Multi-Antenna UWB Pose Estimation Beyond Line-of-Sight Limits
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Solution Overview
Problem
Existing positioning technologies for road safety, such as GNSS and infrastructure-based systems, face accuracy and availability issues, particularly in rural or suburban areas, and are limited by line-of-sight detection.
Innovation Solution
A multi-antenna ultra-wideband (UWB) system is used to determine the pose of another road user, involving the use of UWB technology to determine the pose of another user, involving the use of UWB technology to perform ranging measurements between multiple UWB units of road users, considering geometric relationships and using TDoA and AoA measurements for precise positioning and orientation determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GNSS-based positioning is used, then positioning coverage is provided, but positioning accuracy is insufficient for risky traffic situations
Solution Approach 1:
The patent combines multiple positioning technologies (GNSS, infrastructure-based cameras, and vehicle-mounted sensors) into an integrated system. This fusion allows the system to leverage the strengths of each technology while compensating for their individual weaknesses, achieving both high accuracy and reliability in diverse traffic situations
Solution Approach 2:
The positioning system is designed to perform multiple functions: it provides absolute positioning via GNSS, relative positioning through infrastructure cameras, and sensor-based localization using vehicle-mounted detectors. This multi-functional approach ensures the system can operate reliably across different environments and scenarios
2Measurement precision
If infrastructure-based camera systems are used, then positioning accuracy is improved, but availability is reduced in rural or suburban areas
Solution Approach 1:
The system adapts its positioning strategy based on local conditions: in urban areas with infrastructure, it uses camera-based positioning for high accuracy; in rural areas without infrastructure, it switches to sensor-based localization and GNSS. This localized adaptation ensures both accuracy where available and availability where infrastructure is absent
Solution Approach 2:
The positioning system dynamically switches between different positioning modes (infrastructure-based, sensor-based, GNSS) depending on environmental conditions and available resources. This dynamic behavior allows the system to maintain both high accuracy in suitable environments and broad availability across all locations
3Ease of operation
If vehicle-mounted sensors are used, then positioning is provided from vehicle perspective, but detection is limited to line of sight
Solution Approach 1:
The system uses infrastructure cameras as intermediaries to extend detection beyond the vehicle's direct line of sight. These cameras capture images of road participants and transmit them to vehicles, allowing drivers to see objects that would otherwise be hidden, thus improving both detection capability and coverage
Solution Approach 2:
The system transitions from purely vehicle-mounted sensor detection (single vehicle-centric dimension) to a multi-dimensional approach incorporating infrastructure-based aerial or elevated camera views. This additional spatial dimension enables detection of road participants outside the vehicle's direct line of sight
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
The UWB system provides accurate and comprehensive positioning and orientation information, enhancing safety in areas with limited satellite availability and improving the performance of advanced driver-assistance systems and autonomous vehicles.
Implementation Method 1
Performing the respective ultra-wideband ranging measurement between the two or more ultra-wideband units of the two road users
Implementation Method 2
using TDoA and AoA measurements for precise positioning and orientation determination
Implementation Method 3
using TDoA and AoA measurements for precise positioning and orientation determination
Data Source
AI summary
A method for determining a pose of another road user. The method includes the following steps performed by a road user using a multi antenna ultra-wideband system: receiving information including an indication regarding a capability for ultra-wideband-based ranging of the other road user, at least one set of parameters for two or more ultra-wideband units to configure a respective ultra-wideband unit, and information with respect to a geometric relationship of two or more ultra-wideband units of the other road user; configuring the ultra-wideband units of the road user based on the set of parameters to enable a respective ultra-wideband ranging measurement; performing the respective ultra-wideband ranging measurement between the ultra-wideband units of the two road users; determining a pose of the other road user based on each or a subset of the performed ultra-wideband ranging measurements and based on the geometric relationship of the other road user's ultra-wideband units.