Robot Positioning via Ultra-Wideband Error Model Updates
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Solution Overview
Problem
Existing positioning methods for robots face challenges in achieving precise location determination due to uncertainties in distance measurements, which can lead to limited precision and require frequent updates of equipment, increasing costs and bulkiness, while also being unsuitable for providing further measurements of increased precision.
Innovation Solution
A positioning method that estimates a robot's position based on distance measurements from reference points, accounting for various error sources and updating error sizes in a system model, using ultra-wideband transceivers and multiple transceivers on the robot and reference points to improve accuracy and orientation determination without additional complex equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If more precise or accurate equipment is introduced to improve measurement precision, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent implements a feedback mechanism where the robot repeatedly performs distance measurements to reference points, estimates its position, moves to a new location, and updates the error sizes in the system model based on the new measurements. This iterative feedback process continuously improves positioning precision without requiring more complex equipment, as the system learns and adapts from its own measurement data over time.
Solution Approach 2:
The system uses the robot itself as a mobile measurement probe to characterize error sources. By having the robot move through the environment and perform measurements at different locations, the system self-generates the data needed to update the error model, eliminating the need for external calibration equipment or additional specialized devices.
2Measurement precision
If more precise or accurate equipment is introduced to improve measurement precision, then measurement precision is improved, but cost increases
Solution Approach 1:
The iterative measurement and model updating process allows the system to improve positioning precision using the same basic equipment. The feedback loop enables the robot to characterize and compensate for error sources over time, achieving high precision without investing in expensive specialized measurement equipment.
Solution Approach 2:
The patent employs inexpensive transceivers and reference points rather than expensive specialized positioning equipment. The system compensates for the limited precision of these simple components through repeated measurements and statistical error characterization, achieving high overall positioning accuracy with low-cost hardware.
3Measurement precision
If more precise or accurate equipment is introduced to improve measurement precision, then measurement precision is improved, but the equipment becomes obsolete faster requiring frequent updates
Solution Approach 1:
The system continuously updates the error model based on repeated measurements, allowing it to maintain high positioning precision with the same equipment over time. This adaptive feedback mechanism compensates for any degradation or obsolescence of the hardware, extending the effective lifespan of the positioning system without requiring frequent equipment updates.
Solution Approach 2:
The patent changes the parameters of the system model, specifically the error sizes associated with different error sources, based on accumulated measurement data. This parameter adaptation allows the system to maintain accuracy despite hardware aging or technological obsolescence, as the model evolves to reflect current system characteristics rather than relying on fixed hardware capabilities.
4Measurement precision
If additional equipment is introduced to improve measurement precision, then measurement precision is improved, but the nodes become bulkier
Solution Approach 1:
The robot uses its own movement capability and existing transceivers to perform positioning measurements. By serving as its own mobile measurement probe, the system eliminates the need for additional specialized positioning equipment that would increase the robot's volume, achieving high precision using only the robot's inherent capabilities.
Solution Approach 2:
The transceivers on the robot serve multiple functions: they are used for both communication and for positioning measurements. This multi-functionality eliminates the need for separate dedicated positioning equipment, keeping the robot compact while achieving precise positioning through the repeated measurement and error characterization approach.
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 and precise positioning with reduced uncertainty, allowing the robot to move efficiently and perform tasks like mowing or cleaning, while minimizing the need for frequent equipment updates and maintaining precision without additional specialized equipment.
Implementation Method 1
Distance measurements based on transmitting and receiving electromagnetic signals between two nodes typically make use of two possible characteristics of the electromagnetic signals, such as the signal strength (SS), or the amplitude of the signal arriving at the receiver, and the time of flight (ToF), or the time that takes the signal to travel from the transmitter to the receiver.
Data Source
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AI summary
A positioning method for a robot, a robot and a positioning system are provided, wherein the method is based on a system model of an estimated position of the robot and estimated positions of a plurality of reference points within an environment.