Method and system for determining object location based on time difference of arrival (TDOA) and angle of arrival (AOA)

Abstract

Aspects of the disclosure can include, for example, receiving, from a first antenna and a second antenna of a mobile device, a first wireless signal transmitted by a first anchor of a pair of anchors, receiving, from the first antenna and the second antenna, a second wireless signal transmitted by a second anchor of the pair of anchors based on the second anchor detecting the first wireless signal, determining time difference of arrival information based on receiving the first wireless signal and the second wireless signal, determining angle of arrival information based on receiving the first wireless signal and the second wireless signal, and estimating a location of the mobile device based on the time difference of arrival information and the angle of arrival information. Other embodiments are disclosed.

Description

[0001] Cross-references to related applications

[0002] This PCT application claims the benefit and priority of U.S. Patent Application Serial No. 17 / 219,037, filed on March 31, 2021, which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to a method and system for determining the location of an object based on the time difference of arrival (TDOA) and angle of arrival (AOA). Background Technology

[0004] Determining the location information between objects can be used for a variety of purposes, such as predicting and mitigating collisions between objects, tracking distances between objects, enforcing distancing between objects, inventory management, or combinations thereof. Objects can include people, mobile machinery such as forklifts and robots, personally controlled or driverless vehicles, or other objects that may require location management and / or tracking. Location information can correspond to distances between objects, relative positions of objects, object trajectories, object speeds, or combinations thereof. Attached Figure Description

[0005] Now refer to the accompanying drawings, which are not necessarily drawn to scale, and in which:

[0006] Figure 1 This is a block diagram illustrating an exemplary, non-limiting embodiment of a mobile tag and an anchor for determining positional information between a mobile tag and an anchor, according to various aspects described herein.

[0007] Figure 2 The diagram is used to determine the various aspects described in this article. Figure 1 A block diagram of an exemplary non-limiting embodiment of a timing diagram of the position information between the moving tag and the anchor.

[0008] Figure 3 This is a block diagram illustrating an exemplary, non-limiting embodiment for determining positional information between a moving tag and an anchor pair, according to various aspects described herein.

[0009] Figure 4A , 4B 4C and 4C are block diagrams illustrating exemplary, non-limiting embodiments of selecting anchor pairs according to various aspects described herein.

[0010] Figure 5 This is a block diagram illustrating an exemplary, non-limiting embodiment of a mobile tag and an anchor for determining positional information between a mobile tag and an anchor, according to various aspects described herein.

[0011] Figure 6The diagram is used to determine the various aspects described in this article. Figure 5 A block diagram of an exemplary non-limiting embodiment of a timing diagram of the position information between the moving tag and the anchor.

[0012] Figure 7 This is a block diagram illustrating an exemplary, non-limiting embodiment for determining location information of a mobile tag in a demarcated area, according to various aspects described herein.

[0013] Figure 8 Illustrative embodiments of methods for determining location information and their use, based on various aspects described herein, are depicted.

[0014] Figure 9 The diagram illustrates the various aspects described in this article for scheduling and determination. Figure 7 A block diagram of an exemplary, non-limiting embodiment of the process of obtaining location information between moving tags and anchor pairs within a demarcated area.

[0015] Figure 10 This is a block diagram illustrating an exemplary, non-limiting embodiment of an environment in which a mobile tag can operate according to various aspects described herein.

[0016] Figure 11 This is a block diagram illustrating an exemplary, non-limiting embodiment of a network frame according to various aspects described herein.

[0017] Figure 12 This is a block diagram illustrating an exemplary, non-limiting embodiment of a peer frame configured to monitor the presence of network frames according to various aspects described herein.

[0018] Figure 13 This is a block diagram illustrating an exemplary, non-limiting embodiment of a mobile tag configured to utilize peer-to-peer communication in a manner that avoids interfering with network frames, according to various aspects described herein.

[0019] Figure 14A , 14B 14C, 14D, and 14E are block diagrams illustrating exemplary, non-limiting embodiments of peer-to-peer communication for determining the location of a mobile tag, according to various aspects described herein.

[0020] Figure 15 This is a block diagram illustrating an exemplary, non-limiting embodiment of the ability of a mobile tag to determine its location within an anchor network providing location services, based on various aspects described herein.

[0021] Figure 16 This is a block diagram illustrating an exemplary, non-limiting embodiment of the ability of a mobile tag to determine its location using peer-to-peer communication with other mobile tags, according to various aspects described herein.

[0022] Figure 17 Illustrative embodiments of methods for switching between communication modes, in particular peer-to-peer communication modes and network communication modes, are described in accordance with the various aspects described herein.

[0023] Figure 18A This is a block diagram illustrating an exemplary, non-limiting embodiment for determining positional information between a moving tag and an anchor pair, according to various aspects described herein.

[0024] Figure 18B This is a block diagram illustrating an exemplary, non-limiting embodiment of a mobile tag with two antennas for facilitating the determination of location information of a mobile tag, according to various aspects described herein.

[0025] Figure 18C This is a block diagram illustrating an exemplary, non-limiting embodiment of a mobile tag with three antennas for facilitating the determination of location information of a mobile tag, according to various aspects described herein.

[0026] Figure 19 Illustrative embodiments of methods for determining location information according to various aspects described herein are depicted.

[0027] Figure 20 This is a block diagram of an example, non-limiting embodiment of a communication device according to various aspects described herein.

[0028] Figure 21 These are block diagrams of exemplary, non-limiting embodiments of computing systems according to various aspects described herein. Detailed Implementation

[0029] This disclosure particularly describes illustrative embodiments, such as those for determining positional information between a moving tag and one or more anchors. Other embodiments are described in this disclosure.

[0030] Figure 1 This is a block diagram illustrating an exemplary, non-limiting embodiment of a mobile tag 101 (“M”) and anchors 102 (“A”) and 104 (“B”) for determining location information between a mobile tag 101 (“M”) and anchors 102 and 104, according to various aspects described herein. In this embodiment, anchor 102 may be configured to transmit a first radio signal (s1) that can be received by anchor 104 and mobile tag 101. Figure 2 The timing of transmitting the first wireless signal (s1) by anchor 102 and receiving the first wireless signal (s1) by mobile tag 101 and anchor 104 is depicted.

[0031] In one embodiment, anchor 102 transmits a first wireless signal (s1) at time t0, which is then received by mobile tag 101 at time t1 and by anchor 104 at time t2. Anchor 104 may be configured to transmit a second wireless signal (s2) at time t3, which is received by mobile tag 101 at time t4. Mobile tag 101 may be configured to determine its position information relative to anchors 102 and 104 using a time difference of arrival (TDOA) measurement technique based on the first and second wireless signals (s1, s2), as described below.

[0032] In this embodiment, anchors 102 and 104 are fixed. Therefore, their xy coordinates and the distance (d) between anchors 102 and 104 are also fixed. AB The information can be made known to the mobile tag 101 through a lookup table supplied to its memory or by including such information in a first radio signal (s1) (which can then be obtained by the mobile tag 101). Furthermore, the mobile tag 101 can be configured to include the reception and transmission times (t2, t3) of the anchor 104 and / or the time difference between these times (Δt = t3 - t2) in its lookup table, or it can receive this information in a second radio signal (s2) transmitted by the anchor 104. The following equation can be used to calculate the first possible position of the mobile tag 101 relative to the anchor pair 102, 104.

[0033] The distance between anchor 102 and the moving tag can be expressed as,

[0034] d AM = c(t1-t0) (Equation 1)

[0035] Where c is the speed of light constant. Similarly, the distance from anchor 102 to anchor 104 can be expressed as,

[0036] d AB = c(t2-t0) (Equation 2)

[0037] Furthermore, the distance from anchor 104 to moving tag 101 can be expressed as,

[0038] d BM = c(t4-t3) (Equation 3)

[0039] The total distance traveled by the first wireless signal (s1) from anchor 102 to anchor 104 and by the second wireless signal (s2) from anchor 104 to mobile tag 101 can be expressed as follows:

[0040] d AB +d BM = c(t2-t0+t4-t3) (Equation 4A)

[0041] To eliminate the variable t0, we can subtract equation 1 from equation 4A, resulting in:

[0042] d AB +d BM -d AM = c(t2-t1+t4-t3) (Equation 4B)

[0043] Substituting Δt = t3 - t2 into equation 4B produces the equation.

[0044] d AB +d BM -d AM = c(t4-t1-Δt) (Equation 4C)

[0045] Because of d AB Since the constant is known to the moving tag 101, and the time variable of factor c(t4-t1-Δt) is known to the moving tag 101, equation 4C can be rewritten as follows:

[0046] d BM -d AM =Δd1 (Equation 5)

[0047] Where Δd1=c(t4-t1-Δ t )-d AB This is a known constant for the moving tag 101. Furthermore, in a two-dimensional (2D) space example, the distance between the anchor 102 and the moving tag 101 can be expressed as,

[0048]

[0049] Furthermore, the distance between anchor 104 and moving tag 101 can be expressed as,

[0050]

[0051] d AM and d BM Substituting into equation 5 yields the following equation:

[0052]

[0053] Equation 6 has only two unknown variables (x, y), and moving tag 101 can be solved for these two unknown variables using nonlinear regression techniques (e.g., nonlinear least squares). This technique produces a hyperbola of solutions for x and y associated with the positions of anchors 102 and 104. This hyperbola can be represented as follows:

[0054] h AB =Δd1 (Equation 7A)

[0055] in The moving tag 101 can also be configured to perform the above calculations across other anchor pairs, such as Figure 3 As depicted in the text. For example, moving label 101 can be configured to determine a hyperbola between anchors 102 and 106 (i.e., anchors A and C), thereby producing the equation:

[0056] h AC =Δd2 (Equation 7B)

[0057] Where Δd2 is a known constant of the moving tag 101, and where Additionally, the moving label 101 can be configured to define a hyperbola between anchors 106 and 108 (i.e., anchors C and D), thereby deriving the equation:

[0058] h CD =Δd3 (Equation 7C)

[0059] Where Δd3 is a known constant of the moving tag 101, and where The hyperbola h corresponding to equations 7A-7C AB h AC and h CD The intersection 109 can provide the two-dimensional coordinate position (i.e., x, y) of the moving tag 101 relative to anchor pairs 102 and 104 (anchors A / B), 102 and 106 (anchors A / C), and 106 and 108 (anchors C / D). It will be appreciated that the moving tag 101 can also be configured to determine its position in three-dimensional coordinates (i.e., x, y, z) by utilizing a fourth pair of anchors.

[0060] To perform the above calculations, the anchor pair used by the mobile tag 101 must satisfy the coverage area encompassing both the anchor pair and the mobile tag 101. For example, refer to... Figure 4A The coverage area of ​​anchor 102 (anchor "A") is defined by reference numeral 110, while the coverage area of ​​anchor 104 (anchor "B") is defined by reference numeral 112. The overlapping area 114 represents the coverage area jointly shared by anchors 102 and 104. Since anchor 104 and mobile tag 101 need to be able to receive the first radio signal (s1) generated by anchor 102, anchor 104 and mobile tag 101 need to be located within the overlapping area 114. Furthermore, mobile tag 101 needs to be located within the overlapping area 114 in order to receive the second radio signal (s2) generated by anchor 104. Conditions such as those described above for anchor pairs 102 and 104 (anchor A / B) also need to be satisfied by other anchor pairs 102 and 106 (anchor A / C) and anchor pairs 106 and 108 (anchor C / D) so that mobile tag 101 can perform the above-described conditions for hyperbola h. AB h AC and h CDThe description of trigonometric calculations.

