# US 10,371,808 B2 · Positioning sensor and direction estimation method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,808 B2 - Document ID: US10371808B2 - Status: Granted - Kind: B2 - Application number: 15/391,832 - Filed: 2016-12-27 - Published: 2017-07-20 - Granted: 2019-08-06 - Earliest claimed: 2016-01-15 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: Naoki Honma; Dai Sasakawa - Web page: https://patentgrep.com/patent/US10371808B2 ## CPC - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 7/354: {Extracting wanted echo-signals (Doppler systems G01S13/50)} - G01S 7/415: {Identification of targets based on measurements of movement associated with the target} - G01S 13/003: {Bistatic radar systems; Multistatic radar systems} - G01S 13/46: Indirect determination of position data - G01S 13/88: Radar or analogous systems specially adapted for specific applications (electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00) - G01S 2013/468: {by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A positioning sensor includes a transmission antenna transmitting a transmission signal, a plurality of reception antennae, each receiving a reception signals, a receiver observing the each of the plurality of reception signals in a predetermined period, a processor, and a memory, in which the processor calculates a plurality of complex transfer functions based on the each of the plurality of reception signals, records each of the plurality of complex transfer functions in the memory as being associated with each time point, extracts, among the plurality of complex transfer functions, a plurality of pairs of two complex transfer functions respectively corresponding to two time points in a predetermined interval, calculates a plurality of pieces of differential information, and estimates to a location of a moving body based on each of the plurality of pieces of differential information. ## Claims ### Claim 1 A positioning sensor comprising: a transmission antenna that transmits a transmission signal to a predetermined area in search of a moving body; a plurality of reception antennae, each of which receives a reception signal, one or more of a plurality of the reception signals received includes a reflection signal generated by the moving body reflecting the transmission signal; a receiver that observes each of the plurality of reception signals in a predetermined sampling cycle in a predetermined period; a processor; and a memory, wherein the processor calculates a plurality of complex transfer functions, each of the plurality of complex transfer functions representing a propagation characteristics between the transmission antenna and each of the plurality of reception antennae based on each of the plurality of reception signals, records each of the plurality of complex transfer functions in the memory as being associated with each time point at which each of the plurality of reception signals is observed, each of the plurality of reception signals corresponding to each of the plurality of complex transfer functions, extracts, among the plurality of complex transfer functions, a plurality of pairs of two complex transfer functions respectively corresponding to two time points in a predetermined interval, calculates a plurality of pieces of differential information representing a difference between a pair of two complex transfer functions included in each of the plurality of pairs of two complex transfer functions, each of the plurality of pieces of differential information being expressed by a vector of N dimensions, and estimates a direction to a location of the moving body with respect to the positioning sensor based on each of the plurality of pieces of differential information. ### Claim 2 (depends on 1) The positioning sensor according to claim 1, wherein among a plurality of pairs of two time points, each pair of two time points in a predetermined interval includes a first time and a second time, the first time being a point in time that is earlier than the second time, and the first time varies for each of the plurality of pairs of two complex transfer functions. ### Claim 3 (depends on 1) The positioning sensor according to claim 1, wherein the moving body is a living body. ### Claim 4 (depends on 3) The positioning sensor according to claim 3, wherein the predetermined period is approximately a half cycle of at least one of a breathing cycle, a heartbeat, and a body movement of the living body. ### Claim 5 (depends on 1) The positioning sensor according to claim 1, wherein among a plurality of pairs of two time points, each pair of two time points in a predetermined interval includes a first time and a second time, the first time being a point in time that is earlier time than the second time, and the processor for each of the plurality of pairs of two time points, calculates a correlation matrix with respect to a differential time between the second time and the first time based on each of the plurality of pieces of differential information, applies a predetermined method to each of the correlation matrices to estimate an incoming direction of the reflection signal with respect to the positioning sensor, and estimates a direction to a location of the moving body with respect to the positioning sensor based on the incoming direction. ### Claim 6 (depends on 5) The positioning sensor according to claim 5, wherein the predetermined method is a multiple signal classification algorithm. ### Claim 7 A method for estimating an incoming direction of a signal in a positioning sensor, the positioning sensor including a transmission antenna that transmits a transmission signal to a predetermined area in search of a moving body, a plurality of reception antennae, each of which receives a reception signal, one or more a plurality of the reception signals received includes a reflection signal generated by the moving body reflecting the transmission signal, a receiver that observes each of the plurality of reception signals in a predetermined sampling cycle in a predetermined period, a processor, and a memory, the method comprising: calculating, by the processor, a plurality of complex transfer functions, each of the plurality of complex transfer functions representing a propagation characteristics between the transmission antenna and each of the plurality of reception antennae based on each of the plurality of reception signals; recording, by the processor, each of the plurality of complex transfer functions in the memory as being associated with each time point at which each of the plurality of reception signals is observed, each of the plurality of reception signals corresponding to each of the plurality of complex transfer functions; extracting, by the processor and among the plurality of complex transfer functions, a plurality of pairs of two complex transfer functions respectively corresponding to two time points in a predetermined interval; calculating, by the processor, a plurality of pieces of differential information representing a difference between a pair of two complex transfer functions included in each of the plurality of pairs of two complex transfer functions, each of the plurality of pieces of differential information being expressed by a vector of N dimensions; and estimating, by the processor, a direction to a location of the moving body, with respect to the positioning sensor based on each of the plurality of pieces of differential information.