Positioning method and electronic equipment

Abstract

The invention provides a positioning method and electronic equipment, and is applied to the technical field of terminal equipment. The positioning method comprises the following steps: in response to relative motion of the electronic equipment and a target object, determining a motion velocity vector of the electronic equipment; determining a transmitting frequency of transmitting a signal to the target object by the electronic equipment, and a receiving frequency reflected by the target object based on the transmitting frequency and received by the electronic equipment; according to the motion velocity vector, the transmitting frequency and the receiving frequency, Doppler velocity is determined, and the Doppler velocity represents a relative velocity scalar between the electronic device and the target object generated by the Doppler effect; and determining position information of the target object relative to the electronic equipment according to the motion velocity vector and the Doppler velocity.

Description

Technical Field

[0001] The present disclosure relates to the technical field of terminal devices, and particularly to a positioning method and an electronic device. Background Art

[0002] Currently, ultrasonic echo positioning is a method where an ultrasonic device emits ultrasonic signals. These signals are reflected when they encounter an obstacle, and the reflected signals are captured by a receiver and converted into electrical signals. Then, the distance to the obstacle is determined by calculating the round-trip time of the signals.

[0003] However, existing ultrasonic echo positioning requires detecting echo signals when the obstacle and the ultrasonic device are relatively stationary. During movement, it is often inconvenient to calculate, and the positioning accuracy is not high. Summary of the Invention

[0004] In view of this, the present disclosure provides a positioning method and an electronic device.

[0005] According to a first aspect of the present disclosure, a positioning method is provided, including: in response to relative movement between an electronic device and a target object, determining a motion velocity vector of the electronic device; determining a transmission frequency at which the electronic device emits a signal to the target object, and a reception frequency received by the electronic device based on the transmission frequency reflected by the target object; determining a Doppler velocity according to the motion velocity vector, the transmission frequency, and the reception frequency, where the Doppler velocity represents a relative velocity scalar between the electronic device and the target object generated due to the Doppler effect; and determining position information of the target object relative to the electronic device according to the motion velocity vector and the Doppler velocity.

[0006] According to an embodiment of the present disclosure, determining the Doppler velocity according to the motion velocity vector, the transmission frequency, and the reception frequency includes: determining a medium propagation velocity of the environment where the electronic device is located; respectively determining relative states of the electronic device and the target object, where the relative states include approaching and moving away; and determining the Doppler velocity according to the medium propagation velocity, the motion velocity vector, the transmission frequency, the reception frequency, and the two relative states.

[0007] According to an embodiment of the present disclosure, determining the Doppler velocity includes: extracting a first velocity component of the electronic device relative to the target object radially from the motion velocity vector; performing Doppler frequency offset processing on the relative state of the electronic device, the first velocity component, the medium propagation velocity, the transmission frequency, and the reception frequency to obtain a second velocity component of the target object relative to the electronic device radially; and respectively weighting and summing the first velocity component and the second velocity component according to the relative states of the electronic device and the target object to obtain the Doppler velocity.

[0008] According to an embodiment of the present disclosure, determining position information of a target object relative to an electronic device based on a motion speed vector and a Doppler speed includes: in response to the target object being stationary, determining a motion space in which the electronic device and the target object move relative to each other, where the motion space includes a two-dimensional space and a three-dimensional space; determining an included angle between the motion speed vector of the electronic device and the Doppler speed; and determining the position information of the target object relative to the electronic device based on the motion space, the motion speed vector, and the included angle.

[0009] According to an embodiment of the present disclosure, determining position information of a target object relative to an electronic device based on the motion space, the motion speed vector, and the included angle includes: in the case where the motion space is a three-dimensional space, determining a size type of the target object; and determining the position information of the target object relative to the electronic device based on the size type, the motion speed vector, and the included angle.

[0010] According to an embodiment of the present disclosure, determining the position information of the target object relative to the electronic device based on the motion space, the included angle, the first speed vector, and the second speed vector further includes: determining a first speed vector of the electronic device at a first moment and a second speed vector of the electronic device at a second moment based on the motion speed vector, where a time difference between the first moment and the second moment is less than a preset duration threshold; and determining the position information based on the motion space, the included angle, the first speed vector, and the second speed vector.

[0011] According to an embodiment of the present disclosure, determining the position information based on the motion space, the included angle, the first speed vector, and the second speed vector includes: determining a first position data set of the target object at the first moment based on the included angle and the first speed vector; determining a second position data set of the target object at the second moment based on the included angle and the second speed vector; and determining the position information based on an intersection of the first position data set and the second position data set in the motion space.