[0061] Figure 4B The diagram shows that the coverage areas 110 and 116 of anchor pairs 102 and 106 (anchors A / C) create an overlapping area 120 covering anchors 102 and 106 and the moving tag 101, thereby enabling the moving tag 101 to calculate the hyperbola h. AC .also, Figure 4C The diagram shows that coverage areas 122 and 124 for anchor pairs 106 and 108 (anchors C / D) create an overlapping area 126 encompassing anchors 106 and 108 and the moving tag 101, thereby enabling the moving tag 101 to calculate the hyperbola h. CD .

[0062] Figure 5 Another embodiment for determining positional information between a mobile tag 101 and an anchor 102 is described. In this embodiment, the mobile tag 101 can be configured to determine its distance from the anchor 102 using a two-way time-of-arrival (TW-TOA) process. Optionally, and as... Figure 6 As depicted, the process can begin at anchor 102, where anchor 102 transmits a first radio signal (s1), which is received at time t1. The radio signal (s1) may include the xy coordinates (x1, y1) of anchor 102. After receiving the first radio signal (s1), mobile tag 101 can be configured to transmit a second radio signal (s2), which may represent a ranging request (R-REQ) signal initiated at time t2 and received by anchor 102 at time t3.

[0063] After receiving the R-REQ signal at time t3, anchor 102 can process the R-REQ signal and initiate the transmission of a third radio signal (s3) representing a ranging response (R-RSP) signal at time t4. This third radio signal is received by mobile tag 101 at time t5. The time for processing the R-REQ signal and transmitting the R-RSP signal can be represented by Δt = t4 - t3, which can be transmitted to mobile tag 101 via the third radio signal (s3).

[0064] Mobile tag 101 can be configured to determine the round-trip distance based on the following formula:

[0065] d r-trip =d AM +d MA (Equation 8)

[0066] Where d r-trip d is the round trip distance from moving tag 101 to anchor 102 and back to moving tag 101. MA It is the distance from moving label 101 to anchor 102, and dAM This is the distance from anchor 102 to moving tag 101. The distance from moving tag 101 to anchor 102 can be determined by the following formula:

[0067] d MA = c(t3-t2) (Equation 9)

[0068] Similarly, the distance from anchor 102 to moving tag 101 can be determined by the following formula:

[0069] d AM = c(t5-t4) (Equation 10)

[0070] Using the above equation, the round-trip distance can be rewritten as:

[0071] d r-trip = c(t5-t4+t3-t2) (Equation 11)

[0072] As previously stated, the time for processing the R-REQ signal and transmitting the R-RSP signal via anchor 102 can be expressed as Δt = t4 - t3. Anchor 102 can be configured to transmit the value of Δt in the R-RSP signal for the mobile tag 101 to calculate d. r-trip Used in [the context]. Substitute Δt into d. r-trip Generate formula,

[0073] d r-trip = c(t5-t2-Δt) (Equation 12)

[0074] Since the values ​​of t5, t2, and Δt are known to the moving label 101, the moving label 101 can easily calculate d. r-trip The moving tag 101 can also calculate the distance from the moving tag 101 to the anchor 102 based on the following formula.

[0075] d MA =d r-trip / 2 (Equation 13)

[0076] It will be appreciated that the mobile tag 101 can also be configured to know the fixed value of Δt a priori, thereby eliminating the need to transmit the value of Δt in the R-RSP signal. This knowledge can be based on providing this information to the mobile tag 101 in advance prior to deployment. In yet another embodiment, the processing time for receiving the R-REQ signal and responding with the transmission of the R-RSP signal can be a fixed processing time interval known and used by all devices in the network performing TW-TOA analysis. It will also be appreciated that ultra-wideband signaling techniques can be used to transmit the R-REQ and R-RSP signals to improve d r-trip The accuracy of the calculation. Therefore, Figure 5The TW-TOA shown can be used in other embodiments by moving tag 101 or anchor to calculate the relative distance between each other.

[0077] It will be recognized that the aforementioned TDOA and TW-TOA procedures can also be used between mobile tags 101. For example, modifications can be made. Figure 1-3 , Figures 4A-4C , Figure 5 and Figure 6 This allows the anchor to be replaced by the mobile tag 101. In this embodiment, the mobile tag 101 can use TDOA or TW-TOA to obtain position information between each other based on the procedures previously described for TDOA and TW-TOA, respectively.

[0078] It will also be recognized that, Figure 1 , Figure 3 , Figures 4A-4C and Figure 5 The mobile tag 101 depicted may be configured with multiple antennas and a phase detector to calculate the angle of arrival (AOA) of any wireless signal generated by the anchor and received by the mobile tag 101 based on the phase difference between the antennas determined from the received wireless signal. The AOA calculation can be used to determine the angular orientation of the mobile tag 101 relative to the anchor. It will also be appreciated that the mobile tag 101 may be configured to determine its travel speed by performing multiple location measurements over a period of time. Using the angular orientation and travel speed, the mobile tag 101 can also determine its travel trajectory. Alternatively, the mobile tag 101 may be configured with an orientation sensor (e.g., a magnetometer) to determine its angular orientation relative to the anchor.

[0079] As will be discussed soon, in areas such as Figure 7 In the environment shown, TDOA, TW-TOA, angular orientation, travel speed, or a combination thereof can be utilized.

[0080] Figure 7 This is a block diagram illustrating an exemplary, non-limiting embodiment for determining the location information of a mobile tag 201 within a demarcated area 200, according to various aspects described herein. Figure 7 In the illustration, demarcation area 200 may represent a warehouse with racks or shelves 206 for managing the distribution of products and / or materials. It will be appreciated that demarcation area 200 may correspond to many other use cases, including but not limited to parking lots for managing parking spaces, commercial or retail environments for monitoring individuals and / or assets, assisted navigation of vehicles and / or machinery (such as robots or forklifts), collision detection and avoidance of objects, managing separation between objects and / or individuals, and other suitable applications to which this disclosure may be applied. For illustrative purposes only, Figure 7 The demarcated area 200 will be considered a warehouse with racks and / or shelves 206.

[0081] The measurement technique used by the mobile tag 201 to determine location information within the demarcated area 200 can depend on the position of the mobile tag 201 relative to other anchors 204 within the demarcated area 200. For example, when the mobile tag 201 is located in section 212 (i.e., without shelving 206 and with open space providing line of sight to the anchor pair 204), the mobile tag 201 can be configured to perform a TDOA measurement 204 between the anchor pairs, as described above. Figure 1 , Figure 2 , Figure 3 , Figure 4A , Figure 4B and 4C As described above. On the other hand, when the moving tag 201 is located in the aisle 203 between racks / shelves 206, the moving tag 201 can be configured to perform TW-TOA measurements between one or more anchors 204 located in the aisle 203, as described above. Figure 5-6 As described.

[0082] Furthermore, passageway 203 may be configured with two or more anchors 204. Passageway 203 may have more than two anchors 204 when the coverage area of ​​the first anchor 204 at one end of passageway 203 is insufficient to cover the second anchor 204 at the other end of passageway 203 (and vice versa)—see sections 220 and 224 and reference numeral 205. However, when the coverage area of ​​the first anchor 204 at one end of passageway 203 is sufficient to cover the second anchor 204 at the other end of passageway 203 (and vice versa), more than two anchors 204 are not required in passageway 203—see section 222.

[0083] Figure 8 An illustrative embodiment of method 300 according to various aspects described herein is depicted. Method 300 may begin at step 302, wherein a server (hereinafter referred to as...) Figure 21 Computing systems such as (description) are configured to recognize Figure 7 The demarcation zone 200 provides sufficient coverage to enable TW-TOA or TDOA measurements for anchor pairs depending on the location of the mobile tag 201.

[0084] In the case of open spaces, like area 212 (in Figure 7 (Repeated in several sections of the demarcated area 200), the mobile tag 201 is configured to use TDOA measurement technology to determine location information. To enable TDOA measurement, the server is configured at step 302 to identify a number of xy coordinates obtained from the digitization of the open space defined by the area 212 where the mobile tag 201 may be located, which satisfy the previously stated xy coordinates relative to the area 212. Figure 3 , Figure 4A , Figure 4B and Figure 4C The described conditions overlap and cover at least three pairs of anchors 204. It will be appreciated that techniques other than digitizing the open space can be used to identify the possible xy coordinates used by the server to perform step 302. In the case of the space formed by passageway 203, like region 214 (in... Figure 7 (Repeated in several sections of the demarcated area 200), the mobile tag 201 is configured to use TW-TOA measurement technology to determine location information. To enable TW-TOA measurement, the server is configured at step 302 to identify at least two anchors 204 covering at least a portion of the passageway 203. The mobile tag 201 can be configured to perform TW-TOA using anchors 204 at opposite ends of the passageway 203 to provide further accuracy or at least verify the location information determined by the mobile tag 201. As previously mentioned, when a pair of anchors 204 cannot cover the full length of the passageway 203, multiple pairs of anchors 204 may be located at opposite ends of the passageway 203 or between passageways 203. The mobile tag 201 can be configured to combine the above... Figure 5-6 The described embodiment performs TW-TOA measurements.

[0085] For open spaces such as area 212, the server can be configured at step 302 to determine that it provides sufficient coverage for any mobile tag 201 in an area such as area 212. Figure 7 The optimal anchor pair 204 in the middle, so as to satisfy Figures 4A-4C Triangulation is performed on at least three pairs of anchors 204 under the conditions described herein. The process of selecting anchor pairs for TDOA triangulation and optimal coverage in the open space defined by region 212 can be performed by the server as an iterative analysis at step 302, or by other techniques that enable convergence to a solution providing coverage to the mobile tag 201 across most (if not all) of the open space depicted by region 212. In the case of the space defined by aisle 203, the server can identify anchor pairs 204 in aisle 203 that provide sufficient coverage to cover the aisle from end to end, such as... Figure 7 Sections 220-224 are shown.

[0086] Once anchor pair 204 has been identified, the server can proceed to step 304 to identify a schedule for communication between anchor pair 204 and one or more mobile tags 201. In one embodiment, anchor 204 can be configured to transmit and receive radio signals in a single frequency band (e.g., reference numeral 207). A single frequency band for performing TDOA or TW-TOA measurements can reduce the design complexity and corresponding cost of mobile tags 201. To avoid conflicts between anchor pairs 204 transmitting in the same frequency band near other anchors, the server can be configured to utilize, for example... Figure 9The time division scheme (time slot) shown enables anchor pairs 204 to communicate with each other and with one or more mobile tags 201 without causing signal interference (i.e., radio collision).

[0087] To achieve this, the server can be configured, for example, at step 304 to determine which anchor pairs 204 have coverage areas that overlap with other anchor pairs, and in a specific time slot T0-T n Communication between the anchor pairs and the mobile tag 201 is scheduled during (e.g., 402a to 402n). Where a pair of anchors 204 does not have a coverage area overlapping with another anchor pair (e.g., an anchor pair located at the opposite end of the demarcation zone 200), the server can schedule simultaneous wireless communication between the two anchor pairs 204 during the same time slot. Figure 9 (Not shown in the image). As Figure 9 As part of the scheduling process shown, the server may be further configured at step 304 to determine which of the anchor pairs 204 will initiate / start a measurement session via the transmission of the wireless signal (s1). Such an anchor 204 will be referred to herein as the source anchor 204.

[0088] In one embodiment, the anchor pair 204 identified by the server at step 302, along with the transmission schedule and source anchor 204 determined by the server at step 304, can be transmitted to all anchors 204 via a gateway anchor 208 communicatively coupled to the server. The gateway anchor 208 can be located at the edge of the demarcation zone 200 or at other locations within the demarcation zone 200. Furthermore, the server can be configured to share the identification of the anchor pair 204 and the transmission schedule with the mobile tag 201. This information can be conveyed by the gateway anchor 208 when the mobile tag 201 is adjacent to it, or it can be conveyed by other anchors 204 that can be configured to obtain this information from the gateway anchor 208 and relay it to the mobile tag 201.

