Indoor localization of a multi-antenna receiver
First Claim
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.
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Accused Products
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.
33 Citations
20 Claims
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1. A method for localization of a device comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. Software stored on a non-transitory machine-readable medium comprising instructions for causing a processor to:
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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.
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17. A localization system comprising:
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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. - View Dependent Claims (18, 19, 20)
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Specification