Determining location and orientation of directional transceivers
First Claim
1. A method comprising:
- receiving, in a processing module, signals received from a first directional transceiver to determine a first angle between a first vector from the first directional transceiver to a second directional transceiver and a second vector from the first directional transceiver to a third directional transceiver, wherein the processing module causes the second and third directional transceivers to transmit positioning packets to the first directional transceiver, respectively defining the first vector and second vector;
receiving, in the processing module, signals received from the second directional transceiver to determine a second angle between a third vector from the second directional transceiver to the first directional transceiver and a fourth vector from the second directional transceiver to the third directional transceiver, wherein the processing module causes the first and third directional transceivers to transmit positioning packets to the second directional transceiver, respectively defining the third vector and fourth vector;
calculating, in the processing module, a location, relative to a local coordinate system, of the third directional transceiver using the first and second angles and locations in the local coordinate system of the first and second directional transceivers, the local coordinate system being defined relative to the locations of the first, second and third directional transceivers;
calculating, in the processing module, an orientation relative to the local coordinate system of the first directional transceiver using directions of the first and second vectors relative to the first directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers; and
calculating, in the processing module, an orientation relative to the local coordinate system of the second directional transceiver using directions of the third and fourth vectors relative to the second directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers.
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Accused Products
Abstract
A method comprises using a first directional transceiver (14A) to determine a first angle (α1) between a first vector (V1) from the first directional transceiver to a second directional transceiver (14B) and a second vector (V2) from the first directional transceiver to a third directional transceiver (14C), using the second directional transceiver to determine a second angle (α2) between a third vector (V3) from the second directional transceiver to the first directional transceiver and a fourth vector (V4) from the second directional transceiver to the third directional transceiver, calculating a location, relative to a local coordinate system, of the third directional transceiver using the first and second angles and locations in the local coordinate system of the first and second directional transceivers, the local coordinate system being defined relative to the locations of the first, second, and third directional transceivers, and calculating an orientation relative to the local coordinate system of the first directional transceiver using directions of the first and second vectors relative to the first directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers.
23 Citations
21 Claims
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1. A method comprising:
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receiving, in a processing module, signals received from a first directional transceiver to determine a first angle between a first vector from the first directional transceiver to a second directional transceiver and a second vector from the first directional transceiver to a third directional transceiver, wherein the processing module causes the second and third directional transceivers to transmit positioning packets to the first directional transceiver, respectively defining the first vector and second vector; receiving, in the processing module, signals received from the second directional transceiver to determine a second angle between a third vector from the second directional transceiver to the first directional transceiver and a fourth vector from the second directional transceiver to the third directional transceiver, wherein the processing module causes the first and third directional transceivers to transmit positioning packets to the second directional transceiver, respectively defining the third vector and fourth vector; calculating, in the processing module, a location, relative to a local coordinate system, of the third directional transceiver using the first and second angles and locations in the local coordinate system of the first and second directional transceivers, the local coordinate system being defined relative to the locations of the first, second and third directional transceivers; calculating, in the processing module, an orientation relative to the local coordinate system of the first directional transceiver using directions of the first and second vectors relative to the first directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers; and calculating, in the processing module, an orientation relative to the local coordinate system of the second directional transceiver using directions of the third and fourth vectors relative to the second directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 21)
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11. Apparatus comprising at least one processor and 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:
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to receive, in a processing module, signals received from a first directional transceiver to determine a first angle between a first vector from the first directional transceiver to a second directional transceiver and a second vector from the first directional transceiver to a third directional transceiver, wherein the processing module causes the second and third directional transceivers to transmit positioning packets to the first directional transceiver, respectively defining the first vector and second vector; to receive, in the processing module, signals received from the second directional transceiver to determine a second angle between a third vector from the second directional transceiver to the first directional transceiver and a fourth vector from the second directional transceiver to the third directional transceiver, wherein the processing module causes the first and third directional transceivers to transmit positioning packets to the second directional transceiver, respectively defining the third vector and fourth vector; to calculate, in the processing module, a location, relative to a local coordinate system, of the third directional transceiver using the first and second angles and locations in the local coordinate system of the first and second directional transceivers, the local coordinate system being defined relative to the locations of the first, second and third transceivers; to calculate, in the processing module, an orientation relative to the local coordinate system of the first directional transceiver using directions of the first and second vectors relative to the first directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers; and to calculate, in the processing module, an orientation relative to the local coordinate system of the second directional transceiver using directions of the third and fourth vectors relative to the second directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification