Coordinating devices to estimate distance, relative position, and device attitude

Abstract

The present invention contemplates a variety of improved techniques including methods and apparatus for coordinating a plurality of devices, and more specifically, a method and apparatus for coordinating a plurality of devices to estimate or calculate various distances, relative positions, device attitudes, and other absolute and/or relative kinematic data.

What is claimed is:  
     
         1 - 34 . (canceled) 
     
     
         35 . An apparatus configured to process information gathered by a plurality of devices to determine a spatial model of the plurality of devices within an environment, the apparatus comprising:
 a transmitter configured to transmit a first transmission into the environment, wherein the first transmission contains a first transmission characteristic associated with the transmitter and location of the first transmission within the environment;   a receiver configured to receive a second transmission from a first device of the plurality of devices, wherein the second transmission includes a second transmission characteristic associated with the first device and the location of the second transmission within the environment;   a processing unit configured to process the first transmission characteristic and the second transmission characteristic to determine a first portion of a spatial model of the plurality of the devices with respect to the location of the first transmission;   wherein the processing unit is configured to process the first transmission characteristic and the second transmission characteristic to determine a second portion of the spatial model of the plurality of the devices with respect to the location of the second transmission; and   wherein the processing unit is configured to process the first portion of the spatial model and the second portion of the spatial model to determine a third portion of the spatial model indicative of locations of at least some of the plurality of devices within the environment.   
     
     
         36 . The apparatus of  claim 35 , wherein the first transmission comprises a nonintrusive signal configured to be imperceptible to participants in the environment. 
     
     
         37 . The apparatus of  claim 35 , wherein the processing unit is configured to coordinate the transmission of the first transmission and the second transmission. 
     
     
         38 . The apparatus of  claim 35 , wherein the data associated with the environment about the location of the first transmission comprises data received from a plurality of sensors configured to sense the environment. 
     
     
         39 . The apparatus of  claim 38 , wherein at least one of the plurality of sensors comprises an audio signal sensor. 
     
     
         40 . The apparatus of  claim 35 , wherein the first transmission characteristic is associated with the second transmission. 
     
     
         41 . The apparatus of  claim 35 , wherein the processing unit is configured to analyze the first portion of the spatial model to determine a relative distance between the first device and a second device. 
     
     
         42 . An apparatus configured to process data from a plurality devices to determine a spatial model indicative of the distance of the plurality of devices within an environment, the apparatus comprising:
 a receiver configured to receive a first transmission from a first device of the plurality of devices, wherein the first transmission includes a first transmission characteristic associated with a location of the first transmission within the environment and data associated with the environment about the first transmission location;   the receiver configured to receive a second transmission from a second device of the plurality of devices, wherein the second transmission includes a second transmission characteristic associated with a location of the second transmission within the environment and data associated with the environment about the second transmission location;   a processor configured to process the first transmission characteristic with respect to the location of the second transmission to determine a first portion of a spatial model indicative of the relative distance between the first device and the second device;   wherein the processor is configured to process the second transmission characteristic with respect to the location of the first transmission to generate a second portion of the spatial model associated with the relative distance between the first device and the second device; and   wherein the processor is configured to process the first portion of the spatial model and the second portion of the spatial model to determine a third portion of the spatial model indicative of the distance of the first device and second device to each other within the environment.   
     
     
         43 . The apparatus of  claim 42 , wherein the first transmission comprises a nonintrusive signal configured to be imperceptible to participants in the environment. 
     
     
         44 . The apparatus of  claim 42 , wherein the processor coordinates the transmission of the first transmission and the second transmission. 
     
     
         45 . The apparatus of  claim 42 , wherein the data associated with the environment about the location of the first transmission comprises data received from a plurality of sensors configured to sense the environment. 
     
     
         46 . The apparatus of  claim 45 , wherein at least one of the plurality sensors comprises an audio signal sensor. 
     
     
         47 . The apparatus of  claim 42 , wherein the first transmission characteristic is associated with the second transmission. 
     
     
         48 . The apparatus of  claim 42 , wherein the processor is configured to process the first portion of the spatial model and the second portion of the spatial model to determine a relative attitude between the first device and the second device. 
     
     
         49 . A system configured to process data from a plurality devices to determine a spatial model indicative of the locations of the plurality of devices within an environment, the system comprising:
 a receiver configured to receive a first transmission from a first device, wherein the first transmission includes a first transmission characteristic associated with a location of the first transmission within the environment and data associated with the environment about the first transmission location;   the receiver configured to receive a second transmission from a second device, wherein the second transmission includes a second transmission characteristic associated with a location of the second transmission within the environment and data associated with the environment about the second transmission location;   a processor configured to process the first transmission characteristic with respect to the location of the second transmission to determine a first portion of a spatial model indicative of at least the relative distance between the first device and the second device;   wherein the processor is configured to process the second transmission characteristic with respect to the location of the first transmission to generate a second portion of the spatial model associated with at least the relative distance between the first device and the second device; and   wherein the processor is configured to process the first portion of the spatial model and the second portion of the spatial model to determine a third portion of the spatial model indicative of the relative locations of the first device and second device to each other within the environment.   
     
     
         50 . The system of  claim 49 , wherein the first transmission comprises a nonintrusive signal configured to be imperceptible to participants in the environment. 
     
     
         51 . The system of  claim 49 , wherein the processor is configured to coordinate the transmission of the first transmission and the second transmission. 
     
     
         52 . The system of  claim 49 , wherein the data associated with the environment about the location of the first transmission comprises data received from a plurality of sensors configured to sense the environment with respect to the location of the first transmission. 
     
     
         53 . The system of  claim 52 , wherein at least one of the plurality sensors comprises an audio signal sensor. 
     
     
         54 . The system of  claim 49 , wherein the first transmission characteristic is associated with the second signal transmission. 
     
     
         55 . The system of  claim 49 , wherein the processor is configured to process the first portion of the spatial model and the second portion of the spatial model to determine a relative attitude between the first device and the second device.