Method, apparatus, and computer program product for high accuracy location determination

• US 9,702,963 B2
• Filed: 05/30/2012
• Issued: 07/11/2017
• Est. Priority Date: 05/30/2012
• Status: Active Grant

• Current Assignee: RPX Corporation
• Original Assignee: Nokia Technologies Oy (Nokia Corporation)
• Inventors: Kalliola, Kimmo, Aho, Eero, Kainulainen, Antti, Ranki, Ville, Oksanen, Markku, Belloni, Fabio, Jussi, Ruutu
• Primary Examiner(s): Gregory, Bernarr
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US13/483,851
• Publication Number:
  US 20130321209A1
• Time in Patent Office: 1,868 Days
• CPC Class Codes: G01S 13/825 with exchange of information between interrogator and responder
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders

Abstract

Method, apparatus, and computer program product example embodiments provide short-range communication based location finding. According to an example embodiment of the invention, a method comprises receiving, by a first transceiver of an apparatus mounted on a moveable platform, from a remote device, one or more wireless packets including information packets containing angle of arrival information from the remote device, wherein the moveable platform is in motion relative to the remote device; determining in the apparatus, at least a first angle of arrival from the received angle of arrival information; and generating distance estimation data in the apparatus relative to the remote device, based on the determined first angle of arrival.

Claims

1. A method for low power position detection between relatively moving objects, for wireless location determination, comprising:

receiving, by a first transceiver of an apparatus having a first antenna array mounted on a moveable platform, from a remote device, one or more wireless Bluetooth Low Energy advertising packets modified to have an overall packet length with a first portion of the packet including a header and payload and a second portion of the packet being a direction finding extension containing angle of arrival information including a reference binary signal pattern in a continuous digital wave from the remote device, wherein the moveable platform is in motion relative to the remote device;

sampling, by a sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a first phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decoding, by a decoder of the apparatus, the sampled reference binary signals and determining at least a first angle of arrival from the received angle of arrival information, wherein the first angle of arrival is determined when the apparatus is at a first location, using the first antenna array receiving the information packets;

sampling, by the sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a second phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decoding, by the decoder of the apparatus, the sampled reference binary signals and determining at least a second angle of arrival from the received angle of arrival information, wherein the second angle of arrival is determined when the apparatus is at a second location, using the first antenna array receiving the information packets;

generating distance estimation data in the apparatus relative to the remote device, based on a separation distance between the first location and the second location, the determined first angle of arrival and second angle of arrival; and

determining relative position of the apparatus and the remote device for location determination, based on the distance estimation data, the determined first angle of arrival and second angle of arrival.

2. The method of claim 1, further comprising:

calculating distance estimation data based on a difference between the first angle of arrival and second angle of arrival.

3. A method for low power position detection between relatively moving objects, for wireless location determination, comprising:

receiving, by a first transceiver of an apparatus having a first antenna array mounted on a moveable platform, from a remote device, one or more wireless Bluetooth Low Energy advertising packets modified to have an overall packet length with a first portion of the packet including a header and payload and a second portion of the packet being a direction finding extension containing angle of arrival information including a reference binary signal pattern in a continuous digital wave from the remote device;

sampling, by a sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a first phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decoding, by a decoder of the apparatus, the sampled reference binary signals and determining at least a first angle of arrival from the received angle of arrival information, wherein the first angle of arrival is determined using the first antenna array receiving the information packets;

receiving, by a second transceiver of the apparatus having a second antenna array mounted on the moveable platform, from the remote device, the one or more wireless packets including information packets containing the angle of arrival information including the reference binary signal pattern from the remote device, wherein the second transceiver is spatially separate from the first transceiver;

sampling, by the sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a second phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decoding, by the decoder of the apparatus, the sampled reference binary signals and determining a second angle of arrival from the received angle of arrival information, wherein the second angle of arrival is determined using the second antenna array receiving the information packets;

calculating distance estimation data based on a separation distance between the first transceiver and the second transceiver, a difference between the first angle of arrival and second angle of arrival; and

determining relative position of the apparatus and the remote device for location determination, based on the distance estimation data, the determined first angle of arrival and second angle of arrival.

4. The method of claim 3, further comprising:

calculating distance estimation data based on a difference between the first angle of arrival and second angle of arrival and geographical coordinates obtained from a sensor.

5. The method of claim 3, further comprising:

calculating distance estimation data based on a difference between the first angle of arrival and second angle of arrival and geographical coordinates obtained from a database.

6. An apparatus for low power position detection between relatively moving objects, for wireless location determination, comprising:

at least one processor;

at least one memory including computer program code;

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to;

receive, by a first transceiver of the apparatus having a first antenna array mounted on a moveable platform, from a remote device, one or more wireless Bluetooth Low Energy advertising packets modified to have an overall packet length with a first portion of the packet including a header and payload and a second portion of the packet being a direction finding extension containing angle of arrival information including a reference binary signal pattern in a continuous digital wave from the remote device, wherein the moveable platform is in motion relative to the remote device;

sample, by a sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a first phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decode, by a decoder of the apparatus, the sampled reference binary signals and determine at least a first angle of arrival from the received angle of arrival information, wherein the first angle of arrival is determined when the apparatus is at a first location, using the first antenna array receiving the information packets;

sample, by the sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a second phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decode, by the decoder of the apparatus, the sampled reference binary signals and determine at least a second angle of arrival from the received angle of arrival information, wherein the second angle of arrival is determined when the apparatus is at a second location, using the first antenna array receiving the information packets;

generate distance estimation data in the apparatus relative to the remote device, based on a separation distance between the first location and the second location, the determined first angle of arrival and second angle of arrival; and

determine relative position of the apparatus and the remote device for location determination, based on the distance estimation data, the determined first angle of arrival and second angle of arrival.

