US 12,352,841 B2Granted

System and method for obtaining relative location of anchor-free UWB-based node

AssigneeElectronics and Telecommunications Research Institute

InventorsJi Hun Jeon, Sang Yeoun Lee, Jun Hee Park, Kang Bok Lee, Soo Young Jang, Min Gi Jeong

Life of this patent

Estimating the term…

Loading patent…

Abstract

There is provided a method performed by a system for obtaining a relative location of an anchor-free UWB-based node. The method includes obtaining relative distances between a plurality of nodes based on UWB sensor values between the nodes, constructing a relative coordinate system having a center node of the plurality of nodes as a base, and calculating coordinate values of other nodes in the relative coordinate system. The constructing of the relative coordinate system having the center node of the plurality of nodes as a base includes constructing the relative coordinate system based on a relative distance between the center node and another node and absolute values of y axis values.

Claims14

Dependent claims

A method performed by a system for obtaining a relative location of an anchor-free ultra wide band (UWB)-based node, the method comprising:

obtaining relative distances between each node and other nodes among a plurality of nodes based on UWB sensor values between each node and the other nodes;
constructing a relative coordinate system having each node as a base, wherein each node is set as a center node relative to the other nodes when constructing the relative coordinate system;
and
calculating coordinate values of the other nodes in each of the relative coordinate systems,
wherein the constructing of the relative coordinate system having each node as the base comprises:
setting, as a node that determines an X axis (hereinafter referred to as an “X axis node”), a node having a farthest relative distance from each node of the plurality of nodes;
setting a Y axis by using each node and the X axis node as a base;
obtaining coordinate values of the other nodes based on the relative distances between each node and the other nodes;
and
setting, as a node disposed in a positive Y axis (hereinafter referred to as a “Y axis node”), a node having a greatest absolute value of the y axis values of the coordinate values among the other nodes.

7 more elements

A system for obtaining a relative location of an anchor-free ultra wide band (UWB)-based node, the system comprising:

a plurality of nodes configured to obtain relative distances between each node and other nodes among the plurality of nodes based on UWB sensor values between each node and the other nodes;
and
a relative location acquisition unit installed in each node of the plurality of nodes and configured to construct a relative coordinate system having each node as a base and calculate coordinate values of the other nodes in each of the relative coordinate systems, wherein each node is set as a center node relative to the other nodes when constructing each of the relative coordinate systems,
wherein the relative location acquisition unit is configured to:
set, as a node that determines an X axis (hereinafter referred to as an “X axis node”), a node having a farthest relative distance from each node of the plurality of nodes,
set a Y axis by using each node and the X axis node as a base,
obtain coordinate values of the other nodes based on the relative distances between each node and the other nodes, and
set, as a node disposed in a positive Y axis (hereinafter referred to as a “Y axis node”), a node having a greatest absolute value of the y axis values of the coordinate values among the other nodes.

5 more elements

An anchor-free ultra wide band (UWB)-based node capable of obtaining a relative location from each of a plurality of nodes, the node comprising:

a communication module configured to obtain relative distances between each node and other nodes among the plurality of nodes based on UWB sensor values between each node and the other nodes;
a memory configured to store a program for obtaining the relative locations of the plurality of nodes based on the obtained relative distances;
and
a processor configured to construct a relative coordinate system having each node as a base based on the relative distances between each node and the other nodes and absolute values of y axis values and calculate coordinate values of the other nodes in each of the relative coordinate systems, by executing the program stored in the memory, wherein each node is set as a center node relative to the other nodes when constructing each of the relative coordinate systems,
wherein the processor is further configured to:
set, as a node that determines an X axis (hereinafter referred to as an “X axis node”), a node having a farthest relative distance from each node of the plurality of nodes,
set a Y axis by using each node and the X axis node as a base,
obtain coordinate values of the other nodes based on the relative distances between each node and the other nodes, and
set, as a node disposed in a positive Y axis (hereinafter referred to as a “Y axis node”), a node having a greatest absolute value of the y axis values of the coordinate values among the other nodes.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/845,238Filed 21 Jun 2022
Priority: KR 10-2022-000951221 Jan 2022
Published: US 2023/0236301 A127 Jul 2023
Granted: 8 Jul 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

G01S 5/0289
Relative positioning: of multiple transceivers, e.g. in ad hoc networks
G01S 13/0209
Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems: systems with very large relative bandwidth, i.e. larger…
G01S 5/0284
Using radio waves: relative positioning
G01S 13/04
Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems: systems determining presence of a target