Device positioning and coordinate list generation method and apparatus, electronic device, and storage medium

Abstract

The present application provides a device positioning method and a coordinate list generation method, device, electronic equipment and storage medium. The device positioning method comprises: obtaining a device coordinate list, the device coordinate list comprising relative position information between a plurality of positioned devices in a positioning network; and positioning a target positioned device in the plurality of positioned devices by using the relative position information. Since the device coordinate list comprises relative position information between a plurality of devices in the positioning network, the relative position information can be used to position a target device in the plurality of devices in the positioning network, thereby solving the problems in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of information processing, in particular to a device positioning method and a coordinate list generation method, device, electronic device and storage medium. BACKGROUND

[0002] With the continuous development of society, devices such as vehicles and bicycles have become necessary tools in people's daily life. However, in actual application, these devices may be transferred from one location to another, so it is usually necessary to position the device. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a device positioning method and a coordinate list generation method, device, electronic device and storage medium to solve the problems in the prior art.

[0004] The first aspect of the embodiments of the present application provides a device positioning method, which comprises:

[0005] Obtaining a device coordinate list, the device coordinate list comprising relative position information between a plurality of positioned devices in a positioning network;

[0006] Positioning a target positioned device in the plurality of positioned devices using the relative position information.

[0007] In an embodiment, obtaining a device coordinate list specifically comprises: obtaining the device coordinate list through Bluetooth.

[0008] In an embodiment, the method further comprises: displaying the positioning result of the target positioned device.

[0009] In an embodiment, displaying the positioning result of the target positioned device specifically comprises:

[0010] Displaying the positioning result of the target positioned device in the device distribution diagram of each positioned device in the drawn positioning network.

[0011] In an embodiment, an application terminal is associated with the target positioned device in advance; then,

[0012] Displaying the positioning result of the target positioned device specifically comprises:

[0013] Displaying the positioning result of the target positioned device on the application terminal.

[0014] In an embodiment, the device coordinate list further comprises a device identification ciphertext corresponding to each positioned device in the plurality of positioned devices; then,

[0015] Before positioning a target positioned device in the plurality of positioned devices by using the relative position information, the method further comprises:

[0016] Decrypting each device identification ciphertext by using a pre-stored private key respectively;

[0017] Determining the positioned device corresponding to the successfully decrypted device identification ciphertext as the target positioned device.

[0018] In an embodiment, the method comprises:

[0019] Encrypting the device identification plaintext of the target positioned device by using the random information and a public key corresponding to the private key, to obtain the device identification ciphertext of the target positioned device.

[0020] The second aspect of the embodiments of the present application provides a device coordinate list generation method, which is applied to a first positioned device in a positioning network, and comprises:

[0021] Determining relative position information between the first positioned device and a plurality of second positioned devices in the positioning network;

[0022] Generating a device coordinate list by using the determined relative position information, to be used for positioning the first positioned device or at least one second positioned device in the plurality of second positioned devices.

[0023] In an embodiment, determining the relative position information between the first positioned device and the plurality of second positioned devices in the positioning network specifically comprises:

[0024] Determining the distance and relative direction between the first positioned device and each second positioned device in the plurality of second positioned devices respectively;

[0025] Generating the relative position information by using the distance and relative direction.

[0026] In an embodiment, the method further comprises:

[0027] Obtaining a second device coordinate list sent by at least one second positioned device in the plurality of second positioned devices;

[0028] Updating the device coordinate list by using the relative position information included in the second device coordinate list.

[0029] In an embodiment, updating the device coordinate list by using the relative position information included in the second device coordinate list specifically comprises:

[0030] Determining an added positioned device of the second device coordinate list relative to the device coordinate list.

[0031] Using the relative position information between the second located device and the newly added located device that sent the second device coordinate list, the relative position information between the first located device and the newly added located device is generated;

[0032] Add the generated relative position information to the device coordinate list.

[0033] In one embodiment, updating the device coordinate list using the relative position information included in the second device coordinate list specifically includes:

[0034] Identify the same located device in the second device coordinate list and the device coordinate list;

[0035] The relative position information between the second located device and the same located device in the second device coordinate list is converted into the relative position information between the first located device and the same located device.

[0036] Calculate the average or weighted average of the relative position information between the first located device and the same located device in the device coordinate list, and the converted relative position information.

[0037] The relative position information between the first located device and the same located device in the device coordinate list is updated using the calculated average value or weighted average value.

[0038] A third aspect of this application provides a device positioning apparatus, comprising:

[0039] An acquisition unit is used to acquire a list of device coordinates, the list of device coordinates including relative position information between multiple devices in the positioning network;

[0040] The positioning unit is used to locate the target device among the plurality of devices using the relative position information.

[0041] A fourth aspect of this application provides a device coordinate list generation apparatus, the apparatus being applied to a first located device in a positioning network, the apparatus comprising:

[0042] The determining unit is used to determine the relative position information between the first positioning device and multiple second positioning devices in the positioning network;

[0043] The generation unit is used to generate a list of device coordinates using the determined relative position information, for locating at least one of the first positioned device or a plurality of second positioned devices.

[0044] The fifth aspect of the embodiment of the present application provides an electronic device, comprising:

[0045] a memory for storing a computer program;

[0046] a processor for executing the method in any of the first aspect or the second aspect of the embodiment of the present application.

[0047] The sixth aspect of the embodiment of the present application provides a storage medium, comprising: a program, when it runs on an electronic device, makes the electronic device executable the method in any of the first aspect or the second aspect of the embodiment of the present application.

