	US 12,105,213 B2
	Positioning and self-calibration mechanism using moving AoA locator
Sauli Johannes Lehtimaki, Nummela (FI); Mika Tapio Lansirinne, Espoo (FI); Jere Knaappila, Evitskog (FI); and Joel Kauppo, Helsinki (FI)
Assigned to Silicon Laboratories Inc., Austin, TX (US)
Filed by Silicon Laboratories Inc., Austin, TX (US)
Filed on Jan. 20, 2022, as Appl. No. 17/580,191.
Application 17/580,191 is a continuation of application No. 16/902,886, filed on Jun. 16, 2020, granted, now 11,262,430.
Prior Publication US 2022/0137175 A1, May 5, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 5/02 (2010.01); G01S 5/08 (2006.01); H01Q 3/02 (2006.01); H04W 4/02 (2018.01); H04W 64/00 (2009.01)

CPC G01S 5/021 (2013.01) [G01S 5/0284 (2013.01); G01S 5/08 (2013.01); H01Q 3/02 (2013.01); H04W 4/023 (2013.01); H04W 64/003 (2013.01)]

16 Claims

1. A method of determining a location of a movable device and a plurality of anchors, the method comprising:

disposing the movable device at a first position, wherein the movable device comprises a locator device, having an antenna array;

transmitting signals from the locator device to at least three of the plurality of anchors while at the first position;

receiving an angle estimation from each of the at least three of the plurality of anchors that received the signals, the angle estimation associated with the locator device being at the first position;

moving the movable device, a known distance to a second position;

transmitting signals from the locator device to the at least three of the plurality of anchors while at the second position;

determining an offset, in two dimensions, of each of the at least three of the plurality of anchors relative to the movable device, based on equations utilizing only the known distance and the angle estimations transmitted by at least three of the plurality of anchors associated with the movable device being at the first position and the second position, wherein the offset in two dimensions defines the location of each anchor relative to the movable device; and

determining a position of the movable device anywhere within a working area using reverse AoD after locations of the at least three of the plurality of anchors have been determined.

9. A software program, disposed on a non-transitory storage medium, which when executed by a processing unit disposed on a movable device having a locator device, enables the movable device to:

transmit signals to at least three of a plurality of anchors while at a first position;

receive an angle estimation from each of the at least three of the plurality of anchors that received the signals, the angle estimation associated with the locator device being at the first position;

move the movable device a known distance to a second position;

transmit signals to the at least three of a plurality of anchors while at the second position;

receive an angle estimation from each of the at least one of the plurality of anchors that received the signals, the angle estimation associated with the locator device being at the second position;

determine an offset, in two dimensions, of each of the at least three of the plurality of anchors relative to the movable device, based on equations utilizing only the known distance and the angle estimations transmitted by at least three of the plurality of anchors associated with the locator device being at the first position and the second position, wherein the offset in two dimensions defines the location of each anchor relative to the movable device; and

determine a position of the movable device anywhere within a working area using reverse AoD after locations of the at least three of the plurality of anchors have been determined.

13. A movable device for determining its location and a location of a plurality of anchors, comprising:

a propulsion mechanism;

a locator device, comprising:

an antenna array;

a processing unit;

a memory device, comprising instructions, which when executed by the processing unit, enable the movable device to:

transmit signals to at least three of a plurality of anchors while at a first position;

receive an angle estimation from each of the at least three of the plurality of anchors that received the signals, the angle estimation associated with the locator device being at the first position;

move a known distance to a second position;

transmit signals to the at least three of a plurality of anchors while at the second position;

receive an angle estimation from each of the at least three of the plurality of anchors that received the signals, the angle estimation associated with the locator device being at the second position;

determine an offset, in two dimensions, of each of the at least one of the plurality of anchors relative to the movable device, based on equations utilizing only the known distance and the angle estimations transmitted by at least one of the plurality of anchors associated with the locator device being at the first position and the second position, wherein the offset in two dimensions defines the location of each anchor relative to the movable device; and

determine a position of the movable device anywhere within a working area using reverse AoD after locations of the at least three of the plurality of anchors have been determined.