# US 12,181,594 B2 · Positioning target device

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- Number: US 12,181,594 B2
- Document ID: US12181594B2
- Status: Granted
- Kind: B2
- Application number: 17/786,970
- Filed: 2020-01-02
- Published: 2023-03-30
- Granted: 2024-12-31
- Earliest claimed: 2020-01-02
- Assignees: Nokia Technologies Oy
- Applicants: Nokia Technologies Oy
- Inventors: Dawei Wu
- Web page: https://patentgrep.com/patent/US12181594B2

## CPC

- G01S 5/0063: {of measured values, i.e. measurement on base station and position calculation on mobile}
- G01S 5/02: using radio waves (using satellite radio beacon systems for determining position G01S19/00)
- G01S 5/0054: {of actual mobile position, i.e. position calculation on base station}
- G01S 5/02585: {at least one of the measurements being a non-radio measurement}
- G01S 5/14: Determining absolute distances from a plurality of spaced points of known location
- H04W 24/10: Scheduling measurement reports {; Arrangements for measurement reports}
- G01S 5/0036: {of measured values, i.e. measurement on mobile and position calculation on base station}
- G01S 5/12: by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
- 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
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

Embodiments of the present disclosure relate to positioning target device. According to embodiments of the present disclosure, the location of the target device is measured by two anchor devices. The distances between the target device at a location and the anchor devices are measured and the distances between the target device at a further location and the anchor devices are also measured. The location of the target device is estimated based on the distances. In this way, fewer anchor devices are used to perform the positioning.

## Claims

### Claim 1

A target device, comprising:
at least one processor; and
at least one memory including computer program codes;
the at least one memory and the computer program codes configured to, with the at least one processor, cause the target device to:
obtain a first distance between the target device at a first location and a first anchor device at a second location and a second distance between the target device at the first location and a second anchor device at a third location;
obtain a third distance between the target device at a fourth location and the first anchor device at the second location and a fourth distance between the target device at the fourth location and the second anchor device at the third location;
determine an angle between first line connecting the first and fourth locations and second line connecting the second and third locations, wherein the angle is determined based on angles between the first line and each of planes XY, YZ, and XZ, respectively; and
obtain a first coordinate of the first location and a second coordinate of the fourth location relative to the first and second anchor devices based at least in part on the first, second, third and fourth distances and the angle.

### Claim 2 (depends on 1)

The target device of claim 1, wherein the target device is caused to obtain the first distance by:
transmitting a request to the first anchor device to measure the first distance;
receiving a measurement report comprising the first distance from the second device; and
obtaining the first distance from the measurement report.

### Claim 3 (depends on 1)

The target device of claim 1, wherein the target device is caused to obtain the first distance by:
measuring the first distance between the target device and the first anchor device.

### Claim 4 (depends on 1)

The target device of claim 1, wherein the target device is caused to determine the angle by:
measuring a plurality of angles related to the first and third locations in space; and
determining the angle based on the plurality of angles.

### Claim 5 (depends on 1)

The target device of claim 1, wherein the target device is caused to obtain the first coordinate and the second coordinate by:
transmitting first information indicating the first, second, third and fourth distances and the angle to a fourth device; and
receiving second information indicating the first coordinate and the second coordinate from the fourth device.

### Claim 6 (depends on 1)

The target device of claim 1, wherein the target device is caused to obtain the first coordinate and the second coordinate by:
obtaining a third coordinate of the second location;
obtaining a fourth coordinate of the third location; and
determining the first coordinate and the second coordinate based on the second coordinate, the third coordinate, the first, second, third and fourth distances, and the angle.

### Claim 7 (depends on 1)

The target device of claim 1, wherein the target device is further caused to obtain the first coordinate of the first location and the second coordinate of the fourth location by:
obtaining one or more distances between the target device at one or more further locations and the first anchor device at the second location and one or more further distances between the target device at the one or more further locations and the second anchor device at the third location; and
obtaining the first coordinate, the second coordinate and one or more coordinates corresponding to the one or more locations based at least in part on the first, second, third, fourth distances, the one or more distances and the one or more further distances.

