US 11,945,480 B2
Positioning and odometry system
Alon Green, Toronto (CA); James Kevin Tobin, Toronto (CA); and Marco De Thomasis, Toronto (CA)
Assigned to GROUND TRANSPORTATION SYSTEMS CANADA INC., Ontario (CA)
Filed by Ground Transportation Systems Canada Inc., Toronto (CA)
Filed on Dec. 8, 2020, as Appl. No. 17/115,348.
Claims priority of provisional application 62/945,654, filed on Dec. 9, 2019.
Prior Publication US 2021/0171079 A1, Jun. 10, 2021
Int. Cl. B61L 25/02 (2006.01); B61L 5/12 (2006.01); B61L 15/00 (2006.01); B61L 15/02 (2006.01)
CPC B61L 25/021 (2013.01) [B61L 5/125 (2013.01); B61L 15/0027 (2013.01); B61L 15/02 (2013.01); B61L 25/023 (2013.01); B61L 25/025 (2013.01); B61L 25/026 (2013.01); B61L 2207/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A positioning and odometry system comprising:
two or more vehicle beacons installed on an end of a vehicle and configured to communicate with one or more guideway beacons, the one or more guideway beacons installed along a guideway;
processing circuitry configured to communicate with the one or more vehicle beacons, the processing circuitry configured to perform at least one of:
determine, before the processing circuitry enters a sleep state, a first vehicle position on the guideway using range measurements between the vehicle beacons and the guideway beacons;
determine, after the processing circuitry wakes from the sleep state, a second vehicle position on the guideway using range measurements between the vehicle beacons and the guideway beacons;
determine, after the processing circuitry wakes from the sleep state, any difference between the first vehicle position on the guideway and the second vehicle position on the guideway;
determine a third vehicle position on the guideway using range measurements between the vehicle and the guideway beacons taken at configurable time intervals; and
determine a vehicle speed using range measurements between a single vehicle beacon and a single guideway beacon where speed is measured as a change in the third vehicle position over time.