# US 2024/0205643 A1 · Systems and Methods for Locationing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0205643 A1 - Document ID: US20240205643A1 - Status: Published application - Kind: A1 - Application number: 18/085,350 - Filed: 2022-12-20 - Published: 2024-06-20 - Earliest claimed: 2022-12-20 - Assignees: Zebra Technologies Corporation - Applicants: Zebra Technologies Corporation - Inventors: Richard Mark Clayton; Paul Seiter; Charles Burton Swope - Web page: https://patentgrep.com/patent/US20240205643A1 ## CPC - H04W 4/026: {using orientation information, e.g. compass} - G01S 5/02585: {at least one of the measurements being a non-radio measurement} - H04W 4/33: for indoor environments, e.g. buildings - H04W 4/80: Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication - G01S 5/04: Position of source determined by a plurality of spaced direction-finders - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - 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 Systems and methods for determining a position of at least one element are disclosed herein. The system receives, by a device having a first sensor, angle of arrival data from at least one element having a second sensor. The system receives position information of the device within a room and determines a difference in height between the device and the at least one element based on a first pressure measurement of the first sensor and a second pressure measurement of the second sensor. The system generates a vector between the device and the at least one element based on the angle of arrival data and determines a plane indicative of a height of the at least one element based on the determined difference in height. The system determines a position of the at least one element based on an intersection of the vector and the plane. ## Claims ### Claim 1 A method for determining a position of at least one element, comprising: receiving, by a device having a first sensor, angle of arrival data from at least one element having a second sensor; receiving position information of the device within a room; determining a difference in height between the device and the at least one element based on a first pressure measurement of the first sensor of the device and a second pressure measurement of the second sensor of the at least one element; generating a vector between the device and the at least one element based on the angle of arrival data; determining a plane indicative of a height of the at least one element based on the determined difference in height between the device and the at least one element; and determining a position of the at least one element based on an intersection of the vector and the plane. ### Claim 2 (depends on 1) The method of claim 1, wherein determining the difference in height between the device and the at least one element based on the first pressure measurement of the first sensor of the device and the second pressure measurement of the second sensor of the at least one element comprises determining a difference in pressure between the first pressure measurement and the second pressure measurement. ### Claim 3 (depends on 1) The method of claim 1, further comprising adjusting the angle of arrival data based on a pitch, roll and yaw of the device; and generating the vector between the device and the at least one element based on the adjusted angle of arrival data. ### Claim 4 (depends on 1) The method of claim 1, further comprising receiving dimension information of the room; determining whether the at least one element is positioned within the room based on the determined position; and storing the determined position when the at least one element is positioned within the room. ### Claim 5 (depends on 1) The method of claim 1, wherein the angle of arrival data is indicative of at least one of an azimuth angle and an elevation angle from the device to the at least one element, and the position of the at least one element is an X, Y coordinate position. ### Claim 6 (depends on 1) The method of claim 1, wherein the device is one of a radio frequency identification (RFID) reader and a Bluetooth Low Energy (BLE) gateway, the first device being in a fixed overhead position of the room, the at least one element is one of a radio frequency identification (RFID) tag, an ultra wideband (UWB) tag, and a Bluetooth Low Energy (BLE) beacon, and each of the first sensor and the second sensor is a barometric pressure sensor. ### Claim 7 A system for determining a position of at least one element, comprising, a device having a first sensor; at least one element having a second sensor; one or more processors; and a non-transitory computer-readable memory coupled to the device, the at least one element, and the one or more processors, the memory storing instructions thereon that, when executed by the one or more processors, cause the one or more processors to: receive, by the first device, angle of arrival data from the at least one element, receive position information of the device within a room, determine a difference in height between the device and the at least one element based on a first pressure measurement of the first sensor of the device and a second pressure measurement of the second sensor of the at least one element, generate a vector between the device and the at least one element based on the angle of arrival data, determine a plane indicative of a height of the at least one element based on the determined difference in height between the device and the at least one element, and determine a position of the at least one element based on an intersection of the vector and the plane. ### Claim 8 (depends on 7) The system of claim 7, wherein the instructions, when executed, further cause the one or more processors to: determine the difference in height between the device and the at least one element based on a difference in pressure between the first pressure measurement and the second pressure measurement. ### Claim 9 (depends on 7) The system of claim 7, wherein the instructions, when executed, further cause the one or more processors to: adjust the angle of arrival data based on a pitch, roll and yaw of the device, and generate the vector between the device and the at least one element based on the adjusted angle of arrival data. ### Claim 10 (depends on 7) The system of claim 7, wherein the instructions, when executed, further cause the one or more processors to: receive dimension information of the room; determine whether the at least one element is positioned within the room based on the determined position; and store the determined position when the at least one element is positioned within the room. ### Claim 11 (depends on 7) The system of claim 7, wherein the angle of arrival data is indicative of at least one of an azimuth angle and an elevation angle from the device to the at least one element, and the position of the at least one element is an X, Y coordinate position. ### Claim 12 (depends on 7) The system of claim 7, wherein the device is one of a radio frequency identification (RFID) reader and a Bluetooth Low Energy (BLE) gateway, the first device being in a fixed overhead position of the room, the at least one element is one of a radio frequency identification (RFID) tag, an ultra wideband (UWB) tag, and a Bluetooth Low Energy (BLE) beacon, and each of the first sensor and the second sensor is a barometric pressure sensor. ### Claim 13 A tangible machine-readable medium comprising instructions for determining a position of at least one element that, when executed, cause a machine to: receive, by a device having a first sensor, angle of arrival data from at least one element having a second sensor; receive position information of the device within the room; determine a difference in height between the device and the at least one element based on a first pressure measurement of the first sensor of the device and a second pressure measurement of the second sensor of the at least one element; generate a vector between the device and the at least one element based on the angle of arrival data; determine a plane indicative of a height of the at least one element based on the determined difference in height between the device and the at least one element; and determine a position of the at least one element based on an intersection of the vector and the plane. ### Claim 14 (depends on 13) The tangible machine-readable medium of claim 13, wherein the instructions, when executed, further cause the machine to: determine the difference in height between the device and the at least one element based on a difference in pressure between the first pressure measurement and the second pressure measurement. ### Claim 15 (depends on 13) The tangible machine-readable medium of claim 13, wherein the instructions, when executed, further cause the machine to: adjust the angle of arrival data based on a pitch, roll and yaw of the device; and generate the vector between the device and the at least one element based on the adjusted angle of arrival data. ### Claim 16 (depends on 13) The tangible machine-readable medium of claim 13, wherein the instructions, when executed, further cause the machine to: receive dimension information of the room; determine whether the at least one element is positioned within the room based on the determined position; and store the determined position when the at least one element is positioned within the room. ### Claim 17 (depends on 13) The tangible machine-readable medium of claim 13, wherein the angle of arrival data is indicative of at least one of an azimuth angle and an elevation angle from the device to the at least one element, and the position of the at least one element is an X, Y coordinate position. ### Claim 18 (depends on 13) The tangible machine-readable medium of claim 13, wherein the device is one of a radio frequency identification (RFID) reader and a Bluetooth Low Energy (BLE) gateway, the first device being in a fixed overhead position of the room, the at least one element is one of a radio frequency identification (RFID) tag, an ultra wideband (UWB) tag, and a Bluetooth Low Energy (BLE) beacon, and each of the first sensor and the second sensor is a barometric pressure sensor.