Determining a path of trajectory of a wireless device

• US 10,448,214 B1
• Filed: 09/26/2018
• Issued: 10/15/2019
• Est. Priority Date: 09/26/2018
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Jarvis, Murray, Hiscock, Paul Dominic, Allan, Thomas, Graube, Nicolas
• Primary Examiner(s): Tran, Mong-Thuy T
• Application Number:
  US16/143,111
• Time in Patent Office: 384 Days
• Field of Search: 4554561-4566, 455457
• CPC Class Codes: G01S 13/72 for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• CPC Class Codes: G01S 13/84 for distance determination by phase measurement
• CPC Class Codes: G01S 3/8083 determining direction of source
• CPC Class Codes: G01S 5/0264 at least one of the systems being a non-radio wave positioning system
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: H04W 24/08 Testing, supervising or monitoring using real traffic
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/38 for collecting sensor information
• CPC Class Codes: H04W 84/18 Self-organising networks, e.g. ad-hoc networks or sensor networks

Abstract

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.

Claims

1. A method for wireless communication of a first wireless device, comprising:

receiving at least one signal from a second wireless device, the at least one signal including one or more of round-trip phase (RTP) information or inertial sensor information;

determining at least one angle-of-arrival (AoA) measurement and at least one RTP measurement associated with the at least one signal received from the second wireless device;

determining a path of trajectory of the second wireless device based on the inertial sensor information and at least in part on the at least one AoA measurement and the at least one RTP measurement;

determining orientation information of the second wireless device based at least in part on the inertial sensor information;

determining tilt information associated with the second wireless device based at least in part on the inertial sensor information;

de-rotating an accelerometer component of the inertial sensor information and removing a gravity component of the acceleration information to generate de-rotated and gravity free acceleration information based at least in part on the tilt information; and

integrating the de-rotated and gravity free acceleration information to determine sensor derived trajectory information.

2. The method of claim 1, further comprising:

determining combined position information based at least in part on the at least one AoA measurement and the at least one RTP measurement, wherein determining the path of trajectory of the second wireless device comprises;

combining the sensor derived trajectory information with the combined position information to determine the path of trajectory of the second wireless device.

3. The method of claim 1, wherein the determining the path of trajectory of the second wireless device comprises:

combining the sensor derived trajectory information, the at least one AoA measurement, and the at least one RTP measurement to determine the path of trajectory of the second wireless device.

4. The method of claim 1, further comprising:

determining a distance to the second wireless device associated with each of the at least one RTP measurement; and

determining an estimated speed of the second wireless device at an end of a set of RTP measurements.

5. The method of claim 4, further comprising:

determining a cost function based at least in part on the distance to the second wireless device associated with each of the at least one RTP measurement, the estimated speed of the second wireless device at the end of the set of RTP measurements, a weighting function, and a variance associated with the at least one AoA measurement and the at least one RTP measurement, wherein the path of trajectory of the second wireless device is further determined based at least in part on the weighting function.

6. An apparatus for wireless communication of a first wireless device, comprising:

means for receiving at least one signal from a second wireless device, the at least one signal including one or more of round-trip phase (RTP) information or inertial sensor information;

means for determining at least one angle-of-arrival (AoA) measurement and at least one RTP measurement associated with the at least one signal received from the second wireless device;

means for determining a path of trajectory of the second wireless device based on the inertial sensor information and at least in part on the at least one AoA measurement and the at least one RTP measurement;

means for determining orientation information of the second wireless device based at least in part on the inertial sensor information;

means for determining tilt information associated with the second wireless device based at least in part on the inertial sensor information;

means for de-rotating an accelerometer component of the inertial sensor information and means for removing a gravity component of the acceleration information to generate de-rotated and gravity free acceleration information based at least in part on the tilt information; and

means for integrating the de-rotated and gravity free acceleration information to determine sensor derived trajectory information.

7. The apparatus of claim 6, further comprising:

means for determining combined position information based at least in part on the at least one AoA measurement and the at least one RTP measurement, wherein the means for determining the path of trajectory of the second wireless device is configured to;

combine the sensor derived trajectory information with the combined position information to determine the path of trajectory of the second wireless device.

8. The apparatus of claim 6, wherein the means for determining the path of trajectory of the second wireless device is configured to:

combine the sensor derived trajectory information, the at least one AoA measurement, and the at least one RTP measurement to determine the path of trajectory of the second wireless device.

9. The apparatus of claim 6, further comprising:

means for determining a distance to the second wireless device associated with each of the at least one RTP measurement; and

means for determining an estimated speed of the second wireless device at an end of a set of RTP measurements.

