METHOD AND SYSTEMS FOR CENTIMETER-ACCURATE LOCALIZATION WITH CARRIER PHASE OF ASYMMETRIC ANTENNAS

Abstract

Exemplary embodiments involve centimeter-accurate localization using asymmetric antennas. A pair of mobile devices can establish a wireless communication link, with one device serving as a base station and the other as a rover for real-time kinematic positioning (RTK positioning). If the mobile devices have similar asymmetric antennas for receiving Global Navigation Satellite System (GNSS) signals, the errors caused by the asymmetric antennas can be compensated for by combining the measurements of both devices. The rover's mobile device can display instructions for the user to adjust its orientation to match that of the base station's mobile device.The rover's mobile device can then receive measurement or correction data from the base station and use it to determine its position relative to the rover's mobile device. Such techniques can be performed with complementary model devices that can be used to map areas with a high degree of precision (e.g., at the centimeter level), including elevation data.

Description

[0001] This application claims priority over US patent application No. 18 / 336,363, filed on June 16, 2023, the contents of which are incorporated in their entirety by reference. GENERAL STATE OF THE ART

[0002] Real-time kinematics (RTK) is a satellite-based positioning technique that can provide highly accurate and precise positioning data. The method is widely used in surveying, mapping, precision agriculture, and other applications requiring precise measurements, and involves the use of a fixed base station and a mobile rover. The base station receives and utilizes signals from global navigation satellite systems (GNSS), such as GPS, GLONASS, Galileo, BeiDou, or other similar systems, to calculate its position and determine errors in the satellite signals caused by atmospheric conditions and other factors. The base station then transmits its position and measured signals to the mobile rover, which can apply them to its own GNSS measurements to refine its positioning data in real time.

[0003] Although RTK systems can provide accurate measurements, they are typically more expensive and complex compared to other positioning techniques. In particular, setting up and maintaining a base station, managing measurement or correction data, and ensuring reliable radio communication between the base station and the rover can require technical expertise and expense, in addition to the cost of the specialized equipment serving as the base station and rover. SUMMARY

[0004] Exemplary embodiments relate to techniques for centimeter-accurate localization using asymmetric antennas. For example, a pair of smartphones or another type of mobile computing device with asymmetric antennas can be aligned in such a way as to compensate for phase center errors when performing the disclosed techniques in order to achieve centimeter-accurate location measurements.

[0005] Accordingly, a first embodiment describes a method. The method includes establishing, by means of a first mobile computing device, a wireless communication link with a second mobile computing device and receiving, at the first mobile computing device and from the second mobile computing device, data representing the orientation of the second mobile computing device relative to a reference point. The method also includes providing, by means of the first mobile computing device and on a display interface of the first mobile computing device, instructions to rotate the first mobile computing device until its orientation matches that of the second mobile computing device.The method includes receiving, by the first mobile computing device, a multitude of signals from the Global Navigation Satellite System (GNSS) and measurement data from the second mobile computing device, which is positioned at a second location. The method also includes determining, by the first mobile computing device, a first location representing the position of the first mobile computing device relative to the second computing device, based on the multitude of GNSS signals and the measurement data received from the second mobile computing device.

[0006] Another embodiment describes a system. The system includes a first mobile computing device and a second mobile computing device. The first mobile computing device is configured to establish a wireless communication link with the second mobile computing device and to receive data from the second mobile computing device representing its orientation relative to a reference point. The first mobile computing device is further configured to provide instructions on a display interface of the first mobile computing device to rotate the first mobile computing device until its orientation matches that of the second mobile computing device.The first mobile computing device is also configured to receive a multitude of signals from the Global Navigation Satellite System (GNSS) and measurement data from the second mobile computing device, which is positioned at a second location, and to determine a first location, representing a position of the first mobile computing device relative to the second mobile computing device, based on the multitude of GNSS signals and the measurement data received from the second mobile computing device.

[0007] An additional embodiment describes a non-transient, computer-readable medium configured to store instructions which, when executed by a first mobile computing device, cause the first mobile computing device to perform operations. These operations include establishing a wireless communication link with a second mobile computing device, receiving from the second mobile computing device data representing the orientation of the second mobile computing device relative to a reference point, and providing, on a display interface of the first mobile computing device, instructions to rotate the first mobile computing device until its orientation matches that of the second mobile computing device.The operations also include receiving a multitude of signals from the Global Navigation Satellite System (GNSS) (GNSS signals) and measurement data from the second mobile computing device, which is positioned at a second location, and determining a first location, which represents a position of the first mobile computing device relative to the second mobile computing device, based on the multitude of GNSS signals received by the first mobile computing device and the measurement data received from the second mobile computing device.

