System and method for object location detection based on bistatic radio.

Abstract

The bistatic radio-based object location detection may include determining a location of a remote wireless device by a wireless device, obtaining a ToF and an angle of arrival (AoA) of a reflected WWAN reference signal reflected by the remote object, and determining a location of the remote object based on the location, ToF, and AoA of the remote wireless device. In another example, the wireless device includes a wireless transceiver, a non-transitory computer-readable medium, and a processor communicatively coupled to the wireless transceiver and the non-transitory computer-readable medium, wherein the processor is configured to determine a location of the remote wireless device, obtain a ToF and an angle of arrival (AoA) of the reflected WWAN reference signal reflected by the remote object, and determine a location of the remote object based on the location, ToF, and AoA of the remote wireless device.

Description

Technical Field

[0001]

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 035,091, filed Jun. 5, 2020, and U.S. Application No. 17 / 335,761, filed Jun. 1, 2021, both entitled "SYSTEMS AND METHODS FOR BI-STATIC RADIO-BASED OBJECT LOCATION DETECTION", which are assigned to the assignee of this application and are hereby incorporated by reference in their entirety.

Background Art

[0002]

[0002] The detection of an object at a distance from a location can be performed by transmitting a signal into an environment using radar or LIDAR and detecting the signal reflected by the object far away. By calculating the amount of time between the transmission of the signal and the reception of the reflection, the distance to the object can be determined.

Summary of the Invention

[0003]

[0003] Various examples are described for systems and methods for bistatic radio-based object location detection. One exemplary method includes determining the location of a remote wireless device by a wireless device, obtaining the time of flight (ToF) and angle of arrival (AoA) of a reflected wireless wide area network ("WWAN") reference signal reflected by a remote object, and determining the location of the remote object based on the location of the remote wireless device, ToF, and AoA.

[0004]

[0004] Another exemplary method for object location detection based on bistatic radio according to the present disclosure comprises, in a first wireless device, obtaining the location of a second wireless device. The method also comprises, in the first wireless device, obtaining the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, the ToF and AoA being obtained from measurements of the WWAN reference signal in a receiving device after the WWAN reference signal has been reflected by an object. The method also comprises, using the first wireless device, determining the location of an object based on the location, ToF, and AoA of the second wireless device, wherein the first wireless device comprises a transmitting device and the second wireless device comprises a receiving device, or the first wireless device comprises a receiving device and the second wireless device comprises a transmitting device.

[0005]

[0005] An exemplary first wireless device for object location detection based on bistatic radio according to the present disclosure comprises a transceiver, memory, and one or more processors communicatively coupled to the transceiver and memory, the one or more processors being configured to acquire the location of a second wireless device. The one or more processors are further configured to acquire the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, the ToF and AoA being acquired from measurements of the WWAN reference signal at a receiving device after the WWAN reference signal has been reflected by an object. The one or more processors are further configured to determine the location of an object based on the location, ToF, and AoA of the second wireless device, wherein the first wireless device comprises a transmitting device and the second wireless device comprises a receiving device, or the first wireless device comprises a receiving device and the second wireless device comprises a transmitting device.

[0006]

[0006] An exemplary apparatus for object location detection based on bistatic radio according to the present disclosure comprises means for obtaining the location of a wireless device. The apparatus further comprises means for obtaining the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, the ToF and AoA being obtained from measurements of the WWAN reference signal at a receiving device after the WWAN reference signal has been reflected by an object. The apparatus further comprises means for determining the location of an object based on the location, ToF, and AoA of the wireless device, wherein the apparatus comprises a transmitting device and the wireless device comprises a receiving device, or the apparatus comprises a receiving device and the wireless device comprises a transmitting device.

[0007]

[0007] According to the present disclosure, an exemplary non-temporary computer-readable medium stores instructions for object location detection based on bistatic radio, the instructions comprising a code for obtaining the location of a second wireless device in a first wireless device. The instructions further comprising a code for obtaining the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device in the first wireless device, the ToF and AoA being obtained from measurements of the WWAN reference signal in a receiving device after the WWAN reference signal has been reflected by an object. The instructions further comprising a code for determining the location of an object based on the location, ToF, and AoA of the second wireless device using the first wireless device, wherein the first wireless device comprises a transmitting device and the second wireless device comprises a receiving device, or the first wireless device comprises a receiving device and the second wireless device comprises a transmitting device.

[0008]

[0008] These illustrative examples are not given to limit or define the scope of the disclosure, but are given to provide examples to aid in understanding it. The illustrative examples are described in a manner that allows for the carrying out of the invention, which will provide further explanation. The advantages given by the various examples may be further understood by examining this specification.

[0009]

[0009] The accompanying drawings incorporated herein and constituting part thereof illustrate one or more specific examples and serve to describe the principles and implementation of those specific examples together with the descriptions of those examples. [Brief explanation of the drawing]

[0010] [Figure 1]

[0010] Figure 1 is a diagram illustrating an exemplary positioning system in which a wireless device, a location server (LS), and / or other components of the positioning system can use the techniques provided herein for object location detection based on bistatic radio. [Figure 2]

[0011] Figure 2 shows an exemplary system and method for object location detection based on bistatic radio and an exemplary 5G new radio (NR) positioning system suitable for use. [Figure 3A]

[0012] Figure 3A is a diagram of an exemplary system for object location detection based on bistatic radio. [Figure 3B]

[0012] Figure 3B is a diagram of an exemplary system for object location detection based on bistatic radio. [Figure 4A]

[0013] Figure 4A shows an exemplary ellipse and corresponding parameters that may be used by exemplary systems and methods for object location detection based on bistatic radio. [Figure 4B]

[0013] Figure 4B is a diagram showing exemplary ellipses and corresponding parameters that may be used by exemplary systems and methods for object location detection based on bistatic radio. [Figure 5]

[0014] Figure 5 shows an exemplary system for object location detection based on bistatic radio. [Figure 6]

[0015] Figure 6 shows an exemplary method for object location detection based on bistatic radio. [Figure 7]

[0015] Figure 7 shows an exemplary method for object location detection based on bistatic radio. [Figure 8]

[0015] Figure 8 shows an exemplary method for object location detection based on bistatic radio. [Figure 9]

[0016] Figure 9 shows an exemplary system and method for object location detection based on bistatic radio and an exemplary mobile electronic wireless device suitable for use. [Figure 10]

[0017] Figure 10 shows an exemplary system and method for object location detection based on bistatic radio and an exemplary base station suitable for use. [Modes for carrying out the invention]

[0011]

[0018] The following description is directed to a specific implementation for the purpose of illustrating innovative aspects of various embodiments. However, those skilled in the art will immediately recognize that the teachings herein are applicable in numerous different ways. The implementations described may be implemented in any device, system, or network capable of transmitting and receiving radio frequency (RF) signals according to any communication standard, such as the Institute of Electrical and Electronics Engineers (IEEE) IEEE 802.11 standard (including those identified as Wi-Fi® technology), Bluetooth® standard, Code Division Multiple Access (CDMA), Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), Global System for Mobile Communications (GSM®), GSM / General Packet Radio Service (GPRS), Enhanced Data GSM Environment (EDGE), Terrestrial Trunked Radio (TETRA), Wideband CDMA (W-CDMA®), Evolution Data Optimized (EV-DO), 1xEV-DO, EV-DO Rev A, EV-DO Rev A B. Any other known signal used for communication within wireless, cellular, or Internet of Things (IoT) networks, such as High Rate Packet Data (HRPD), High Speed ​​Packet Access (HSPA), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), Advanced High Speed ​​Packet Access (HSPA+), Long Term Evolution (LTE®), Advanced Mobile Phone Systems (AMPS), or systems utilizing 3G, 4G, 5G, 6G, or other implementation technologies.

[0012]

[0019] Examples are described herein in the context of systems and methods for object location detection based on bistatic radio. Those skilled in the art will recognize that the following description is illustrative and not intended to be restrictive. Implementations of the examples shown in the accompanying drawings are then referenced in detail. The same reference numerals are used throughout the drawings and the following description to refer to the same or similar items.

[0013]

[0020] For clarity, not all of the conventional characteristic functions of the examples described in this specification are illustrated and described. Of course, in the development of such an actual implementation, it will be understood that numerous implementation-specific decisions must be made to achieve the developer's particular goals, such as compliance with application and practical constraints, and that such particular goals will vary from implementation to implementation and from developer to developer.

[0014]

[0021] As used herein, a "wireless signal" comprises an electromagnetic wave that conveys information through the space between a transmitter (or transmitting device) and a receiver (or receiving device). As used herein, a transmitter may transmit a single "wireless signal" or multiple "wireless signals" to a receiver. However, a receiver may receive multiple "wireless signals" corresponding to each transmitted wireless signal due to the propagation characteristics of the wireless signal through a multipath channel. The same transmitted wireless signal in different paths between the transmitter and the receiver may be referred to as a "multipath" wireless signal.

[0015]

[0022] People often use wireless devices to communicate with friends and family, for example, via video chat, text messages, etc., and to access information available through the Internet. However, wireless technology uses the use of wireless signals that may also be used for functions other than communication of information between electronic devices. For example, a user may have a mobile wireless device (or user equipment or "UE"), such as a wireless phone or a tablet, that communicates with a distant wireless base station to wirelessly transmit and receive data via a wireless network. However, a user may want to use a wireless device to provide information about the surrounding environment, such as to determine the location of nearby (or even distant) objects. To do so, the user can activate the radar function within their wireless device that utilizes the existing wireless infrastructure and wireless transmission.

[0016]

[0023] For example, the user accesses the object location detection function on their wireless device, and that function notifies the wireless network via a nearby wireless base station with which the user's device is communicating that the object location detection function will be used from now on. Then, the user's wireless device and the wireless base station cooperate to determine the location of one or more nearby objects.

[0017]

[0024] To perform the object location detection function, the base station first determines the location of the user's wireless device by requesting the location of the user's wireless device. Then, the user's wireless device transmits its location to the base station. Then, the base station transmits an omnidirectional reference signal to the user's wireless device and also transmits specific timing information. The user's wireless device then determines the ToF and AoA of the reference signal assuming a direct line of sight (LOS) between the wireless base station and the user's wireless device. This direct path signal (or substantially direct path signal) is hereinafter referred to as the direct path reference signal.

[0018]

[0025] However, since the reference signal is transmitted omnidirectionally over a geographical area, it may be reflected by one or more objects, and some of those reflections may subsequently reach the user's wireless device. The wireless device receives these reflected versions of the reference signal and determines the corresponding ToF and AoA for one or more of them. The user's wireless device then transmits the ToF and AoA information to the base station.

[0019]

[0026] The base station can then use the ToF information of the reflected reference signal and its corresponding AoA information to determine the locations of various objects in the environment. Specifically, the ToF information of the reflected reference signal provides information about an ellipse, where the base station and the user's wireless device are at the foci of that ellipse. In addition, the corresponding AoA provides additional information to identify a point on the ellipse corresponding to the object that reflected the reference signal. That point on the ellipse can then be converted to geographic coordinates, such as latitude and longitude, using location information from either (or both) the base station or the user device. Alternatively, the location on the ellipse can be used to determine the distance from the user device to an object and the direction to the object, thereby determining the object's relative location. By performing this technique for one or more reflected signals, the base station can determine the locations of multiple objects in the environment. And while the base station performed part of the processing in this example, the user's wireless device can also transmit a reference signal and perform the functions described above.

[0020]

[0027] Using these technologies, wireless devices can help locate objects in their environment using readily available wireless technologies and infrastructure, rather than employing more complex and specialized equipment. In addition, wireless devices can provide information that enables user functions, such as allowing electronic devices to learn about their environment, or providing the location of nearby landmarks like buildings or monuments, in the case of self-driving cars or other autonomous vehicles. Furthermore, these technologies do not require various objects in the environment to be wirelessly capable. Instead, by using wireless transmissions reflected from such objects, the objects themselves do not need to be otherwise involved in the process.

[0021]

[0028] This illustrative example is provided to introduce the reader to the overall subject matter discussed herein, and the disclosure is not limited to this example. The following sections describe various additional non-limiting examples, as well as examples of systems and methods for object location detection based on bistatic radio.

