Systems and methods for mobile platform localization using ultra wide band (UWB) signals

Patent metadata

Field	Value
Publication number	US-11768268-B2
Application number	US-202017112139-A
Country	US
Kind code	B2
Filing date	Dec 4, 2020
Priority date	Dec 4, 2020
Publication date	Sep 26, 2023
Grant date	Sep 26, 2023

Abstract

Systems and methods for mobile platform localization for a mobile platform. The system includes three independent ultra-wideband (UWB) sensors mounted on the mobile platform and a UWB localization module operationally coupled to the first UWB sensor, the second UWB sensor, and the third UWB sensor, and programmed by programming instructions to: identify first beacon UWB transmissions from a first beacon external to the mobile platform and generate a spatial location of the first beacon; identify second beacon UWB transmissions from a second beacon external to the mobile platform and generate a spatial location of the second beacon; identify third beacon UWB transmissions from a third beacon located external to the mobile platform; and generate a spatial location of the mobile platform, as a function of the spatial location of the first beacon, the spatial location of the second beacon, and the spatial location of the third beacon.

First claim

What is claimed is:

1. A mobile platform localization system for a mobile platform, comprising:
a first ultra-wideband (UWB) sensor mounted on the mobile platform;
a second UWB sensor mounted on the mobile platform;
a third UWB sensor mounted on the mobile platform;
wherein the first UWB sensor, the second UWB sensor, and the third UWB sensor are mounted according to a non-linear arrangement;
a UWB localizer circuit operationally coupled to the first UWB sensor, the second UWB sensor, and the third UWB sensor, and programmed by programming instructions to:
receive, from the first UWB sensor, the second UWB sensor and the third UWB sensor, first beacon UWB transmissions sensed from a first beacon located external to the mobile platform;
identify the first beacon and generate a spatial location of the first beacon based on the first beacon UWB transmissions;
receive, from the first UWB sensor, the second UWB sensor and the third UWB sensor, second beacon UWB transmissions sensed from a second beacon located external to the mobile platform;
identify the second beacon and generate a spatial location of the second beacon based on the second beacon UWB transmissions;
receive, from the first UWB sensor, the second UWB sensor and the third UWB sensor, third beacon UWB transmissions sensed from a third beacon located external to the mobile platform; and
identify the third beacon and generate a spatial location of the third beacon based on the third beacon UWB transmissions; and
generate a spatial location of the mobile platform, as a function of the spatial location of the first beacon, the spatial location of the second beacon, and the spatial location of the third beacon.

2. The mobile platform localization system of claim 1 , wherein the UWB localizer circuit is further programmed to utilize triangle localization to generate the spatial location of the first beacon, the spatial location of the second beacon, and the spatial location of the third beacon.

3. The mobile platform localization system of claim 2 , wherein the UWB localizer circuit is further programmed to utilize triangle localization to generate the spatial location of the mobile platform.

4. The mobile platform localization system of claim 3 , wherein the UWB localizer circuit is further configured to provide the spatial location of the mobile platform to an integrated localization module onboard the mobile platform.

5. The mobile platform localization system of claim 4 , further comprising:
a database of map information; and
wherein the UWB localizer circuit is further configured to reference the map information to validate the spatial location of the mobile platform.

6. The mobile platform localization system of claim 1 , wherein the UWB localizer circuit is further configured to provide the spatial location of the mobile platform to an integrated localization module onboard the mobile platform.

7. The mobile platform localization system of claim 1 , further comprising:
a database of map information; and
wherein the UWB localizer circuit is further configured to reference the map information to validate the spatial location of the mobile platform.

8. A method for mobile platform localization system for a mobile platform, comprising:
receiving, from a first beacon located external to the mobile platform, first beacon ultra-wideband (UWB) transmissions at a first ultra-wideband (UWB) sensor mounted on the mobile platform, at a second UWB sensor mounted on the mobile platform, and at a third UWB sensor mounted on the mobile platform, wherein the first UWB sensor, the second UWB sensor, and the third UWB sensor are mounted according to a non-linear arrangement;
identifying the first beacon and generating a spatial location of the first beacon based on the first beacon UWB transmissions;
receiving, from a second beacon located external to the mobile platform, second beacon UWB transmissions at the first UWB sensor, at the second UWB sensor, and at the third UWB sensor;
identifying the second beacon and generating a spatial location of the second beacon based on the second beacon UWB transmissions;
receiving, from a third beacon located external to the mobile platform, third beacon UWB transmissions at the first UWB sensor, at the second UWB sensor, and at the third UWB sensor;
identifying the third beacon and generating a spatial location of the third beacon based on the third beacon UWB transmissions; and
generating a spatial location of the mobile platform, as a function of the spatial location of the first beacon, the spatial location of the second beacon, and the spatial location of the third beacon.

9. The method for mobile platform localization of claim 8 , further comprising utilizing triangle localization to generate the spatial location of the first beacon, the spatial location of the second beacon, and the spatial location of the third beacon.

10. The method for mobile platform localization of claim 9 , further comprising utilizing triangle localization to generate the spatial location of the mobile platform.

11. The method for mobile platform localization of claim 10 , further comprising providing the spatial location of the mobile platform to an integrated localization module onboard the mobile platform.

12. The method for mobile platform localization of claim 11 , further comprising
referencing a database of map information; and
validating the spatial location of the mobile platform using the map information.

13. The method for mobile platform localization of claim 8 , further comprising providing the spatial location of the mobile platform to an integrated localization module onboard the mobile platform.

14. The method for mobile platform localization of claim 8 , further comprising referencing a database of map information; and
validating the spatial location of the mobile platform using the map information.

15. A mobile platform localization system for a mobile platform, comprising:
a first ultra-wideband (UWB) sensor mounted on the mobile platform;
a second UWB sensor mounted on the mobile platform;
a third UWB sensor mounted on the mobile platform;
a UWB localization module communicatively coupled to the first UWB sensor, the second UWB sensor, and the third UWB sensor, and configured to:
identify a spatial location of a first beacon based on triangle localization and first UWB transmissions sensed by the first UWB sensor, the second UWB sensor, and the third UWB sensor;
identify a spatial location of a second beacon based on triangle localization and second UWB transmissions sensed by the first UWB sensor, the second UWB sensor, and the third UWB sensor;
identify a spatial location of a third beacon based on triangle localization and first UWB transmissions sensed by the first UWB sensor, the second UWB sensor, and the third UWB sensor; and
generate a spatial location of the mobile platform, as a function of the spatial location of the first beacon, the spatial location of the second beacon, and the spatial location of the third beacon.

16. The mobile platform localization system of claim 15 , wherein UWB localizer module further comprises an output module to generate the spatial location of the mobile platform using a triangle location method.

17. The mobile platform localization system of claim 16 , wherein the output module further provides the spatial location of the mobile platform to an integrated localization module onboard the mobile platform.

18. The mobile platform localization system of claim 17 , wherein the UWB localizer module

Assignees

• Gm Global Tech Operations Llc

Inventors

• Zhang Xinliang
• Wang Jieping
• Shen Li
• Wang Zhijun

Classifications

• G01S5/04 Primary

  Position of source determined by a plurality of spaced direction-finders · CPC title

• G01S5/02213

  Receivers arranged in a network for determining the position of a transmitter · CPC title

• G01S5/021

  Calibration, monitoring or correction (G01S5/0252 takes precedence) · CPC title

• G01S5/0244

  Accuracy or reliability of position solution or of measurements contributing thereto · CPC title

• G01S5/0249

  Determining position using measurements made by a non-stationary device other than the device whose position is being determined · CPC title