Electronic device for performing calibration of microwave radar, operation method thereof, and recording medium

Abstract

This electronic device may be caused to: perform calibration of an inertial measurement sensor on the basis of confirming that a horizontal position of the electronic device on a surface on which the electronic device is placed remains constant for a first set time; detect movement of the electronic device by using the inertial measurement sensor; calculate a trajectory of the electronic device after detecting the movement of the electronic device by using the inertial measurement sensor; calculate a bias for calibration of a microwave radar by comparing a first distance between a start position and an end position measured along a vertical axis of the trajectory by using the inertial measurement sensor with a second distance between the start position and the end position measured along the vertical axis of the trajectory by using the microwave radar; and perform calibration of the microwave radar by applying the bias to a distance measured by the microwave radar.

Description

Electronic device for performing calibration of microwave radar, method of operation thereof, and recording medium

[0001] The present disclosure relates to an electronic device for performing calibration of a microwave radar according to one embodiment, a method of operation thereof, and a recording medium.

[0002] Measuring distance is one of the critical functions in modern multi-camera devices, essential for performing automatic camera selection, proper focus adjustment, and other real-time image processing steps. For example, an electronic device can measure the distance from the device to an object (e.g., external device, wall, floor, etc.) to perform auto-transition (AT) or auto-focus (AF) on a camera. To focus on an object with the camera, it is necessary to accurately measure the distance from the electronic device to the object. Electronic devices including radar configured to measure distance can use the radar to measure the distance from the electronic device to the object.

[0003] The information described above may be provided as related art for the purpose of aiding understanding of the present disclosure. No claim or determination is made as to whether any of the foregoing may be applied as prior art related to the present disclosure.

[0004] According to one embodiment, the electronic device may include a microwave radar including at least one antenna, an inertial measurement sensor, at least one processor including a processing circuit, and a memory for storing instructions. The above instructions may cause calibration of the inertial measurement sensor based on confirming that the horizontal position of the electronic device on the surface on which the electronic device is placed is maintained constant for a first set time when executed individually or collectively by at least one processor, and to detect the movement of the electronic device using the inertial measurement sensor, calculate the trajectory of the electronic device after the movement of the electronic device is detected using the inertial measurement sensor, select a starting position and an ending position along the trajectory, calculate a bias for calibration of the microwave radar by comparing a first distance between the starting position and the ending position measured along the vertical axis of the trajectory using the inertial measurement sensor with a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar, and to perform calibration of the microwave radar by applying the bias to the distance measured by the microwave radar.

[0005] According to one embodiment, a method of operating an electronic device may include: an operation of performing calibration of an inertial measurement sensor of the electronic device based on confirming that the horizontal position of the electronic device on a surface on which the electronic device is placed is maintained constant for a first set time; an operation of detecting that the electronic device is moving; an operation of calculating a trajectory of the electronic device after detecting that the electronic device is moving; an operation of selecting a starting position and an ending position along the trajectory; an operation of calculating a bias for calibration of the microwave radar by comparing a first distance between the starting position and the ending position measured along the vertical axis of the trajectory using the inertial measurement sensor with a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar; and an operation of performing calibration of the microwave radar by applying the bias to the distance measured by the microwave radar.

[0006] According to one embodiment, in a non-transitory computer-readable recording medium for storing instructions, the instructions may cause the electronic device to perform at least one operation when executed individually or collectively by at least one processor of the electronic device. The above at least one operation may include: an operation to perform calibration of an inertial measurement sensor of the electronic device based on confirming that the horizontal position of the electronic device on a surface on which the electronic device is placed is maintained constant for a first set time; an operation to detect that the electronic device is moving; an operation to calculate the trajectory of the electronic device after detecting that the electronic device is moving; an operation to select a starting position and an ending position along the trajectory; an operation to calculate a bias for calibration of the microwave radar by comparing a first distance between the starting position and the ending position measured along the vertical axis of the trajectory using the inertial measurement sensor with a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar; and an operation to perform calibration of the microwave radar by applying the bias to the distance measured by the microwave radar.

[0007] FIG. 1 is a block diagram of an electronic device in a network environment according to one embodiment.

[0008] FIG. 2a is a flowchart illustrating a distance measurement process based on UWB communication according to one embodiment.

[0009] FIG. 2b is a flowchart illustrating a distance measurement process based on UWB communication according to one embodiment.

[0010] FIG. 2c is a diagram illustrating a direction measurement process based on the reception of a UWB signal according to one embodiment.

[0011] FIG. 3 illustrates a block diagram of a first electronic device and a second electronic device according to one embodiment.

[0012] FIG. 4a is a diagram illustrating the transmission and reception of communication signals by antenna of a second communication module according to one embodiment.

[0013] FIG. 4b is a drawing for explaining the orientation measurement of a sensor module according to one embodiment.

[0014] FIG. 5a is a block diagram of an electronic device according to one embodiment.

[0015] FIG. 5b is a diagram illustrating the operation of an electronic device according to one embodiment.

[0016] FIG. 5c is a block diagram of a microwave radar according to one embodiment.

[0017] FIG. 6 is a flowchart of a method of operation of an electronic device according to one embodiment.

[0018] FIG. 7 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0019] FIG. 8 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0020] FIG. 9 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0021] FIG. 10 is a drawing illustrating the operation of an electronic device according to one embodiment.

[0022] FIG. 11 is a drawing illustrating the operation of an electronic device according to one embodiment.

[0023] FIG. 12 is a drawing illustrating the operation of an electronic device according to one embodiment.

[0024] FIG. 13 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0025] FIG. 14 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0026] FIG. 15 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0027] FIG. 16 is a drawing illustrating an electronic device according to one embodiment.

[0028] FIG. 1 is a block diagram of an electronic device (101) in a network environment (100) according to one embodiment.

[0029] Referring to FIG. 1, in a network environment (100), an electronic device (101) may communicate with an electronic device (102) through a first network (198) (e.g., a short-range wireless communication network) or with at least one of an electronic device (104) or a server (108) through a second network (199) (e.g., a long-range wireless communication network). According to one embodiment, the electronic device (101) may communicate with the electronic device (104) through a server (108). According to one embodiment, the electronic device (101) may include a processor (120), memory (130), input module (150), sound output module (155), display module (160), audio module (170), sensor module (176), interface (177), connection terminal (178), haptic module (179), camera module (180), power management module (188), battery (189), communication module (190), subscriber identification module (196), or antenna module (197). In some embodiments, at least one of these components (e.g., connection terminal (178)) may be omitted from the electronic device (101), or one or more other components may be added. In some embodiments, some of these components (e.g., sensor module (176), camera module (180), or antenna module (197)) may be integrated into a single component (e.g., display module (160)).

[0030] The processor (120) can control at least one other component (e.g., hardware or software component) of the electronic device (101) connected to the processor (120) by executing software (e.g., program (140)), and can perform various data processing or operations. According to one embodiment, as at least part of the data processing or operations, the processor (120) can store commands or data received from other components (e.g., sensor module (176) or communication module (190)) in volatile memory (132), process the commands or data stored in volatile memory (132), and store the resulting data in non-volatile memory (134). According to one embodiment, the processor (120) may include a main processor (121) (e.g., central processing unit or application processor) or an auxiliary processor (123) that can operate independently or together with it (e.g., graphics processing unit, neural processing unit (NPU), image signal processor, sensor hub processor, or communication processor). For example, if the electronic device (101) includes a main processor (121) and an auxiliary processor (123), the auxiliary processor (123) may be configured to use lower power than the main processor (121) or to be specialized for a designated function. The auxiliary processor (123) may be implemented separately from the main processor (121) or as part thereof.

[0031] The auxiliary processor (123) may control at least some of the functions or states associated with at least one component of the electronic device (101) (e.g., display module (160), sensor module (176), or communication module (190)) on behalf of the main processor (121) while the main processor (121) is in an inactive (e.g., sleep) state, or together with the main processor (121) while the main processor (121) is in an active (e.g., application execution) state. According to one embodiment, the auxiliary processor (123) (e.g., image signal processor or communication processor) may be implemented as part of another functionally related component (e.g., camera module (180) or communication module (190)). According to one embodiment, the auxiliary processor (123) (e.g., neural network processing unit) may include a hardware structure specialized for processing an artificial intelligence model. The artificial intelligence model may be generated through machine learning. Such learning may be performed, for example, on the electronic device (101) itself where the artificial intelligence model is executed, or through a separate server (e.g., server (108)). The learning algorithm may include, for example, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but is not limited to the examples described above. The artificial intelligence model may include a plurality of artificial neural network layers.An artificial neural network may be a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a restricted Boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), a deep Q-network, or a combination of two or more of the above, but is not limited to the examples described above. In addition to the hardware structure, the artificial intelligence model may include a software structure, either additionally or substantially.

[0032] The memory (130) can store various data used by at least one component of the electronic device (101) (e.g., processor (120) or sensor module (176)). The data may include, for example, input data or output data for software (e.g., program (140)) and related commands. The memory (130) may include volatile memory (132) or non-volatile memory (134).

[0033] The program (140) may be stored as software in memory (130) and may include, for example, an operating system (142), middleware (144), or an application (146).

[0034] The input module (150) can receive commands or data to be used for a component of the electronic device (101) (e.g., processor (120)) from outside the electronic device (101) (e.g., user). The input module (150) may include, for example, a microphone, a mouse, a keyboard, a key (e.g., a button), or a digital pen (e.g., a stylus pen).

[0035] The sound output module (155) can output a sound signal to the outside of the electronic device (101). The sound output module (155) may include, for example, a speaker or a receiver. The speaker may be used for general purposes, such as multimedia playback or recording playback. The receiver may be used to receive incoming calls. According to one embodiment, the receiver may be implemented separately from the speaker or as part thereof.

[0036] The display module (160) can visually provide information to an external (e.g., user) of the electronic device (101). The display module (160) may include, for example, a display, a holographic device, or a projector and a control circuit for controlling said device. According to one embodiment, the display module (160) may include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of the force generated by said touch.

[0037] The audio module (170) can convert sound into an electrical signal or, conversely, convert an electrical signal into sound. According to one embodiment, the audio module (170) can acquire sound through the input module (150) or output sound through the sound output module (155) or an external electronic device (e.g., electronic device (102)) (e.g., speaker or headphones) connected directly or wirelessly to the electronic device (101).

[0038] The sensor module (176) can detect the operating state of the electronic device (101) (e.g., power or temperature) or the external environmental state (e.g., user state) and generate an electrical signal or data value corresponding to the detected state. According to one embodiment, the sensor module (176) may include, for example, a gesture sensor, a gyroscope sensor, a barometric pressure sensor, a magnetic sensor, an accelerometer sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a biosensor, a temperature sensor, a humidity sensor, or an illuminance sensor. In one embodiment, the sensor module (176) may include sensor circuitry. In one embodiment, the sensor module (176) may include a first sensor, a second sensor, and / or a third sensor. In one embodiment, the sensor circuitry may include a first sensor, a second sensor, and / or a third sensor.

[0039] The interface (177) may support one or more specified protocols that can be used for the electronic device (101) to be connected directly or wirelessly to an external electronic device (e.g., electronic device (102)). According to one embodiment, the interface (177) may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.

[0040] The connection terminal (178) may include a connector through which the electronic device (101) can be physically connected to an external electronic device (e.g., electronic device (102)). According to one embodiment, the connection terminal (178) may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (e.g., a headphone connector).

[0041] The haptic module (179) can convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that the user can perceive through tactile or kinesthetic senses. According to one embodiment, the haptic module (179) may include, for example, a motor, a piezoelectric element, or an electric stimulation device.

[0042] The camera module (180) can capture still images and video. According to one embodiment, the camera module (180) may include one or more lenses, image sensors, image signal processors, or flashes.

[0043] The power management module (188) can manage the power supplied to the electronic device (101). According to one embodiment, the power management module (188) can be implemented, for example, as at least part of a power management integrated circuit (PMIC).