[0089] What will be recognized is that, Figure 7 The position of anchor 204 can be predefined before the server implements step 302. That is, anchor 204 can be placed by one or more individuals who manage the placement of shelves / racks, etc., in the demarcated area 200. The specific xy coordinate position of anchor 204 can be determined by such individuals and transmitted to the server via, for example, a lookup table provided to the server, in order to execute step 302.

[0090] It will also be recognized that, in other embodiments, the anchor's location may instead be determined by the server at step 302. In this embodiment, the location of racks / shelves and / or other objects in the demarcated area 200, as well as the dimensions of the demarcated area 200 and the dimensions of the racks / shelves and / or other objects, may be provided to the server. The server may then be configured to perform iterative analysis to determine the location of anchor 204 relative to the racks / shelves identified by the server, providing the desired coverage of the mobile tag 201 to perform TDOA analysis in open space or TW-TOA analysis in aisle 203. In this embodiment, the server may be configured to report the xy coordinates of anchor 204 to one or more persons managing the ground space of the demarcated area 200 so that anchor 204 can be placed at its corresponding xy coordinate location.

[0091] It will also be recognized that once anchor 204 has been placed at its designated location as determined by the server, the server can be configured to provide xy coordinates to all anchors 204 in the demarcation zone 200 via gateway anchor 208, as described above. This information can also be conveyed by gateway anchor 208 when mobile tag 201 is adjacent to gateway anchor 208, or through other anchors 204 that can be configured to obtain this information from gateway anchor 208 and relay it to mobile tag 201.

[0092] Go back to reference Figure 8 At step 306, the mobile tag 201 may be configured to initiate a process using TDOA or TW-TOA (and in some cases, angular orientation measurement) to obtain location information based on the position of the mobile tag 201 within the demarcation area 200. In one or more embodiments (although other techniques may be utilized), to help the mobile tags 201 identify whether they are in area 212 (i.e., open space) or area 214 (i.e., passageway 203), the source anchor 204 may be configured to transmit an indication of whether TDOA or TW-TOA is used in a first radio signal (s1). This indication may be a flag or message enabling the mobile tag 201 to determine whether it is in area 212 (open space) or area 214 (passageway 203). The first radio signal (s1) may also convey the xy coordinates of one or two anchor pairs 204 to the mobile tag 201. Alternatively, the mobile tag 201 may be configured with a lookup table including the xy coordinates of all anchors 204 in the demarcation area 200. Mobility tag 201 can obtain a lookup table from the server via gateway anchor 208 or during user supply of mobility tag 201 before it is deployed in demarcation area 200. It will also be appreciated that step 306 can be adapted to enable mobility tag 101 to use TDOA or TW-TOA to measure and thereby obtain location information relative to each other, as previously discussed. Figure 1-3 , Figures 4A-4C , Figure 5 and Figure 6 Described.

[0093] Once the mobile tag 201 calculates its location information via TDOA or TW-TOA measurement technology, the mobile tag 201 can then report the location information at step 308 to other devices such as other mobile tags 201, anchors 204 in its coverage area, and / or servers (through direct communication with one or more gateway anchors 208 or indirect communication with one or more gateway anchors 208 via one or more intermediate anchors 204 that can communicate with one or more gateway anchors 208). The location information may include, but is not limited to, the xy coordinates of the mobile tag 201 within the demarcated area 200, the travel speed of the mobile tag 201 determined from measurements of multiple locations over a period of time, the trajectory of the mobile tag 201, the angular orientation of the mobile tag 201 relative to other anchors 204 and / or other mobile tags 201, or any combination thereof. Since sharing location information does not require precise measurements via ultra-wideband signals, the mobile tag 201 can be configured to use methods such as... Low-power wireless signaling technologies, such as WiFi or other suitable wireless signaling protocols, share location information with other devices.

[0094] Sharing the location information of mobile tag 201 enables the server and / or other devices, such as anchor 204 and other mobile tags 201, to track the movement and location of mobile tag 201 at step 310 and detect and perform mitigation processes at step 312. For example, mobile tag 201 can be configured to detect problems from this shared information, such as proximity violations and / or potential collisions between mobile tags 201. Upon detecting such problems, mobile tag 201 can be configured to assert alarms (auditory and / or visual) and / or take further mitigation actions, such as slowing down or otherwise disabling vehicles (e.g., forklifts, robots, cars, etc.) that may collide with the individual carrying mobile tag 201. Mobile tag 201 can be integrated into identification badges or embedded in mobile communication devices (e.g., mobile phones, tablets, etc.), clipped to a shirt, integrated into an individual's clothing, or otherwise carried by an individual via other suitable means for carrying mobile tag 201.

[0095] It will be appreciated that method 300 can be adapted to other embodiments contemplated by this disclosure. For example, at step 306, mobile tag 201 can be adapted to obtain location information based on a determination of whether it is in an open space defined by area 212 or in a passageway 203 defined by area 214. For example, mobile tag 201 can receive radio signals from both anchor 204 in the open space and anchor 204 in the passageway 203. To determine whether to perform a TDOA measurement or a TW-TOA measurement, mobile tag 201 can be configured to retrieve from its internal memory the history of locations in the demarcated area 200 stored by mobile tag 201 to determine the most recent location (or trajectory of mobile tag 201) for placing mobile tag 201 in the open space, area 212, or passageway 203, area 214.

[0096] If mobile tag 201 determines that it may be in open space, area 212, it can then perform TDOA analysis based on the radio signal generated by anchor pair 204 in the open space. Otherwise, if mobile tag 201 determines that it may be in a passageway, area 214, it can then perform TW-TOA analysis based on the radio signal generated by anchor pair 204 in a passageway 203. If mobile tag 201 cannot determine its possible location from its location history, mobile tag 201 can be configured to perform TDOA analysis based on the radio signal generated by anchor pair 204 in the open space and TW-TOA analysis based on the radio signal generated by anchor pair 204 in a passageway 203. Mobile tag 201 can be configured to compare the location determined according to TDOA and the location determined according to TW-TOA with the stored location history to determine which location more closely simulates the location history of mobile tag 201.

[0097] Although for the sake of simplicity, in Figure 8 The corresponding processes are shown and described in a series of boxes; however, it should be understood and recognized that the claimed subject matter is not limited by the order of the boxes, as some boxes may occur in a different order and / or concurrently with other boxes depicted and described herein. Furthermore, it is not required that all illustrated boxes implement the methods described herein. For example, steps 308-312 may be optional.

[0098] Figure 10 This is a block diagram illustrating an exemplary, non-limiting embodiment of an environment in which a mobile tag may operate according to various aspects described herein. The mobile tag 201 may operate at certain times within the network 501 of the anchor 204 (such as as described above relative to...). Figure 7As described above, mobile tags 204 can obtain their locations. However, a user (or vehicle or other mobile device) carrying mobile tag 201 may switch to open space 503 outside the coverage of network 501. When this happens, mobile tag 204 can be configured to switch to peer-to-peer communication (i.e., tag-to-tag communication) to continue obtaining location information relative to other mobile tags in open space 503.

[0099] Figure 11 This is a block diagram illustrating an exemplary, non-limiting embodiment of a network frame 509 that can be used by network 501 according to various aspects described herein. Network frame 509 may include a beacon signal 510, a synchronization period 512, a contention-free period (CFP) 514, a contention period (CP) 516, and an end-of-time period 518. The beacon signal 510 is generated by anchor 204 to provide means for synchronization to anchor 204 and mobile tag 201. The CFP 514 portion of frame 509 supports downlink TDOA (DL-TDOA) ranging packets, which in turn also supports... Figure 9 The anchor pair scheduling is depicted in the diagram. In this context, the term "downlink" means communication from the anchor to the mobile tag, while the term "uplink" means communication from the mobile tag to the anchor. Transmissions during CFP 514 are scheduled to avoid simultaneous transmissions that could cause radio signal interference. The CP 516 portion of frame 509 supports uplink TDOA (UL-TDOA), TW-TOA ranging packets, and additional data / control signaling packets, and can undergo simultaneous transmissions that could thus interfere with each other.

[0100] Synchronization period 512 (which may be optional) provides a short buffer period for anchor 204 to synchronize the start of CFP 514 with each other. Ending period 518 (which may be optional) provides a short buffer period for preparation of the next frame 509 or can be used as a guard interval for ACK message transmission. Network frame 509 is periodic, as indicated by the next repeating field sequence in subsequent network frames. Various other scheduling and timing, including the use of specific frame structures, may be used in conjunction with exemplary embodiments of this disclosure, as described in U.S. Patent No. 10,779,118 to Duan et al., filed January 11, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[0101] Figure 12 This is a block diagram illustrating an exemplary, non-limiting embodiment of a peer frame configured to monitor the presence of network frame 509 according to various aspects described herein. The peer frame is referred to herein as peer superframe 530. Peer superframe 530 may include peer subframe 520 and network subframe 528. Peer subframe 520 enables the network subframe 528 located at... Figure 10 The mobile tag 201 in the open space 503 is capable of performing peer ranging measurements, as will be combined below. Figures 14A-14D The peer subframe 520 may include a peer beacon signal 521, a ranging period 522, and a listening period 524.

[0102] The peer beacon signal 521 can be a Bluetooth (or ultra-wideband) signal broadcast by mobile tag 201 to other mobile tags 201 to initiate a ranging process to determine the relative position of mobile tag 201 with other mobile tags 201 in its vicinity. The peer beacon signal 521 can be an announcement message and / or a synchronization signal to enable other mobile tags 201 to correctly initiate the ranging process. During the ranging period 522, mobile tag 201 can be configured to perform ranging measurements using ultra-wideband signals or other technologies (e.g., RF signal strength indicator (RSSI)). During the listening period 524, mobile tag 201 can be configured to use a Bluetooth (or ultra-wideband) receiver to monitor response messages from other mobile tags 201 within its communication range. The peer subframe 520 is periodic, as... Figure 12 As shown in the image.

[0103] To detect the presence of network 501 with anchor 204, mobile tag 201 can be configured to monitor beacon signals 510 generated by one or more anchors 204 in network 501 during network subframe 528. During network subframe 528, mobile tag 201 can be configured to activate an ultra-wideband receiver to monitor beacon signals 510 generated by one or more anchors 204 using an ultra-wideband transmitter. Generally, the ultra-wideband receiver of mobile tag 201 draws more current than a Bluetooth narrowband receiver. To extend the battery life of mobile tag 201, mobile tag 201 can be configured to keep the ultra-wideband receiver on for a period 526 (depicted as Ts), which is shorter than the period of network subframe 528 (depicted as T). The period 526 (Ts) can be selected to be large enough that mobile tag 201 can detect beacon signals in at least one network frame 509.

[0104] exist Figure 12In the illustration, the first instance of beacon signal 510 was not detected because it occurred outside the period 526(Ts) when the ultrawideband receiver of mobile tag 201 was enabled to monitor beacon signals. However, during the second instance of superframe 530, the beacon signal of the second instance from network frame 509 was detected during period 526(Ts) of network subframe 528 of mobile tag 201. After detecting beacon signal 510, mobile tag 201 can be configured to extend period 526(Ts) to allow mobile tag 201 to receive multiple instances of beacon signal 510, which allows mobile tag 201 to synchronize its clock to network frame 509. After synchronization is achieved, mobile tag 201 can be configured to determine whether to guarantee the transition from peer-to-peer communication mode (such as...) Figure 12 The network communication mode described in the text (such as) Figure 11 The transformation described in the text.