[0048] The device positioning method provided by the embodiment of the present application comprises obtaining a device coordinate list, since the device coordinate list comprises relative position information between a plurality of devices in a positioning network, the relative position information can be used to position a target device in the plurality of devices in the positioning network, thereby solving the problems in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application, it should be understood that the following drawings only show some embodiments of the present application, therefore should not be regarded as a limitation on the scope, for those skilled in the art, without creative labor, other related drawings can also be obtained according to these drawings.

[0050] Figure 1 The positioning network schematic diagram provided by an embodiment of the present application;

[0051] Figure 2 The specific structure schematic diagram of the electronic device provided by an embodiment of the present application;

[0052] Figure 3 The specific flow schematic diagram of the device positioning method provided by an embodiment of the present application;

[0053] Figure 4 The specific flow schematic diagram of the device coordinate list generation method provided by an embodiment of the present application;

[0054] Figure 5 The positioning network schematic diagram provided by another embodiment of the present application;

[0055] Figure 6 The specific flow schematic diagram of the device positioning method in a specific application scenario provided by another embodiment of the present application;

[0056] Figure 7A schematic diagram of the specific structure of the device positioning device provided in an embodiment of this application;

[0057] Figure 8 This is a schematic diagram illustrating the specific process of a device coordinate list generation apparatus provided in one embodiment of this application. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. In the description of this application, terms such as "first," "second," and "third" are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance or order.

[0059] As mentioned earlier, with the continuous development of society, devices such as vehicles and bicycles have become essential tools in people's daily lives. However, in practical applications, these devices may be moved from one location to another, so they usually need to be located.

[0060] like Figure 1 The diagram shown illustrates the positioning network in the device positioning method provided in this embodiment. The positioning network includes multiple devices 1 to be positioned. At least one of these devices 1 is equipped with a positioning device 11, such as a UWB positioning module or a geomagnetic sensor. Alternatively, each device 1 in the positioning network can also be equipped with a positioning device 11. Thus, a device 1 equipped with a positioning device can use that device 11 to locate other devices in the positioning network; similarly, devices 1 equipped with positioning devices 11 can also locate each other.

[0061] In practical applications, the device being located 1 can be a mobile phone, laptop, desktop computer, vehicle, bicycle or other types of equipment.

[0062] like Figure 2 As shown, for the located device 1 in the positioning network, the located device 1 can be specifically an electronic device such as a mobile phone or tablet computer. The electronic device may also include at least one processor 12 and a memory 13. The memory 13 stores instructions that can be executed by the processor 12. The instructions are executed by the processor 12 to enable the electronic device to perform all or part of the process of the method in the embodiments of this application.

[0063] Of course, each positioned device 1 in the positioning network can also be provided with a communication module, so as to realize communication between each positioned device 1 in the positioning network; in actual application, the communication module can be a Bluetooth communication module, or a wifi communication module or other types of communication modules. For example, the positioned device 1 provided with the positioning apparatus 11 in the positioning network can use the positioning apparatus 11 carried by itself to position other positioned devices 1 in the positioning network, and then send the positioning result to other positioned devices 1 through the communication module.

[0064] In an embodiment, a vehicle can be used as a positioned device 1, and a UWB positioning module and a geomagnetic sensor can be used as a positioning apparatus; a plurality of vehicles can use a Bluetooth communication module to build a positioning network, and each vehicle can be used as a first positioned device to position other vehicles (as second positioned devices) in the positioning network using the positioning apparatus carried by itself. Of course, devices such as mobile phones can also be added to the positioning network as positioned devices, so that the mobile phones can be positioned, or the positioning information can be sent to the mobile phones through the Bluetooth communication module, so that the mobile phones can obtain the positioning result of the vehicles.

[0065] As shown in FIG. 1, a positioning network is provided, which includes a plurality of positioned devices 1, and each positioned device 1 is provided with a positioning apparatus 11. Figure 3 FIG. 2 shows a specific flowchart of a device positioning method provided by an embodiment of the present application. The positioning network includes a plurality of positioned devices, and the method can be used to position any one of the positioned devices in the positioning network. The method can be executed by a positioned device in the positioning network, or by a server or an application terminal, and the method includes the following steps:

[0066] Step S21: Obtain a device coordinate list.

[0067] It should be noted that the device coordinate list includes relative position information between the plurality of positioned devices in the positioning network, and the relative position information between the positioned devices can be determined by the positioning apparatus provided on the positioned device.

[0068] For example, the positioning network includes a plurality of positioned devices, and part of the positioned devices are provided with positioning apparatuses such as UWB positioning modules and geomagnetic sensors. For a positioned device provided with a positioning apparatus, the other positioned devices in the positioning network can be positioned by the positioning apparatus carried by the positioned device. For example, when the positioning apparatus is a UWB positioning module and a geomagnetic sensor, for a positioned device provided with a UWB positioning module and a geomagnetic sensor, the distance between the positioned device and the other positioned devices can be measured by the UWB positioning module carried by the positioned device, for example, in combination with a time of flight (TOF) algorithm, the relative direction between the positioned device and the other positioned devices can be determined by the UWB positioning module carried by the positioned device, for example, in combination with an angle of arrival (AOA) algorithm, and after the distance and the relative direction between the positioned device and the other positioned devices are determined, the distance and the relative direction are combined with the spatial direction determined by the geomagnetic sensor to generate relative position information, wherein the spatial direction can represent the east, south, west or north direction in the physical space. The relative position information can represent the relative positional relationship between the plurality of positioned devices in the positioning network, such as the distance and the relative direction between the plurality of positioned devices.