[0044] The battery (189) can supply power to at least one component of the electronic device (101). According to one embodiment, the battery (189) may include, for example, a non-rechargeable primary battery, a rechargeable secondary battery, or a fuel cell.

[0045] The communication module (190) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between an electronic device (101) and an external electronic device (e.g., electronic device (102), electronic device (104), or server (108)), and the performance of communication through the established communication channel. The communication module (190) may include one or more communication processors that operate independently of the processor (120) (e.g., application processor) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (190) may include a wireless communication module (192) (e.g., cellular communication module, short-range wireless communication module, or GNSS (global navigation satellite system) communication module) or a wired communication module (194) (e.g., LAN (local area network) communication module, or power line communication module). The corresponding communication module among these communication modules can communicate with an external electronic device (104) through a first network (198) (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (199) (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips). The wireless communication module (192) can identify or authenticate the electronic device (101) within a communication network such as the first network (198) or the second network (199) using subscriber information (e.g., International Mobile Subscriber Identifier (IMSI)) stored in the subscriber identification module (196).

[0046] The wireless communication module (192) can support 5G networks and next-generation communication technologies following 4G networks, for example, new radio access technology. NR access technology can support high-speed transmission of high-capacity data (enhanced mobile broadband (eMBB)), minimization of terminal power and connection of multiple terminals (massive machine type communications (mMTC)), or high reliability and low latency (ultra-reliable and low-latency communications (URLLC)). The wireless communication module (192) can support a high-frequency band (e.g., mmWave band) to achieve a high data transmission rate, for example. The wireless communication module (192) can support various technologies for securing performance in the high-frequency band, such as beamforming, massive MIMO (multiple-input and multiple-output), full-dimensional MIMO (FD-MIMO), array antenna, analog beam-forming, or large-scale antenna. The wireless communication module (192) can support various requirements specified in the electronic device (101), external electronic device (e.g., electronic device (104)), or network system (e.g., second network (199)). According to one embodiment, the wireless communication module (192) can support a Peak data rate (e.g., 20 Gbps or more) for realizing eMBB, loss coverage (e.g., 164 dB or less) for realizing mMTC, or U-plane latency (e.g., downlink (DL) and uplink (UL) each 0.5 ms or less, or round trip 1 ms or less) for realizing URLLC.

[0047] An antenna module (197) can transmit a signal or power to or from an external source (e.g., an external electronic device). According to one embodiment, the antenna module (197) may include an antenna comprising a radiator made of a conductor or a conductive pattern formed on a substrate (e.g., a PCB). According to one embodiment, the antenna module (197) may include a plurality of antennas (e.g., an array antenna). In this case, at least one antenna suitable for a communication method used in a communication network, such as a first network (198) or a second network (199), may be selected from the plurality of antennas, for example, by a communication module (190). A signal or power may be transmitted or received between the communication module (190) and an external electronic device through the selected at least one antenna. According to some embodiments, in addition to the radiator, other components (e.g., a radio frequency integrated circuit (RFIC)) may be additionally formed as part of the antenna module (197).

[0048] According to one embodiment, the antenna module (197) may form a mmWave antenna module. According to one embodiment, the mmWave antenna module may include a printed circuit board, an RFIC disposed on or adjacent to a first surface (e.g., bottom surface) of the printed circuit board and capable of supporting a specified high frequency band (e.g., mmWave band), and a plurality of antennas (e.g., array antennas) disposed on or adjacent to a second surface (e.g., top surface or side surface) of the printed circuit board and capable of transmitting or receiving a signal of the specified high frequency band.

[0049] At least some of the above components can be connected to each other via a communication method between peripheral devices (e.g., bus, GPIO (general purpose input and output), SPI (serial peripheral interface), or MIPI (mobile industry processor interface)) and exchange signals (e.g., commands or data) with each other.

[0050] According to one embodiment, commands or data may be transmitted or received between the electronic device (101) and an external electronic device (104) through a server (108) connected to a second network (199). Each of the external electronic devices (102, or 104) may be the same or a different type of device as the electronic device (101). According to one embodiment, all or part of the operations performed on the electronic device (101) may be performed on one or more of the external electronic devices (102, 104, or 108). For example, if the electronic device (101) needs to perform a function or service automatically or in response to a request from a user or another device, the electronic device (101) may request one or more external electronic devices to perform at least part of the function or service instead of performing the function or service itself or additionally. One or more external electronic devices that receive the above request may execute at least part of the requested function or service, or additional function or service related to the request, and transmit the result of the execution to the electronic device (101). The electronic device (101) may provide the result as is or additionally processed as at least part of the response to the request. For this purpose, for example, cloud computing, distributed computing, mobile edge computing (MEC), or client-server computing technology may be used. The electronic device (101) may provide ultra-low latency services using, for example, distributed computing or mobile edge computing. In another embodiment, the external electronic device (104) may include an Internet of Things (IoT) device. The server (108) may be an intelligent server using machine learning and / or neural networks. According to one embodiment, the external electronic device (104) or the server (108) may be included within a second network (199).The electronic device (101) can be applied to intelligent services (e.g., smart home, smart city, smart car, or healthcare) based on 5G communication technology and IoT-related technology.

[0051] In this document, the electronic device (101) performing a specific operation may mean that a processor (120), such as a microcontrolling unit (MCU), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a microprocessor, or an application processor (AP), performs a specific operation. According to one embodiment, the processor (120) may include a processing circuit. The electronic device (101) performing a specific operation may mean that the processor (120) controls other hardware to perform a specific operation. The electronic device (101) performing a specific operation may mean that the processor (120) or other hardware is caused to perform a specific operation as at least one instruction for performing a specific operation, which was stored in the storage circuit (e.g., memory (130)) of the electronic device (101), is executed. The at least one instruction stored in the memory (130) of the electronic device (101) may cause the electronic device (101) to perform at least one operation when executed individually or collectively by the processor (120).

[0052] Functions related to artificial intelligence according to the present disclosure may be operated through a processor (120) and a memory (130). The processor (120) may be composed of one or more processors (120). In this case, the one or more processors (120) may be general-purpose processors such as a CPU, AP, DSP (Digital Signal Processor), graphics-dedicated processors such as a GPU, VPU (Vision Processing Unit), or artificial intelligence-dedicated processors such as an NPU. The one or more processors (120) control input data to be processed according to predefined operation rules or artificial intelligence models stored in the memory (130). Alternatively, if the one or more processors (120) are artificial intelligence-dedicated processors, the artificial intelligence-dedicated processors may be designed with a hardware structure specialized for processing a specific artificial intelligence model.

[0053] The predefined operating rules or artificial intelligence model are characterized by being created through learning. Here, being created through learning means that a predefined operating rules or artificial intelligence model is created by a basic artificial intelligence model being trained using multiple learning data by a learning algorithm to perform a desired characteristic (or purpose). The artificial intelligence model may be composed of multiple neural network layers. Each of the multiple neural network layers has multiple weight values ​​and performs neural network operations through operations between the results of operations of the previous layer and the multiple weights. Such learning may be performed on the device itself where the artificial intelligence according to the present disclosure is performed, or it may be performed through a separate server (e.g., server (108) of FIG. 1) and / or system. Examples of learning algorithms include supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but are not limited to the examples described above.

[0054] An artificial intelligence model may be composed of multiple neural network layers. Each of the multiple neural network layers has multiple weight values ​​and performs neural network operations through operations between the results of previous layers and the multiple weights. The multiple weights possessed by the multiple neural network layers can be optimized based on the learning results of the artificial intelligence model. For example, the multiple weights may be updated so that the loss value or cost value obtained from the artificial intelligence model during the learning process is reduced or minimized. Artificial neural networks may include deep neural networks (DNNs), such as Convolutional Neural Networks (CNNs), Deep Neural Networks (DNNs), Recurrent Neural Networks (RNNs), Restricted Boltzmann Machines (RBMs), Deep Belief Networks (DBNs), Bidirectional Recurrent Deep Neural Networks (BRDNNs), or Deep Q-Networks, but are not limited to the examples mentioned above.

[0055] In the method of operation of an electronic device (101) according to the present disclosure, the electronic device (101) can recognize speech. According to one embodiment, the electronic device (101) can recognize a user's speech by receiving an analog voice signal through an input module (150) (e.g., a microphone) and can interpret the intent of the speech included in the recognized speech. According to one embodiment, the electronic device (101) can recognize audio included in a video and interpret the intent of the speech included in the recognized audio. The electronic device (101) can convert a portion of the speech into computer-readable text using an Automatic Speech Recognition (ASR) model. It can obtain the intent of the speech by interpreting the converted text using a Natural Language Understanding (NLU) model. Here, the ASR model or the NLU model may be an artificial intelligence model. The artificial intelligence model may be processed by a processor (120) (e.g., an artificial intelligence dedicated processor) designed with a hardware structure specialized for processing the artificial intelligence model. The artificial intelligence model may be created through learning. Linguistic understanding is a technology that recognizes, applies, and processes human language and text, and includes Natural Language Processing, Machine Translation, Dialog Systems, Question Answering, and Speech Recognition / Synthesis.

[0056] In the method of operation of an electronic device (101) according to the present disclosure, the electronic device (101) can recognize an image. According to one embodiment, the electronic device (101) can obtain output data that recognizes an image by using image data as input data for an artificial intelligence model. The artificial intelligence model can be created through learning. Visual understanding is a technology that recognizes and processes objects like human vision, and includes object recognition, object tracking, image retrieval, human recognition, scene recognition, 3D reconstruction / localization, image enhancement, etc.

[0057] FIGS. 2a and 2b are flowcharts illustrating a distance measurement process based on UWB communication according to one embodiment.

[0058] The first electronic device (200) and the second electronic device (210) illustrated in FIGS. 2a and 2b are electronic devices that support UWB communication, and there is no limitation on their type. For example, the first electronic device (200) and / or the second electronic device (210) may be electronic devices of the same type as the electronic device (101) of FIG. 1, and the description of the electronic device (101) of FIG. 1 may be applied to the first electronic device (200) and / or the second electronic device (210) to the extent necessary. In the following description regarding the operation of the first electronic device (200) and the second electronic device (210) using UWB, those skilled in the art will understand that the first electronic device (200) may perform the operation described as the operation of the second electronic device (210), and the second electronic device (200) may perform the operation described as the operation of the first electronic device (200).

[0059] Referring to FIG. 2a, a first electronic device (200) according to one embodiment (e.g., a processor of the first electronic device (200) (e.g., 120 in FIG. 1) and / or a communication module of the first electronic device (200) (e.g., 190 in FIG. 1)) can determine the distance to a second electronic device (210) based on a Single-Sided Two-Way Ranging (SS-TWR) method. The first electronic device (200) can transmit a poll message (e.g., a ranging poll) in operation 201. For example, the communication module of the first electronic device (200) (e.g., 190 in FIG. 1) may include a UWB communication module, and the UWB communication module can transmit a poll message. A second electronic device (210) (e.g., a processor of the second electronic device (210) (e.g., 120 in FIG. 1) and / or a communication module of the second electronic device (210) (e.g., 190 in FIG. 1)) may receive a poll message and, in response, transmit a response message (e.g., a ranging response) in operation 203. For example, the communication module of the second electronic device (210) (e.g., 190 in FIG. 1) may include a UWB communication module, and the UWB communication module may transmit a response message. To receive the poll message and transmit the response message corresponding to the poll message, the second electronic device (210) may spend a second time (T2), and the second time may be named, for example, as a process time. The second electronic device (210) can transmit to the first electronic device (200) information about the processing time, for example, the second time (T2), by including it in the response message.

[0060] A second electronic device (200) according to one embodiment can determine the distance between the first electronic device (200) and the second electronic device (210) based on the time when a poll message is transmitted, the time when a response message is received, and the processing time included in the response message (e.g., a second time (T2)). For example, if the difference between the time when a poll message is transmitted and the time when a response message is received is a first time (T1), the first electronic device (200) can determine (T1-T2)*c / 2 (where c is the speed of light) as the distance between the first electronic device (200) and the second electronic device (210).