[0105] In an embodiment, mobile tag 201 may be configured to store a coverage map of network 501. The coverage map may indicate areas within network 501 where access to anchor 204 is available and unavailable. Alternatively, or in conjunction with the foregoing embodiments, mobile tag 201 may be configured to receive a message from at least one anchor 204 including a coverage map (or a portion of a coverage map representing the vicinity of where mobile tag 201 is located) after mobile tag 201 has been synchronized to network frame 509. Mobile tag 201 may also be configured to track its movement history from when it leaves network 501 to when it moves to open space 503 outside the wireless coverage area of ​​network 501. Mobile tag 201 may perform this type of tracking by utilizing an accelerometer, gyroscope, and / or magnetometer (compass) to determine the history of its location from inside network 501 to open space 503 and back to network 501. By tracking the history of its location, mobile tag 201 can determine its position in the coverage map of network 501, thereby determining whether it is within communication range of one or more anchors 204 within network 501. Alternatively, the mobile tag 201 may be configured to attempt to communicate with one or more anchors 204 and determine whether it is located in network 501 based on ranging measurements. In yet another embodiment, the mobile tag 201 may receive messages from anchors 204 during CFP periods and determine whether it is within the communication coverage of anchors 204 in network 501 based on the number and quality of messages received during the CFP period.

[0106] If mobile tag 201 cannot reliably communicate with anchor 204 in network 501, or its position relative to one or more anchors cannot be accurately measured, and / or it is determined, based on coverage maps and location history, to be located in an area inaccessible to anchor 204 in network 501, then mobile tag 201 can be configured to adjust the location where peer-to-peer mobile tag communication occurs in network frame 509. This minimizes the impact on anchor 204 or other involved parties. Figure 13 The network communication pattern described herein may cause interference with the wireless signals of other mobile tags 201.

[0107] Figure 13 This is a block diagram illustrating an exemplary, non-limiting embodiment of a mobile tag 201 configured to utilize peer-to-peer communication in a manner consistent with various aspects described herein to avoid interfering with portions of network frame 509. To minimize RF interference with anchor 204 and / or other mobile tags 201 operating in network communication mode, a mobile tag 201 with insufficient coverage in network 501 (e.g., inaccessible to one or more anchors 204) can be configured to maintain peer-to-peer communication in the CP 516 portion (i.e., contention period) of network frame 509 and maintain synchronization with network frame 509 by monitoring beacon signal 510 via a short listening period 531. Since the CP 516 portion allows contention (i.e., RF interference due to simultaneous RF transmissions), contention caused by mobile tags 201 performing peer-to-peer communication can be tolerated, and there is no problem with anchor 204 utilizing the CFP portion 514 (contention-free period) of network frame 509 for RF transmission. The mobile tag 201 can perform this adjustment after synchronizing its clock to network frame 509 using beacon signal 510 as a reference signal. Once Mobile Tag 201 has adapted to peer-to-peer communication in the CP portion 516 of Network Frame 509, Mobile Tag 201 can cease using [the peer-to-peer communication]. Figure 12 The timing associated with the peer superframe 530 depicted in the diagram is changed to utilize only the subframe 520 within the CP portion 516 of network frame 509.

[0108] On the other hand, if the mobile tag 201 determines that it is within the communication range of a sufficient number of anchors 204 in the network 501 used to sufficiently determine its position in the network 501, then the mobile tag 201 can be configured to completely stop using, such as Figure 12 The peer-to-peer communication described in the text completely transforms into a network communication mode and relies solely on the use of Figure 11 The communication between network frame 509 and anchor 204.

[0109] Figures 14A-14D Various embodiments that can be applied to peer-to-peer communication in the above embodiments are described. Figure 14AA two-way time-of-arrival (TW-TOA) peering process for determining the distance between mobile tags (Mobile Tag A and Mobile Tag B) is described. The process can begin with Mobile Tag A transmitting a ranging request (R-REQ) signal to Mobile Tag B at time t1. Mobile Tag B receives the R-REQ signal at time t2. Mobile Tag B processes the R-REQ signal for a period Δt and, in response, transmits a ranging response (R-RSP) signal at t3. Mobile Tag A receives the R-RSP signal at t4. Mobile Tag A can then determine the distance based on formula d. r-trip =d AB +d BA Determine the round-trip distance, where d r-trip It is the round-trip distance, which is the distance d from mobile tag A to mobile tag B. AB The distance d from moving label B to moving label A BA The sum. The distance from mobile label A to mobile label B can be expressed by d. AB = c(t2-t1), where c is the speed of light. Similarly, the distance from moving tag B to moving tag A can be determined by d. BA =c(t4-t3) is determined. Substituting into the above equation, the round-trip distance can be rewritten as d. r-trip = c(t4-t3+t2-t1).

[0110] The time for processing the R-REQ signal and transmitting the R-RSP signal via mobile tag B can be expressed as Δt = t3 - t2. Mobile tag B can be configured to transmit the value of Δt in the R-RSP signal for mobile tag A to calculate d. r-trip Used in [the context]. Substitute Δt into d. r-trip Formula for generation: d r-trip = c(t4-t1-Δt). Since the values ​​of t4, t1, and Δt are known to the moving label A, the moving label A can easily calculate d. r-trip The moving label A can also be based on formula d. AB =d r-trip / 2 Calculate the distance from mobile tag A to mobile tag B. It will be appreciated that mobile tag A can also be configured to know a fixed value of Δt a priori. In yet another embodiment, the processing time for receiving the R-REQ signal and responding with the transmission of the R-RSP signal can be a fixed processing time interval known and used by all mobile tags performing TW-TOA analysis. In the foregoing embodiments, the value of Δt will no longer need to be transmitted in the R-RSP signal. It will also be appreciated that ultra-wideband signaling techniques can be used to transmit the R-REQ and R-RSP signals to improve d r-trip The accuracy of calculations or their derivatives. Therefore, Figure 14AThe TW-TOA shown can be used by either moving tag A or moving tag B to calculate the relative distance between them. This process can be used in the following embodiment.

[0111] Figure 14B Exemplary, non-limiting embodiments of a peer-to-peer process for determining location data between mobile tags, according to various aspects described herein, are depicted. Figure 14B In this scenario, mobile tag A can initiate the process by transmitting an announcement radio signal (ANNC) using a low-power narrowband transmitter (such as a Bluetooth transmitter). After receiving the announcement signal at mobile tag B using a narrowband receiver (e.g., a Bluetooth receiver), mobile tag B can, in response, select a random time to transmit a ranging request (R-REQ) signal via a wideband transmitter using a wideband signaling technology (e.g., a high-frequency ultra-wideband signal such as 500 MHz). Mobile tag A can be configured to turn on its wideband receiver (e.g., for receiving ultra-wideband signals) during the ranging RX window, as shown, to receive R-REQ signals from mobile tag B and / or other mobile tags near mobile tag A in response to the announcement signal generated by mobile tag A.

[0112] Upon receiving the R-REQ signal, Mobile Tag A can be configured to enable a wideband transmitter (e.g., for transmitting ultra-wideband signals) to transmit a ranging response (R-RSP) signal. Mobile Tag B can utilize a wideband receiver (e.g., for receiving ultra-wideband signals) to receive the R-RSP signal. After receiving the R-RSP signal, Mobile Tag B can determine the round-trip time between the R-REQ signal and the R-RSP signal, thereby determining the distance between Mobile Tag B and Mobile Tag A, as in combination with... Figure 14A As described. The R-RSP signal may include the processing time (Δt) during which mobile tag A receives an R-REQ and subsequently transmits an R-RSP, or this time may be known to mobile tag B, as previously described.

[0113] In addition to measuring the relative distance between mobile tags, mobile tag B (or mobile tag A) can also be configured with multiple antennas to calculate the angle of arrival (Angle of Arrival) of the R-RSP signal based on the phase difference between the antennas. This Angle of Arrival can be used to determine the angular orientation between mobile tag B and mobile tag A. By combining the angular orientation with the determination of the distance between mobile tags A and B, mobile tag B can also determine the position and angular orientation of mobile tag A relative to mobile tag B.

[0114] Furthermore, notification signals can be submitted periodically or asynchronously to prompt mobile tag B (and other nearby mobile tags used to receive notification signals) to utilize... Figure 14BThe process described herein involves multiple measurements. Distance and angular orientation can also be used by mobile tag B (and other mobile tags) to determine the trajectory of mobile tag A relative to mobile tag B (and vice versa). Mobile tag B can also be configured to report location information to mobile tag A via a ranging report (R-RPT) signal, such as the measured distance, angular orientation, position, and / or trajectory of mobile tags A and / or B. The R-RPT signal can be a narrowband signal (e.g., Bluetooth) or a wideband signal (e.g., ultra-wideband). Trajectory data can be used to predict collisions between mobile tags A and B, enabling each mobile tag to take mitigating actions, such as asserting an alarm at mobile tag B and / or mobile tag A.

[0115] Furthermore, warning conditions can be provided at both mobile tags A and B to determine whether a desired separation is met between them. The warning conditions can be a separation threshold and / or a trajectory threshold. If the warning conditions are not met, then mobile tags A and / or B can be configured to issue assertion alarms. The alarms can be audible alarms, visual alarms (e.g., flashing colored lights), or a combination thereof. Additionally, by… Figure 14B The depicted embodiment can be reversed, wherein mobile tag B is the mobile tag that initiates the notification signal, and mobile tag A calculates its position and / or orientation relative to mobile tag B as described above, and shares that position and / or orientation with mobile tag B.

[0116] Figure 14C Describing the Figure 14B Modifications to the embodiments. Specifically, mobile tag B can be configured to transmit a ranging readiness to transmit a ranging signaling (RNG-RTS) signal using a narrowband signaling technology such as Bluetooth in response to an announcement signal. The RNG-RTS signal may include timing information indicating when mobile tag B will transmit an R-REQ signal. By knowing this timing, mobile tag A can significantly reduce the ranging RX window (saving mobile tag A's battery life) by knowing the arrival time of the R-REQ signal and the predetermined time to receive the R-RPT signal. If receiving the R-RPT signal is not expected, mobile tag A can further shorten the ranging RX window, thereby further extending battery life. Position and / or orientation measurements can be performed by mobile tag B, as previously discussed regarding... Figure 14B As described.

[0117] Figure 14D Describing the Figure 14B-14CThis is a modification of the embodiment. In this illustration, mobile tag A can be configured to transmit a ranging clear transmit (RNG-CTS) signal using a narrowband signaling technology such as Bluetooth in response to an RNG-RTS signal. The RNG-CTS signal may include timing information indicating when mobile tag A should transmit an R-REQ signal. In this embodiment, mobile tag A can control the initial transmission time of the R-REQ signal, thereby enabling mobile tag A to limit the size of the ranging RX window, reduce current consumption from the ultra-wideband transceiver, and thus improve the battery life of mobile tag A. Figure 14B-14C The previously described embodiments are applicable Figure 14D This is used by the mobile tag B to perform position and / or orientation measurements and to share this information with the mobile tag A via the R-RPT signal.

[0118] Figure 14E It describes in time the means to achieve about Figures 14A-14D This illustration depicts peer-to-peer communication between mobile tags based on transmit and receive intervals, according to an embodiment described. Each mobile tag is equipped with two radio devices (radio device 1 540 and radio device 2 542). Radio device 1 540 is configured to transmit and receive Bluetooth signals, while radio device 2 542 is configured to transmit and receive ultra-wideband signals. Because Bluetooth signals are narrowband signals, Bluetooth operation consumes less power than ultra-wideband signals. Therefore, where possible, utilizing Bluetooth radio devices can extend the battery life of the mobile tag. Figure 14E It also depicts the previous Figure 12 The components described herein are for performing peer superframe 530 for peer ranging measurement 544. For example... Figure 12 As described herein, peer subframe 520 can be combined with network subframe 528 to form peer superframe 530, which enables mobile tag 201 to perform peer ranging measurements with other mobile tags 201 while monitoring network anchors that can trigger processes for switching network communication modes. Figure 14E The presence of (not shown in the image), such as when combined Figure 17 The method 600 is further described.

