# US 12,225,292 B2 · Electronic device comprising UWB antennas and method for implementing 6DoF > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,225,292 B2 - Document ID: US12225292B2 - Status: Granted - Kind: B2 - Application number: 17/501,459 - Filed: 2021-10-14 - Published: 2022-04-14 - Granted: 2025-02-11 - Earliest claimed: 2020-10-12 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Chulkwi Kim; Geonho Yoon - Web page: https://patentgrep.com/patent/US12225292B2 ## CPC - H01Q 21/28: Combinations of substantially independent non-interacting antenna units or systems {(multiple beam H01Q25/00)} - H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects - G01S 5/0205: {Details} - G01S 5/0284: {Relative positioning} - G01S 5/16: using electromagnetic waves other than radio waves - G01S 7/006: {using shared front-end circuitry, e.g. antennas (G01S13/765, G01S13/825 take precedence)} - G01S 13/765: {with exchange of information between interrogator and responder} - G02B 27/01: Head-up displays - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - G06F 3/012: {Head tracking input arrangements} - G06F 3/0304: {Detection arrangements using opto-electronic means (constructional details of pointing devices not related to the detection arrangement using opto-electronic means G06F3/033; optical digitisers G06F3/042)} - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - H01Q 1/273: {Adaptation for carrying or wearing by persons or animals} - H01Q 5/25: Ultra-wideband [UWB] systems, e.g. multiple resonance systems; Pulse systems - H04N 5/14: Picture signal circuitry for video frequency region (cameras or camera modules comprising electronic image sensors, or control thereof H04N23/00) - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - H04N 7/183: {for receiving images from a single remote source} - H01Q: ANTENNAS, i.e. RADIO AERIALS (radiators or antennas for microwave heating H05B6/72) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - 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 - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract An electronic device according to an embodiment includes: an ultra-wide band (UWB) communication module including a plurality of antennas, and a processor operatively connected to the UWB communication module, wherein the processor is configured to: measure a first coordinate of a first external device and a second coordinate of a second external device generated based on signals received from the first external device and the second external device using the plurality of antennas, generate a first coordinate system based on the electronic device corresponding to the measured first coordinate and second coordinate, and regenerate a second coordinate system through reconfiguration of the first coordinate system based on the first external device. ## Claims ### Claim 1 An electronic device comprising: an ultra-wide band (UWB) communication module including a plurality of antennas; and a processor operatively connected to the UWB communication module, wherein the processor is configured to: measure a first coordinate of a head-mounted display (HMD) device in a first coordinate system generated where a location of the electronic device is an origin point of the first coordinate system based on UWB signals received from the HMD device using at least part of the plurality of antennas, measure a second coordinate of a handheld controller device in the first coordinate system using the location of the electronic device as the origin point based on UWB signals received from the handheld controller device using at least part of the plurality of antennas, and generate a second coordinate system by reconfiguring the first coordinate system including changing the first coordinate of the HMD device to an origin point of the second coordinate system, and calculate a coordinate of the handheld controller device in the second coordinate system using the first coordinate of the HMD device and the second coordinate of the handheld controller device. ### Claim 2 (depends on 1) The electronic device of claim 1, further comprising a short-range communication module comprising communication circuitry, wherein the processor is configured to transmit data about the generated second coordinate system to the HMD device through the short-range communication module. ### Claim 3 (depends on 1) The electronic device of claim 1, wherein the plurality of antennas comprise a first antenna, a second antenna, and a third antenna, wherein the processor is configured to transmit UWB signals for measuring the first coordinate and the second coordinate to the HMD device and the handheld controller device using the plurality of antennas. ### Claim 4 (depends on 1) The electronic device of claim 1, wherein the processor is configured to calculate first data and second data of the handheld controller device based on the generated second coordinate system. ### Claim 5 (depends on 4) The electronic device of claim 4, wherein the first data of the handheld controller device includes posture information of the handheld controller device on the second coordinate system, and the second data of the handheld controller device includes location information of the handheld controller device on the second coordinate system. ### Claim 6 (depends on 4) The electronic device of claim 4, wherein the processor is configured to: calculate changes of values of the first data and the second data corresponding to movement of the HMD device and the handheld controller device, and track the movement of the HMD device and the handheld controller device on the second coordinate system based on the result of the calculation. ### Claim 