Device positioning method, device, device, storage medium and system

Abstract

The embodiment of the present application discloses a device positioning method, apparatus, device, storage medium and system, the method comprising: determining at least two frames based on a preset frame type; wherein only one of the at least two frames carries encrypted timestamp sequence STS information; in the process of communicating with the positioned device, determining the distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames; and determining the angle value between the positioning device and the positioned device when receiving the frame carrying the STS information; locating the positioned device according to the distance value and the angle value. In this way, through the preset frame type, since only one frame carries the STS information, the length of other frames can be shortened, thereby realizing the positioning function while saving the receiving time and sending time of the device, and achieving the purpose of reducing the power consumption of the device.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a device positioning method, apparatus, device, storage medium and system. Background Art

[0002] With the rapid development of the information field, Ultra Wide Band (UWB) technology has been having important applications in the field of positioning / ranging due to its low cost, low power consumption, good anti-interference performance, and low interception capability. Among them, the UWB-based positioning system is usually composed of a positioning device and a positioned device. The positioned device is usually worn by the person or object to be positioned, and the positioned device can be positioned through the positioning device, thereby completing the positioning of the person or object to be positioned.

[0003] Since the located devices (such as electronic tags) have the requirements of portability and long life, they are usually required to have low power consumption and small size. In the related technology, although the UWB chip can be controlled to be in a dormant state for a long time, and then the UWB is periodically awakened for listening, the purpose of reducing power consumption during ranging can be achieved. However, the current related technology is limited to application scenarios where the UWB ranging data is not high, and for application scenarios that require a high refresh rate of UWB ranging data (such as real-time positioning, etc.), it is still unable to effectively reduce power consumption. Summary of the invention

[0004] The present application proposes a device positioning method, apparatus, device, storage medium and system, which can save the receiving time and sending time of the device, thereby achieving the purpose of reducing the power consumption of the device.

[0005] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a device positioning method, which is applied to a positioning device, and the method includes:

[0007] Based on a preset frame type, at least two frames are determined; wherein only one of the at least two frames carries encrypted timestamp sequence STS information;

[0008] In the communication process with the located device, according to the sending and receiving of the at least two frames, the distance value between the positioning device and the located device is determined; and when the frame carrying the STS information is received, the angle value between the positioning device and the located device is determined;

[0009] The positioned device is positioned according to the distance value and the angle value.

[0010] In a second aspect, an embodiment of the present application provides a device positioning apparatus, which is applied to a positioning device, and the device positioning apparatus includes a determination unit and a positioning unit; wherein:

[0011] The determining unit is configured to determine at least two frames based on a preset frame type; wherein only one of the at least two frames carries encrypted timestamp sequence STS information;

[0012] The determining unit is further configured to determine, during the communication process with the positioned device, a distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames; and to determine an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information;

[0013] The positioning unit is configured to position the positioned device according to the distance value and the angle value.

[0014] In a third aspect, an embodiment of the present application provides a positioning device, the positioning device comprising a memory and a processor; wherein:

[0015] The memory is used to store a computer program that can be run on the processor;

[0016] The processor is used to execute the method as described in the first aspect when running the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program, and when the computer program is executed by at least one processor, it implements the method described in the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a positioning system, which includes at least a positioned device and a positioning device as described in the third aspect.

[0019] The device positioning method, apparatus, device, storage medium and system provided in the embodiment of the present application determine at least two frames based on a preset frame type; wherein only one of the at least two frames carries encrypted timestamp sequence STS information; in the process of communicating with the positioned device, the distance value between the positioning device and the positioned device is determined according to the sending and receiving of the at least two frames; and when receiving the frame carrying the STS information, the angle value between the positioning device and the positioned device is determined; and the positioned device is positioned according to the distance value and the angle value. In this way, through the preset frame type, since only one frame carries the STS information, the length of other frames can be shortened, thereby saving the receiving time and sending time of the device while realizing the positioning function, and achieving the purpose of reducing the power consumption of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of an application scenario for positioning between an electronic tag and a base station provided for related technologies;

[0021] Figure 2 A schematic diagram of a signal waveform using ultra-wideband technology provided for related technologies;

[0022] Figure 3 A schematic diagram of a flow chart of a device positioning method provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of a two-frame interaction structure provided in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of a three-frame interaction structure provided in an embodiment of the present application;

[0025] Figure 6 A schematic diagram of a bilateral two-way ranging algorithm provided in an embodiment of the present application;

[0026] Figure 7 A schematic diagram of a flow chart of a unilateral bidirectional ranging algorithm provided in an embodiment of the present application;

[0027] Figure 8 A schematic diagram of the structure of a device positioning device provided in an embodiment of the present application;

[0028] Fig. 9 A schematic diagram of the hardware structure of a positioning device provided in an embodiment of the present application;

[0029] Fig.10 A schematic diagram of the structure of a positioning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. It is understood that the specific embodiments described herein are only used to explain the related applications, rather than to limit the applications. It should also be noted that, for the convenience of description, only the parts related to the related applications are shown in the accompanying drawings.

[0031] Ultra Wide Band (UWB) technology is a wireless carrier communication technology that directly modulates impulse pulses with very steep rise and fall times to give the signal a bandwidth of the order of GHz. In addition, UWB technology does not use a sinusoidal carrier, but uses nanosecond (ns) non-sinusoidal narrow pulses to transmit data. It can generally be used for precise indoor positioning, with a positioning accuracy of up to 10 centimeters (cm).

[0032] It should be understood that the key to the positioning system is the error in measuring the distance, and the smaller the error, the higher the positioning accuracy. The time it takes for electromagnetic waves to travel in the air is approximately the speed of light, so the distance error is the measured time error of the electromagnetic waves flying in the air. Here, assuming that the measurement accuracy is to reach 10cm, the time error can be calculated according to the following formula, as shown below,

[0033]

[0034] Among them, ΔD represents the accuracy of measuring distance, c represents the propagation speed of electromagnetic waves in the air, and Δt represents the time error. According to formula (1), the error of measuring the flight time of electromagnetic waves must be within 0.3ns, which shows how difficult it is.

