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US 11,231,497 B2Granted
Positioning method and positioning apparatus
AssigneeHuawei Technologies Co., Ltd.
InventorHui Yang
Life of this patent
Estimating the term…
Abstract
A positioning method includes: obtaining first time information of a first to-be-positioned node, second time information of a second to-be-positioned node, position information of at least three collaborative nodes with known positions, and third time information of the at least three collaborative nodes with known positions; and determining position information of the first to-be-positioned node and position information of the second to-be-positioned node according to the first time information, the second time information, the third time information, and the position information of the at least three collaborative nodes with known positions.
Claims19
A computer-implemented method comprising:
- obtaining, by an apparatus, first time information of a first to-be-positioned node whose position is to be determined, wherein the first time information comprises a first sending time at which the first to-be-positioned node sends a fine timing measurement action frame, and a first receiving time at which the first to-be-positioned node receives, from a second to-be-positioned node whose position is to be determined, a fine timing measurement response frame in response to sending the fine timing measurement action frame;
- obtaining, by the apparatus, second time information of the second to-be-positioned node whose position is to be determined, wherein the second time information comprises a second receiving time at which the second to-be-positioned node receives the fine timing measurement action frame from the first to-be-positioned node and a second sending time at which the second to-be-positioned node sends the fine timing measurement response frame in response to receiving the fine timing measurement action frame from the first to-be-positioned node;
- obtaining, by the apparatus, position information of at least three collaborative nodes with known positions and third time information of each of the at least three collaborative nodes with known positions, wherein the third time information of a respective collaborative node comprises a third receiving time at which the respective collaborative node receives the fine timing measurement action frame from the first to-be-positioned node and a fourth receiving time at which the respective collaborative node receives the fine timing measurement response frame from the second to-be-positioned node;
- and
- determining, by the apparatus, both position information of the first to-be-positioned node and position information of the second to-be-positioned node according to the obtained first time information, the obtained second time information, the obtained third time information, and the position information of the at least three collaborative nodes with known positions.
2 more elements
An apparatus comprising:
- a non-transitory memory storage comprising instructions;
- and
- one or more processors in communication with the memory storage, wherein the one or more processors execute the instructions to:
- obtain first time information of a first to-be-positioned node whose position is to be determined, wherein the first time information comprises a first sending time at which the first to-be-positioned node sends a fine timing measurement action frame and a first receiving time at which the first to-be-positioned node receives, from a second to-be-positioned node whose position is to be determined, a fine timing measurement response frame in response to sending the fine timing measurement action frame;
- obtain second time information of the second to-be-positioned node whose position is to be determined, wherein the second time information comprises a second receiving time at which the second to-be-positioned node receives the fine timing measurement action frame from the first to-be-positioned node and a second sending time at which the second to-be-positioned node sends the fine timing measurement response frame in response to receiving the fine timing measurement action frame from the first to-be-positioned node;
- obtain position information of at least three collaborative nodes with known positions and obtain third time information of each of the at least three collaborative nodes with known positions, wherein the third time information of a respective collaborative node comprises a third receiving time at which the respective collaborative node receives the fine timing measurement action frame from the first to-be-positioned node and a fourth receiving time at which the respective collaborative node receives the fine timing measurement response frame from the second to-be-positioned node;
- and
- determine both position information of the first to-be-positioned node and position information of the second to-be-positioned node according to the obtained first time information, the obtained second time information, the obtained third time information, and the position information of the at least three collaborative nodes with known positions.
5 more elements
Dependencies are inferred from the claim text.