[0069] In actual applications, there can be various specific manners to obtain the device coordinate list, and several manners can be listed and explained here.

[0070] Manner one, the positioned device positions the other positioned devices in the positioning network by using the positioning apparatus of the positioned device, and generates the device coordinate list according to the positioning result.

[0071] For example, the positioned device measures the distance and the relative direction between the positioned device and the other positioned devices by using the UWB positioning module carried by the positioned device in combination with a time of flight (TOF) algorithm and an angle of arrival (AOA) algorithm, and further generates the device coordinate list in combination with the spatial direction determined by the geomagnetic sensor.

[0072] Manner two, the positioned device receives the device coordinate list sent by the other positioned devices. For example, after a positioned device generates a device coordinate list, the positioned device can send the device coordinate list to the other positioned devices in the positioning network, so that the other positioned devices can receive the sent device coordinate list.

[0073] The above-mentioned manner one mainly generates the device coordinate list by itself, and the manner two mainly receives the device coordinate list sent by other positioned devices. In the manner three, the specific manner of obtaining the device coordinate list can also be generating a new device coordinate list by using the received device coordinate list and the stored device coordinate list.

[0074] The stored device coordinate list can be the device coordinate list generated and stored by itself in the manner one, or the device coordinate list received and stored by using the manner two. For example, after receiving a new device coordinate list, the average value or weighted average value between the relative position information in the new device coordinate list and the relative position information in the stored device coordinate list can be calculated to generate the device coordinate list. The weight of the weighted average value can be set according to actual conditions.

[0075] In actual application, considering the positioned devices in the positioning network, some of the positioned devices are provided with positioning devices, and some of the positioned devices can not be provided with positioning devices or the positioning devices can not work normally. At this time, for the positioned devices provided with the positioning devices, the above-mentioned manner one, manner two or manner three can be used to obtain the device coordinate list; and for the positioned devices not provided with the positioning devices or the positioning devices not working normally, the above-mentioned manner two or manner three can be used to obtain the device coordinate list.

[0076] Step S22: positioning a target positioned device in the plurality of positioned devices in the positioning network by using the relative position information in the device coordinate list.

[0077] The target positioned device can be one or more of the plurality of positioned devices in the positioning network.

[0078] After obtaining the device coordinate list in step S21, since the relative position information in the device coordinate list can represent the relative position relationship between the plurality of positioned devices in the positioning network, such as the distance and relative direction between the plurality of positioned devices, the target positioned device in the plurality of positioned devices in the positioning network can be positioned by using the relative position information.

[0079] For example, in the field of shared bicycles or shared cars, a user needs to find shared bicycles or shared cars around, at this time, the target positioned devices are the shared bicycles or shared cars around the user, and the relative position information in the coordinate list can be used to position the plurality of positioned devices in the positioning network; or when the user is looking for a private car, at this time, the target positioned device is the private car of the user, and the relative position information in the coordinate list can be used to position the private car.

[0080] By using the device positioning method provided in the embodiments of the present application, the target device in the plurality of devices in the positioning network can be positioned by using the relative position information between the plurality of devices in the positioning network, thereby solving the problems in the prior art.

[0081] In addition, after positioning the target positioned device by using the step S22, the method provided in the embodiments of the present application can further include: displaying the positioning result of the target positioned device; of course, the positioning result can also be broadcasted or sent to a server, etc. according to actual needs.

[0082] The specific way of displaying the positioning result of the target positioned device can be that the device distribution diagram of each positioned device in the positioning network is first drawn by using the relative position information between the plurality of positioned devices in the positioning network, and then the positioning result of the target positioned device is displayed in the device distribution diagram, such as highlighting the target positioned device in the device distribution diagram, etc.

[0083] In actual application, in combination with specific application scenarios, such as positioning the private car of a user, the application terminal can also be associated with the target positioned device (such as a private car, etc.) in advance, and the specific association manner can be that the application terminal is associated with the device identifier of the target positioned device, which can be a UWB device identifier or other identifier capable of uniquely identifying the target positioned device. In this way, on the one hand, the target positioned device can be determined from the plurality of positioned devices in the positioning network by using the association relationship, and on the other hand, the positioning result of the target positioned device can also be displayed on the application terminal. The application terminal can be an application terminal installed on a smart terminal such as a mobile phone, a tablet computer, a smart watch, etc.

[0084] It needs to be further explained that, in the step S21, in addition to the relative position information between the plurality of positioned devices in the positioning network, the obtained device coordinate list can also include the device identifier corresponding to each positioned device, which can be a plaintext device identifier (hereinafter referred to as device identification plaintext) or a ciphertext device identifier (hereinafter referred to as device identification ciphertext).

[0085] For example, the plurality of positioned devices in the positioning network are a, b, c and d respectively, and the device coordinate list can be: A(0, 0), B(X ab ,Y ab ), C(X ac ,Y ac ), D(X ad ,Y ad), in which the device coordinate list, A, B, C and D are device identifiers of the positioned devices a, b, c and d respectively, (X ab ,Y ab ) is relative position information between the positioned devices a and b, (X ac ,Y ac ) is relative position information between the positioned devices a and c, (X ad ,Y ad ) is relative position information between the positioned devices a and d, and (0, 0) is relative position information of the positioned device a relative to itself. Wherein, the device identifiers A, B, C and D can be device identification plaintext or device identification ciphertext.