[0012] According to an embodiment of the present disclosure, the positioning method further includes: identifying a usage mode of the electronic device based on the position information of the target object relative to the electronic device, where the usage mode includes a game mode, a meeting mode, a phone mode, an audio-visual mode, a managed mode, and a leave mode; determining a target service policy that the electronic device can provide for the target object according to the usage mode; and adjusting setting information of the electronic device based on the target service policy.

[0013] According to an embodiment of the present disclosure, determining the target service policy that the electronic device can provide for the target object according to the usage mode includes at least one of the following: in the case where the usage mode is the phone mode, determining that the target service policy is an anti-misoperation policy; in the case where the usage mode is the leave mode, determining that the target service policy is a tracking policy.

[0014] A second aspect of the present disclosure provides an electronic device, comprising: a speed sensor configured to determine a motion speed vector of the electronic device in response to relative motion between the electronic device and a target object; a transceiver configured to determine a transmission frequency at which the electronic device transmits a signal to the target object, and a reception frequency at which the electronic device receives a reflection of the target object based on the transmission frequency; a processor communicatively connected to the speed sensor and the transceiver respectively, the processor being configured to: determine a Doppler speed based on the motion speed vector, the transmission frequency, and the reception frequency, wherein the Doppler speed represents a relative speed scalar between the electronic device and the target object generated due to the Doppler effect; and determine position information of the target object relative to the electronic device based on the motion speed vector and the Doppler speed.

[0015] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, the above and other objects, features, and advantages of the present disclosure will become clearer. In the drawings:

[0017] Figure 1 An application scenario diagram of the positioning method according to an embodiment of the present disclosure is schematically shown;

[0018] Figure 2 A flowchart of the positioning method according to an embodiment of the present disclosure is schematically shown;

[0019] Figure 3 A schematic diagram of the absolute motion speeds of the electronic device and the target object according to an embodiment of the present disclosure is schematically shown;

[0020] Figure 4 A flowchart of determining position information of the target object relative to the electronic device according to an embodiment of the present disclosure is schematically shown;

[0021] Figures 5A - 5C A schematic diagram of determining position information of the target object relative to the electronic device in three cases in a two-dimensional space according to an embodiment of the present disclosure is schematically shown;

[0022] Figures 6A - 6B A schematic diagram of determining position information of a small-sized target object / a large-sized target object relative to the electronic device in a three-dimensional space according to an embodiment of the present disclosure is schematically shown;

[0023] Figure 7A A flowchart of determining position information of the target object relative to the electronic device according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 7B Schematically shows a schematic diagram of determining the position information of a target object relative to an electronic device in a two-dimensional space according to an embodiment of the present disclosure;

[0025] Figure 7C Schematically shows a schematic diagram of determining the position information of a target object relative to an electronic device in a three-dimensional space according to an embodiment of the present disclosure;

[0026] Figure 7D Schematically shows according to Figure 7C A schematic diagram of determining the position information of a target object relative to an electronic device under error factors;

[0027] Figure 8 Schematically shows a block diagram of an electronic device according to an embodiment of the present disclosure. Detailed implementation manners

[0028] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for the sake of explanation, many specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

[0029] The terms used herein are merely for describing specific embodiments and are not intended to limit the present disclosure. The terms "including", "comprising", etc. used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0030] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0031] In the case of using expressions such as "at least one of A, B, and C", generally, it should be interpreted according to the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but not be limited to a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0032] Figure 1 Schematically shows an application scenario diagram of a positioning method according to an embodiment of the present disclosure.

[0033] As shown Figure 1 in Figure 1, the application scenario 100 may include an electronic device 110 and a target object 120.

[0034] The electronic device 110 may be a movable device capable of transmitting and receiving signals to and from the target object 120, including but not limited to smartphones, tablets, laptops, wearable devices, vehicle terminals, intelligent robots, floor-sweeping robots, drones, and the like. Among them, wearable devices may include smart bracelets, smart watches, smart glasses, smart gloves, virtual reality devices (VR) and augmented reality devices (AR), etc.

[0035] The target object 120 may be an object located within a predetermined area around the electronic device 110, such as the user of the electronic device 110, surrounding physical objects, passers-by around, etc. Among them, the predetermined area may be preset according to the detection requirements of the target object 120. For example, if it is necessary to detect the target object 120 within 0.5 meters around the electronic device 110, the predetermined area may be set as the area where the position is less than or equal to 0.5 meters away from the electronic device 110.

[0036] In an embodiment of the present disclosure, first, when the electronic device is moving relative to the target object, the motion velocity vector of the electronic device can be determined; second, the transmission frequency of the signal emitted by the electronic device to the target object and the reception frequency of the signal reflected by the target object based on the transmission frequency received by the electronic device are determined; then, according to the motion velocity vector, the transmission frequency and the reception frequency, the Doppler velocity is determined, where the Doppler velocity represents the relative velocity scalar between the electronic device and the target object generated due to the Doppler effect; finally, according to the motion velocity vector and the Doppler velocity, the position information of the target object relative to the electronic device is determined.

