Method and apparatus for integrated algorithm-based position estimation
AssigneesHyundai Motor Company, Kia Corporation
InventorsJung Hun Choi, Dong Hyun Ha, Jae Wung Jung
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Abstract
A position estimation method is performed by a position estimation apparatus, wherein the position estimation method includes switching from a UWB static domain to a UWB dynamic domain when a startup state of a vehicle is switched from OFF to ON; operating one or more anchors mounted on the vehicle; and estimating a position of a tag by performing at least one of an advanced trilateration measurement (ATM) algorithm and a smart anchor positioning (SAP) algorithm, wherein the one or more anchors and the tag transmit and receive ultra wideband (UWB) pulse waves.
Claims18
A position estimation method performed by a position estimation apparatus, the position estimation method comprising:
- switching, by at least one processor of the position estimation apparatus, from an ultra wideband (UWB) static domain to a UWB dynamic domain when a startup state of a vehicle is switched from OFF to ON;
- operating, by the at least one processor, one or more anchors mounted on the vehicle;
- and
- estimating, by the at least one processor, a position of a tag by performing at least one of an advanced trilateration measurement (ATM) algorithm and a smart anchor positioning (SAP) algorithm,
- wherein the one or more anchors and the tag transmit and receive UWB pulse waves,
- wherein the SAP algorithm is an algorithm for identifying one or more line of sight (LOS) anchors among the one or more anchors mounted on the vehicle, selecting a reference anchor from the one or more LOS anchors, selecting three coordinates from a movement route of the vehicle when a number of reference anchors is one, estimating three distances between the reference anchor and the tag at the three coordinates and estimating the position of the tag by applying a trilateration technique using the three coordinates and the three distances.
A position estimation apparatus comprising a memory and a plurality of processors,
- wherein at least one of the plurality of processors is configured to:
- switch from an ultra wideband (UWB) static domain to a UWB dynamic domain when a startup state of a vehicle is switched from OFF to ON,
- operate one or more anchors mounted on the vehicle, and
- estimate a position of a tag by performing at least one of an advanced trilateration measurement (ATM) algorithm and a smart anchor positioning (SAP) algorithm,
- wherein the one or more anchors and the tag transmit and receive UWB pulse waves, and
- wherein the SAP algorithm is an algorithm for identifying one or more line of sight (LOS) anchors among the one or more anchors mounted on the vehicle, selecting a reference anchor from the one or more LOS anchors, selecting three coordinates from a movement route of the vehicle when a number of reference anchors is one, estimating three distances between the reference anchor and the tag at the three coordinates and estimating the position of the tag by applying a trilateration technique using the three coordinates and the three distances.
Dependencies are inferred from the claim text.