Electronic devices with motion sensing and angle of arrival detection circuitry
An electronic device may use information about the location of nearby devices to make sharing with those devices more intuitive for a user. The electronic device may include control circuitry, wireless circuitry including first and second antennas, and motion sensor circuitry. The control circuitry may determine the location of a nearby electronic device by calculating the angle of arrival of signals that are transmitted by the nearby electronic device. To obtain a complete, unambiguous angle of arrival solution, the electronic device may be moved into different positions during angle of arrival measurement operations. At each position, the control circuitry may calculate a phase difference associated with the received signals. Motion sensor circuitry may gather motion data as the electronic device is moved into the different positions. The control circuitry may use the received antenna signals and the motion data to determine the complete angle of arrival solution.
1. An electronic device, comprising:
first and second antennas configured to receive signals from a second electronic device, wherein the signals include a first set of signals received while the electronic device is in a first position and a second set of signals received while the electronic device is in a second position;
an actuator;
control circuitry that sends control signals to the actuator to move the device from the first position to the second position after the first set of signals are received in the first position; and
motion sensor circuitry that gathers motion data as the actuator moves the electronic device from the first position to the second position, wherein the control circuitry determines an angle of arrival of the signals based on the first set of signals, the second set of signals, and the motion data.
2. The electronic device defined in claim 1 wherein the motion sensor circuitry comprises at least one motion sensor selected from the group consisting of: an accelerometer, a gyroscope, a compass, and a barometer.
3. The electronic device defined in claim 1 wherein the first and second antennas are configured for IEEE 802.15.4 ultra-wideband signals.
4. The electronic device defined in claim 1 wherein the first and second antennas are configured for millimeter wave signals.
5. The electronic device defined in claim 1 further comprising a third antenna configured to receive the first and second sets of signals from the second electronic device while the electronic device is in the first and second positions.
6. The electronic device defined in claim 5 wherein the control circuitry determines multiple angle of arrival solutions using the first, second, and third antennas, assigns a probability to each angle of arrival solution, and determines the angle of arrival based on the probability of each angle of arrival solution.
7. The electronic device defined in claim 1 wherein the control circuitry determines a first phase difference associated with the first set of signals and a second phase difference associated with the second set of signals.
8. The electronic device defined in claim 7 wherein the control circuitry determines the angle of arrival based on the first and second phase differences.
9. The electronic device defined in claim 1 wherein the angle of arrival comprises an azimuth angle and an elevation angle.
10. The electronic device defined in claim 1 wherein the control circuitry determines the angle of arrival using a technique selected from the group consisting of: a batch filter, an extended Kalman filter, a Gaussian mixture filter, an unscented Kalman filter, a Kalman smoother, a particle filter, and a least-squares estimation.
11. A method for determining an angle of arrival of signals received by a first electronic device from a second electronic device, wherein the signals include first and second sets of signals and wherein the first electronic device comprises first and second antennas, motion sensor circuitry, an actuator, and control circuitry, the method comprising:
while the first electronic device is in a first position, receiving the first set of signals with the first and second antennas;
with the control circuitry, sending control signals to the actuator to move the first electronic device from the first position to a second position after the first set of signals are received in the first position;
while the first electronic device is in the second position, receiving the second set of signals with the first and second antennas;
with the motion sensor circuitry, gathering motion data as the actuator moves the first electronic device from the first position to the second position; and
with the control circuitry, determining the angle of arrival of the signals based on the first set of signals, the second set of signals, and the motion data.
12. The method defined in claim 11 wherein the first electronic device comprises a third antenna, the method further comprising:
receiving the first set of signals with the third antenna; and
receiving the second set of signals with the third antenna.
13. The method defined in claim 11 wherein determining the angle of arrival comprises determining an azimuth angle and an elevation angle.
14. The method defined in claim 11 further comprising:
determining a first phase difference associated with the first set of signals and a second phase difference associated with the second set of signals.
15. The method defined in claim 14 wherein determining the angle of arrival comprises determining the angle of arrival based on the first and second phase differences.
16. The method defined in claim 15 wherein determining the angle of arrival comprises determining the angle of arrival using a filter.
17. The method defined in claim 16 wherein the filter is selected from the group consisting of: a batch filter, an extended Kalman filter, a Gaussian mixture filter, an unscented Kalman filter, a Kalman smoother, a particle filter, and a least-squares estimation.
18. An electronic device, comprising:
antennas that receive signals while the electronic device is in first and second positions;
an actuator; and
control circuitry that:
sends control signals to the actuator to move the electronic device from the first position to the second position after the signals are received in the first position; and
determines an angle of arrival of the signals.
19. The electronic device defined in claim 18 further comprising motion sensor circuitry that gathers motion data as the electronic device moves from the first position to the second position.
20. The electronic device defined in claim 19 wherein the control circuitry determines the angle of arrival based on the motion data.
21. The electronic device defined in claim 18 wherein the antennas comprise first and second antennas configured to receive IEEE 802.15.4 ultra-wideband signals.