[0037] It can be understood that the Doppler effect is a physical phenomenon in which the observed frequency changes due to the relative motion between the wave source and the observer (receiver) in a wave phenomenon. In an embodiment of the present disclosure, the signal emitted by the electronic device 110 to the target object 120 will be reflected back when it encounters the target object 120. When the electronic device 110 and the target object 120 are moving relative to each other, the frequency of the signal reflected by the target object 120 will shift due to the Doppler effect, resulting in a shift between the reception frequency and the transmission frequency.

[0038] In view of this, an embodiment of the present disclosure provides a positioning method, which can be executed by the electronic device 110 or by software installed in the electronic device 110.

[0039] Based on the above Figure 1 described scenario, the positioning method of the embodiment of the present disclosure will be described in detail.

[0040] Figure 2 Schematically shows a flowchart of a positioning method according to an embodiment of the present disclosure.

[0041] As Figure 2 shown, the positioning method of this embodiment includes operations S210 to S240.

[0042] In operation S210, in response to relative movement between the electronic device and the target object, determine the movement velocity vector of the electronic device.

[0043] The movement velocity vector is a physical quantity that simultaneously includes the magnitude of velocity (speed) and the direction of velocity. The relative movement between the electronic device and the target object means that the velocity vectors (including magnitude or direction) of the electronic device and the target object are different.

[0044] For example, the movement velocity vector of the electronic device can be detected by an inertial sensor (such as an accelerometer, gyroscope, magnetometer, etc.) built into the electronic device.

[0045] In operation S220, determine the transmission frequency at which the electronic device transmits a signal to the target object, and the reception frequency received by the electronic device based on the reflection of the transmission frequency by the target object.

[0046] In the embodiments of the present disclosure, the transmission signal of the electronic device can be an ultrasonic signal, and can also be all types of waves with the Doppler effect, including mechanical waves (such as water waves, sound waves, seismic waves, etc.), electromagnetic waves (such as light waves, radio waves, X - directed lines, etc.), gravitational waves, matter waves, etc.

[0047] For example, the electronic device is built - in with a transmitter and a receiver, and both the transmitter and the receiver can be in the form of antennas. A signal can be transmitted to the target object through the transmitter, and the signal reflected by the target object can be received through the receiver.

[0048] When the electronic device and the target object are in relative motion, the frequency of the signal reflected by the target object will shift due to the Doppler effect, resulting in a shift between the reception frequency and the transmission frequency. When the electronic device and the target object are relatively stationary, since there is no Doppler effect, it is impossible to obtain the reception frequency and the transmission frequency with a frequency shift.

[0049] In operation S230, determine the Doppler velocity according to the movement velocity vector, the transmission frequency, and the reception frequency, where the Doppler velocity represents the relative velocity scalar between the electronic device and the target object generated due to the Doppler effect.

[0050] Different from the aforementioned movement velocity vector of the electronic device, the Doppler velocity is a relative velocity scalar between the electronic device and the target object and does not carry direction information.

[0051] In operation S240, based on the motion velocity vector and the Doppler velocity, the position information of the target object relative to the electronic device is determined.

[0052] Since the motion velocity vector of the electronic device carries direction information while the Doppler velocity does not, the position information of the target object in relative motion can be determined based on these two velocities.

[0053] In the positioning method provided by the embodiments of the present disclosure, when the electronic device and the target object are in relative motion, based on the principle of the Doppler effect, through the signal offset of the signals transmitted and received by the electronic device, the Doppler velocity scalar of the target object is obtained. Subsequently, based on the motion velocity vector of the electronic device and the Doppler velocity scalar, the azimuth between the target object and the electronic device is obtained. In this way, the target object in the surrounding environment of the electronic device can be inspected in a timely and accurate manner.

[0054] Figure 3 Schematically shows the principle diagram of the absolute motion velocities of the electronic device and the target object according to the embodiments of the present disclosure.

[0055] As Figure 3 shown, when the electronic device and the target object are in relative motion, the acceleration and angle can be obtained through inertial sensors such as the accelerometer and gyroscope of the electronic device. By decomposing and integrating the acceleration, the motion velocity vector of the electronic device in three-dimensional space can be obtained. This motion velocity vector is directed. By decomposition, the velocity on the line connecting the electronic device and the target object and the velocity perpendicular to this line can be obtained, that is . And , , , where sign1 is a sign function with a value of +1 or -1, indicating that the velocity has a positive and negative direction sign1 on this line. Among them, sign1 = 1 when the electronic device approaches the target object and sign1 = -1 when it moves away.

