced, but positioning accuracy deteriorates due to drift errors

Engineering Contradiction:

Improvesystem simplicityVSAvoidpositioning accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The patent merges the simple inertial navigation system with a single wireless ranging base station to create a hybrid positioning system. The inertial sensors provide continuous movement data with no drift accumulation, while the single base station provides periodic distance references. This combination maintains the simplicity of inertial navigation while eliminating its drift error problem through occasional external referencing.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The system uses feedback from the single base station distance measurements to correct and reset the inertial navigation drift. By periodically comparing the inertially-calculated position with the base station-ranged position, the system can detect and correct accumulated errors, maintaining long-term positioning accuracy without requiring multiple base stations.

Inventive Principle:

Principle #23Feedback

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 enhances positioning accuracy and controllability by reducing drift errors and data processing volume, while maintaining high precision and reducing the complexity of coordinate calculations.

Implementation Method 1

calculating distances between two different positions where a mobile robot travels successively and a position of the same positioning base station through communication ranging

Methodology Applied

Scientific EffectTime of flight: Time of Flight

Data Source

PatentUS20240061442A1Mobile Robot Positioning Method and System Based on Wireless Ranging Sensors, and Chip

Publication Date: 2024.02.22 AMICRO SEMICONDUCTOR CO LTD

AI summary

The present disclosure discloses a mobile robot positioning method and system based on wireless ranging sensors, and a chip. The mobile robot positioning method adopts a manner of controlling a mobile robot to traverse two target positions successively to acquire a distance between the mobile robot at each traversed position and a fixed positioning base station, rather than calculate distances between the robot at the same position and different base stations, such that the trouble of arranging a plurality of base stations in a positioning area is reduced.