10. The apparatus of claim 9, further comprising:

means for determining a cost function based at least in part on the distance to the second wireless device associated with each of the at least one RTP measurement, the estimated speed of the second wireless device at the end of the set of RTP measurements, a weighting function, and a variance associated with the at least one AoA measurement and the at least one RTP measurement, wherein the path of trajectory of the second wireless device is further determined based at least in part on the weighting function.

11. An apparatus for wireless communication of a first wireless device, comprising:

a memory; and

at least one processor coupled to the memory and configured to;

receive at least one signal from a second wireless device, the at least one signal including one or more of round-trip phase (RTP) information or inertial sensor information;

determine at least one angle-of-arrival (AoA) measurement and at least one RTP measurement associated with the at least one signal received from the second wireless device;

determine a path of trajectory of the second wireless device based on the inertial sensor information and at least in part on the at least one AoA measurement and the at least one RTP measurement;

determine orientation information of the second wireless device based at least in part on the inertial sensor information;

determine tilt information associated with the second wireless device based at least in part on the inertial sensor information;

de-rotate an accelerometer component of the inertial sensor information and remove a gravity component of the acceleration information to generate de-rotated and gravity free acceleration information based at least in part on the tilt information; and

integrate the de-rotated and gravity free acceleration information to determine sensor derived trajectory information.

12. The apparatus of claim 11, wherein the at least one processor is further configured to:

determine combined position information based at least in part on the at least one AoA measurement and the RTP at least one measurement, wherein the wherein the at least one processor is configured to determine the path of trajectory of the second wireless device by;

combining the sensor derived trajectory information with the combined position information to determine the path of trajectory of the second wireless device.

13. The apparatus of claim 11, wherein the at least one processor is configured to determine the path of trajectory of the second wireless device by:

combining the sensor derived trajectory information, the at least one AoA measurement, and the at least one RTP measurement to determine the path of trajectory of the second wireless device.

14. The apparatus of claim 11, wherein the at least one processor is further configured to:

determine a distance to the second wireless device associated with each of the at least one RTP measurement; and

determine an estimated speed of the second wireless device at an end of a set of RTP measurements.

15. The apparatus of claim 14, wherein the at least one processor is further configured to:

determine a cost function based at least in part on the distance to the second wireless device associated with each of the at least one RTP measurement, the estimated speed of the second wireless device at the end of the set of RTP measurements, a weighting function, and a variance associated with the at least one AoA measurement and the at least one RTP measurement, wherein the path of trajectory of the second wireless device is further determined based at least in part on the weighting function.

16. A non-transitory computer-readable medium storing computer-executable code of a first wireless device, comprising code to:

receive at least one signal from a second wireless device, the at least one signal including one or more of round-trip phase (RTP) information or inertial sensor information;

determine at least one angle-of-arrival (AoA) measurement and at least one RTP measurement associated with the at least one signal received from the second wireless device;

determine a path of trajectory of the second wireless device based on the inertial sensor information and at least in part on the at least one AoA measurement and the at least one RTP measurement;

determine orientation information of the second wireless device based at least in part on the inertial sensor information;

determine tilt information associated with the second wireless device based at least in part on the inertial sensor information;

de-rotate an accelerometer component of the inertial sensor information and remove a gravity component of the acceleration information to generate de-rotated and gravity free acceleration information based at least in part on the tilt information; and

integrate the de-rotated and gravity free acceleration information to determine sensor derived trajectory information.

17. The non-transitory computer-readable medium of claim 16, further comprising code to:

determine combined position information based at least in part on the at least one AoA measurement and the at least one RTP measurement, wherein the code to determine the path of trajectory of the second wireless device is configured to;

combine the sensor derived trajectory information with the combined position information to determine the path of trajectory of the second wireless device.

18. The non-transitory computer-readable medium of claim 16, wherein the code to determine the path of trajectory of the second wireless device is configured to:

combine the sensor derived trajectory information, the at least one AoA measurement, and the at least one RTP measurement to determine the path of trajectory of the second wireless device.

19. The non-transitory computer-readable medium of claim 16, further comprising code to:

determine a distance to the second wireless device associated with each of the at least one RTP measurement; and

determine an estimated speed of the second wireless device at an end of a set of RTP measurements.

20. The non-transitory computer-readable medium of claim 19, further comprising code to:

determine a cost function based at least in part on the distance to the second wireless device associated with each of the at least one RTP measurement, the estimated speed of the second wireless device at the end of the set of RTP measurements, a weighting function, and a variance associated with the at least one AoA measurement and the at least one RTP measurement, wherein the path of trajectory of the second wireless device is further determined based at least in part on the weighting function.