US 12,452,621 B1
Multi-device localization and ranging
Spencer Russell, Quincy, MA (US); and Carlos Renato Nakagawa, San Jose, CA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Dec. 9, 2021, as Appl. No. 17/546,639.
Int. Cl. H04S 7/00 (2006.01); H04R 5/04 (2006.01); H04R 29/00 (2006.01)
CPC H04S 7/301 (2013.01) [H04R 5/04 (2013.01); H04R 29/001 (2013.01); H04R 2203/12 (2013.01)] 17 Claims
OG exemplary drawing
 
5. A computer-implemented method, the method comprising:
sending, by a first device to a second device and a third device, first data instructing (i) the second device to generate a first sound during a first time range and (ii) the third device to generate a second sound during a second time range;
receiving, by the first device from the second device, first time data indicating when a first microphone of the second device detected the first sound, second time data indicating when the first microphone of the second device detected the second sound, third time data indicating when a second microphone of the second device detected the first sound, and fourth time data indicating when the second microphone of the second device detected the second sound;
receiving, by the first device from the third device, fifth time data indicating when the third device detected the first sound and sixth time data indicating when the third device detected the second sound;
determining, by the first device, a first time difference between the first time data and the second time data;
determining, by the first device, a second time difference between the fifth time data and the sixth time data;
determining, by the first device using the first time difference and the second time difference, a first distance value representing a distance between the second device and the third device; and
determining, by the first device, a first confidence value corresponding to the first distance value, wherein the first confidence value is determined using at least the first time data, the second time data, the third time data, the fourth time data, the fifth time data, and the sixth time data.