Method and system for radiofrequency localization of transmitting devices via a mesh network

A method comprising:

• at each node in a set of nodes:
• transmitting an outbound synchronization signal;
• receiving a self-receive signal associated with the outbound synchronization signal;
• receiving a set of inbound synchronization signals comprising an inbound synchronization signal from each other node in the set of nodes;
• and
• receiving a localization signal transmitted by a device;
• based on the self-receive signal received by each node in the set of nodes and the set of inbound synchronization signals received by each node in the set of nodes:
• calculating a time bias of each node in the set of nodes;
• and
• calculating a pairwise distance between each pair of nodes in the set of nodes;
• and
• calculating a location of the device based on the time bias of each node in the set of nodes, the pairwise distance between each pair of nodes in the set of nodes, and the localization signal received at each node in the set of nodes.

A method comprising:

• at a first node:
• during a first synchronization sub-slot in a synchronization slot according to the first clock of the first node, transmitting a first synchronization signal;
• and
• receiving a first self-receive signal associated with the first synchronization signal;
• at a second node:
• during a second synchronization sub-slot in the synchronization slot according to the second clock of the second node, transmitting a second synchronization signal, wherein the second synchronization sub-slot is offset from the first synchronization sub-slot by a buffer duration greater than an estimated time offset between the first node and the second node;
• receiving a second self-receive signal associated with the second synchronization signal;
• and
• receiving the first synchronization signal;
• at the first node:
• receiving the second synchronization signal;
• and
• receiving a first localization signal transmitted by a first device;
• at the second node, receiving the first localization signal;
• and
• estimating a location of the first device based on the first synchronization signal received at the second node, the second synchronization signal received at the first node, the first self-receive signal received at the first node, the second self-receive signal received at the second node, the first localization signal received at the first node, and the first localization signal received at the second node.

A method comprising:

• at a first node:
• transmitting a first synchronization signal;
• and
• receiving a first self-receive signal associated with the first synchronization signal;
• at a second node:
• transmitting a second synchronization signal;
• receiving a second self-receive signal associated with the second synchronization signal;
• and
• receiving the first synchronization signal;
• at the first node:
• receiving the second synchronization signal;
• and
• defining a first localization slot according to a first clock of the first node, a duration of the first localization slot based on a predicted drift rate of a device clock in a first device;
• and
• during the first localization slot, receiving a first localization signal transmitted by the first device;
• at the second node:
• defining a second localization slot according to a second clock of the second node;
• and
• during the second localization slot, receiving the first localization signal transmitted by the first device;
• and
• estimating a location of the first device based on the first synchronization signal received at the second node, the second synchronization signal received at the first node, the first self-receive signal received at the first node, the second self-receive signal received at the second node, the first localization signal received at the first node, and the first localization signal received at the second node.

A method comprising:

• at a first node:
• transmitting a first synchronization signal;
• and
• receiving a first self-receive signal associated with the first synchronization signal;
• at a second node:
• transmitting a second synchronization signal;
• receiving a second self-receive signal associated with the second synchronization signal;
• and
• receiving the first synchronization signal;
• at the first node:
• receiving the second synchronization signal;
• and
• defining a first localization slot according to a first clock of the first node, a duration of the first localization slot based on a first standardized wireless protocol executed by a first device;
• and
• during the first localization slot, receiving a first localization signal transmitted by the first device;
• at the second node:
• defining a second localization slot according to a second clock of the second node;
• and
• during the second localization slot, receiving the first localization signal transmitted by the first device;
• and
• estimating a location of the first device based on the first synchronization signal received at the second node, the second synchronization signal received at the first node, the first self-receive signal received at the first node, the second self-receive signal received at the second node, the first localization signal received at the first node, and the first localization signal received at the second node.