[0008] These and other aspects, advantages and alternatives will become clear to the expert through reading the following detailed description, possibly with reference to the attached drawings. BRIEF DESCRIPTION OF THE FIGURES Fig. Figure 1 is a simplified block diagram of a computing system according to one or more exemplary embodiments. Fig. Figure 2 illustrates a mobile computing device that determines its location using signals from a series of satellites, according to one or more exemplary embodiments. Fig. Figure 3 is a flowchart of a method for determining a location using asymmetric antennas according to one or more exemplary embodiments. Fig. Figure 4 is a simplified block diagram of two mobile computing devices establishing a wireless communication link, according to one or more exemplary embodiments. Fig. 5 represents a mobile computing device that displays instructions for rotation, according to one or more exemplary embodiments. Fig. Figure 6 illustrates an adjustment of the orientation of the mobile computing device according to one or more exemplary embodiments. Fig. Figure 7 illustrates the mobile computing device that performs localization, according to one or more exemplary embodiments. Fig. Figure 8 illustrates the mobile computing device that maps an area, according to one or more exemplary embodiments. Fig. Figure 9 is a schematic diagram of a computer program according to one or more exemplary embodiments. DETAILED DESCRIPTION

[0009] Exemplary procedures and systems are described in this document. It is understood that the words "example," "exemplary," and "illustrative" are used in this document to mean "serving as an example, case, or illustration." Any implementation or feature described in this document as an "example," "exemplary," or "illustrative" is not necessarily to be interpreted as preferable or advantageous over other implementations or features. The exemplary implementations described in this document are not to be understood as limiting. It is understood that the aspects of the present disclosure, as generally described in this document and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide range of different configurations, all of which are expressly considered in this document.

[0010] Specialized devices used to perform RTK techniques feature circular antennas with radial symmetry and precise phase centers, resulting in accurate phase measurements of received signals, generally accurate to a fraction of a centimeter, regardless of the antenna's horizontal orientation. However, smartphones and other mobile computing devices typically use asymmetric GNSS antennas, which can cause the phase measurement of received signals to vary depending on the smartphone's horizontal orientation. In some cases, the orientation of a mobile computing device with an asymmetric antenna can affect the phase measurement of received signals by several centimeters.

[0011] The exemplary embodiments presented in this document relate to localization techniques that can be performed by smartphones and other types of mobile computing devices featuring complementary asymmetric antennas to obtain precise position measurements (e.g., positions accurate to the centimeter). Such techniques allow a pair of mobile computing devices with similar asymmetric antenna configurations, which generate similar phase errors, to compensate for these errors by adopting adapted orientations during signal reception. This enables the mobile computing devices to subsequently perform accurate localization measurements similar to those of specialized RTK devices.

[0012] As an example, two or more mobile phones with complementary antenna characteristics can run an application that coordinates device orientations and location information between the phones. For instance, one phone can operate as a base station while another acts as a rover, since both devices have complementary antenna characteristics that allow phase errors to be compensated for when the phones are aligned in the same way to receive GNSS signals. In some cases, the mobile phones can be of the same type or similar models with complementary antenna characteristics. If there are multiple phones operating as base stations, the phone acting as a rover can select one base station at a time and, by default, choose the nearest one for localization operations.In practice, while the rover phone is deployed to a different location, it communicates with the base station phone, which is located at a reference point (e.g., in a corner of a field or at a previously surveyed point). At each new rover location, the application instructs the rover phone user to adjust its orientation (e.g., rotate the phone) until the rover phone is aligned with the base station, thus compensating for the phase errors of the asymmetric antennas. For example, the application might instruct the rover phone to rotate until both the rover phone and the base station phone are pointing in the same direction (e.g., both pointing true north). The application then reports in real time when accurate measurements have been generated by the devices (e.g.,Accuracy in the centimeter range was achieved, which occurs after the RTK integer ambiguity resolution is successfully completed. The user can then move the rover phone and repeat the process at a new location. The revealed techniques therefore enable mobile computing systems to accurately map or survey different locations, including capturing elevation differences between the mobile computing systems.

[0013] An exemplary procedure involves a first mobile computing device establishing a wireless communication link with a second mobile computing device and receiving, at and from the first mobile computing device, data representing the orientation of the second mobile computing device relative to a reference point. For example, the first mobile computing device may run an application that coordinates the connection and communication with the second mobile computing device.The first mobile computing device can then display instructions to rotate itself until its orientation matches that of the second mobile computing device, and then determine an initial location. This initial location is based on GNSS signals received by the first mobile computing device and measurement or correction data provided by the second mobile computing device, which is positioned at a second location. For example, the first mobile computing device can determine its distance, azimuth, and / or altitude relative to the second mobile computing device. The first mobile computing device can be repositioned at different locations and perform similar techniques to obtain updated location measurements.

[0014] In some cases, the second mobile computing device can be positioned at a previously measured location (e.g., at a survey marker). This allows the first mobile computing device to receive and use data representing the absolute location of the second mobile computing device to determine its own absolute location. The absolute location can specify the latitude and longitude of the first mobile computing device.

[0015] The mobile computing devices performing the disclosed techniques can use various feedback techniques to instruct and warn one or more users of the mobile computing devices. For example, a mobile computing device can provide acoustic, haptic, and / or textual instructions to help the user adjust the orientation of the mobile computing device relative to the mobile computing device serving as the base station. In some cases, the mobile computing device serving as the base station can instruct the user to adjust its orientation to match that of one or more mobile rover computing devices.

