KR-20260066060-A - Target object localization using 2-antenna AOA, radio ranging, and user equipment orientations

Abstract

A method for determining the location of a target object comprises the step of determining a plurality of position-orientation-distance-angle values, wherein each of the plurality of position-orientation-distance-angle values comprises: a position of user equipment (UE) relative to a reference position; an orientation of the UE relative to a reference orientation; a distance corresponding to the position of the UE—the distance is the distance between the position of the UE and the target object based on radio ranging signal(s) between the UE and the target object—; and an angle corresponding to the position and orientation of the UE, wherein the angle is the AoA of radio ranging signal(s) at the first and second antennas of the UE, and the combination of the position and orientation of the UE in each of the position-orientation-distance-angle values is different—; and the step of calculating the position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position.

Inventors

• 고메즈 마르티네즈, 펠리시아노
• 자오, 리앙

Assignees

• 퀄컴 인코포레이티드

Dates

Publication Date

20260512

Application Date

20240820

Priority Date

20230918

Claims (20)

1. As user equipment, First antenna and second antenna; One or more memories; and It includes one or more processors coupled to the one or more of the above-mentioned memories so as to be communicable, and the one or more processors, Determine multiple position-orientation-distance-angle values - and the above multiple positions Each of the orientation-distance-angle values is the position of the user equipment relative to the reference position Sion; arrangement of the user equipment for the reference orientation corresponding to the reference position above. Scent; one or more wireless lanes between the user equipment and the target object The position of the user equipment and the target based on ringing signals Distance between objects; and correspondence to the position and orientation of the user equipment It includes the angle of the above target object, and the angle is of the user equipment The one or more wireless rangings at the first antenna and the second antenna It is the angle of arrival of the signals, and at each of the plurality of position-orientation-distance-angle values, the The combination of the above position and the above orientation of the user's equipment is different -; Using the above plurality of position-orientation-distance-angle values, the target object It is configured to calculate the position of, and the position of the target object is the device User equipment that is for a quasi-position.
2. A user device according to claim 1, wherein the one or more processors are configured to determine the orientation of the user device as the orientation of the antenna vector between the first antenna and the second antenna of the user device.
3. In claim 1, the user equipment does not employ a third antenna for determining the angle of arrival of the one or more wireless ranging signals.
4. A user device according to claim 1, wherein the one or more processors are configured to calculate the angle based on the phase delay of the signal received by the first antenna and the second antenna of the user device.
5. In claim 1, to calculate the position of the target object, the one or more processors, Determine the updated reference position; Updating one or more positions of the user equipment with respect to the updated reference position in the plurality of position-orientation-distance-angle values; User equipment configured to calculate the position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the updated reference position.
6. In claim 1, to calculate the position of the target object, the one or more processors, A loss function is constructed using the above multiple position-orientation-distance-angle values; User equipment configured to determine the position of the target object by minimizing the above loss function.
7. In paragraph 1, the above one or more processors additionally, Calculate the precision for the position of the above target object; Compare the above precision with a threshold value; User equipment configured to output direction information based on the position of the target object based on the precision exceeding the threshold value.
8. In paragraph 7, to calculate the above precision, the one or more processors, Calculate a precision ellipsoid centered on the position of the above target object; Compare one or more dimensions of the above precision ellipsoid with one or more corresponding threshold values; User equipment configured to output the direction information based on the position of the target object based on the fact that the above one or more dimensions are below the above one or more corresponding thresholds.
9. In paragraph 7, to calculate the above precision, the one or more processors, Regarding the direction, determine a normal vector that is perpendicular to the target vector and perpendicular to the normal vector between the position of the user equipment and the position of the target object; Calculate the absolute precision for the position of the target object in the above direction; Calculate angle precision by dividing the above absolute precision by the absolute value of the above target vector; Compare the above angle precision with the above threshold; User equipment configured to output direction information based on the position of the target object based on the angle precision exceeding the threshold value.
10. As a method for determining the location of a target object, A step of determining a plurality of position-orientation-distance-angle values—each of the plurality of position-orientation-distance-angle values comprises: a position of the user equipment with respect to a reference position; an orientation of the user equipment with respect to a reference orientation corresponding to the reference position; a distance between the position of the user equipment and the target object based on one or more wireless ranging signals between the user equipment and the target object; and an angle of the target object corresponding to the position and orientation of the user equipment, wherein the angle is the angle of arrival of the one or more wireless ranging signals at the first antenna and the second antenna of the user equipment, and the combination of the position and orientation of the user equipment in each of the plurality of position-orientation-distance-angle values is different—; and A method comprising the step of calculating the position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position.
11. A method according to claim 10, comprising the step of determining the orientation of the user equipment as the orientation of the antenna vector between the first antenna and the second antenna of the user equipment.
12. A method according to claim 10, comprising the step of determining the angle of arrival of one or more wireless ranging signals without employing a third antenna.
13. A method according to claim 10, comprising the step of calculating the angle based on the phase delay of the signal received by the first antenna and the second antenna of the user equipment.
14. In item 10, the step of calculating the position of the target object is, Step to determine the updated reference position; A step of updating one or more positions of the user equipment with respect to the updated reference position in the plurality of position-orientation-distance-angle values; and A method comprising the step of calculating the position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the updated reference position.
15. In item 10, the step of calculating the position of the target object is, A step of constructing a loss function using the above plurality of position-orientation-distance-angle values; and A method comprising the step of determining the position of the target object by minimizing the loss function.
16. In Paragraph 10, A step of calculating the precision for the position of the above target object; A step of comparing the above precision with a threshold value; and A method further comprising the step of outputting direction information based on the position of the target object based on the precision exceeding the threshold value.
17. In Clause 16, the step of calculating the above precision is, A step of calculating a precision ellipsoid centered on the position of the target object; A step of comparing one or more dimensions of the above precision ellipsoid with one or more corresponding threshold values; and A method comprising the step of outputting direction information based on the position of the target object based on the fact that the above one or more dimensions are below the above one or more corresponding thresholds.
18. In Clause 16, the step of calculating the above precision is, A step of determining a normal vector that is perpendicular to the target vector and perpendicular to the perpendicular vector between the position of the user equipment and the position of the target object, with respect to the direction; A step of calculating absolute precision for the position of the target object in the above direction; A step of calculating angle precision by dividing the absolute precision by the absolute value of the target vector; A step of comparing the angle precision with the threshold value; and A method comprising the step of outputting direction information based on the position of the target object based on the angle precision exceeding the threshold value.
19. As a computing device, Means for determining a plurality of position-orientation-distance-angle values—each of the plurality of position-orientation-distance-angle values comprises: a position of a user device with respect to a reference position; an orientation of the user device with respect to a reference orientation corresponding to the reference position; a distance between the position of the user device and the target object based on one or more radio ranging signals between the user device and the target object; and an angle of the target object corresponding to the position and orientation of the user device, wherein the angle is the angle of arrival of the one or more radio ranging signals at the first antenna and the second antenna of the user device, and the combination of the position and orientation of the user device in each of the plurality of position-orientation-distance-angle values is different—; and A computing device comprising means for calculating the position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position.
20. A computing device according to claim 19, comprising means for determining the orientation of the user equipment as the orientation of the antenna vector between the first antenna and the second antenna of the user equipment.