### Claim 8

A method comprising:
obtaining, at a target device, a first distance between the target device at a first location and a first anchor device at a second location and a second distance between the target device at the first location and a second anchor device at a third location;
obtaining a third distance between the target device at a fourth location and the first anchor device at the second location and a fourth distance between the target device at the fourth location and the second anchor device at the third location;
determining an angle between first line connecting the first and fourth locations and second line connecting the second and third locations, wherein the angle is determined based on angles between the first line and each of planes XY, YZ, and XZ, respectively; and
obtaining a first coordinate of the first location and a second coordinate of the fourth location relative to the first and second anchor devices based at least in part on the first, second, third and fourth distances and the angle.

### Claim 9 (depends on 8)

The method of claim 8, wherein obtaining the first distance comprises:
transmitting a request to the first anchor device to measure the first distance;
receiving a measurement report comprising the first distance from the second device; and
obtaining the first distance from the measurement report.

### Claim 10 (depends on 8)

The method of claim 8, wherein obtaining the first distance comprises:
measuring the first distance between the target device and the first anchor device.

### Claim 11 (depends on 8)

The method of claim 8, wherein determining the angle comprises:
measuring a plurality of angles related to the first and third locations in space; and
determining the angle based on the plurality of angles.

### Claim 12 (depends on 8)

The method of claim 8, wherein obtaining the first coordinate and the second coordinate comprises:
transmitting first information indicating the first, second, third and fourth distances and the angle to a fourth device; and
receiving second information indicating the first coordinate and the second coordinate from the fourth device.

### Claim 13 (depends on 8)

The method of claim 8, wherein obtaining the first coordinate and the second coordinate comprises:
obtaining a third coordinate of the second location;
obtaining a fourth coordinate of the third location; and
determining the first coordinate and the second coordinate based on the second coordinate, the third coordinate, the first, second, third and fourth distances, and the angle.

### Claim 14 (depends on 8)

The method of claim 8, wherein obtaining the first coordinate of the first location and the second coordinate of the fourth location comprises:
obtaining one or more distances between the target device at one or more further locations and the first anchor device at the second location and one or more further distances between the target device at the one or more further locations and the second anchor device at the third location; and
obtaining the first coordinate, the second coordinate and one or more coordinates corresponding to the one or more locations based at least in part on the first, second, third, fourth distances, the one or more distances and the one or more further distances.

### Claim 15

A computer readable medium storing instructions thereon, the instructions, when executed by at least one processing unit of a machine, causing the machine to perform:
obtaining, at a target device, a first distance between the target device at a first location and a first anchor device at a second location and a second distance between the target device at the first location and a second anchor device at a third location;
obtaining a third distance between the target device at a fourth location and the first anchor device at the second location and a fourth distance between the target device at the fourth location and the second anchor device at the third location;
determining an angle between first line connecting the first and fourth locations and second line connecting the second and third locations, wherein the angle is determined based on angles between the first line and each of planes XY, YZ, and XZ, respectively; and
obtaining a first coordinate of the first location and a second coordinate of the fourth location relative to the first and second anchor devices based at least in part on the first, second, third and fourth distances and the angle.

### Claim 16 (depends on 15)

The computer readable medium according to claim 15, wherein obtaining the first distance comprises:
transmitting a request to the first anchor device to measure the first distance;
receiving a measurement report comprising the first distance from the second device; and
obtaining the first distance from the measurement report.

### Claim 17 (depends on 15)

The computer readable medium according to claim 15, wherein obtaining the first distance comprises:
measuring the first distance between the target device and the first anchor device.

### Claim 18 (depends on 15)

The computer readable medium according to claim 15, wherein determining the angle comprises:
measuring a plurality of angles related to the first and third locations in space; and
determining the angle based on the plurality of angles.

### Claim 19 (depends on 15)

The computer readable medium according to claim 15, wherein obtaining the first coordinate and the second coordinate comprises:
transmitting first information indicating the first, second, third and fourth distances and the angle to a fourth device; and
receiving second information indicating the first coordinate and the second coordinate from the fourth device.

### Claim 20 (depends on 15)

The computer readable medium according to claim 15, wherein obtaining the first coordinate and the second coordinate comprises:
obtaining a third coordinate of the second location;
obtaining a fourth coordinate of the third location; and
determining the first coordinate and the second coordinate based on the second coordinate, the third coordinate, the first, second, third and fourth distances, and the angle.