[0086] When the device coordinate list further includes device identifiers corresponding to each positioned device in the positioning network, in particular, in order to improve security and reduce the risk caused by information leakage, the device identifier is usually a device identification ciphertext, in the above step S22, before positioning the target positioned device using the relative position information in the device coordinate list, the method further includes: using the pre-stored private key to decrypt each device identification ciphertext respectively, and determining the positioned device corresponding to the successfully decrypted device identification ciphertext as the target positioned device, and then being able to use the relative position information in the device coordinate list to position the target positioned device.

[0087] For the specific generation method of the device identification ciphertext, such as using random information and the public key corresponding to the private key to encrypt the device identification plaintext of the target positioned device, so as to obtain the device identification ciphertext of the target positioned device. Wherein, the random information can be a random number, or a timestamp when the target positioned device joins the positioning network each time.

[0088] In the positioning method provided in the embodiments of the present application, the above-mentioned several generation methods of the device coordinate list are mentioned, and the generation method of the device coordinate list can be further explained, and a device coordinate list generation method is correspondingly provided. As shown in Figure 4 , the method can be applied to a first positioned device in a positioning network, the first positioned device can be any positioned device in the positioning network provided with a positioning device, and the method includes the following steps:

[0089] Step S31: determining the relative position information between the first positioned device and a plurality of second positioned devices in the positioning network.

[0090] The second positioned device can be any positioned device in the positioning network except the first positioned device.

[0091] That is, the relative position information between the first positioned device and the plurality of second positioned devices can be determined with the first positioned device as the center. For example, the first positioned device can determine the distance and the relative direction between itself and each of the plurality of second positioned devices respectively by using its own positioning device.

[0092] Step S32: generating a device coordinate list by using the determined relative position information.

[0093] Since the device coordinate list includes the relative position information between the first positioned device and the plurality of second positioned devices in the positioning network, the device coordinate list can be used to position the first positioned device or at least one of the plurality of second positioned devices.

[0094] Obviously, the device coordinate list generated by the device coordinate list generation manner can be used to position a device, for example, the device coordinate list is applied to the device positioning method provided by the embodiments of the present application, so as to position the first positioned device or the second positioned device in the device coordinate list. Therefore, the device coordinate list generation manner can also solve the problems in the prior art, which will not be described herein again.

[0095] In actual applications, the first positioned device can further update the generated device coordinate list after the device coordinate list is generated. The specific updating manner can be to re-execute the steps S31 and S32 described above, so as to generate a new device coordinate list. For example, the steps S31 and S32 described above can be executed periodically, so as to generate a device coordinate list periodically. The period can be 1 hour, 0.5 hour or other time period.

[0096] Another updating manner can also be to obtain a second device coordinate list sent by at least one of the plurality of second positioned devices, and then update the generated device coordinate list by using the relative position information included in the second device coordinate list.

[0097] The specific manner of updating the generated device coordinate list by using the relative position information included in the second device coordinate list can be to determine an added positioned device of the second device coordinate list relative to the generated device coordinate list. For example, the device identifiers in the second device coordinate list can be compared with the device identifiers in the generated device coordinate list, so as to determine the added positioned device. After the added positioned device is determined, the relative position information between the second positioned device sending the second device coordinate list and the added positioned device is used to generate the relative position information between the first positioned device and the added positioned device, and then the generated relative position information is added to the generated device coordinate list.

[0098] Additionally, if the second device coordinate list does not contain any newly added located devices compared to the generated device coordinate list, then the generated device coordinate list does not need to be updated.

[0099] For example, the first located device A generates the following list of device coordinates: A(0,0), B(X) ab ,Y ab ),C(X ac ,Y ac ),D(X ad ,Y ad In this list of device coordinates, A, B, C, and D are the device identifiers of the located device, (X... ab ,Y ab (X) represents the relative position information between the positioned devices A and B. ac ,Y ac (X) represents the relative position information between the positioned devices A and C. ad ,Y ad (0,0) represents the relative position information between the positioned devices A and D, and (0,0) represents the relative position information of the first positioned device A relative to itself. All of these relative position information are measured by the first positioned device A with itself as the center.

[0100] The first located device A received the second device coordinate list sent by the second located device B: B(0,0), A(X... ba ,Y ba ),C(X bc ,Y bc ),E(X be ,Y be ). In the second device coordinate list

[0101] In the diagram, A, B, C, and E are the device identifiers of the located device, (X... ba ,Y ba ) for the location setting

[0102] Prepare the relative position information between A and B, (X bc ,Y bc The relative position between the positioned devices B and C is...

[0103] Position information, (X) be ,Y be () represents the relative position information between devices B and E, and (0,0) represents the location of the device being located.

[0104] The relative position information of device B with respect to itself, wherein this relative position information can be used to determine the position of the device.

[0105] The device B measures itself as the center.

[0106] Thus, the first positioned device A can determine that the second device coordinate list has a new positioned device relative to the generated device coordinate list, wherein the new positioned device is positioned device E; then, the relative position information between the first positioned device A and the positioned device E, E(X be ,Y be ), is generated by using the relative position information between the positioned device B and the positioned device E, i.e. (X ae ,Y ae ), and then E(X ae ,Y ae ) is added to the generated device coordinate list, so as to obtain the updated device coordinate list: A(0,0), B(X ab ,Y ab ), C(X ac ,Y ac ), D(X ad ,Y ad ), E(X ae ,Y ae ). Wherein: X ae =X ab +X be ; Y ae =Y ab +Y be .