[0035] In addition, if such accuracy is to be achieved, the key lies in the capture of the signal, and in distinguishing the direct signal from the reflected signal in a very short time, so as to obtain the accurate flight time. However, in the actual wireless transmission environment, electromagnetic waves will be reflected by the surrounding environment such as walls, glass, metal and other objects (similar to the reflection of visible light), thereby generating multipath signals. At this time, the receiving node can often receive not only the direct signal, but also the reflected signal propagated by the reflection path, and the direct signal propagated by the direct path and the reflected signal propagated by the reflection path are in an additive relationship. Figure 1 As shown, assuming that the device to be located is an electronic tag and the positioning device is a base station, the transmitting port of the electronic tag transmits a transmitting signal, one path is directly transmitted to the base station as a direct signal, and the other path will encounter an object for reflection, and then be transmitted to the base station as reflection information, that is, the base station will receive the direct signal and the reflected signal.

[0036] For example, assuming that the direct signal's direct path is 5m long and the reflected signal needs to propagate a total distance of 7m, the direct signal's time is 16ns and the reflected signal's time is 23ns. In other words, the direct signal and the reflected signal must be distinguished within 7ns, but the traditional narrowband signal is a sinusoidal carrier communication with a narrow bandwidth. The time required to complete the signal transmission is tens of milliseconds, and the direct signal cannot be transmitted within 7ns; therefore, the direct signal and the reflected signal will overlap in the time domain, causing the signal to be delayed and to change in amplitude and phase, resulting in energy attenuation and a decrease in the signal-to-noise ratio, resulting in the first-arrival signal not being a direct signal, causing ranging errors and a decrease in positioning accuracy.

[0037] In addition, ultra-wideband (UWB) technology is a wireless carrier communication technology that does not use a sinusoidal carrier but uses nanosecond non-sinusoidal narrow pulses to transmit data. Therefore, the spectrum range it occupies is very wide. The UWB time domain signal is narrow, which enhances the time resolution. The time difference between the received multipath reflection delay signal and the direct signal is generally greater than the pulse width; therefore, the signal is separable in the time domain. Figure 2 As shown, using UWB technology, the direct signal and the reflected signal are separable in the time domain in the actual received signal because they use nanosecond non-sinusoidal narrow pulses to transmit data. In this way, for the 7ns time difference in the above example, it is sufficient to complete the transmission of the UWB direct signal (the transmission time is about 2ns), so the positioning system can quickly extract the direct signal and achieve precise positioning. In an embodiment of the present application, the system using UWB technology for positioning can achieve a positioning accuracy of centimeters.

[0038] In the current related technologies, taking a UWB-based low-power electronic tag as an example, it may specifically include: a UWB communication module, a motion sensing module, a microcontroller unit (MCU) module connected to the UWB communication module and the motion sensing module respectively, and a power supply module connected to and powered by the UWB communication module, the motion sensing module and the MCU module respectively. Among them, the UWB communication module is used to send and receive UWB signals; the motion sensing module is used to detect the motion state information of the person or object wearing the low-power electronic tag and feed it back to the MCU module; the MCU module is used to control the UWB communication module and the motion sensing module to be in a long-term sleep state and wake up periodically, adjust the period of waking up the UWB communication module according to the motion state information, control itself to enter a sleep state and wake up periodically.

[0039] That is to say, although the current related technical solutions can control the UWB integrated circuit (IC) chip to be in a sleep state for a long time through a controller, and then periodically wake up the UWB to listen, so as to achieve the purpose of reducing power consumption during ranging, its essence is to save power consumption by controlling the duty cycle of UWB working and sleeping; however, it cannot optimize the power consumption during the normal operation of UWB, that is, it is only limited to application scenarios where UWB ranging data is not high. For application scenarios that require a high refresh rate of UWB ranging data (such as real-time positioning, etc.), it is still unable to effectively reduce power consumption.

[0040] Based on this, the embodiment of the present application provides a device positioning method, the basic idea of ​​which is: based on a preset frame type, at least two frames are determined; wherein only one of the at least two frames carries the encrypted timestamp sequence STS information; in the process of communicating with the positioned device, the distance value between the positioning device and the positioned device is determined according to the sending and receiving of the at least two frames; and when receiving the frame carrying the STS information, the angle value between the positioning device and the positioned device is determined; and the positioned device is positioned according to the distance value and the angle value. In this way, through the preset frame type, since only one frame carries the STS information, the length of other frames can be shortened, thereby realizing the positioning function while saving the receiving time and sending time of the device, and achieving the purpose of reducing the power consumption of the device.

[0041] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0042] In one embodiment of the present application, see Figure 3 , which shows a schematic diagram of a process flow of a device positioning method provided by an embodiment of the present application. Figure 3 As shown, the method may include:

[0043] S301: Determine at least two frames based on a preset frame type; wherein only one of the at least two frames carries Scrambled Timestamp Sequence (STS) information.

[0044] It should be noted that the device positioning method is applied to the positioning device. In the positioning system, a positioning device and a positioned device may generally be included. Among them, the positioning device may refer to a host (Host), which represents an electronic device used to display and find the positioned device during the positioning process in the embodiment of the present application, such as a smart phone, a drone, a tablet computer, a laptop computer, a PDA, a personal digital assistant (PDA), etc. The positioned device may refer to a client (Client), which represents an electronic device such as an electronic tag, a smart watch, etc. to be found in the embodiment of the present application. The positioned device can be equipped with a person or object to be positioned, so that the positioning device can be used to locate the person or object to be positioned.

[0045] It should also be noted that the communication technology between the positioning device and the positioned device in the embodiments of the present application generally adopts UWB technology, specifically using nanosecond-level non-sinusoidal narrow pulses to transmit data, and the positioning accuracy can reach 10 cm level.

