Indoor localization of a multi-antenna receiver

• US 9,885,774 B2
• Filed: 04/17/2015
• Issued: 02/06/2018
• Est. Priority Date: 04/18/2014
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Kumar, Swarun Suresh, Gil, Stephanie, Katabi, Dina, Rus, Daniela
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US14/689,474
• Publication Number:
  US 20170299691A1
• Time in Patent Office: 1,026 Days
• CPC Class Codes: G01S 5/0218 Multipath in signal reception
• CPC Class Codes: G01S 5/0247 Determining attitude
• CPC Class Codes: G01S 5/0264 at least one of the systems being a non-radio wave positioning system
• CPC Class Codes: G01S 5/08 Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49

Abstract

An approach to localization in an indoor environment makes use of a multiple antenna receiver (e.g., in a smartphone, tablet, camera) and knowledge of locations of one or more radio transmitters, which may be part of a data communication infrastructure providing data communication services to devices in the environment. Successive measurements of transmissions from the transmitters are recorded at the receiver as the device is translated and rotated in the environment. Rotation related measurements are also made at the device. The radio frequency and rotation related measurements are used to infer the location and orientation, together referred to as the pose, of the device. Phase synchronization of the transmitters and the receiver are not required. In general, accuracy of the pose estimate far exceeds that achievable using radio frequency measurements without taking into consideration motion of the device, and far exceeds that achievable using the inertial measurements alone.

Claims

1. A method for localization of a device comprising:

receiving a plurality of transmissions, each transmission being emitted from a corresponding transmitter of a plurality of transmitters at fixed locations in an environment, the receiving including receiving each of the plurality of transmissions at a plurality of antennas at fixed locations on the device, each transmission being received at a different time of a plurality of transmission times, the device being at a different pose of a plurality of poses at at least some of the times of the plurality of transmission times;

for each transmission of the plurality of transmissions,

characterizing one or more relative channel characteristics between the corresponding transmitter and the plurality of antennas,

processing the relative channel characteristics to form a direction profile,

measuring an orientation of the device at the time of receiving the transmission;

for each transmitter of the plurality of transmitters,

combining the direction profiles and measured orientations for transmission of the plurality of transmissions corresponding to the transmitter to form a combined direction profile; and

determining pose-related data for the device from the combined direction profiles for multiple of the transmitters and from locations of the transmitters, the pose-related data including at least a location of the device.

2. The method of claim 1 wherein characterizing the one or more relative channels includes, for one or more pairs of antennas, determining a channel characteristic for the transmission from the corresponding transmitter to each antenna of the pair of antennas, and combining the channel characteristics for the pair of antennas.

3. The method of claim 2 wherein each channel characteristic characterizes at least a phase of the channel.

4. The method of claim 3 wherein each channel characteristic further characterizes at least a gain of the channel.

5. The method of claim 2 wherein characterizing a relative channel includes, for one or more pairs of antennas, computing a product of a first complex channel characterization to a first antenna of the pair of antennas and a complex conjugate of a second complex channel characterization to a second antenna of the pair or antennas.

6. The method of claim 1 wherein processing the relative channel characteristics to form the direction profile comprises computing a function of a direction of arrival from the one or more relative channel characteristics.

7. The method of claim 1 wherein measuring the orientation of the device includes acquiring an inertial measurement characterizing at least one of an orientation and a change in orientation of the device.

8. The method of claim 7 wherein the inertial measurement comprises a gyroscope measurement.

9. The method of claim 7 wherein combining the direction profiles and the measured orientations comprises estimating a drift in the measured orientations, and mitigating an effect of said drift in the determining the pose-related data.

10. The method of claim 1 wherein determining the pose-related data for the device comprises estimating one or more angles of arrival for each transmitter, and triangulating the device using said estimated angles.

11. The method of claim 10 wherein at least some of the transmissions follow multiple paths to the antennas of the device and at least one transmitter has multiple estimated angles of arrival, and the combined direction profiles comprises selecting one of the estimated angles of arrival as the direct angle of arrival for said transmitter.

12. The method of claim 1 further comprising instructing a user of the device to move the device in the environment, and receiving the plurality of transmissions during resulting motion of the device.

13. The method of claim 12 wherein instructing the user to move the device comprises instructing the user to rotate the device.

14. The method of claim 1 further comprising:

acquiring optical images of one or more objects in the environment at a plurality of image acquisition times;

combining the optical images including determining poses-related data for the device relative to the one or more objects at the image acquisition times;

combining the pose-related data determined from the direction profiles and the pose-related data determined from the optical images.

15. The method of claim 14 wherein combining the optical images further includes determining a three-dimensional representation of the one or more objects, and wherein combining the pose-related data includes determining a location of the three-dimensional representation relative to locations of the plurality of transmitters.

16. Software stored on a non-transitory machine-readable medium comprising instructions for causing a processor to:

receive data representing a plurality of transmissions, each transmission being emitted from a corresponding transmitter of a plurality of transmitters at fixed locations in an environment, the receiving including receiving each of the plurality of transmissions at a plurality of antennas at fixed locations on a device, each transmission being received at a different time of a plurality of transmission times, the device being at a different pose of a plurality of poses at at least some of the times of the plurality of transmission times;

for each transmission of the plurality of transmissions,

characterize one or more relative channel characteristics between the corresponding transmitter and the plurality of antennas,

process the relative channel characteristics to form a direction profile,

measure an orientation of the device at the time of receiving the transmission;

for each transmitter of the plurality of transmitters,

combine the direction profiles and measured orientations for transmission of the plurality of transmissions corresponding to the transmitter to form a combined direction profile; and

determine pose-related data for the device from the combined direction profiles for multiple of the transmitters and from locations of the transmitters, the pose-related data including at least a location of the device.

17. A localization system comprising:

a device including

a plurality of antennas for receiving a plurality of transmissions from corresponding transmitters at fixed locations in an environment, each transmission being received at a different time of a plurality of transmission times, the device being at a different pose of a plurality of poses at at least some of the times of the plurality of transmission times,

a receiver coupled to the antennas, the receiver configured to provide channel characterizations for channels from the transmitters via the antennas, and

an orientation sensor for providing orientation-related measurements;

wherein the system further comprises;

storage for data characterizing locations of the transmitters; and

a localizer configured to receive information from the receiver, the storage, and the orientation sensor, and configured to compute pose-related data for the device by

for each transmission of the plurality of transmissions,

characterizing one or more relative channel characteristics between the corresponding transmitter and the plurality of antennas,

processing the relative channel characteristics to form a direction profile, and

measuring an orientation of the device at the time of receiving the transmission,

for each transmitter of the plurality of transmitters,

combining the direction profiles and measured orientations for transmission of the plurality of transmissions corresponding to the transmitter to form a combined direction profile, and

determining pose-related data for the device from the combined direction profiles for multiple of the transmitters and from locations of the transmitters, the pose-related data including at least a location of the device.

18. The localization system of claim 17 wherein the localizer is hosted on the device.

19. The localization system of claim 17 wherein the device further includes

a camera and a storage for images acquired by the camera, and

wherein the system further comprises an image processor configure to combining the images including determining poses-related data for the device relative to one or more objects in said images, and

wherein the localizer is further configured to combine the pose-related data determined from the transmissions and the pose-related data determined by the image processor.

20. The localization system of claim 17 further comprising the transmitters at the fixed locations in the environment.