Method and apparatus for smart anchor-based position estimation
AssigneesHyundai Motor Company, Kia Corporation
InventorsJung Hun Choi, Dong Hyun Ha, Jae Wung Jung
Life of this patent
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Abstract
A smart anchor-based position estimation method and apparatus are disclosed. The position estimation method, performed by a position estimation apparatus, includes: identifying one or more line-of-sight (LOS) anchors from among one or more anchors mounted in a vehicle; selecting reference anchors from among the one or more LOS anchors; and estimating a position of a tag based on a number of the reference anchors. The reference anchors are selected based on a rate of formation of an ultra-wideband (UWB) link to the tag and accuracy of the estimated position of the tag.
Claims16
A position estimation method performed by a position estimation apparatus, the position estimation method comprising:
- identifying one or more line-of-sight (LOS) anchors that are within line of sight of a tag from among one or more anchors mounted in a vehicle;
- selecting one or more reference anchors from among the one or more LOS anchors;
- and
- estimating a position of the tag based on a number of the one or more reference anchors and ultra-wideband (UWB) links formed between the one or more reference anchors and the tag,
- wherein the one or more reference anchors are selected based on a rate of formation of a UWB link to the tag and a predicted accuracy of the estimated position of the tag based on combinations of anchors,
- wherein the estimating of the position of the tag based on the number of the one or more reference anchors comprises:
- determining that the number of the one or more reference anchors is one;
- selecting three coordinates on a movement route of the vehicle;
- and
- estimating the position of the tag using the three coordinates and an estimated distance between the one reference anchor and the tag,
- wherein the one reference anchor is selected by applying a smart anchor-based position estimation algorithm to the one or more LOS anchors in parallel, and is an anchor having a highest rate of formation of a UWB link to the tag and a highest accuracy of the position of the tag among the one or more LOS anchors.
A position estimation apparatus comprising:
- a memory;
- and
- a plurality of processors, wherein at least one processor of the plurality of processors is configured to:
- identify one or more line-of-sight (LOS) anchors from among one or more anchors mounted in a vehicle;
- select one or more reference anchors that are within line of sight of a tag from among the one or more LOS anchors;
- and
- estimate a position of the tag based on a number of the one or more reference anchors and ultra-wideband (UWB) links formed between the one or more reference anchors and the tag,
- wherein the one or more reference anchors are selected based on a rate of formation of a UWB link to the tag and a predicted accuracy of the estimated position of the tag based on combinations of anchors,
- wherein the at least one processor is further configured to:
- select three coordinates on a movement route of the vehicle when the number of the one or more reference anchors is 1;
- and
- estimate the position of the tag using the three coordinates and an estimated distance between the one reference anchor and the tag,
- wherein the one reference anchor is selected by applying a smart anchor-based position estimation algorithm to the one or more LOS anchors in parallel, and is an anchor having a highest rate of formation of a UWB link to the tag and a highest accuracy of the position of the tag among the one or more LOS anchors.
Dependencies are inferred from the claim text.