Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus

A self-localizing apparatus for determining a vehicle's position, the self-localizing apparatus composing:

• a first subsystem, comprising:
• a first antenna operable to receive a first radio frequency signal;
• first analog reception electronics configured to amplify the first radio frequency signal;
• first digital reception electronics configured to timestamp the amplified first radio frequency signal with reference to a clock signal;
• and
• a first localization unit configured to compute a first estimate of the self-localizing apparatus' position in a coordinate system based on the timestamp of the amplified first radio frequency signal;
• and
• a second subsystem operably coupled to the first subsystem, comprising:
• a second antenna operable to receive a second radio frequency signal;
• second analog reception electronics configured to amplify the second radio frequency signal;
• second digital reception electronics configured to timestamp the amplified second radio frequency signal with reference to a clock signal;
• and
• a second localization unit configured to compute a second estimate of the self-localizing apparatus' position in a coordinate system based on the timestamp of the amplified second radio frequency signal;
• and
• wherein each of the first subsystem and the second subsystem is configured to be selectively used to control the vehicle without relying on the other subsystem.

A self-localizing apparatus for use in a localization network comprising a plurality of anchors configured to transmit radio frequency signals, the self-localizing apparatus comprising:

• an antenna operable to receive radio frequency signals from the localization network;
• analog reception electronics configured to amplify the radio frequency signals received by the antenna;
• digital reception electronics configured to timestamp the amplified radio frequency signals with reference to a first clock signal to generate a plurality of timestamps;
• and
• a localization unit configured to:
• compute an estimate of the self-localizing apparatus' position in a coordinate system based on the timestamps;
• determine to receive a selected future radio frequency signal from at least two future radio frequency signals;
• configure at least one of the antenna, the analog reception electronics, and the digital reception electronics to receive the selected radio frequency signal;
• and
• compute an updated estimate of the self-localizing apparatus' position in the coordinate system based on the received selected radio frequency signal.

A method for determining a vehicle's position using a self-localizing apparatus that comprises a first subsystem and a second subsystem, the method comprising:

• receiving, using a first antenna of the first subsystem, a first radio frequency signal;
• amplifying, using first analog reception electronics of the first subsystem, the first radio frequency signal;
• timestamping, using first digital reception electronics of the first subsystem, the amplified first radio frequency signal with reference to a clock signal;
• computing, using a first localization unit of the first subsystem, a first estimate of the self-localizing apparatus' position in a coordinate system;
• receiving, using a second antenna of the second subsystem, a second radio frequency signal;
• amplifying, using second analog reception electronics of the second subsystem, the second radio frequency signal;
• timestamping, using second digital reception electronics of the second subsystem, the amplified second radio frequency signal with reference to a clock signal;
• computing, using a second localization unit of the second subsystem, a second estimate of the self-localizing apparatus' position in a coordinate system;
• and
• using one of the first subsystem and the second subsystem without relying on the other subsystem to control the vehicle.

A localization method for a self-localizing apparatus in a localization network comprising a plurality of anchors configured to transmit radio frequency signals, the method comprising:

• receiving, using an antenna, radio frequency signals from the localization network;
• amplifying, using analog reception electronics, the radio frequency signals received by the antenna;
• timestamping, using digital reception electronics, the amplified radio frequency signals with reference to a first clock signal to generate a plurality of timestamps;
• computing, using a localization unit, an estimate of the self-localizing apparatus' position in a coordinate system based on the timestamps;
• determining, using the localization unit, to receive a selected future radio frequency signal from at least two future radio frequency signals;
• configuring, using the localization unit, at least one of the antenna, the analog reception electronics, and the digital reception electronics to receive the selected radio frequency signal;
• and
• computing, using the localization unit, an updated estimate of the self-localizing apparatus' position in the coordinate system based on the received selected radio frequency signal.