US 12,250,657 B2
Construction of a UWB anchor repository
Alexandre Abdo, Rueil Malmaison (FR); and Pierre Sabatier, Rueil Malmaison (FR)
Assigned to SAGEMCOM BROADBAND SAS, Rueil Malmaison (FR)
Filed by SAGEMCOM BROADBAND SAS, Rueil Malmaison (FR)
Filed on Jun. 22, 2023, as Appl. No. 18/339,884.
Claims priority of application No. FR2206198 (FR), filed on Jun. 22, 2022.
Prior Publication US 2023/0422203 A1, Dec. 28, 2023
Int. Cl. H04W 64/00 (2009.01); G01S 13/02 (2006.01)
CPC H04W 64/00 (2013.01) [G01S 13/0209 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for positioning an anchor B in a system RA defined from a position of an anchor A, the anchor A and the anchor B being UWB anchors, which each comprise a UWB communication module, which are each integrated in equipment comprising a Wi-Fi communication module, and which are in Wi-Fi range from one another,
the positioning method using mobile equipment comprising a UWB communication module and a Wi-Fi communication module, and which is located in UWB range at least of the anchor A and in Wi-Fi range of the anchor A and of the anchor B,
the positioning method comprising the steps of:
evaluating, by the equipment integrating the anchor A, by using first UWB signals, a position PMA of the mobile equipment in the system RA;
evaluating, by the equipment integrating the anchor A and/or by the equipment integrating the anchor B and/or by the mobile equipment, a position PB of the anchor B, by determining if the mobile equipment is located in UWB range of the anchor B, and then by using second UWB signals if the mobile equipment is located in UWB range of the anchor B, and using Wi-Fi signals if the mobile equipment is located outside the UWB range of the anchor B;
deducing from the position PMA and from the position PB, a position PBA of the anchor B in the system RA,
wherein, if the mobile equipment is not located in UWB range of the anchor B, determining the position PB comprises the steps of:
measuring by the equipment integrating the anchor A or by the equipment integrating the anchor B, by using first Wi-Fi signals, a distance distAB between the anchor A and the anchor B;
measuring by the mobile equipment or by the equipment integrating the anchor B, by using second Wi-Fi signals, a distance distMB between the mobile equipment and the anchor B;
evaluating the position PB from the distance distAB and the distance distMB,
wherein evaluating the position PB comprises the steps of:
determining Cartesian coordinates of the mobile equipment in a Cartesian system having the anchor A as the origin;
calculating, by using the Cartesian coordinates of the mobile equipment, the intersection point between:
a first circle having, as the centre, the position of the anchor A and, as the radius, the distance distAB;
a second circle having, as the centre, the position of the mobile equipment and, as the radius, the distance distMB;
a third circle having, as the centre, a new position of the mobile equipment following a movement of the mobile equipment, and, as the radius, a new distance dist'MB between the mobile equipment and the anchor B following the movement of the mobile equipment.