7 (depends on 1) The electronic device of claim 1, wherein the processor uses at least one of a one way ranging (OWR) method, a two way ranging (TWR) method, or a time difference of arrival (TDoA) method when measuring the first coordinate and the second coordinate. ### Claim 8 (depends on 4) The electronic device of claim 4, further comprising a camera, wherein the processor is configured to: determine a location of the HMD device and a location of the handheld controller device using the camera, generate a third coordinate system by calculating coordinates of the HMD device and the handheld controller device based on the electronic device, and regenerate a fourth coordinate system through reconfiguration of the third coordinate system based on the HMD device. ### Claim 9 (depends on 8) The electronic device of claim 8, wherein the processor is configured to: calculate, based on the fourth coordinate system regenerated using the camera, the first data and the second data of the handheld controller device based on the HMD device, and track the movement of the HMD device and the handheld controller device on the fourth coordinate system based on the calculated values. ### Claim 10 (depends on 9) The electronic device of claim 9, wherein the processor is configured to: track the movement of the HMD device and the handheld controller device on the fourth coordinate system based on a photographing range of the camera, and track the movement of the HMD device and the handheld controller device on the second coordinate system using the plurality of antennas based on the camera escaping the photographing range of the camera. ### Claim 11 A method for tracking movement of an external device using a plurality of antennas, the method comprising: measuring a first coordinate of a head-mounted display (HMD) device in a first coordinate system generated where a location of the electronic device is an origin point of the first coordinate system based on UWB signals received from the HMD device using at least part of the plurality of antennas; measuring a second coordinate of a handheld controller device in the first coordinate system using the location of the electronic device as the origin point based on UWB signals received from the handheld controller device using at least part of the plurality of antennas; generating a second coordinate system by reconfiguring the first coordinate system including changing the first coordinate of the HMD device to an origin point of the second coordinate system; and calculating a coordinate of the handheld controller device in the second coordinate system using the first coordinate of the HMD device and the second coordinate of the handheld controller device. ### Claim 12 (depends on 11) The method of claim 11, comprising transmitting data about the generated second coordinate system to the HMD device through a short-range communication module. ### Claim 13 (depends on 11) The method of claim 11, comprising transmitting UWB signals for measuring the first coordinate and the second coordinate to the HMD device and the handheld controller device using the plurality of antennas including a first antenna, a second antenna, and a third antenna. ### Claim 14 (depends on 11) The method of claim 11, further comprising calculating first data and second data of the handheld controller device based on the regenerated second coordinate system. ### Claim 15 (depends on 14) The method of claim 14, wherein the first data of the handheld controller device includes posture information of the handheld controller device on the second coordinate system, and the second data of the handheld controller device includes location information of the handheld controller device on the second coordinate system. ### Claim 16 (depends on 14) The method of claim 14, wherein calculating comprises calculating changes of values of the first data and the second data corresponding to movement of the HMD device and the handheld controller device, and calculating further includes tracking the movement of the HMD device and the handheld controller device on the second coordinate system based on the result of the calculation. ### Claim 17 (depends on 11) The method of claim 11, wherein measuring comprises measuring the first coordinate and the second coordinate using at least one of a one way ranging (OWR) method, a two way ranging (TWR) method, or a time difference of arrival (TDoA) method. ### Claim 18 (depends on 14) The method of claim 14, further comprising: determining a location of the HMD device and a location of the handheld controller device using the camera; generating a third coordinate system by calculating coordinates of the HMD device and the handheld controller device based on the electronic device; and regenerating a fourth coordinate system through reconfiguration of the third coordinate system based on the HMD device. ### Claim 19 (depends on 18) The method of claim 18, further comprising: calculating, based on the fourth coordinate system, the first data and the second data of the handheld controller device based on the HMD device; and tracking the movement of the HMD device and the handheld controller device on the fourth coordinate system based on the calculated values. ### Claim 20 (depends on 19) The method of claim 19, wherein tracking comprises: tracking the movement of the HMD device and the handheld controller device on the fourth coordinate system based on a photographing range of the camera; and tracking the movement of the HMD device and the handheld controller device on the second coordinate system using the plurality of antennas based on the camera escaping the photographing range of the camera.