[0061] Referring to FIG. 2b, a first electronic device (200) according to one embodiment (e.g., a processor of the first electronic device (200) (e.g., 120 in FIG. 1) and / or a communication module of the first electronic device (200) (e.g., 190 in FIG. 1)) can determine the distance to the second electronic device (210) based on a DS-TWR (Double-Sided Two-Way Ranging) method. The first electronic device (200) can transmit a poll message in operation 211. For example, the communication module of the first electronic device (200) (e.g., 190 in FIG. 1) may include a UWB communication module, and the UWB communication module can transmit a poll message. A second electronic device (210) (e.g., a processor of the second electronic device (210) (e.g., 120 in FIG. 1) and / or a communication module of the second electronic device (210) (e.g., 190 in FIG. 1)) may receive a poll message and, in response, transmit a response message in operation 213. For example, the communication module of the second electronic device (210) (e.g., 190 in FIG. 1) may include a UWB communication module, and the UWB communication module may transmit a response message. To receive the poll message and transmit the response message corresponding to the poll message, the second electronic device (210) may spend a processing time of a second time (T2). The second electronic device (210) may include information of the processing time, for example, the second time (T2), in the response message and transmit it to the first electronic device (200).

[0062] According to one embodiment, the first electronic device (200) may transmit a final message (e.g., ranging final) based on the reception of a response message in operation 215. For example, the first electronic device (200) may spend a processing time of a third time (T3) for the reception of a response message and the transmission of a final message corresponding to the response message. The first electronic device (200) may transmit to the second electronic device (210) the information of the processing time, e.g., the third time (T3), included in the final message.

[0063] A first electronic device (200) according to one embodiment can determine the distance between the first electronic device (200) and the second electronic device (210) based on the time when a poll message is transmitted, the time when a response message is received, and the processing time included in the response message (e.g., a second time (T2)). A second electronic device (210) according to one embodiment can determine the distance between the first electronic device (200) and the second electronic device (210) based on the time when a response message is transmitted, the time when a final message is received, and the processing time included in the final message (e.g., a third time (T3)). For example, if the difference between the time when a response message is transmitted and the time when a final message is received is a fourth time (T4), the second electronic device (210) can determine (T4-T3)*c / 2 (where c is the speed of light) as the distance between the first electronic device (200) and the second electronic device (210).

[0064] FIG. 2c is a diagram illustrating a direction measurement process based on the reception of a UWB signal according to one embodiment.

[0065] Hereinafter, with reference to FIG. 2c, a direction measurement process based on the reception of a UWB signal will be described from the perspective of the first electronic device (200), but those skilled in the art will understand that this description can also be applied to a direction measurement process based on the reception of a UWB signal from the perspective of the second electronic device (210).

[0066] Referring to FIG. 2c, a first electronic device (200) according to one embodiment (e.g., the processor of the first electronic device (200) (e.g., 120 in FIG. 1) and / or the communication module of the first electronic device (200) (e.g., 190 in FIG. 1)) can determine the orientation of the second electronic device (210) relative to the first electronic device (200) based on an angle of arrival (AOA) method. For example, the communication module of the first electronic device (200) (e.g., 190 in FIG. 1) (e.g., a UWB communication module) may support two receiving antennas (RX1, RX2). The two receiving antennas (RX1, RX2) may be arranged to have antenna spacing. If the second electronic device (210) is positioned in a direction of angle αl relative to the first electronic device (200), then the difference in the timing of signal reception at each of the two receiving antennas (RX1, RX2) and the phase difference of the signals occur due to the antenna spacing. For example, the phase of the signal received at the first receiving antenna (RX1) may be θl (1), and the phase of the signal received at the second receiving antenna (RX2) may be θl (2). The first electronic device (200) can determine the angle (αl) at which the second electronic device (210) is positioned based on the phase difference of the phases measured at each of the two receiving antennas (RX1, RX2) (or the difference in the timing of reception measured at each of the two receiving antennas) and the antenna spacing.

[0067] According to one embodiment, the first electronic device (200) can determine a first angle, which is the direction in which the second electronic device (210) is located relative to the first electronic device (200), based on the measurement results from two receiving antennas (RX1, RX2). According to one embodiment, the first electronic device (200) may include three or more receiving antennas. The first electronic device (200) can determine a first angle, which is the direction in which the second electronic device (210) is located relative to the first electronic device (200), based on the measurement results from two receiving antennas of a first combination, and can determine a second angle, which is the direction in which the second electronic device (210) is located relative to the first electronic device (200), based on the measurement results from two receiving antennas of a second combination.

[0068] As described above, the first electronic device (200) can determine the distance to the second electronic device (210) and / or the direction of the second electronic device (210). Also, as described above, the second electronic device (210) can determine the distance to the first electronic device (200) and / or the direction of the first electronic device (200), and redundant descriptions will be omitted.

[0069] FIG. 3 illustrates a block diagram of a first electronic device and a second electronic device according to one embodiment. The embodiment of FIG. 3 will be described with reference to FIG. 4a and FIG. 4b. FIG. 4a is a diagram illustrating the transmission and reception of communication signals by antenna of a second communication module according to one embodiment. FIG. 4b is a diagram illustrating the orientation measurement of a sensor module according to one embodiment.

[0070] Referring to FIG. 3, a first electronic device (200) according to one embodiment may include at least one of a processor (330a), a sensor module (340a), a first communication module (310a), a second communication module (320a), or a power transmission circuit (350a). The first electronic device (200) may be understood as a wireless power transmission device (200). A second electronic device (210) may include at least one of a first communication module (310b), a second communication module (320b), a processor (330b), a sensor module (340b), or a power reception circuit (350b). The second electronic device (210) may be understood as a wireless power reception device (210), and the first electronic device (200) and / or the second electronic device (210) may be implemented as the electronic device (101) of FIG. 1. The first communication module (310a) of the first electronic device (200) and the first communication module (310b) of the second electronic device (210) can support a first communication method. The second communication module (320a) of the first electronic device (200) and the second communication module (320b) of the second electronic device (210) can support a second communication method. The second communication method is a communication method for determining, for example, the location of the second electronic device (210) (for example, the distance from the first electronic device (200) to the second electronic device (210) and / or the direction of the second electronic device (210) relative to the first electronic device (200)) and / or the location of the first electronic device (200) (for example, the distance from the second electronic device (210) to the first electronic device (200) and / or the direction of the first electronic device (200) relative to the second electronic device (210), and may be UWB communication, but there are no limitations on the communication method.The first communication method may be, for example, a Bluetooth (or Bluetooth Low Energy: BLE) communication method, but there are no restrictions on the communication method as long as it is different from the second communication method. For example, the first communication method may be a Zigbee, WiFi, and / or NFC (near field communication) communication method, and there are no restrictions on the type.

[0071] According to one embodiment, the first communication module (310a) may establish a communication connection (311) with the first communication module (310b) based on a first communication method. For example, if the first communication method is BLE communication, the first communication module (310a) and the first communication module (310b) may establish a BLE connection. The BLE connection may be established, for example, based on signal transmission / reception between the first communication module (310a) and the first communication module (310b), but is not limited thereto.

[0072] According to one embodiment, the sensor module (340a) may sense at least one data to determine the orientation of the first electronic device (200). The processor (330a) may determine the orientation of the first electronic device (200) based on at least one data from the sensor module (340a). The sensor module (340b) may sense at least one data to determine the orientation of the second electronic device (210). The processor (330b) may determine the orientation of the second electronic device (210) based on at least one data from the sensor module (340b). The sensor module (340a) and / or the sensor module (340b) may include, for example, an accelerometer, a gyroscope, and / or a geomagnetic sensor, but the type of sensor is not limited. The orientation of the first electronic device (200) and / or the orientation of the second electronic device (210) may be expressed, for example, as at least one angle, but there is no limitation on the form of the expression.

[0073] According to one embodiment, the first electronic device (200) may receive a communication signal containing information about the orientation of the second electronic device (210) through the first communication module (310a). The processor (330b) of the second electronic device (210) may verify the orientation of the second electronic device (210) and transmit a communication signal containing information about the orientation through the first communication module (310b). The processor (330a) of the first electronic device (200) may verify the difference between the orientation of the second electronic device (210) and the orientation of the first electronic device (200) based on the received communication signal. The second electronic device (210) may receive a communication signal containing information about the orientation of the first electronic device (200) through the first communication module (310b). The processor (330a) of the first electronic device (200) can check the orientation of the first electronic device (200) and transmit a communication signal containing information about the orientation through the first communication module (310a). The processor (330b) of the second electronic device (210) can check the difference between the orientation of the first electronic device (200) and the orientation of the second electronic device (210) based on the received communication signal.

[0074] For example, referring to FIG. 4b, the second electronic device (210) of FIG. 4b (a) and (b) may be located on a single plane. With respect to the xy coordinate system, the second electronic device (210) of FIG. 4b (a) may have an orientation in which the first direction of the second electronic device (210) (e.g., the height direction of the second electronic device (210)) coincides with the +y direction. In this case, the second electronic device (210) (e.g., processor (330b)) can determine that the orientation of the second electronic device (210) is 0° based on data from the sensor module (340b). Based on the xy coordinate system, the second electronic device (210) of FIG. 4b (b) may have an orientation in which the first direction of the second electronic device (210) (e.g., the height direction of the second electronic device (210)) forms a certain angle (e.g., 30°) with the +y direction. In this case, the second electronic device (210) can confirm that the orientation of the second electronic device (210) is 30° based on data from the sensor module (340b). In another example not illustrated, the first electronic device (200) can confirm that the orientation of the first electronic device (200) is 90° based on data from the sensor module (340a) of the first electronic device (200). The second electronic device (210) can confirm that the orientation of the second electronic device (210) is 180° based on data from the sensor module (340b) of the second electronic device (210). The second electronic device (210) can transmit a communication signal containing information of the orientation of the second electronic device (210) being 180° to the first electronic device (200) based on a first communication method (e.g., BLE communication). The first electronic device (200) can confirm that the difference between the orientation of the second electronic device (210) being 180° and the orientation of the first electronic device (200) being 90° is confirmed based on the received communication signal.For convenience of explanation, FIG. 4b assumes that the second electronic device (210) in (a) and (b) is located on a single plane, but those skilled in the art will understand that it can also be applied to three-dimensional space.

[0075] Referring to FIG. 3, according to one embodiment, a second communication module (320a) and a second communication module (320b) can transmit and receive communication signals (313, 315) (e.g., UWB signals) based on a second communication method. A processor (330a) and / or a second communication module (320a) can determine the location of a second electronic device (210) (e.g., distance to the second electronic device (210) and / or direction of the second electronic device (210)) based on the measurement result of a communication signal (315) from the outside. The processor (330b) and / or the second communication module (320b) can determine the location of the first electronic device (200) (e.g., distance to the first electronic device (200) and / or direction of the first electronic device (200)) based on the measurement result of the communication signal (313) from the outside.

[0076] A power transmission circuit (350a) according to one embodiment may transmit power (317) wirelessly according to at least one of an inductive method, a resonant method, or an electromagnetic wave method. The power transmission circuit (350a) may include a power adapter, a power generation circuit, and a coil. The power adapter may receive power from a power source and provide it to the power generation circuit. The power adapter may be, for example, a power interface and may not be included in the wireless power transmission device depending on the implementation. The power generation circuit may convert the received power into, for example, an alternating current waveform, and / or amplify it and transmit it to the coil. When power is applied to the coil, an inductive magnetic field whose magnitude changes over time may be formed from the coil, and accordingly, power (317) may be transmitted wirelessly. A processor (330a) may determine whether to transmit power (317), control the magnitude of power (317), or control at least one function of the first electronic device (200) (for example, the initiation of charging or the cessation of charging). The processor (330a) or processor (330b) can be implemented with various circuits capable of performing operations, such as a general-purpose processor like a CPU, a minicomputer, a microprocessor, an MCU (micro controlling unit), or an FPGA (field programmable gate array), and there are no limitations on the type.

