Techniques for finding a device in motion

A first mobile device, comprising:

• one or more processors;
• and
• a memory coupled to the one or more processors, the memory storing instructions that cause the one or more processors to perform operations to:
• for each of a plurality of ranging sessions occurring during a time period:
• transmit a wireless ranging signal at a first time;
• receive a wireless response signal from a second mobile device at a second time;
• determine a range value between the first mobile device and the second mobile device based on a difference between the first time and the second time, thereby determining a set of range values;
• determine first odometry information from first measurements captured during the time period using a first sensor on the first mobile device, the first odometry information indicating a first motion of the first mobile device during the time period;
• receive, via a data channel between the first mobile device and the second mobile device, second odometry information determined from second sensor measurements captured during the time period using a second sensor on the second mobile device, the second odometry information indicating a second motion of the second mobile device during the time period;
• solve an angle between a first reference frame for the first mobile device and a second reference frame for the second mobile device using the set of range values, the first odometry information, and the second odometry information;
• and
• display, on a display of the first mobile device, directional information indicating a direction from a first current position of the first mobile device to a second current position of the second mobile device.

A non-transitory, computer readable medium, the non-transitory computer readable medium storing instructions that when executed on one or more processors perform operations to:

• for each of a plurality of ranging sessions occurring during a time period:
• transmit a wireless ranging signal at a first time;
• receive a wireless response signal from a second mobile device at a second time;
• determine a range value between a first mobile device and the second mobile device based on a difference between the first time and the second time, thereby determining a set of range values;
• determine first odometry information from first measurements captured during the time period using a first sensor on the first mobile device, the first odometry information indicating a first motion of the first mobile device during the time period;
• receive, via a data channel between the first mobile device and the second mobile device, second odometry information determined from second sensor measurements captured during the time period using a second sensor on the second mobile device, the second odometry information indicating a second motion of the second mobile device during the time period;
• solve an angle between a first reference frame for the first mobile device and a second reference frame for the second mobile device using the set of range values, the first odometry information, and the second odometry information;
• and
• display, on a display of the first mobile device, directional information indicating a direction from a first current position of the first mobile device to a second current position of the second mobile device.