[0022]

[0029] Figure 1 is a simplified diagram of a positioning system 100, in which, for example, the UE 105, the location server 160, and / or other components of the positioning system 100 may use the techniques provided herein to determine the estimated location of the UE 105. The techniques described herein may be implemented by one or more components of the positioning system 100. The positioning system 100 may include the UE 105, one or more satellites 110 (also called space vehicles (SV)) of a global navigation satellite system (GNSS) such as the Global Positioning System (GPS), GLONASS, Galileo, or Beidou, a base station 120, an access point (AP) 130, a location server 160, a network 170, and an external client 180. In general terms, the positioning system 100 can estimate the location of UE105 based on the RF signals received by and / or transmitted from UE105, and the known locations of other components that transmit and / or receive RF signals (e.g., GNSS satellite 110, base station 120, AP130). Additional details regarding specific location estimation techniques will be explained in more detail with reference to Figure 2.

[0023]

[0030] It should be noted that Figure 1 provides only a generalized illustration of various components, and any or all of them may be used as appropriate, and each of them may be duplicated as needed. Specifically, only one UE 105 is shown, but it will be understood that many UEs (e.g., hundreds, thousands, millions, etc.) may utilize the positioning system 100. Similarly, the positioning system 100 may include more or fewer base stations 120 and / or APs 130 than shown in Figure 1. The illustrated connections connecting the various components of the positioning system 100 include data and signaling connections, which may include additional (intermediate) components, direct or indirect physical and / or wireless connections, and / or additional networks. Furthermore, components may be reconfigured, combined, separated, replaced, and / or omitted depending on the required function. For example, in some embodiments, an external client 180 may be directly connected to the location server 160. Those skilled in the art will recognize many variations of the illustrated components.

[0024]

[0031] Depending on the required functionality, network 170 may include any of the various wireless and / or wired networks. Network 170 may comprise any combination of, for example, public and / or private networks, local and / or wide area networks. Furthermore, network 170 may utilize one or more wired and / or wireless communication technologies. In some embodiments, network 170 may include, for example, cellular or other mobile networks, wireless local area networks (WLANs), wireless wide area networks (WWANs), and / or the internet. Examples of network 170 include Long-Term Evolution (LTE) wireless networks, fifth-generation (5G) wireless networks (also known as New Radio (NR) wireless networks or 5G NR wireless networks), Wi-Fi WLANs, and the internet. LTE, 5G, and NR are wireless technologies defined or currently being defined by the Third Generation Partnership Project (3GPP®). Network 170 may include two or more networks and / or two or more types of networks.

[0025]

[0032] The base station 120 and access point (AP) 130 are communicatively coupled to the network 170. In some embodiments, the base station 120 may be owned, maintained, and / or operated by a cellular network provider and may use any of the various wireless technologies described below in the present invention. Depending on the technology of the network 170, the base station 120 may comprise a Node B, an Advanced Node B (eNodeB or eNB), a Base Transceiver Station (BTS), a Radio Base Station (RBS), an NR Node B (gNB), a Next Generation eNB (ng-eNB), and the like. A base station 120 that is a gNB or an ng-eNB may be part of a Next Generation Radio Access Network (NG-RAN) that can connect to the 5G Core Network (5GC) if the network 170 is a 5G network. The AP 130 may comprise, for example, a Wi-Fi AP or a Bluetooth AP. Thus, the UE 105 can send and receive information with network-connected devices such as a location server 160 by accessing the network 170 via the base station 120 using the first communication link 133. Additionally or alternatively, AP130 may be communicatively coupled to network 170 so that UE105 can use a second communication link 135 to communicate with network-connected devices and internet-connected devices, including location server 160.

[0026]

[0033] Where used herein, the term “base station” may refer collectively to a single physical transmission point or multiple physical transmission points located at the same location, which may also be located at base station 120. A transmit / receive point (TRP) (also known as a transmit / receive point) corresponds to this type of transmission point, and the term “TRP” may be used herein as synonymous with the terms “gNB,” “ng-eNB,” and “base station.” In some cases, base station 120 may comprise multiple TRPs, for example, each TRP being associated with a different antenna or different antenna array for base station 120. A physical transmission point may comprise an array of antennas of base station 120 (for example, as in a multiple-input multiple-output (MIMO) system and / or if the base station employs beamforming). The term “base station” may further refer to multiple physical transmission points that are not located at the same location, which may be a distributed antenna system (DAS) (a network of spatially separated antennas connected to a common source via a carrier medium) or a remote radiohead (RRH) (a remote base station connected to a serving base station).

[0027]

[0034] As used herein, the term “cell” may collectively refer to a logical communication entity used to communicate with base station 120 and may be associated with an identifier (e.g., a physical cell identifier (PCID), a virtual cell identifier (VCID)) to distinguish adjacent cells operating over the same or different carriers. In some examples, a carrier may support multiple cells, and different cells may be configured according to different protocol types (e.g., machine-type communications (MTC), narrowband Internet of Things (NB-IoT), enhanced mobile broadband (eMBB), or others) that may provide access to different types of devices. In some cases, the term “cell” may refer to a portion of the geographical coverage area (e.g., a sector) in which a logical entity operates.

[0028]

[0035] The location server 160 may include a server and / or other computing device configured to determine the estimated location of the UE 105 and / or to provide the UE 105 with data (e.g., “supporting data”) to facilitate the measurement and / or determination of location by the UE 105. According to some embodiments, the location server 160 may comprise a Home Secure User Plane Location (SUPL) Location Platform (H-SLP), which may support SUPL User Plane (UP) location solutions as defined by the Open Mobile Alliance (OMA) and may support location services to the UE 105 based on the UE 105's subscription information stored in the location server 160. In some embodiments, the location server 160 may comprise a Discovered SLP (D-SLP) or Emergency SLP (E-SLP). The location server 160 may also comprise an Enhanced Serving Mobile Location Center (E-SMLC) that supports the location of the UE 105 using a Control Plane (CP) location solution for LTE radio access by the UE 105. The location server 160 may further include a location management function (LMF) that supports the location of the UE105 using the control plane (CP) location resolution method for NR or LTE radio access by the UE105.

[0029]

[0036] In the CP localization solution, signaling for controlling and managing the localization of UE105 may be exchanged between elements of network 170 and with UE105 as signaling from the perspective of network 170, using existing network interfaces and protocols. In the UP localization solution, signaling for controlling and managing the localization of UE105 may be exchanged between the localization server 160 and UE105 as data from the perspective of network 170 (for example, data carried using Internet Protocol (IP) and / or Transmission Control Protocol (TCP)).

[0030]

[0037] As mentioned earlier (and discussed in detail below), the estimated location of UE105 may be based on measurements of RF signals transmitted from and / or received by UE105. In detail, such measurements can provide information about the relative distance and / or angle of UE105 from one or more components within the positioning system 100 (e.g., GNSS satellite 110, AP130, base station 120). The estimated location of UE105 can be estimated geometrically (e.g., using multi-angle measurement and / or multilateration) based on the distance and / or angle measurements, in conjunction with the known locations of one or more components.

[0031]

[0038] While ground components such as AP130 and base station 120 may be fixed, embodiments are not limited in this way. Mobile components may be used. For example, in some embodiments, the location of UE105 may be estimated at least in part on the measurement of an RF signal 140 communicated between UE105 and one or more other UE145, which may be mobile or fixed. If one or more other UE145s are used to determine the location of a particular UE105, the UE105 whose location is to be determined may be called the “target UE,” and each of the one or more other UE145s used may be called an “anchor UE.” For the determination of the target UE's location, the location of each of the one or more anchor UEs may be known and / or determined jointly with the target UE. Direct communication between one or more other UE145s and UE105 may involve sidelink and / or similar device-to-device (D2D) communication techniques. Sidelink, as defined by 3GPP, is a form of D2D communication under cellular-based LTE and NR standards.

[0032]

[0039] The estimated location of UE105 may be used in various applications, for example, to assist a user of UE105 in finding direction or navigation, or to assist another user (e.g., related to an external client 180) in determining the location of UE105. "Location" is also referred to herein as "location estimate," "estimated location," "location," "position," "location estimate," "location determination value," "estimated position," "location determination value," or "determination value." The process of determining location may be referred to as "positioning," "location determination," "location determination," etc. The location of UE105 may comprise the absolute location of UE105 (e.g., latitude and longitude, and optionally altitude) or the relative location of UE105 (e.g., a location expressed as a distance north or south, east or west, and optionally up or down from any other known fixed location, or any other location such as the location of UE105 at any known prior time). A location may be designated as a geodesic location having coordinates that may be absolute (e.g., latitude, longitude, and optionally altitude), relative (e.g., relative to some known absolute location), or local (e.g., X, Y, and optionally Z coordinates according to a coordinate system defined relative to a local area such as a factory, warehouse, university campus, shopping mall, stadium, or convention center). A location may instead be a city location, in which case it may have one or more of the following: a street address (e.g., including country, state, county, city, street and / or street name or sign, and / or street or street number), and / or signs or names such as address, building, part of building, floor of building, and / or room inside building. A location may further include indications of uncertainty or error, such as horizontal and possibly vertical distances in which the location is expected to be off by that distance, or indications of an area or volume (e.g., a circle or ellipse) in which UE105 is expected to be located with a certain degree of confidence (e.g., 95% confidence).

[0033]

[0040] External client 180 may be a web server or remote application that has some connection to UE105 (for example, one that may be accessed by a user of UE105), or a server, application, or computer system that provides location services to one or more other users, which may include obtaining and providing the location of UE105 (for example, to enable services such as finding a friend or relative, tracking assets, or locating a child or pet). Additionally or alternatively, external client 180 may obtain the location of UE105 and provide it to emergency service providers, government agencies, etc.

[0034]

[0041] As previously mentioned, the exemplary positioning system 100 can be implemented using a wireless communication network such as an LTE-based or 5G NR-based network. Figure 2 shows a diagram of the 5G NR positioning system 200, illustrating an example of a positioning system (e.g., positioning system 100) that implements 5G NR. The 5G NR positioning system 200 may be configured to determine the location of UE 105 by performing one or more positioning methods using access nodes 210, 214, 216 (which may correspond to base stations 120 and access points 130 in Figure 1) and (optionally) LMF 220 (which may correspond to location server 160). Here, the 5G NR positioning system 200 comprises UE 105, and the components of the 5G NR network comprise a next-generation (NG) radio access network (RAN) (NG-RAN) 235 and a 5G core network (5G CN) 240. 5G networks are sometimes called NR networks, NG-RAN235 is sometimes called 5G RAN or NR RAN, and 5G CN240 is sometimes called NG core networks. The 5G NR positioning system 200 may further utilize information from GNSS satellites 110 obtained from GNSS systems such as the Global Positioning System (GPS) or similar systems (e.g., GLONASS, Galileo, Beidou, Indian Regional Navigation Satellite System (IRNSS)). Additional components of the 5G NR positioning system 200 are described below. The 5G NR positioning system 200 may include additional or alternative components.

[0035]

[0042] Figure 2 provides only a generalized illustration of various components, and it should be noted that any or all of them may be used as appropriate, and each of them may be duplicated or omitted as needed. Specifically, only one UE 105 is shown, but it will be understood that many UEs (e.g., hundreds, thousands, millions, etc.) may utilize the 5G NR positioning system 200. Similarly, the 5G NR positioning system 200 may include more (or fewer) GNSS satellites 110, gNB 210, ng-eNB 214, wireless local area network (WLAN) 216, access and mobility management function (AMF) 215, external clients 230, and / or other components. The illustrated connections that connect the various components within the 5G NR positioning system 200 include data and signaling connections, which may include additional (intermediate) components, direct or indirect physical and / or wireless connections, and / or additional networks. Furthermore, the components may be reconfigured, combined, separated, replaced, and / or omitted depending on the required function.