[0046] It is understandable that when UWB technology is applied to the consumer electronics market, small size and low power consumption are issues that must be addressed, especially in the application scenario of using smartphones to find UWB electronic tags. Generally, the size of such electronic tags is designed to be very small, so that they can be easily carried or attached to an important object to be found. Here, small size means that the battery capacity of the electronic tag is very small. The battery capacity of such consumer electronic tags is generally less than 100 mAh, and the power consumption of the best UWB chips on the market when sending and receiving signals is usually between 30 and 80 mA. Taking a company's integrated circuit chip (IC) as an example, the current of its transmitting port (Transmit, TX) is 45 mA, and the current of the receiving port (Receive, RX) is about 75 mA. In related technologies, general hardware circuits can reduce power consumption through direct current-direct current (DC-DC) conversion during design. Software can help the located device (i.e., UWB electronic tag) save power consumption by maximizing the shortening of TX and RX time during the entire communication process, or reducing the number of ranging times (which means reducing the refresh frequency, but will affect the presentation of the results), thereby achieving the purpose of long-term use.

[0047] In the embodiment of the present application, in order to reduce the power consumption of the device, the technical solution of the present application is to design and define the frame type when the positioning device interacts with the positioned device, so as to shorten the TX and RX time actually used in the entire communication process between the positioning device and the positioned device, thereby saving the time for the device to turn on TX and RX. In this way, the purpose of saving device power consumption can be achieved while ensuring successful positioning.

[0048] For the preset frame type, in some embodiments, the method may further include:

[0049] Get the four frame types defined in the preset protocol;

[0050] The preset frame type is determined from the four frame types.

[0051] Here, the four frame types may include: a zeroth frame type, a first frame type, a second frame type, and a third frame type. The zeroth frame type carries data information but no STS information, the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries time slot information, and the third frame type carries only STS information but no data information.

[0052] It should be noted that the preset protocol may refer to the 802.15.4z protocol, which is a basic wireless communication standard of the Institute of Electrical and Electronics Engineers (IEEE), and defines four frame structure types, as shown in Table 1 below.

[0053] Table 1

[0054]

[0055] In Table 1, "0" indicates the zeroth frame type, and STS information is not included in the protocol data unit (Presentation Protocol Data Unit, PPDU); "1" indicates the first frame type, STS information is included in the PPDU, and the STS information is located before the physical layer (Physical, PHY), physical layer header (Physical Header, PHR) and data (Data Payload) and other information; "2" indicates the second frame type, STS information is included in the PPDU, and the STS information is located after the PHY, PHR and Data Payload and other information; "3" indicates the third frame type, and PHY, PHR and Data Payload and other information are not included in the PPDU.

[0056] Specifically, each frame type may also include a start of frame delimiter (SFD) and a preamble (Ipatov Preamble, also referred to as Preamble). In the second frame type, time slot (Gap) information may also be carried. The following will define the formats of these four frame types respectively.

[0057] The definition of the zeroth frame type is as follows,

[0058] Ipatov Preamble SFD PHR Data Payload

[0059] The first frame type is defined as follows,

[0060] Ipatov Preamble SFD STS PHR Data Payload

[0061] The second frame type is defined as follows,

[0062] Ipatov Preamble SFD PHR Data Payload GAP STS

[0063] The third frame type is defined as follows,

[0064] Ipatov Preamble SFD STS

[0065] In the above four frame types, the IEEE standard stipulates that the length of the Preamble is 64, 1024 or 4096; the length of the SFD is 8 or 64, the length of the PHR is fixed at 19 bits, and the value of the GAP is 1 to 127 symbols. Since the timestamp (TimeStamp) of each frame TX or RX is obtained after the SFD is successfully acquired, in order to obtain the shortest transmission (TX) time and reception (RX) time, the above parameters can be selected in the embodiment of the present application, as shown in Table 2.

[0066] Table 2

[0067]

[0068]

[0069] S302: During the communication with the located device, determine the distance value between the positioning device and the located device according to the sending and receiving of the at least two frames; and when receiving the frame carrying the STS information, determine the angle value between the positioning device and the located device.

[0070] It should be noted that after determining the at least two frames according to the preset frame type, the positioning device and the positioned device may interact (send and receive) the at least two frames to determine the distance value between the positioning device and the positioned device.

[0071] Among them, two-way ranging (Two-Way Ranging, TWR) is a ranging technology, which is used in UWB technology to obtain specific distance values. In the embodiment of the present application, two-way ranging can be divided into single-sided two-way ranging (Single-Sided Two-Way Ranging, SS-TWR) and double-sided two-way ranging (Double-Sided Two-Way Ranging, DS-TWR).

[0072] In a possible implementation, the at least two frames may include two frames, specifically: a request frame (RangeFrame) and an end frame (FinalFrame). At this time, for S302, the determining the distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames may include:

[0073] According to the sending and receiving of the at least two frames, a distance value between the positioning device and the positioned device is determined using a unilateral bidirectional ranging algorithm.

[0074] That is to say, based on the interaction of two frames, the distance value can be calculated using the unilateral two-way ranging algorithm. Here, the unilateral two-way ranging is a simple measurement of a single round-trip time. Specifically, Figure 4 As shown in the figure, it is assumed that the positioning device is the Host (such as a smart phone) and the positioned device is the Client (such as an electronic tag). The positioning device actively sends a request frame to the positioned device. After the positioned device receives the request frame, the positioned device sends an end frame to the positioning device. According to the interaction between the request frame and the end frame, the distance value between the positioning device and the positioned device is obtained using a unilateral two-way ranging algorithm.

[0075] In another possible implementation, the at least two frames may include three frames, specifically: a request frame (RangeFrame), a response frame (ReplyFrame) and an end frame (FinalFrame). At this time, for S302, determining the distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames may include:

[0076] According to the sending and receiving of the at least two frames, a distance value between the positioning device and the positioned device is determined by using a bilateral two-way ranging algorithm.

