US 12,291,250 B2
Portable positioning and odometry system
Walter Kinio, Toronto (CA); Rudy Rochefort, Toronto (CA); and Alon Green, Toronto (CA)
Assigned to Hitachi Rail GTS Canada Inc., Toronto (CA)
Filed by Hitachi Rail GTS Canada Inc., Toronto (CA)
Filed on Oct. 16, 2020, as Appl. No. 17/073,172.
Claims priority of provisional application 62/916,715, filed on Oct. 17, 2019.
Prior Publication US 2021/0114639 A1, Apr. 22, 2021
Int. Cl. B61L 25/02 (2006.01); B61L 27/04 (2006.01); G01S 13/86 (2006.01); G01S 17/86 (2020.01); H04B 1/00 (2006.01); B61L 27/20 (2022.01); G01S 13/931 (2020.01)
CPC B61L 25/025 (2013.01) [B61L 25/026 (2013.01); B61L 27/04 (2013.01); G01S 13/86 (2013.01); G01S 17/86 (2020.01); H04B 1/005 (2013.01); B61L 25/021 (2013.01); B61L 2027/204 (2022.01); B61L 2201/00 (2013.01); G01S 2013/9328 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A positioning and odometry system (POS) comprising:
a vehicle configured to operate in a communication-based train control (CBTC) system, the vehicle including:
a vehicle bogie configured to travel along a track; and
a vehicle body that includes a mounting space separate from the vehicle bogie, wherein the mounting space is a sub-rack measuring less than 3U in height;
a first portable housing in the mounting space and coupled to the vehicle body, the first portable housing including sensors configured to collect vehicle positioning and odometry data, the sensors including an ultra-wideband (UWB) radio, a radar, and an inertial measurement unit (IMU), each enclosed in the first portable housing; and
a second portable housing, separate from the first portable housing, including:
processing circuitry operably coupled to the UWB radio, the radar, and the IMU; and
a radio configured to perform radio communications with a trackside unit,
the processing circuitry being configured to determine, in response to the collected vehicle positioning and odometry data from the sensors:
vehicle position; and
vehicle speed,
the determining the vehicle position including measuring a distance from the vehicle to a landmark using data from the UWB radio.