[0036]

[0043] The UE105 includes and / or is referred to as a device, mobile device, wireless device, mobile terminal, terminal, mobile station (MS), Secure User Plane Location (SUPL) enabled terminal (SET), or any other name. Furthermore, the UE105 may be compatible with mobile phones, smartphones, laptops, tablets, personal data assistants (PDAs), navigation devices, Internet of Things (IoT) devices, or any other portable or mobile devices. Typically, but not necessarily, the UE105 may support wireless communications using one or more radio access technologies (RATs), such as GSM, CDMA, W-CDMA, LTE, High Rate Packet Data (HRPD), IEEE 802.11 Wi-Fi, Bluetooth, Worldwide Interoperability for Microwave Access (WiMAX®), 5G NR (e.g., using NG-RAN235 and 5G CN240), etc. UE105 may support wireless communication using WLAN216, which may also connect to other networks such as the Internet (as one or more RATs, and as previously stated with respect to Figure 1). The use of one or more such RATs may enable UE105 to communicate with an external client 230 (for example, via an element of 5G CN240, not shown in Figure 2, or possibly via a Gateway Mobile Location Center (GMLC) 225) and / or enable the external client 230 to receive location information about UE105 (for example, via GMLC225). The external client 230 in Figure 2 may correspond to the external client 180 in Figure 1, which is implemented within or communicatively coupled to a 5G NR network.

[0037]

[0044] UE105 may include a single entity, or it may include multiple entities, such as in a personal area network where the user uses voice, video and / or data I / O devices and / or body sensors with separate wired or wireless modems. The location estimation of UE105 may be called a location, location estimate, location determination, determination, position, location estimate, or location determination, and may be geodetic, thereby providing the location coordinates of UE105 (e.g., latitude and longitude), which may or may not include an altitude component (e.g., height above sea level, height above ground or depth below ground, floor or basement level). Alternatively, the location of UE105 may be represented as a city location (e.g., a postal address, or a designation for some point or a small area within a building, such as a particular room or floor). The location of UE105 may be expressed as an area or volume (defined either geodetically or in the form of a city) in which UE105 is expected to be located with some probability or confidence (e.g., 67%, 95%). The location of UE105 may further be a relative location with relative X, Y (and Z) coordinates defined, for example, distance and direction or relative to some origin at a known location, where the known location may be defined geodetically, from a city perspective, or by reference to a point, area, or volume shown on a map, floor plan, or building blueprint. In the descriptions contained herein, the use of the term location may include any of these variations unless otherwise specified. When calculating the location of a UE, it is common to solve for local X, Y, and possibly Z coordinates, and then, if necessary, convert the local coordinates to absolute coordinates (e.g., latitude, longitude, and altitude above or below mean sea level).

[0038]

[0045] The base stations within NG-RAN235 shown in Figure 2 may correspond to base station 120 in Figure 1 and may include NR NodeB (gNB) 210-1 and 210-2 (collectively referred to as gNB210 in this specification). The pair of gNB210 within NG-RAN235 may be connected to each other (for example, directly as shown in Figure 2, or indirectly via other gNB210s). The communication interface between the base stations (gNB210 and / or ng-eNB214) may be referred to as the Xn interface 237. Access to the 5G network is provided to UE105 via wireless communication between UE105 and one or more gNB210s, and the gNBs may provide wireless communication access to 5G CN240 on behalf of UE105 using 5G NR. The wireless interface between the base stations (gNB210 and / or ng-eNB214) and UE105 may be referred to as the Uu interface 239. 5G NR radio access is sometimes referred to as NR radio access or 5G radio access. In Figure 2, the serving gNB for UE105 is assumed to be gNB210-1, but if UE105 moves to a different location, another gNB (e.g., gNB210-2) may act as the serving gNB or as a secondary gNB providing additional throughput and bandwidth to UE105.

[0039]

[0046] The base stations within NG-RAN235 shown in Figure 2 may also include, or instead of, next-generation advanced node B, also called ng-eNB214. Ng-eNB214 may be connected to one or more gNB210s within NG-RAN235, for example, directly or indirectly via other gNB210s and / or other ng-eNBs. ng-eNB214 may provide LTE wireless access and / or advanced LTE (eLTE) wireless access to UE105. Some of the gNB210s in Figure 2 (e.g., gNB210-2) and / or ng-eNB214 may be configured to function as positioning-only beacons, which may transmit signals (e.g., positioning reference signals (PRS)) and / or broadcast support data to assist in positioning UE105, but may not receive signals from UE105 or other UEs. Although Figure 2 shows only one ng-eNB214, it should be noted that some embodiments may include multiple ng-eNB214s. Base stations 210 and 214 may communicate directly with each other via the Xn communication interface. Additionally or alternatively, base stations 210 and 214 may communicate directly or indirectly with other components of the 5G NR positioning system 200, such as the LMF220 and AMF215.

[0040]

[0047] The 5G NR positioning system 200 may also include one or more WLANs 216, which may connect to a non-3GPP interoperability function (N3IWF) 250 within the 5G CN 240 (for example, in the case of an unreliable WLAN 216). For example, the WLAN 216 may support IEEE 802.11 Wi-Fi access for the UE 105 and may include one or more Wi-Fi APs (for example, AP 130 in Figure 1). Here, the N3IWF 250 may connect to other elements within the 5G CN 240, such as the AMF 215. In some embodiments, the WLAN 216 may support another RAT, such as Bluetooth. The N3IWF250 may provide support for secure access by UE105 to other elements within the 5G CN240 and / or support the interoperation of one or more protocols used by WLAN216 and UE105 with one or more protocols used by other elements of the 5G CN240, such as AMF215. For example, the N3IWF250 may support establishing an IPSec tunnel with UE105, terminating an IKEv2 / IPSec protocol with UE105, terminating N2 and N3 interfaces to the 5G CN240 for the control plane and user plane, respectively, and relaying uplink (UL) and downlink (DL) control plane non-accessible tier (NAS) signaling between UE105 and AMF215 via the N1 interface. In some other embodiments, WLAN216 may connect directly to elements within the 5G CN240 (e.g., AMF215 as shown by the dashed line in Figure 2) without going through the N3IWF250. For example, a direct connection of WLAN216 to 5GCN240 may occur if WLAN216 is a trusted WLAN for 5GCN240, and may be enabled using a Trusted WLAN Interoperability Function (TWIF) (not shown in Figure 2), which may be an internal element of WLAN216. Although only one WLAN216 is shown in Figure 2, it should be noted that some embodiments may include multiple WLAN216s.

[0041]

[0048] An access node may comprise any of the various network entities that enable communication between the UE105 and the AMF215. These may include gNB210, ng-eNB214, WLAN216, and / or other types of cellular base stations. However, an access node providing the functionality described herein may additionally or alternatively include entities that enable communication to any of the various RATs not shown in Figure 2, which may include non-cellular technologies. Thus, the term “access node” as used in the embodiments described below herein may include, but is not limited to, gNB210, ng-eNB214, or WLAN216.

[0042]

[0049] In some embodiments, access nodes such as gNB210, ng-eNB214, or WLAN216 (either alone or in combination with other components of the 5G NR positioning system 200) may be configured to receive a request for location information from LMF220 to acquire location measurements of uplink (UL) signals received from UE105, and / or to acquire downlink (DL) location measurements from UE105 acquired by UE105 for DL ​​signals received by UE105 from one or more access nodes. As noted, Figure 2 depicts access nodes 210, 214, and 216 configured to communicate according to 5G NR, LTE, and Wi-Fi communication protocols, respectively. However, access nodes configured to communicate according to other communication protocols may be used, such as node B using the Wideband Code Division Multiple Access (WCDMA®) protocol for the Universal Mobile Telecommunications Services (UMTS) Terrestrial Radio Access Network (UTRAN), an eNB using the LTE protocol for the Advanced UTRAN (E-UTRAN), or a Bluetooth beacon using the Bluetooth protocol for the WLAN. For example, in a 4G Advanced Packet System (EPS) providing LTE wireless access to UE105, the RAN may comprise an E-UTRAN, and the E-UTRAN may comprise base stations with eNBs that support LTE wireless access. The core network of the EPS may comprise an Advanced Packet Core (EPC). The EPS may also comprise an EPC in addition to the E-UTRAN, where the E-UTRAN corresponds to NG-RAN235 in Figure 2 and the EPC corresponds to 5GCN240. The methods and techniques described herein for obtaining urban locations in UE105 may be applicable to other networks such as UE105.

[0043]

[0050] The gNB210 and ng-eNB214 can communicate with the AMF215, which in turn communicates with the LMF220 for positioning functions. The AMF215 may support the mobility of the UE105, including cell changes and handover of the UE105 from access nodes 210, 214, or 216 of the first RAT to access nodes 210, 214, or 216 of the second RAT. The AMF215 may also be involved in signaling connections to the UE105 and, optionally, supporting data and voice bearers to the UE105. The LMF220 may support the positioning of UE105 using CP location solutions when UE105 accesses NG-RAN235 or WLAN216, and may support positioning procedures and methods, which include UE-assisted / UE-based and / or network-based procedures / methods, such as Assisted GNSS (A-GNSS), Observed Time Difference Of Arrival (OTDOA) (sometimes called Time Difference of Arrival (TDOA) in NR), Real-Time Kinematic (RTK), Precise Point Positioning (PPP), Differential GNSS (DGNSS), Enhanced Cell ID (ECID), Angle of Arrival (AoA), Angle of Departure (AoD), WLAN positioning, Round-Trip Signal Propagation Delay (RTT), Multi-Cell RTT, and / or other positioning procedures and methods. The LMF220 may process location service requests to the UE105, for example, received from the AMF215 or the GMLC225. The LMF220 may be connected to the AMF215 and / or the GMLC225. In some embodiments, a network such as the 5GCN240 may additionally or alternatively implement other types of location assistance modules, such as an Advanced Serving Mobile Location Center (E-SMLC) or a SUPL Location Platform (SLP).It should be noted that in some embodiments, at least part of the positioning function (including determining the location of UE105) may be performed at UE105 (for example, by measuring downlink PRS (DL-PRS) signals transmitted by wireless nodes such as gNB210, ng-eNB214 and / or WLAN216, and / or using supporting data provided to UE105 by LMF220, for example).

[0044]

[0051] The Gateway Mobile Location Center (GMLC) 225 may support location requests for the UE 105 received from an external client 230 and may forward such location requests to the AMF 215 for forwarding to the LMF 220 by the AMF 215. The location response from the LMF 220 (e.g., including a location estimate for the UE 105) may similarly be returned to the GMLC 225 directly or via the AMF 215, which may then return the location response (e.g., including a location estimate) to the external client 230.

[0045]

[0052] A network exposure function (NEF) 245 may be included in 5GCN240. The NEF 245 may support secure exposure of capabilities and events concerning 5GCN240 and UE105 to an external client 230, which may be called an access function (AF) in that case, and may enable secure information provision from the external client 230 to 5GCN240. The NEF 245 may be connected to an AMF 215 and / or GMLC 225 for the purpose of obtaining the location of UE105 (e.g., city location) and providing that location to the external client 230.

[0046]

[0053] As further shown in Figure 2, the LMF220 may communicate with the gNB210 and / or ng-eNB214 using the NR Positioning Protocol Annex (NRPPa) as defined in 3GPP Technical Specification (TS) 38.445. NRPPa messages may be transported between the gNB210 and the LMF220 and / or between the ng-eNB214 and the LMF220 via the AMF215. As further shown in Figure 2, the LMF220 and the UE105 may communicate using the LTE Positioning Protocol (LPP) as defined in 3GPP TS 37.355. Here, LPP messages may be transported between the UE105 and the LMF220 via the AMF215 and the serving gNB210-1 or serving ng-eNB214 of the UE105. For example, LPP messages may be transported between LMF220 and AMF215 using service-based operation messages (e.g., based on Hypertext Transfer Protocol (HTTP)), and between AMF215 and UE105 using the 5G NAS protocol. The LPP protocol may be used to support positioning of UE105 using UE-assisted and / or UE-based positioning methods such as A-GNSS, RTK, TDOA, multi-cell RTT, AoD, and / or ECID. The NRPPa protocol may be used to support positioning of UE105 using network-based positioning methods such as ECID, AoA, and uplink TDOA (UL-TDOA), and / or may be used by LMF220 to obtain location information from gNB210 and / or ng-eNB214, such as parameters defining DL-PRS transmissions from gNB210 and / or ng-eNB214.

