Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.
1. A method for operating a localization system comprising a plurality of positioning anchors, the method comprising:
transmitting, using the plurality of positioning anchors, first timestampable localization signals according to a first transmission schedule, wherein the first timestampable localization signals comprise a first set of transmission characteristics and wherein the first timestampable localization signals can be used by a self-localizing apparatus to determine position information within a first geographic region; and
transmitting, using the plurality of positioning anchors, second timestampable localization signals according to a second transmission schedule, wherein the second timestampable localization signals comprise a second set of transmission characteristics, wherein the second timestampable localization signals can be used by the self-localizing apparatus to determine position information within a second geographic region, and wherein:
the first geographic region and the second geographic region at least partially overlap;
at least some of the first timestampable localization signals and the second timestampable localization signals are transmitted such that they overlap in time; and
at least one type of transmission characteristic is different in the first set of transmission characteristics and the second set of transmission characteristics to reduce interference between the at least some of the first timestampable localization signals and the second timestampable localization signals that overlap.
2. The method of claim 1 , wherein the at least one type of transmission characteristic comprises at least one of transmission center frequency, transmission frequency bandwidth, preamble code, and preamble modulation scheme.
3. The method of claim 1 , wherein one of the plurality of positioning anchors comprises first and second antennas and is configured to transmit one of the first timestampable localization signals using the first antenna and one of the second timestampable localization signals using the second antenna.
4. The method of claim 3 , wherein the one positioning anchor is configured to transmit the one first timestampable localization signal and the one second timestampable localization signal such that they overlap in time.
5. The method of claim 1 , wherein the self-localizing apparatus comprises at least one reception setting, the method further comprising:
configuring the at least one reception setting of the self-localizing apparatus to select which of the first and second timestampable localization signals to receive.
6. The method of claim 1 , further comprising:
determining, using the self-localizing apparatus, whether to receive one of the first timestampable localization signals or one of the second timestampable localization signals based on information.
7. The method of claim 6 , wherein the information comprises configuration information received as part of a previously received timestampable localization signal.
8. The method of claim 6 , wherein the information comprises information stored on memory of the self-localizing apparatus.
9. The method of claim 6 , wherein the information comprises one of an internal metric of the self-localizing apparatus and an internal state of the self-localizing apparatus.
10. The method of claim 1 , further comprising:
receiving, using one of the plurality of positioning anchors, at least one of the first timestampable localization signals and the second timestampable localization signals transmitted by at least one other of the plurality of positioning anchors.
11. The method of claim 10 , further comprising:
determining, using the one positioning anchor, whether to receive one of the first timestampable localization signals or one of the second timestampable localization signals based on information.
12. The method of claim 11 , wherein the information comprises configuration information received as part of a previously received timestampable localization signal.
13. The method of claim 11 , wherein the information comprises information stored on memory of the one positioning anchor.
14. The method of claim 1 , wherein the first set of transmission characteristics and the second set of transmission characteristics comprise the same center frequency and transmission frequency bandwidth.
15. The method of claim 1 , wherein the first timestampable localization signals comprise first ultra-wideband (UWB) signals, and the second timestampable localization signals comprise second UWB signals.
16. A localization system, comprising:
a plurality of positioning anchors configured to:
transmit first timestampable localization signals according to a first transmission schedule, wherein the first timestampable localization signals comprise a first set of transmission characteristics and wherein the first timestampable localization signals can be used by a self-localizing apparatus to determine position information within a first geographic region;
transmit second timestampable localization signals according to a second transmission schedule, wherein the second timestampable localization signals comprise a second set of transmission characteristics, wherein the second timestampable localization signals can be used by the self-localizing apparatus to determine position information within a second geographic region, and wherein:
the first geographic region and the second geographic region at least partially overlap;
at least some of the first timestampable localization signals and the second timestampable localization signals are transmitted such that they overlap in time;
at least one type of transmission characteristic is different in the first set of transmission characteristics and the second set of transmission characteristics to reduce interference between the at least some of the first timestampable localization signals and the second timestampable localization signals that overlap.
17. The localization system of claim 16 , wherein the plurality of positioning anchors further comprises a first and a second set of three radio frequency anchors, wherein each of the radio frequency anchors is configured to emit a radio frequency signal and wherein each of the radio frequency anchors comprises:
an anchor antenna;
an anchor clock interface operable to receive an anchor clock signal;
analog transmission electronics; and
digital transmission electronics operationally coupled to the anchor clock interface and the analog transmission electronics and operable to emit the radio frequency signal at a scheduled transmission time with reference to the anchor clock signal; and
wherein the system further comprises a self-localizing apparatus operable to receive the radio frequency signals, comprising:
an apparatus antenna;
an apparatus clock interface configured to receive an apparatus clock signal;
apparatus analog reception electronics; and
apparatus digital reception electronics operationally coupled to the apparatus clock interface and the apparatus analog reception electronics and configured to timestamp the received radio frequency signals with reference to the apparatus clock signal;
wherein the first and second sets of radio frequency anchors operate in geographically adjacent cells with an overlapping region;
wherein the self-localizing apparatus is configured to receive the radio frequency signals from the first set of radio frequency anchors or from the second set of radio frequency anchors when positioned in the overlapping region; and
wherein the plurality of positioning anchors is configured to use at least one of separation of signals in time, separation of signals in space, or separation of signals in frequency to mitigate signal interference between the first and second sets of radio frequency anchors.
18. The system of claim 16 , wherein the at least one type of transmission characteristic comprises at least one of transmission center frequency, transmission frequency bandwidth, preamble code, and preamble modulation scheme.
19. The system of claim 16 , wherein one of the plurality of positioning anchors is further configured to:
receive at least one of the first timestampable localization signals and the second timestampable localization signals transmitted by at least one other of the plurality of positioning anchors.
20. The system of claim 16 , wherein the first timestampable localization signals comprise first ultra-wideband (UWB) signals, and the second timestampable localization signals comprise second UWB signals.