[0077] A power receiving circuit (350b) according to one embodiment can receive power wirelessly from a power transmitting circuit (350a) according to at least one of an inductive method, a resonant method, or an electromagnetic wave method. The power receiving circuit (350b) can perform power processing such as rectifying the received AC waveform power into a DC waveform, converting the voltage, or regulating the power. A charger of the second electronic device (210) can charge the battery of the second electronic device (210) using the received regulated power (e.g., DC power). The charger can adjust at least one of the voltage or current of the received power and deliver it to the battery. The battery can store power and then deliver it to other hardware. Although not illustrated, a power management integrated circuit (PMIC) may receive power from the power receiving circuit (350b) and deliver it to other hardware, or receive power from the battery and deliver it to other hardware.

[0078] According to one embodiment, as shown in FIG. 4a, the second communication module (320a) of the first electronic device (200) may include a distance-measuring antenna (421) and patch antennas (422, 423, 424). The second communication module (320b) of the second electronic device (210) may include a distance-measuring antenna (441) and patch antennas (442, 443, 444). The distance-measuring antenna (421, 441) may be implemented, for example, as a metal antenna or an LDS (laser direct structuring) antenna, but there are no limitations on the form of implementation. The distance-measuring antenna (421, 441) may also be implemented to be used for 3GPP-based RAT (radio access technology) (e.g., E-UTRA, or NR) in addition to the second communication method (e.g., UWB communication). In this case, the distance-measuring antenna (421, 441) may be used as a shared antenna for 3GPP-based RAT and UWB communication. The patch antennas (422, 423, 424, 442, 443, 444) may be implemented, for example, as patch antennas, but there are no restrictions on the form of implementation. For example, the part described as patch antennas (422, 423, 424, 442, 443, 444) may be implemented as dipole antennas, slot antennas, and / or slit antennas, and there are no restrictions on the type. The second communication module (320a) may include an RF path for transmitting an RF signal to the distance-measuring antenna (421) and an RF path for receiving an RF signal, so that the distance-measuring antenna (421) may be used for both transmission and reception of communication signals.The second communication module (320a) may include an RF path for transmitting an RF signal to a patch antenna (422) and an RF path for receiving an RF signal, so that the patch antenna (422) may be used for both transmitting and receiving a communication signal. The second communication module (320a) may include an RF path for receiving an RF signal from a patch antenna (423, 424), so that the patch antenna (423, 424) may be used for receiving a communication signal. The second communication module (320b) may include an RF path for transmitting an RF signal to a distance measuring antenna (441) and an RF path for receiving an RF signal, so that the distance measuring antenna (441) may be used for both transmitting and receiving a communication signal. The second communication module (320b) may include an RF path for transmitting an RF signal to the patch antenna (442) and an RF path for receiving an RF signal, so that the patch antenna (442) may be used for both transmitting and receiving a communication signal. The second communication module (320b) may include an RF path for receiving an RF signal from the patch antennas (443, 444), so that the patch antennas (443, 444) may be used for receiving a communication signal.

[0079] According to one embodiment, the second communication module (320a) can transmit a communication signal (461) (e.g., a poll message of FIG. 2a or FIG. 2b) using a distance measurement antenna (421). The second communication module (320b) can receive the communication signal (461) using a distance measurement antenna (441). The second communication module (320b) can transmit a communication signal (462) (e.g., a response message of FIG. 2a or FIG. 2b) using a distance measurement antenna (441). The second communication module (320a) can receive the communication signal (462) using a distance measurement antenna (421). The second communication module (320a) can transmit a communication signal (463) (e.g., a final message of FIG. 2b) using a distance measurement antenna (421). The second communication module (320b) can receive a communication signal (463) using a distance measurement antenna (441). The second communication module (320a) can determine the distance between the first electronic device (200) and the second electronic device (210) based on the transmission time of the communication signal (461), the reception time of the communication signal (462), and the processing time of the second electronic device (210) obtained from the communication signal (462). The second communication module (320b) can determine the distance between the first electronic device (200) and the second electronic device (210) based on the transmission time of the communication signal (462), the reception time of the communication signal (463), and the processing time of the first electronic device (210) obtained from the communication signal (463). The second communication module (320a) can determine the distance between the first electronic device (200) and the second electronic device (210) using a distance measuring antenna (421).

[0080] According to one embodiment, the second communication module (320a) can transmit a communication signal (464) using a patch antenna (422). The communication signal (464) can be measured at the patch antennas (442, 443, 444) of the second communication module (320b). Based on the antenna spacing between the patch antennas (442, 443, 444), the measurement time of the communication signal (464) and / or the measurement phase of the communication signal (464) may differ. The second communication module (320b) can determine the direction of the first electronic device (200) relative to the second electronic device (210) based on the difference in the measurement time and / or measurement phase corresponding to the patch antennas (442, 443, 444). The second communication module (320b) can transmit a communication signal (465) using a patch antenna (442), and the measurement time of the communication signal (465) and / or the measurement phase of the communication signal (465) may differ based on the antenna spacing between the patch antennas (422, 423, 424). The second communication module (320a) can determine the direction of the second electronic device (210) relative to the first electronic device (200) based on the difference in the measurement time and / or measurement phase corresponding to the patch antennas (422, 423, 424). When the second communication module (320a) of the first electronic device (200) transmits a communication signal (464) and the second communication module (320b) of the second electronic device (210) transmits a communication signal (465) in response thereto, the second communication module (320a) can determine the distance between the first electronic device (200) and the second electronic device (210) based on the time of transmission of the communication signal (464), the time of reception of the communication signal (465), and the processing time of the second electronic device (210) obtained from the communication signal (465).The second communication module (320a) can determine the distance between the first electronic device (200) and the second electronic device (210) and the direction of the second electronic device (210) at least simultaneously by using patch antennas (422, 423, 424). When the second communication module (320b) of the second electronic device (210) transmits a communication signal (465) and the second communication module (320a) of the first electronic device (200) transmits a communication signal (464) in response thereto, the second communication module (320b) can determine the distance between the first electronic device (200) and the second electronic device (210) based on the time of transmission of the communication signal (465), the time of reception of the communication signal (464), and the processing time of the first electronic device (200) obtained from the communication signal (464). The second communication module (320b) can at least simultaneously check the distance between the first electronic device (200) and the second electronic device (210) and the direction of the first electronic device (200) using patch antennas (442, 443, 444).

[0081] In one embodiment of the present disclosure, the first electronic device (200) measuring the position of the second electronic device (210) may mean, for example, measuring both the distance and direction to the second electronic device (210) using a plurality of antennas (e.g., patch antennas (422, 423, 424)), or measuring the distance to the second electronic device (210) using a single antenna (e.g., a distance-measuring antenna (421)). Likewise, the second electronic device (210) measuring the position of the first electronic device (200) may mean, for example, measuring both the distance and direction to the first electronic device (200) using a plurality of antennas (e.g., patch antennas (442, 443, 444)), or measuring the distance to the first electronic device (200) using a single antenna (e.g., a distance-measuring antenna (441)).

[0082] FIG. 5a is a block diagram of an electronic device according to one embodiment. FIG. 5b is a diagram illustrating the operation of an electronic device according to one embodiment. FIG. 5c is a block diagram of a microwave radar according to one embodiment.

[0083] The electronic device (101) of FIG. 5a may be the electronic device (101) of FIG. 1. The electronic device (101) of FIG. 5a may be the first electronic device (200) or the second electronic device (210) of FIG. 2a.

[0084] Referring to FIG. 5a, according to one embodiment, the electronic device (101) may include a microwave radar (510), an inertial measurement sensor (520), a processor (120), and / or a memory (130). For example, the microwave radar (510) may be included in the second communication module (e.g., 320a or 320b) of FIG. 3. According to one embodiment, the microwave radar (510) may be an ultra-wideband (UWB) radar using a frequency of 5 GHz or higher, but there is no limitation on the type of microwave radar (510). According to one embodiment, the electronic device (101) may use the microwave radar (510) to measure the distance to an object (e.g., an external device, a wall, a floor, etc.). For example, referring to FIG. 5b, the electronic device (101) can measure the distance between the electronic device (101) and the object (530) by using a microwave radar (510) to transmit electromagnetic waves (531) and measuring the flight time of the electromagnetic waves (532) reflected from the object (530). There is no limitation on the type of object (530).

[0085] Referring to FIG. 5c, according to one embodiment, an electronic device (101) (e.g., microwave radar (510)) may include a digital signal processor (DSP) (541), a pulse generator (542), a first mixer (543), a band-pass filter (544), a first low-noise amplifier (LNA) (545), a transmitting antenna (546), a receiving antenna (547), a second LNA (548), an oscillator (549), a phase converter (550), a second mixer (551), a third mixer (552), a first low-pass filter (553), and / or a second low-pass filter (554). According to one embodiment, the digital signal processor (DSP) (541) may be included in the processor (120). According to one embodiment, the electronic device (101) may provide a carrier frequency using the oscillator (549). The electronic device (101) By controlling the pulse generator (542) using the DSP (541), periodic pulses can be provided. The electronic device (101) can modulate the amplitude of the carrier frequency through the first mixer (543) and the band-pass filter (544) using the pulses provided from the pulse generator (542). The electronic device (101) can amplify the modulated signal provided from the band-pass filter (544) using the first LNA (545). The electronic device (101) can transmit the amplified signal provided from the first LNA (545) to the outside through the transmitting antenna (546). For example, the transmitting antenna (546) may be at least one of the antennas of FIG. 4a (e.g., antennas (421, 422, 423, 424) of the second communication module (320a) or antennas (441, 442, ) of the second communication module (320b). It may be at least one of 443, 444). There is no limit to the number of transmitting antennas (546).Electromagnetic waves transmitted from the transmitting antenna (546) can be received through the receiving antenna (547) after being reflected from an object (e.g., 530 in FIG. 5b) (e.g., a solid horizontal surface described later). For example, the receiving antenna (547) may be the antenna of FIG. 4a (e.g., at least one of the antennas (421, 422, 423, 424) of the second communication module (320a) or at least one of the antennas (441, 442, 443, 444) of the second communication module (320b). There is no limit to the number of receiving antennas (547). The electronic device (101) may amplify the signal received through the receiving antenna (547) using the second LNA (548). The electronic device (101) can perform quadrature demodulation using a second mixer (551) and a third mixer (552). The second mixer (551) can use quadrature signals. The third mixer (552) can use in-phase signals. Quadrature signals can be obtained by converting the carrier frequency of an oscillator (549) through a phase converter (550). The signal provided from the second mixer (551) can be provided to the DSP (541) after being filtered by a first low-pass filter (553). The signal provided from the third mixer (552) can be provided to the DSP (541) after being filtered by a second low-pass filter (554). The electronic device (101) can determine the distance between the electronic device (101) and an object (e.g., 530 in FIG. 5b) (e.g., a solid horizontal surface described later) using the DSP (541).

[0086] FIG. 5c is merely an example of a microwave radar (510), and the electronic device (101) may determine the distance between the electronic device (101) and an object (e.g., 530 in FIG. 5b) (e.g., a solid horizontal surface described later) through a microwave radar (510) configured differently from FIG. 5c.

[0087] In FIG. 5a, according to one embodiment, an inertial measurement sensor (520) may be included in the sensor module (176) of FIG. 1 (or the sensor module of FIG. 3 (e.g., 340a or 340b)). For example, the inertial measurement sensor (520) may include an accelerometer, a gyroscope, and / or a geomagnetic sensor, but the type of sensor is not limited. The electronic device (101) can determine the attitude of the electronic device (101) and / or the trajectory of the movement of the electronic device (101) using the inertial measurement sensor (520), and this will be described later with reference to the drawings below.

