Self-Localizing UWB Transceivers for Low-Latency 3D Positioning
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Solution Overview
Problem
Current UWB localization systems for robots are inadequate due to high latency, susceptibility to interference, and limited scalability, making them unsuitable for accurate and real-time positioning in GPS-denied environments and applications requiring high update rates.
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, thereby reducing latency and increasing robustness and scalability, and enabling operation in environments with obstacles and interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a centralized UWB localization system is used where tags emit signals and a central server computes locations, then the system can maintain a centralized database of asset locations, but the system introduces significant communication latency and is unsuitable for real-time robot control
Solution Approach 1:
The patent extracts the location computation function from the centralized server and places it directly in the mobile robot. The robot receives UWB signals from stationary transceivers, processes the signals locally to determine its own location, and acts on this information without needing to communicate with a central server. This extraction of the computation function eliminates the communication latency while maintaining reliable location tracking.
2Productivity
If multiple UWB tags emit signals simultaneously in a centralized system, then asset tracking can be performed, but signal overlap occurs resulting in lower redundancy and limited scalability
Solution Approach 1:
Instead of having mobile tags emit signals that are received by stationary sensors (the conventional approach), the patent inverts the roles: stationary transceivers emit signals that are received by the mobile robot. This inversion allows multiple stationary transceivers to transmit simultaneously without causing interference at the receiver, since the robot processes signals from multiple sources independently. This enables higher tracking update rates with improved signal redundancy and system scalability.
3Ease of operation
If a centralized server architecture is used for UWB localization, then location computation can be performed, but the system architecture is complex and requires significant communication infrastructure
Solution Approach 1:
The mobile robot performs location computation autonomously using its own onboard processor. The robot receives UWB signals from stationary transceivers, extracts timing information, calculates its position relative to the transceivers, and uses this location information for navigation and control. This self-service approach eliminates the need for a centralized server and complex communication infrastructure, simplifying the overall system architecture while maintaining ease of operation.
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 solution provides accurate, real-time localization with lower latency and higher update rates, enhancing robot control and operation in challenging environments with improved energy efficiency and system robustness.
Implementation Method 1
A self-localizing apparatus that receives timestampable UWB signals from multiple transceivers, allowing it to determine its own 3D position without emitting signals
Data Source
AI summary
A transceiver network comprises first, second, and third transceivers that are configured to transmit signals that are spread over a bandwidth that exceeds the lesser of 125 MHz and 5% of an arithmetic center frequency of the signals. An additional transceiver with at least a partially unknown relative position can be added to the transceiver network. The additional transceiver receives the signals from the first, second, and third transceivers and timestamps the receptions. A position calibration unit is configured to compute the position of the additional transceiver relative to the first, second, and third transceivers based on the reception timestamps and known relative locations of the first, second, and third transceivers. The additional transceiver can be configured to transmit (e.g., in a transmission time slot) an additional signal as part of the transceiver network.