# US 2018/0321352 A1 · Pose Estimation Using Radio Frequency Identification (RFID) Tags > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0321352 A1 - Document ID: US20180321352A1 - Status: Published application - Kind: A1 - Application number: 15/588,489 - Filed: 2017-05-05 - Published: 2018-11-08 - Earliest claimed: 2017-05-05 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: James J. Troy; Christopher Esposito; Vladimir Karakusevic - Web page: https://patentgrep.com/patent/US20180321352A1 ## CPC - G01S 5/0247: {Determining attitude} - G01S 5/02521: {using a radio-map} - G01S 5/0264: {at least one of the systems being a non-radio wave positioning system} - G01S 5/08: Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location - 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 apparatus includes a directional scanner configured to receive signals from at least three RFID tags at a plurality of orientations of the directional scanner. The apparatus includes a pose estimator configured to estimate a pose of a device that includes or is coupled to the directional scanner based on orientation data indicating orientations of the directional scanner associated with determined peak signal strengths associated with the at least three RFID tags. ## Claims ### Claim 1 A positioning system, comprising: a directional scanner configured to receive signals from at least three radio frequency identification (RFID) tags at a plurality of orientations of the directional scanner; and a pose estimator configured to estimate a pose of a device that includes or is coupled to the directional scanner based on orientation data indicating orientations of the directional scanner associated with determined peak signal strengths associated with the at least three RFID tags. ### Claim 2 (depends on 1) The positioning system of claim 1, further comprising an inertial measurement unit, wherein the directional scanner is configured to be manually moved to change an orientation of the directional scanner, and wherein the inertial measurement unit is configured to provide orientation information indicating the plurality of orientations. ### Claim 3 (depends on 1) The positioning system of claim 1, further comprising a gimbal including rotation sensors configured to provide orientation information indicating the plurality of orientations of the directional scanner. ### Claim 4 (depends on 3) The positioning system of claim 3, wherein the rotation sensors include a tilt angle sensor and a pan angle sensor. ### Claim 5 (depends on 1) The positioning system of claim 1, wherein the directional scanner is a unidirectional scanner. ### Claim 6 (depends on 1) The positioning system of claim 1, wherein the pose estimator is further configured to estimate the pose based on distance data indicating distances between the directional scanner and the at least three RFID tags, wherein the distances are determined based on the determined peak signal strengths. ### Claim 7 (depends on 6) The positioning system of claim 6, wherein the pose estimator is further configured to determine a relationship between a device coordinate system and an object coordinate system using a relative relationship between the at least three RFID tags in the device coordinate system and a relative relationship between the at least three RFID tags in the object coordinate system. ### Claim 8 (depends on 7) The positioning system of claim 7, wherein the relative relationship between the at least three RFID tags in the device coordinate system is determined based on the distance data and the orientation data. ### Claim 9 A method comprising: receiving signals from at least three radio frequency identification (RFID) tags at a plurality of orientations of a directional scanner; and estimating a pose of a device that includes or that is coupled to the directional scanner based on orientation data indicating orientations of the directional seamier associated with determined peak signal strengths associated with the at least three RFID tags. ### Claim 10 (depends on 9) The method of claim 9, further comprising determining the plurality of orientations of the directional scanner based on orientation information from an inertial measurement unit. ### Claim 11 (depends on 9) The method of claim 9, wherein the pose is estimated based on distance data indicating distances between the directional scanner and the at least three RFID tags. ### Claim 12 (depends on 11) The method of claim 11, wherein the distances are determined based on the determined peak signal strengths. ### Claim 13 (depends on 12) The method of claim 12, wherein estimating the pose includes determining a relationship between a device coordinate system associated with the device and an object coordinate system using a relative relationship between the at least three RFID tags in the device coordinate system and a relative relationship between the at least three RFID tags in the Object coordinate system. ### Claim 14 (depends on 13) The method of claim 13, wherein the relative relationship between the at least three RFID tags in the device coordinate system is determined based on the distance data and the orientation data. ### Claim 15 (depends on 14) The method of claim 14, wherein the relative relationship between the device coordinate system and the object coordinate system is determined using three RFID tags. ### Claim 16 An apparatus, comprising: means for receiving signals from at least three radio frequency identification (RFID) tags at a plurality of orientations of the means for receiving signals; and means for estimating a pose of a device that includes or that is coupled to the means for receiving signals based on orientation data indicating orientations of the means for receiving signals associated with determined peak signal strengths associated with the at least three RFID tags. ### Claim 17 (depends on 16) The apparatus of claim 16, further comprising means for detecting orientation configured to provide orientation information indicating the plurality of orientations of the means for receiving signals. ### Claim 18 (depends on 16) The apparatus of claim 16, wherein the means for estimating the pose is configured to estimate the pose based on distance data indicating distances between the means for receiving signals and the at least three RFID tags. ### Claim 19 (depends on 18) The apparatus of claim 18, wherein the means for estimating the pose is configured to determine the distances based on the determined peak signal strengths. ### Claim 20 (depends on 16) The apparatus of claim 16, wherein the means for estimating the pose is configured to determine a relationship between a device coordinate system associated with the device and an object coordinate system using a relative relationship between the at least three RFID tags in the device coordinate system and a relative relationship between the at least three RFID tags in the object coordinate system.