公开(公告)号：US20240172164A1

公开(公告)日：2024-05-23

申请号：US18049902

申请日：2022-10-26

Applicant: GM Global Technology Operations LLC

Inventor： Jinzhu Chen ,  Zijun Han ,  Fan Bai ,  Aaron Adler ,  John Sergakis

IPC: H04W64/00 ,  H04B1/69

CPC classification number: H04W64/00 ,  H04B1/69

Abstract: Systems and methods for diagnosing sensor performance of a UWB sensor localization are provided. The system comprises a UWB tag, at least four UWB anchors, and a gateway. The gateway comprises an ECU arranged to receive sensor signals from the UWB anchors. The ECU comprises a preprocessing module arranged to align the sensor signals defining aligned data and is arranged to determine intersections of the aligned data defining points of intersections. The system further comprises a clustering module arranged to cluster the points of intersections defining at least one cluster of points of the UWB anchors to calculate a clustering quality and a clustering variance of each of the at least one cluster. The ECU is arranged to find a clustering contribution of each anchor defining a first contribution low of one of the anchors and is arranged to determine an erratic anchor based the first contribution low.

公开(公告)号：US12156097B2

公开(公告)日：2024-11-26

申请号：US18049891

申请日：2022-10-26

Applicant: GM Global Technology Operations LLC

Inventor： Jinzhu Chen ,  Zijun Han ,  Aaron Adler ,  John Sergakis ,  Fan Bai

IPC: H04W4/40 ,  H04W4/02 ,  H04W64/00

Abstract: A method and system of resilient UWB target localization for a vehicle are provided. The system comprises a UWB tag arranged to be mobile and trackable by way of a sensor signal and at least three UWB anchors. Each anchor is in communication with the tag. The system further comprises a gateway in communication with the anchors. The gateway comprises an ECU arranged to receive sensor signals from UWB anchors. The ECU comprises a preprocessing module, a clustering module, and a Bayesian module. The preprocessing module is arranged to align sensor signals at an aligned timestamp to define aligned data. The clustering module is arranged to cluster points of intersections, defining a sensed location for each cluster. The Bayesian module is arranged to determine a real-time location of the tag based on a Bayesian probability function to match the sensed location with a predicted location of the tag.

公开(公告)号：US20240151805A1

公开(公告)日：2024-05-09

申请号：US18049911

申请日：2022-10-26

Applicant: GM Global Technology Operations LLC

Inventor： Jinzhu Chen ,  Zijun Han ,  Fan Bai ,  Aaron Adler ,  John Sergakis

IPC: G01S5/02 ,  G01S5/10 ,  H04B1/7163

CPC classification number: G01S5/021 ,  G01S5/10 ,  H04B1/7163

Abstract: Systems and methods of diagnosing sensor performance of an ultra wide band (UWB) sensor localization for a vehicle are provided. The method comprises receiving sensor signals from at least four UWB anchors and a UWB tag for a time period. The sensor signals represent anchor coordinates and real-time distances between the tag and each anchor. The method comprises aligning the sensor signals to define aligned data. The method comprises calculating a predicted location of the UWB tag based on the aligned data and a least square of error to define a first constructed matrix and a second constructed matrix. The method comprises determining a local error of each of the at least four UWB anchors based on the least square of error and comparing each local error with an error threshold to define a first threshold high. The method comprises determining an erratic anchor based on the first threshold high.

公开(公告)号：US20250155541A1

公开(公告)日：2025-05-15

申请号：US18508579

申请日：2023-11-14

Applicant: GM Global Technology Operations LLC

Inventor： Zijun Han ,  Jinzhu Chen ,  Aaron Adler ,  Fan Bai ,  John Sergakis

IPC: G01S5/02 ,  G01S5/14

Abstract: A method for in-vehicle localization of a mobile device includes receiving, in real time, sensor data from a plurality of UWB sensors inside a vehicle. The plurality of UWB sensors includes a plurality of UWB anchors and a UWB tag, which is part of the mobile device. The method further includes determining a plurality of location candidates of the UWB tag based on the sensor data received, determining a plurality of sensed current locations of the UWB tag and a plurality of probabilities for each of the plurality of sensed current locations of the UWB tag using a Gaussian Kernel Density Estimation (KDE), tracking a motion of the UWB tag, and determining a real-time position of the UWB tag using a Bayesian estimation.

公开(公告)号：US12294970B2

公开(公告)日：2025-05-06

申请号：US18049902

申请日：2022-10-26

Applicant: GM Global Technology Operations LLC

Inventor： Jinzhu Chen ,  Zijun Han ,  Fan Bai ,  Aaron Adler ,  John Sergakis

IPC: H04W64/00 ,  H04B1/69

Abstract: Systems and methods for diagnosing sensor performance of a UWB sensor localization are provided. The system comprises a UWB tag, at least four UWB anchors, and a gateway. The gateway comprises an ECU arranged to receive sensor signals from the UWB anchors. The ECU comprises a preprocessing module arranged to align the sensor signals defining aligned data and is arranged to determine intersections of the aligned data defining points of intersections. The system further comprises a clustering module arranged to cluster the points of intersections defining at least one cluster of points of the UWB anchors to calculate a clustering quality and a clustering variance of each of the at least one cluster. The ECU is arranged to find a clustering contribution of each anchor defining a first contribution low of one of the anchors and is arranged to determine an erratic anchor based the first contribution low.

公开(公告)号：US20240171939A1

公开(公告)日：2024-05-23

申请号：US18049891

申请日：2022-10-26

Applicant: GM Global Technology Operations LLC

Inventor： Jinzhu Chen ,  Zijun Han ,  Aaron Adler ,  John Sergakis ,  Fan Bai

IPC: H04W4/02 ,  H04W4/40 ,  H04W64/00

CPC classification number: H04W4/027 ,  H04W4/40 ,  H04W64/006

Abstract: A method and system of resilient UWB target localization for a vehicle are provided. The system comprises a UWB tag arranged to be mobile and trackable by way of a sensor signal and at least three UWB anchors. Each anchor is in communication with the tag. The system further comprises a gateway in communication with the anchors. The gateway comprises an ECU arranged to receive sensor signals from UWB anchors. The ECU comprises a preprocessing module, a clustering module, and a Bayesian module. The preprocessing module is arranged to align sensor signals at an aligned timestamp to define aligned data. The clustering module is arranged to cluster points of intersections, defining a sensed location for each cluster. The Bayesian module is arranged to determine a real-time location of the tag based on a Bayesian probability function to match the sensed location with a predicted location of the tag.