A positioning method and related equipment

Abstract

The present application provides a positioning method and related equipment. The method includes: the positioning device receives a positioning start message, the positioning start message is used to trigger the positioning device to locate the device to be located; the positioning device records the displacement parameters generated by the positioning device during the movement, the displacement parameters include the displacement direction and the displacement distance; the positioning device receives the wireless signal sent by the device to be located during the movement; the positioning device obtains the relative position relationship between the positioning device and the device to be located based on the recorded displacement parameters and the wireless signal sent by the device to be located. Based on this solution, the device to be located can be accurately located by moving the positioning device, without the need to add other hardware devices, effectively reducing the cost and complexity of the positioning system.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a positioning method and related equipment. Background Art

[0002] The emergence and popularization of global positioning system (GPS) technology has promoted the large-scale development of positioning technology. With the intelligent development of wireless communication systems, users need wireless terminals to provide a variety of services. Among them, a very important service is location-based service (LBS), that is, wireless terminals can obtain a variety of location information through satellite communication, cellular network communication, wireless local area networks (WLAN) and other commonly used wireless communication networks, and provide users with services based on location information. Common LBS technologies in outdoor scenarios include GPS and positioning technologies based on wireless cellular networks. Common LBS technologies indoors include WLAN, radio frequency identification (RFID), Bluetooth (BT), ultra-wideband (UWB) and other technologies. The accuracy of indoor positioning is higher than that of outdoor positioning, generally reaching the meter level, and even reaching the centimeter level using UWB technology. Figure 1 As shown in the figure, it is a performance comparison chart of various positioning technologies. It can be seen that GPS and wireless cellular networks have the lowest positioning accuracy and are suitable for remote areas such as rural areas. UWB and microwave positioning have the highest positioning accuracy and are suitable for indoor positioning. WLAN, BT, radio frequency (RF), intermediate frequency (IF), ultrasonic positioning, etc. are between the two and are suitable for urban areas or outdoors.

[0003] Positioning technology based on wireless networks mainly uses wireless parameters that can characterize the location in the network, such as received signal strength (RSS), time of arrival (TOA), angle of arrival (AOA), etc., and uses these parameters to calculate the location information. Currently, the more commonly used positioning technologies are mainly based on Bluetooth signals and based on UWB signals. Bluetooth positioning technology estimates the distance between the device to be located and the positioning device through RSS, and then calculates the location of the target. However, RSS is affected by multipath, occlusion, etc. at long distances, and its positioning accuracy is relatively poor. In addition, the Bluetooth protocol cannot be networked, and the convergence and reporting of its positioning information generally needs to be combined with WLAN to complete the positioning function. Compared with Bluetooth, WLAN, etc., UWB has a higher bandwidth and generally requires at least 500 MHz bandwidth. Because it occupies a larger bandwidth and has a higher sampling rate, it can even achieve centimeter-level positioning accuracy at close distances. However, in order to adapt to UWB positioning, it is necessary to add UWB communication modules to the device to be located and the positioning device, which will increase the positioning cost. In addition, the UWB system has a small transmission power but a large bandwidth, which will limit its maximum propagation and positioning distance.

[0004] Therefore, how to effectively improve positioning accuracy, simplify the complexity of the positioning system, and reduce the cost of the positioning system is a problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a positioning method and related devices, which can accurately position a device to be positioned by moving the positioning device without adding other hardware devices, thereby effectively reducing the cost and complexity of the positioning system.

[0006] In a first aspect, a positioning method is provided, the method comprising: a positioning device receives a positioning start message, the positioning start message is used to trigger the positioning device to locate a device to be positioned; the positioning device records displacement parameters generated by the positioning device during movement, the displacement parameters including displacement direction and displacement distance; the positioning device receives a wireless signal sent by the device to be positioned during movement; the positioning device obtains a relative position relationship between the positioning device and the device to be positioned based on the recorded displacement parameters and the wireless signal sent by the device to be positioned.

[0007] In the solution provided in the present application, after receiving the positioning start message, the positioning device achieves the effect of a synthetic aperture antenna array through its own movement, and then locates the device to be positioned according to the wireless signal sent by the device to be positioned, thereby solving the problem that traditional positioning devices can only measure the distance to the device to be positioned but cannot locate it, and effectively reduces the complexity of the positioning system and reduces the positioning cost.