[0119] Figure 15 This is a block diagram illustrating an exemplary, non-limiting embodiment of the ability of a mobile tag 201 to determine its location within an anchor network providing location services, according to various aspects described herein. Figure 15 In the illustration, a mobile tag 201 located in the network 501 of anchor 204 and operating in network communication mode (i.e., performing distance measurement using only anchor 204) can determine its relative position to another mobile tag 201 and, based on the location history (P... n-1To P n This determines its angular trajectory relative to another mobile tag 201. This angular trajectory can be used to assert warnings to avoid collisions, enforce social distancing, and / or other policies set by the administrator of mobile tag 201 and / or network 501 at anchor 204.

[0120] Figure 16 This is a block diagram illustrating an exemplary, non-limiting embodiment of the ability of a mobile tag 201 to determine its location using peer-to-peer communication with other mobile tags 201, according to various aspects described herein. Figure 16 In the illustration, the moving tag 201 is limited to determining its relative position to another moving tag 201 without trajectory information or angular orientation. In an alternative embodiment, the moving tag 201 may utilize instruments such as one or more accelerometers, one or more gyroscopes, and / or magnetometers to perform relative positioning. Figure 15 The described function. Using such an instrument, the moving tag 201 can use its last known position within the network 501 of anchor 204 as a reference point, and subsequently use the instrument to determine the position history (P). n-1 To P n ) and its angular trajectory relative to another moving tag 201 using a similar instrument.

[0121] Figure 17 An illustrative embodiment of method 600 for switching between communication modes (particularly, peer-to-peer communication mode and network communication mode) according to various aspects described herein is depicted. Method 600 may begin at step 602, wherein the mobile tag may be configured to monitor beacon signals, such as peer-to-peer superframe 530 (and corresponding network subframe 528), when in peer-to-peer communication mode. Figure 12 As shown in the diagram. As previously described, when mobile tag 201 leaves the coverage area of ​​network 501 of anchor 204 and enters open space 503, or when mobile tag 201 is located in an area of ​​network 501 where coverage from anchor 204 is lacking, a peer-to-peer communication mode can be invoked, which allows mobile tag 201 to seek assistance from... Figure 13 The described embodiments.

[0122] When a beacon signal is detected at step 604 in peer-to-peer communication mode, mobile tag 201 can proceed to step 606, where mobile tag 201 determines whether a threshold for the number of beacon signal instances has been met (e.g., a threshold set to greater than two consecutive beacon signals). If the threshold is not met, mobile tag 201 can be configured to return to step 602 and continue the monitoring process. If the threshold is met, mobile tag 201 can be configured at step 608 to synchronize its clock with one or more instances of the beacon signal. Figure 11Network frame 509. In an embodiment, synchronization may occur during one or more instances of synchronization period 512. Once synchronized, mobile tag 201 can proceed to step 610 to determine if there is sufficient coverage in network 201 to switch to network communication mode (i.e., performing ranging measurements only with the help of one or more anchors 204).

[0123] In one embodiment, the coverage determination in step 610 can be performed by the mobile tag 201 by matching its location with a sub-coverage area in network 501. Figure 10 The comparison is performed using a lookup table (or database) (not shown). If the mobile tag 201 has an instrument that reasonably determines where it is located within network 501, then this location information may be sufficient for the mobile tag 201 to determine from the lookup table (or database) whether it has sufficient access to anchor 204 to safely switch to a network communication mode, or whether it should switch to an adapted peer-to-peer communication mode, such as... Figure 13 As depicted in [the document]. The lookup table (or database) may be provided by one or more anchors at a prior time when the mobile tag 201 is located in network 501 and operating in network communication mode, or by another source (e.g., the mobile tag 201 paired with a communication device such as a smartphone, which may communicate with a server of network 501 via a cellular network or other communication means). In another embodiment, the mobile tag 201 may be configured to receive one or more messages from one or more anchors 204 transmitting its location in network 501, and the mobile tag 201 may then compare these messages with the lookup table (or database) to determine whether it is located in a location that supports a secure transition to network communication mode. In another embodiment, the mobile tag 201 may receive one or more messages from one or more anchors 204 in network 501 during a CFP period, and the mobile tag 201 may use these one or more messages based on the quantity and / or quality of messages received from the anchors 204 in network 501 during the CFP period to determine whether it is able to transition to network communication mode. For example, the quality of the messages may be determined based on the number of consecutively received messages exceeding a signal strength threshold. This measurement allows the mobile tag 201 to determine whether there is sufficient (or insufficient) coverage in the network 501 of the anchor 204 to switch from peer-to-peer communication to network communication or remain in peer-to-peer communication but... Figure 13 Operate in the mode shown.

[0124] If mobile tag 201 detects in step 610 that there is insufficient coverage in network 501 relative to its current location to switch to network communication mode, then mobile tag 201 can proceed to step 612, where mobile tag 201 can... Figure 12 The peer-to-peer communication mode described in the text is converted to, for example, Figure 13 The adjusted peer-to-peer communication mode described in the diagram (or, if mobile tag 201 has previously implemented step 612, then this adjusted communication mode is maintained). Alternatively, if mobile tag 201 detects sufficient coverage at step 610 to switch to network communication mode, mobile tag 201 may switch from... Figure 12 The peer-to-peer communication mode described in the text is converted to, for example, Figure 11 The network communication model described in [the text], Figure 11 In the network communication mode described, it performs ranging measurements only with the help of anchor 204 of network 501.

[0125] Once the transition from peer-to-peer communication mode to network communication mode occurs at step 614, the mobile tag 201 can be configured to monitor for the presence or absence of beacon signals generated by anchor 204 of network 501. If the mobile tag 201 detects a number of instances of missing beacon signals that meet a threshold (greater than two consecutively lost beacon signals), then the mobile tag 201 can proceed to step 618, where it transitions from... Figure 11 The network communication mode described in the text is transformed into such a way. Figure 12 The mobile tag 201 operates in the peer-to-peer communication mode described above, and begins monitoring for the presence of beacon signals at step 602 so that it switches back to network communication mode 606 once an instance of a beacon signal meets the threshold of step 606, as previously described. If no lost beacon signal is detected at step 616, the mobile tag 201 can proceed to step 610 to determine at step 614 whether there is sufficient coverage to maintain network communication mode. If the mobile tag 201 determines at step 616 that coverage is insufficient, the mobile tag 201 can proceed to step 612 and perform peer-to-peer communication as described above.

[0126] Although for the sake of explanation, the corresponding process is... Figure 17 The document is shown and described as a series of boxes, but it should be understood and recognized that the claimed subject matter is not limited by the order of the boxes, as some boxes may occur in a different order and / or concurrently with other boxes depicted and described herein. Furthermore, it is not required that all illustrated boxes implement the methods described herein.

[0127] The exemplary embodiments described herein provide systems and methods for determining the location of a mobile tag based on TDOA and AOA information (e.g., a combination of TDOA and AOA information). Figure 18A The illustration includes moving label 101 (“M”) and anchors 102 (“A”), 104 (“B”), 106 (“C”) and 108 (“D”) (for example, the above regarding Figure 1-3The block diagram illustrates an exemplary, non-limiting embodiment of system 700 (described in 4A-4C) for determining the position of a moving tag 101—for example, relative to one or more of anchors 102, 104, 106, and 108. System 700 may include any number of moving tags and anchors, and therefore Figure 18A The moving tags and anchors shown are for illustrative purposes only. For example, system 700 may include more moving tags and / or more or fewer anchors.

[0128] like Figure 18A As shown, the mobile tag 101 may include two antennas—for example, antenna 101a and antenna 101b. In some embodiments, the mobile tag 101 may include additional antennas, such as three antennas (e.g., as shown in the figure). Figure 18B (as depicted in the diagram and described in more detail below) or more. In some embodiments, the antenna may be included in an antenna array.

[0129] Antennas 101a and 101b can be configured to transmit and receive wireless signals (or packets) at a specific frequency or frequency range. In some embodiments, antennas 101a and 101b can be spatially distributed on the mobile tag 101, or spaced apart from each other by a distance less than or equal to half the wavelength (λ / 2) of the wireless signal frequency.

[0130] Although not shown, antennas 101a and 101b can be communicatively coupled to a processing unit (e.g., a radio frequency (RF) front end, etc.). In some embodiments, antennas 101a and 101b can be communicatively coupled to a single or common processing unit. In some embodiments, antennas 101a and 101b can be communicatively coupled to different processing units (where, for example, the clocks of the processing units can be synchronized or can be asynchronous).

[0131] like Figure 18A As depicted, each of antennas 101a and 101b can be configured to receive wireless signals transmitted by anchors 102 and 104 (e.g., the first pair of anchors), as described above. Figure 1 and Figure 2 The first and second wireless signals (s1, s2) described, as well as wireless signals transmitted by one or more other anchors or anchor pairs, such as third and fourth wireless signals (s3, s4) transmitted by anchors 106 and 108 (e.g., a second pair of anchors). In various embodiments, such as in system 700 where (e.g., only) a single pair of anchors (e.g., anchors 102, 104) is selected to transmit wireless signals (e.g., wireless signals (s1, s2)), antennas 101a and 101b can receive wireless signals from (e.g., only) that pair of anchors for the purpose of estimating the current location of mobile tag 101.

[0132] Because antennas 101a and 101b are located at different positions on mobile tag 101, the antennas can receive a given wireless signal from the anchor at (e.g., slightly) different times. This is in Figure 18A The two arrows depicted represent the different lines of sight (LOS) of each of the first, second, third, and fourth wireless signals (s1, s2, s3, s4). When antennas 101a and 101b are spaced a short distance apart (e.g., less than or equal to half the wavelength of the wireless signal frequency (λ / 2)), information about the direction of the incoming wireless signal (such as the angle of arrival (AOA)) can be estimated or calculated. In an exemplary embodiment, and as described in more detail below, the AOA information can also be fully utilized to determine or estimate the position of the mobile tag 101.

[0133] Figure 18B and Figure 18C Example block diagrams are shown of mobile tag 101 configured with two antennas (block diagram 725) and three antennas (block diagram 750), respectively. Figure 18B As shown, the wireless signal transmitted by the anchor can be received at each of the two antennas 101a, 101b of the mobile tag 101, which makes it possible to estimate the AOA (e.g., azimuth angle θ in the xy plane) of the wireless signal in two-dimensional (2D) space. For configurations with three or more antennas (e.g., as shown in the diagram), Figure 18C The mobile tag 101 (as depicted in the text) can receive radio signals transmitted by the anchor at each of the three antennas 101a, 101b, 101c, which makes it possible to estimate additional AOA information—such as azimuth θ (in the xy plane) and elevation φ (relative to the xy plane (e.g., above)).

[0134] Any suitable technique can be used to estimate or determine the AOA of the wireless signal transmitted by the anchor and received by each of the multiple antennas of the mobile tag 101. For example, AOA estimation can be performed using beamforming methods (e.g., Bartlett method, minimum variance distortionless response (MVDR) beamformer solution, linear prediction, etc.), subspace-based methods (e.g., multiple signal classification (MUSIC) and / or its variants, estimation of signal parameters by rotation invariant technique (ESPRIT), etc.), maximum likelihood estimation, etc.

