US 12,130,371 B2
Systems and methods for positioning devices
Yang Huang, Shenzhen (CN); Taotao Zhu, Shenzhen (CN); Anyang Tian, Shenzhen (CN); and Qingqing Qiao, Shenzhen (CN)
Assigned to Shenzhen Hanyang Technology Co., Ltd., Shenzhen (CN)
Filed by SHENZHEN HANYANG TECHNOLOGY CO., LTD., Guangdong (CN)
Filed on Jul. 15, 2021, as Appl. No. 17/305,817.
Application 17/305,817 is a continuation in part of application No. PCT/CN2019/091797, filed on Jun. 19, 2019.
Claims priority of application No. 201910511007.2 (CN), filed on Jun. 13, 2019.
Prior Publication US 2021/0341566 A1, Nov. 4, 2021
Int. Cl. G01S 5/02 (2010.01); G01C 17/00 (2006.01); G01C 22/00 (2006.01); G01S 5/10 (2006.01); G06V 20/10 (2022.01)
CPC G01S 5/0257 (2013.01) [G01C 17/00 (2013.01); G01C 22/00 (2013.01); G01S 5/10 (2013.01); G06V 20/10 (2022.01)] 19 Claims
OG exemplary drawing
 
1. A method for positioning a device, comprising:
obtaining a location parameter associated with the device, wherein the location parameter includes at least one of first location information or speed information;
obtaining an orientation parameter associated with the device, wherein the orientation parameter includes at least one of first orientation information or angle velocity information;
determining target location information of the device by performing a first fusion calculation based on the location parameter;
wherein the performing the first fusion calculation based on the location parameter includes:
determining second location information based on the first location information;
determining an odometry (ODOM) increment based on the speed information; and
determining the target location information of the device based on the second location information and the ODOM increment;
wherein the first fusion calculation includes:
determining the second location information by correcting the first location information obtained by a UWB positioning system;
determining the ODOM increment based on the speed information; and
determining the target location information of the device by performing the first fusion calculation based on the second location information and the ODOM increment;
wherein the first location information obtained by the UWB positioning system is corrected according to a formula:

OG Complex Work Unit Math
where rmodify represents the second location information, ruwb_raw represents the first location information obtained by the UWB positioning system, kuwb represents a slope of a straight line obtained by performing a straight line fitting of the first location information using technique of least squares, and buwb represents an intercept obtained by performing the straight line fitting of the first location information using the technique of least squares; and
determining target orientation information of the device by performing a second fusion calculation based on the orientation parameter;
wherein the device is controlled by operating based on inputs from a sensor to move in a specific scenario.