[0077] That is to say, under the interaction based on three frames, the bilateral two-way ranging algorithm can be used to calculate the distance value. Here, bilateral two-way ranging is an extended ranging method of unilateral two-way ranging, which records the measurement of two round-trip times. Specifically, Figure 5 As shown in the figure, it is assumed that the positioning device is the Host (such as a smart phone) and the positioned device is the Client (such as an electronic tag). The positioned device sends a request frame to the positioning device. After the positioning device receives the request frame, the positioning device sends a response frame to the positioned device. Then, after the positioned device receives the response frame, the positioned device sends an end frame to the positioning device. In this way, according to the interaction of the request frame and the end frame, the distance value between the positioning device and the positioned device can also be obtained using the bilateral two-way ranging algorithm.

[0078] It should also be noted that when a frame carrying STS information is received, the angle value between the positioning device and the positioned device can also be determined. In the embodiment of the present application, the end frame can carry STS information, or other frames (such as request frames) can carry STS information, and no limitation is made here.

[0079] In some embodiments, when the end frame carries STS information, before the positioning device receives the end frame sent by the positioning device, the method may further include:

[0080] Enable the STS function to obtain the arrival phase difference between the positioning device and the positioned device.

[0081] Thus, for S302, when receiving a frame carrying the STS information, determining the angle value between the positioning device and the positioned device may include:

[0082] When receiving the end frame, obtaining an arrival phase difference between the positioning device and the positioned device;

[0083] The arrival angle value corresponding to the arrival phase difference value is queried from a preset table, and the queried arrival angle value is determined as the angle value between the positioning device and the positioned device; wherein the preset table is used to characterize the correspondence between the arrival phase difference value and the arrival angle value.

[0084] It should be noted that Phase-Difference-of-Arrival (PDOA) is a technology for measuring angles, which is used in UWB technology to obtain specific angles. Angle-of-Arrival (AOA) is a positioning algorithm based on the signal arrival angle. The angle value between the positioning device and the positioned device can be obtained based on AOA.

[0085] It should also be noted that a preset table is pre-stored in the positioning device, and the preset table is used to record the corresponding relationship between the arrival phase difference value and the arrival angle value. In this way, after obtaining the arrival phase difference value between the positioning device and the positioned device, the angle value between the positioning device and the positioned device can be obtained by looking up the table.

[0086] S303: Positioning the positioned device according to the distance value and the angle value.

[0087] It should be noted that measuring distance and angle is the key to realize device positioning. In this way, after obtaining the distance value and angle value, the positioning device can locate the positioned device.

[0088] That is to say, the embodiments of the present application can use the STS protocol and frame type used in the preset protocol (such as 802.15.4z). In the embodiments of the present application, the positioning of the located device can be completed by using the two algorithms of TWR and PDOA. Among them, the TWR algorithm is used to complete the distance measurement of the located device. In order to improve the positioning accuracy, the DS-TWR algorithm can be used to calculate the distance value; the value of PDOA can be directly read from the register of the UWB IC chip through the measurement of STS information, and finally converted into AOA through algorithm processing (specifically referring to the method of searching the preset table) to complete the angle measurement of the located device. In this way, after obtaining the distance value and the angle value, the positioning of the located device can be completed. It should be noted that for UWB technology, a UWB communication module is provided in the positioning device and the located device, and the communication module is integrated with a UWB IC chip to realize the receiving (RX) and sending (TX) functions. The communication module may also include a power amplifier (PA) / low noise amplifier (LNA), which is mainly used in the design of radio frequency receiving circuits to increase the radiation power and improve the receiving sensitivity.

[0089] This embodiment provides a device positioning method, which determines at least two frames based on a preset frame type; wherein only one of the at least two frames carries encrypted timestamp sequence STS information; during the communication process with the positioned device, the distance value between the positioning device and the positioned device is determined according to the sending and receiving of the at least two frames; and when the frame carrying the STS information is received, the angle value between the positioning device and the positioned device is determined; and the positioned device is positioned according to the distance value and the angle value. In this way, through the preset frame type, since only one frame carries the STS information, the length of other frames can be shortened, thereby realizing the positioning function while saving the receiving time and sending time of the device, and achieving the purpose of reducing the power consumption of the device.

[0090] In another embodiment of the present application, a detailed description is given by taking the application scenario of bilateral two-way ranging as an example.

[0091] In the embodiment of the present application, the at least two frames may include three frames, specifically: a request frame (Range Frame), a response frame (Reply Frame) and an end frame (Final Frame).

[0092] Here, it is assumed that neither the request frame nor the response frame carries STS information, and only the end frame carries STS information. Based on the four frame types defined in 802.15.4z, determining the preset frame type from the four frame types may include: if the end frame carries STS information, determining that the end frame adopts the first frame type, and the request frame and the response frame adopt the zeroth frame type.

[0093] Specifically, the definitions of these three frames are as follows:

[0094] (1) Request frame: STS function is turned off (STS OFF), and Data Payload is 1 Byte.

[0095] Ipatov Preamble SFD STS PHR Data Payload

[0096] When STS is OFF, the frame type is the zeroth frame type, as follows:

[0097] Ipatov Preamble SFD PHR Data Payload

[0098] (2) Response frame: STS function is turned off (STS OFF), and Data Payload is 1 Byte.

[0099] Ipatov Preamble SFD STS PHR Data Payload

[0100] When STS is OFF, the frame type is the zeroth frame type, as follows:

[0101] Ipatov Preamble SFD PHR Data Payload

[0102] (3) End frame: Enable the STS function (STS ON), and the Data Payload is 1+8 bytes.

[0103] Ipatov Preamble SFD STS PHR Data Payload

[0104] When STS is ON, the frame type is the first frame type, as follows:

[0105] Ipatov Preamble SFD STS PHR Data Payload

[0106] In some embodiments, for the bilateral two-way ranging technique, see Figure 6 , which shows a schematic diagram of the process of a bilateral two-way ranging algorithm provided in an embodiment of the present application. Figure 6 As shown, the process may include:

[0107] S601: After receiving a request frame sent by a positioned device, obtain a first receiving time.

[0108] S602: After successfully sending a response frame to the located device, obtain a second sending time.