[0135] In various embodiments, the AOA information (e.g., azimuth θ and / or elevation φ) of a given anchor can be estimated or determined individually—that is, the azimuth θ (and / or elevation φ) is estimated using the radio signal information of that anchor. In some embodiments, the AOA information (e.g., azimuth θ and / or elevation φ) of each of a plurality of anchors can be jointly estimated or determined—that is, for example, one or more AOA estimation techniques are applied to a combination of radio signal information for the plurality of anchors to obtain individual AOA information (e.g., individual azimuth θ and / or elevation φ) for each of the plurality of anchors.

[0136] As referenced above Figure 18A In brief, the position of the mobile tag 101 can be determined by fully utilizing the estimated AOA information (azimuth θ and / or elevation φ). This is based on the geometric relationship between the position of the mobile tag 101 and the azimuth θ and / or elevation φ.

[0137] In the case where the mobile tag 101 includes two antennas (e.g., as Figure 18B As depicted in [the text], and using the first and second wireless signals (s1, s2) (transmitted by a pair of anchors 102, 104) as examples, the relationship between the azimuth angle θ (e.g., azimuth angle θ1) of the first wireless signal (s1) and the positions of anchor 102 and mobile tag 101 in 2D space can be expressed as follows:

[0138]

[0139] Where θ1, x1, and y1 can be known, and the relationship between the azimuth angle θ (e.g., azimuth angle θ2) of the second wireless signal (s2) and the positions of anchor 104 and mobile tag 101 in 2D space can be similarly represented as follows:

[0140]

[0141] θ2, x2, and y2 can be known.

[0142] In the case where the mobile tag 101 includes three or more antennas (e.g., as...), Figure 18C As depicted in [the text], and using the first and second wireless signals (s1, s2) (transmitted by a pair of anchors 102, 104) as another example, both Equations 14 and 15 can be applied to the corresponding azimuth angles θ1 and θ2 of the first and second wireless signals (s1, s2), and further mathematical relationships may exist for each elevation angle φ of the first and second wireless signals (s1, s2). For example, the relationship between the elevation angle φ1 of the first wireless signal (s1) and the positions of anchor 102 and mobile tag 101 in three-dimensional (3D) space can be expressed as:

[0143]

[0144] Where φ1, x1, y1, and z1 can be known, and the relationship between the elevation angle φ2 of the second wireless signal (s2) and the positions of the anchor 104 and the mobile tag 101 in 3D space can be similarly expressed as follows:

[0145]

[0146] φ2, x2, y2, and z2 can be known.

[0147] As mentioned above Figure 1 and Figure 2 The described (e.g., downlink) TDOA measurement technique can be used to determine the location of mobile tag 101. Specifically, location data associated with a pair of anchors (e.g., anchors 102 and 104) and the reception of radio signals transmitted from the anchors by mobile tag 101 (e.g., first and second radio signals (s1, s2)) can be mathematically represented by equations 4C, 5, and 6 above. The 3D version of Δd1 in equation 6 is represented by c(t4-t1-Δt)-d AB Replace (where the positions of anchor 102 (x1, y1, z1) and anchor 104 (x2, y2, z2) can be known) to generate

[0148]

[0149] In an exemplary embodiment, the position of the mobile tag 101 can be determined based on a combination of TDOA information and AOA information. In other words, the geometric relationship between the AOA information and the position of the mobile tag 101 can be combined with the TDOA information to jointly estimate the position of the mobile tag 101. In various embodiments, this combination can be achieved by solving a system of equations that include the relevant equations defined above.

[0150] As an example, in the case where the mobile tag 101 includes two antennas, such as Figure 18B The set of equations described above can include equations 14, 15, and 18. In this example, distance measurement can be performed in 3D space, the height z of the moving label 101 (in equation 18) can be known, and solving equations 14, 15, and 18 above can produce the position (x, y) of the moving label 101.

[0151] As another example, in the case where mobile tag 101 includes three antennas, such as Figure 18CThe set of equations described above can include equations 14, 15, 16, 17, and 18. In this example, the height z of the moving label 101 can be unknown, and solving equations 14, 15, 16, 17, and 18 above can produce the position (x, y, z) of the moving label 101.

[0152] Systems of equations (e.g., systems 14, 15, and 18, and systems 14, 15, 16, 17, and 18) can be solved in any suitable manner. For example, each system can be solved using nonlinear least squares, weighted least squares, Kalman filtering, etc.

[0153] It should be recognized and understood that equations 14, 15, 16, and 17 above are provided only as examples. Other equations (e.g., trigonometric formulas) representing the same or similar geometric relationships between the mobile tag 101 and the anchors 102 and 104 can be used. For example, in the case where the mobile tag 101 includes two antennas (such as... Figure 18B As depicted in [the text], the relationship between the azimuth angle θ and the (x, y) coordinates can be defined using trigonometric formulas other than those based on the tangent function (i.e., equations 14 and 15). As another example, in the case where the mobile tag 101 includes three antennas (such as...), Figure 18C As described in the figure, the relationship between the azimuth θ, elevation φ and (x, y, z) coordinates can be defined using trigonometric formulas other than those based on the tangent function (i.e., equations 14, 15, 16 and 17).

[0154] As stated above, combining TDOA and AOA information to estimate the location of a mobile tag (such as mobile tag 101) can provide improved (or optimized) accuracy compared to using only TDOA information to estimate the location.

[0155] In some embodiments, additional anchor pairs may be used to further aid in estimating the location of the mobile tag. For example, in mobile tag 101, two antennas (such as...) may be included. Figure 18BIn the case where the second pair of anchors (e.g., anchors 106 and 108) transmits radio signals (e.g., radio signals s3 and s4) to the mobile tag 101, as depicted in the diagram, an additional set of equations (similar to equations 14, 15, and 18) can be defined to define the geometric and time-based relationship between anchors 106, 108 and the mobile tag 101. This additional set of equations can be solved together with equations 14, 15, and 18 (related to anchors 102 and 104)—for example, using nonlinear least squares, weighted least squares, Kalman filtering, etc.—to obtain the estimated position (x, y) of the mobile tag 101. However, it is worth noting that the improved accuracy of the estimated position of the mobile tag 101 provided by employing the above combination of TDOA and AOA information on a single pair of anchors (e.g., only anchors 102 and 104) avoids the need for specific position estimation using multiple pairs of anchors. That is, to determine the current location of a mobile tag (e.g., mobile tag 101), radio signals from other anchor pairs (such as anchors 106, 108) may not be necessary. This reduces or eliminates the need for providing wide-area coverage for the mobile tag, which might be required if only TDOA information is used to estimate the location of the mobile tag (e.g., estimating the location of the mobile tag using only TDOA information might require at least three anchor pairs, as mentioned above). Figure 1-3 (As described in 4A-4C). Fewer (or less stringent) coverage requirements reduce the number of anchors needed to estimate the location of any given mobile tag, allowing for more efficient scheduling of anchor pairs. This reduces the amount of radio signals transmitted and received across anchors and mobile tags, saving computational, power, and network resources, and also improving overall network performance.

[0156] In addition, obtain the AOA information of the mobile tag (e.g., as mentioned above regarding...). Figures 18A-18C The described method can further facilitate the mitigation of conflicts between mobile tags and other mobile tags. For example, in some embodiments, mobile tag 101 can provide a second mobile tag with AOA information estimated based on radio signals received from anchors 102 and 104 (e.g., as described above regarding...). Figure 12 (As described in part of peer-to-peer communication). In this example, the second mobile tag can use this information to determine the orientation of mobile tag 101 relative to the second mobile tag, and can combine it with distance and / or velocity measurements associated with mobile tag 101 and the second mobile tag to determine whether there is any risk of collision with mobile tag 101.

[0157] Figure 19 An illustrative embodiment of method 800 according to various aspects described herein is depicted. Method 800 may begin at step 802, wherein anchor(s)(one or more) pairs of anchors in an anchor network are identified (e.g., Figure 18AAnchor pairs 102, 104). In various embodiments, the anchor pairs can be in accordance with the above regarding... Figure 8 The identification is similar to that described in step 302. Anchors in an anchor pair (e.g., anchor pairs 102, 104) can be within each other's communication range, where their overlapping coverage area can encompass both anchors and a moving tag (e.g., moving tag 101 or 201). In various embodiments, and as described above regarding... Figure 8 As described in step 304, the anchor pair can transmit wireless signals according to a transmission schedule to avoid signal interference.

[0158] At step 804 of method 800, the first anchor of the anchor pair can transmit a first wireless signal, wherein the second anchor of the anchor pair can receive the first wireless signal and transmit a second wireless signal based on the reception of the first wireless signal. For example, anchor pair 102 can transmit the first wireless signal s1, wherein anchor pair 104 can receive the first wireless signal s1 and transmit the second wireless signal s2 based on the reception of the first wireless signal s1, as described above. Figure 1 , Figure 2 and Figure 18A As described.

[0159] At step 806, the mobile tag can receive the first and second wireless signals at multiple antennas. For example, an embodiment of the mobile tag 101 including two antennas 101a and 101b (e.g., as described above regarding...) Figure 18B The described method allows the first wireless signal s1 and the second wireless signal s2 to be received at each of the two antennas 101a and 101b. As another example, embodiments of a mobile tag 101 including three or more antennas 101a, 101b, 101c (e.g., as described above regarding...) Figure 18C The described device can receive the first wireless signal s1 and the second wireless signal s2 at each of three or more antennas 101a, 101b, 101c.

[0160] In step 808a, the mobile tag can determine TDOA information based on the first and second radio signals. For example, mobile tag 101 can determine TDOA information based on the first radio signal s1 and the second radio signal s2—for example, to match the above information regarding... Figures 18A-18C The description is similar, such as by using Equation 18. Alternatively, the mobile tag can be sent to an external location estimator device (e.g., as mentioned above regarding...). Figure 8 The described server provides information related to the first and second wireless signals, which the server can use to determine TDOA information.

[0161] Independently (e.g., in parallel with step 808a), at step 808b, the mobile tag can determine AOA information based on the first and second radio signals. For example, mobile tag 101 can determine AOA information based on the first radio signal s1 and the second radio signal s2—for example, to correlate with the above regarding... Figures 18A-18C Similar methods of description exist, such as using beamforming methods, subspace-based methods, maximum likelihood estimation, etc. In various embodiments, the mobile tag can estimate the AOA information for each anchor in an anchor pair. For example, mobile tag 101 can estimate the AOA information for anchor 102 based on receiving a first radio signal s1 at each of a plurality of antennas, and can estimate the AOA information for anchor 104 based on receiving a second radio signal s2 at each of a plurality of antennas. In some embodiments, the mobile tag can transmit the location information to an external location estimator device (e.g., referenced above). Figure 8 The described server provides information related to the first and second wireless signals, which the server can use to determine the AOA information.

[0162] At step 810, the location of the mobile tag can be estimated (e.g., jointly estimated) based on a combination of TDOA information and the geometric relationship between the AOA information and the location of the mobile tag. For example, the mobile tag 101 or the external location estimator device can estimate the location of the mobile tag 101 based on a combination of TDOA information and the geometric relationship between the AOA information and the location of the mobile tag 101—for example, by solving a set of equations including equations 14, 15, and 18 (in the case where the mobile tag 101 includes two antennas) or by solving a set of equations including equations 14, 15, 16, 17, and 18 (in the case where the mobile tag 101 includes three or more antennas).

[0163] Although for the sake of explanation, the corresponding process is... Figure 19 The document is shown and described as a series of blocks, but it should be understood and recognized that the claimed subject matter is not limited by the order of the blocks, as some blocks may occur in a different order and / or concurrently with other blocks depicted and described herein. For example, in some embodiments, step 808a may alternatively be performed before step 808b, or vice versa. Moreover, it is not required that all shown blocks implement the method described herein.