[0088] FIG. 6 is a flowchart of a method of operation of an electronic device according to one embodiment. FIG. 6 can be explained with reference to the embodiments described above, the embodiments of FIG. 7, and embodiments described below. FIG. 7 may be a drawing illustrating the operation of an electronic device according to one embodiment.

[0089] The operations of FIG. 6 may be performed simultaneously, sequentially, or separately. Any omitted parts of the description of the operations of FIG. 6 may be understood by referring to the embodiments described above and the embodiments described below.

[0090] At least some of the operations of FIG. 6 may be omitted. The order of the operations of FIG. 6 may be changed. Before, during, or after the operations of FIG. 6, operations other than those of FIG. 6 (e.g., operations included in other drawings or other embodiments) may be performed.

[0091] In FIG. 6, the core of the invention is explained, and specific embodiments are described with reference to the drawings described below. Accordingly, operations omitted in the description of FIG. 2 can be understood based on the embodiments described below, including FIG. 7 to FIG. 16.

[0092] Referring to FIG. 6, a method to resolve the issue of bias (e.g., zero distance bias) of the microwave radar (510) can be described. "Bias" may be the difference between the distance measured by the microwave radar (510) and the actual distance. For example, bias can be very sensitive to minute changes in the shape, distance, and position of microwave radar feeders and antennas. For example, attaching a plastic case to a smartphone can change the electromagnetic properties of the microwave radar and affect zero distance bias. For example, minute fluctuations when connecting antenna feeders, and changes in the geometric size of antenna elements and feeders, can lead to changes in distance measurements.

[0093] Referring to FIG. 6, in operation 601, according to one embodiment, the electronic device (101) can detect that the electronic device (101) is placed on a rigid horizontal surface (710) (e.g., the top of a desk). The rigid horizontal surface (710) may be a hard surface perpendicular to the direction of gravity having a hardness exceeding a threshold. There is no limitation on the type of rigid horizontal surface (710). For example, in FIG. 7 (a), a user (720) may hold the electronic device (101) and move it (700) to the rigid horizontal surface (710). In FIG. 7 (b), a user (720) may place the electronic device (101) on the rigid horizontal surface (710). According to one embodiment, the electronic device (101) can detect that the electronic device (101) is placed on the rigid horizontal surface (710) using an inertial measurement sensor (520). For example, the electronic device (101) can detect that the electronic device (101) is placed on a solid surface (e.g., 710) based on the maximum value of the first derivative of acceleration, identified by the accelerometer data of the inertial measurement sensor (520), exceeding a threshold value. For example, the electronic device (101) can determine whether the electronic device (101) is placed on a horizontal surface (e.g., 710) by comparing the inclination of the electronic device (101) with the threshold value while the electronic device (101) is in a stationary position. For example, the electronic device (101) can determine the attitude (e.g., tilt) of the electronic device (101) using an inertial measurement sensor (520) and detect that the electronic device (101) is placed on a horizontal surface (e.g., 710) based on the tilt of the electronic device (101) being less than a threshold value.For example, the electronic device (101) can detect that the electronic device (101) is placed on a solid horizontal surface (e.g., 710) based on the fact that the maximum value of the first derivative of acceleration, identified by the accelerometer data of the inertial measurement sensor (520), exceeds a threshold value and the inclination of the electronic device (101) relative to the horizontal plane is less than the threshold value. The 601 operation may be omitted. The 601 operation will be described later with reference to FIG. 8.

[0094] In operation 603, according to one embodiment, the electronic device (101) can be positioned such that at least one antenna (e.g., 546 and / or 547 in FIG. 5c) included in the microwave radar (510) is facing downward. For example, in FIG. 7(b), the user (720) can place the electronic device (101) on a solid horizontal surface (710) such that at least one antenna (e.g., 546 and / or 547 in FIG. 5c) included in the microwave radar (510) is facing downward. The electronic device (101) may be positioned such that at least one antenna (e.g., 546 and / or 547 in FIG. 5c) included in the microwave radar (510) faces downward, for example, when at least one antenna (e.g., 546 and / or 547 in FIG. 5c) included in the microwave radar (510) is located relative to the rear side of the electronic device (101), so that the rear side of the electronic device (101) faces the direction of gravity (e.g., facing a solid horizontal surface (710)). For example, the direction in which the rear side of the electronic device (101) faces can be determined by checking the attitude of the electronic device (101) using an inertial measurement sensor (520). The rear view is merely an example, and depending on the position where at least one antenna (e.g., 546 and / or 547 in FIG. 5c) included in the microwave radar (510) is placed, the electronic device (101) can be positioned such that at least one antenna (e.g., 546 and / or 547 in FIG. 5c) included in the microwave radar (510) faces downward. The 603 operation may be omitted.

[0095] In operation 605, according to one embodiment, the electronic device (101) may perform calibration of the inertial measurement sensor (520). According to one embodiment, the electronic device (101) may perform calibration of the inertial measurement sensor (520) based on the electronic device (101) maintaining a constant position for a certain period of time. For example, the electronic device (101) may perform calibration of the inertial measurement sensor (520) based on confirming that the horizontal position of the electronic device (101) on a solid horizontal surface (710) is maintained constant for a first set time (e.g., a time set to perform calibration of the inertial measurement sensor (520)). The horizontal position of the electronic device (101) may be the position of the electronic device (101) on the solid horizontal surface (710). When the electronic device (101) is placed on a solid horizontal surface (710) and does not move for a first set time, for example, when the movement of the electronic device (101) detected by the inertial measurement sensor (520) is below a threshold value, the horizontal position of the electronic device (101) may be maintained constant. Calibration of the inertial measurement sensor (520) may include gravity subtraction. For example, while the horizontal position of the electronic device (101) is maintained constant on the solid horizontal surface (710), the electronic device (101) may perform calibration of the inertial measurement sensor (520) by calculating the gravitational acceleration using the average of the accelerometer data of the inertial measurement sensor (520) and subtracting the gravitational acceleration from the accelerometer data. The 605 operation may be omitted.

[0096] In operation 607, according to one embodiment, the electronic device (101) can detect that the electronic device (101) is moving. For example, the electronic device (101) can determine that the vertical acceleration of the electronic device (101) is greater than a reference value. For example, in (c) of FIG. 7, the electronic device (101) can pick up the electronic device (101) placed on a solid horizontal surface (710) in the opposite direction of gravity (730). As the electronic device (101) moves in the opposite direction of gravity (730), the vertical acceleration of the electronic device (101) may exceed a reference value. For example, the electronic device (101) can detect that the electronic device (101) is moving by determining that the vertical acceleration of the electronic device (101) is greater than a reference value. The electronic device (101) can detect that the electronic device (101) is moving after performing calibration of the inertial measurement sensor (520). The electronic device (101) can detect that the electronic device (101) is moving by confirming that the vertical acceleration of the electronic device (101) exceeds a reference value after performing calibration of the inertial measurement sensor (520). Operation 607 may be omitted. Operation 607 will be described later with reference to FIG. 9.

[0097] In operation 609, according to one embodiment, the electronic device (101) can calculate the trajectory of the electronic device (101). The electronic device (101) can calculate the trajectory of the electronic device (101) after detecting that the electronic device (101) is moving. The electronic device (101) can calculate the trajectory of the electronic device (101) after confirming that the vertical acceleration of the electronic device (101) exceeds a reference value. For example, the electronic device (101) can determine the trajectory of the electronic device (101) by calculating a double integral of the vertical acceleration of the electronic device (101). The electronic device (101) can determine the trajectory of the electronic device (101) by calculating a double integral of the vertical acceleration of the electronic device (101) and confirming that the electronic device (101) moves in the vertical direction while maintaining a horizontal orientation (e.g., moving almost no horizontally or moving within a certain range in the horizontal direction). For example, the electronic device (101) can calculate the trajectory of the electronic device (101) in the interval where the standard deviation of the accelerometer data of the inertial measurement sensor (520) is below a threshold, the side accelerations perpendicular to the vertical acceleration are below a threshold, the ratio of the side accelerations to the vertical acceleration is below a threshold, and the gyroscope components are below a threshold. Operation 609 may be omitted. Operation 609 will be described later with reference to FIGS. 9 and FIGS. 10.

[0098] In operation 611, according to one embodiment, the electronic device (101) may select a starting position and an ending position along the trajectory of the electronic device (101). The starting position may be a position selected as a starting point on the trajectory of the electronic device (101). The electronic device (101) may select a point on the trajectory of the electronic device (101) as the starting position. For example, the electronic device (101) may select a position on the trajectory of the electronic device (101) that is higher than the wavelength of the carrier frequency of the microwave radar (510) from the solid horizontal surface (710) as the starting position. For example, the electronic device (101) may select a position on the trajectory of the electronic device (101) that is higher than the wavelength of the carrier frequency of the microwave radar (510) from the solid horizontal surface (710) as the starting position. The ending position may be a position selected as an ending point on the trajectory of the electronic device (101). The electronic device (101) may select a point on the trajectory of the electronic device (101) as the end position. For example, the electronic device (101) may select a position on the trajectory of the electronic device (101) that is multiple of half-wavelengths higher than the starting position of the microwave radar as the end position. The 611 operation may be omitted. The 611 operation will be described later with reference to FIG. 10.

[0099] In operation 613, according to one embodiment, the electronic device (101) can calculate the maximum horizontal deviation of the trajectory of the electronic device (101) and determine that the maximum horizontal deviation is less than the average horizontal size of the electronic device (101). The maximum horizontal deviation of the trajectory of the electronic device (101) may be the maximum distance the electronic device (101) has moved in the horizontal direction. For example, the maximum horizontal deviation of the trajectory of the electronic device (101) may be the value obtained by subtracting the value of the horizontal position of the electronic device (101) on the solid horizontal surface (710) from the maximum value of the horizontal position of the electronic device (101) based on the position of the electronic device (101) on the solid horizontal surface (710) while the electronic device (101) forms a trajectory by moving after the electronic device (101) is placed on the solid horizontal surface (710). The average horizontal size of the electronic device (101) can be determined based on the length and width of the electronic device (101). For example, the average horizontal size of the electronic device (101) may be the square root of the product of the length and width of the electronic device (101). The 613 operation may be an operation that confirms that the electronic device (101) moves almost no horizontally or moves within a certain range horizontally while being lifted upward. The 613 operation may be omitted. The 613 operation will be described later with reference to FIG. 11.

[0100] In operation 615, according to one embodiment, the electronic device (101) can calculate a bias by comparing a first distance measured using an inertial measurement sensor (520) and a second distance measured using a microwave radar (510). For example, the electronic device (101) can compare a first distance between a starting position and an ending position measured along the vertical axis of the trajectory of the electronic device (101) using an inertial measurement sensor (520) with a second distance between a starting position and an ending position measured along the vertical axis of the trajectory of the electronic device (101) using a microwave radar (510). For example, the electronic device (101) can calculate a bias by comparing the average of the first distance of the inertial measurement sensor (520) and the average of the second distance of the microwave radar (510). However, the average is merely an example, and there are no limitations on the method of comparing the first distance of the inertial measurement sensor (520) and the second distance of the microwave radar (510). According to one embodiment, while the electronic device (101) forms a trajectory as the electronic device (101) moves, the electronic device (101) can determine the first distance using the inertial measurement sensor (520), determine the second distance using the microwave radar (510), and compare the determined first distance and the determined second distance. Operation 615 may be omitted. Operation 615 will be described later with reference to FIG. 9.

