Positioning and odometry system

A method comprising:

• determining, with processing circuitry configured to communicate with one or more vehicle beacons installed on an end of a vehicle configured to communicate with one or more guideway beacons positioned at predetermined locations along a guideway, a vehicle position on the guideway using range measurements between the vehicle and the guideway beacons;
• determining, with the processing circuitry using range measurements between the vehicle and the guideway beacons after the processing circuitry wakes from a sleep state, vehicle movement on the guideway and determine a change in the vehicle position from before the processing circuitry entering the sleep state;
• determining, with the processing circuitry using the range measurements between the vehicle and the guideway beacons, whether the vehicle is stationary;
• and
• determining, with the processing circuitry using the range measurements between the vehicle and the guideway beacons, a vehicle speed and a vehicle direction of motion on the guideway.

A non-transitory computer-readable storage medium, comprising executable instructions that, when executed by a processor, cause the processor to:

• determine, with range measurements between one or more vehicle beacons installed on an end of a vehicle and configured to communicate with one or more guideway beacons positioned at predetermined locations along one or more guideways, after the processor wakes from a sleep state, vehicle position and guideway occupancy to determine a change in the vehicle position from before the processor entering the sleep state;
• determine, with the range measurements between the vehicle and the guideway beacons, a periodic vehicle position update;
• determine, with the range measurements between the vehicle and the guideway beacons, a vehicle speed and a vehicle direction of motion on the guideway;
• determine, with the range measurements between the vehicle and the guideway beacons, a vehicle stationary state;
• determine dead-reckoning positioning;
• and
• determine dead-reckoning vehicle speed and dead reckoning vehicle direction of motion.