[0164] One or more aspects of this disclosure include a system. The system may include an anchor network (e.g., each anchor is located at a known location (e.g., known coordinates based on x, y, z)). Each anchor in the anchor network may include a corresponding processor and a corresponding transceiver for transmitting and receiving wireless signals (e.g., packets). The anchor network may include a pair of anchors located within each other's communication range. A first anchor in the pair may be configured to transmit a first wireless signal (e.g., a request (REQ) packet, etc.), and a second anchor in the pair may be configured to receive the first wireless signal and transmit a second wireless signal (e.g., a response (RSP) packet, etc.) based on or in response to receiving the first wireless signal. The system may also include a mobile device with multiple antennas (e.g., at an unknown location). An overlapping coverage area associated with the pair of anchors may cover the mobile device. The mobile device may include a processor and a receiver for receiving a first wireless signal and a second wireless signal from multiple antennas, and may determine (e.g., using the processor of the mobile device) time difference of arrival information and angle of arrival information associated with the first wireless signal and the second wireless signal based on the reception of the first wireless signal and the second wireless signal from multiple antennas (e.g., based on REQ and RSP packets received by all antennas) to enable estimation of the location of the mobile device.

[0165] In various embodiments, the distance between the first antenna of the plurality of antennas and the second antenna of the plurality of antennas may be less than half the wavelength of the first or second wireless signal. In some embodiments, the mobile device may be configured to estimate the location of the mobile device based on time difference of arrival information and angle of arrival information associated with the first and second wireless signals.

[0166] In some embodiments, the mobile device may not have determined the time difference of arrival (TDOA) and angle of arrival (AoR), or it may have determined the TDOA and AoR but may not estimate the location of the mobile device. In such embodiments, the system may further include a server device, and the mobile device may provide the server device with information / data related to the reception of a first wireless signal and a second wireless signal. The server device may use this information / data stream to determine the TDOA and AoR and estimate the location of the mobile device based on them. Alternatively, the mobile device may determine the TDOA and AoR and provide them to the server device, which may use them to estimate the location of the mobile device.

[0167] In one or more embodiments, the first anchor may be configured to transmit a first wireless signal according to a transmission schedule, and the second anchor may be configured to transmit a second wireless signal according to a transmission schedule, thereby avoiding signal collisions.

[0168] One or more aspects of this disclosure include a mobile device. The mobile device may include a processing system having a processor. The mobile device may also include a first antenna and a second antenna spaced apart from the first antenna. The mobile device may also include a memory storing executable instructions that facilitate the execution of operations when the processing system executes these executable instructions. Operations may include receiving from the first and second antennas a first wireless signal transmitted by a first anchor in a first pair of anchors, and receiving from the first and second antennas a second wireless signal transmitted by a second anchor in the first pair of anchors, wherein the second wireless signal is transmitted by the second anchor based on the second anchor detecting the first wireless signal. Operations may also include determining time difference of arrival (TDOA) information based on receiving the first and second wireless signals, determining angle of arrival (AHA) information based on receiving the first and second wireless signals, and estimating the location of the mobile device based on the TDOA information and the AHA information.

[0169] One or more aspects of this disclosure include a non-transitory machine-readable medium comprising executable instructions that, when executed by a processing system of a mobile device including a processor, facilitate the execution of operations. Operations may include receiving from a plurality of antennas of the mobile device a first wireless signal transmitted by a first anchor in a pair of anchors, and receiving from a plurality of antennas of the mobile device a second wireless signal transmitted by a second anchor in the pair of anchors, wherein the second wireless signal is transmitted based on the first wireless signal. Operations may further include providing data related to the reception of the first and second wireless signals to a server device, enabling the server device to determine time difference of arrival (TDOA) information based on the data, derive angle of arrival (AHA) information based on the data, and estimate the location of the mobile device based on the TDOA information and the AHA information.

[0170] Figure 20 This is a block diagram of an example, non-limiting embodiment of a communication device 900 according to various aspects described herein. The communication device 900 can be used, in whole or in part, as... Figure 1-7 The illustrative embodiments depicting moving tags 101, 201 and anchors 102, 104, 106, 108, 204 can be configured to be implemented in whole or in part. Figure 8 and Figure 17 Methods 300 and 600.

[0171] In one embodiment, the communication device 900 may include a first wireless transceiver 901, a user interface (UI) 904, a power supply 914, and a processing system 906 for managing the operation of the communication device 900. In another embodiment, the communication device 900 may also include a second wireless transceiver 902, a motion sensor 918, and an orientation sensor 920. The first wireless transceiver 901 may be configured to support wideband wireless signals, such as ultra-wideband signals (e.g., 500 MHz), for performing precise measurements, such as TDOA and TW-TOA as described above, and may also be configured to exchange messages (e.g., xy coordinates, location markers, etc.).

[0172] The second wireless transceiver 902 can be configured to support wireless access technologies, such as... or WiFi and They are respectively by Special Interest Group and Alliance registered trademark). The second wireless transceiver 902 can be used to utilize narrowband signals (such as... Instead of ultra-wideband signals (such as WiFi), wireless transceivers can be used to save power and offload message transmission between communication devices. One or both of wireless transceivers 901 and 902 can also be used to obtain a signal strength indicator (RSSI). One or both of wireless transceivers 901 and 902 can also be equipped with multiple antennas and one or more phase detectors to determine the angle of arrival of the wireless signal, thereby determining the orientation of communication device 900 (e.g., mobile tag 101) relative to another communication device 900 (e.g., anchor 204).

[0173] UI 904 may include input device 908, which provides at least one of one pressable buttons, a tactile keypad, a touch-sensitive keypad, or a navigation mechanism such as a ball, joystick, or a navigation dial for operating the communication device 900. Input device 908 may be an integrated part of the housing assembly of the communication device 900 or may be connected via a tethered wired interface (such as a USB cable) or support for, for example... The wireless interface is operatively coupled to its standalone device. UI 904 may also include a presentation device 910. Presentation device 910 may include a vibrator for generating haptic feedback, an LED (light-emitting diode) configurable by processing system 906 to emit one or more colors, and / or a monochrome or color LCD (liquid crystal display) or OLED (organic LED) display configurable by processing system to present alphanumeric characters, icons, or other displayable objects.

[0174] UI 904 may also include an audio system 912 that utilizes audio technology to deliver low-volume audio (for near-field listening by a user) and / or high-volume audio (for hands-free operation). The audio system 912 may also include a microphone for receiving audible signals from the end user. The audio system 912 may also be used in voice recognition applications. UI 904 may also include an image sensor 913, such as a charge-coupled device (CCD) camera for capturing still or moving images near the communication device 900. The camera may be used to perform facial recognition and user ID identification, which may be combined with embodiments of this disclosure.

[0175] Power supply 914 can utilize common power management technologies (such as replaceable and rechargeable batteries), power conditioning technologies, and / or charging system technologies to supply power to components of communication device 900 to facilitate portable applications. Alternatively or in combination, the charging system can utilize an external power source, such as DC power supplied via a physical interface (such as a USB port) or other suitable network tethering technologies.

[0176] Motion sensor 918 can utilize motion sensing technologies such as accelerometers, gyroscopes, or other suitable motion sensing technologies to detect the movement of communication device 900 in three-dimensional space. Orientation sensor 920 can utilize orientation sensing technologies such as magnetometers to detect the orientation of communication device 900 (in degrees, minutes, or other suitable orientation measures). In some embodiments, orientation sensor 920 can replace the need for multiple antennas with first and / or second wireless transceivers 901, 902 and a phase detector for performing angle of arrival measurements. In other embodiments, the functionality of orientation sensor 920 can be combined with angle of arrival measurements performed using multiple antennas with first and / or second wireless transceivers 901, 902 and a phase detector.

[0177] The processing system 906 may utilize computing technologies such as microprocessors, digital signal processors (DSPs), programmable gate arrays, application-specific integrated circuits (ASICs), and / or video processors with associated storage memories such as flash memory, ROM, RAM, SRAM, DRAM, or other storage technologies for executing computer instructions, controlling and processing data supplied by the aforementioned components of the communication device 900.

[0178] Figure 20Other components not shown may be used in one or more embodiments of this disclosure. For example, the communication device 900 may include a reset button (not shown). The reset button may be used to reset the controller 906 of the communication device 900. In yet another embodiment, the communication device 900 may also include, for example, a factory default setting button located below a small hole in the housing assembly of the communication device 900 to force the communication device 900 to reset its factory settings.

[0179] The communication device 900 described in this article can be connected with Figure 20 The circuit components shown may operate together with more or fewer components. These variant embodiments may be used in one or more embodiments of this disclosure.

[0180] Figure 21 An exemplary schematic representation of a machine in the form of a computing system 1000 is depicted, wherein an instruction set, when executed, enables the machine to perform any or more of the methods described above. For example, one or more instances of the machine can serve as... Figure 8 and Figure 17 The machine operates using the computing system mentioned in method 300 or 600. In some embodiments, the machine may connect (e.g., using network 1026) to other machines. In a networked deployment, the machine may operate as a server or client user machine in a server-client user network environment, or as a peer machine in a peer-to-peer (or distributed) network environment.

[0181] Machines may include server computers, client user computers, personal computers (PCs), tablets, smartphones, laptops, desktop computers, control systems, network routers, switches, or bridges, or any machine capable of executing a set of instructions (sequentially or otherwise) specifying the operations to be performed by that machine. It should be understood that the communication devices of this disclosure broadly include any electronic device that provides data communication. Furthermore, although a single machine is shown, the term "machine" should also be considered to include a collection of machines (physical or virtual) that individually or jointly execute a set of instructions (or more sets of instructions) to perform any one or more of the methods discussed herein.

[0182] Computer system 1000 may include a processor (or controller) 1002 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), or both), main memory 1004, and static memory 1006, which communicate with each other via bus 1008. Computer system 1000 may also include a display unit 1010 (e.g., a liquid crystal display (LCD), a flat panel display, or a solid-state display). Computer system 1000 may include an input device 1012 (e.g., a keyboard), a cursor control device 1014 (e.g., a mouse), a disk drive unit 1016, a signal generation device 1018 (e.g., a speaker or a remote control), and a network interface device 1020. In a distributed environment, the embodiments described in this disclosure may be adapted to utilize multiple display units 1010 controlled by two or more computer systems 1000. In this configuration, the presentation described in this disclosure may be shown in part in a first display unit 1010, while the remainder is presented in a second display unit 1010.

[0183] Disk drive unit 1016 may include a tangible computer-readable storage medium 1022 on which one or more instruction sets (e.g., software 1024) are stored to implement any or more of the methods or functions described herein (including those shown above). Instructions 1024 may also reside wholly or at least partially in main memory 1004, static memory 1006, and / or reside in processor 1002 during execution by computer system 1000. Main memory 1004 and processor 1002 may also constitute tangible computer-readable storage media.

[0184] Specialized hardware implementations, including but not limited to application-specific integrated circuits (ASICs), programmable logic arrays (PLA), and other hardware devices, can also be configured to implement the methods described herein. ASICs and PLAs can be implemented using downloadable instructions for executing state machines and / or circuit configurations. Applications of the apparatuses and systems that can include various embodiments broadly encompass a wide range of electronic devices and computer systems. Some embodiments implement functionality in two or more specific interconnected hardware modules or devices, wherein associated control and data signals are communicated between or through modules, or as part of an ASIC. Therefore, the example systems are applicable to software, firmware, and hardware implementations.

