Device Positioning via UWB and Odometry Fusion
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Solution Overview
Problem
Current positioning systems for movable devices, such as robots and unmanned vehicles, face challenges in accurately determining the location and orientation of devices undergoing changes in orientation during movement, especially when using single ultrasonic sensor ranging information and trajectory data.
Innovation Solution
A method and system that perform fusion calculations using location and orientation parameters, including first and second fusion calculations based on UWB positioning system data, odometry increments, and angle velocity information to determine target location and orientation, improving accuracy through techniques like straight line fitting and Kalman filter corrections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If single ultrasonic sensor ranging information and trajectory information are used for positioning, then the positioning system is simple, but the positioning accuracy deteriorates when the device changes orientation during movement
Solution Approach 1:
The patent combines multiple positioning methods (UWB positioning, odometry, and trajectory information) into a unified fusion calculation system. This merging of multiple data sources resolves the contradiction by maintaining system functionality while significantly improving positioning accuracy through complementary information integration.
Solution Approach 2:
The positioning system is designed to handle multiple types of motion (uniform linear motion and non-uniform linear motion) and multiple sensing modalities through a universal fusion calculation framework. This multi-functional approach allows the system to maintain accuracy across different operating conditions without requiring separate specialized systems.
2Measurement precision
If fusion calculation based on multiple data sources is performed, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The fusion calculation process is segmented into distinct handling procedures for different motion types (uniform linear motion vs. non-uniform linear motion). By dividing the complex fusion calculation into manageable segments based on motion characteristics, the system achieves high positioning accuracy while keeping the computational complexity organized and controllable.
Solution Approach 2:
The system dynamically adapts its fusion calculation approach based on the detected motion type. When uniform linear motion is detected, one fusion strategy is applied; when non-uniform linear motion is detected, another strategy is used. This dynamic adaptation improves accuracy for each specific condition while avoiding the need for a single overly complex universal solution.
Data Source
AI summary
The present disclosure discloses a method for positioning a device. The method includes obtaining a location parameter associated with the device. The location parameter includes at least one of first location information or speed information. The method also includes obtaining an orientation parameter associated with the device. The orientation parameter includes at least one of first orientation information or angle velocity information. Further, the method includes determining target location information of the device by performing a first fusion calculation based on the location parameter and determining target orientation information of the device by performing a second fusion calculation based on the orientation parameter.