Single antenna direction finding and localization

1. A method for single antenna direction finding, the method being performed by a device, the method comprising:

collecting device position data and signal response data, including:

physically moving the device to different device positions, and as the device is physically moving, performing the following:

using hardware within the device to make a plurality of signal response measurements of a wireless signal detected by a single antenna of the device, the wireless signal emanating from an object, the plurality of signal response measurements being made by sampling signal response at a plurality of sample times, wherein during the plurality of sample times, the device is at a plurality of different device positions, and

using an inertial measurement system to make a plurality of inertial measurements at the plurality of sample times, the plurality of inertial measurements providing information that allows calculation of relative device position of the plurality of different device positions with respect to each other;

using the plurality of signal response measurements and the plurality of inertial measurements to produce a virtual response array vector; and

using the virtual response array vector to calculate a direction of arrival from the object to the device, wherein using the plurality of signal response measurements and the plurality of inertial measurements to produce a virtual response array vector, includes loading a model of a virtual response array vector, and populating the model of the virtual response array vector with data based on the plurality of signal response measurements and the plurality of inertial measurements.

2. A method as in claim 1 , wherein the plurality of sample times is sufficient so that the direction of arrival is calculated to a certainty that meets a predetermined threshold.

3. A method as in claim 1 , wherein the wireless signal is a Bluetooth Low Energy (BLE) protocol compatible wireless signal generated by a BLE tag within the object or from a device equipped with a Bluetooth or BLE transmitter.

4. A method as in claim 1 , wherein the wireless signal is a 5G protocol compatible wireless signal.

5. A method as in claim 1 , wherein the plurality of signal response measurements are also made by sampling signal response at a plurality of different frequencies.

6. A method as in claim 1 , wherein the hardware within the device that makes the plurality of signal response measurements is an inertial measurement unit (IMU) that includes a three-axis accelerator and a three-axis gyroscope.

7. A device that performs single antenna direction finding, the device comprising:

an antenna that physically moves with physical movement of the device;

signal response hardware within the device that is used to make a plurality of signal response measurements of a wireless signal detected by the antenna; an inertial measurement system that makes inertial measurements that provides information that allows calculation of relative device position of the device as the device is moved to different device positions; and

an estimation block that uses a plurality of signal response measurements received from the signal response hardware from wireless signals emanating from an object and uses a plurality of inertial measurements from the inertial measurement to produce a virtual response array vector, wherein the estimation block uses the virtual response array vector to calculate a direction of arrival of the wireless signals emanating from the object, and wherein the plurality of signal response measurements are made by sampling signal response at a plurality of sample times at a plurality of different device positions and wherein the plurality of inertial measurements are made at the plurality of sample times, and

wherein the estimation block produces the virtual response array vector by loading a model of a virtual response array vector and by populating the model of the virtual response array vector with data based on the plurality of signal response measurements and the plurality of inertial measurements.

8. A device as in claim 7 , wherein the plurality of sample times is sufficient so that the direction of arrival is calculated to a certainty that meets a predetermined threshold.

9. A device as in claim 7 , wherein the wireless signal is a Bluetooth Low Energy (BLE) protocol compatible wireless signal generated by a BLE tag within the object.

10. A device as in claim 7 , wherein the wireless signal is a 3G/4G/5G protocol compatible wireless signal or a WiFi or cellular compatible wireless signal.

11. A device as in claim 7 , wherein the plurality of signal response measurements are also made by sampling signal response at a plurality of different frequencies.

12. A device as in claim 7 , wherein the inertial measurement system includes an inertial measurement unit (IMU) that has a three-axis accelerator and a three-axis gyroscope.

13. Non-transitory media that includes software which when run on a device that has a processor, an antenna, signal processing hardware and an inertial measurement system, performs a method for single antenna direction finding, the method comprising:

collecting device position data and signal response data when the device is physically moved, including:

receiving from the signal processing hardware within the device a plurality of signal response measurements of a wireless signal detected by the antenna of the device, the wireless signals emanating from an object, the plurality of signal response measurements being made by sampling signal response at a plurality of sample times, wherein during the plurality of sample times, the device is at a plurality of different device positions, and receiving from the inertial measurement system a plurality of inertial measurements at the plurality of sample times, the plurality of inertial measurements providing information that allows calculation of relative device position of the plurality of different device positions with respect to each other;

using the plurality of signal response measurements and the plurality of inertial measurements to produce a virtual response array vector; and

using the virtual response array vector to calculate a direction of arrival from the object to the device, and wherein using the plurality of signal response measurements and the plurality of inertial measurements to produce a virtual response array vector, includes loading a model of a virtual response array vector, and populating the model of the virtual response array vector with data based on the plurality of signal response measurements and the plurality of inertial measurements.

14. Non-transitory media as in claim 13 , wherein the plurality of sample times is sufficient so that the direction of arrival is calculated to a certainty that meets a predetermined threshold.

15. Non-transitory media as in claim 13 , wherein the wireless signal is a Bluetooth Low Energy (BLE) protocol compatible wireless signal generated by a BLE tag within the object.

16. Non-transitory media as in claim 13 , wherein the wireless signal is a 5G protocol compatible wireless signal.

17. Non-transitory media as in claim 13 , wherein the hardware within the device that makes the plurality of signal response measurements is an inertial measurement unit (IMU) that includes a three-axis accelerator and a three-axis gyroscope.