US 12,473,002 B1
Methods and systems for ultra-wideband (UWB) based navigation of arbitrary paths based on reference markers
John K. DeVos, Round Lake, IL (US); and Kurt Gunther, Woodstock, IL (US)
Assigned to METROM RAIL, LLC, Lakemoor, IL (US)
Filed by Metrom Rail, LLC, Crystal Lake, IL (US)
Filed on Apr. 27, 2020, as Appl. No. 16/859,273.
Claims priority of provisional application 62/839,369, filed on Apr. 26, 2019.
Int. Cl. B61L 27/40 (2022.01); B61L 15/00 (2006.01); B61L 25/02 (2006.01); B61L 27/70 (2022.01)
CPC B61L 27/40 (2022.01) [B61L 15/0018 (2013.01); B61L 15/0072 (2013.01); B61L 25/021 (2013.01); B61L 25/023 (2013.01); B61L 25/026 (2013.01); B61L 27/70 (2022.01); B61L 25/025 (2013.01); B61L 2205/00 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A system comprising:
a plurality of wayside units, each configured for placement on or near tracks in a railway network; and
one or more train-mounted units, each configured for deployment on one of one or more trains operating in the railway network;
wherein at least one train-mounted unit is configured to, when deployed on a train:
communicate with any wayside unit that comes within communication range of the at least one train-mounted unit, wherein the communicating comprises use of ultra-wideband (UWB) signals; and
generate train location information based on communication of UWB signals with at least two different wayside units, wherein generating the train location information comprises:
determining, at a first point from a plurality of points on a track in the railway network as the train moves on the track, based on processing of communicated UWB signals with each wayside unit of the at least two different wayside units, straight line range to each wayside unit of the at least two different wayside units;
re-determining the straight line range to each of the at least two different wayside units at a second point from the plurality of points, when the train moves to the second point, wherein the second point is different from the first point;
determining based on the determined straight line ranges to each wayside unit of the at least two different wayside units, corresponding to the first point and the second point, changes in range (ΔR) to each wayside unit of the at least two different wayside units between the first point and the second point,
determining based on the determined changes in range (ΔR) for both of the at least two different wayside units, corresponding changes in location (ΔL) on the track in the railway network between the first point and the second point as the train moves on the track in the railway network; and
determining based on the determined changes in location (ΔL), a current location of the train on the track in the railway network.