[0109] S603: After receiving the end frame sent by the positioned device, obtain a third receiving time; and parse the end frame to obtain a first round-trip time and a second interval time.

[0110] It should be noted that the first receiving time can be represented by RX_Timestamp1, the second sending time can be represented by TX_Timestamp2, and the third receiving time can be represented by RX_Timestamp3.

[0111] It should also be noted that the first round trip time and the second interval time are carried in the end frame. Here, the first round trip time can be represented by Tround1, which is used to represent the time interval between the located device sending the request frame and receiving the response frame; the second interval time can be represented by Treply2, which is used to represent the time interval between the located device receiving the response frame and sending the end frame.

[0112] S604: Determine a first interval time according to the difference between the second sending time and the first receiving time.

[0113] S605: Determine a second round trip time according to the difference between the third receiving time and the second sending time.

[0114] It should be noted that the first interval time can be represented by Treply1, which is used to represent the time interval between the positioning device receiving the request frame and sending the response frame, as shown in the following formula:

[0115] Treply1=TX_Timestamp2-RX_Timestamp1 (2)

[0116] It should also be noted that the second round trip time can be represented by Tround2, which is used to represent the time interval between the positioning device sending the response frame and receiving the end frame, as shown in the following formula:

[0117] Tround2=RX_Timestamp3-TX_Timestamp2 (3)

[0118] S606: Calculate the first round-trip time, the second round-trip time, the first interval time, and the second interval time using a first calculation model to obtain a target flight time.

[0119] It should be noted that after obtaining the first round trip time (Tround1), the second round trip time (Tround2), the first interval time (Treply1) and the second interval time (Treply2), the target flight time (Tround1) can be calculated using the first calculation model (Tround2). tof The first calculation model is specifically shown as follows:

[0120]

[0121] S607: Perform multiplication operation on the target flight time and the preset propagation speed to obtain the distance value between the positioning device and the positioned device.

[0122] It should be noted that c represents the preset propagation speed, that is, the propagation speed of electromagnetic waves in the air; the distance value is represented by Distance, and its specific calculation is shown in the following formula:

[0123] Distance=T tof ×c (5)

[0124] In addition, since the end frame carries STS information, the STS function can be turned on before the positioning device receives the end frame sent by the positioned device, and the arrival phase difference between the positioning device and the positioned device can be obtained, and then the angle value between the positioning device and the positioned device can be determined, so that the positioning device can locate the positioned device (distance and angle).

[0125] For example, the following will take the Host (smartphone) as the positioning device and the Client (electronic tag) as the positioned device as an example. Figure 5 The logical timing interaction of the three frames: request frame, response frame and end frame is explained in detail.

[0126] (a) The purpose of the embodiment of the present application is to reduce the power consumption of the electronic tag and increase the service life of the electronic tag. Due to the characteristics of the UWB IC chip, its receiving (RX) power consumption is much greater than the sending (TX) power consumption. Therefore, in order to reduce the time for the tag end to open RX as much as possible, before the start of this round of ranging communication, the Host is in the RX state in advance, waiting for the Client's TX to send a request frame to initiate ranging; at the same time, in order to reduce the Client's TX time, the frame type of the request frame is only Preamble+SFD+PHR+1byte Data payload. At this time, there is no STS, and the 1byte Data payload is used to identify this frame as a request frame. After the Client successfully sends the request frame, the Client side can read TX_Timestamp1 and control the UWB IC chip to enter the idle state. After a precisely controlled first delay time (delay1), the Client turns on the RX of the UWB IC chip and listens for the response frame sent by the Host.

[0127] (b) After receiving the request frame, the Host reads RX_Timestamp1 and enters the idle state. After a precisely controlled second delay time (delay2), the Host sends a response frame. At this time, the frame type of the response frame is only Preamble+SFD+PHR+1byte Data payload. There is no STS at this time, and the 1byte Data payload is used to identify this frame as a response frame.

[0128] (c) After receiving the response frame sent by the Host, the Client reads out the RX_Timestamp2 at this time and calculates Tround1=RX_Timestamp2-TX_Timestamp1; at the same time, after a precisely controlled third delay time (delay3), the Client turns on the STS function and sends an end frame, where the frame type of the end frame is Preamble+SFD+PHR+9byte Data payload, where the first byte of the Data payload is used to identify this frame as the end frame, the 2nd to 5th bytes are used to fill the value of Tround1, and the 6th to 9th bytes are used to fill the value of Treply2, where Treply2=(RX_Timestamp2+delay3+antenna delay)-RX_Timestamp2=delay3+antenna delay.

[0129] (d) After the Host sends the response frame, it enters the idle state, wakes up after a precisely controlled fourth delay time (delay4), reads out TX_Timestamp2 when the last response frame was sent, turns on the STS function, enters the RX state to receive the end frame, and after the Host successfully receives the TX_Timestamp3, reads out RX_Timestamp3, and performs the following operations:

[0130] (i) Parse Tround1 and Treply2 from the Data payload of the end frame;

[0131] (ii) Calculate Treply1 and Tround2 according to equation (2) and equation (3) respectively;

[0132] (iii) Since the end frame received this time carries STS information, the UWB IC chip will automatically calculate the value of PDOA, so the value of PDOA can be directly read.

[0133] (e) Calculate the distance value (Distance) according to equation (4) and equation (5); and obtain the specific angle (AOA) by looking up the preset table according to the value of PDOA.

[0134] In this way, through the interaction of the above three frames, the Host can realize the positioning (distance and angle) of the Client to the greatest extent possible while saving power consumption.

[0135] In another embodiment of the present application, if the requirement for ranging accuracy is not high, the embodiment of the present application may also adopt unilateral bidirectional ranging technology, which will be described in detail below using the application scenario of unilateral bidirectional ranging as an example.

[0136] In the embodiment of the present application, the at least two frames may include two frames, specifically: a request frame (Range Frame) and an end frame (Final Frame).

