US 12,146,939 B1
Fusing measurements from sensors of multiple devices into a single coordinate space
James T. Curran, Cupertino, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Jul. 9, 2021, as Appl. No. 17/371,621.
Claims priority of provisional application 63/061,124, filed on Aug. 4, 2020.
Int. Cl. G01S 13/42 (2006.01); G01S 13/56 (2006.01); G01S 13/72 (2006.01)
CPC G01S 13/42 (2013.01) [G01S 13/56 (2013.01); G01S 13/72 (2013.01)] 26 Claims
OG exemplary drawing
 
1. A method comprising:
tracking an object via a first electromagnetic spatial sensor on a first electronic device, wherein tracking the object includes gathering a first set of sensor measurements of the object for a first period of time via a first sensor transceiver and determining a first set of direction and range measurements to the object via the first set of sensor measurements;
receiving a second set of direction and range measurements to the object from a second electronic device, the second set of direction and range measurements determined using a second set of sensor measurements gathered via a second sensor transceiver on the second electronic device for the first period of time;
determining whether the first electromagnetic spatial sensor has an overlapping field of view with the second electromagnetic spatial sensor or a non-overlapping field of view with the second electromagnetic spatial sensor;
estimating, by the first electronic device based on a comparison of the first set of direction and range measurements with the second set of direction and range measurements, a position for the object relative to the second electronic device;
calculating, by the first electronic device based on the position of the object relative to the second electronic device and the determining of whether the first electromagnetic spatial sensor has the overlapping view or the non-overlapping view, a position of the second electronic device relative to the first electronic device; and
storing a position of the first electronic device relative to the second electronic device.