[0101] In operation 617, according to one embodiment, the electronic device (101) can perform calibration of the microwave radar (510) by applying the bias identified in operation 615. For example, the electronic device (101) can apply the bias identified in operation 615 to the distance measured using the microwave radar (510). For example, the electronic device (101) can perform calibration of the microwave radar (510) by adjusting the distance measured using the microwave radar (510) by the amount of the bias identified in operation 615. According to one embodiment, the electronic device (101) can calculate the signal-to-noise ratio (SNR) of the microwave radar (510) in the interval between the start position and the end position of the trajectory of the electronic device (101), and perform calibration of the microwave radar (510) based on the fact that the SNR exceeds a threshold value. For example, the electronic device (101) may decide to perform calibration of the microwave radar (510) based on confirming that the SNR of the microwave radar (510) satisfies specified conditions. According to one embodiment, the electronic device (101) may, in order to increase the reliability of the calibration of the microwave radar (510), fit the curves of the data of the microwave radar (510) and the data of the inertial measurement sensor (520) during a calibration time interval (e.g., an interval in which the data of the inertial measurement sensor (520) and the data of the microwave radar (510) match to calculate a bias) and calculate a residual or similar value to use as a fit quality metric. For example, the electronic device (101) may calculate the average reliability of the data of the microwave radar (510).For example, the reliability of the microwave radar (510) can be calculated using an indicator representing the radar signal strength level, the quality of the phasor shape (e.g., how noisy it is), the group behavior of the phasor, the similarity between adjacent circulated interference reflection indices, and / or the quality of the circulated interference reflection. According to one embodiment, the electronic device (101) may determine whether to perform calibration of the microwave radar (510) by comparing the previous bias(s) with the new bias before performing calibration of the microwave radar (510). Operation 617 may be omitted. Operation 617 will be described later with reference to FIGS. 12, 13, and 14.

[0102] FIG. 8 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0103] Referring to FIG. 8, the operation of detecting that the electronic device (101) is placed on a solid horizontal surface (e.g., 710 in FIG. 7) can be described.

[0104] FIG. 8(a) may be a graph showing that the maximum value of the first derivative of acceleration, identified by the accelerometer data of the inertial measurement sensor (520), exceeds a threshold value. The accelerometer data of the inertial measurement sensor (520) is used to determine the force and amount of impact, and the fact that the maximum value of the first derivative of acceleration identified by the accelerometer data exceeds a threshold value means that the acceleration of the electronic device (101) changes rapidly, which may mean that the electronic device (101) collides with an object (e.g., a hard surface) whose hardness exceeds a threshold value. For example, the electronic device (101) may detect that the electronic device (101) is placed on a hard surface (e.g., 710) based on the fact that the maximum value of the first derivative of acceleration, identified by the accelerometer data of the inertial measurement sensor (520), exceeds a threshold value. For example, the electronic device (101) can determine whether the electronic device (101) is placed on a horizontal surface (e.g., 710) by comparing the inclination of the electronic device (101) with a threshold value while the electronic device (101) is in a stationary position. For example, the electronic device (101) can determine the attitude (e.g., inclination) of the electronic device (101) using an inertial measurement sensor (520) and detect that the electronic device (101) is placed on a horizontal surface (e.g., 710) based on the fact that the inclination of the electronic device (101) is less than the threshold value. The electronic device (101) can detect that the electronic device (101) is placed on a solid horizontal surface (710) based on confirming that the maximum value of the first derivative of the acceleration of the electronic device (101) exceeds a threshold value and that the electronic device (101) is positioned horizontally using an inertial measurement sensor (520).For example, the electronic device (101) can detect that the electronic device (101) is placed on a solid horizontal surface (e.g., 710) based on the fact that the maximum value of the first derivative of acceleration, identified by accelerometer data of the inertial measurement sensor (520), exceeds a threshold value and the inclination of the electronic device (101) relative to the horizontal plane is less than the threshold value. The solid horizontal surface (710) may have a high radar cross-section (e.g., microwaves reflective properties) because the density of the material is high.

[0105] FIG. 8(b) is a graph showing that the maximum value of the first derivative of acceleration, which is confirmed by the accelerometer data of the inertial measurement sensor (520), is less than the threshold value, and in the case of FIG. 8(b), the electronic device (101) may be placed on a soft surface.

[0106] FIG. 9 is a drawing illustrating the operation of an electronic device according to one embodiment. FIG. 10 is a drawing illustrating the operation of an electronic device according to one embodiment.

[0107] Referring to FIGS. 9 and FIGS. 10, the operation of checking the movement of the electronic device (101) and checking the trajectory according to the movement of the electronic device (101) can be described.

[0108] In FIG. 9 (a), an electronic device (101) placed on a solid horizontal surface (710) can form a trajectory (e.g., 920 in FIG. 9 (b) and 930 in FIG. 9 (c)) by moving in the opposite direction of gravity. While the electronic device (101) is moving in FIG. 9, the electronic device (101) can measure the distance between the solid horizontal surface (710) and the electronic device (101) by transmitting electromagnetic waves (e.g., 910) through a microwave radar (510). While the electronic device (101) is moving in FIG. 9, the electronic device (101) can acquire accelerometer data, gyroscope data, and / or magnetometer data using an inertial measurement sensor (520). The electronic device (101) can reconstruct the trajectory of the electronic device (101) using the accelerometer data, gyroscope data, and / or magnetometer data. For example, the electronic device (101) can determine the trajectory of the electronic device (101) by calculating a double integral of the vertical acceleration of the electronic device (101) and confirming that the electronic device (101) moves in the vertical direction while maintaining a horizontal orientation (e.g., moving almost no horizontally or moving within a certain range in the horizontal direction). For example, the electronic device (101) can calculate the trajectory of the electronic device (101) in the interval where the standard deviation of the accelerometer data of the inertial measurement sensor (520) is below a threshold, the side accelerations perpendicular to the vertical acceleration are below a threshold, the ratio of the side accelerations to the vertical acceleration is below a threshold, and the gyroscope components are below a threshold.

[0109] In FIG. 10, according to one embodiment, the electronic device (101) can select a starting position (e.g., 1091) and an ending position (e.g., 1090) along the trajectory (e.g., 1000, 1090) of the electronic device (101) by performing a trajectory cut (e.g., cutting the trajectory vertically by a multiple of half-wavelength of the carrier frequency of the microwave radar). According to one embodiment, the electronic device (101) can select a starting position (e.g., 1091) at a position higher than the wavelength of the carrier frequency of the microwave radar (510) from the solid horizontal surface (710) in the trajectory (1000) of the electronic device (101). According to one embodiment, the electronic device (101) may select a starting position (e.g., 1091) that is higher than the wavelength of the carrier frequency of the microwave radar (510) from a solid horizontal surface (710) in the trajectory (1000) of the electronic device (101). Since the accuracy of the distance from the solid horizontal surface (710) to a position shorter than the wavelength of the carrier frequency of the microwave radar (510) may be relatively low, the electronic device (101) may select a starting position (e.g., 1091) of the trajectory (e.g., 1090) based on the wavelength of the carrier frequency of the microwave radar (510). According to one embodiment, the electronic device (101) can select a position that is multiple of half-wavelength of the carrier frequency of the microwave radar as an end position (e.g., 1092) from a starting position (e.g., 1091) in the trajectory (e.g., 1000, 1090) of the electronic device (101).The distance measured using the microwave radar (510) may slightly oscillate with a periodicity of half-wavelength of the carrier frequency of the microwave radar (510), so the electronic device (101) may select a position that is higher than a multiple of the half-wavelength of the carrier frequency of the microwave radar from the starting position (e.g., 1091) in the trajectory of the electronic device (101) (e.g., 1000, 1090) as an ending position (e.g., 1092).

[0110] FIG. 11 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0111] Referring to FIG. 11, the maximum horizontal deviation of the trajectory of the electronic device (101) and the average horizontal size of the electronic device (101) can be explained.

[0112] According to one embodiment, with reference to FIG. 11, the electronic device (101) may decide to perform calibration of the microwave radar (510) using the trajectory of the electronic device (101) based on confirming that the electronic device (101) moves within a certain range in the horizontal direction or hardly moves in the horizontal direction. After performing the reconstruction of the trajectory, the electronic device (101) may determine whether the solid horizontal surface (710) is still located below the electronic device (101). This is because the accuracy of the distance measured while the electronic device (101) moves and forms a trajectory can be increased if the solid horizontal surface (710) is still located below the electronic device (101). FIG. 11 (a) indicates that the maximum horizontal deviation (1111) of the trajectory (1110) of the electronic device (101) is less than the average horizontal size (1100) of the electronic device (101), and FIG. 11 (b) indicates that the maximum horizontal deviation (1121) of the trajectory (1120) of the electronic device (101) is greater than the average horizontal size (1100) of the electronic device (101). The maximum horizontal deviation of the trajectory of the electronic device (101) may be the maximum distance the electronic device (101) has moved in the horizontal direction. The average horizontal size of the electronic device (101) may be determined based on the length and width of the electronic device (101). For example, the average horizontal size of the electronic device (101) may be the square root of the product of the length and width of the electronic device (101). By comparing the maximum horizontal deviation of the electronic device (101)'s trajectory with the average horizontal size of the electronic device (101), it can be confirmed that the electronic device (101) hardly moves in the horizontal direction or moves within a certain range in the horizontal direction while being lifted upward.

[0113] FIG. 12 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0114] Referring to Fig. 12, the calibration of the microwave radar (510) can be explained.

[0115] FIG. 12 is a graph of a first distance measured using a trajectory reconstructed using an inertial measurement sensor (520) and a second distance measured using a microwave radar (510) while the electronic device (101) moves in the opposite direction of gravity.

[0116] FIG. 12(a) may show that, before calibration of the microwave radar (510), there is a difference between the distance (1200) measured using the inertial measurement sensor (520) and the distance (1210) measured using the microwave radar (510).

[0117] According to one embodiment, the electronic device (101) can calculate a bias by comparing a first distance measured using an inertial measurement sensor (520) with a second distance measured using a microwave radar (510), and perform calibration of the microwave radar (510) by applying the bias. For example, the electronic device (101) can identify the difference between the first distance measured using an inertial measurement sensor (520) and the second distance measured using a microwave radar (510) as the bias. For example, the electronic device (101) can calculate a bias (e.g., zero distance bias) by comparing a first distance between a starting position and an ending position measured along the vertical axis of the trajectory of the electronic device (101) using an inertial measurement sensor (520) with a second distance between a starting position and an ending position measured along the vertical axis of the trajectory of the electronic device (101) using a microwave radar (510). For example, the electronic device (101) can calculate a bias by comparing the average of the first distance of the inertial measurement sensor (520) with the average of the second distance of the microwave radar (510). The electronic device (101) can perform calibration of the microwave radar (510) by applying the identified bias. For example, the electronic device (101) can perform calibration of the microwave radar (510) by adjusting the distance measured using the microwave radar (510) by the amount of the identified bias.

[0118] Figure 12(b) may show that after calibration of the microwave radar (510), the difference between the distance (1200) measured using the inertial measurement sensor (520) and the distance (1220) measured using the microwave radar (510) is reduced.

[0119] FIG. 13 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0120] With reference to FIG. 13, the CIR (channel impulse response) and SNR (signal-to-noise ratio) of the microwave radar (510) can be described. According to one embodiment, the electronic device (101) can determine whether to perform calibration of the microwave radar (510) based on the signal quality, based on the SNR of the microwave radar (510).

[0121] The CIR of the microwave radar (510) is a function representing the characteristics of the radio channel in the time domain and can represent a signal response including signal attenuation, phase change, and delay time due to the influence (e.g., reflection, diffraction, scattering) occurring in the path from the microwave radar (510) until the signal transmitted from the microwave radar (510) returns.

[0122] The SNR of the microwave radar (510) may be a value that measures signal quality by comparing the signal strength of the microwave radar (510) with the noise strength. For example, the SNR may be estimated as the average SNR or the worst SNR for the CIR in the interval between the start position and the end position of the trajectory of the electronic device (101). The average SNR may be calculated on average for the CIR within the path of travel. The worst SNR may be the lowest value among the SNRs observed in the path of travel. For example, the SNR may be the ratio of the maximum to the average of the CIR.