[0107] Similarly, if the above positioned device B receives the device coordinate list sent by the positioned device A, so as to update the device coordinate list of itself to obtain the following new coordinate list:

[0108] B(0,0), A(X ba ,Y ba ), C(X bc ,Y bc ), D(X bd ,Y bd ), E(X be ,Y be ); wherein: X bd =

[0109] X ba +X ad ; Y bd =Y ba +Y ad .

[0110] It needs to be further explained that for the same located device in the second device coordinate list and the generated device coordinate list, the second device coordinate list can not be updated, or the relative position information between the second located device sending the second device coordinate list and the same located device in the second device coordinate list can be converted into the relative position information between the first located device and the same located device, that is, the same located device is converted in the coordinate system; then the converted relative position information is directly used to replace the relative position information between the first located device and the same located device in the generated device coordinate list.

[0111] Of course, in order to further improve the accuracy, the same located device in the second device coordinate list and the generated device coordinate list can be determined first, then the relative position information between the second located device sending the second device coordinate list and the same located device in the second device coordinate list is converted into the relative position information between the first located device and the same located device, then the average or weighted average between the relative position information between the first located device and the same located device in the generated device coordinate list and the converted relative position information is calculated, and then the calculated average or weighted average is used to update the relative position information between the first located device and the same located device in the generated device coordinate list.

[0112] For example, in the above example, the two device coordinate lists A(0, 0), B(X ab ,Y ab ), C(X ac ,Y ac ), D(X ad ,Y ad ) and B(0, 0), A(X ba ,Y ba ), C(X bc ,Y bc ), E(X be ,Y be ) in the above example, the located device C is the same located device.

[0113] The relative position information between the second located device sending the second device coordinate list and the same located device in the second device coordinate list B(0, 0), A(X ba ,Y ba ), C(X bc ,Y bc ), E(X be ,Y be ) can be converted into the relative position information between the first located device and the same located device (X bc ,Y bc), into relative position information between the first positioned device and the same positioned device (X ab +X bc ,Y ab +Y bc ), and then calculating the average value between (X ab +X bc ,Y ab +Y bc ) and (X ac ,Y ac ), and then using the average value to replace (X ac ,Y ac ), so as to update A(0,0), B(X ab ,Y ab ), C(X ac ,Y ac ), D(X ad ,Y ad ).

[0114] In addition, for the positioned devices in the positioning network, when a certain positioned device needs to exit the positioning network, a notification message can be sent in advance to the positioning network, so that other positioned devices in the positioning network can update their own device coordinate lists after receiving the notification message, such as deleting the position information related to the positioned device.

[0115] Of course, after updating the device coordinate list, the updated device coordinate list can also be broadcast in the positioning network, so as to inform other positioned devices.

[0116] The above is a specific description of the device positioning method and the device coordinate list generation method provided by the embodiments of the present application. In order to facilitate understanding, the method can be described in more detail in combination with a specific application scenario. For example, Figure 5 As shown in the application scenario, the positioning network includes a plurality of positioned devices, and the positioned devices are specifically vehicles, and the vehicles are provided with UWB positioning modules and geomagnetic sensors, and the plurality of vehicles construct a positioning network by using Bluetooth communication modules, so as to position the user's private car. The method is executed by an application terminal, and the application terminal can be installed on the user's mobile phone. As shown in the application scenario, Figure 6 The method can include the following steps:

[0117] Step S41: The user associates the application terminal on the mobile phone with the device identifier plaintext of the private car.

[0118] The device identifier plaintext can be a UWB device identifier.

[0119] Step S42: The private car joins the positioning network, wherein the private car takes the device identifier ciphertext as the identity displayed in the positioning network, and the device identifier ciphertext is obtained by encrypting the device identifier plaintext of the private car using random information and a public key.

[0120] For example, in actual application, when the private car of the user is parked and turned off, the Bluetooth communication module or the WiFi communication module can be turned on to join the positioning network. In the process of joining the positioning network, the device identifier ciphertext can be obtained by encrypting the device identifier plaintext of the private car using random information and a public key, and the device identifier ciphertext is used for display in the positioning network and discovery by other vehicles, so as to avoid leakage of the device identifier plaintext.

[0121] Step S43: The private car determines the relative position information between itself and the plurality of vehicles in the positioning network, and generates and stores a device coordinate list.

[0122] After the private car joins the positioning network, the private car can locate other vehicles in the positioning network, and of course other vehicles in the positioning network can also locate the private car. For example, the private car can search for the broadcast information of other vehicles in the positioning network, thereby obtaining the device identifiers of other vehicles, and saving the device identifiers as a list for subsequent positioning.

[0123] The specific manner in which the private car locates other vehicles can be that, based on the UWB positioning module carried by the private car, the distance and relative direction between the private car and other vehicles are calculated using the TOF and AOA algorithms, and the relative position information is generated in combination with the spatial direction determined by the geomagnetic sensor. For example, the coordinates of other vehicles can be calculated using the distance, relative direction, and spatial direction (which can represent the east, south, west, north, and other directions in the physical space) with the position of the private car as the origin of the two-dimensional coordinate system, and finally a device coordinate list is generated.

[0124] After generating the device coordinate list, the private car can also broadcast the device coordinate list to the positioning network, so that other vehicles in the positioning network can obtain the device coordinate list.

[0125] Step S44: Periodically obtain the second device coordinate list sent by other vehicles in the positioning network, to update the stored device coordinate list.