[0016] The systems, methods, and devices in which the examples can be implemented will now be described in more detail. In general, the described methods can be implemented by various types of computing devices or device components. In one example, a system might include one or more servers capable of receiving information from and providing it to a device such as a mobile phone. However, the described methods can also be implemented by other computing devices, such as a personal computer, a portable computing device, a standalone receiver, or a mobile device. Furthermore, an example system might take the form of a computer-readable medium on which program instructions are stored that can be executed by a processor to provide the functionality described in this document.For example, a system can take the form of a device such as a server or a subsystem of such a device, which includes such a computer-readable medium on which such program instructions are stored.

[0017] With reference now to the characters, Fig. 1 A simplified block diagram of the computing system 100, which is capable of performing various actions and / or functions, such as those described in this disclosure. The computing system 100 can correspond to any type of device, such as a smartphone, a portable computer, or a portable computing device, etc., and can include various components, such as a processor 102, a data storage unit 104, a communication interface 106, a user interface 108, and / or a GNSS receiver 110. The computing system 100 can include one or more asymmetric antennas.

[0018] These components, as well as other possible components, can be connected to each other (or to another device, system, or unit) via a connection mechanism 112, which is a mechanism that facilitates communication between two or more devices, systems, or other units. The connection mechanism 112 can thus be a simple mechanism, such as a cable or a system bus, or a relatively complex mechanism, such as a packet-based communication network (e.g., the Internet). In some cases, a connection mechanism may involve a non-material medium (e.g., if the connection is wireless). In another implementation, the computing system 100 may include more or fewer components and may correspond to a standalone receiver configured to perform the location-determination processes described in this document.

[0019] The processor 102 can correspond to a general-purpose processor (e.g., a microprocessor) and / or a specialized processor (e.g., a digital signal processor (DSP)). In some cases, the computing system 100 may include a combination of processors.

[0020] The data storage unit 104 can include one or more volatile, non-volatile, removable, and / or non-removable memory components, such as magnetic, optical, or flash memory, and / or can be wholly or partially integrated into the processor 102. Thus, the data storage unit 104 can take the form of a non-transient, computer-readable storage medium on which program instructions (e.g., compiled or uncompiled program logic and / or machine code) are stored. When executed by the processor 102, these instructions cause the computing system 100 to perform one or more actions and / or functions, such as those described in this disclosure. The computing system 100 can be configured to perform one or more actions and / or functions, such as those described in this disclosure. Such program instructions can define a standalone software application and / or be part of one.In some cases, the computing system 100 can execute program instructions in response to receiving an input, such as from the communication interface 106 and / or the user interface 108. The data storage unit 104 can also store other types of data, such as those described in this disclosure.

[0021] In some examples, the data storage unit 104 can store one or more maps depicting the location of potential reflecting planes in areas that the computer system 100 can traverse. These maps can, for example, show the position and elevation of buildings and other structural features. Additionally, these maps can also show the position and elevation of physical features such as mountains and other landmasses that could interfere with signal reception. The computer system 100 can receive the maps from an external source and store them in the data storage unit 104.

[0022] The communication interface 106 enables the computer system 100 to connect to and / or communicate with another unit according to one or more protocols. For example, the communication interface 106 can be a wired interface, such as an Ethernet interface or a high-definition serial digital interface (HD-SDI). In another example, the communication interface 106 can be a wireless interface, such as a cellular or Wi-Fi interface. A connection can be a direct connection or an indirect connection, the latter being a connection that passes through and / or traverses one or more units, such as a router, a switching center, or other network device. Similarly, a transmission can be a direct or an indirect transmission.

[0023] The user interface 108 can facilitate interaction between the computer system 100 and a user of the computer system 100, if applicable. Thus, the user interface 108 can include input components such as a keyboard, keypad, mouse, touch-sensitive control panel, microphone, and / or camera, and / or output components such as a display device (which, for example, can be combined with a touch-sensitive control panel), a speaker, and / or a haptic feedback system. More generally, the user interface 108 can include hardware and / or software components that facilitate interaction between the computer system 100 and the user of the computer system.In some examples, the user interface 108 can provide acoustic, tactile and / or visual communications that help guide a user through steps that enable the computing system 100 to perform disclosed localization operations with the support of one or more other computing systems.

[0024] The GNSS receiver 110 is a component that the computer system 100 can use for location and velocity determination processes. In practice, the GNSS receiver 110 is capable of receiving signals from multiple satellite constellations to determine precise position, velocity, and time information, and can use one or more asymmetric antennas to receive the signals. GNSS is a collective term encompassing various satellite navigation systems, including the US GPS (Global Positioning System), the Russian GLONASS, the Chinese BeiDou, the European Galileo, and other regional systems. The GNSS receiver 110 operates by receiving signals from multiple satellites in orbit and calculating the time it takes for the signals to travel from the satellites to the GNSS receiver 110.If the GNSS receiver 110 knows the exact location of the satellites at the time of transmission, it can determine its own position through a process called trilateration. Trilateration is similar to identifying a location on a map using a compass when the exact distance from three different landmarks is known, where the location can correspond to the point where the three circles centered on each of the landmarks intersect, with the radius of each circle corresponding to the distance from each landmark. Specifically, the computing system 100 can use the GNSS receiver 110 to perform trilateration via a series of simultaneous equations, each equation describing the distance to a particular satellite as a function of the receiver's location.In some cases, the computing system 100 can execute four or more equations simultaneously to determine its location.

