Location of target object using 2-antenna AoA, wireless ranging, and user equipment orientations

A method for locating a target object, comprising:

• determining a plurality of position-orientation-distance-angle values, each of the plurality of position-orientation distance-angle values comprising:
• a position of a user equipment relative to a reference position;
• an orientation of the user equipment relative to a reference orientation corresponding to the reference position;
• a distance between the position of the user equipment and the target object based on one or more wireless ranging signals between the user equipment and the target object;
• and an angle of the target object corresponding to the position and the orientation of the user equipment, the angle being an angle of arrival of the one or more wireless ranging signals at a first antenna and a second antenna of the user equipment, wherein a combination of the position and the orientation of the user equipment in each of the plurality of position-orientation-distance-angle values is different;
• and
• calculating a position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position.

A computing device, comprising:

• means for determining a plurality of position-orientation-distance-angle values, each of the plurality of position-orientation distance-angle values comprising:
• a position of a user equipment relative to a reference position;
• an orientation of the user equipment relative to a reference orientation corresponding to the reference position;
• a distance between the position of the user equipment and a target object based on one or more wireless ranging signals between the user equipment and the target object;
• and an angle of the target object corresponding to the position and the orientation of the user equipment, the angle being an angle of arrival of the one or more wireless ranging signals at a first antenna and a second antenna of the user equipment, wherein a combination of the position and the orientation of the user equipment in each of the plurality of position-orientation-distance-angle values is different;
• and
• means for calculating a position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position.

A non-transitory, processor-readable storage medium comprising processor-readable instructions to cause one or more processors to:

• determine a plurality of position-orientation-distance-angle values, each of the plurality of position-orientation distance-angle values comprising:
• a position of a user equipment relative to a reference position;
• an orientation of the user equipment relative to a reference orientation corresponding to the reference position;
• a distance between the position of the user equipment and a target object based on one or more wireless ranging signals between the user equipment and the target object;
• and an angle of the target object corresponding to the position and the orientation of the user equipment, the angle being an angle of arrival of the one or more wireless ranging signals at a first antenna and a second antenna of the user equipment, wherein a combination of the position and the orientation of the user equipment in each of the plurality of position-orientation-distance-angle values is different;
• and
• calculate a position of the target object using the plurality of position-orientation-distance-angle values, wherein the position of the target object is relative to the reference position.