[0056] Similarly, the motion velocity vector of the target object in three-dimensional space is also directed. By decomposition, the velocity on the line connecting the electronic device and the target object and the velocity perpendicular to this line can be obtained, that is . And , , , where sign3 is a sign function with a value of +1 or -1, indicating that the velocity There is a sign3 with positive and negative directions on this connection line. When the target object approaches the electronic device, sign3 = 1; when it moves away, sign3 = -1.

[0057] On this basis, in some embodiments, the above operation S230 determines the Doppler velocity according to the motion velocity vector, the transmission frequency, and the reception frequency, including: determining the medium propagation velocity of the environment where the electronic device is located; respectively determining the relative states of the electronic device and the target object, where the relative states include approaching and moving away; determining the Doppler velocity according to the medium propagation velocity, the motion velocity vector, the transmission frequency, the reception frequency, and the two relative states.

[0058] For example, if the medium propagation velocity of the environment where the electronic device is located is the propagation velocity of sound waves, then according to the following Doppler frequency offset formula:

[0059]

[0060] In the formula, are respectively the transmission frequency and the reception frequency of the electronic device, is the propagation velocity of sound waves.

[0061] For example, the medium propagation velocity of the environment where the electronic device is located can be obtained through prior information (such as the medium to be applied by the electronic device), can also be obtained through environmental state information such as temperature and humidity measured by the electronic device, and can also be obtained by connecting the electronic device to the network through GPS (Global Positioning System) positioning or weather query.

[0062] It can be seen that the embodiments of the present disclosure can determine the Doppler velocity according to the medium propagation velocity, the motion velocity vector, the transmission frequency, the reception frequency, and the two relative states.

[0063] Further, determining the Doppler velocity includes: extracting the first velocity component of the electronic device relative to the target object radially from the motion velocity vector; performing Doppler frequency offset processing on the relative state of the electronic device, the first velocity component, the medium propagation velocity, the transmission frequency, and the reception frequency to obtain the second velocity component of the target object relative to the electronic device radially; respectively weighting and summing the first velocity component and the second velocity component according to the relative states of the electronic device and the target object to obtain the Doppler velocity.

[0064] For example, the Doppler velocity can be obtained according to the following formula:

[0065]

[0066] In the formula, The Doppler velocity between the electronic device and the target object. It can be seen that the Doppler velocity in the embodiments of the present disclosure is the relative velocity scalar between the electronic device and the target object generated due to the Doppler effect. It can be understood that the Doppler velocity is the sum of the magnitudes of two signed velocities of the electronic device and the target object on the line connecting the two when the electronic device and the target object are in relative motion. The Doppler velocity carries positive and negative information and no direction information.

[0067] Figure 4 Schematically shows a flowchart for determining the position information of a target object relative to an electronic device according to an embodiment of the present disclosure.

[0068] As Figure 4 shown, in some embodiments, the above operation S240 determines the position information of the target object relative to the electronic device according to the motion velocity vector and the Doppler velocity, and may further include operations S401 to S403.

[0069] In operation S401, in response to the target object being stationary, determine the motion space of the relative motion between the electronic device and the target object, where the motion space includes a two-dimensional space and a three-dimensional space.

[0070] The target object being stationary means is zero, and the Doppler velocity .

[0071] In operation S402, determine the included angle between the motion velocity vector of the electronic device and the Doppler velocity.

[0072] For example, the included angle can be calculated according to the following cosine formula :

[0073]

[0074] In operation S403, determine the position information of the target object relative to the electronic device according to the motion space, the motion velocity vector, and the included angle.

[0075] Through the positioning method provided by the embodiments of the present disclosure, based on the motion velocity vector of the electronic device and the included angle between the motion velocity vector and the Doppler velocity in different motion spaces, the position information of the target object relative to the electronic device can be obtained. Among them, the methods for determining the position information in different motion spaces are different.

[0076] For the motion space in the two-dimensional space, Figures 5A - 5C Schematically shows a schematic diagram for determining the position information of the target object relative to the electronic device in three cases in the two-dimensional space according to an embodiment of the present disclosure.

[0077] For example, when the target object is stationary and the motion space is a two-dimensional space, it can be divided into the following three cases to determine the position information of the target object relative to the electronic device:

[0078] (1)

[0079] As Figure 5A shown, according to the above cosine formula, the motion velocity vector of the electronic device and the Doppler velocity can be used to calculate the included angle . Then, based on the motion velocity vector and the included angle , it can be determined that the target object is on one of two directed lines.

[0080] Specifically, when the electronic device approaches the target object, sign1 = 1, as shown in the left figure of Figure 5A , and when the electronic device moves away from the target object, sign1 = -1, as shown in the right figure of Figure 5A . Figure 5A The two thin arrows in

[0081] (2)

[0082] As Figure 5B shown, the thick arrow represents the motion velocity vector of the electronic device, and the human figure represents the target object. At this time, . According to the positive and negative information carried by the Doppler velocity, it can be determined that the target object is on a directed line, and the direction is the same as or opposite to .