[0025] In some examples, the GNSS Receiver 110 can incorporate multiple frequency bands and support multiple satellite constellations to improve the accuracy, availability, and reliability of positioning. Furthermore, the Computing System 100 and / or the GNSS Receiver 110 can employ advanced algorithms and signal processing techniques to mitigate various sources of error, such as atmospheric disturbances and multipath reflections. Thus, the GNSS Receiver 110 enables the Computing System 100, or applications running on the Computing System 100, to quickly access and utilize location, velocity, and direction information. Generally, location can be determined in three dimensions, including altitude. The GNSS Receiver 110 can be configured to supplement the location determination with information received via Bluetooth or Wi-Fi signals.Additionally, the computing system can use 100 pieces of information derived from signals received via the GNSS receiver 110 while performing disclosed localization operations in communication with a computing device other than a rover or base station.

[0026] As stated above, the connection mechanism 112 can connect components of the computing system 100. The connection mechanism 112 is represented as a wired connection, but in some implementations, wireless connections can also be used. The connection mechanism 112 can, for example, be a wired serial bus such as a universal serial bus or a parallel bus. A wired connection can also be a proprietary connection. Likewise, the connection mechanism 112 can also be a wireless connection that uses, for example, Bluetooth® radio technology, communication protocols described in IEEE 802.11 (including all IEEE 802.11 revisions), cellular technology (such as GSM, CDMA, UMTS, EV-DO, WiMAX, LTE, or 5G), or Zigbee® technology.

[0027] Fig. Figure 2 illustrates a mobile computing device 202 that determines its location using signals from a series of satellites. A Fig. Scenario 200, shown in Figure 2, presents a general situation in which the mobile computing device 202 is shown as an exemplary GNSS device receiving and using signals from a satellite 204A, a satellite 204B, a satellite 204C, and / or a satellite 204D to determine its location, speed, and / or other positional information (e.g., distance relative to a base station). In other implementations, Scenario 200 may include more or fewer satellites and / or additional receivers.

[0028] The Mobile Computing Device 202 can correspond to Computing System 100 and / or another device with more or fewer components. For example, the Mobile Computing Device 202 can correspond to a smartphone, a portable computing device, or a vehicle-mounted GNSS system. In some cases, the Mobile Computing Device 202 includes one or more asymmetric antennas used to receive GNSS signals from satellites 204A-204D.

[0029] Satellites 204A-204D, along with other satellites in the GNSS network, can orbit the Earth and periodically transmit signals containing information that receivers can use for location determination. Each transmitted signal can include information that assists receivers in determining their location, such as the time the satellite transmitted the signal toward the Earth's surface, based on the satellite's atomic clock. A transmitted signal can also provide other information, such as the relationship between the satellite's clock and GPS time or the reference time of other GNSS systems, as well as precise orbital information that helps the receiver determine the position of the transmitting satellite.Thus, the mobile computing device 202 and other receivers can receive and use the periodically transmitted signals from the array of satellites to determine location and / or other possible information, such as speed. Receiving signals from multiple satellites (e.g., four satellites) can enable a receiver to perform location determination processes, such as the trilateration calculations described above.

[0030] Fig. Figure 3 is a flowchart of Procedure 300 using a carrier phase of asymmetric antennas for localization. Procedure 300 may include one or more operations, functions, or actions, as illustrated in one or more of Blocks 302, 304, 306, and 308. Although the blocks are illustrated in a sequential order, in some cases these blocks may be performed in parallel and / or in a different order than described in this document. Furthermore, the various blocks may be combined into fewer blocks, subdivided into additional blocks, and / or removed based on the desired implementation.

[0031] Additionally, the flowchart for Method 300 and other processes and methods disclosed in this document illustrates the functionality and operation of a possible implementation of the present embodiments. In this respect, each block can represent a module, segment, or section of program code containing one or more instructions executable by a processor to implement specific logical functions or steps in the process. The program code can be stored on any type of computer-readable medium or memory, such as a storage device containing a floppy disk or a hard disk.

[0032] The computer-readable medium may include a non-transient computer-readable medium, such as a computer-readable medium that stores data for short periods, like register memory, processor cache, and random access memory (RAM). The computer-readable medium may also include non-transient media or storage, such as secondary or persistent long-term storage, such as read-only memory (ROM), optical or magnetic disks, or compact disc (CD-ROM) storage. The computer-readable media may also be any other volatile or non-volatile storage system. The computer-readable medium may, for example, be considered a computer-readable storage medium, a physical storage device, or any other manufactured article. Furthermore, for Process 300 and other processes and methods disclosed in this document, any block in Fig. 3. Represent a circuit that is wired to perform the specific logic functions in the process.

