US 12,262,288 B2
Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus
Luca Gherardi, Oberrieden (CH); Raffaello D'Andrea, Wollerau (CH); Markus Hehn, Zurich (CH); and Markus Waibel, Zurich (CH)
Assigned to Verity AG, Zurich (CH)
Filed by Verity AG, Zurich (CH)
Filed on Jan. 30, 2024, as Appl. No. 18/427,590.
Application 18/427,590 is a continuation of application No. 18/099,778, filed on Jan. 20, 2023, granted, now 11,924,719.
Application 18/099,778 is a continuation of application No. 17/572,303, filed on Jan. 10, 2022, granted, now 11,595,795, issued on Feb. 28, 2023.
Application 17/572,303 is a continuation of application No. 16/918,813, filed on Jul. 1, 2020, granted, now 11,259,154, issued on Feb. 22, 2022.
Application 16/918,813 is a continuation of application No. 16/552,877, filed on Aug. 27, 2019, granted, now 10,721,602, issued on Jul. 21, 2020.
Application 16/552,877 is a continuation of application No. 16/167,482, filed on Oct. 22, 2018, granted, now 10,440,533, issued on Oct. 8, 2019.
Application 16/167,482 is a continuation of application No. 15/168,122, filed on May 30, 2016, granted, now 10,111,044, issued on Oct. 23, 2018.
Application 15/168,122 is a continuation in part of application No. 15/063,104, filed on Mar. 7, 2016, granted, now 9,885,773, issued on Feb. 6, 2018.
Claims priority of provisional application 62/168,704, filed on May 29, 2015.
Prior Publication US 2024/0205648 A1, Jun. 20, 2024
Int. Cl. H04W 4/30 (2018.01); G01S 1/02 (2010.01); G01S 1/04 (2006.01); G01S 1/20 (2006.01); G01S 5/02 (2010.01); G01S 5/14 (2006.01); G05D 1/00 (2024.01); G05D 1/247 (2024.01); G05D 1/652 (2024.01); H04B 1/69 (2011.01); H04W 4/02 (2018.01); H04W 4/021 (2018.01); H04W 4/029 (2018.01); H04W 84/18 (2009.01)
CPC H04W 4/30 (2018.02) [G01S 1/024 (2013.01); G01S 1/042 (2013.01); G01S 1/20 (2013.01); G01S 5/0284 (2013.01); G01S 5/0289 (2013.01); G01S 5/14 (2013.01); G05D 1/00 (2013.01); G05D 1/028 (2013.01); G05D 1/102 (2013.01); G05D 1/247 (2024.01); G05D 1/652 (2024.01); H04B 1/69 (2013.01); H04W 4/021 (2013.01); H04W 4/026 (2013.01); H04W 4/027 (2013.01); H04W 4/029 (2018.02); H04W 84/18 (2013.01)] 22 Claims
OG exemplary drawing
 
1. 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.