# US 12,007,466 B2 · Three-dimensional and four-dimensional mapping of space using microwave and MM-wave parallax

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- Number: US 12,007,466 B2
- Document ID: US12007466B2
- Status: Granted
- Kind: B2
- Application number: 16/240,649
- Filed: 2019-01-04
- Published: 2019-07-04
- Granted: 2024-06-11
- Earliest claimed: 2018-01-04
- Assignees: GuRu Wireless, Inc.
- Applicants: GuRu Wireless, Inc.
- Inventors: Amirreza Safaripour; Behrooz Abiri; Florian Bohn; Seyed Ali Hajimiri
- Web page: https://patentgrep.com/patent/US12007466B2

## CPC

- G01S 7/4026: {Antenna boresight}
- G01S 13/505: {using Doppler effect for determining closest range to a target or corresponding time, e.g. miss-distance indicator}
- G01S 7/282: Transmitters
- G01S 13/48: using multiple beams at emission or reception
- G01S 13/89: for mapping or imaging
- 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

An object's distance is determined using either two RF transmitters and an RF receiver, or a two RF receivers and an RF transmitter. When using two RF transmitters, the direction of the first transmitter is changed until it reaches a first direction defined by a first angle at which the power of the RF signal—transmitted by the first transmitter—reflected off the object and received by the receiver reaches a maximum value. The direction of the second transmitter is also changed until it reaches a second direction defined by a second angle at which the power of the second RF signal—transmitted by the second transmitter—reflected off the object and received by the receiver reaches a maximum value. The distance between the object and the first transmitter is defined by the distance between the two transmitters, the second angle, and the difference between the first and second angles.

## Claims

### Claim 1

A method of determining an object's distance, the method comprising:
delivering a first RF signal from a first transmitter to the object;
changing a direction of the first transmitter along both azimuth and elevation until the first transmitter reaches a first direction defined by first and second angles at which a power of a first reflected RF signal reflected off the object and received by a receiver reaches a maximum value;
delivering a second RF signal from a second transmitter to the object;
changing a direction of the second transmitter along both azimuth and elevation until the second transmitter reaches a second direction defined by third and fourth angles at which a power of a second reflected RF signal reflected off the object and received by the receiver reaches a maximum value;
determining a distance between the object and the first transmitter in accordance with a distance between the two transmitters, and the first, second, third and fourth angles;
deactivating the second transmitter while delivering the first RF signal from the first transmitter; and
deactivating the first transmitter while delivering the second RF signal from the second transmitter.

### Claim 2 (depends on 1)

The method of claim 1 further comprising:
determining a distance between the object and the second transmitter in accordance with the distance between the two transmitters, and the first, second, third and fourth angles.

### Claim 3 (depends on 2)

The method of claim 2 further comprising:
determining a distance between the object and the receiver in accordance with the distance between the two transmitters, the distance between the first transmitter and the receiver, and the first, second, third and fourth angles.

### Claim 4

The method 3 wherein said first transmitter, said second transmitter and said receiver are positioned along a substantially straight line.

### Claim 5 (depends on 1)

The method of claim 1 wherein said receiver is a Doppler receiver.

### Claim 6

A mapping system comprising:
a first transmitter adapted to deliver a first RF signal to an object;
a second transmitter adapted to deliver a second RF signal to the object;
a receiver; and
a controller configured to:
change a direction of the first transmitter along both azimuth and elevation until the first transmitter reaches a first direction defined by first and second angles at which a power of a first reflected RF signal reflected off the object and received by the receiver reaches a maximum value;
change a direction of the second transmitter along both azimuth and elevation until the second transmitter reaches a second direction defined by third and fourth angles at which a power of a second reflected RF signal reflected off the object and received by the receiver reaches a maximum value;
determine a distance between the object and the first transmitter in accordance with a distance between the two transmitters, and the first, second, third and fourth angles;
deactivate the second transmitter while the first transmitter delivers the first RF signal; and
deactivate the first transmitter while the second transmitter delivers the second RF signal.

### Claim 7 (depends on 6)

The mapping system of claim 6 wherein the controller is further configured to:
determine a distance between the object and the second transmitter in accordance with the distance between the two transmitters, and the first, second, third and fourth angles.

### Claim 8 (depends on 7)

The mapping system of claim 7 wherein the controller is further configured to:
determine a distance between the object and the receiver in accordance with the distance between the two transmitters, the distance between the first transmitter and the receiver, and the first, second, third and fourth angles.

### Claim 9

The mapping system 8 wherein said first transmitter, said second transmitter and said receiver are positioned along a substantially straight line.

### Claim 10 (depends on 6)

The mapping system of claim 6 wherein said receiver is a Doppler receiver.