[0033] In Block 302, Method 300 establishes a wireless communication link with a second mobile computing device through a first mobile computing device. Both the first and second mobile computing devices include one or more asymmetric antennas configured to receive GNSS signals. In some examples, the first and second mobile computing devices are complementary models of mobile computing devices. For example, both the first and second mobile computing devices can be smartphones. The first and second mobile computing devices can have complementary antenna characteristics, which allows the phase errors caused by their asymmetric antennas to be compensated for.The first and second mobile computing devices could, for example, be a specific or similar smartphone model. They could also be manufactured by the same company. In other examples, the first and second mobile computing devices could be different types of devices and / or from different manufacturers, but with complementary antenna characteristics.

[0034] In block 304, the procedure includes 300 receptions, at the first mobile computing device and from the second mobile computing device, of data representing the orientation of the second mobile computing device relative to a reference point. For example, the first mobile computing device can receive data representing the orientation of the second mobile computing device relative to a geographic north direction.

[0035] Communication between the first and second mobile computing devices can take place via the established wireless communication link. For example, the devices can communicate via Wi-Fi, Bluetooth, Near Field Communication (NFC), or one or more cellular networks.

[0036] In block 306, method 300 also includes providing, through the first mobile computing device and on a display interface of the first mobile computing device, instructions to rotate the first mobile computing device until an orientation of the first mobile computing device matches the orientation of the second mobile computing device. The first mobile computing device may provide instructions via audio, text, visual or haptic feedback, or a combination of these options.

[0037] The first mobile computing device can determine its orientation based on sensor data from a magnetometer. In some examples, the first mobile computing device can use an accelerometer, a gyroscope, a magnetometer, and / or a combination of measurements from multiple sensors. The first mobile computing device can use algorithms to calculate the device's orientation in three-dimensional space. For example, the algorithms can combine sensor readings to determine the phone's tilt, rotation, and azimuth angles, representing its inclination, rotation, and compass direction, respectively.

[0038] In some examples, the first mobile computing device detects when its orientation matches that of the second mobile computing device and then issues an audible, visual, or haptic alert based on this detection. The first and second mobile computing devices can communicate with each other in real time to ensure their orientations remain aligned if either device changes orientation.

[0039] In Block 308, the procedure includes 300 receptions by the first mobile computing device of a multitude of GNSS signals and measurement data from the second mobile computing device, which is positioned at a second location. The first mobile computing device can receive the GNSS signals and measurement data within a threshold time after it has determined that its own orientation matches that of the second mobile computing device.

[0040] The first mobile computing device can receive measurement data from the second mobile computing device, which is based at the second location of the second mobile computing device. This measurement data can relate to information transmitted from the second mobile computing device to the first and can include precise measurements of errors and distortions affecting the signals received from the GNSS satellites. These errors can arise from atmospheric conditions, satellite orbits, clock discrepancies, and / or other factors. The second mobile computing device can collect raw GNSS data and calculate corrections by comparing the observed signals with the expected values. These corrections can then be transmitted to the first mobile computing device in real time or near real time.By taking into account the measurement or correction data from the second mobile computing device, the first mobile computing device can improve the accuracy of its position estimation.

[0041] In Block 310, Procedure 300 includes determining, by the first mobile computing device, a first location, which represents the position of the first mobile computing device relative to the second computing device, based on the GNSS signals and the measurement data received by the second mobile computing device. The first mobile computing device uses its one or more asymmetric antennas to receive the multitude of GNSS signals and may use the established wireless link to obtain the measurement and / or correction data from the second mobile computing device. In some cases, the first and second mobile computing devices may communicate with each other in real time to account for changes in the positions of both devices when calculating the location information.

[0042] The first mobile computing device can use the signals to determine its distance, azimuth, and altitude relative to the second mobile computing device. For example, the first mobile computing device can determine and display an altitude difference measured between the first and second mobile computing devices. Thus, the first mobile computing device can determine its location relative to the second location of the second mobile computing device with an accuracy above a certain threshold (e.g., to the centimeter level).

[0043] In some examples, the first mobile computing device receives data representing the absolute location of the second mobile computing device. The first mobile computing device can then determine its own absolute location based on this data. The determined absolute location specifies the latitude, longitude, and altitude of the first mobile computing device.

[0044] In some examples, the first mobile computing device detects a change in its position and then determines a third location representing the position of the first mobile computing device. Specifically, the first mobile computing device can determine the third location based on a second set of GNSS signals received by the first mobile computing device and second measurement or correction data provided by the second mobile computing device located at the second location. The first mobile computing device can then further estimate an area of ​​the environment extending between the first location, the second location, and the third location.

[0045] The first mobile computing device can store the first location, which represents its position relative to the second mobile computing device, in addition to other measured locations. The first mobile computing device can then determine an area of ​​the environment based on the first location and one or more locations representing the respective positions of the first mobile computing device relative to the second mobile computing device. The first mobile computing device can then display an enhanced map of the environment with an overlay representing the area of ​​the environment. For example, the map of the environment can accurately depict the environment, along with a two- or three-dimensional graphical representation of the measured area, from which elevation differences can be derived.In some examples, mobile computing devices can store multiple areas in memory and allow the user to view the graphical representation at later times.