[0083] Specifically, as shown in the upper and lower parts of the left figure of Figure 5B , when the electronic device moves away from the target object, sign1 = -1, and the thin arrow indicates that the target object is opposite to . As shown in the upper and lower parts of the right figure of Figure 5B , when the electronic device approaches the target object, sign1 = 1, and the thin arrow indicates that the target object is in the same direction as .

[0084] (3)

[0085] As Figure 5C shown, at this time, , it can be determined that the target object is on the vertical undirected line perpendicular to the direction of ( ). The short thin line indicates that the target object exists on this vertical line, that is, the vertical direction of .

[0086] In other embodiments, when the electronic device moves linearly and the target object is stationary on the straight line, and the electronic device continuously approaches the target object until it stops, the position information of the target object relative to the electronic device can be determined by conventional reflection ranging.

[0087] For a motion space in three-dimensional space, in some embodiments, the above operation S403 determines the position information of the target object relative to the electronic device according to the motion space, the motion velocity vector, and the included angle, including: in the case where the motion space is three-dimensional space, determining the size type of the target object; and determining the position information of the target object relative to the electronic device according to the size type, the motion velocity vector, and the included angle.

[0088] For example, the size types of the target object include large size and small size, and the size type can be determined according to the comparison result between the size of the target object and a preset size threshold. When the size of the target object is greater than the preset size threshold, the size type can be determined as large size; conversely, when the size of the target object is less than or equal to the preset size threshold, the size type can be determined as small size.

[0089] It can be understood that for a target object with a small size, such as a target object that can be regarded as a point, the positioning accuracy requirement is high and deviation is likely to occur; while for a target object with a large size, positioning can be performed within a predetermined error range, and the positioning accuracy requirement is low.

[0090] Through the embodiments of the present disclosure, the position information of the target object relative to the electronic device can be determined in different ways according to different size types of the target object in three-dimensional space, so as to easily realize the positioning of the target object. The positioning method is flexible, has strong adaptability to the size of the target object, wide application range, and strong versatility.

[0091] Figures 6A - 6B Schematically shows the schematic diagram of determining the position information of a small-size target object / large-size target object relative to the electronic device in three-dimensional space according to an embodiment of the present disclosure.

[0092] Specifically, when the motion space is three-dimensional space, the target object is stationary, and the size type of the target object is small size, the target object can be abstracted as a point in three-dimensional space. Similar to the aforementioned two-dimensional space, the following three cases can also be divided to determine the position information of the target object relative to the electronic device:

[0093] (1)

[0094] As Figure 6A shown, the included angle between the motion velocity vector of the electronic device and the Doppler velocity can be calculated according to the cosine formula . Then, according to the motion velocity vector and the included angle , a cross-section where the target object is located in the three-dimensional space can be determined, such as Figure 6A the thin solid line in

[0095] . Specifically, when the electronic device approaches the target object, sign1 = 1, as shown in the left figure of Figure 6A ; when the electronic device moves away from the target object, sign1 = -1, as shown in the right figure of Figure 6A .

[0096] (2)

[0097] At this time . According to the positive and negative information carried by the Doppler velocity, it can be determined that the target object is located on a directed straight line, and the direction is the same as or opposite to .

[0098] (3)

[0099] At this time , it can be determined that the target object is located on a plane perpendicular to .

[0100] In other embodiments, similar to the aforementioned two-dimensional space, when the electronic device moves in a straight line and the target object is stationary on the straight line, and the electronic device continuously approaches the target object until it stops, conventional reflection ranging can be used to determine the position information of the target object relative to the electronic device.

[0101] In some embodiments, as shown in Figure 6B , when the motion space is three-dimensional, the target object is stationary, and the size type of the target object is large-sized, the target object cannot be abstracted as a point in space in the three-dimensional space. At this time, in the Doppler velocity , the velocity corresponding to the shortest distance from the electronic device to the target object has the maximum energy, and the fading energy on both sides is the signal reflected from the surface of the target object. Considering the non-linear motion of the electronic device in a short period of time, the current closest point P0 = (x0, y0, z0) of the target object can be calculated. The contour formed by connecting multiple current closest points P at different times i is the shape of the target object. Then, the fading energy of the Doppler velocity can be combined with the shape of the target object to construct a model. When calculating the intersections in multiple directions, the influence caused by the shape of the target object is considered to enhance the robustness of the target object positioning.

[0102] Figure 7ASchematically shown is a flowchart for determining the position information of a target object relative to an electronic device according to an embodiment of the present disclosure.

[0103] As Figure 7A shown, in some embodiments, the above operation S403 determines the position information of the target object relative to the electronic device according to the motion space, the motion velocity vector, and the included angle, and may further include operations S701 to S702.

