Patent ID: 9722640
Date: 2017-08-01
CPC Classifications: B25J,G01C,G01S,G05D,H04B,Y10S

Claim:
1. A method for establishing a reference grid and locating an object within the reference grid, the method comprising: receiving, by at least one anchor node of a plurality of anchor nodes in a network, an indication that a selected anchor node is to function as a master anchor node; transmitting, by the master anchor node, a ranging message as an ultra-wideband (UWB) signal; receiving, by the master anchor node, a ranging message response from each of the plurality of anchor nodes in the network; generating, by the master anchor node, a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses; distributing, by the master anchor node, the reference grid to each of the plurality of anchor nodes; determining, by the master anchor node, a distance between each pair of the plurality of anchor nodes; establishing, by the master anchor node, a coordinate plane using at least three of the plurality of anchor nodes as edge defining points within the coordinate plane; mapping, by the master anchor node, each of the plurality of anchor points within the coordinate plane based upon trilateration information related to each of the plurality of anchor points; identifying, by the master anchor node, a first closest anchor node from the plurality of anchor nodes, wherein the first closest anchor node is located at a position physically closest to the master anchor node within the network; identifying, by the master anchor node, a second closest anchor node from the plurality of anchor nodes, wherein the second closest anchor node is located at a position physically second closest to the master anchor node within the network; generating, by the master anchor node, a reference sample point midway between the first closest anchor node and the second closest anchor node; creating, by the master anchor node, best fit position sets for at least a portion of the plurality of anchor nodes based upon a location of the reference sample point; and generating, by the master anchor node, a refined reference grid based upon the best fit position sets.