[0046] In some examples, the first mobile computing device can detect a change in its position relative to the first location and then establish a second wireless communication link between the first mobile computing device and a third mobile computing device. Specifically, a third mobile computing device is positioned at a third location, which can serve as another base station for relative measurements. Thus, the first mobile computing device can provide instructions on its display interface to rotate the first mobile computing device until its orientation aligns with that of the third mobile computing device. The first mobile computing device can then determine a fourth location, representing its position relative to the third mobile computing device.The first mobile computing device determines the third location based on a second set of GNSS signals received by the first mobile computing device and second correction data provided by the third mobile computing device located at the third location. In practice, mobile computing devices can switch between different computing devices acting as base stations, which can allow a user to specify which distances are measured at a given time.

[0047] In some examples, the first mobile computing device can determine, based on instructions to rotate it, that its orientation aligns with that of the second mobile computing device. The first mobile computing device can then receive the multitude of GNSS signals and measurement data from the second mobile computing device within a threshold time in response to this determination. The threshold time can ensure that the orientations of the first and second mobile computing devices are aligned, with the first mobile computing device using data from the second device to determine its own location.In some cases, the first mobile computing device may determine that its orientation no longer matches that of the second mobile computing device. The first mobile computing device may then issue a warning followed by instructions to rotate it until its orientation matches that of the second mobile computing device.

[0048] Fig. Figure 4 is a simplified block diagram of two mobile computing devices establishing a wireless communication link. Specifically, it shows how a mobile computing device 402 and a mobile computing device 404 establish a wireless communication link 406, enabling the exchange of information between the mobile computing device 402 and the mobile computing device 404. In this example, the mobile computing device 402 includes a communication interface 408 and an asymmetric antenna 410, and the mobile computing device 404 similarly includes a communication interface 412 and an asymmetric antenna 414. The communication interfaces 408 and 412 can be used similarly to the communication interface 106 of the device described in Figure 404. Fig. The computer system 100 shown in Figure 1 can be implemented. The asymmetric antennas 410 and 414 can represent one or more asymmetric antennas that can be used for GNSS signal reception. An asymmetric antenna is an antenna design that exhibits an unequal distribution of the phase center depending on the direction of signal transmission or reception. In an asymmetric antenna, the radiation pattern is not symmetrical with respect to a reference point or axis.

[0049] In general, the mobile computing devices 402 and 404 can use the wireless communication link 406 to exchange numerous pieces of information, such as position and orientation information. For example, the mobile computing device 402 can receive data representing the orientation of the mobile computing device 404 relative to a reference point (e.g., true north). The reference point can be used as the basis for a measurement or comparison between the mobile computing devices 402 and 404.

[0050] Fig. Figure 5 shows the mobile computing device 402 displaying rotation instructions 504. In particular, the mobile computing device 402 shows in the Fig. In the example shown in Figure 5, a graphical user interface is displayed on the screen 502, providing rotation instructions 504 along with a graphical representation 506 to inform a user about adjusting the orientation to align the mobile computing device 402 with the orientation of the mobile computing device 404. In some examples, the graphical representation 506 may include a visual illustration or representation of data, information, or concepts using graphical elements such as diagrams or other visual aids. In practice, the graphical representation 506 can visually communicate and convey user instructions in a more accessible and easily understandable format. In the example shown in Figure 5, the user is shown in Figure 5. Fig. In the example shown, graphic representation 506 depicts a rotation of a mobile computing device, which is used to represent the mobile computing device 402.

[0051] In some examples, the Mobile Computing Device 402 can supplement visual displays with audible instructions, warnings, and / or haptic feedback. For example, the Mobile Computing Device 402 can emit a beep or ring to signal when it is aligned with the orientation of the Mobile Computing Device serving as a base station or rover.

[0052] Fig. Figure 6 illustrates adjusting the orientation of the mobile computing device 402. In particular, a user can rotate the mobile computing device 402 according to the rotation instructions 504 and the graphical representation 506 displayed by the mobile computing device 402. In the example, the rotation of the mobile computing device 402 is represented by an arrow 602. In some cases, the mobile computing device 402 may prompt the user to rotate, tilt, and / or adjust the orientation of the mobile computing device 402 in other ways. In some examples, the mobile computing device 402 may detect when its orientation matches the orientation of the mobile computing device 404 and, in response, provide an audible, visual, and / or haptic warning. The warning may notify the user that they can stop adjusting the orientation of the mobile computing device 404.

[0053] Fig. Figure 7 depicts the mobile computing device 402 and the mobile computing device 404, which perform localization measurements. In particular, it shows how the mobile computing device 402 determines its location relative to the mobile computing device 404 (represented by the dashed line 700), which can transmit distance, azimuth, and altitude measurements. The mobile computing device 402 and the mobile computing device 404 can use one or more asymmetric antennas 410 and 414, respectively, to receive the GNSS signals, while also exchanging information via an existing wireless communication link to enable RTK localization measurements. In the Fig. In the example shown, the mobile computing device 402 can serve as the base station or rover, while the mobile computing device 404 serves as the other.