[0104] In operation S701, according to the motion velocity vector, a first velocity vector of the electronic device at a first moment and a second velocity vector of the electronic device at a second moment are determined, where the time difference between the first moment and the second moment is less than a preset duration threshold.

[0105] The limitation of the preset duration threshold ensures that the first velocity vector and the second velocity vector are the velocity vectors of the electronic device at multiple moments within a short period of time.

[0106] In operation S702, the position information is determined according to the motion space, the included angle, the first velocity vector, and the second velocity vector.

[0107] Through the positioning method of the embodiment of the present disclosure, when the motion space is determined and the included angle between the motion velocity vector of the electronic device and the Doppler velocity is determined, the position information of the target object relative to the electronic device can be determined according to the velocity vectors of the electronic device at multiple moments within a short period of time.

[0108] In some embodiments, the above operation S702 determines the position information according to the motion space, the included angle, the first velocity vector, and the second velocity vector, and may further include: determining a first position data set of the target object at the first moment according to the included angle and the first velocity vector; determining a second position data set of the target object at the second moment according to the included angle and the second velocity vector; and determining the position information according to the intersection of the first position data set and the second position data set in the motion space.

[0109] For the motion space in a two-dimensional space, when the electronic device is moving non-linearly, according to the foregoing embodiments, the velocity vector of the electronic device at each moment forms two directed lines along a predetermined included angle (the included angle between the motion velocity vector of the electronic device and the Doppler velocity). These two directed lines form a set of directed lines, and the target object is on this set of directed lines. This set of directed lines is the position data set of the target object at that moment. Thus, the intersection of the position data sets at different moments within a short period of time in the two-dimensional space is the position information of the target object.

[0110] For ease of understanding, Figure 7B Schematically shown is a schematic diagram for determining the position information of a target object relative to an electronic device in a two-dimensional space according to an embodiment of the present disclosure.

[0111] As shown Figure 7B in the figure, in a two-dimensional space, the dotted line with an arrow in the figure is the movement trajectory of the electronic device. The displacement of the target object within a short period of time will not be too large, generally in the order of a few milliseconds; the thick arrow represents the movement speed vector of the electronic device, and the thin arrow represents the direction of the target object. After determining the speed vectors of the electronic device at three moments t1, t2, and t3 , two directed lines can be determined based on the angle between the movement speed vector of the electronic device and the Doppler speed and the speed vector at each moment. Then, the intersection points of the six directed lines at the three moments in the two-dimensional space are the position information of the target object.

[0112] For a movement space in a three-dimensional space, when the size type of the target object is small, according to the foregoing embodiments, the speed vector of the electronic device at each moment forms a cross-sectional circle along a pre-determined angle (the angle between the movement speed vector of the electronic device and the Doppler speed). The target object is located on this cross-sectional circle, and this cross-sectional circle is the position data set of the target object at this moment. Thus, the intersection of the position data sets at different moments within a short period of time in the three-dimensional space is the position information of the target object.

[0113] For ease of understanding, Figure 7C a schematic diagram showing the principle of determining the position information of the target object relative to the electronic device in a three-dimensional space according to an embodiment of the present disclosure is shown.

[0114] As shown Figure 7C in the figure, when the electronic device is moving non-linearly in a three-dimensional space, the speed vectors of the electronic device at three moments t1, t2, and t3 are determined , and a cross-sectional circle can be determined based on the angle between the movement speed vector of the electronic device and the Doppler speed and the speed vector at each moment. Then, the intersection point of the three cross-sectional circles at the three moments in the three-dimensional space is the position information of the target object.

[0115] Figure 7D A schematic diagram showing Figure 7C the principle of determining the position information of the target object relative to the electronic device under error factors is shown.

[0116] In some embodiments, due to factors such as calculation errors, as Figure 7C shown, the three cross-sectional circles at the three moments will not perfectly intersect at a single point in the three-dimensional space. At this time, as Figure 7D shown, according to a preset error range, the intersection points of the planes where multiple cross-sectional circles at multiple moments are located in the three-dimensional space can be determined, and the intersection points are determined as the position of the target object. That is, the distance d i from the position P of the target object to the plane of any cross-sectional circle i among the multiple cross-sectional circles is ≤ r, where r is the preset error range.

[0117] In other embodiments, complex situations can be judged according to specific shapes. For example, when the motion space is a three-dimensional space, the target object is stationary on the ground, and the size type of the target object is large, the target object can be abstracted as a column in the three-dimensional space. At this time, the target object can be converted into a two-dimensional space from a top-down perspective, and positioning can be calculated.

