Position estimation system and method

A vehicle comprising:

• a positioning unit configured to operate in a first mode for communicating with one or more first radio-responsive devices and operate in a second mode for communicating with one or more second radio responsive devices, wherein the positioning unit is configured to estimate a coarse position of the vehicle based on data received while operating in the first mode, and estimate a fine position of the vehicle based on data received while operating in the second mode;
• and
• a control unit coupled to the positioning unit and a braking system configured to receive a braking control signal from a control unit, wherein:
• within a coarse area of interest, the braking control signal is based on the coarse position of the vehicle;
• and
• within a fine area of interest the braking control signal is based on the fine position of the vehicle.

A system for estimating position, comprising:

• a first set of stationary radio-responsive devices disposed relative to a point of interest, the point of interest comprising a docking station, a re-fueling station, or a passenger platform;
• a second set of stationary radio-responsive devices disposed relative to the point of interest;
• and
• a vehicle comprising:
• a positioning unit configured to operate in a first mode for communicating with the first set of radio-responsive devices and operate in a second mode for communicating with the second set of radio responsive devices;
• wherein the positioning unit is configured to estimate a coarse position of the vehicle based on data received while operating in the first mode, and estimate a fine position of the vehicle based on data received while operating in the second mode, and wherein the positioning unit is configured to estimate at least one of the coarse position or the fine position based on a measured time-of-flight of signals sent to and received from the first set of radio-responsive devices or the second set of radio-responsive devices, respectively.

A system for estimating position, comprising:

• a first set of stationary radio-responsive devices disposed relative to a point of interest;
• a second set of stationary radio-responsive devices disposed relative to the point of interest;
• and
• a vehicle comprising:
• a positioning unit configured to operate in a first mode for communicating with the first set of radio-responsive devices and operate in a second mode for communicating with the second set radio responsive devices;
• wherein the positioning unit is configured to estimate a coarse position of the vehicle based on data received while operating in the first mode, and estimate a fine position of the vehicle based on data received while operating in the second mode;
• wherein the second set of radio-responsive devices comprises three or more active reflectors disposed at known locations relative to the point of interest, and estimating the fine position comprises measuring a time-of-flight of signals sent to and reflected from the three or more active reflectors.

A method of estimating position, comprising:

• within a first area of interest, communicating with one or more first radio responsive devices to estimate a coarse position;
• within a second area of interest, communicating with one or more second radio-responsive devices to estimate a fine position;
• and
• transmitting a braking signal to a braking system, wherein:
• within the first area of interest, the braking signal is generated based on the coarse position;
• and
• within the second area of interest, the braking signal is based on the fine position.