Apparatus and Method for Localizing a First Device, Localization Apparatus and Methods for Localization

A localization apparatus, comprising:

• a time of flight circuit configured to emit a first modulated light signal and to receive reflections of the first modulated light signal from at least three devices;
• a processing circuit configured to determine, based on the first modulated light signal and the reflections, positions of the at least three devices in a first coordinate system associated with the apparatus;
• and
• a receive circuit configured to receive second modulated signals from the at least three devices, the second modulated signals comprising data indicating positions of the at least three devices in a second coordinate system,
• wherein the processing circuit is further configured to determine a position and an orientation of the apparatus in the second coordinate system based on the positions of the at least three devices in the first coordinate system and the data indicating the positions of the at least three devices in the second coordinate system.

A method for localizing a first device, the method comprising:

• emitting a first modulated light signal;
• receiving a reflection of the first modulated light signal from the first device;
• determining, based on the first modulated light signal and the reflection, a position of the first device in a first coordinate system associated with an emitter of the first modulated light signal;
• determining a position of the first device in a second coordinate system based on the position of the first device in the first coordinate system, a position of the emitter in the second coordinate system, and an orientation of the emitter in the second coordinate system;
• and
• emitting a second modulated signal to the first device, the second modulated signal comprising data indicating the position of the first device in the second coordinate system.

A localization method, comprising:

• emitting a first modulated light signal;
• receiving reflections of the first modulated light signal from at least three devices;
• determining, based on the first modulated light signal and the reflections, positions of the at least three devices in a first coordinate system associated with an emitter of the first modulated light signal;
• receiving second modulated signals from the at least three devices, the second modulated signals comprising data indicating positions of the at least three devices in a second coordinate system;
• and
• determining a position and an orientation of the emitter in the second coordinate system based on the positions of the at least three devices in the first coordinate system and the data indicating the positions of the at least three devices in the second coordinate system.

A localization method, comprising:

• determining, based on an emitted first modulated light signal and received reflections of the first modulated light signal from a plurality of devices, first positions of the plurality of devices relative to an emitter of the first modulated light signal;
• emitting at least one second modulated signal to the plurality of devices that comprises data indicating the first positions of the plurality of devices;
• determining, based on an emitted third modulated light signal and received reflections of the third modulated light signal from at least three of the plurality of devices, second positions of the at least three of plurality of devices relative to the emitter;
• receiving fourth modulated signals from the at least three of the plurality of devices, the fourth modulated signals comprising data indicating the first positions of the at least three of the plurality of devices;
• and
• determining a relative movement of the emitter based on the first positions and the second positions of the at least three of the plurality of devices.