[0118] For another example, when the electronic device and the target object have a common external speed, such as when a person (target object) holds the electronic device and moves, or a person holds the electronic device on a vehicle, etc., the target object is stationary relative to the vehicle, and the speed of the vehicle is denoted as . Since the motion speed vector of the electronic device, the frequency offset of the Doppler speed will not be affected by the vehicle speed. At this time, the vehicle speed can be separated, so that the target object is stationary, that is is zero, and thus the above embodiments can be used to locate the target object.

[0119] In addition, the electronic device itself can also obtain various information such as GPS and magnetometer, and use a multi-sensor fusion algorithm to integrate this information to improve the accuracy and robustness of position calculation.

[0120] So far, the positioning method provided by the embodiments of the present disclosure can be applied to any relatively moving electronic device and target object to locate the target object, improving the wide applicability of positioning.

[0121] In some embodiments, the positioning method further includes: identifying the usage mode of the electronic device according to the position information of the target object relative to the electronic device, where the usage mode includes a game mode, a meeting mode, a phone mode, a video and audio mode, a managed mode, and a leaving mode; determining a target service policy that the electronic device can provide for the target object according to the usage mode; and adjusting the setting information of the electronic device based on the target service policy.

[0122] For example, the electronic device is a smart phone, and the target object is a user who is using the smart phone. After obtaining the position information of the target object at consecutive multiple moments, the usage mode in which the electronic device is currently located can be identified according to the dynamic change of the position information. Then the electronic device can determine a target service policy according to the identified usage mode, so as to automatically adjust the setting information of the electronic device itself according to the target service policy to better serve the user and improve the user experience.

[0123] Further, according to the usage pattern, determine the target service policy that the electronic device can provide for the target object, including at least one of the following: when the usage pattern is the phone mode, determine the target service policy as the anti-misoperation policy; when the usage pattern is the leaving mode, determine the target service policy as the tracking policy.

[0124] For example, the electronic device is a smart phone, and the target object is the user who is using the smart phone. When it is recognized that the electronic device is currently in the phone mode, the electronic device can turn on the anti-misoperation or screen-off function to save power; when it is recognized that the electronic device is currently in the leaving mode, the electronic device can turn on the tracking function to perform tracking and route finding.

[0125] In some embodiments, the positioning method further includes: when determining the position information of the target object relative to the electronic device, determine whether the position information meets a predetermined condition; in response to the position information meeting the predetermined condition, output a prompt message to prompt that there is a risk of collision between the target object and the electronic device.

[0126] For example, when obtaining the position information of the target object at consecutive multiple moments and determining that the electronic device is approaching the target object according to the dynamic change of the position information, the electronic device can output a prompt message, so that the electronic device can effectively avoid the possibility of colliding with the target object and achieve collision warning.

[0127] Based on the above positioning method, the present disclosure also provides an electronic device, which will be described in detail below in combination with Figure 8 the electronic device will be described in detail.

[0128] Figure 8 Schematically shows a block diagram of an electronic device according to an embodiment of the present disclosure.

[0129] As Figure 8 shown, the electronic device 800 of this embodiment includes a speed sensor 810, a transceiver 820, and a processor 830.

[0130] The speed sensor 810 is configured to determine the motion speed vector of the electronic device in response to the relative motion between the electronic device and the target object.

[0131] The transceiver 820 is configured to determine the transmission frequency of the signal emitted by the electronic device to the target object, and the reception frequency of the target object reflected based on the transmission frequency received by the electronic device.

[0132] The processor 830 is communicatively connected to the speed sensor 810 and the transceiver 820 respectively, and the processor 830 is configured to: determine the Doppler speed according to the motion speed vector, the transmission frequency and the reception frequency, where the Doppler speed represents the relative speed scalar between the electronic device and the target object generated due to the Doppler effect; determine the position information of the target object relative to the electronic device according to the motion speed vector and the Doppler speed.

[0133] For example, the speed sensor 810 may include an accelerometer, a gyroscope, a magnetometer, etc.

[0134] For example, the transceiver 820 may include a transmitter and a receiver. The transceiver 820 may further include an antenna, and the number of antennas may be one or more.

[0135] For example, the processor 830 may include one or more single-core or multi-core processors. The processor 830 may further include any combination of a general-purpose processor and a dedicated processor (such as a graphics processor, an application processor, a baseband processor, etc.).

[0136] It should be noted that each module of the electronic device provided in the embodiments of the present disclosure can implement the functions of each step of the above positioning method and can achieve the corresponding technical effects. For the sake of brevity of description, it will not be repeated here.

[0137] Any multiple of the modules according to the embodiments of the present disclosure, or at least part of the functions of any of them can be implemented in one module. Any one or more of the modules according to the embodiments of the present disclosure can be split into multiple modules to implement. Any one or more of the modules according to the embodiments of the present disclosure can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by any other reasonable way of integrating or packaging circuits in hardware or firmware, or implemented in any one of the three implementation manners of software, hardware, and firmware or in any appropriate combination of several of them. Alternatively, one or more of the modules according to the embodiments of the present disclosure can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding functions can be executed.