[0047]

[0054] In the case of UE105 accessing WLAN216, LMF220 may obtain the location of UE105 using NRPPa and / or LPP, similar to the access of UE105 to gNB210 or ng-eNB214 described above. Thus, NRPPa messages may be transported between WLAN216 and LMF220 via AMF215 and N3IWF250 to support network-based positioning of UE105 and / or transport of other location information from WLAN216 to LMF220. Alternatively, NRPPa messages may be transported between N3IWF250 and LMF220 via AMF215 to support network-based positioning of UE105 based on location-related information and / or location measurements that are known to or accessible to N3IWF250 and transported from N3IWF250 to LMF220 using NRPPa. Similarly, LPP and / or LPP messages may be transported between UE105 and LMF220 via AMF215, N3IWF250, and UE105's serving WLAN216 to support UE-assisted or UE-based positioning of UE105 by LMF220.

[0048]

[0055] In the 5G NR positioning system 200, positioning methods can be categorized as either "UE-assisted" or "UE-based." This may depend on where the request for location determination of the UE 105 originates. For example, if the request originates from the UE (e.g., from an application or "app" run by the UE), the positioning method may be categorized as UE-based. On the other hand, if the request originates from an external client or from the AF230, LMF220, or other device or service within the 5G network, the positioning method may be categorized as UE-assisted (or "network-based").

[0049]

[0056] In a UE-assisted positioning method, UE105 may acquire location measurements and transmit these measurements to a location server (e.g., LMF220) for the calculation of a location estimate for UE105. In a RAT-dependent positioning method, location measurements may include one or more of the following for one or more access points for gNB210, ng-eNB214, and / or WLAN216: Received Signal Strength Indicator (RSSI), RTT, Reference Signal Received Power (RSRP), Reference Signal Received Quality (RSRQ), Reference Signal Time Difference (RSTD), Time of Arrival (TOA), AoA, Received Time-Transmitted Time Difference (Rx-Tx), Differential AoA (DAoA), AoD, or Timing Advance (TA). Additionally or alternatively, similar measurements may be performed on sidelink signals transmitted by other UEs that could serve as anchor points for UE105 positioning if their location is known. Location measurements may also include, or instead of, measurements from RAT-independent positioning methods such as GNSS (e.g., GNSS pseudodistance, GNSS code phase, and / or GNSS carrier phase with respect to GNSS satellite 110), WLAN, etc.

[0050]

[0057] In a UE-based positioning method, UE105 may acquire location measurements (for example, these may be the same as or similar to the location measurements in a UE-assisted positioning method), and may further calculate the location of UE105 (for example, using support data received from a location server such as LMF220 or SLP, or broadcast by gNB210, ng-eNB214, or WLAN216).

[0051]

[0058] In a network-based positioning method, one or more base stations (e.g., gNB210 and / or ng-eNB214), one or more APs (e.g., within WLAN216), or N3IWF250 may acquire location measurements (e.g., RSSI, RTT, RSRP, RSRQ, AoA, or TOA measurements) for signals transmitted by UE105, and / or receive measurements acquired by UE105 or, in the case of N3IWF250, by APs within WLAN216, and transmit these measurements to a location server (e.g., LMF220) for the calculation of a location estimate for UE105.

[0052]

[0059] Positioning of UE105 may be classified as UL, DL, or DL-UL based, depending on the type of signal used for positioning. For example, if positioning is based solely on signals received by UE105 (e.g., from a base station or other UE), the positioning may be classified as DL based. On the other hand, if positioning is based solely on signals transmitted by UE105 (which may be received by, for example, a base station or other UE), the positioning may be classified as UL based. DL-UL based positioning includes positioning such as RRT based positioning, which is based on both signals transmitted by UE105 and signals received. Sidelink (SL)-assisted positioning comprises signals communicated between UE105 and one or more other UEs. According to some embodiments, UL, DL, or DL-UL positioning described herein may use SL signaling as a supplement or alternative to SL, DL, or DL-UL signaling.

[0053]

[0060] Depending on the type of positioning (e.g., based on UL, DL, or DL-UL), the type of reference signal used may differ. For example, in DL-based positioning, these signals may include PRS (e.g., DL-PRS transmitted by a base station or SL-PRS transmitted by another UE), which may be used for measuring TDOA, AoD, and RTT. Other reference signals that may be used for positioning (UL, DL, or DL-UL) may include sounding reference signals (SRS), channel status information reference signals (CSI-RS), synchronization signals (e.g., synchronization signal block (SSB) synchronization signals (SS)), physical uplink control channels (PUCCH), physical uplink shared channels (PUSCH), physical sidelink shared channels (PSSCH), demodulation reference signals (DMRS), etc. Furthermore, the reference signals may be transmitted on the Tx beam and / or received on the Rx beam (e.g., using beamforming techniques), which may also affect angle measurements such as AoD and / or AoA.

[0054]

[0061] Referring next to Figures 3A-3B, Figure 3A shows an exemplary system 300 for object location detection based on bistatic radio. The system 300 in this example includes a wireless base station 310 (e.g., base station 120 in Figure 1 and / or gNB210 or ng-eNB214 in Figure 2) and a user device 320 (e.g., UE105 in Figures 1 and / or Figure 2), each sometimes referred to as a “wireless device”. In addition, an object 330 is serviced by the base station 310 in the environment. In this example, the base station 310 and the user device 320 communicate using the 5G frequency band (e.g., 28 GHz). However, other millimeter wave (or “mmWave”) radio frequencies may also be used, including frequencies in the 30–300 GHz range, including frequencies used by, for example, the 802.11ad Wi-Fi standard (operating at 60 GHz). Since the positioning function according to this disclosure can be performed in the same frequency band as communication, the hardware may be used for both communication and location sensing. For example, one or more components of the system 300 shown in Figure 3A may be a wireless modem (e.g., a Wi-Fi or 5G modem).

[0055]

[0062] In this example, base station 310 is a 5G wireless base station as described above with respect to Figures 1-2, but in other examples, base station 310 may be any suitable wireless access point to the network, such as a Wi-Fi access point. Similarly, user device 320 depicted in Figure 3A is a 5G wireless device, but in other examples, any suitable wireless communication technology, including Wi-Fi, may be used. For example, hardware to enable the functions described in this disclosure may be incorporated into mobile phones and many other types of devices or vehicles. These may include, for example, other mobile devices (e.g., tablets, portable media players, laptops, wearable devices, virtual reality (VR) devices, augmented reality (AR) devices) and other electronic devices (e.g., security devices, vehicle-mounted systems). That is, electronic devices are not limited to mobile devices and may instead be incorporated into fixed wireless stations, which may be installed in or on buildings or other structures as such.

[0056]

[0063] One advantage of using wireless technology in some examples is that existing wireless devices can be used to perform object location detection. For example, conventional wireless networks, such as 5G wireless networks, can use existing infrastructure to implement software that performs the functions described herein. Any suitable wireless signal can be used as the reference signal discussed herein. Similarly, communication networking modalities based on Wi-Fi or other access points may be used in some examples. Such access points or base stations can work in conjunction with other wireless devices to detect objects in the environment and determine the location of those objects.

[0057]

[0064] Figure 3B illustrates the use of the technique of this disclosure to determine the location of an object 330 within an environment served by a base station 310. When the base station 310 and a user device 320 communicate, they each transmit a radio signal that propagates through the environment to reach the other device. In an idealized environment containing only the user device 320 and the base station 310, the wireless signal traverses a direct path 340 between the two devices 310, 320. In reality, however, the transmitted wireless signal may be reflected by other objects in the area, and as a result, potentially multiple reflected versions of the signal may reach the receiver's antenna. For example, a base station 310 using an omnidirectional transmitter transmits signals in multiple directions simultaneously. As these signals propagate, they may encounter objects, be reflected by those objects, and eventually reach the receiver's antenna. This propagation of multiple versions of the same signal, for example due to reflection, is commonly referred to as "multipath." An example of this disclosure utilizes such multipath signal propagation, as will be discussed in more detail below.

[0058]

[0065] In addition to such omnidirectional communication, some base stations 310 may transmit signals into the environment using beamforming. For example, a base station may sweep a beam into the environment over an arc, such as 90 degrees or 120 degrees, in order to transmit a signal. Thus, when base station 310 sweeps a signal into the environment, at one time the signal will be directed towards a receiver antenna, and the antenna will receive the signal via a direct transmission path. At other times, the beam may be reflected by objects in the environment and eventually reach the receiver antenna via a reflection path. These two different signals have many of the same characteristics, such as the data encoded in the beam, but they are transmitted at different times and therefore may be considered separate signals even though they are conceptually the same signal. However, the techniques of the present disclosure may use either omnidirectional signal transmission or beamformed signal transmission.

[0059]

[0066] In this example, the environment includes a base station 310, a user device 320, and an object 330. Therefore, when a transmission signal propagates between the base station 310 and the user device 320, some of the signal is received via the direct path 340, and some is received from the object 330 via the reflected paths 342a-b. Determine the signal characteristics of each type of received signal via the direct and reflected paths, and the location (X) of one or both wireless devices 310, 320. BS ,Y BS ) or (X UD ,Y UD By knowing the location of object 330 (X O ,Y O ) may be determined.

[0060]

[0067] Next, referring to Figures 4A and 4B, Figure 4A shows an ellipse 400 and corresponding ellipse information that can be used to locate an object at any point on the ellipse 400, given that some information is known. The ellipse is defined by two foci F1 and F2, a semi-major axis a, and a semi-minor axis b, so that the ellipse contains all points that have the same distance sum |PF1|+|PF2| with respect to foci F1 and F2. In the system 300 shown in Figure 3A, the ellipse can be determined by setting the base station 310 and user device 320 as foci and using ToF information about the reflected signal from object 330. For example, a time-of-flight measurement between a transmitting antenna array (e.g., base station 310) located at F1 and a receiving antenna array (e.g., user device 320) located at F2, where the wireless signal reflected from object 330 at point P corresponds to a distance measurement of |PF1|+|PF2|. The ellipse can then be calculated using the two foci (described above) and distance measurements, and the location of the object can be estimated based on the geometric shape of the ellipse and the determined signal characteristics.

[0061]

[0068] For example, in some examples of systems for object location detection based on bistatic radio, the object may be assumed to be on the ground or in substantially the same horizontal plane as both the base station 310 and the user device 320. (Note that in some examples, the antenna elements may be offset from the coordinate system used to establish the azimuth and elevation angles. In such examples, the determination of ellipses and distances may take this offset into account.)

[0069] Figure 4B shows how the geometric shape of an ellipse can be utilized to determine the location of an object, for example, object 330. As described above, the wireless device determines both ToF and AoA for a received signal, for example, a wireless signal following the reflected path 342a~b. Thus, depending on whether wireless device 310 or 320 receives the reflected signal 342a~b, AoA corresponds to one of θ1 or θ2. The location of the object can then be calculated based on the properties of the ellipse. First, the lengths of the semi-major and semi-minor axes can be determined by the following equations.

[0062]

number

[0063] And,

[0064]

number

[0065] In that case, the ellipse itself can be calculated as follows.

[0066]

number

[0067]

[0070] Equation (3) assumes that the center of the ellipse (a point collinear with foci F1 and F2 and equidistant from foci F1 and F2) is (0,0), which can be used for computational purposes before mapping the ellipse onto another coordinate system, for example, based on latitude and longitude.

[0068]

[0071] Once the shape of the ellipse is known, the location of an object can be determined based on either θ1 or θ2, which is the determined AoA in each device. The corresponding point P on the ellipse is the location of the object. For example, a line originating at one of the foci and projected across the AoA intersects the ellipse at the location of the object represented by point P. Thus, the location of the object can be determined by finding the intersection point between the line and the ellipse.

[0069]

[0072] Alternatively, an ellipse can be defined using polar coordinates with respect to one of its two foci, which may provide another way to determine the location of any point on the ellipse given AoA. The two axes are determined as described above with respect to equations (1) and (2). The eccentricity of the ellipse is then determined by the following equation:

[0070]

number

[0071]

[0073] Finally, the ellipse can be calculated based on the focus and angle θ.

[0072]

number

[0073]

[0074] Therefore, the location of an object can be determined using an ellipse and a known area of ​​area (AoA).

