Calibration for wireless distance estimation

A non-transitory computer-readable apparatus comprising a storage medium, the storage medium comprising a plurality of instructions configured to, when executed by one or more processors, cause a measuring wireless device to:

• while a target wireless device is determined to be at a fixed position relative to the measuring wireless device based on a user calibration request at the measuring wireless device, inertial data of the measuring wireless device, sensed indication of the target wireless device, or a combination thereof, send a first wireless signal to the target wireless device, and receive a second wireless signal from the target wireless device;
• measure a round trip time to the target wireless device based on the first wireless signal and the second wireless signal;
• estimate an error associated with the round trip time to the target wireless device based at least on the round trip time to the target wireless device;
• and
• calibrate the measurement of the round trip time to the target wireless device using the estimated error.

A wireless device comprising:

• one or more transceivers;
• one or more memories;
• and
• one or more processors communicatively coupled with the one or more transceivers and the one or more memories, wherein the one or more processors are configured to:
• while a target wireless device is determined to be at a fixed position relative to the wireless device based on a user calibration request at the wireless device, inertial data of the wireless device, sensed indication of the target wireless device, or a combination thereof, send a first wireless signal to the target wireless device, and receive a second wireless signal from the target wireless device;
• measure a round trip time to the target wireless device based on the first wireless signal and the second wireless signal;
• estimate an error associated with the round trip time to the target wireless device based at least on the round trip time to the target wireless device;
• and
• calibrate the measurement of the round trip time to the target wireless device using the estimated error.