[0123] FIG. 13 is a graph of the CIR of a microwave radar (510), where FIG. 13 (a) represents a case where the SNR, which is the ratio of the maximum to the average of the CIR, exceeds a threshold value, and FIG. 13 (b) represents a case where the SNR is less than the threshold value. According to one embodiment, based on the fact that the SNR of the microwave radar (510) exceeds the threshold value as in FIG. 13 (a), the electronic device (101) may perform calibration of the microwave radar (510). For example, the electronic device (101) may decide to perform calibration of the microwave radar (510) based on confirming that the SNR of the microwave radar (510) satisfies a specified condition. According to one embodiment, as shown in FIG. 13 (b), the electronic device (101) may not perform calibration of the microwave radar (510) based on the fact that the SNR of the microwave radar (510) is below a threshold value. For example, the electronic device (101) may decide not to perform calibration of the microwave radar (510) based on confirming that the SNR of the microwave radar (510) does not satisfy a specified condition.

[0124] FIG. 14 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0125] Referring to Fig. 14, the operation of performing correction by considering the history of the bias can be explained.

[0126] According to one embodiment, the electronic device (101) may determine whether to perform calibration of the microwave radar (510) by comparing the previous bias(s) and the new bias before performing calibration of the microwave radar (510). For example, the electronic device (101) may intelligently determine whether to perform calibration by filtering of sequential measurements when the difference between the previously recorded bias(s) and the new bias is too large.

[0127] In FIG. 14, “X” may be a measured bias. In FIG. 14, “—” may be a bias used for actual calibration. For example, in FIG. 14, 1410 may be previously measured biases. The electronic device (101) may not use the newly measured bias (e.g., 1421) for calibration of the microwave radar (510) by determining the newly measured bias (e.g., 1421) as an outlier value (e.g., 1421) if the newly measured bias (e.g., 1421) differs significantly from the previous bias(s) (1410). Subsequently, the electronic device (101) can use the newly measured bias (e.g., 1424) for calibration of the microwave radar (510) as it confirms that the newly measured biases (e.g., 1421, 1422, 1423, 1424) differ consistently from the previously measured biases (1410). For example, the electronic device (101) can use the newly measured bias (e.g., 1424) for calibration of the microwave radar (510) as it confirms that the newly measured biases (e.g., 1421, 1422, 1423, 1424) differ from the previously measured biases (1410) by a specified number of times (e.g., 4 times).

[0128] FIG. 15 is a diagram illustrating the operation of an electronic device according to one embodiment.

[0129] Referring to Fig. 15, the operation of suggesting correction to the user can be explained.

[0130] In FIG. 15, according to one embodiment, the electronic device (101) may suggest calibration of the microwave radar (510) to the user. In FIG. 15 (a), the electronic device (101) may suggest calibration of the microwave radar (510) to the user (1520) based on confirming that calibration of the microwave radar (510) is needed. The suggestion for calibration may be made in various ways, including voice output, screen display, vibration output, or LED display. For example, in FIG. 15 (a), the electronic device (101) may output a sound indicating that calibration is needed through a speaker (e.g., sound output module (155)). According to one embodiment, the electronic device (101) may suggest calibration of the microwave radar (510) to the user (1520) based on detecting that the electronic device (101) is placed on a solid horizontal surface (1510) in FIG. 15 (a), confirming that the electronic device is placed with the antenna of the microwave radar (510) facing downward, and confirming that calibration of the microwave radar (510) is needed. According to one embodiment, the electronic device (101) may periodically suggest calibration of the microwave radar (510) to the user (1520) according to a specified period. According to one embodiment, the electronic device (101) may suggest calibration of the microwave radar (510) to the user (1520) according to the settings of the electronic device (101). In FIG. 15 (b), the electronic device (101) may receive a response (e.g., voice) from the user corresponding to the suggestion of calibration. Although (b) of FIG. 15 illustrates a voice response as an example, the user's response may be performed in various ways, including pressing a hardware button of the electronic device (101), pressing a button on the screen of the electronic device (101), a voice command, or a gesture command.As a user's response corresponding to the calibration suggestion is received, in FIG. 15 (c), the electronic device (101) may guide the user (1520) on how to lift the electronic device (101) (e.g., move it vertically without tilting). For example, the electronic device (101) may output a sound saying "Lift vertically" through a speaker (e.g., sound output module (155)). The action of guiding how to lift the electronic device (101) may be performed in various ways, including voice output or screen display. In FIG. 15 (d), the user (1520) may lift the electronic device (101). In FIG. 15 (e), the electronic device (101) may indicate that the calibration was successful based on confirming the success of the calibration of the microwave radar (510). For example, as in (e) of FIG. 15, the electronic device (101) may indicate that the calibration was successful through a speaker (e.g., sound output module (155)), but this is exemplary, and the calibration may be indicated in various ways including voice output, screen display, vibration output, or LED display. According to one embodiment, the electronic device (101) may indicate a failure of calibration based on confirming a failure of calibration of the microwave radar (510). For example, the electronic device (101) may specifically indicate that, based on confirming a failure of calibration of the microwave radar (510), the surface is not horizontal or is not solid, the antenna is not located at the bottom, the trajectory of the electronic device (101) is not vertical or is tilted, or the SNR of the microwave radar (510) is low.For example, as a specific method of lifting the electronic device (101), the electronic device (101) may be suggested to be placed on a solid horizontal surface, or the antenna of the electronic device (101) may be positioned downward, or the electronic device (101) may be lifted vertically, or the lower part of the electronic device (101) may not be covered by hand, and such suggestion may be performed by outputting sound through a speaker (e.g., sound output module (155)) or displaying a screen through a display (e.g., display module (160)).

[0131] FIG. 16 is a drawing illustrating an electronic device according to one embodiment.

[0132] FIGS. 2 to 15 describe a device such as a smartphone as an example of an electronic device (101), but this is merely an example, and the electronic device (101) can be implemented as a smartphone (1610) (or tablet), smart glasses (1620), a game controller (1630), or a remote control (1640) as in FIG. 16, and there is no limit to the type of electronic device (101).

[0133] Those skilled in the art will understand that the embodiments described herein may be applied interchangeably to the extent applicable. For example, those skilled in the art will understand that at least some operations of an embodiment described herein may be omitted, and at least some operations of the embodiments may be applied interchangeably.

[0134] The present disclosure is not limited to the foregoing, and other unmentioned variations will be apparent to those skilled in the art from the present disclosure.

[0135] The effects obtainable from the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the present disclosure belongs from the description below.

[0136] According to one embodiment, the electronic device (101) may include a microwave radar (510) including at least one antenna (546, 547), an inertial measurement sensor (520), at least one processor (120) including a processing circuit, and a memory (130) for storing instructions. When the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may cause the electronic device (101) to perform calibration of the inertial measurement sensor (520) based on confirming that the horizontal position of the electronic device (101) on the surface on which the electronic device (101) is placed remains constant for a first set time. When the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may cause the electronic device (101) to detect movement of the electronic device (101) using the inertial measurement sensor (520). When the above instructions are executed individually or collectively by at least one processor (120), they may cause the electronic device (101) to calculate the trajectory of the electronic device (101) after detecting that the electronic device (101) is moving using the inertial measurement sensor (520). When the above instructions are executed individually or collectively by at least one processor (120), they may cause the electronic device (101) to select a starting position and an ending position along the trajectory.When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to calculate a bias for calibration of the microwave radar (510) by comparing a first distance between the starting position and the ending position measured along the vertical axis of the trajectory using the inertial measurement sensor (520) and a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar (510). When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to perform calibration of the microwave radar (510) by applying the bias to the distance measured by the microwave radar (510).

[0137] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to detect that the electronic device (101) is placed on a surface where the hardness exceeds a threshold value based on the maximum value of the first derivative of acceleration identified by the accelerometer data of the inertial measurement sensor (520) exceeding a threshold value.

[0138] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to calculate the gravitational acceleration using the average of the accelerometer data of the inertial measurement sensor (520) while the horizontal position of the electronic device (101) above the surface is maintained constant. When the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to perform the calibration of the inertial measurement sensor (520) by offsetting the gravitational acceleration from the accelerometer data.

[0139] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to calculate the trajectory by calculating the double integral of the vertical acceleration and by confirming that the electronic device (101) moves while maintaining a horizontal orientation.

[0140] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to calculate the trajectory in the interval in which the standard deviation of the accelerometer data of the inertial measurement sensor (520) is less than a threshold value, the side accelerations perpendicular to the vertical acceleration are less than a threshold value, the ratio of the side accelerations to the vertical acceleration is less than a threshold value, and the gyroscope components are less than a threshold value, using the inertial measurement sensor (520).

[0141] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to select a position higher than the wavelength of the carrier frequency of the microwave radar (510) from the surface as the starting position.

[0142] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to select a position that is multiple of half-wavelength of the carrier frequency of the microwave radar (510) higher than the starting position as the ending position.

[0143] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to calculate the bias by comparing the average of the first distance of the inertial measurement sensor (520) with the average of the second distance of the microwave radar (510).

[0144] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may cause the electronic device (101) to calculate the signal-to-noise ratio (SNR) of the microwave radar (510) in the interval between the starting position and the ending position of the trajectory. When the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may cause the electronic device (101) to perform the calibration of the microwave radar (510) based on the fact that the SNR is exceeded a threshold value.

[0145] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to determine whether to perform the calibration of the microwave radar (510) by comparing the previous bias(s) and the new bias before performing the calibration of the microwave radar (510).

[0146] According to one embodiment, when the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to calculate the maximum horizontal deviation of the trajectory. When the instructions are executed individually or collectively by at least one processor (120), the electronic device (101) may be caused to calculate the bias based on the maximum horizontal deviation being less than the average horizontal size of the electronic device (101) and to perform the calibration of the microwave radar (510).

[0147] According to one embodiment, a method of operating an electronic device (101) may include an operation of performing calibration of an inertial measurement sensor (520) of the electronic device (101) based on confirming that the horizontal position of the electronic device (101) on a surface on which the electronic device (101) is placed is maintained constant for a first set time. The method may include an operation of detecting that the electronic device (101) is moving. The method may include an operation of calculating the trajectory of the electronic device (101) after detecting that the electronic device (101) is moving. The method may include an operation of selecting a starting position and an ending position along the trajectory. The above method may include an operation of calculating a bias for calibration of the microwave radar (510) by comparing a first distance between the starting position and the ending position measured along the vertical axis of the trajectory using the inertial measurement sensor (520) and a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar (510). The above method may include an operation of performing calibration of the microwave radar (510) by applying the bias to the distance measured by the microwave radar (510).

[0148] According to one embodiment, the method may include the operation of detecting that the electronic device (101) is placed on the surface where the hardness exceeds the threshold value, based on the maximum value of the first derivative of acceleration identified by the accelerometer data of the inertial measurement sensor (520) exceeding the threshold value.

[0149] According to one embodiment, the method may include an operation of calculating gravitational acceleration using the average of accelerometer data of the inertial measurement sensor (520) while the horizontal position of the electronic device (101) above the surface is maintained constant. The method may include an operation of performing the calibration of the inertial measurement sensor (520) by offsetting the gravitational acceleration from the accelerometer data.

[0150] According to one embodiment, the method may include the operation of calculating the trajectory by calculating a double integral of the vertical acceleration and confirming that the electronic device (101) moves while maintaining a horizontal orientation.

[0151] According to one embodiment, the method may include the operation of calculating the trajectory in a section in which the standard deviation of the accelerometer data of the inertial measurement sensor (520) is less than a threshold value, the side accelerations perpendicular to the vertical acceleration are less than a threshold value, the ratio of the side accelerations to the vertical acceleration is less than a threshold value, and the gyroscope components are less than a threshold value, using the inertial measurement sensor (520).

[0152] According to one embodiment, the method may include the operation of selecting a position higher than the wavelength of the carrier frequency of the microwave radar (510) from the surface as the starting position.

