Positioning techniques for narrowband wireless signals under dense multipath conditions

• US 9,681,267 B2
• Filed: 06/24/2015
• Issued: 06/13/2017
• Est. Priority Date: 06/24/2015
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: Sommer, Naftali
• Primary Examiner(s): TAYLOR, BARRY W
• Application Number:
  US14/749,552
• Publication Number:
  US 20160381504A1
• Time in Patent Office: 720 Days
• CPC Class Codes: G01S 11/00 Systems for determining distance or velocity not using reflection or reradiation position-fixing by co-ordinating two or more distance determinations G01S5/00
• CPC Class Codes: G01S 13/765 with exchange of information between interrogator and responder
• CPC Class Codes: G01S 5/06 Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements G01S5/12 takes precedence
• CPC Class Codes: H04L 27/2695 with channel estimation, e.g. determination of delay spread, derivative or peak tracking channel estimation H04L25/0202
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/80 Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Abstract

Techniques and systems for position determination using narrowband signals are disclosed. A disclosed technique includes receiving, at a wireless device, signals that are transmitted at different times, each of the signals having a different carrier frequency and representing a different subchannel of a wireless channel; determining estimated magnitudes of the subchannels based respectively on the signals; determining estimated group delays of the subchannels based respectively on the signals; determining an estimated channel frequency response of the wireless channel based on the estimated magnitudes and the estimated group delays; determining a propagation delay of the signals based on the estimated channel frequency response; and generating position information based on the propagation delay.

Claims

1. A method comprising:

receiving, at a wireless device, signals that are transmitted at different times, each of the signals having a different carrier frequency and representing a different subchannel of a wireless channel;

determining estimated magnitudes of the subchannels based respectively on the signals;

determining estimated group delays of the subchannels based respectively on the signals, wherein determining the estimated group delays comprises computing phase angles of a respective subchannel of the subchannels based on a Fourier transformation of a respective signal of the signals and a Fourier transformation of a reference signal, and applying a fit function to the phase angles to produce an estimated group delay of the respective subchannel;

determining an estimated channel frequency response of the wireless channel based on the estimated magnitudes and the estimated group delays;

determining a propagation delay of the signals based on the estimated channel frequency response; and

generating position information based on the propagation delay.

2. The method of claim 1, wherein applying the fit to the phase angles comprises fitting a n-degree polynomial to the phase angles, wherein n is a positive integer greater than one.

3. The method of claim 1, comprising:

generating a pseudo spectrum based on the estimated channel frequency response; and

detecting a peak of the pseudo spectrum, wherein detecting the peak comprises selectively ignoring one or more peaks of the pseudo spectrum that do not exceed a threshold,

wherein determining the propagation delay comprises using the detected peak.

4. The method of claim 1, comprising:

determining estimated phase responses based on the estimated group delays, wherein the estimated channel frequency response is based on the estimated phase responses.

5. The method of claim 4, wherein determining the estimated phase responses comprises integrating the estimated group delays to produce the estimated phase responses.

6. The method of claim 1, wherein receiving the signals comprises receiving a signal that comprises multiple versions of a packet that are caused by echoes within the wireless channel, wherein the packet is transmitted in accordance with a frequency hopping protocol.

7. The method of claim 1, wherein a frequency bandwidth of each of the subchannels is about 1 MHz.

8. The method of claim 1, wherein the wireless device is a Bluetooth enabled device.

9. A method comprising:

receiving, at a wireless device, narrowband signals transmitted over a wireless channel, each narrowband signal having a frequency that is different from frequencies of the other narrowband signals, each narrowband signal representing a subchannel of the wireless channel;

estimating, by the wireless device, a subchannel frequency response for each narrowband signal, wherein estimating the subchannel frequency response comprises computing a group delay by determining a phase difference between the received narrowband signal and the transmitted narrowband signal, and integrating the group delay to obtain an approximated phase component;

estimating, by the wireless device, a wireless channel frequency response based on the subchannel frequency responses; and

estimating, by the wireless device, a propagation delay of the narrowband signals based on the wireless channel frequency response.

