Self-organizing hybrid indoor location system

A mobile computing device comprising:

• one or more processors;
• and
• one or more memory devices storing computer-readable instructions that when executed by the one or more processors cause the one or more processors to perform operations, the operations comprising:
• providing a plurality of first signals to two or more beacon devices, wherein the plurality of first signals comprise ultrasonic signals, wherein the two or more beacon devices are included in a plurality of beacon devices, and wherein each of the two or more beacon devices is configured to communicate with the plurality of beacon devices that includes the two or more beacon devices to determine its respective location, and
• receiving a plurality of second signals from the two or more beacon devices, wherein the plurality of second signals comprise radio frequency signals, and wherein each of the plurality of second signals comprises data indicative of the location of one of the two or more beacon devices;
• determining two or more times-of-flight respectively associated with the two or more beacon devices;
• determining a location of the mobile computing device based at least in part on the two or more times-of-flight respectively associated with the two or more beacon devices and the locations of each of the two or more beacon devices, and providing information indicative of the location of the mobile device.

A beacon device, comprising:

• an ultrasonic receiver;
• a radio frequency transmitter;
• one or more processors;
• and
• one or more memory devices storing computer-readable instructions that when executed by the one or more processors cause the beacon device to perform operations, the operations comprising:
• sending one or more first beacon-locating signals to one or more other beacon devices of a plurality of beacon devices that includes the beacon device;
• receiving one or more second beacon-locating signals from the one or more other beacon devices of the plurality of beacon devices that includes the beacon device;
• determining a location of the beacon device based, at least in part, on one or more of the first beacon-locating signals or the second beacon-locating signals;
• receiving, by the ultrasonic receiver, one or more ultrasonic signals from a mobile computing device;
• and
• providing, by the radio frequency transmitter, one or more radio frequency signals to the mobile computing device in response to the one or more ultrasonic signals, wherein the one or more radio frequency signals comprise data indicative of the location of the beacon device.