US 12,103,572 B2
Systems and methods for estimating vehicle locations
Pedro Teixeira, Cambridge, MA (US); Michael Kuhlman, Malden, MA (US); Reza Rezaie, Woodland Hills, CA (US); Joshua Senna, San Mateo, CA (US); and Aaron Whittemore, Millville, MA (US)
Assigned to Humatics Corporation, Waltham, MA (US)
Filed by Humatics Corporation, Waltham, MA (US)
Filed on Mar. 30, 2023, as Appl. No. 18/193,575.
Claims priority of provisional application 63/326,130, filed on Mar. 31, 2022.
Prior Publication US 2023/0311961 A1, Oct. 5, 2023
Int. Cl. B61L 25/02 (2006.01); G01S 5/02 (2010.01); G01S 19/39 (2010.01); G01S 19/47 (2010.01); G01S 19/49 (2010.01)
CPC B61L 25/028 (2013.01) [B61L 25/026 (2013.01); G01S 5/0264 (2020.05); G01S 5/02695 (2020.05); G01S 19/393 (2019.08); G01S 19/47 (2013.01); G01S 19/49 (2013.01); G01S 2205/01 (2020.05)] 20 Claims
OG exemplary drawing
 
1. A system for determining a position of a train traveling along a train track, the system comprising:
at least one positioning device selected from the group consisting of:
at least one radio-frequency ultra-wideband (UWB) antenna configured to transmit and/or receive at least one UWB signal to and/or from at least one anchor node positioned proximate the train track; and
at least one global navigation satellite system (GNSS) receiver configured to receive at least one GNSS signal,
wherein the at least one positioning device is configured to determine at least one observation of the train along the train track using the at least one UWB signal and/or the at least one GNSS signal; and
at least one processor configured to:
determine a plurality of estimated positions of the train using:
information specifying a geometry of the train track; and
the at least one observation of the train; and
select the position of the train from among the plurality of estimated positions.