公开(公告)号：US11624804B2

公开(公告)日：2023-04-11

申请号：US17066057

申请日：2020-10-08

Applicant: NOKIA TECHNOLOGIES OY

Inventor： Ian Davis ,  Walter Etter ,  Hong Jiang

IPC: G01S5/24

Abstract: A system, apparatus, method and computer program product determine the location of a receiver, such as one or more sensors, carried by a device, e.g., a robot. In a method, an audio signal is received in response to a predetermined audio signal provided by at least two audio source devices. For the audio signal that is received from a respective audio source device, the method estimates a first impulse response between the respective audio source device and the receiver. For the first impulse response estimated between each respective audio source device of the at least two audio source devices and the receiver, the method removes one or more reflections from the first impulse response to create direct path information. The method also includes determining a location of the receiver based at least in part upon the direct path information.