[0126] After generating and storing the device coordinate list in step S43, a second device coordinate list sent by other vehicles in the positioning network can be obtained, and the device coordinate list stored in step S43 can be updated using the obtained second device coordinate list. Alternatively, the updated device coordinate list can also be stored. After a period of time, a new second device coordinate list sent by other vehicles in the positioning network can be obtained again, and the previously stored updated device coordinate list can be updated again. Then, the updated device coordinate list can be stored again, and the second device coordinate list sent by other vehicles in the positioning network can be obtained periodically to update the stored device coordinate list.

[0127] The duration of this period can be set according to actual needs. For example, in the initial stage of a private car joining the positioning network, the period can be set to a relatively short time, such as 1 minute. After the private car has been in the positioning network for a longer period of time, the update of the device coordinate list has become relatively stable, and at this time, the period can be gradually increased, such as to 1 hour. Furthermore, when the device coordinate list sent by other vehicles in the positioning network is similar to or exactly the same as the device identifier in its own device coordinate list, the acquisition of device coordinate lists sent by other vehicles in the network can be stopped to save power.

[0128] Step S45: When a user locates a private car through the application terminal on their mobile phone, the application terminal obtains an updated list of device coordinates. This list of device coordinates includes the relative position information between each vehicle in the positioning network, as well as the encrypted device identifier corresponding to each vehicle.

[0129] Typically, the user can also enable Bluetooth on their phone to add the phone to the location network, allowing the application on the phone to obtain the device coordinate list.

[0130] Step S46: The application terminal uses the private key to decrypt the encrypted device identifiers of each device, and identifies the vehicle corresponding to the successfully decrypted encrypted device identifier as the private car.

[0131] Step S47: The application terminal uses the relative position information in the device coordinate list to locate the private car.

[0132] Based on the same inventive concept as the device positioning method provided in the embodiments of this application, the embodiments of this application also provide a device positioning apparatus. For any unclear aspects of this apparatus embodiment, please refer to the corresponding content of the method embodiment. Figure 7 The diagram shows a detailed structural representation of the device 50, which includes an acquisition unit 501 and a positioning unit 502, wherein:

[0133] The acquisition unit 501 is configured to acquire a device coordinate list, the device coordinate list comprising relative position information between a plurality of positioned devices in a positioning network.

[0134] The positioning unit 502 is configured to position a target positioned device in the plurality of positioned devices by using the relative position information.

[0135] The device 50 provided by the embodiment of the present application can solve the technical problem under the premise that the device positioning method provided by the embodiment of the present application can solve the technical problem, and here, the details are not repeated.

[0136] In addition, in actual application, the technical effects achieved by combining the device 50 with specific hardware devices, cloud technology, etc. are also within the protection scope of the present application, for example, the different units in the device 50 are arranged in different nodes in a distributed cluster in a distributed cluster manner, so as to improve the efficiency, etc.

[0137] In actual application, the specific manner in which the acquisition unit 501 acquires the device coordinate list can be acquiring the device coordinate list through Bluetooth.

[0138] The device 50 can further comprise a display unit configured to display the positioning result of the target positioned device.

[0139] Specifically, the display unit can be configured to display the positioning result of the target positioned device in the device distribution diagram of each positioned device in the drawn positioning network.

[0140] The device 50 can further comprise an association unit configured to pre-associate an application terminal with the target positioned device; and the display unit can specifically comprise a display subunit configured to display the positioning result of the target positioned device on the application terminal.

[0141] In actual application, the device coordinate list further comprises device identification ciphertexts respectively corresponding to each positioned device in the plurality of positioned devices; and

[0142] The positioning unit 502 can specifically comprise a decryption subunit and a positioning subunit, wherein:

[0143] The decryption subunit is configured to decrypt each device identification ciphertext by using a pre-stored private key;

[0144] The positioning subunit is configured to determine the positioned device corresponding to the successfully decrypted device identification ciphertext as the target positioned device.

[0145] The device 50 can further comprise an encryption unit configured to encrypt the device identification plaintext of the target located device by using random information and a public key corresponding to the private key, to obtain the device identification ciphertext of the target located device.

[0146] Based on the same inventive concept as the device coordinate list generation method provided in the embodiments of the present application, the embodiments of the present application further provide a device coordinate list generation device. For the device embodiment, if there is any unclear part, the corresponding content of the method embodiment can be referred to. As shown in Figure 8 As shown in FIG. 6, it is a specific structural schematic diagram of the device 60, which can be applied to a first located device in a positioning network, and the first located device is provided with a positioning device. The device 60 comprises a determination unit 601 and a generation unit 602, wherein:

[0147] The determination unit 601 is configured to determine relative position information between the first located device and a plurality of second located devices in the positioning network.

[0148] The generation unit 602 is configured to generate a device coordinate list by using the determined relative position information, so as to be used for positioning the first located device or at least one second located device of the plurality of second located devices.

[0149] By using the device 60 provided in the embodiments of the present application, since the device 60 adopts the same inventive concept as the device coordinate list generation method provided in the embodiments of the present application, and the device coordinate list generation method can solve the technical problems, the device 60 can also solve the technical problems, which will not be described here.

[0150] In actual application, the determination unit 601 can be configured to determine distances and relative directions between the first located device and each second located device of the plurality of second located devices respectively, and generate the relative position information by using the distances and the relative directions.

[0151] The device 60 can further comprise an updating unit configured to obtain a second device coordinate list sent by at least one second located device of the plurality of second located devices, and update the device coordinate list by using relative position information included in the second device coordinate list.