7. The apparatus of claim 6, further comprising:

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to;

calculate distance estimation data based on a difference between the first angle of arrival and second angle of arrival.

8. An apparatus for low power position detection between relatively moving objects, for wireless location determination, comprising:

at least one processor;

at least one memory including computer program code;

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to;

receive, by a first transceiver of the apparatus having a first antenna array mounted on a moveable platform, from a remote device, one or more wireless Bluetooth Low Energy advertising packets modified to have an overall packet length with a first portion of the packet including a header and payload and a second portion of the packet being a direction finding extension containing angle of arrival information including a reference binary signal pattern in a continuous digital wave from the remote device;

sample, by a sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a first phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decode, by a decoder of the apparatus, the sampled reference binary signals and determine at least a first angle of arrival from the received angle of arrival information, wherein the first angle of arrival is determined using the first antenna array receiving the information packets;

receive, by a second transceiver of the apparatus having a second antenna array mounted on the moveable platform, from the remote device, the one or more wireless packets including information packets containing the angle of arrival information including the reference binary signal pattern from the remote device, wherein the second transceiver is spatially separate from the first transceiver;

sample, by the sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a second phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

decode, by the decoder of the apparatus, the sampled reference binary signals and determine a second angle of arrival from the received angle of arrival information, wherein the second angle of arrival is determined using the second antenna array receiving the information packets;

calculate distance estimation data based on a difference between a separation distance between the first transceiver and the second transceiver, the first angle of arrival and second angle of arrival; and

determine relative position of the apparatus and the remote device for location determination, based on the distance estimation data, the determined first angle of arrival and second angle of arrival.

9. The apparatus of claim 8, further comprising:

calculating distance estimation data based on a difference between the first angle of arrival and second angle of arrival and geographical coordinates obtained from a sensor.

10. The apparatus of claim 8, further comprising:

calculating distance estimation data based on a difference between the first angle of arrival and second angle of arrival and geographical coordinates obtained from a database.

11. A computer program product for low power position detection between relatively moving objects, for wireless location determination, comprising computer executable program code recorded on a computer readable non-transitory storage medium, the computer executable program code comprising:

code for receiving, by a first transceiver of an apparatus having a first antenna array mounted on a moveable platform, from a remote device, one or more wireless Bluetooth Low Energy advertising packets modified to have an overall packet length with a first portion of the packet including a header and payload and a second portion of the packet being a direction finding extension containing angle of arrival information including a reference binary signal pattern in a continuous digital wave from the remote device, wherein the moveable platform is in motion relative to the remote device;

code for sampling, by a sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a first phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

code for decoding, by a decoder of the apparatus, the sampled reference binary signals and determining at least a first angle of arrival from the received angle of arrival information, wherein the first angle of arrival is determined when the apparatus is at a first location, using the first antenna array receiving the information packets;

code for sampling, by the sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a second phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

code for decoding, by the decoder of the apparatus, the sampled reference binary signals and determining at least a second angle of arrival from the received angle of arrival information, wherein the second angle of arrival is determined when the apparatus is at a second location, using the first antenna array receiving the information packets;

code for generating by a computer in the apparatus executing computer executable program code, distance estimation data in the apparatus relative to the remote device, based on a separation distance between the first location and the second location, the determined first angle of arrival and second angle of arrival; and

code for determining by a computer in the apparatus executing computer executable program code, relative position of the apparatus and the remote device for location determination, based on the distance estimation data, the determined first angle of arrival and second angle of arrival.

12. The computer program product of claim 11, further comprising:

code for calculating distance estimation data based on a difference between the first angle of arrival and second angle of arrival.

13. A computer program product for low power position detection between relatively moving objects, for wireless location determination, comprising computer executable program code recorded on a computer readable non-transitory storage medium, the computer executable program code comprising:

code for receiving, by a first transceiver of an apparatus having a first antenna array mounted on a moveable platform, from a remote device, one or more wireless Bluetooth Low Energy advertising packets modified to have an overall packet length with a first portion of the packet including a header and payload and a second portion of the packet being a direction finding extension containing angle of arrival information including a reference binary signal pattern in a continuous digital wave from the remote device;

code for sampling, by a sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a first phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet;

code for decoding, by a decoder of the apparatus, the sampled reference binary signals and determining at least a first angle of arrival from the received angle of arrival information, wherein the first angle of arrival is determined using the first antenna array receiving the information packets;

code for receiving, by a second transceiver of the apparatus having a second antenna array mounted on the moveable platform, from the remote device, the one or more wireless packets including information packets containing the angle of arrival information including the reference binary signal pattern from the remote device, wherein the second transceiver is spatially separate from the first transceiver;

code for sampling, by the sampler and phase detector of the apparatus, the sampler configured to not process the header or payload of the first portion of the packet, but to sample the direction finding extension of the second portion of the packet, a second phase and amplitude of the reference binary signals in the received pattern in the continuous digital wave in the direction finding extension of the second portion of the packet ;

code for decoding, by the decoder of the apparatus, the sampled reference binary signals and determining a second angle of arrival from the received angle of arrival information, wherein the second angle of arrival is determined using the second antenna array receiving the information packets;

code for calculating by a computer in the apparatus executing computer executable program code, distance estimation data based on a separation distance between the first transceiver and the second transceiver, a difference between the first angle of arrival and second angle of arrival; and

code for determining by a computer in the apparatus executing computer executable program code, relative position of the apparatus and the remote device for location determination, based on the distance estimation data, the determined first angle of arrival and second angle of arrival.