[0054] Fig. Figure 8 illustrates the mobile computing device 402 and the mobile computing device 404 mapping an area. Specifically, the mobile computing device 402 and / or the mobile computing device 404 can determine an area 800 based on several positions (position 402A, position 402B, and position 402C) of the mobile computing device 402, measured relative to the mobile computing device 404. The area 800 can be stored and subsequently reviewed by users of the mobile computing devices 402 and 404. Additionally, each mobile computing device 402 can display a representation of the environment with a graphic overlay that visually represents the area 800. The disclosed techniques can be used, for example, to map a soccer or American football field, which can then be painted based on the representation of the environment, with the graphic overlay visually representing the area 800.

[0055] Fig. Figure 9 is a schematic representation illustrating a conceptual partial view of an exemplary computer program product comprising a computer program for executing a computer process on a computing device arranged according to at least some embodiments set forth in this document. In one embodiment, a computer program product 900 is provided using a signal carrier medium 902.

[0056] The signal carrier medium 902 can contain one or more programming instructions 904 which, when executed by one or more processors, perform functions or sections of the above relating to the Fig. The functions described in 1-8 can be provided. In some examples, the signal carrier medium 902 can enclose a computer-readable medium 906, such as, among others, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a digital tape, a memory device, etc.

[0057] In some implementations, the signal carrier medium 902 can enclose a computer-recordable medium 908, such as, among others, storage media, read / write CDs (R / W CDs), R / W DVDs, etc. The signal carrier medium 902 can enclose a communication medium 910, such as a digital and / or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communication link, a wireless communication link, etc.). For example, the signal carrier medium 902 can be transmitted by a wireless form of communication medium 910.

[0058] The programming instructions 904 can, for example, be computer-executable and / or logically implemented instructions. In some examples, a computing device such as the processor 102 can be used. Fig. 1 be configured to provide various operations, functions or actions in response to the programming instructions 904 transmitted to the processor 102 by one or more computer-readable media 906, computer-recordable media 908 and / or communication media 910.

[0059] The non-transient, computer-readable medium could also be distributed across multiple data storage elements, which could be geographically dispersed. The computing device that executes some or all of the stored instructions could be a device such as the one described in Fig. 1 illustrated calculation system 100 or the one in Fig.2 illustrated mobile computing device 202. Alternatively, the computing device that executes some or all of the stored instructions could also be another computing device, such as a server.

[0060] It is understood that the arrangements described in this document serve only as examples. Those skilled in the art will therefore understand that other arrangements and other elements (e.g., machines, interfaces, functions, sequences and groupings of functions, etc.) can be used instead, and that some elements can even be omitted entirely depending on the desired results. Furthermore, many of the described elements are functional units that can be implemented as stand-alone or distributed components, or in combination with other components, in any suitable combination and at any suitable location.

[0061] Although various aspects and embodiments have been disclosed in this document, other aspects and embodiments are obvious to the person skilled in the art. The various aspects and embodiments disclosed in this document serve only for illustration and are not to be understood as limiting, the true scope being specified by the following claims, together with the full scope of the equivalents to which these claims entitle. It is also understood that the terminology used in this document serves only the purpose of describing certain embodiments and is not intended to be limiting.

[0062] Since many modifications, variations and changes to details can be made to the described example, all facts presented in the preceding description and in the accompanying figures should be understood as illustrative and not in a restrictive sense. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 18 / 336,363

[0001]

