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US 2021/0058740 A1Published application
Indoor positioning for mobile devices
AssigneeGoogle Inc.
InventorsFei He, Jing J. Liang
Life of this patent
Estimating the term…
Abstract
Systems and techniques are provided for indoor positioning for mobile devices. An orientation of a mobile device may be determined. An angle of a line-of-sight between the mobile device and the base station may be determined based on a peak received signal strength of a signal from the base station at a beamforming antenna of the mobile device. A distance between the mobile device and the base station may be determined based on the peak received signal strength. The mobile device may calculate the location of the mobile device using the measured orientation, the angle of the line-of-sight, and the distance between the mobile device and the base station, and a location of the base station.
Claims21
1:
- A method for determining a location of a mobile device, the method comprising:
- determining, by one or more processors of the mobile device, an orientation of the mobile device;
- determining, by the one or more processors of the mobile device, an angle of a line-of-sight between the mobile device and the base station based on a peak received signal strength of a signal from the base station at a beamforming antenna of the mobile device;
- determining, by the one or more processors of the mobile device, a distance between the mobile device and the base station based on the peak received signal strength;
- and
- calculating, by the one or more processors of the mobile device, the location of the mobile device based on:
- the measured orientation, the angle of the line-of-sight, the distance between the mobile device and the base station, and a location of the base station.
4 more elements
2:
- The method of claim 1, wherein the signal from the base station is a broadcast signal, and wherein the beamforming antenna of the mobile device is scanned through a range of angles to determine which angle has the peak received signal strength at the beamforming antenna.
3:
- The method of claim 2, wherein the broadcast signal is a 5G NR mmWave signal.
4:
- The method of claim 1, wherein the signal from the base station is a beamformed signal scanned through a range of angles, and wherein a beamforming antenna system of the mobile device determines which angle has the peak received signal strength at the beamforming antenna.
5:
- The method of claim 1, wherein determining the orientation of the mobile device further comprises measuring the orientation of the mobile device using an inertial measurement unit of the mobile device.
6:
- The method of claim 1, wherein determining the orientation of the mobile device further comprises measuring the orientation of the mobile device using visual odometry on an image from a camera of the mobile device.
7:
- The method of claim 1, further comprising:
- for each of a plurality of base stations, determining an angle of a line-of-sight between the mobile device and the respective base station based on a peak received signal strength of a signal from the respective base station at a beamforming antenna of the mobile device and determining a distance between the mobile device and the respective base station based on the peak received signal strength;
- constructing, by the mobile device, an error matrix using the measured orientation, the angle of the line-of-sight, the distance between the mobile device and the respective base station, and a location of the respective base station for each of the plurality of base stations;
- and
- calculating a location of the mobile device by using a weighted least squares optimization on the error matrix.
2 more elements
8:
- The method of claim 7, further comprising weighting errors of the error matrix based on uncertainties of the peak received signal strengths and angles of line-of-sight for the plurality of the base stations.
9:
- The method of claim 1, wherein determining the angle of the line-of-sight is performed using a beamforming algorithm based on a signal covariant matrix.
10:
- A mobile device, comprising one or more processors and a memory, the mobile device configured to:
- determine an orientation of the mobile device,
- determine an angle of a line-of-sight between the mobile device and the base station based on a peak received signal strength of a signal from the base station at a beamforming antenna of the mobile device,
- determine a distance between the mobile device and the base station based on the peak received signal strength, and
- calculate, by the mobile device, the location of the mobile device based on:
- the measured orientation, the angle of the line-of-sight, the distance between the mobile device and the base station, and a location of the base station.
3 more elements
11:
- The mobile device of claim 10, further comprising an inertial measurement unit, wherein the mobile device is configured to determine the orientation of the mobile device by measuring the orientation of the mobile device using the inertial measurement unit.
12:
- The mobile device of claim 10, further comprising a camera, wherein the mobile device is configured to determine the orientation of the mobile device by measuring the orientation of the mobile device using visual odometry on an image from the camera.
(canceled)
14:
- A system comprising a base station and a mobile device including one or more processors and a memory storing instructions which, when executed by the one or more processors, cause the one or more processors perform operations comprising:
- determining an orientation of the mobile device;
- determining an angle of a line-of-sight between the mobile device and the base station based on a peak received signal strength of a signal from the base station at a beamforming antenna of the mobile device;
- determining a distance between the mobile device and the base station based on the peak received signal strength;
- and
- calculating, by the mobile device, the location of the mobile device based on:
- the measured orientation, the angle of the line-of-sight, the distance between the mobile device and the base station, and a location of the base station.
4 more elements
15:
- The system of claim 14, wherein the signal from the base station is a broadcast signal, and wherein the instructions further cause the one or more processors to perform operations comprising:
- scanning the beamforming antenna of the mobile device through a range of angles to determine which angle has the peak received signal strength at the beamforming antenna.
16:
- The system of claim 15, wherein the broadcast signal is a 5G NR mmWave signal.
17:
- The system of claim 14, wherein the signal from the base station is a beamformed signal scanned through a range of angles, and wherein a beamforming antenna system of the mobile device is configured to determine which angle has the peak received signal strength at the beamforming antenna.
18:
- The system of claim 14, further comprising a plurality of base stations, wherein the instructions further cause the one or more processors to perform operations comprising:
- for each of the plurality of base stations, determining an angle of a line-of-sight between the mobile device and the respective base station based on a peak received signal strength of a signal from the respective base station at a beamforming antenna of the mobile device and determining a distance between the mobile device and the respective base station based on the peak received signal strength;
- constructing, by the mobile device, an error matrix using the measured orientation, the angle of the line-of-sight, the distance between the mobile device and the respective base station, and a location of the respective base station for each of the plurality of base stations;
- and
- calculating a location of the mobile device by using a weighted least squares optimization on the error matrix.
2 more elements
19:
- The system of claim 18, wherein the instructions further cause the one or more processors to perform operations comprising weighting errors of the error matrix based on uncertainties of the peak received signal strengths and angles of line-of-sight for the plurality of the base stations.
20:
- The system of claim 18, wherein the instructions further cause the one or more processors to perform operations comprising determining the angle of the line-of-sight using a beamforming algorithm based on a signal covariant matrix.
21:
- The method of claim 1, further comprising:
- obtaining, via a base station location database, the location of the base station.
Dependencies are inferred from the claim text.