| CPC G01S 5/0244 (2020.05) [G01S 5/0236 (2013.01); G01S 11/08 (2013.01); H04W 4/023 (2013.01); H04W 12/63 (2021.01)] | 15 Claims |
|
1. A device for distance measurement via wireless communication between the device acting as a first device and a second device for wireless communication,
the wireless communication comprising a ranging protocol for determining a distance between the first and the second device based on an arrival time of a measurement message at the first device, the ranging protocol comprising transmitting the measurement message by the second device;
the device comprising:
a first transceiver for transmitting and receiving of messages,
a first message processor arranged for:
processing the messages according to the ranging protocol;
determining a first arrival time of the measurement message at the first device, and
determining a first distance between the first device and the second device based on the first arrival time;
wherein the first transceiver comprises a first directional antenna for detecting a direction of a received signal carrying a message, and the first message processor is arranged for:
communicating with a third device, the third device acting as a cooperating device located at a trusted distance from the first device, the cooperating device sharing a connecting direction with the first device, the connecting direction indicative of a direction of a line connecting the first device and the cooperating device;
assessing the determined distance;
determining a first direction when receiving the measurement message at the first device;
determining a first angle between the first direction and the connecting direction;
receiving support data from the cooperating device, the support data containing an indication of a third direction, the third direction determined by the third device upon receipt of the measurement message at the third device;
obtaining a third angle between the third direction and the connecting direction based on the support data,
performing a verification test on the first distance, the trusted distance, the first angle and the third angle, the verification test accepting the first distance as reliable when said distances and angles correspond to a viable spatial constellation of the first device, the second device and the cooperating device;
the third message processor arranged for:
determining a third arrival time of the measurement message at the third device,
the support data also based on the third arrival time; and
wherein the first message processor is arranged for
obtaining a third distance between the third device and the second device using the support data regarding the third arrival time, and
performing the verification test also using the third distance; and
wherein, when the determined distance is determined to be reliable, the first message processor is arranged to combine a first distance result calculated from arrival times with a first distance result calculated from the trusted distance and first and third angles.
|