UWB Beacon Pole Localization for Robot Service Area Expansion
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Solution Overview
Problem
Existing UWB-based localization systems for autonomous robots face challenges in accurately determining anchor positions, especially in Non-Line-of-Sight (NLoS) conditions, which affects the accuracy of robot localization and the ability to extend service areas without compromising performance.
Innovation Solution
The system employs a method for progressive automatic determination of UWB anchor positions, leveraging geometric constraints and using the robot itself to determine new anchor positions in severe NLoS conditions, and provides initialization strategies for non-linear least squares optimization to swiftly converge to accurate solutions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If UWB ranging is used to determine anchor positions, then robot localization accuracy is improved, but measurement precision deteriorates in Non-Line-of-Sight (NLoS) conditions
Solution Approach 1:
The patent introduces the robot as an intermediary device to establish Line-of-Sight (LoS) connections between anchors that cannot directly communicate. The robot moves to strategic positions to create LoS paths, allowing UWB ranging measurements to be taken indirectly through the robot, thereby overcoming NLoS conditions and improving measurement precision for anchor position determination.
Solution Approach 2:
The system performs preliminary actions by having the robot navigate to predetermined positions before conducting UWB ranging measurements. This preliminary positioning ensures optimal LoS conditions are established beforehand, allowing accurate range measurements to be taken and improving the overall reliability of anchor position determination in environments with obstacles.
2Area of stationary object
If service area is extended by adding more anchors, then coverage area is improved, but device complexity increases
Solution Approach 1:
The system implements self-service by enabling automatic anchor position determination through the robot's movement and UWB ranging measurements. Instead of requiring manual configuration and precise placement of each anchor, the robot autonomously navigates and collects ranging data to calculate anchor positions automatically, significantly reducing the complexity of extending the service area while maintaining scalability.
Solution Approach 2:
The patent utilizes parameter changes in the UWB ranging measurements and geometric constraints to dynamically determine anchor positions. By changing the robot's position parameters and using multiple ranging measurements from different angles, the system can accurately calculate anchor locations without requiring complex pre-planning or manual intervention, thus enabling easy service area expansion.
3Manufacturing precision
If geometric constraints are imposed on anchors, then manufacturing precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent inverts the traditional approach by not requiring precise manual placement of anchors according to predetermined geometric constraints. Instead, the system allows anchors to be placed more freely and then uses the robot's UWB ranging measurements to reverse-calculate the actual anchor positions, automatically establishing the geometric constraints based on measured data rather than requiring them beforehand.
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 ensures accurate and efficient determination of UWB beacon pole locations, enabling extended service areas and robust robot localization even in complex scenarios with obstacles, improving the system's flexibility and accuracy.
Implementation Method 1
receiving, from the initiator via the wireless side-link, pair-wise range measurements representing UWB range measurements between the initiator and the responders
Data Source
AI summary
A method includes identifying a first anchor of a plurality of anchors as an initiator and identifying multiple second anchors of the plurality of anchors as multiple responders, the plurality of anchors located in a service area to be traversed by a robot. The method also includes sending, to the initiator and the responders via a wireless side-link, ranging information and a command to start ultra-wideband (UWB) ranging. The method also includes receiving, from the initiator via the wireless side-link, pair-wise range measurements representing UWB range measurements between the initiator and the responders. The method also includes generating initial location values for the initiator and the responders based on the pair-wise range measurements and one or more geometric constraints imposed on the initiator and the responders. The method also includes estimating 3D coordinates of the initiator and the responders using the initial location values.