[0074]

[0075] Figure 5 is a diagram of an exemplary system 500 for object location detection based on bistatic radio. System 500 attempts to determine the location of a target 530 according to the techniques disclosed herein. As described above, the base station 510 and the user device 520 communicate using RF signals that traverse the environment around the user device 520 and the base station 510. (Again, the base station 510 and the user device 520 may correspond to the base station and / or the user device / mobile device, as previously stated.) Ideally, the signal traverses a direct path 540 between the base station 510 and the user device 520, but some signal reflection occurs, resulting in multiple copies of the same signal arriving at the receiving device at different times.

[0075]

[0076] In this example, one of two wireless devices, namely a base station 510 and a user device 520, attempts to determine the location of one or more objects in the environment. For the purposes of this example, the base station 510 attempts to determine the location of target 530, although this may also be done by the user device 520. The base station 510 begins by determining the location of the base station 510 and the user device 520, for example by requesting its location from the user device 520, or by determining the location of the user device, for example by using RTT and AoA techniques to determine the distance to the user device 520 and its orientation relative to the user device 520.

[0076]

[0077] Next, base station 510 transmits a reference signal to other devices. The reference signal is any suitable signal transmitted using the available RF bandwidth, which is used to help determine the location of target 530. For example, the reference signal may be transmitted using beamforming techniques to direct the reference signal to a remote device. In some examples, the reference signal may be transmitted in all directions. In such examples, many copies of the reference signal may arrive at user device 520, but the first one to arrive can be identified as having taken the most direct path, which is shown as the idealized straight direct path 540 in Figure 5.

[0077]

[0078] Next, the user device 520 receives a reflected version of the reference signal that it encountered at the target while propagating through the environment. In examples where the reference signal is transmitted using beamforming techniques, the reflected version of the reference signal may be a signal transmitted at a different time than the beamformed signal transmitted to the remote device. For example, the transmitter may direct a beam towards a target object in the environment, and the remote device may detect a reflection of the beam from the target object. In some examples where the transmitter transmits the reference signal in all directions, the reflected signal may be transmitted simultaneously with the signal traversing the direct path 540 from the transmitter to the remote device. In either case, the reflected signal follows paths 542a-b shown in Figure 5. The user device 520 then uses conventional wireless signal processing techniques to obtain ToF and AoA for the reflected signal, i.e., φ( UD , Target ) and calculate.

[0078]

[0079] After calculating these two parameters, the user device 520 then communicates them to the base station 510, which receives them and determines the location of the target. First, the base station 120 determines the shape of the ellipse based on the Time of Flight (ToF) for the reflection paths 542a~b, as described above with respect to Figure 4B. A single ellipse is defined based on ToF, since all points on the ellipse have the same coupling distance to each of the two foci. This is because ToF represents the distance the reference signal travels from the base station 510 to the user device 520 when the reference signal is reflected from the target 530.

[0079]

[0080] In addition, based on the AoA of the reflected signal at the user device 520, a single point on the ellipse can be identified by extending a line outward from the user device 520 in the AoA of the reflected signal. The point where the line intersects the ellipse represents the location of the target 530. For example, given various properties of the ellipse, as shown above by Equation 5, a point on the ellipse can be determined based on the location of the focal point and the angle from that focal point. The location on the ellipse can then be mapped to a geographic coordinate system, such as latitude and longitude, to obtain the location of the target 530.

[0080]

[0081] As described above, the base station 510 initiated the positioning function and transmitted a reference signal, but in some examples, the user device 510 may perform one or both of such functions. Furthermore, the user device 520 received the reference signal and calculated the ToF and AoA parameters, but such parameters may instead be determined by the base station 510. Furthermore, either the base station 510 or the user device 520 may determine the location of the target based on the determined ToF and AoA parameters.

[0081]

[0082] Figure 6 is a flowchart of a method 600 for object location detection based on bistatic radio, according to one embodiment. This exemplary method 600 is described with respect to the exemplary system 500 shown in Figure 5, but can be performed by any system according to the present disclosure. For example, some or all of the operations shown in method 600 can be performed by a base station 120 (e.g., base station 510) or a UE 105 (e.g., user device 520). Exemplary hardware and / or software components that can be used to perform these operations by the base station 120 or UE 105 are provided in Figures 9 and 10, respectively, which are described in more detail below.

[0082]

[0083] The functionality in block 610 comprises the acquisition of the location of a second wireless device in a first wireless device. As described below with respect to block 630, the first wireless device may be a transmitting device, the second wireless device may be a receiving device, and vice versa. In one example, the first wireless device may use any of the positioning techniques described above with respect to Figures 1 and 2 to acquire the location of the second wireless device. Additionally or alternatively, method 600 may comprise the first wireless device requesting the location of the second wireless device from the second wireless device, where acquiring the location of the second wireless device may comprise the first wireless device receiving the location of the second wireless device from the second wireless device. For example, the second wireless device may comprise a user device that determines its own location by using a suitable GNSS such as GPS, or by using RF techniques such as trilateration, Wi-Fi (or other WLAN) positioning based on a received wireless signal. However, in some examples, the first wireless device may include a base station 510 that can obtain the location of a second wireless device (user device 520) based on determining the round-trip time (RTT) of signals such as a reference signal transmitted by the base station 510 and a corresponding response transmitted by the user device 520, and the area of ​​arrival (AoA) of the response received by the base station 510. The RTT represents the time of flight (ToF) from the base station 510 to the user device 520 and the time of flight (ToF) from the user device to the base station 510 (and some processing time in the user device 520). Thus, the RTT gives an approximation of the distance between the base station and the user device, for example, (RTT / 2)*c, where c is the speed of light. In addition, by determining the AoA of the user device's response, the base station 510 determines the bearing relative to the user device 520. Thus, the base station can calculate the location of the user device based on the base station's location, the distance to the user device, and the bearing relative to the user device.

[0083]

[0084] The above example assumes that the base station 510 obtains the location of the user device 520, but in some examples, the user device 520 may instead obtain the location of the base station 510. For example, the user device 520 may request the base station 510 to obtain the base station's location, or the user device 520 may obtain the base station's location based on the RTT and AoA techniques described above, or any other preferred technique. Thus, the first wireless device and the second wireless device of Method 600 correspond to the base station 510 and the user device 520, respectively, and vice versa. That is, according to some embodiments of Method 600, the first wireless device comprises a first base station, and the second wireless device comprises a second base station or a wireless user device. Alternatively, according to some embodiments, the first wireless device comprises a first wireless user device, and the second wireless device comprises a second wireless user device or a base station.

[0084]

[0085] Further preferred means for determining the location of a second wireless device include software executed by a processor configured to determine RTT and AoA as described above. In some examples, preferred means for obtaining the location of a second wireless device include a radio transceiver and an antenna to transmit a signal to the second wireless device and receive a response from the second wireless device indicating the location of the second wireless device, as described above. However, according to this disclosure, any preferred means for determining the location of a second wireless device may be employed.

[0085]

[0086] In block 620, the function comprises, in a first wireless device, obtaining the ToF and AoA of a wireless WWAN reference signal transmitted by a transmitting device, wherein the ToF and AoA are obtained from measurements of the WWAN reference signal in a receiving device after the WWAN reference signal has been reflected by an object. According to some embodiments, the first wireless device may transmit a reference signal reflected from a target 530 to a second wireless device, as described above with respect to Figure 5. The second wireless device may then receive the reflected version of the signal and, based on determining that the received signal is a reference signal for object location detection, may determine the ToF and AoA for the reflected version of the signal corresponding to the reference signal following reflection paths 542a~b. In some examples, it should be understood that the AoA of the reflected reference signal may be determined relative to the AoA of the direct transmission path 540. That is, the AoA of the WWAN reference signal in block 620 of Figure 6 may include a DAoA that indicates the angle between the reflected path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. However, in some examples, the AoA of the reflected reference signal may be determined without referring to the AoA of the direct transmission path. According to some embodiments, the first device may transmit the WWAN reference signal using a first beam and a second beam. In such embodiments, the WWAN reference signal transmitted using the first beam may travel along a direct path to the second device, and the WWAN reference signal transmitted using the second beam may be reflected by an object.

[0086]

[0087] In some examples, the first wireless device itself may determine the Time of Flight (ToF) and Age of Access (AoA) and obtain their parameters. For example, the first wireless device, comprising a base station 510, may receive a reference signal transmitted by a second wireless device (e.g., a user device 520) rather than transmitting the reference signal to the second wireless device. In response to receiving one or more reflected versions of the reference signal, the first wireless device may determine the ToF and AoA of the received reflected reference signal and obtain their parameters.

[0087]

[0088] With this in mind, various methods 600 can be carried out, as will be described in more detail below. For example, according to some embodiments, the first device comprises a transmitting device and the second device comprises a receiving device, and obtaining the ToF and AoA of the WWAN reference signal comprises the first wireless device receiving signal information from the second wireless device, the signal information comprising an indication of the ToF and AoA of the WWAN reference signal. According to some embodiments, the first device comprises a receiving device and the second device comprises a transmitting device, and obtaining the ToF and AoA of the WWAN reference signal comprises the first device taking measurements of the WWAN reference signal in order to obtain the ToF and AoA.

[0088]

[0089] A suitable means for obtaining the Time of Flight (ToF) and Atmosphere (AoA) parameters of a reflected reference signal includes a radio receiver and an antenna. As described above, obtaining the ToF and AoA parameters may include transmitting a signal to a remote wireless device and receiving a response that includes instructions for the ToF and AoA parameters. In some examples, the means for obtaining the parameters may include (or could be) means for determining the ToF and AoA of the received wireless signal, which may include a radio receiver, an antenna, and software for determining the difference in arrival times of signals at different elements of the antenna, for example, based on the phase difference of the signals received at the antenna elements. Furthermore, the software may determine the ToF based on a synchronized clock or time reference in the transmitting and receiving devices and a transmission scheme in which the transmission of several signals occurs at a predetermined time within the transmission scheme. The ToF may represent a measurable offset or delay from a predetermined transmission time by the receiver. However, any suitable means for obtaining the reflected ToF and AoA of a WWAN reference signal reflected by a remote object, or means for determining the reflected ToF and AoA of a WWAN reference signal reflected by a remote object, may be employed in accordance with this disclosure.

[0089]

[0090] In block 630, the function comprises using a first wireless device to determine the location of an object based on the location, ToF, and AoA of a second wireless device, where (i) the first device comprises a transmitting device and the second device comprises a receiving device, or (ii) the first device comprises a receiving device and the second device comprises a transmitting device. In this example, the first wireless device may determine the location of a remote object based on an ellipse generated from reflected ToF. As described above with respect to Figures 4A-4B and 5, the ellipse may be determined based on reflected ToF and the location of one or both of the wireless device and the remote wireless device. After generating the ellipse, the first wireless device (e.g., base station 510) may determine the intersection of the ellipse and a line extending from the location of the second wireless device (e.g., location of user device 520) in AoA. The location of the intersection indicates the location of the remote object, e.g., target 530. In some examples, the first wireless device may employ one or more of equations 1-5 to determine the intersection point between the line and the ellipse.

[0090]

[0091] In some examples, the first wireless device may employ a geographic coordinate system, for example, when defining an ellipse. Therefore, when the first wireless device determines the location of the intersection point between a line and an ellipse, that location may be represented by further geographic coordinates. However, if the first wireless device uses a different coordinate system, for example, if the ellipse is centered on a virtual origin with coordinates (0,0), the first wireless device may then map the ellipse from the virtual coordinate system to another coordinate system, such as an absolute coordinate system like latitude and longitude. This mapping may be performed, for example, by calculating an offset from the virtual coordinate system to the coordinates in the other coordinate system for the locations of the first and second wireless devices. Such an offset may then be applied to the coordinates of the intersection point between the line and the ellipse. Also, while this example involved the first wireless device determining the location of a remote object, it should be understood that in some examples, the second wireless device may determine the location of a remote object. A preferred means for determining the location of a remote object based on the location of a remote wireless device may include software or hardware programmed to perform the functions described above with respect to block 630 and Figures 4A-4B and 5, in order to generate an ellipse and determine the intersection point between the ellipse and a line extending from the remote wireless device at AoA.

