System and method for discovering the topology of devices within a building automation and control system

1. A method comprising:

receiving, by a data-processing system, a first measurement of a first light source in relation to a first sensor, wherein the first measurement is received from the first sensor;

receiving, by the data-processing system, a second measurement of the first light source in relation to a second sensor, wherein the second measurement is received from the second sensor;

generating a first estimate of the position of the first light source, based on a first angle at the first sensor between (i) a first direction toward a current light source position and (ii) a second direction that is defined by the first measurement;

generating a second estimate of the position of the first light source, based on a second angle at the second sensor between (i) a third direction toward the current light source position and (ii) a fourth direction that is defined by the second measurement;

generating an updated light source position of the first light source based on the first estimate and the second estimate; and

presenting the updated light source position of the first light source to a user.

2. The method of claim 1 further comprising:

transmitting, by the data-processing system, a first message to the first sensor, wherein the first measurement is received in response to the transmitting of the first message; and

transmitting, by the data-processing system, a second message to the second sensor, wherein the second measurement is received in response to the transmitting of the second message.

3. The method of claim 1 wherein the first measurement of the first light source is that of an angle in relation to a known, angular orientation of the first sensor.

4. The method of claim 1 wherein the first estimate of the position of the first light source and the second estimate of the position of the first light source define two of the vertices of a first polygon, and wherein the updated light source position of the first light source is defined by the geometric center of the first polygon.

5. The method of claim 4 further comprising:

receiving, by the data-processing system, a third measurement of the first light source in relation to a third sensor; and

generating, a third estimate of the position of the first light source, based on a third angle at the third sensor between (i) a fifth direction toward the current light source position and (ii) a sixth direction that is defined by the third measurement;

wherein the third estimate of the position of the first light source define a third vertex of the first polygon.

6. The method of claim 1 further comprising:

generating a fourth estimate of the position of the first light source, based on a fourth angle at the first sensor between (i) a seventh direction toward a previous light source position and (ii) the second direction, wherein the previous light source position is generated prior to the current light source position;

generating a fifth estimate of the position of the first light source, based on a fifth angle at the second sensor between (ii) an eighth direction toward the previous light source position and (ii) the fourth direction; and

generating the current light source position of the first light source based on the fourth estimate and the fifth estimate.

7. The method of claim 1 further comprising:

receiving, by the data-processing system, a fourth measurement of a second light source in relation to the first sensor;

generating a sixth estimate of the position of the first sensor, based on a sixth angle at the first light source between (i) a ninth direction toward a current sensor position and (ii) a tenth direction that is defined by the first measurement;

generating a seventh estimate of the position of the first sensor, based on a seventh angle at the second light source between (i) an eleventh direction toward the current sensor position and (ii) a twelfth direction that is defined by the fourth measurement;

generating an updated sensor position of the first sensor based on the sixth estimate and the seventh estimate; and

presenting the updated sensor position of the first sensor to the user.

8. The method of claim 7 further comprising:

transmitting, by the data-processing system, a third message to the first sensor, wherein the fourth measurement is received in response to the transmitting of the third message.

9. The method of claim 7 wherein the updated light source position of the first light source and the updated sensor position of the first sensor define two of the vertices of a second polygon, and further comprising:

adjusting the position coordinates of at least one of the first light source and the first sensor according to the length of a diagonal of a rectangle in which the second polygon is inscribed.