UWB Self-Localization Using Timestamped Signals for Low-Latency Robots
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Solution Overview
Problem
Current UWB localization systems for robots are unsuitable for applications requiring direct self-localization due to communication delays, high latency, and susceptibility to interference, especially in GPS-denied environments, leading to reduced accuracy and scalability.
Innovation Solution
A self-localizing apparatus that receives timestampable UWB signals from multiple transceivers, allowing it to determine its own 3D position without emitting signals, using timestamping techniques and multilateration to compute location based on signal arrival times, and integrating with onboard sensors for enhanced accuracy and redundancy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a centralized UWB localization system is used where tags emit signals and sensors detect them through a central server, then the system can track asset locations, but it introduces significant communication delays and latency that make it unsuitable for real-time robot control
Solution Approach 1:
The patent extracts the localization computation function from the centralized server and places it directly in the mobile robot. The robot receives UWB signals from multiple transceivers, timestamps them locally, and computes its own position using multilateration algorithms, eliminating the need to communicate position data back to a central server and thus removing communication latency.
Solution Approach 2:
The mobile robot performs self-localization by independently computing its position based on received UWB signals. The robot's onboard processor executes the multilateration algorithm using timestamps from multiple transceivers, enabling the system to serve itself without external computational assistance, thereby achieving real-time localization without communication delays.
2Quantity of substance
If multiple UWB tags transmit signals simultaneously in a centralized system, then more objects can be tracked, but signal overlap occurs which limits the maximum number of tags and reduces system scalability
Solution Approach 1:
The patent implements time-division multiplexing where UWB transceivers transmit signals in periodic time slots rather than simultaneously. Each transceiver is assigned specific time windows for transmission, ensuring that signals from multiple transceivers do not overlap in time, thus eliminating signal interference while enabling tracking of numerous objects simultaneously.
3Loss of information
If a centralized server computes all localization data, then a comprehensive database of asset locations is maintained, but the system becomes vulnerable to wireless interference and loses robustness for safety-critical applications
Solution Approach 1:
The patent segments the centralized localization system into distributed autonomous units. Each mobile robot independently computes its own position using onboard processing, so that the failure or interference affecting one robot does not impact others. This segmentation eliminates the single point of failure represented by the centralized server, thereby enhancing system robustness and reliability.
4Productivity
If UWB tags are equipped with transmitters to emit localization signals, then position data can be obtained, but the update rate is inversely proportional to the number of tags which limits scalability
Solution Approach 1:
The patent uses periodic time-division multiplexing where each transceiver transmits UWB signals at regular intervals within assigned time slots. This periodic transmission scheme allows unlimited transceivers to operate simultaneously without collision, as each transceiver knows when to transmit and when to listen, thereby maintaining high update rates regardless of the number of tracked objects.
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 reduces latency, increases localization accuracy and scalability, and enhances system robustness by enabling robots to operate in GPS-denied environments with improved update rates and resistance to interference.
Implementation Method 1
determine its own 3D position without emitting signals, using timestamping techniques and multilateration to compute location based on signal arrival times
Data Source
AI summary
A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.