Claims

[1] Procedure, encompassing: Establishing, by means of a first mobile computing device, a wireless communication link with a second mobile computing device; Receiving, at the first mobile computing device and from the second mobile computing device, data representing an orientation of the second mobile computing device relative to a reference point; Providing, through the first mobile computing device and on a display interface of the first mobile computing device, instructions to rotate the first mobile computing device until an orientation of the first mobile computing device matches the orientation of the second mobile computing device; Receiving, by the first mobile computing device, a multitude of signals from the Global Navigation Satellite System (GNSS) and measurement data from the second mobile computing device, which is positioned at a second location; and Determine, by the first mobile computing device, a first location which represents a position of the first mobile computing device relative to the second mobile computing device, based on the multitude of GNSS signals and the measurement data received by the second mobile computing device. [2] Method according to claim 1, wherein both the first mobile computing device and the second mobile computing device include one or more asymmetric antennas configured to receive GNSS signals. [3] The method of claim 2, further comprising: Receiving, on the first mobile computing device using one or more asymmetric antennas, the multitude of GNSS signals. [4] Method according to claim 1, wherein determining the first location representing the position of the first mobile computing device comprises: Determining the first location, representing the position of the first mobile computing device, on a centimeter level relative to the second location of the second mobile computing device. [5] The method of claim 1, further comprising: Receiving data that represents the absolute location of the second mobile computing device; and where determining the first location, which represents the position of the first mobile computing device, includes the following: Determining an absolute location of the first mobile computing device, wherein the absolute location of the first mobile computing device specifies a longitude, a latitude and an altitude of the first mobile computing device. [6] Method according to claim 1, wherein determining the first location, which represents the position of the first mobile computing device relative to the second mobile computing device, comprises: Determining the distance, azimuth, and height of the first mobile computing device relative to the second mobile computing device. [7] Method according to claim 1, further comprising: based on providing instructions for rotating the first mobile computing device, determining that the orientation of the first mobile computing device matches the orientation of the second mobile computing device; and the reception of the multitude of GNSS signals and measurement data from the second mobile computing device includes the following: Receiving the multitude of GNSS signals and measurement data from the second mobile computing device within a threshold time in response to a determination that the orientation of the first mobile computing device matches the orientation of the second mobile computing device. [8] Method according to claim 7, further comprising: Determine that the orientation of the first mobile computing device no longer coincides with the orientation of the second mobile computing device; and Providing a warning with subsequent instructions to rotate the first mobile computing device until the orientation of the first mobile computing device matches the orientation of the second mobile computing device. [9] Method according to claim 1, wherein the first mobile computing device and the second mobile computing device are complementary models of mobile computing devices. [10] The method of claim 1, wherein receiving data representing the orientation of the second mobile computing device relative to the reference point comprises: Receiving data representing the orientation of the second mobile computing device relative to a geographic north direction. [11] The method of claim 10, wherein determining the orientation of the first mobile computing device comprises: Determining the orientation based on sensor data from a magnetometer of the first mobile computing device. [12] Method according to claim 1, further comprising: Detect, at the first mobile computing device, a change in the position of the first mobile computing device; and Determine, by the first mobile computing device, a third location representing the position of the first mobile computing device, wherein the first mobile computing device determines the third location based on a second set of GNSS signals received by the first mobile computing device and additional measurement data received by the second mobile computing device positioned at the second location. [13] The method of claim 12, further comprising: Estimating an area of ​​an environment that extends between the first location, the second location, and the third location. [14] The method of claim 1, further comprising: Detecting a change in the position of the first mobile computing device from the first location; Establishing a second wireless communication link between the first mobile computing device and a third mobile computing device, wherein the third mobile computing device is positioned at a third location; Providing, through the first mobile computing device and on the display interface of the first mobile computing device, instructions to rotate the first mobile computing device until the orientation of the first mobile computing device matches an orientation of the third mobile computing device; and Determine, by the first mobile computing device, a fourth location which represents the position of the first mobile computing device relative to the third mobile computing device, wherein the first mobile computing device determines the third location based on a second set of GNSS signals received by the first mobile computing device and second correction data provided by the third mobile computing device located at the third location. [15] System, encompassing: a first mobile computing device and a second mobile computing device, the first mobile computing device being configured as follows: Establishing a wireless communication link with the second mobile computing device; Receiving data from the second mobile computing device, representing an orientation of the second mobile computing device relative to a reference point; Providing, on a display interface of the first mobile computing device, instructions to rotate the first mobile computing device until an orientation of the first mobile computing device matches the orientation of the second mobile computing device; Receiving a multitude of signals from the Global Navigation Satellite System (GNSS) and measurement data from the second mobile computing device, which is positioned at a second location; and Determining a first location, which represents a position of the first mobile computing device relative to the second mobile computing device, based on the multitude of GNSS signals and the measurement data received by the second mobile computing device. [16] System according to claim 15, wherein the first mobile computing device is further configured as follows: Determining the height difference between the first mobile computing device and the second mobile computing device. [17] System according to claim 15, wherein the first mobile computing device is further configured as follows: Receiving the measurement data from the second mobile computing device via the wireless communication link. [18] System according to claim 15, wherein the first mobile computing device is further configured as follows: Storing the first location, which represents the position of the first mobile computing device relative to the second mobile computing device; Determine, based on the first location and one or more locations representing the respective positions of the first mobile computing device relative to the second mobile computing device, an area of ​​an environment; and Display an expanded map of the surroundings with an overlay representing the area of ​​the surroundings. [19] System according to claim 15, wherein the first mobile computing device is further configured as follows: Detect that the orientation of the first mobile computing device matches the orientation of the second mobile computing device; and Providing an audible, visual, or haptic warning based on the detection that the orientation of the first mobile computing device no longer matches the orientation of the second mobile computing device. [20] Non-transient, computer-readable medium configured to store instructions which, when executed by a first mobile computing device, cause the first mobile computing device to perform operations, comprising: Establishing a wireless communication link with a second mobile computing device; Receiving data from the second mobile computing device, representing an orientation of the second mobile computing device relative to a reference point; Providing, on a display interface of the first mobile computing device, instructions to rotate the first mobile computing device until an orientation of the first mobile computing device matches the orientation of the second mobile computing device; Receiving a multitude of signals from the Global Navigation Satellite System (GNSS) and measurement data from the second mobile computing device, which is positioned at a second location; and Determining a first location that represents a position of the first mobile computing device relative to the second mobile computing device, based on the multitude of GNSS signals received by the first mobile computing device and the measurement data received by the second mobile computing device.

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