Coverage extension for device localization through collaborative ranging

1. A method for localizing a target device (TD) by an user device (UD), the method comprising:

determining whether the TD is within a range and within a field-of-view (FoV) of the UD based on a UWB channel between the TD and the UD;

in response to a determination that the TD is outside the range and not within the FoV of the UD, identifying a first electronic device;

transmitting, to the first electronic device, a request for localizing the TD using an out-of-band channel, wherein the out-of-band channel is different from the UWB channel;

receiving, from the first electronic device, location information of the TD on the out-of-band channel, the location information representing a candidate location of the TD in a coordinate system of the first electronic device or a second electronic device; and

identifying a TD location with respect to a coordinate system of the UD based on the candidate location of the TD.

2. The method of claim 1 , further comprising:

determining that the first electronic device is within a range and within a FoV of the UD based on the UWB channel;

determining that the UD is within a range and within a FoV of the first electronic device based on the UWB channel; and

identifying the first electronic device as an environmental device.

3. The method of claim 2 , wherein:

the environmental device is a first environmental device;

the location information is a first location information;

the candidate location of the TD is a first candidate location of the TD; and

the method further comprises:

identifying a second environmental device based on a determination that the second environmental device satisfies a bidirectional FoV and range condition with the UD,

receiving, from the second environmental device, second location information of the TD on the out-of-band channel, the second location information representing a second candidate location of the TD based on a coordinate system of the second environmental device, and

identifying another TD location with respect to the coordinate system of the UD based on the second candidate location of the TD.

4. The method of claim 3 , wherein:

identifying the TD location with respect to the coordinate system of the UD comprises identifying (i) a position of the UD relative to a position of the first environmental device and (ii) the position of the first environmental device relative to the position of the UD;

identifying the other TD location with respect to the coordinate system of the UD comprises identifying (i) the position of the UD relative to a position of the second environmental device and (ii) the position of the second environmental device relative to the position of the UD; and

the method further comprises generating a final location of the TD based at least on the TD location and the other TD location.

5. The method of claim 2 , wherein:

the environmental device is a first environmental device; and

the method further comprises:

identifying a second environmental device based on a determination that the second environmental device satisfies a bidirectional FoV and range condition with the UD,

transmitting, to the first environmental device, the request for localizing the TD, wherein the request includes an indication of the second environmental device; and

transmitting, to the second environmental device, a request for localizing the TD using the out-of-band channel, wherein the request includes an indication of the first environmental device.

6. The method of claim 1 , wherein:

the first electronic device is a hub that stores a map of ranging relationships between pairs of environmental devices including the second electronic device, based on the UWB channel; and

the location information that is received from the hub includes a generated TD map based on the candidate location of the TD according to the second electronic device and a location of the second electronic device with respect to one or more of the pairs of environmental devices.

7. The method of claim 1 , further comprising:

generating information indicating the TD location based on a current location of the UD; and

displaying on a display of the UD a view of an environment around the UD that is augmented with the information indicating the TD location.

8. A user device comprising:

a transceiver; and

a processor operably coupled with the transceiver and configured to:

determine whether a target device (TD) is within a range and within a field-of-view (FoV) of the user device based on a UWB channel between the TD and the user device;

in response to a determination that the TD is outside the range and not within the FoV of the user device, identify a first electronic device;

transmit, to the first electronic device, a request for localizing the TD using an out-of-band channel, wherein the out-of-band channel is different from the UWB channel;

receive, from the first electronic device, location information of the TD on the out-of-band channel, the location information representing a candidate location of the TD in a coordinate system of the first electronic device or a second electronic device; and

identify a TD location with respect to a coordinate system of the user device based on the candidate location of the TD.

9. The user device of claim 8 , wherein the processor is further configured to:

determine that the first electronic device is within a range and within a FoV of the user device based on the UWB channel;

determine that the user device is within a range and within a FoV of the first electronic device based on the UWB channel; and

identify the first electronic device as an environmental device.

10. The user device of claim 9 , wherein:

the environmental device is a first environmental device;

the location information is a first location information;

the candidate location of the TD is a first candidate location of the TD; and

the processor is further configured to:

identify a second environmental device based on a determination that the second environmental device satisfies a bidirectional FoV and range condition with the user device,

receive, from the second environmental device, second location information of the TD on the out-of-band channel, the second location information representing a second candidate location of the TD based on a coordinate system of the second environmental device, and

identify another TD location with respect to the coordinate system of the user device based on the second candidate location of the TD.