10. The method of claim 9, wherein estimating the subchannel frequency response comprises:

approximating a magnitude component of the subchannel frequency response as a constant; and

approximating a phase component of the subchannel frequency response as a straight line.

11. The method of claim 10, wherein approximating the magnitude component comprises dividing an energy of the received narrowband signal with an energy of the transmitted narrowband signal.

12. The method of claim 9, comprising:

generating, by the wireless device, a pseudo spectrum based on the estimated wireless channel frequency response, wherein estimating the propagation delay comprises identifying a peak in the pseudo spectrum.

13. The method of claim 9, wherein estimating the subchannel frequency response comprises:

approximating a magnitude component of the subchannel frequency response as a constant; and

approximating a phase component of the subchannel frequency response using an n-order polynomial, wherein n is a positive integer greater than one.

14. The method of claim 9, wherein estimating the subchannel frequency response comprises jointly unwrapping phase information and estimating phase fit parameters.

15. A device comprising:

a receiver configured to receive signals that are transmitted at different times, each of the signals having a different carrier frequency and representing a different subchannel of a wireless channel; and

a processor coupled with the receiver, wherein the processor is configured to

determine estimated magnitudes of the subchannels based respectively on the signals,

determine estimated group delays of the subchannels based respectively on the signals,

determine an estimated channel frequency response of the wireless channel based on the estimated magnitudes and the estimated group delays,

determine a propagation delay of the signals based on the estimated channel frequency response, and

generate position information based on the propagation delay,

wherein the processor is configured to compute phase angles of a respective subchannel of the subchannels based on a Fourier transformation of a respective signal of the signals and a Fourier transformation of a reference signal, and apply a fit function to the phase angles to produce an estimated group delay of the respective subchannel.

16. The device of claim 15, wherein the processor is configured to fit a n-degree polynomial to the phase angles, wherein n is a positive integer greater than one.

17. The device of claim 15, wherein the processor is configured to

generate a pseudo spectrum based on the estimated channel frequency response, and

detect a peak of the pseudo spectrum by selectively ignoring one or more peaks of the pseudo spectrum that do not exceed a threshold,

wherein the propagation delay is based on the detected peak.

18. A device comprising:

a receiver configured to receive narrowband signals that are transmitted at different times, each narrowband signal having a frequency that is different from frequencies of the other narrowband signals, each narrowband signal representing a subchannel of the wireless channel; and

a processor coupled with the receiver, wherein the processor is configured to perform operations comprising;

estimating a subchannel frequency response for each narrowband signal, wherein estimating the subchannel frequency response comprises computing a group delay by determining a phase difference between the received narrowband signal and the transmitted narrowband signal, and integrating the group delay to obtain an approximated phase component;

estimating a wireless channel frequency response based on the subchannel frequency responses; and

estimating a propagation delay of the narrowband signals based on the wireless channel frequency response.

19. The device of claim 18, wherein estimating the subchannel frequency response comprises:

approximating a magnitude component of the subchannel frequency response as a constant; and

approximating a phase component of the subchannel frequency response as a straight line.

20. The device of claim 19, wherein approximating the magnitude component comprises dividing an energy of the received narrowband signal with an energy of the transmitted narrowband signal.

21. The device of claim 18, wherein the processor is configured to perform operations comprising generating a pseudo spectrum based on the estimated wireless channel frequency response, wherein estimating the propagation delay comprises identifying a peak in the pseudo spectrum.

22. The device of claim 18, wherein estimating the subchannel frequency response comprises:

approximating a magnitude component of the subchannel frequency response as a constant; and

approximating a phase component of the subchannel frequency response using an n-order polynomial, wherein n is a positive integer greater than one.

23. The device of claim 18, wherein estimating the subchannel frequency response comprises jointly unwrapping phase information and estimating phase fit parameters.