Hybrid method for indoor positioning in wireless network

Patent metadata

Field	Value
Publication number	US-2024361423-A1
Application number	US-202418630867-A
Country	US
Kind code	A1
Filing date	Apr 9, 2024
Priority date	Apr 27, 2023
Publication date	Oct 31, 2024
Grant date	—

Abstract

A method for estimating a position of an object comprises: receiving a motion event signal indicating a motion type of the object, the motion type being determined based on sensing data provided by one or more sensors; receiving one or more ranging measurements for distances between the object and one or more anchor points from a ranging device; determining a mode among a plurality of positioning modes based on the motion event and the one or more ranging measurements; and estimating a position of the object using the determined mode.

First claim

What is claimed is:

1 . A method for estimating a position of an object, the method comprising:
receiving a motion event signal indicating a motion type of the object, the motion type being determined based on sensing data provided by one or more sensors; receiving one or more ranging measurements for distances between the object and one or more anchor points from a ranging device; determining a mode among a plurality of positioning modes based on the motion event and the one or more ranging measurements; and estimating a position of the object using the determined mode.

2 . The method of claim 1 , wherein the sensing data are associated with at least one of acceleration, orientation, rotational velocity, step size or step heading.

3 . The method of claim 1 , wherein the plurality of positioning modes includes a first positioning mode and a second positioning mode, wherein:
the first positioning mode estimates a position of the object based on a combination of the ranging measurements for the distances and the sensor data associated with step size and step heading; and the second positioning mode estimates a position of the object based on round trip time (RTT) based distance measurement.

4 . The method of claim 3 , wherein the determining the mode comprises:
switching from the second positioning mode to the first positioning mode when a motion event signal indicating that the object moves in a straight line is received.

5 . The method of claim 3 , wherein the determining the mode comprises:
switching from the first positioning mode to the second positioning mode when a motion event signal indicating stop, fluctuation, or change in a heading of the object is received.

6 . The method of claim 3 , wherein the determining the mode comprises:
switching from the first positioning mode to the second positioning mode when a difference between a position estimate based on the first positioning mode and a position estimate based on the second positioning mode is larger than a threshold.

7 . The method of claim 3 , wherein the plurality of positioning modes further includes a third positioning mode that estimates a position of the object using a trilateration algorithm.

8 . The method of claim 7 , wherein the determining the mode comprises:
switching from the first positioning mode or the second positioning mode to the third positioning mode when a number of ranging measurements for the distances is smaller than a predetermined number.

9 . The method of claim 7 , wherein the plurality of positioning modes further includes a fourth positioning mode that estimates a position of the object using a positioning algorithm based on step size and step heading.

10 . The method of claim 9 , wherein the determining the mode comprises:
switching from the first positioning mode or the second positioning mode to the fourth positioning mode when a number of ranging measurements for the distances is smaller than a predetermined number.

11 . A device for estimating a position of the device, comprising:
one or more sensors configured to provide sensing data; and a processor coupled to the one or more sensors, the processor configured to cause:
receiving a motion event signal indicating a motion type of the device, the motion type being determined based on sensing data provided by the one or more sensors;
measuring distances between the device and one or more anchor points;
determining a mode among a plurality of positioning modes based on the motion event signal and one or more measurements of the distances; and
estimating a position of the device using the determined mode.

12 . The device of claim 11 , wherein the sensing data are associated with at least one of acceleration, orientation, rotational velocity, step size or step heading.

13 . The device of claim 11 , wherein the plurality of positioning modes includes a first positioning mode and a second positioning mode, wherein:
the first positioning mode estimates a position of the device based on a combination of the one or more measurements for the distances and the sensor data associated with step size and step heading; and the second positioning mode estimates a position of the device based on round trip time (RTT) based distance measurement.

14 . The device of claim 13 , wherein the determining the mode comprises:
switching from the second positioning mode to the first positioning mode when a motion event signal indicating that the device moves in a straight line is received.

15 . The device of claim 13 , wherein the determining the mode comprises:
switching from the first positioning mode to the second positioning mode when a motion event signal indicating stop, fluctuation, or change in a heading of the object is received.

16 . The device of claim 13 , wherein the determining the mode comprises:
switching from the first positioning mode to the second positioning mode when a difference between a position estimate based on the first positioning mode and a position estimate based on the second positioning mode is larger than a threshold.

17 . The device of claim 13 , wherein the plurality of positioning modes further includes a third positioning mode that estimates a position of the device using a trilateration algorithm.

18 . The device of claim 17 , wherein the determining the mode comprises:
switching from the first positioning mode or the second positioning mode to the third positioning mode when a number of measurements for the distances is smaller than a predetermined number.

19 . The device of claim 17 , wherein the plurality of positioning modes further includes a fourth positioning mode that estimates a position of the device using a positioning algorithm based on step size and step heading.

20 . The device of claim 19 , wherein the determining the mode comprises:
switching from the first positioning mode or the second positioning mode to the fourth positioning mode when a number of ranging measurements for the distances is smaller than a predetermined number.

Assignees

• Samsung Electronics Co Ltd

Inventors

• Jurdi Rebal
• Dawar Neha
• Zhu Yuming
• Han Johnny Kyu-Hui

Classifications

• G01S13/582

  adapted for simultaneous range and velocity measurements · CPC title

• G01S13/876

  Combination of several spaced transponders or reflectors of known location for determining the position of a receiver (G01S13/874 takes precedence) · CPC title

• G01S13/765 Primary

  with exchange of information between interrogator and responder · CPC title

• G01S5/017

  Detecting state or type of motion · CPC title

• G01S2205/02

  Indoor · CPC title