[0137] Here, it is assumed that the request frame does not carry STS information and only the end frame carries STS information. Based on the four frame types defined in 802.15.4z, determining the preset frame type from the four frame types may include: if the end frame carries STS information, determining that the end frame adopts the first frame type and the request frame adopts the zeroth frame type.

[0138] Specifically, the definitions of these three frames are as follows:

[0139] (1) Request frame: STS function is turned off (STS OFF), and Data Payload is 1 Byte.

[0140] Ipatov Preamble SFD STS PHR Data Payload

[0141] When STS is OFF, the frame type is the zeroth frame type, as follows:

[0142] Ipatov Preamble SFD PHR Data Payload

[0143] (2) End frame: Enable the STS function (STS ON), and the Data Payload is 1+8 bytes.

[0144] Ipatov Preamble SFD STS PHR Data Payload

[0145] When STS is ON, the frame type is the first frame type, as follows:

[0146] Ipatov Preamble SFD STS PHR Data Payload

[0147] In some embodiments, for the unilateral two-way ranging technology, see Figure 7 , which shows a schematic diagram of the flow of a unilateral bidirectional ranging algorithm provided in an embodiment of the present application. Figure 7 As shown, the process may include:

[0148] S701: After successfully sending a request frame to the located device, obtaining a unilateral sending time.

[0149] S702: After receiving the end frame sent by the positioned device, obtain the unilateral receiving time; and parse the end frame to obtain the unilateral interval time.

[0150] It should be noted that the unilateral transmission time can be represented by TX_Timestamp, and the unilateral reception time can be represented by RX_Timestamp.

[0151] It should also be noted that the unilateral interval time is carried in the end frame. Here, the unilateral interval time can be represented by Treply, which is used to represent the time interval between the located device receiving the request frame and sending the end frame.

[0152] S703: Determine a unilateral round-trip time according to the difference between the unilateral receiving time and the unilateral sending time.

[0153] It should be noted that the round trip time can be represented by Tround, which is used to represent the time interval between the positioning device sending the request frame and receiving the end frame, as shown in the following formula:

[0154] Tround=RX_Timestamp-TX_Timestamp (6)

[0155] S704: Calculate the one-way round-trip time and the one-way interval time using a second calculation model to obtain a target flight time.

[0156] It should be noted that after obtaining the round trip time (Tround) and the interval time (Treply), the target flight time (T tof The second calculation model is specifically shown as follows:

[0157]

[0158] S705: Perform multiplication operation on the target flight time and the preset propagation speed to obtain the distance value between the positioning device and the positioned device.

[0159] It should be noted that c represents the preset propagation speed, that is, the propagation speed of electromagnetic waves in the air; after obtaining the target flight time, the distance value (Distance) can still be calculated using the above formula (5).

[0160] In addition, since the end frame carries STS information, the STS function can be turned on before the positioning device receives the end frame sent by the positioned device, and the arrival phase difference between the positioning device and the positioned device can be obtained, and then the angle value between the positioning device and the positioned device can be determined, so that the positioning device can locate the positioned device (distance and angle).

[0161] In the embodiment of the present application, the Host (smartphone) is used as the positioning device and the Client (electronic tag) is used as the positioned device. Figure 4It can be seen that the logical timing interaction of the request frame and the end frame. Among them, the host actively sends a request frame, which does not carry STS information; until a certain moment when the client turns on RX and receives the request frame, after a delay time, the client turns on the STS function and sends an end frame, which carries STS information and the unilateral interval time (Treply value); then the host turns on the STS function and enters the RX state to receive the end frame. Here, the positioning function can be completed only through the interaction of two frames.

[0162] It should also be noted that compared with the bilateral two-way ranging technology, in order to reduce the power consumption of the Client, the Host needs to actively send request frames until the Client turns on RX at a certain moment to complete the interaction of the two frames. Because the unilateral two-way ranging technology can further reduce the power consumption of the Client, it will increase the power consumption of the Host, and the accuracy of the unilateral two-way ranging will be reduced.

[0163] This embodiment provides a device positioning method, and the specific implementation of the above embodiment is described in detail through the above embodiment. It can be seen that through the technical solution of the above embodiment, the technical solution is used to complete the ranging process by defining the frame type and the logical timing of at least two frames interacting; at the same time, only when the last frame is sent and received, the STS function is turned on to complete the angle calculation; that is, through the interaction of at least two frames, while completing the positioning function, the power consumption of the Client is also reduced. In other words, while solving the problem of Host positioning the Client, this technical solution greatly shortens the time for the Client to turn on TX and RX, reduces the power consumption of sending and receiving, thereby achieving the purpose of reducing the power consumption of the device, and also improves the battery life of the located device (such as an electronic tag), improving the competitiveness of the product.

[0164] In another embodiment of the present application, see Figure 8 , which shows a schematic diagram of the composition structure of a device positioning device 80 provided in an embodiment of the present application. The device positioning device 80 can be integrated in a positioning device. Figure 8 As shown, the device positioning apparatus 80 may include: a determination unit 801 and a positioning unit 802; wherein,

[0165] The determining unit 801 is configured to determine at least two frames based on a preset frame type; wherein only one of the at least two frames carries STS information;

[0166] The determining unit 801 is further configured to determine, during the communication process with the positioned device, a distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames; and to determine an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information;

[0167] The positioning unit 802 is configured to position the positioned device according to the distance value and the angle value.

[0168] In some embodiments, the at least two frames include a request frame, a response frame, and an end frame;

[0169] The determining unit 801 is specifically configured to determine the distance value between the positioning device and the positioned device by using a bilateral two-way ranging algorithm according to the sending and receiving of the at least two frames.

[0170] In some embodiments, the at least two frames include a request frame and an end frame;

[0171] The determining unit 801 is specifically configured to determine the distance value between the positioning device and the positioned device by using a unilateral bidirectional ranging algorithm according to the sending and receiving of the at least two frames.

