Wireless Device Trajectory Determination via Sensor Fusion
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Solution Overview
Problem
Current Bluetooth Low Energy (BLE) technology faces limitations in determining the trajectory of a moving wireless device due to errors in Angle-of-Arrival (AoA) and Round-Trip Phase (RTP) measurements, which are affected by multipath interference and finite measurement intervals, and lacks orientation information.
Innovation Solution
A method that combines AoA and RTP measurements with inertial sensor data, such as accelerometer and gyroscope data, to determine the trajectory of a moving wireless device, using a processing system to integrate and minimize errors, and account for unknowns like yaw orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If AoA and RTP measurements are used to determine trajectory, then position information can be obtained, but measurement errors occur due to multipath interference and finite measurement intervals
Solution Approach 1:
The patent combines AoA (angle-of-arrival) measurements with RTP (round-trip phase) measurements and inertial sensor data to determine trajectory. By merging multiple measurement sources, the system compensates for individual measurement errors caused by multipath interference and finite measurement intervals, thereby improving overall trajectory accuracy and reliability
Solution Approach 2:
The patent introduces inertial sensors as an intermediary measurement source that provides orientation information (including yaw) and motion data. This intermediary data helps bridge the gaps and errors in AoA and RTP measurements, enabling more reliable trajectory determination through sensor fusion
2Use of energy by moving object
If traditional BLE technology is used, then power consumption is reduced with low duty cycle operation, but trajectory and orientation information cannot be determined
Solution Approach 1:
The patent makes the BLE system multi-functional by enabling it to perform both its traditional low-power communication function and new trajectory determination function. By integrating inertial sensors and combining them with BLE measurements, the system achieves dual functionality without requiring separate dedicated systems, thus maintaining power efficiency while gaining trajectory capability
3Loss of information
If inertial sensors are added to determine orientation, then yaw information becomes available, but device complexity increases
Solution Approach 1:
The patent achieves multi-functionality by having inertial sensors serve multiple purposes: providing orientation information (yaw, pitch, roll), supplying motion data for trajectory determination, and compensating for measurement errors. This approach obtains complete orientation information without requiring separate dedicated systems for each function
Solution Approach 2:
The patent merges inertial sensor data with AoA and RTP measurements in a unified trajectory determination system. By combining these different measurement sources through sensor fusion, the system obtains comprehensive orientation and position information while managing complexity through integrated processing
Data Source
AI summary
In an aspect of the disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus may receive at least one signal from a second wireless device, the at least one signal including one or more of RTP information or inertial sensor information. The apparatus may determine at least one AoA measurement and at least one RTP measurement associated with the at least one signal received from the second wireless device. The apparatus may determine a path of trajectory of the second wireless device based at least in part on the at least one AoA measurement, the at least one RTP measurement, and the inertial sensor information.