[0152] The updating unit can comprise a first updating sub-unit configured to determine an added located device of the second device coordinate list relative to the device coordinate list, generate relative position information between the first located device and the added located device by using relative position information between the second located device sending the second device coordinate list and the added located device, and add the generated relative position information to the device coordinate list.

[0153] The updating unit can comprise a second updating sub-unit, determining same positioned devices in the second device coordinate list and the device coordinate list; converting relative position information between a second positioned device sending the second device coordinate list and the same positioned device in the second device coordinate list into relative position information between the first positioned device and the same positioned device; calculating an average or weighted average between relative position information between the first positioned device and the same positioned device in the device coordinate list and the converted relative position information; and updating relative position information between the first positioned device and the same positioned device in the device coordinate list by using the calculated average or weighted average.

[0154] The embodiments of the present application further provide a storage medium, comprising a program, which, when running on an electronic device, enables the electronic device to execute all or part of the processes of the method in the above embodiments. The storage medium can be a disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory, a Hard Disk Drive (HDD) or a Solid-State Drive (SSD), etc. The storage medium can also comprise a combination of the above-mentioned types of memories.

[0155] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes are intended to fall within the scope of the present application defined by the appended claims.

Claims

1. A device positioning method characterized by, The positioned device includes a positioned device provided with a positioning device, a positioned device not provided with a positioning device, and a positioned device in which a positioning device fails to operate normally, and the method comprises: Obtaining a device coordinate list, the device coordinate list comprising relative position information between a plurality of positioned devices in a positioning network; Positioning a target positioned device in the plurality of positioned devices by using the relative position information; Wherein, obtaining the device coordinate list comprises: The positioned device provided with the positioning device positions other positioned devices in the positioning network, and generates a device coordinate list according to the positioning result; Wherein, obtaining the device coordinate list further comprises: The positioned device provided with the positioning device and / or the positioned device not provided with the positioning device and / or the positioned device in which the positioning device fails to operate normally receives the device coordinate list sent by other positioned devices; Wherein, obtaining the device coordinate list further comprises: The positioned device provided with the positioning device and / or the positioned device not provided with the positioning device and / or the positioned device in which the positioning device fails to operate normally generates a new device coordinate list by using the received device coordinate list and the stored device coordinate list; Wherein, generating the new device coordinate list by using the received device coordinate list and the stored device coordinate list comprises: after receiving the new device coordinate list, calculating the average or weighted average between the relative position information in the new device coordinate list and the relative position information in the stored device coordinate list, thereby generating the device coordinate list; The device coordinate list further comprises device identification ciphertext corresponding to each positioned device in the plurality of positioned devices; before positioning the target positioned device in the plurality of positioned devices by using the relative position information, the method further comprises: decrypting each device identification ciphertext by using a pre-stored private key; and determining the positioned device corresponding to the successfully decrypted device identification ciphertext as the target positioned device.

2. The method of claim 1, wherein, Obtaining the device coordinate list, specifically comprising: obtaining the device coordinate list through Bluetooth.

3. The method of claim 1, wherein, The method further comprises: displaying the positioning result of the target positioned device.

4. The method of claim 3, wherein, Displaying the positioning result of the target positioned device, specifically comprising: Displaying the positioning result of the target positioned device in the device distribution diagram of each positioned device in the drawn positioning network.

5. The method of claim 3, wherein, Pre-associating an application terminal with the target positioned device; then, Displaying the positioning result of the target positioned device, specifically comprising: Displaying the positioning result of the target positioned device on the application terminal.

6. The method of claim 1, wherein, The method comprises: Encrypting the device identification plaintext of the target positioned device by using random information and a public key corresponding to the private key, to obtain the device identification ciphertext of the target positioned device.

7. An apparatus coordinate list generation method characterized by comprising: The method is applied to a first positioned device in a positioning network, the first positioned device comprising a first positioned device provided with a positioning device, a first positioned device not provided with a positioning device, and a first positioned device in which a positioning device fails to operate normally, and the method comprises: determining relative position information between a first positioned device and a plurality of second positioned devices in a positioning network; generating a device coordinate list using the determined relative position information, for positioning the first positioned device or at least one second positioned device of the plurality of second positioned devices; wherein generating the device coordinate list comprises: the first positioned device with the positioning apparatus, positioning the second positioned devices in the positioning network, and generating a device coordinate list according to the positioning result; wherein obtaining the device coordinate list further comprises: the first positioned device with the positioning apparatus, and / or the first positioned device without the positioning apparatus, and / or the first positioned device with the positioning apparatus not functioning properly, receiving the device coordinate list sent by the second positioned devices; wherein obtaining the device coordinate list further comprises: the first positioned device with the positioning apparatus, and / or the first positioned device without the positioning apparatus, and / or the first positioned device with the positioning apparatus not functioning properly, generating a new device coordinate list using the received device coordinate list and the device coordinate list stored by itself; the method further comprises: obtaining a second device coordinate list sent by at least one second positioned device of the plurality of second positioned devices; and updating the device coordinate list using the relative position information included in the second device coordinate list; updating the device coordinate list using the relative position information included in the second device coordinate list comprises: determining the same positioned devices between the second device coordinate list and the device coordinate list; and converting the relative position information between the second positioned device sending the second device coordinate list and the same positioned device in the second device coordinate list into the relative position information between the first positioned device and the same positioned device; calculating the average or weighted average of the relative position information between the first positioned device and the same positioned device in the device coordinate list and the converted relative position information; and updating the relative position information between the first positioned device and the same positioned device in the device coordinate list using the calculated average or weighted average; the device coordinate list further comprises device identification ciphertexts corresponding to each of the plurality of positioned devices; and before positioning a target positioned device of the plurality of positioned devices using the relative position information, the method further comprises: decrypting each device identification ciphertext using a pre-stored private key; and determining the positioned device corresponding to the successfully decrypted device identification ciphertext as the target positioned device.