[0138] Those skilled in the art can understand that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present disclosure.

[0139] The embodiments of the present disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments have been described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present disclosure.

Claims

1. A positioning method, comprising: Determining a motion velocity vector of the electronic device in response to relative motion between the electronic device and a target object; Determining a transmission frequency at which the electronic device transmits a signal to the target object, and a reception frequency that the electronic device receives from the target object based on the transmission frequency; Determining a Doppler velocity according to the motion velocity vector, the transmission frequency, and the reception frequency, where the Doppler velocity represents a relative velocity scalar between the electronic device and the target object generated due to the Doppler effect; Determining position information of the target object relative to the electronic device according to the motion velocity vector and the Doppler velocity.

2. The method according to claim 1, wherein the determining a Doppler velocity according to the motion velocity vector, the transmission frequency, and the reception frequency comprises: Determining a medium propagation velocity of the environment where the electronic device is located; Respectively determining relative states of the electronic device and the target object, where the relative states include approaching and moving away; Determining the Doppler velocity according to the medium propagation velocity, the motion velocity vector, the transmission frequency, the reception frequency, and the two relative states.

3. The method according to claim 2, wherein the determining the Doppler velocity comprises: Extracting a first velocity component in the radial direction of the electronic device relative to the target object from the motion velocity vector; Performing Doppler frequency offset processing on the relative state of the electronic device, the first velocity component, the medium propagation velocity, the transmission frequency, and the reception frequency to obtain a second velocity component in the radial direction of the target object relative to the electronic device; Respectively weighting and summing the first velocity component and the second velocity component according to the relative states of the electronic device and the target object to obtain the Doppler velocity.

4. The method according to claim 1, wherein the determining position information of the target object relative to the electronic device according to the motion velocity vector and the Doppler velocity comprises: Determining a motion space of the relative motion between the electronic device and the target object in response to the target object being stationary, where the motion space includes a two-dimensional space and a three-dimensional space; Determining an included angle between the motion velocity vector of the electronic device and the Doppler velocity; Determining position information of the target object relative to the electronic device according to the motion space, the motion velocity vector, and the included angle.

5. The method according to claim 4, wherein the determining position information of the target object relative to the electronic device according to the motion space, the motion velocity vector, and the included angle comprises: Determining a size type of the target object when the motion space is a three-dimensional space; Determining position information of the target object relative to the electronic device according to the size type, the motion velocity vector, and the included angle.

6. The method according to claim 4, wherein the determining position information of the target object relative to the electronic device according to the motion space, the motion velocity vector, and the included angle further comprises: Determine a first velocity vector of the electronic device at a first moment and a second velocity vector of the electronic device at a second moment according to the motion velocity vector, wherein a time difference between the first moment and the second moment is less than a preset duration threshold; Determine the position information according to the motion space, the included angle, the first velocity vector, and the second velocity vector.

7. The method according to claim 6, wherein the determining the position information according to the motion space, the included angle, the first velocity vector, and the second velocity vector comprises: Determine a first position data set of the target object at the first moment according to the included angle and the first velocity vector; Determine a second position data set of the target object at the second moment according to the included angle and the second velocity vector; Determine the position information according to an intersection of the first position data set and the second position data set in the motion space.

8. The method according to claim 1, further comprising: Identify a usage mode of the electronic device according to the position information of the target object relative to the electronic device, wherein the usage mode includes a game mode, a meeting mode, a phone mode, a video and audio mode, a managed mode, and a left mode; Determine a target service policy that the electronic device can provide for the target object according to the usage mode; Adjust setting information of the electronic device based on the target service policy.

9. The method according to claim 8, wherein the determining the target service policy that the electronic device can provide for the target object according to the usage mode comprises at least one of the following: When the usage mode is the phone mode, determine that the target service policy is an anti-misoperation policy; When the usage mode is the left mode, determine that the target service policy is a tracking policy.

10. An electronic device, comprising: A speed sensor configured to determine a motion velocity vector of the electronic device in response to relative motion between the electronic device and a target object; A transceiver configured to determine a transmission frequency at which the electronic device transmits a signal to the target object, and a reception frequency at which the electronic device receives a reflection of the target object based on the transmission frequency; A processor communicatively connected to the speed sensor and the transceiver respectively, the processor being configured to: Determine a Doppler velocity according to the motion velocity vector, the transmission frequency, and the reception frequency, wherein the Doppler velocity represents a relative velocity scalar between the electronic device and the target object generated due to the Doppler effect; Determine the position information of the target object relative to the electronic device according to the motion velocity vector and the Doppler velocity.

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