11. The user device of claim 10 , wherein:

to identify the TD location with respect to the coordinate system of the user device, the processor is configured to identify (i) a position of the user device relative to a position of the first environmental device and (ii) the position of the first environmental device relative to the position of the user device;

to identify the other TD location with respect to the coordinate system of the user device, the processor is configured to identify (i) the position of the user device relative to a position of the second environmental device and (ii) the position of the second environmental device relative to the position of the user device; and

the processor is further configured to generate a final location of the TD based at least on the TD location and the other TD location.

12. The user device of claim 9 , wherein:

the environmental device is a first environmental device; and

the processor is further configured to:

identify a second environmental device based on a determination that the second environmental device satisfies a bidirectional FoV and range condition with the user device,

transmit, to the first environmental device, the request for localizing the TD, wherein the request includes an indication of the second environmental device; and

transmit, to the second environmental device, a request for localizing the TD using the out-of-band channel, wherein the request includes an indication of the first environmental device.

13. The user device of claim 8 , wherein:

the first electronic device is a hub that stores a map of ranging relationships between pairs of environmental devices including the second electronic device, based on the UWB channel; and

the location information that is received from the hub includes a generated TD map based on the candidate location of the TD according to the second electronic device and a location of the second electronic device with respect to one or more of the pairs of environmental devices.

14. The user device of claim 8 , wherein the processor is further configured to:

generate information indicating the TD location based on a current location of the user device; and

display on a display of the user device a view of an environment around the user device that is augmented with the information indicating the TD location.

15. A non-transitory computer readable medium embodying a computer program, the computer program comprising computer readable program code that, when executed by a processor of a user device, causes the user device to:

determine whether a target device (TD) is within a range and within a field-of-view (FoV) of the user device based on a UWB channel between the TD and the user device;

in response to a determination that the TD is outside the range and not within the FoV of the user device, identify a first electronic device;

transmit, to the first electronic device, a request for localizing the TD using an out-of-band channel, wherein the out-of-band channel is different from the UWB channel;

receive, from the first electronic device, location information of the TD on the out-of-band channel, the location information representing a candidate location of the TD in a coordinate system of the first electronic device or a second electronic device; and

identify a TD location with respect to a coordinate system of the user device based on the candidate location of the TD.

16. The non-transitory computer readable medium of claim 15 , wherein the computer readable program code, when executed by the processor, further causes the user device to:

determine that the first electronic device is within a range and within a FoV of the user device based on the UWB channel;

determine that the user device is within a range and within a FoV of the first electronic device based on the UWB channel; and

identify the first electronic device as an environmental device.

17. The non-transitory computer readable medium of claim 16 , wherein:

the environmental device is a first environmental device;

the location information is a first location information;

the candidate location of the TD is a first candidate location of the TD; and

the computer readable program code, when executed by the processor, further causes the user device to:

identify a second environmental device based on a determination that the second environmental device satisfies a bidirectional FoV and range condition with the user device,

receive, from the second environmental device, second location information of the TD on the out-of-band channel, the second location information representing a second candidate location of the TD based on a coordinate system of the second environmental device, and

identify another TD location with respect to the coordinate system of the user device based on the second candidate location of the TD.

18. The non-transitory computer readable medium of claim 17 , wherein:

to identify the TD location with respect to the coordinate system of the user device the computer readable program code, when executed by the processor, further causes the user device to identify (i) a position of the user device relative to a position of the first environmental device and (ii) the position of the first environmental device relative to the position of the user device;

to identify the other TD location with respect to the coordinate system of the user device the computer readable program code, when executed by the processor, further causes the user device to identify (i) the position of the user device relative to a position of the second environmental device and (ii) the position of the second environmental device relative to the position of the user device; and

the computer readable program code, when executed by the processor, further causes the user device to generate a final location of the TD based at least on the TD location and the other TD location.

19. The non-transitory computer readable medium of claim 16 , wherein:

the environmental device is a first environmental device; and

the computer readable program code, when executed by the processor, further causes the user device to:

identify a second environmental device based on a determination that the second environmental device satisfies a bidirectional FoV and range condition with the user device,

transmit, to the first environmental device, the request for localizing the TD, wherein the request includes an indication of the second environmental device; and

transmit, to the second environmental device, a request for localizing the TD using the out-of-band channel, wherein the request includes an indication of the first environmental device.

20. The non-transitory computer readable medium of claim 15 , wherein:

the first electronic device is a hub that stores a map of ranging relationships between pairs of environmental devices including the second electronic device, based on the UWB channel; and

the location information that is received from the hub includes a generated TD map based on the candidate location of the TD according to the second electronic device and a location of the second electronic device with respect to one or more of the pairs of environmental devices.