[0091]

[0092] Although the exemplary method 600 shown in Figure 6 was described above as being performed by a first wireless device comprising a base station 510 based on information received from a second wireless device comprising a user device 520, it should be understood that the base station 510 and the user device 520 may each perform the functions of the first or second wireless device of method 600. Furthermore, it should be understood that in some examples, the ToF and AoA information may be determined by a remote wireless device and obtained by the wireless device, or the wireless device may receive a reference signal from a remote wireless device and determine the ToF and AoA locally. Thus, there are at least four different substitutions of method 600 described above. Firstly, the base station 510 comprises a first wireless device performing method 600, which transmits a reference signal to a user device 520 comprising a second wireless device, and the second wireless device responds with the ToF and AoA information. Secondly, the base station 510 receives a reference signal from a user device 520, which has a first wireless device performing method 600 and a second wireless device, and determines ToF and AoA information and the location of a remote object. Thirdly, the user device 520 transmits a reference signal to the base station 510, which has a first wireless device performing method 600 and a second wireless device that responds with ToF and AoA information. Fourthly, the user device 520 receives a reference signal from the base station 510, which has a first wireless device performing method 600 and a second wireless device, and determines ToF and AoA information and the location of a remote object. These variations are shown and described below with reference to Figures 7 and 8.

[0092]

[0093] Figure 7 is a flowchart of another exemplary method 700 for object location detection based on bistatic radio. This exemplary method 700 is described in relation to the exemplary system 500 shown in Figure 5, but can be performed by any system according to the present disclosure. The method of Figure 7 illustrates an exemplary method in which a device for determining the location of a remote object transmits a reference signal to a remote wireless device in order to receive the signal characteristics of the reference signal reflected from the remote object, including ToF and AoA.

[0093]

[0094] In block 710, the wireless device obtains the location of a remote wireless device, generally as described above with respect to block 610. For example, base station 510 may determine the location of user device 520, or user device 520 may determine the location of base station 510.

[0094]

[0095] In block 720, the wireless device transmits a reference signal to a remote wireless device. As described above, either the base station 510 or the user device 520 may transmit the reference signal. Furthermore, any suitable reference signal may be employed. For example, an existing signal defined by the wireless specification may be employed, or a separate signal specifically defined as a reference signal for object location detection based on bistatic radio may be employed. The means for transmitting the reference signal may include a radio transmitter and an antenna. Furthermore, in some examples, the means may include software or hardware programmed to generate suitable information to be encoded over radio waves according to the definition of the reference signal by the corresponding specification.

[0095]

[0096] In block 730, the wireless device receives ToF and AoA indications of a reference signal reflected by a remote object, substantially as described above with respect to block 620.

[0096]

[0097] In block 740, the wireless device determines the location of a remote object, substantially as described above with respect to block 630.

[0097]

[0098] Referring now to Figure 8, which illustrates another exemplary method 800 for object location detection based on bistatic radio. This exemplary method 800 is described in relation to the exemplary system 500 shown in Figure 5, but can be performed by any system according to the present disclosure. The method of Figure 8 illustrates an exemplary method in which a device for determining the location of a remote object receives a reference signal from a remote wireless device and determines the signal characteristics of the reference signal reflected from the remote object, including ToF and AoA.

[0098]

[0099] In block 810, the wireless device obtains the location of a remote wireless device, generally as described above with respect to block 610. For example, base station 510 may determine the location of user device 520, or user device 520 may determine the location of base station 510.

[0099]

[0100] In block 820, the wireless device receives a reference signal from a remote wireless device. As described above, either the base station 510 or the user device 520 may receive the reference signal. Furthermore, as described above with respect to block 520, any suitable reference signal may be employed. The means for receiving the reference signal may include a radio receiver and an antenna. Furthermore, in some examples, this means may include software or hardware programmed to decode the received reference signal according to the definition of the reference signal in the corresponding specification.

[0100]

[0101] In block 830, the wireless device determines the ToF and AoA of the reference signal reflected by the remote object, substantially as described above with respect to block 620.

[0101]

[0102] In block 840, the wireless device determines the location of a remote object, substantially as described above with respect to block 630.

[0102]

[0103] Figure 9 shows an example of a UE105 that may be used as described above in this specification (for example, in relation to Figures 1 to 8). For example, a UE105 can perform one or more of the functions of the methods shown in Figures 6 to 8. Note that Figure 9 is intended only to provide a generalized diagram of various components, any or all of which may be used as appropriate. Note that in some cases, the components shown in Figure 9 may be localized to a single physical device and / or distributed among various networked devices that may be located in different physical locations. Furthermore, as previously stated, the functions of the UE described in the above examples may be performed by one or more of the hardware and / or software components shown in Figure 9.

[0103]

[0104] A UE105 is shown that includes hardware elements that can be electrically coupled (and may, as appropriate, communicate) via bus 905. The hardware elements may include, but are not limited to, one or more general-purpose processors, one or more dedicated processors (such as DSP chips, graphics acceleration processors, application-specific integrated circuits (ASICs)), and / or other processing structures or means, and may include a processing unit 910. As shown in Figure 9, some examples may have a separate DSP 920, depending on the desired functionality. Location determination and / or other determinations based on wireless communication may be implemented in the processing unit 910 and / or wireless communication interface 930 (described below). The UE105 may also include, but are not limited to, one or more input devices 970, which may include keyboards, touchscreens, touchpads, microphones, buttons, dials, switches, etc., and one or more output devices 915, which may include, but are not limited to, displays, light-emitting diodes (LEDs), speakers, etc.

[0104]

[0105] UE105 may also include, but is not limited to, a wireless communication interface 930 which may include modems, network cards, infrared communication devices, wireless communication devices, and / or chipsets (such as Bluetooth devices, IEEE 802.11 devices, IEEE 802.15.4 devices, Wi-Fi devices, WiMAX devices, WAN devices, and / or various cellular devices), which may enable UE105 to communicate with other devices as described in the examples above. The wireless communication interface 930 may enable data and signaling to communicate with (e.g., transmit and receive) the network via, for example, eNBs, gNBs, ng-eNBs, access points, various base stations and / or other access node types, TRPs, and / or other network components, computer systems, and / or any other electronic devices described herein. Communication may be performed via one or more wireless communication antennas 932 that transmit and / or receive wireless signals 934. According to some examples, the wireless communication antennas 932 may consist of multiple separate antennas, antenna arrays, or any combination thereof.

[0105]

[0106] Depending on the desired functionality, the wireless communication interface 930 may include separate receivers and transmitters, or any combination of transceivers, transmitters, and / or receivers, for communication with base stations (e.g., ng-eNB and gNB) and other terrestrial transceivers such as wireless devices and access points. The UE 105 may communicate with different data networks, which may comprise various network types. For example, a wireless wide area network (WWAN) may include a CDMA network, a time-division multiple access (TDMA) network, a frequency-division multiple access (FDMA) network, an orthogonal frequency-division multiple access (OFDMA) network, a single-carrier frequency-division multiple access (SC-FDMA) network, or a WiMAX (IEEE 802.16) network. A CDMA network may implement one or more RATs such as CDMA2000, WCDMA, etc. CDMA2000 includes the IS-95 standard, the IS-2000 standard, and / or the IS-856 standard. TDMA networks may implement GSM, Digital Advanced Mobile Phone System (D-AMPS), or any other RAT. OFDMA networks may employ LTE, LTE Advanced, 5GNR, etc. 5GNR, LTE, LTE Advanced, GSM, and WCDMA are documented from 3GPP. CDMA2000 is documented from a consortium called "Third Generation Partnership Project II" (3GPP2). 3GPP and 3GPP2 documents are publicly available. Wireless Local Area Networks (WLANs) may also be IEEE 802.11x networks, and Wireless Personal Area Networks (WPANs) may be Bluetooth networks, IEEE 802.15x, or any other type of network. The techniques described herein may also be used for any combination of WWANs, WLANs, and / or WPANs.

[0106]

[0107] The UE105 may further include a sensor 940, which may comprise, but is not limited to, one or more inertial sensors and / or other sensors (e.g., accelerometers, gyroscopes, cameras, magnetometers, altimeters, microphones, proximity sensors, light sensors, barometers, etc.), some of which may be used to acquire position-related measurements and / or other information as described herein.

[0107]

[0108] An example of UE105 may also include a GNSS receiver 980 capable of receiving signals 984 from one or more Global Navigation Satellite System (GNSS) satellites using antenna 982 (which may be the same as antenna 932). Positioning based on GNSS signal measurement may be used to complement and / or incorporate the techniques described herein. The GNSS receiver 980 can use conventional techniques to extract the position of UE105 from GNSS SV190 of GNSS systems such as the Global Positioning System (GPS), Galileo, GLONASS, the Quasi-Zenith Satellite System (QZSS) over Japan, the Indian Regional Navigation Satellite System (IRNSS) over India, and Beidou over China. Furthermore, the GNSS receiver 980 can be used with a variety of augmentation systems (e.g., satellite-based augmentation systems (SBAS)) that may be associated with, or potentially used with, one or more global navigation satellite systems and / or regional navigation satellite systems, such as WAAS, EGNOS, Multifunction Satellite Augmentation System (MSAS), and Geo Augmentation Navigation System (GAGAN).

[0108]

[0109] The UE105 may further include and / or communicate with memory 960. Memory 960 may include, but is not limited to, local storage and / or network-accessible storage, disk drives, drive arrays, optical storage devices, and solid-state storage devices such as random-access memory (RAM) and / or read-only memory (ROM), which may be programmable, flash-updatable, etc. Such storage devices may be configured to implement any suitable data store, including, but is not limited to, various file systems, database structures, etc.

[0109]

[0110] The memory 960 of the UE105 may also contain software elements (not shown in Figure 9) including other code such as an operating system, device drivers, executable libraries, and / or one or more application programs, the one or more application programs may include computer programs provided by various examples, and / or may be designed to implement and / or configure a system to implement methods provided by other examples, as described herein. Just as an example, one or more procedures described with respect to the methods described above may be implemented as code and / or instructions in the memory 960 executable by the UE105 (and / or processing unit 910 or DSP920 within the UE105). In one embodiment, such code and / or instructions may be used to configure and / or adapt a general-purpose computer (or other device) to perform one or more operations in accordance with the methods described.

[0110]

[0111] Figure 10 shows an example of a base station 120 that may be used in this specification as described above (for example, in relation to Figures 1 to 8). Note that Figure 10 is intended only to provide a generalized diagram of various components, any or all of which may be used as appropriate. In some examples, base station 120 may correspond to a gNB, ng-eNB, and / or (more generally) a TRP.

[0111]

[0112] A base station 120 is shown, comprising hardware elements that can be electrically coupled (or, in some cases, communicate as appropriate) via bus 1005. The hardware elements may include, but are not limited to, a processing unit 1010 which may include one or more general-purpose processors, one or more dedicated processors (such as DSP chips, graphics acceleration processors, ASICs), and / or other processing structures or means. As shown in Figure 10, some examples may have a separate DSP 1020 depending on the desired functionality. Location determination and / or other determinations based on wireless communication may be implemented in the processing unit 1010 and / or wireless communication interface 1030 (described below) in some examples. The base station 120 may also include, but are not limited to, one or more input devices which may include keyboards, displays, mice, microphones, buttons, dials, switches, etc., and one or more output devices which may include displays, light-emitting diodes (LEDs), speakers, etc.

[0112]

[0113] The base station 120 may also include, but is not limited to, a wireless communication interface 1030 which may include a modem, network card, infrared communication device, wireless communication device, and / or chipset (such as a Bluetooth device, IEEE 802.11 device, IEEE 802.15.4 device, Wi-Fi device, WiMAX device, cellular communication equipment, etc.), which may enable the base station 120 to communicate as described herein. The wireless communication interface 1030 may enable data and signaling to be communicated (e.g., transmitted and received) to UEs, other base stations / TRPs (e.g., eNBs, gNBs, and ng-eNBs), and / or other network components, computer systems, and / or any other electronic devices described herein. Communication may be performed via one or more wireless communication antennas 1032 that transmit and / or receive wireless signals 1034.