[0172] In some embodiments, see Figure 8 , the device positioning apparatus 80 may further include an acquisition unit 803 and a calculation unit 804; wherein,

[0173] The acquisition unit 803 is configured to acquire a first receiving time after receiving the request frame sent by the located device; and acquire a second sending time after successfully sending the response frame to the located device; and acquire a third receiving time after receiving the end frame sent by the located device; and parse the end frame to acquire a first round-trip time and a second interval time; wherein the first round-trip time represents the time interval between the located device sending the request frame and receiving the response frame, and the second interval time represents the time interval between the located device receiving the response frame and sending the end frame;

[0174] The determining unit 801 is further configured to determine a first interval time according to the difference between the second sending time and the first receiving time, wherein the first interval time represents the time interval between the positioning device receiving the request frame and sending the response frame; and determine a second round-trip time according to the difference between the third receiving time and the second sending time, wherein the second round-trip time represents the time interval between the positioning device sending the response frame and receiving the end frame;

[0175] The calculation unit 804 is configured to calculate the first round-trip time, the second round-trip time, the first interval time and the second interval time using a first calculation model to obtain a target flight time; and multiply the target flight time by a preset propagation speed to obtain a distance value between the positioning device and the positioned device.

[0176] In some embodiments, the acquisition unit 803 is further configured to acquire the unilateral sending time after successfully sending the request frame to the located device; and acquire the unilateral receiving time after receiving the end frame sent by the located device; and parse the end frame to acquire the unilateral interval time; wherein the unilateral interval time represents the time interval between the located device receiving the request frame and sending the end frame;

[0177] The determining unit 801 is further configured to determine a unilateral round trip time according to a difference between the unilateral receiving time and the unilateral sending time, wherein the unilateral round trip time represents a time interval between the positioning device sending the request frame and receiving the end frame;

[0178] The calculation unit 804 is further configured to calculate the unilateral round-trip time and the unilateral interval time using a second calculation model to obtain a target flight time; and to multiply the target flight time by a preset propagation speed to obtain a distance value between the positioning device and the positioned device.

[0179] In some embodiments, see Figure 8 The device positioning apparatus 80 may further include an enabling unit 805, configured to enable an STS function before receiving the end frame sent by the positioned device when the end frame carries STS information, so as to obtain an arrival phase difference between the positioning device and the positioned device.

[0180] In some embodiments, see Figure 8 , the device positioning apparatus 80 may further include a query unit 806; wherein,

[0181] The acquiring unit 803 is further configured to acquire an arrival phase difference between the positioning device and the positioned device when receiving the end frame;

[0182] The query unit 806 is configured to query the arrival angle value corresponding to the arrival phase difference value from a preset table, and determine the queried arrival angle value as the angle value between the positioning device and the positioned device; wherein the preset table is used to characterize the correspondence between the arrival phase difference value and the arrival angle value.

[0183] In some embodiments, the acquisition unit 803 is further configured to acquire four frame types defined in the preset protocol;

[0184] The determining unit 801 is further configured to determine the preset frame type from the four frame types.

[0185] In some embodiments, the four frame types include a zeroth frame type, a first frame type, a second frame type, and a third frame type; wherein the zeroth frame type carries data information but does not carry STS information, the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries time slot information, and the third frame type only carries STS information but does not carry data information.

[0186] In some embodiments, the determination unit 801 is further configured to, when the at least two frames include a request frame, a response frame and an end frame, if the end frame carries STS information, determine that the end frame adopts the first frame type, and the request frame and the response frame adopt the zeroth frame type.

[0187] In some embodiments, the determination unit 801 is further configured to, when the at least two frames include a request frame and an end frame, if the end frame carries STS information, determine that the end frame adopts the first frame type and the request frame adopts the zeroth frame type.

[0188] It can be understood that in this embodiment, a "unit" can be a part of a circuit, a part of a processor, a part of a program or software, etc., and of course it can also be a module, or it can be non-modular. Moreover, the components in this embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional module.

[0189] If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the method described in this embodiment. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0190] Therefore, this embodiment provides a computer storage medium, which stores a computer program. When the computer program is executed by at least one processor, the steps of the method described in any one of the above embodiments are implemented.

[0191] Based on the composition of the above-mentioned device positioning device 80 and the computer storage medium, see Fig. 9 , which shows a schematic diagram of the specific hardware structure of the positioning device 90 provided in the embodiment of the present application. Fig. 9 As shown, it may include: a communication interface 901, a memory 902 and a processor 903; each component is coupled together through a bus system 904. It is understood that the bus system 904 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 904 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, Fig. 9 Various buses are labeled as bus system 904. Among them, the communication interface 901 is used for receiving and sending signals in the process of sending and receiving information between other external network elements;

[0192] Memory 902, used to store computer programs that can be run on processor 903;

[0193] The processor 903 is configured to execute, when running the computer program:

[0194] Based on a preset frame type, at least two frames are determined; wherein only one of the at least two frames carries encrypted timestamp sequence STS information;

[0195] In the communication process with the located device, according to the sending and receiving of the at least two frames, the distance value between the positioning device and the located device is determined; and when the frame carrying the STS information is received, the angle value between the positioning device and the located device is determined;

[0196] The positioned device is positioned according to the distance value and the angle value.

[0197] It can be understood that the memory 902 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory (DRRAM). The memory 902 of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0198] The processor 903 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 903. The above processor 903 may be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor are combined and executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 902, and the processor 903 reads the information in the memory 902 and completes the steps of the above method in combination with its hardware.

[0199] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.

[0200] For software implementation, the techniques described herein can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0201] Optionally, as another embodiment, the processor 903 is further configured to execute the steps of the method described in any one of the aforementioned embodiments when running the computer program.

[0202] See also Fig.10 , which shows a schematic diagram of the structure of a positioning system provided by an embodiment of the present application. Fig.10 As shown, the positioning system 100 may include at least a positioned device 1001 and a positioning device 1002. The positioning device 1002 may be the positioning device 90 described in the above embodiment, or may be a device integrated with the device positioning apparatus 80 described in the above embodiment.

[0203] In the embodiment of the present application, the positioning device 1002 can realize the positioning of the located device 1001, and because only one frame carries STS information, the length of other frames can be shortened, thereby realizing the positioning function while saving the receiving time and sending time of the device, thereby achieving the purpose of reducing the power consumption of the device.