[0153] According to one embodiment, the method may include selecting a position that is multiple of half-wavelength of the carrier frequency of the microwave radar (510) higher than the starting position as the ending position.

[0154] According to one embodiment, the method may include the operation of calculating the bias by comparing the average of the first distance of the inertial measurement sensor (520) with the average of the second distance of the microwave radar (510).

[0155] According to one embodiment, the method may include an operation of calculating the signal-to-noise ratio (SNR) of the microwave radar (510) in the interval between the starting position and the ending position of the trajectory. The method may include an operation of performing the calibration of the microwave radar (510) based on the fact that the SNR exceeds a threshold value.

[0156] According to one embodiment, the method may include an operation to determine whether to perform the calibration of the microwave radar (510) by comparing the previous bias(s) and the new bias before performing the calibration of the microwave radar (510).

[0157] According to one embodiment, the method may include an operation of calculating the maximum horizontal deviation of the trajectory. The method may include an operation of calculating the bias based on the fact that the maximum horizontal deviation is less than the average horizontal size of the electronic device (101) and performing the calibration of the microwave radar (510).

[0158] According to one embodiment, in a non-transitory computer-readable recording medium for storing instructions, the instructions may cause the electronic device (101) to perform at least one operation when executed individually or collectively by at least one processor (120) of the electronic device (101). The at least one operation may include performing calibration of an inertial measurement sensor (520) of the electronic device (101) based on confirming that the horizontal position of the electronic device (101) on a surface on which the electronic device (101) is placed is maintained constant for a first set time. The at least one operation may include detecting that the electronic device (101) is moving. The at least one operation may include calculating the trajectory of the electronic device (101) after detecting that the electronic device (101) is moving. The at least one operation may include an operation of selecting a starting position and an ending position along the trajectory. The at least one operation may include an operation of calculating a bias for calibration of the microwave radar (510) by comparing a first distance between the starting position and the ending position measured along the vertical axis of the trajectory using the inertial measurement sensor (520) and a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar (510). The at least one operation may include an operation of performing calibration of the microwave radar (510) by applying the bias to the distance measured by the microwave radar (510).

[0159] According to one embodiment, the at least one operation may include detecting that the electronic device (101) is placed on the surface where the hardness exceeds the threshold value, based on the maximum value of the first derivative of acceleration identified by the accelerometer data of the inertial measurement sensor (520) exceeding the threshold value.

[0160] According to one embodiment, in the recording medium, the at least one operation may include an operation of calculating gravitational acceleration using the average of accelerometer data of the inertial measurement sensor (520) while the horizontal position of the electronic device (101) on the surface is maintained constant. The at least one operation may include an operation of performing the calibration of the inertial measurement sensor (520) by offsetting the gravitational acceleration from the accelerometer data.

[0161] According to one embodiment, in the recording medium, the at least one operation may include calculating the trajectory by calculating a double integral of the vertical acceleration and confirming that the electronic device (101) moves while maintaining a horizontal orientation.

[0162] According to one embodiment, in the recording medium, the at least one operation may include calculating the trajectory in a section in which the standard deviation of the accelerometer data of the inertial measurement sensor (520) is less than a threshold value, the side accelerations perpendicular to the vertical acceleration are less than a threshold value, the ratio of the side accelerations to the vertical acceleration is less than a threshold value, and the gyroscope components are less than a threshold value, using the inertial measurement sensor (520).

[0163] According to one embodiment, in the recording medium, the at least one operation may include selecting a position higher than the wavelength of the carrier frequency of the microwave radar (510) from the surface as the starting position.

[0164] According to one embodiment, in the recording medium, the at least one operation may include selecting a position higher than the starting position by a multiple of half-wavelength of the carrier frequency of the microwave radar (510) as the ending position.

[0165] According to one embodiment, in the recording medium, the at least one operation may include an operation of calculating the bias by comparing the average of the first distance of the inertial measurement sensor (520) with the average of the second distance of the microwave radar (510).

[0166] According to one embodiment, in the recording medium, the at least one operation may include an operation of calculating the signal-to-noise ratio (SNR) of the microwave radar (510) in the interval between the starting position and the ending position of the trajectory. The at least one operation may include an operation of performing the calibration of the microwave radar (510) based on the fact that the SNR exceeds a threshold value.

[0167] According to one embodiment, in the recording medium, the at least one operation may include an operation of determining whether to perform the calibration of the microwave radar (510) by comparing the previous bias(s) and the new bias before performing the calibration of the microwave radar (510).

[0168] According to one embodiment, in the recording medium, the at least one operation may include an operation of calculating the maximum horizontal deviation of the trajectory. The at least one operation may include an operation of calculating the bias based on the fact that the maximum horizontal deviation is less than the average horizontal size of the electronic device (101) and performing the calibration of the microwave radar (510).

[0169] The electronic device according to the various embodiments disclosed in this document may be of various forms. The electronic device may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a consumer electronics device. The electronic device according to the embodiments of this document is not limited to the devices described above.

[0170] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of said items unless the relevant context clearly indicates otherwise. In this document, phrases such as "A or B," "at least one of A and B," "at least one of A or B," "A, B or C," "at least one of A, B and C," and "at least one of A, B, or C" may each include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used simply to distinguish said components from other said components and do not limit said components in any other aspect (e.g., importance or order). Where any (e.g., 1st) component is referred to as “coupled” or “connected” to another (e.g., 2nd) component, with or without the terms “functionally” or “communicationly,” it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0171] The term “module” as used in the various embodiments of this document may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0172] Various embodiments of this document may be implemented as software (e.g., a program) comprising one or more instructions stored on a recording medium (e.g., a storage medium) readable by a machine (e.g., an electronic device). For example, a processor (e.g., a controller) of the machine may call at least one of the one or more instructions stored from the recording medium and execute it. This enables the machine to operate to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. The recording medium readable by the machine may be provided in the form of a non-transitory recording medium. Here, "non-transitory" simply means that the recording medium is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily on the recording medium.

[0173] According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable recording medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a device-readable recording medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0174] According to various embodiments, each component (e.g., module or program) of the components described above may include a singular or multiple entities, and some of the multiple entities may be separated and placed in other components. According to various embodiments, one or more of the components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the multiple components in the same or similar manner as those performed by the corresponding component among the multiple components prior to integration. According to various embodiments, operations performed by the module, program, or other components may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

Claims

1. In an electronic device (101), Microwave radar (510) including at least one antenna (546, 547); Inertial measurement sensor (520); At least one processor (120) including a processing circuit; and It includes a memory (130) for storing instructions, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Calibration of the inertial measurement sensor (520) is performed based on confirming that the horizontal position of the electronic device (101) on the surface on which the electronic device (101) is placed is maintained constant for a first set time. Using the above inertial measurement sensor (520), the movement of the electronic device (101) is detected, and Using the above inertial measurement sensor (520), the trajectory of the electronic device (101) is calculated after detecting that the electronic device (101) is moving, and By comparing a first distance between the starting position and the ending position of the trajectory measured along the vertical axis of the trajectory using the inertial measurement sensor (520) and a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar (510), a bias for calibration of the microwave radar (510) is calculated, and Causing calibration of the microwave radar (510) by applying the bias to the distance measured by the microwave radar (510). Electronic device (101).

2. In Paragraph 1, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Based on the maximum value of the first derivative of acceleration identified by the accelerometer data of the inertial measurement sensor (520) exceeding a threshold value, causing to detect that the electronic device (101) is placed on the surface where the hardness exceeds the threshold value, Electronic device (101).

3. In Paragraph 1 or 2, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, While the horizontal position of the electronic device (101) on the surface is maintained constant, the gravitational acceleration is calculated using the average of the accelerometer data of the inertial measurement sensor (520), and By offsetting the gravitational acceleration in the above accelerometer data, causing the correction of the above inertial measurement sensor (520) to be performed, Electronic device (101).

4. In any one of paragraphs 1 to 3, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Calculating the double integral for the vertical acceleration and confirming that the electronic device (101) moves while maintaining a horizontal orientation, thereby causing the trajectory to be calculated, Electronic device (101).

5. In any one of paragraphs 1 to 4, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Using the inertial measurement sensor (520), causing the trajectory to be calculated in the section where the standard deviation of the accelerometer data of the inertial measurement sensor (520) is below a threshold value, the side accelerations perpendicular to the vertical acceleration are below a threshold value, the ratio of the side accelerations to the vertical acceleration is below a threshold value, and the gyroscope components are below a threshold value. Electronic device (101).

6. In any one of paragraphs 1 through 5, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, causing a position higher than the wavelength of the carrier frequency of the microwave radar (510) from the surface to be selected as the starting position, Electronic device (101).

7. In any one of paragraphs 1 through 6, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Causing to select the end position as a position that is multiple of half-wavelength of the carrier frequency of the microwave radar (510) higher than the start position, Electronic device (101).

8. In any one of paragraphs 1 through 7, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Causing to calculate the bias by comparing the average of the first distance of the inertial measurement sensor (520) and the average of the second distance of the microwave radar (510). Electronic device (101).

9. In any one of paragraphs 1 through 8, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, In the interval between the start position and the end position of the above trajectory, the signal-to-noise ratio (SNR) of the microwave radar (510) is calculated, and Causing the correction of the microwave radar (510) based on the fact that the above SNR is exceeded a threshold value, Electronic device (101).

10. In any one of paragraphs 1 through 9, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, By comparing the previous bias(s) and the new bias before performing the calibration of the microwave radar (510), a determination is made as to whether to perform the calibration of the microwave radar (510). Electronic device (101).

11. In any one of paragraphs 1 through 10, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Calculate the maximum horizontal deviation of the above trajectory, and Calculating the bias based on the fact that the maximum horizontal deviation is less than the average horizontal size of the electronic device (101), and causing the calibration of the microwave radar (510), Electronic device (101).

12. In any one of paragraphs 1 to 11, When the above instructions are executed individually or collectively by at least one processor (120), the electronic device (101) is enabled, Based on confirming the failure of the above calibration, causing the user to be guided to lift the electronic device (101), electronic device (101) 13. In the method of operating the electronic device (101), An operation to perform calibration of the inertial measurement sensor (520) of the electronic device (101) based on confirming that the horizontal position of the electronic device (101) on the surface on which the electronic device (101) is placed is maintained constant for a first set time, and The operation of detecting the movement of the above electronic device (101), and The operation of calculating the trajectory of the electronic device (101) after detecting that the electronic device (101) is moving, and The operation of calculating a bias for calibration of the microwave radar (510) by comparing a first distance between the starting position and the ending position of the trajectory measured along the vertical axis of the trajectory using the inertial measurement sensor (520) and a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar (510), and The operation of performing calibration of the microwave radar (510) by applying the bias to the distance measured by the microwave radar (510), method.

14. In Paragraph 13, The method includes detecting that the electronic device (101) is placed on the surface where the hardness exceeds the threshold value, based on the maximum value of the first derivative of acceleration confirmed by the accelerometer data of the inertial measurement sensor (520) exceeding the threshold value. method.

15. In a non-transitory computer-readable recording medium for storing instructions, the instructions cause the electronic device (101) to perform at least one operation when executed individually or collectively by at least one processor (120) of the electronic device (101), and The above at least one operation is, An operation to perform calibration of the inertial measurement sensor (520) of the electronic device (101) based on confirming that the horizontal position of the electronic device (101) on the surface on which the electronic device (101) is placed is maintained constant for a first set time, and The operation of detecting the movement of the above electronic device (101), and The operation of calculating the trajectory of the electronic device (101) after detecting that the electronic device (101) is moving, and The operation of calculating a bias for calibration of the microwave radar (510) by comparing a first distance between the starting position and the ending position of the trajectory measured along the vertical axis of the trajectory using the inertial measurement sensor (520) and a second distance between the starting position and the ending position measured along the vertical axis of the trajectory using the microwave radar (510), and The operation of performing calibration of the microwave radar (510) by applying the bias to the distance measured by the microwave radar (510), Recording media.

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