CPC H04W 4/026 (2013.01) [G01S 3/48 (2013.01); G01S 5/06 (2013.01); H04W 4/029 (2018.02); H04W 16/18 (2013.01); H04W 64/003 (2013.01); H04W 88/08 (2013.01)] | 20 Claims |
1. A method for determining a location of a wireless device, the method comprising:
obtaining a first position and a first orientation of a first wireless device;
receiving a signal from a second wireless device;
determining a second position and a second orientation of the second wireless device based on the received signal, and the first position and first orientation;
obtaining a first location estimate of a third wireless device, the first location estimate based on a signal received by the first wireless device and from the third wireless device, the first location estimate relative to a first reference coordinate system defined by the first wireless device;
obtaining a second location estimate of the third wireless device, the second location estimate based on a signal received by the second wireless device and from the third wireless device, the second location estimate relative to a second reference coordinate system defined by the second wireless device;
mapping the second location estimate of the third wireless device relative to the second reference coordinate system to the first reference coordinate system;
aggregating the first location estimate of the third wireless device and the mapped second location estimate of the third wireless device; and
determining a location of the third wireless device within the first reference coordinate system based on the aggregation.
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