[0113]

[0114] The base station 120 may also include a network interface 1080 which may include support for wireline communication technology. The network interface 1080 may include a modem, network card, chipset, etc. The network interface 1080 may include one or more input communication interfaces and / or output communication interfaces to enable data to be exchanged with a network, a communication network server, a computer system, and / or any other electronic devices described herein.

[0114]

[0115] In many examples, the base station 120 may further include memory 1060. Memory 1060 may include, but is not limited to, local storage and / or network-accessible storage, disk drives, drive arrays, optical storage devices, and solid-state storage devices such as RAM and / or ROM, which may be programmable, flash-updatable, etc. Such storage devices may be configured to implement any suitable data store, including, but is not limited to, various file systems, database structures, etc.

[0115]

[0116] The memory 1060 of the base station 120 may also comprise software elements (not shown in Figure 10) including other code such as an operating system, device drivers, executable libraries, and / or one or more application programs, the one or more application programs comprising computer programs provided by various examples, and / or designed to implement and / or configure a system to implement methods provided by other examples, as described herein. Just as an example, one or more procedures described with respect to the methods described above may be implemented as code and / or instructions in memory 1060 executable by the base station 120 (and / or processing unit 1010 or DSP 1020 within the base station 120). In one embodiment, such code and / or instructions may be used to configure and / or adapt a general-purpose computer (or other device) to perform one or more operations in accordance with the methods described.

[0116]

[0117] It will be apparent to those skilled in the art that substantial modifications may be made in accordance with specific requirements. For example, customized hardware may be used, and / or certain elements may be implemented in hardware, software (including portable software such as applets), or both. Furthermore, connections to other computing devices, such as network input / output devices, may be employed.

[0117]

[0118] Referring to the attached drawings, components that may include memory may also include non-temporary machine-readable media. As used herein, the terms “machine-readable media” and “computer-readable media” refer to any storage medium involved in providing data that causes a machine to operate in a particular manner. In the examples provided above, various machine-readable media may be involved in providing instructions / code to processing units and / or other devices for execution. Additionally or alternatively, machine-readable media may be used to store and / or carry such instructions / code. In many implementations, computer-readable media are physical and / or tangible storage media. Such media can take many forms, but are not limited to non-volatile media, volatile media, and transmission media. Common forms of computer-readable media include, for example, magnetic media and / or optical media, any other physical media having a pattern of holes, RAM, programmable ROM (PROM), erasable PROM (EPROM), flash EPROM, any other memory chip or cartridge, carrier waves as described below, or any other media from which a computer can read instructions and / or code.

[0118]

[0119] The methods, systems, and devices described herein are examples. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, features described in some examples may be combined in various other examples. Various aspects and elements of the examples may be combined in the same way. Various components of the figures provided herein may be embodied in hardware and / or software. Furthermore, technology evolves, and therefore many elements are examples that do not limit the scope of this disclosure to those specific examples.

[0119]

[0120] Calling such signals bits, information, values, elements, symbols, characters, variables, terms, numbers, digits, etc., has sometimes proven convenient, primarily from the standpoint of general usage. However, it should be understood that all of these or similar terms should be associated with appropriate physical quantities and are merely convenient labels. Unless otherwise specified, as is evident from the above description, descriptions throughout this specification using terms such as “processing,” “calculating,” “calculating,” “determining,” “verifying,” “identifying,” “associating,” “measuring,” and “executing” should be understood to refer to the operation or process of a specific device, such as a dedicated computer or similar dedicated electronic computing device. Therefore, in the context of this specification, a dedicated computer or similar dedicated electronic computing device is capable of manipulating or converting signals that are typically represented as physical electronic, electric, or magnetic quantities within the memory, registers, or other information storage devices, transmitting devices, or display devices of the dedicated computer or similar dedicated electronic computing device.

[0120]

[0121] As used herein, the terms “and” and “or” may have a variety of meanings, which are also expected to depend at least in part on the context in which such terms are used. Generally, when “or” is used to relate a list such as A, B, or C, it is intended to mean A, B, and C as used herein in an inclusive sense, and A, B, or C as used herein in an exclusive sense. In addition, the term “one or more” as used herein may be used to describe any singular feature, structure, or property, or any combination of features, structures, or properties. However, it should be noted that this is merely an illustrative example, and the subject matter claimed is not limited to this example. Furthermore, when the term “at least one of” is used to relate a list such as A, B, or C, it may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0121]

[0122] While several examples have been described, various modifications, alternative structures, and equivalents may be used without departing from the spirit of this disclosure. For example, the elements described above may simply be components of a larger system, and other rules may take precedence over or, in some cases, modify the application of the various examples. Also, several steps may be taken before, during, or after the consideration of the elements described above. Therefore, the above description does not limit the scope of this disclosure.

[0122]

