Time of flight distance determinations
A device includes a sensor, configured to detect electromagnetic radiation originating from a source external to the device and reflected from an object; and to generate an electrical signal representing the detected electromagnetic radiation; and a processor, configured to determine a distance between the device and the object based on the electrical signal.
1 . A device comprising:
a sensor, configured to detect electromagnetic radiation that originated from a source external to the device and was reflected from an object; and to generate an electrical signal representing the detected electromagnetic radiation;
a processor, configured to determine a distance between the device and the object based on the electrical signal;
wherein the processor is further configured to determine the distance between the device and the object based on the electrical signal and a position of the source further comprising a transceiver, configured to receive a wireless signal representing a position of the source, and wherein the processor determining the distance between the device and the object based on the electrical signal and the position of the source comprises the processor determining the distance using the position of the source received in the wireless signal.
2 . The device of claim 1 , wherein the processor is further configured to perform a synchronization operation, wherein the synchronization operation comprises the processor synchronizing a clock of the device with a clock of the source.
3 . The device of claim 2 , wherein the synchronization operation is a Time-Sensitive Networking operation according to The Institute of Electrical and Electronics Engineers (IEEE) 802.1AS.
4 . The device of claim 1 , wherein the processor determining the distance between the device and the object based on the electrical signal comprises the processor determining a duration between generation of the signal and receipt of the signal, and calculating the distance with the duration.
5 . The device of claim 1 , wherein the processor is configured to determine an angle of arrival of the detected electromagnetic radiation; and wherein the processor is configured to determine the distance between the device and the object based on the electrical signal and the angle of arrival.
6 . The device of claim 5 , wherein the processor is configured to determine the distance between the device and the object based on the electrical signal, the angle of arrival, and the distance between the device and the source.
7 . The device of claim 1 , wherein if the source and the device are equidistant to the object, the processor is configured to operate according a first operational mode; wherein if the distance between the source and the object is less than a distance between the device and the object, the processor is configured to operate according a second operational mode; and wherein if the distance between the source and the object is greater than a distance between the device and the object, the processor is configured to operate according a third operational mode.
8 . The device of claim 7 , wherein the processor operating according to the first operational mode comprises the processor determining the distance between the device and the object as
d
=
c
·
t
2
wherein a is the distance, c is a speed of light, and t is a time of flight.
9 . The device of claim 8 , wherein the processor operating according to the third operational mode comprises the processor determining the distance between the device and the object as a difference of a first distance between the source and the object and a second distance between the device and a point, wherein the point is a point of intersection between a path of reflection from the object of the detected electromagnetic radiation and a line that intersects the source and is perpendicular to a normal of the object relative to the angle of reflection.
10 . The device of claim 7 , wherein the processor operating according to the second operational mode comprises the processor determining the distance between the device and the object as a sum of a first distance between the device and a point along a first line between the device and the object, and a second distance between the point and the object; wherein the point is a point of intersection between the first line and a second line, wherein the second line intersects the source and is perpendicular to a normal of the object relative to the angle of reflection.
11 . The device of claim 1 , wherein the device is configured as a light detection and ranging (LIDAR) device.
12 . The device of claim 1 , wherein the device is configured as a virtual reality headset or an augmented reality headset.
13 . A method comprising:
detecting electromagnetic radiation that originated from a source external to the device and was reflected from an object;
generating an electrical signal representing the detected electromagnetic radiation;
determine a distance between the device and the object based on the electrical signal;
determining an angle of arrival of the detected electromagnetic radiation; and
determining the distance between the device and the object based on the electrical signal and the angle of arrival.
14 . The method of claim 13 , wherein further comprising determining the distance between the device and the object based on the electrical signal and a position of the source.
15 . A non-transitory computer readable medium comprising instructions which, if executed by one or more processors, cause the one or more processors to:
determine a distance between a device and the object using an electrical signal;
wherein the electrical signal originate d from a source external to the device and was reflected from the object to the device;
determine an angle of arrival of the detected electromagnetic radiation; and
determine the distance between the device and the object based on the electrical signal and the angle of arrival.
16 . The non-transitory computer readable medium of claim 15 , wherein the instructions are further configured to cause the processor to determine the distance between the device and the object based on the electrical signal and a position of the source.
17 . The non-transitory computer readable medium of claim 16 , wherein the instructions are further configured to cause the one or more processors to determine the distance between the device and the object based on the electrical signal and the position of the source by determining the distance using the position of the source received in the wireless signal.
18 . The non-transitory computer readable medium of claim 15 , wherein the instructions are further configured to cause the one or more processors to perform a synchronization operation, wherein the synchronization operation comprises the processor synchronizing a clock of the device with a clock of the source.