US 12,326,509 B2
System and method for diagnosing sensor performance of an ultra wide band sensor localization
Jinzhu Chen, Troy, MI (US); Zijun Han, Rochester Hills, MI (US); Fan Bai, Ann Arbor, MI (US); Aaron Adler, Rochester Hills, MI (US); and John Sergakis, Bloomfield Hills, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Oct. 26, 2022, as Appl. No. 18/049,911.
Prior Publication US 2024/0151805 A1, May 9, 2024
Int. Cl. G01S 5/02 (2010.01); G01S 5/10 (2006.01); H04B 1/7163 (2011.01)
CPC G01S 5/021 (2013.01) [G01S 5/10 (2013.01); H04B 1/7163 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of diagnosing sensor performance of an ultra wide band (UWB) sensor localization for a vehicle, the method comprising:
receiving sensor signals from at least four UWB anchors and a UWB tag for a time period, the sensor signals representing anchor coordinates and real-time distances between the tag and each anchor;
aligning the sensor signals at an aligned timestamp during the time period by way of:

OG Complex Work Unit Math
where tsi is an initial timestamp of the time period, k is a number of timestamps of the time period, fi is a fixed data uploading frequency, ti is the aligned timestamp, tsi+klfi is at an upper limit thereof to define aligned data;
calculating a predicted location of the UWB tag based on the aligned data and a least square of error by way of:
X=(ATA)−1(ATB)
where

OG Complex Work Unit Math
is the predicted location, A is a first constructed matrix, and B is a second constructed matrix based on the anchor coordinates and the real-time distances;
determining an error matrix of the at least four UWB anchors based on the least square of error by way of:
ε=AX−B
where ε is the error matrix;
comparing each local error with an error threshold to define a first threshold high;
determining an erratic anchor based on the first threshold high;
triggering a protocol, the protocol including at least one of powering off the UWB sensor, ignoring data signals from the UWB sensor, and sending a notification signal to a cloud server,
wherein calculating the predicted location of the UWB tag comprises calculating a geometric circle of each of the at least four UWB anchors relative to the aligned data by way of:

OG Complex Work Unit Math
where x and y are predicted coordinates of the UWB tag, n is the total number of signals from the UWB anchors during the time period, xn and yn are anchor coordinates of the respective UWB anchor, dn is a real-time distance between the UWB tag and the respective UWB anchor to define adjacent circles of the at least four UWB anchors.