US 12,320,911 B2
Ranging-aided robot navigation using ranging nodes at unknown locations
Han-Pang Chiu, West Windsor, NJ (US); Abhinav Rajvanshi, Plainsboro, NJ (US); Alex Krasner, Princeton, NJ (US); Mikhail Sizintsev, Princeton, NJ (US); Glenn A. Murray, Jamison, PA (US); and Supun Samarasekera, Skillman, NJ (US)
Assigned to SRI International, Menlo Park, CA (US)
Filed by SRI International, Menlo Park, CA (US)
Filed on Mar. 15, 2022, as Appl. No. 17/695,784.
Claims priority of provisional application 63/161,870, filed on Mar. 16, 2021.
Prior Publication US 2022/0299592 A1, Sep. 22, 2022
Int. Cl. G01S 5/02 (2010.01); G01S 5/00 (2006.01); G01S 13/42 (2006.01); G01S 13/86 (2006.01)
CPC G01S 5/0268 (2013.01) [G01S 5/0036 (2013.01); G01S 13/426 (2013.01); G01S 13/865 (2013.01)] 23 Claims
OG exemplary drawing
 
14. A system for determining a change in pose of a mobile device, comprising:
a stationary node transmitting ranging signals during at least two time instances, wherein a position of the stationary node in the environment to be navigated is unknown;
the mobile device, comprising;
at least two receivers located at different locations on the mobile device receiving the ranging signals from the stationary node during the at least two time instances;
and
a computing device comprising a processor and a memory having stored therein at least one program, the at least one program including instructions which, when executed by the processor, cause the processor to perform a method for determining a change in pose of a mobile device in an environment to be navigated, comprising:
receiving, from the stationary node, a first ranging signal at a first receiver of the at least two receivers located at a first position on the mobile device and at a second receiver of the at least two receivers located at a second position on the mobile device during a first time instance of the at least two time instances, wherein a position of the stationary node is unknown;
receiving, from the stationary node, a second ranging signal at the first receiver and at the second receiver during a second time instance of the at least two time instances; and
determining, from the first ranging signal and the second ranging signal, a change in pose of the mobile device from the first time instance to the second time instance.