[0123] In light of this description, embodiments may include combinations of different features. Implementation examples are described in the numbered sections below. Item 1. A method for detecting the location of an object based on bistatic radio, comprising: in a first wireless device, acquiring the location of a second wireless device; in the first wireless device, acquiring the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, wherein the ToF and AoA are acquired in a receiving device from a measurement of the WWAN reference signal after the WWAN reference signal has been reflected by an object; and determining the location of an object based on the location of the second wireless device, the ToF, and the AoA using the first wireless device, wherein the first wireless device comprises a transmitting device and the second wireless device comprises a receiving device, or the first wireless device comprises a receiving device and the second wireless device comprises a transmitting device. Item 2. The method according to Item 1, wherein the AoA of the WWAN reference signal includes a differential AoA (DAoA) indicating the angle between the reflected path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. 3. The method according to any one of the items in 1 to 2, further comprising the first wireless device requesting the location of the second wireless device from the second wireless device, and obtaining the location of the second wireless device comprising the first wireless device receiving the location of the second wireless device from the second wireless device. Item 4. The method according to any one of Items 1 to 3, wherein a first wireless device comprises a transmitting device and a second wireless device comprises a receiving device, and the acquisition of ToF and AoA of a WWAN reference signal comprises the first wireless device receiving signal information from the second wireless device, the signal information comprising an indication of ToF and AoA of a WWAN reference signal. 5. The method according to 4, wherein a first wireless device transmits a WWAN reference signal using a first beam and a second beam, the WWAN reference signal transmitted using the first beam travels a direct path to a second wireless device, and the WWAN reference signal transmitted using the second beam is reflected by an object. 6. The method according to any one of the items 1 to 3, wherein a first wireless device comprises a receiving device and a second wireless device comprises a transmitting device, and obtaining the ToF and AoA of the WWAN reference signal is further comprising taking measurements of the WWAN reference signal by the first wireless device in order to obtain the ToF and AoA. 7. The method according to any one of the items 1 to 6, wherein the first wireless device comprises a first base station and the second wireless device comprises a second base station or a wireless user device. Item 8. The method according to any one of items 1 to 6, wherein the first wireless device comprises a first wireless user device and the second wireless device comprises a second wireless user device or a base station. Item 9. A first wireless device for object location detection based on bistatic radio, comprising: a transceiver; a memory; and one or more processors communicatively coupled to the transceiver and the memory, wherein one or more processors are configured to acquire the location of a second wireless device; acquire the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, wherein the ToF and AoA are acquired from measurements of the WWAN reference signal at a receiving device after the WWAN reference signal has been reflected by an object, and the first wireless device comprises a transmitting device and the second wireless device comprises a receiving device, or the first wireless device comprises a receiving device and the second wireless device comprises a transmitting device. Item 10. The first wireless device as described in Item 9, wherein one or more processors are configured to obtain a differential AoA (DAoA) indicating the angle between the reflected path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device, in order to obtain an AoA of the WWAN reference signal. Item 11. The first wireless device according to any one of items 9 to 10, further configured to have one or more processors to request the location of a second wireless device via a transceiver, and to obtain the location of the second wireless device, one or more processors to be configured to receive the location of the second wireless device from the second wireless device via a transceiver. Item 12. The first wireless device according to any one of items 9 to 11, wherein the first wireless device comprises a transmitting device, and one or more processors are configured to receive signal information from a second wireless device via a transceiver in order to obtain the ToF and AoA of a WWAN reference signal, the signal information comprising the ToF and AoA indications of a WWAN reference signal. Item 13. The first wireless device according to Item 12, wherein one or more processors are configured to transmit a WWAN reference signal via a transceiver using a first beam and a second beam, such that the WWAN reference signal transmitted using the first beam travels a direct path to the second wireless device and the WWAN reference signal transmitted using the second beam is reflected by an object. Item 14. The first wireless device as described in any of Items 9 to 11, wherein the first wireless device comprises a receiving device, and one or more processors are configured to take measurements of the WWAN reference signal using a transceiver to obtain the ToF and AoA of the WWAN reference signal. Item 15. The first wireless device as described in any of items 9 to 14, wherein the first wireless device comprises a first base station or a wireless user device. Item 16. An apparatus for object location detection based on bistatic radio, comprising means for acquiring the location of a wireless device, and means for acquiring the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, wherein the ToF and AoA are acquired from measurements of the WWAN reference signal in a receiving device after the WWAN reference signal has been reflected by an object, and means for determining the location of an object based on the location of the wireless device, the ToF, and the AoA, wherein the apparatus comprises a transmitting device and the wireless device comprises a receiving device, or the apparatus comprises a receiving device and the wireless device comprises a transmitting device. The apparatus according to paragraph 16, wherein the means for obtaining the AoA of a WWAN reference signal comprises means for obtaining a differential AoA (DAoA) indicating the angle between the reflected path of the WWAN reference signal and the direct path between the apparatus and the wireless device. 18. The apparatus according to any one of sections 16 to 17, further comprising means for requesting the location of a wireless device, wherein means for obtaining the location of a wireless device comprises means for receiving the location of a wireless device from the wireless device by the apparatus. 19. The apparatus according to any one of sections 16 to 18, wherein the apparatus comprises a transmitting device, wherein means for obtaining the ToF and AoA of a WWAN reference signal comprises means for receiving signal information from a wireless device in the apparatus, and the signal information comprises an indication of the ToF and AoA of a WWAN reference signal. Item 20. The apparatus according to Item 19, wherein the apparatus transmits a WWAN reference signal using a first beam and a second beam, the WWAN reference signal transmitted using the first beam travels a direct path to a wireless device, and the WWAN reference signal transmitted using the second beam is reflected by an object. Item 21. The apparatus according to any one of items 16 to 18, wherein the apparatus comprises a receiving device and means for obtaining the ToF and AoA of the WWAN reference signal, and means for the apparatus to take measurements of the WWAN reference signal in order to obtain the ToF and AoA. Item 22. The apparatus according to any one of items 16 to 21, wherein the apparatus comprises a first base station or a first wireless user device. Item 23. A non-temporary computer-readable medium storing instructions for object location detection based on bistatic radio, wherein the instructions include a code for a first wireless device to obtain the location of a second wireless device, and for the first wireless device to obtain the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, wherein the first wireless device is obtained from a measurement of the WWAN reference signal at a receiving device after the WWAN reference signal has been reflected by an object, and the first wireless device is a transmitting device, and the second wireless device is a transmitting device. Item 24. A computer-readable medium as described in Item 23, wherein the code for obtaining the AoA of a WWAN reference signal comprises a code for obtaining a differential AoA (DAoA) indicating the angle between the reflected path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. Item 25. A computer-readable medium according to any of items 23 to 24, wherein the instruction further comprises a code for requesting the location of a second wireless device, and the code for obtaining the location of the second wireless device comprises a code for receiving the location of the second wireless device from the second wireless device by the first wireless device. Item 26. A computer-readable medium according to any one of items 23 to 25, wherein the code for obtaining the ToF and AoA of a WWAN reference signal comprises a code for receiving signal information from a second wireless device in a first wireless device, and the signal information comprises the ToF and AoA indications of the WWAN reference signal. Item 27. A computer-readable medium as described in Item 26, wherein the instruction comprises a code for a first wireless device to transmit a WWAN reference signal using a first beam and a second beam, such that the WWAN reference signal transmitted using the first beam travels a direct path to the second wireless device and the WWAN reference signal transmitted using the second beam is reflected by an object. Item 28. A computer-readable medium as described in any of Items 23 to 25, comprising a code for obtaining ToF and AoA of a WWAN reference signal, wherein the code is for taking measurements of the WWAN reference signal by a first wireless device in order to obtain ToF and AoA. The invention described in the original claims of this application is listed below. [C1] A method for object location detection based on bistatic radio, In the first wireless device, the location of the second wireless device is obtained, In the first wireless device, the time of flight (ToF) and angle of arrival (AoA) of the wireless wide area network (WWAN) reference signal transmitted by the transmitting device are obtained, wherein the ToF and AoA are obtained from the measured values ​​of the WWAN reference signal in the receiving device after the WWAN reference signal has been reflected by an object. The first wireless device is used to determine the location of the object based on the location of the second wireless device, the ToF, and the AoA, wherein the first wireless device comprises the transmitting device and the second wireless device comprises the receiving device, or A method wherein the first wireless device comprises the receiving device and the second wireless device comprises the transmitting device. [C2] The method according to C1, wherein the AoA of the WWAN reference signal includes a differential AoA (DAoA) indicating the angle between the reflection path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. [C3] The method according to C1, further comprising the first wireless device requesting the second wireless device to provide the location of the second wireless device, and obtaining the location of the second wireless device comprising the first wireless device receiving the location of the second wireless device from the second wireless device. [C4] The first wireless device comprises the transmitting device, and the second wireless device comprises the receiving device. The method according to C1, wherein obtaining the ToF and AoA of the WWAN reference signal comprises the first wireless device receiving signal information from the second wireless device, and the signal information comprises an indication of the ToF and an indication of the AoA of the WWAN reference signal. [C5] The first wireless device transmits the WWAN reference signal using the first beam and the second beam, The WWAN reference signal transmitted using the first beam travels a direct path to the second wireless device. The method of C4, wherein the WWAN reference signal transmitted using the second beam is reflected by the object. [C6] The first wireless device comprises the receiving device, and the second wireless device comprises the transmitting device, The method according to C1, wherein obtaining the ToF and AoA of the WWAN reference signal is performed by taking measurements of the WWAN reference signal by the first wireless device in order to obtain the ToF and AoA. [C7] The method according to C1, wherein the first wireless device comprises a first base station, and the second wireless device comprises a second base station or a wireless user device. [C8] The method according to C1, wherein the first wireless device comprises a first wireless user device, and the second wireless device comprises a second wireless user device or a base station. [C9] A first wireless device for object location detection based on bistatic radio, Transceiver and, Memory and One or more processors communicatively coupled to the transceiver and the memory, wherein the one or more processors Obtaining the location of the second wireless device, The method involves obtaining the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, wherein the ToF and AoA are obtained from measurements of the WWAN reference signal at a receiving device after the WWAN reference signal has been reflected by an object. Determining the location of the object based on the location of the second wireless device, the ToF, and the AoA, It is configured to perform, The first wireless device comprises the transmitting device, and the second wireless device comprises the receiving device, or A first wireless device comprising the receiving device and the transmitting device. [C10] The first wireless device according to C9, wherein, in order to obtain the AoA of the WWAN reference signal, one or more processors are configured to obtain a differential AoA (DAoA) indicating the angle between the reflected path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. [C11] The first wireless device according to C9, wherein one or more processors are further configured to request the location of the second wireless device via the transceiver, and in order to obtain the location of the second wireless device, the one or more processors are configured to receive the location of the second wireless device from the second wireless device via the transceiver. [C12] The first wireless device comprises the transmitting device, The first wireless device according to C9, wherein one or more processors are configured to receive signal information from the second wireless device via the transceiver in order to obtain the ToF and AoA of the WWAN reference signal, the signal information comprising the ToF indication and the AoA indication of the WWAN reference signal. [C13] The one or more processors transmit the WWAN reference signal via the transceiver using the first beam and the second beam. The WWAN reference signal transmitted using the first beam travels a direct path to the second wireless device. The WWAN reference signal transmitted using the second beam is reflected by the object. A first wireless device, as described in C12, configured to transmit in this manner. [C14] The first wireless device includes the receiving device, The first wireless device according to C9, wherein one or more processors are configured to take measurements of the WWAN reference signal using the transceiver to obtain the ToF and AoA of the WWAN reference signal. [C15] The first wireless device according to C9, wherein the first wireless device comprises a first base station or a wireless user device. [C16] A device for object location detection based on bistatic radio, Means for obtaining the location of a wireless device, Means for obtaining the time of flight (ToF) and angle of arrival (AoA) of a wireless wide area network (WWAN) reference signal transmitted by a transmitting device, wherein the ToF and AoA are obtained from measurements of the WWAN reference signal in a receiving device after the WWAN reference signal has been reflected by an object. The system comprises means for determining the location of an object based on the location of the wireless device, the ToF, and the AoA, The apparatus comprises the transmitting device, and the wireless device comprises the receiving device, or A device wherein the device comprises the receiving device and the wireless device comprises the transmitting device. [C17] The apparatus according to C16, wherein the means for obtaining the AoA of the WWAN reference signal comprises means for obtaining a differential AoA (DAoA) indicating the angle between the reflection path of the WWAN reference signal and the direct path between the apparatus and the wireless device. [C18] The apparatus according to C16, further comprising means for requesting the location of the wireless device, wherein the means for obtaining the location of the wireless device comprises means for receiving the location of the wireless device from the wireless device by the apparatus. [C19] The apparatus includes the transmitting device, The apparatus according to C16, wherein the means for acquiring the ToF and AoA of the WWAN reference signal comprises means for receiving signal information from the wireless device, and the signal information comprises an indication of the ToF and an indication of the AoA of the WWAN reference signal. [C20] The device transmits the WWAN reference signal using the first beam and the second beam. The WWAN reference signal transmitted using the first beam travels a direct path to the wireless device. The apparatus according to C19, wherein the WWAN reference signal transmitted using the second beam is reflected by the object. [C21] The device includes the receiving device, The apparatus according to C16, wherein the means for acquiring the ToF and AoA of the WWAN reference signal comprises means for taking measured values ​​of the WWAN reference signal by the apparatus in order to acquire the ToF and AoA. [C22] The apparatus according to C16, wherein the apparatus comprises a first base station or a first wireless user device. [C23] A non-temporary computer-readable medium storing instructions for object location detection based on bistatic radio, wherein the instructions are In the first wireless device, the location of the second wireless device is obtained, In the first wireless device, the time of flight (ToF) and angle of arrival (AoA) of the wireless wide area network (WWAN) reference signal transmitted by the transmitting device are obtained, wherein the ToF and AoA are obtained from the measured values ​​of the WWAN reference signal in the receiving device after the WWAN reference signal has been reflected by an object. Using the first wireless device, the location of the object is determined based on the location of the second wireless device, the ToF, and the AoA. It has the code for, The first wireless device comprises the transmitting device, and the second wireless device comprises the receiving device, or A non-temporary computer-readable medium in which the first wireless device comprises the receiving device and the second wireless device comprises the transmitting device. [C24] The computer-readable medium according to C23, wherein the code for obtaining the AoA of the WWAN reference signal comprises a code for obtaining a differential AoA (DAoA) indicating the angle between the reflected path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. [C25] The computer-readable medium according to C23, wherein the instruction further comprises a code for requesting the location of the second wireless device, and the code for obtaining the location of the second wireless device comprises a code for receiving the location of the second wireless device from the second wireless device by the first wireless device. [C26] The computer-readable medium according to C23, wherein the code for obtaining the ToF and AoA of the WWAN reference signal comprises a code for receiving signal information from the second wireless device in the first wireless device, and the signal information comprises the ToF instruction and the AoA instruction of the WWAN reference signal. [C27] The instruction causes the first wireless device to use the first beam and the second beam to transmit the WWAN reference signal. The WWAN reference signal transmitted using the first beam travels a direct path to the second wireless device. The WWAN reference signal transmitted using the second beam is reflected by the object. A computer-readable medium as described in C26, which has a code for transmission. [C28] The computer-readable medium according to C23, wherein the code for obtaining the ToF and AoA of the WWAN reference signal comprises a code for taking measurements of the WWAN reference signal by the first wireless device in order to obtain the ToF and AoA.

Claims

1. A method for object location detection based on bistatic radio, In the first wireless device, the location of the second wireless device is obtained, In the first wireless device, the time of flight (ToF) and angle of arrival (AoA) of the wireless wide area network (WWAN) reference signal transmitted by the transmitting device are obtained, wherein the ToF and AoA are obtained in the receiving device from the measured value of the WWAN reference signal reflected by the object after the WWAN reference signal has been reflected by the object. This includes determining the location of the object based on the location of the second wireless device, the Time of Flight (ToF), and the Area of ​​Arrow (AoA) using the first wireless device, The Time of Flight (ToF) is the time of flight between the transmitting device and the receiving device at which the WWAN reference signal is reflected by the object, and the ToF corresponds to the sum of the distance from the transmitting device to the object and the distance from the object to the receiving device. AoA indicates the angle between the reflection path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. Determining the location of the object based on the location of the second wireless device, the ToF, and the AoA comprises determining the shape of an ellipse based on the ToF and the location of the second wireless device, and determining a point on the ellipse corresponding to the object based on the AoA. The first wireless device comprises the transmitting device, and the second wireless device comprises the receiving device. The first wireless device transmits the WWAN reference signal using a first beam directed towards the second wireless device and a second beam directed towards the object. The WWAN reference signal transmitted using the first beam travels along the direct path between the first wireless device and the second wireless device. The WWAN reference signal transmitted using the second beam is reflected by the object. method.

2. The method according to claim 1, further comprising the first wireless device requesting the second wireless device to provide the location of the second wireless device, and obtaining the location of the second wireless device comprising the first wireless device receiving the location of the second wireless device from the second wireless device.

3. Obtaining the ToF and AoA comprises the first wireless device receiving signal information from the second wireless device, wherein the signal information comprises the ToF and AoA of the WWAN reference signal reflected by the object. The method according to claim 1.

4. The method according to claim 1, wherein a first base station comprises the first wireless device, and a second base station or wireless user device comprises the second wireless device.

5. The method according to claim 1, wherein a first wireless user device comprises the first wireless device, and a second wireless user device or base station comprises the second wireless device.

6. A first wireless device for object location detection based on bistatic radio, Transceiver and, Memory and One or more processors communicatively coupled to the transceiver and the memory, wherein the one or more processors Obtaining the location of the second wireless device, The method involves obtaining the time of flight (ToF) and angle of arrival (AoA) of a wireless wide-area network (WWAN) reference signal transmitted by a transmitting device, wherein the ToF and AoA are obtained by a receiving device from measurements of the WWAN reference signal reflected by an object after the WWAN reference signal has been reflected by the object. Determining the location of the object based on the location of the second wireless device, the ToF, and the AoA, It is configured to perform, The Time of Flight (ToF) is the time of flight between the transmitting device and the receiving device at which the WWAN reference signal is reflected by the object, and the ToF corresponds to the sum of the distance from the transmitting device to the object and the distance from the object to the receiving device. AoA indicates the angle between the reflection path of the WWAN reference signal and the direct path between the first wireless device and the second wireless device. Determining the location of the object based on the location of the second wireless device, the ToF, and the AoA comprises determining the shape of an ellipse based on the ToF and the location of the second wireless device, and determining a point on the ellipse corresponding to the object based on the AoA. The first wireless device comprises the transmitting device, and the second wireless device comprises the receiving device. The one or more processors are configured to transmit the WWAN reference signal via the transceiver using a first beam directed towards the second wireless device and a second beam directed towards the object. The WWAN reference signal transmitted using the first beam travels along the direct path between the first wireless device and the second wireless device. The WWAN reference signal transmitted using the second beam is reflected by the object. The first wireless device.

7. The first wireless device according to claim 6, wherein one or more processors are further configured to request the location of the second wireless device via the transceiver, and in order to obtain the location of the second wireless device, one or more processors are configured to receive the location of the second wireless device from the second wireless device via the transceiver.

8. The first wireless device according to claim 6, wherein the one or more processors are configured to receive signal information from the second wireless device via the transceiver in order to obtain the ToF and the AoA, the signal information comprising the ToF and the AoA of the WWAN reference signal reflected by the object.

9. The first wireless device according to claim 6, wherein the first base station or wireless user device comprises the first wireless device.

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