[0204] It should be noted that, in this application, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0205] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0206] The methods disclosed in several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0207] The features disclosed in several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0208] The features disclosed in several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0209] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A device positioning method, characterized in that: Applied to a positioning device, the method comprises: Based on a preset frame type, at least two frames are determined; wherein only one of the at least two frames carries encrypted timestamp sequence STS information; During the communication with the located device, determining the distance value between the positioning device and the located device according to the sending and receiving of the at least two frames; and determining the angle value between the positioning device and the located device when receiving the frame carrying the STS information; Positioning the positioned device according to the distance value and the angle value; The method further includes: acquiring four frame types defined in a preset protocol; determining the preset frame type from the four frame types; Among them, the four frame types include the zeroth frame type, the first frame type, the second frame type and the third frame type. The zeroth frame type carries data information but does not carry STS information, the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries time slot information, and the third frame type only carries STS information but does not carry data information.

2. The method according to claim 1, characterized in that The at least two frames include a request frame, a response frame, and an end frame, and determining the distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames includes: According to the sending and receiving of the at least two frames, a distance value between the positioning device and the positioned device is determined by using a bilateral two-way ranging algorithm.

3. The method according to claim 1, characterized in that The at least two frames include a request frame and an end frame, and the determining the distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames includes: According to the sending and receiving of the at least two frames, a distance value between the positioning device and the positioned device is determined using a unilateral bidirectional ranging algorithm.

4. The method according to claim 2, characterized in that: Determining the distance value between the positioning device and the positioned device by using a bilateral two-way ranging algorithm according to the sending and receiving of the at least two frames includes: After receiving the request frame sent by the positioned device, obtaining a first receiving time; After successfully sending the response frame to the located device, acquiring a second sending time; After receiving the end frame sent by the located device, obtaining a third receiving time; and parsing the end frame to obtain a first round-trip time and a second interval time; wherein the first round-trip time represents the time interval between the located device sending the request frame and receiving the response frame, and the second interval time represents the time interval between the located device receiving the response frame and sending the end frame; Determine a first interval time according to a difference between the second sending time and the first receiving time, where the first interval time represents a time interval between the positioning device receiving the request frame and sending the response frame; Determine a second round trip time according to a difference between the third receiving time and the second sending time, where the second round trip time represents a time interval between the positioning device sending the response frame and receiving the end frame; Calculate the first round-trip time, the second round-trip time, the first interval time, and the second interval time using a first calculation model to obtain a target flight time; The target flight time and the preset propagation speed are multiplied to obtain a distance value between the positioning device and the positioned device.

5. The method according to claim 3, characterized in that: Determining the distance value between the positioning device and the positioned device by using a unilateral bidirectional ranging algorithm according to the sending and receiving of the at least two frames includes: After successfully sending a request frame to the located device, obtaining a unilateral sending time; After receiving the end frame sent by the positioned device, obtaining the unilateral receiving time; and parsing the end frame to obtain the unilateral interval time; wherein the unilateral interval time represents the time interval between the positioned device receiving the request frame and sending the end frame; Determine a unilateral round trip time according to a difference between the unilateral receiving time and the unilateral sending time, wherein the unilateral round trip time represents a time interval between the positioning device sending the request frame and receiving the end frame; Calculate the unilateral round-trip time and the unilateral interval time using a second calculation model to obtain a target flight time; The target flight time and the preset propagation speed are multiplied to obtain a distance value between the positioning device and the positioned device.

6. The method according to claim 4 or 5, characterized in that: When the end frame carries STS information, before receiving the end frame sent by the positioned device, the method further includes: The STS function is enabled to obtain the arrival phase difference between the positioning device and the positioned device.

7. The method according to claim 6, characterized in that The step of determining the angle between the positioning device and the positioned device upon receiving the frame carrying the STS information comprises: When receiving the end frame, obtaining an arrival phase difference between the positioning device and the positioned device; Querying the arrival angle value corresponding to the arrival phase difference value from a preset table, and determining the queried arrival angle value as the angle value between the positioning device and the positioned device; The preset table is used to characterize the corresponding relationship between the arrival phase difference value and the arrival angle value.

8. The method according to claim 1, characterized in that When the at least two frames include a request frame, a response frame, and an end frame, determining the preset frame type from the four frame types includes: If the end frame carries STS information, it is determined that the end frame adopts the first frame type, and the request frame and the response frame adopt the zeroth frame type.

9. The method according to claim 1, characterized in that: When the at least two frames include a request frame and an end frame, determining the preset frame type from the four frame types includes: If the end frame carries STS information, it is determined that the end frame adopts the first frame type and the request frame adopts the zeroth frame type.

10. A device positioning apparatus, characterized in that: Applied to positioning equipment, the equipment positioning device comprises a determination unit and a positioning unit; wherein, The determining unit is configured to determine at least two frames based on a preset frame type; wherein only one of the at least two frames carries encrypted timestamp sequence STS information; The determining unit is further configured to determine, during the communication process with the positioned device, a distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames; and to determine an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information; The positioning unit is configured to position the positioned device according to the distance value and the angle value; The device positioning apparatus further includes an acquisition unit configured to acquire four frame types defined in a preset protocol; the determination unit is further configured to determine the preset frame type from the four frame types; Among them, the four frame types include the zeroth frame type, the first frame type, the second frame type and the third frame type. The zeroth frame type carries data information but does not carry STS information, the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries time slot information, and the third frame type only carries STS information but does not carry data information.

11. A positioning device, characterized in that: The positioning device includes a memory and a processor; wherein, The memory is used to store a computer program that can be run on the processor; The processor is configured to execute the method according to any one of claims 1 to 9 when running the computer program.

12. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by at least one processor, the method according to any one of claims 1 to 9 is implemented.

13. A positioning system, characterized in that: The positioning system comprises at least a positioned device and the positioning device as claimed in claim 11.

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