Description

Target object localization using 2-antenna AOA, radio ranging, and user equipment orientations Cross-reference regarding related applications This application claims the benefit of U.S. Patent Application No. 18/468,889, filed September 18, 2023, with the title "LOCATION OF TARGET OBJECT USING 2-ANTENNA AOA, WIRELESS RANGING, AND USER EQUIPMENT ORIENTATIONS," which has been assigned to the assignee of this application, the entire contents of which are incorporated by reference for all purposes. Locating a lost object using radio signals between user equipment and the lost object often relies on the availability of two or more antennas to determine 3D Angle of Arrival (AoA) information. Including 3D AoA antennas for a device requires additional components, printed circuit board space, and special calibration to support a third or more antennas. If there are no two or more antennas, 3D AoA information is not available to locate the object. In one example, the user equipment (UE) comprises a first antenna and a second antenna; one or more memories; and one or more processors communicationly coupled to the one or more memories. The one or more processors determine a plurality of position-orientation-distance-angle values, each of which comprises: a position of the user equipment relative to a reference position; an orientation of the user equipment relative to a reference orientation corresponding to the reference position; a distance corresponding to the position of the user equipment—the distance is the distance between the position of the user equipment and the target object based on one or more radio ranging signals between the user equipment and the target object—; and an angle corresponding to the position and orientation of the UE, wherein the angle is the angle of arrival of one or more radio ranging signals at the first antenna and the second antenna of the user equipment, and the combination of the position and orientation of the user equipment is different for each of the plurality of position-orientation-distance-angle values. It is configured to calculate the position of a target object using multiple position-orientation-distance-angle values, and the position of the target object is relative to the reference position. In another example, a method for locating a target object comprises the step of determining a plurality of position-orientation-distance-angle values, wherein each of the plurality of position-orientation-distance-angle values comprises: a position of user equipment relative to a reference position; an orientation of user equipment relative to a reference orientation corresponding to the reference position; a distance between the position of user equipment and the target object based on one or more radio ranging signals between user equipment and the target object; and an angle of the target object corresponding to the position and orientation of user equipment, wherein the angle is the angle of arrival of one or more radio ranging signals at a first antenna and a second antenna of user equipment, and the combination of the position and orientation of user equipment in each of the plurality of position-orientation-distance-angle values is different; and the step of calculating the position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position. In another example, the computing device comprises means for determining a plurality of position-orientation-distance-angle values, wherein each of the plurality of position-orientation-distance-angle values comprises: a position of the user equipment relative to a reference position; an orientation of the user equipment relative to a reference orientation corresponding to the reference position; a distance between the position of the user equipment and the target object based on one or more radio ranging signals between the user equipment and the target object; and an angle of the target object corresponding to the position and orientation of the user equipment, wherein the angle is the angle of arrival of one or more radio ranging signals at the first antenna and the second antenna of the user equipment, and the combination of the position and orientation of the user equipment in each of the plurality of position-orientation-distance-angle values is different; and means for calculating the position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position. In another example, a non-transient processor-readable storage medium comprising processor-readable instructions, wherein the processor-readable instructions enable one or more processors to determine a plurality of position-orientation-distance-angle values, each of which comprises: a position of user equipment relative to a reference position; an orientation of user e