[0185] According to various embodiments of this disclosure, the operations or methods described herein are intended to operate as software programs or instructions that run on or are executed by a computer processor or other computing device, and may include other forms of instructions embodied as state machines implemented with logic components in application-specific integrated circuits or field-programmable gate arrays. Furthermore, software implementations (e.g., software programs, instructions, etc.) including, but not limited to, distributed processing or component / object distributed processing, parallel processing, or virtual machine processing, may also be configured to implement the methods described herein. Distributed processing environments may include multiple processors in a single machine, a single processor in multiple machines, and / or multiple processors in multiple machines. It should also be noted that computing devices such as processors, controllers, state machines, or other suitable devices for executing instructions to perform operations or methods may perform such operations directly or indirectly through one or more intermediate devices directed by the computing device.

[0186] Although the tangible computer-readable storage medium 1022 is shown as a single medium in the example embodiment, the term "tangible computer-readable storage medium" should be understood to include a single medium or multiple media (e.g., a centralized or distributed database and / or associated caches and servers) storing one or more instruction sets. The term "tangible computer-readable storage medium" should also be considered to include any non-transitory medium capable of storing or encoding instruction sets for machine execution and causing the machine to perform any one or more of the methods of this disclosure. The term "non-transitory" in non-transitory computer-readable storage includes, but is not limited to, memory, drives, devices, and anything tangible, but not the signal itself.

[0187] Therefore, the term "tangible computer-readable storage medium" should be understood to include, but is not limited to: solid-state memory, such as memory cards or other packaging containing one or more read-only (non-volatile) memory, random access memory or other rewritable (volatile) memory; magneto-optical or optical media, such as disks or tapes; or other tangible media that can be used to store information. Thus, this disclosure is considered to include any one or more tangible computer-readable storage media of the forms and successors recognized in the art as listed herein, wherein the software implementations of this document are stored.

[0188] While this specification describes the components and functions implemented in the embodiments with reference to specific standards and protocols, this disclosure is not limited to such standards and protocols. Each standard used for transmission on the Internet and other packet-switched networks (e.g., TCP / IP, UDP / IP, HTML, HTTP) represents an example of the prior art. Such standards are sometimes superseded by faster or more efficient equivalent standards with substantially the same functionality. In one or more embodiments, information about service usage can be generated, including services being accessed, media consumption history, user preferences, etc. This information can be obtained through various methods, including user input, detecting the type of communication (e.g., video content versus audio content), analysis of content streams, etc. The generation, acquisition, and / or monitoring of such information can be in response to authorization provided by the user. In one or more embodiments, data analysis can be subject to authorization from one or more users associated with the data, such as opt-in, opt-out, confirmation requests, notifications, selective authorization based on data type, etc.

[0189] The illustrations of the embodiments described herein are intended to provide a general understanding of the structure of various embodiments, and are not intended to be used as a complete description of all elements and features of apparatuses and systems that may utilize the structures described herein. Many other embodiments will be apparent to those skilled in the art upon review of the foregoing description. Exemplary embodiments may include combinations of features and / or steps from various embodiments. Other embodiments may be utilized and derived therefrom, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. The drawings are also merely representative and may not be drawn to scale. Some scales may be exaggerated while others may be minimized. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

[0190] While specific embodiments have been illustrated and described herein, it should be understood that any arrangement for achieving the same or similar purpose may substitute for the embodiments described or shown in this disclosure. This disclosure is intended to cover any and all modifications or variations of various embodiments. Combinations of the above embodiments and other embodiments not specifically described herein may be used in this disclosure. For example, one or more features from one or more embodiments may be combined with one or more features from one or more other embodiments. In one or more embodiments, positively described features may also be negatively described and excluded from the embodiments, replaced with or without another structural and / or functional feature. The steps or functions described with respect to embodiments of this disclosure may be performed in any order. The steps or functions described with respect to embodiments of this disclosure may be performed individually or in combination with other steps or functions of this disclosure, as well as in combination with other embodiments or steps not described in this disclosure. Additionally, more or fewer of all the features described with respect to embodiments may be utilized.

[0191] Fewer than all the steps or functions described with respect to the exemplary process or method may be performed in one or more exemplary embodiments. Furthermore, the use of numerical terms to describe devices, components, steps, or functions (such as first, second, third, etc.) is not intended to describe order or function; unless explicitly stated otherwise, the use of the terms first, second, third, etc., is generally to distinguish devices, components, steps, or functions. Additionally, one or more devices or components described with respect to exemplary embodiments may facilitate one or more functions, wherein facilitation (e.g., facilitating access or facilitating connection establishment) may include fewer than each step required to perform the function, or may include all the steps required to perform the function.

[0192] The abstract of this disclosure is provided to support the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Furthermore, as can be seen in the foregoing detailed description, various features have been grouped into single embodiments for the purposes of this disclosure. The approach of this disclosure should not be construed as reflecting an intention that the claimed embodiments require more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive subject matter lies in fewer than all features of a single disclosed embodiment. Therefore, the following claims are incorporated into the detailed description, each claim being independently claimed as a separate subject matter.

Claims

1. A mobile device, comprising: Processing systems, including processors; First antenna; A second antenna spaced apart from the first antenna; as well as A memory storing executable instructions that, when executed by a processing system, facilitate the execution of operations, including: Receive the first wireless signal transmitted by the first anchor in the first pair of anchors from the first antenna and the second antenna; Receive a second wireless signal transmitted by the second anchor in the first pair of anchors from the first antenna and the second antenna, wherein the second wireless signal is transmitted by the second anchor based on the second anchor detecting the first wireless signal; The time difference of arrival information is determined based on the receipt of the first wireless signal and the receipt of the second wireless signal; Angle of arrival information is determined based on the received first and second wireless signals; Receive corresponding wireless signals transmitted by the corresponding anchor in one or more other pairs of anchors from the first antenna and the second antenna; For each of the other one or more pairs of anchors, additional time difference of arrival information is determined based on the corresponding radio signal received from the corresponding anchor in that pair; and For each of the other one or more pairs of anchors, additional angle of arrival information is determined based on the corresponding radio signal received from the corresponding anchor in that pair; and The location of the mobile device is estimated based on time difference of arrival information, angle of arrival information, the additional time difference of arrival information, and the additional angle of arrival information.

2. The mobile device of claim 1, wherein estimating the location of the mobile device includes performing nonlinear least squares (NLS) analysis using time difference of arrival information and angle of arrival information.

3. The mobile device of claim 1, wherein the first anchor and the second anchor are positioned at known locations and provide corresponding coverage areas, such that the overlapping coverage area of ​​the corresponding coverage areas encompasses the first anchor, the second anchor, and the mobile device.

4. The mobile device of claim 1, wherein the distance between the first antenna and the second antenna is less than or equal to half the wavelength of the first wireless signal or the second wireless signal.

5. The mobile device of claim 1, wherein determining the angle of arrival information includes determining the corresponding angle of arrival information of the first wireless signal and the second wireless signal.

6. The mobile device of claim 5, wherein determining the respective angle of arrival information of the first wireless signal and the second wireless signal is based on a joint estimation using a combination of information associated with the first wireless signal and the second wireless signal.

7. The mobile device of claim 1, wherein the angle of arrival information is determined based on a beamforming method, a subspace-based method, maximum likelihood estimation, or a combination thereof.

8. The mobile device of claim 1, wherein estimating the location of the mobile device includes estimating the location of the mobile device in a two-dimensional (2D) space.

9. The mobile device of claim 1, further comprising one or more additional antennas spaced apart from each other and spaced apart from the first antenna and the second antenna, wherein the operation further comprises receiving a first wireless signal and a second wireless signal from each of the one or more additional antennas, wherein determining time difference of arrival information is also based on receiving the first wireless signal and the second wireless signal from each of the one or more additional antennas, wherein determining angle of arrival information is also based on receiving the first wireless signal and the second wireless signal from each of the one or more additional antennas, and wherein estimating the position of the mobile device includes estimating the position of the mobile device in three-dimensional (3D) space.

10. The mobile device of claim 1, wherein the first anchor is configured to transmit the first wireless signal according to a transmission schedule, and the second anchor is configured to transmit the second wireless signal according to a transmission schedule, thereby avoiding signal interference.

11. The mobile device of claim 1, wherein the anchor in each of the additional pair or more pairs of anchors is positioned at a known location and provides a corresponding coverage area, such that the overlapping coverage area of ​​the corresponding coverage areas encompasses the anchors and the mobile device.

12. A system comprising: An anchor network, wherein each anchor in the anchor network includes a corresponding transceiver for transmitting and receiving wireless signals, wherein the anchor network includes multiple pairs of anchors, wherein the anchors in each of the multiple pairs of anchors are within communication range of each other, wherein a first anchor in a first pair of anchors is configured to transmit a first wireless signal, wherein a second anchor in the first pair of anchors is configured to receive the first wireless signal and transmit a second wireless signal based on the receipt of the first wireless signal, and wherein the anchors in another pair of anchors are configured to transmit corresponding wireless signals; and A mobile device having multiple antennas, wherein an overlapping coverage area associated with a first pair of anchors covers the mobile device, and an overlapping coverage area associated with an anchor in another pair of anchors covers the mobile device, wherein the mobile device is configured to receive a first wireless signal, a second wireless signal, and a corresponding wireless signal from the multiple antennas, determine time difference of arrival information based on the first wireless signal, the second wireless signal, and the corresponding wireless signal received from the multiple antennas, and perform joint estimation based on the first wireless signal, the second wireless signal, and the corresponding wireless signal received from the multiple antennas to determine angle of arrival information associated with the first wireless signal, the second wireless signal, and the corresponding wireless signal, wherein the time difference of arrival information and the angle of arrival information enable the estimation of the location of the mobile device.

13. The system of claim 12, wherein the distance between any two of the plurality of antennas is less than half the wavelength of the first wireless signal or the second wireless signal.

14. The system of claim 12, wherein the mobile device is configured to estimate the location of the mobile device based on time difference of arrival information and angle of arrival information associated with the first and second wireless signals.

15. The system of claim 12, further comprising a server device configured to obtain time difference of arrival information and angle of arrival information from the mobile device, and to estimate the position of the mobile device in response to obtaining the time difference of arrival information and angle of arrival information.

16. The system of claim 12, wherein the first anchor is configured to transmit the first wireless signal according to a transmission schedule, and the second anchor is configured to transmit the second wireless signal according to a transmission schedule, thereby avoiding signal interference.

17. A non-transitory machine-readable medium comprising executable instructions that, when executed by a processing system of a mobile device including a processor, facilitate the execution of operations, the operations including: Receive a first wireless signal transmitted by the first anchor in a pair of anchors from multiple antennas of the mobile device; The second wireless signal is received from the plurality of antennas of the mobile device by the second anchor in the pair of anchors, wherein the second wireless signal is transmitted based on the first wireless signal; as well as Receive corresponding wireless signals transmitted by the corresponding anchor in another pair of anchors from the multiple antennas of the mobile device; The server device is provided with data related to the reception of a first wireless signal, the reception of a second wireless signal, and the reception of the corresponding wireless signal, so that the server device can determine the time difference of arrival information based on the data, derive the angle of arrival information based on the data, and estimate the position of the mobile device based on the time difference of arrival information and the angle of arrival information.

18. The non-transitory machine-readable medium of claim 17, wherein the first wireless signal and the second wireless signal are transmitted at the same frequency.

19. The non-transient machine-readable medium of claim 17, wherein the plurality of antennas comprises at least two antennas, and wherein the distance between the first antenna of the at least two antennas and the second antenna of the at least two antennas is less than half the wavelength of the first wireless signal or the second wireless signal.

20. The non-transitory machine-readable medium of claim 17, wherein the first anchor and the second anchor provide corresponding coverage areas such that the overlapping coverage area of ​​the corresponding coverage areas encompasses the first anchor, the second anchor, and the mobile device.

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