Multi-sensor vehicle positioning system employing shared data protocol

1. A system, comprising:

a hardware processor; and

a non-transitory machine-readable storage medium encoded with instructions executable by the hardware processor to perform operations comprising:

receiving Global Positioning System (GPS) location data;

determining a first quality of service (QOS) of the GPS location data;

determining, based on the first QoS of the GPS location data, whether a quality of the GPS location data is above a quality threshold;

responsive to determining the quality of the GPS location data is above the quality threshold, determining the GPS location data are available;

responsive to determining the quality of the GPS location data is not above the quality threshold, determining the GPS location data are unavailable;

responsive to determining the GPS location data are available:

determining a first location based on the GPS location data,

generating a first message in National Marine Electronics Association (NMEA) format, the first message indicating the first location, and

causing transmission of the first message; and

responsive to determining the GPS location data are unavailable:

weighting the GPS location data according to the first QoS,

determining a second QoS of the non-GPS location data,

weighting the non-GPS location data according to the second QoS,

determining a second location based on the weighted GPS location data and the weighted non-GPS location data,

generating a second message in the NMEA format, the second message indicating the second location, and

causing transmission of the second message.

2. The system of claim 1 , wherein the non-GPS location data comprise at least one of: ultra-wideband (UWB) radio ranging data; light-detection and ranging (lidar) data; radio detection and ranging (radar) data; sound navigation and ranging (sonar) data; and inertial measurement unit (IMU) data.

3. The system of claim 1 , the operations further comprising: determining a velocity based on the GPS location data and/or the non-GPS location data.

4. A non-transitory machine-readable storage medium encoded with instructions executable by a hardware processor of a computing component, the machine-readable storage medium comprising instructions to cause the hardware processor to perform operations comprising:

receiving Global Positioning System (GPS) location data;

determining a first quality of service (QOS) of the GPS location data;

determining, based on the first QoS of the GPS location data, whether a quality of the GPS location data is above a quality threshold;

responsive to determining the quality of the GPS location data is above the quality threshold, determining the GPS location data are available;

responsive to determining the quality of the GPS location data is not above the quality threshold, determining the GPS location data are unavailable;

responsive to determining the GPS location data are available:

determining a first location based on the GPS location data,

generating a first message in National Marine Electronics Association (NMEA) format, the first message indicating the first location, and

causing transmission of the first message; and

responsive to determining the GPS location data are unavailable:

weighting the GPS location data according to the first QoS,

determining a second QoS of the non-GPS location data,

weighting the non-GPS location data according to the second QoS,

determining a second location based on the weighted GPS location data and the weighted non-GPS location data,

generating a second message in the NMEA format, the second message indicating the second location, and

causing transmission of the second message.

5. The non-transitory machine-readable storage medium of claim 4 , wherein the non-GPS location data comprise at least one of: ultra-wideband (UWB) radio ranging data; light-detection and ranging (lidar) data; radio detection and ranging (radar) data; sound navigation and ranging (sonar) data; and inertial measurement unit (IMU) data.

6. The non-transitory machine-readable storage medium of claim 4 , the operations further comprising: determining a velocity based on the GPS location data and/or the non-GPS location data.

7. A computer-implemented method comprising:

receiving Global Positioning System (GPS) location data;

determining a first quality of service (QOS) of the GPS location data;

determining, based on the first QoS of the GPS location data, whether a quality of the GPS location data is above a quality threshold;

responsive to determining the quality of the GPS location data is above the quality threshold, determining the GPS location data are available;

responsive to determining the quality of the GPS location data is not above the quality threshold, determining the GPS location data are unavailable;

responsive to determining the GPS location data are available:

determining a first location based on the GPS location data,

generating a first message in National Marine Electronics Association (NMEA) format, the first message indicating the first location

causing transmission of the first message; and

responsive to determining the GPS location data are unavailable:

weighting the GPS location data according to the first QoS,

determining a second QoS of the non-GPS location data,

weighting the non-GPS location data according to the second QoS,

determining a second location based on the weighted GPS location data and the weighted non-GPS location data,

generating a second message in the NMEA format, the second message indicating the second location, and

transmitting the second message.

8. The computer-implemented method of claim 7 , wherein the non-GPS location data comprise at least one of: ultra-wideband (UWB) radio ranging data; light-detection and ranging (lidar) data; radio detection and ranging (radar) data; sound navigation and ranging (sonar) data; and inertial measurement unit (IMU) data.