8. The method of claim 7, wherein, determining relative position information between a first positioned device and a plurality of second positioned devices in a positioning network comprises: determining the distance and relative direction between the first positioned device and each of the plurality of second positioned devices; generating the relative position information using the distance and relative direction.

9. The method of claim 7, wherein, Updating the device coordinate list by using the relative position information included in the second device coordinate list, specifically including: Determining newly positioned devices of the second device coordinate list relative to the device coordinate list; Generating relative position information between the first positioned device and the newly positioned device by using the relative position information between the second positioned device sending the second device coordinate list and the newly positioned device; Adding the generated relative position information to the device coordinate list.

10. A device positioning apparatus, characterized by, The device is applied to a positioned device, and the positioned device includes a positioned device provided with a positioning device, a positioned device not provided with a positioning device, and a positioned device in which a positioning device fails to operate normally, and the device includes: An acquisition unit configured to acquire a device coordinate list including relative position information between a plurality of devices in a positioning network; A positioning unit configured to position a target positioned device in the plurality of devices by using the relative position information; Wherein, acquiring the device coordinate list includes: The positioned device provided with the positioning device positions other positioned devices in the positioning network, and generates a device coordinate list according to the positioning result; Wherein, acquiring the device coordinate list further includes: The positioned device provided with the positioning device and / or the positioned device not provided with the positioning device and / or the positioned device in which the positioning device fails to operate normally receives the device coordinate list sent by other positioned devices; Wherein, acquiring the device coordinate list further includes: The positioned device provided with the positioning device and / or the positioned device not provided with the positioning device and / or the positioned device in which the positioning device fails to operate normally generates a new device coordinate list by using the received device coordinate list and the stored device coordinate list; Wherein, generating the new device coordinate list by using the received device coordinate list and the stored device coordinate list includes: after receiving the new device coordinate list, calculating the average value or the weighted average value between the relative position information in the new device coordinate list and the relative position information in the stored device coordinate list, thereby generating the device coordinate list; The device coordinate list further includes device identification ciphertexts respectively corresponding to each positioned device in the plurality of positioned devices; then, before positioning the target positioned device in the plurality of positioned devices by using the relative position information, the device further includes: decrypting each device identification ciphertext by using a pre-stored private key; determining the positioned device corresponding to the successfully decrypted device identification ciphertext as the target positioned device.

11. An apparatus coordinate list generation device, characterized by comprising: The device is applied to a first positioned device in a positioning network, and the first positioned device includes a first positioned device provided with a positioning device, a first positioned device not provided with a positioning device, and a first positioned device in which a positioning device fails to operate normally, and the device includes: A determination unit configured to determine relative position information between the first positioned device and a plurality of second positioned devices in the positioning network; The generating unit is configured to generate a device coordinate list for positioning the first positioned device or at least one second positioned device in the plurality of second positioned devices by using the determined relative position information. The generating device coordinate list comprises: The first positioned device with the positioning apparatus is configured to position the second positioned device in the positioning network, and generate a device coordinate list according to the positioning result; The obtaining device coordinate list further comprises: The first positioned device with the positioning apparatus, the first positioned device without the positioning apparatus, and / or the first positioned device with the positioning apparatus failing to operate normally, receives the device coordinate list sent by the second positioned device; The obtaining device coordinate list further comprises: The first positioned device with the positioning apparatus, the first positioned device without the positioning apparatus, and / or the first positioned device with the positioning apparatus failing to operate normally, generates a new device coordinate list by using the received device coordinate list and the stored device coordinate list; The apparatus further comprises: obtaining a second device coordinate list sent by at least one second positioned device in the plurality of second positioned devices; and updating the device coordinate list by using the relative position information included in the second device coordinate list; The updating of the device coordinate list by using the relative position information included in the second device coordinate list comprises: determining the same positioned device between the second device coordinate list and the device coordinate list; and converting the relative position information between the second positioned device sending the second device coordinate list and the same positioned device in the second device coordinate list into the relative position information between the first positioned device and the same positioned device; The calculating of the average value or the weighted average value between the relative position information between the first positioned device and the same positioned device in the device coordinate list and the converted relative position information comprises: calculating the average value or the weighted average value between the relative position information between the first positioned device and the same positioned device in the device coordinate list and the converted relative position information; and updating the relative position information between the first positioned device and the same positioned device in the device coordinate list by using the calculated average value or weighted average value. The device coordinate list further comprises device identification ciphertexts respectively corresponding to the plurality of positioned devices; and before positioning a target positioned device in the plurality of positioned devices by using the relative position information, the apparatus further comprises: decrypting each device identification ciphertext by using a pre-stored private key; and determining the positioned device corresponding to the successfully decrypted device identification ciphertext as the target positioned device.

12. An electronic device, comprising: The apparatus comprises: a memory configured to store a computer program; a processor configured to execute the method according to any one of claims 1 to 9.

13. A storage medium, characterized by The apparatus comprises a program configured to, when executed on an electronic device, enable the electronic device to execute the method according to any one of claims 1 to 9.

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