[0008] In combination with the first aspect, in a possible implementation manner of the first aspect, the positioning device receives a positioning start message through an input interface, and the input interface includes an application programming interface API and a positioning start interface.

[0009] In the solution provided in this application, the user can trigger the positioning device to perform positioning through the positioning start interface or other applications can call the positioning device to perform positioning through the API interface. After being triggered, the positioning device starts the positioning task to locate the device to be positioned.

[0010] In combination with the first aspect, in a possible implementation manner of the first aspect, after the positioning device receives the positioning start message, the positioning device sends a positioning request message to the device to be positioned, where the positioning request message is used to trigger the device to be positioned to send a wireless signal.

[0011] In the solution provided in the present application, the positioning device achieves the effect of a synthetic aperture antenna array by moving itself, so it is necessary to record the displacement parameters generated by itself during the movement in order to facilitate subsequent positioning calculations in combination with the wireless signal sent by the device to be positioned. Therefore, after moving, a positioning request message is sent to the device to be positioned to trigger the device to be positioned to send a wireless signal for positioning.

[0012] In combination with the first aspect, in a possible implementation of the first aspect, when the positioning device moves to a first position, it receives a first wireless signal sent by the device to be positioned; when the positioning device moves to a second position, it receives a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two adjacent positions of the positioning device during the movement process; the positioning device calculates the arrival angle of the device to be positioned based on the recorded displacement parameters, the first wireless signal, and the second wireless signal; and the positioning device obtains the relative position relationship between the positioning device and the device to be positioned based on the calculated multiple arrival angles.

[0013] In the solution provided in the present application, the positioning device can improve the positioning accuracy through multiple continuous positioning calculations, and each calculation only depends on the wireless signals received at adjacent positions. Therefore, the positioning device only needs to store the wireless signals received twice adjacently to calculate the arrival angle of the wireless signal sent by the device to be positioned. At the same time, the wireless signals previously stored and irrelevant to the current calculation can be cleared, which saves the storage space of the positioning device and improves the utilization rate of the storage resources of the positioning device.

[0014] In combination with the first aspect, in a possible implementation of the first aspect, when the positioning device moves to a first position, it receives a first wireless signal sent by the device to be positioned; when the positioning device moves to a second position, it receives a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two positions of the positioning device during the movement process; the positioning device calculates the arrival angle of the device to be positioned based on the recorded displacement parameters, the first wireless signal, and the second wireless signal; and the positioning device obtains the relative position relationship between the positioning device and the device to be positioned based on the calculated multiple arrival angles.

[0015] In the solution provided in the present application, the positioning device can calculate more arrival angles by storing the data of each positioning measurement process and using all the data in the calculation. Finally, the relative position relationship between the positioning device and the device to be positioned is obtained by combining the calculations, which can further improve the positioning accuracy.

[0016] In combination with the first aspect, in a possible implementation manner of the first aspect, after obtaining the relative position relationship between the positioning device and the device to be positioned, the positioning device sends a termination message to the device to be positioned, wherein the termination message instructs the device to be positioned to terminate sending wireless signals.

[0017] In the solution provided in the present application, the positioning device can actively send a termination message to the device to be positioned so that the device to be positioned stops sending wireless signals, thereby reducing the power consumption of the device to be positioned.

[0018] In combination with the first aspect, in a possible implementation of the first aspect, before the positioning device obtains the relative position relationship between the positioning device and the device to be positioned based on the recorded displacement parameters and the wireless signal sent by the device to be positioned, the positioning device determines that the number of wireless signals sent by the device to be positioned exceeds a first preset threshold, and the positioning device stops moving further.

[0019] In the solution provided in the present application, the positioning device and the device to be positioned can terminate the positioning process by a preset number of positioning measurements, thereby preventing the device to be positioned from continuously sending wireless signals, and effectively reducing the power consumption of the device to be positioned.

[0020] In combination with the first aspect, in a possible implementation manner of the first aspect, the relative position relationship includes a relative distance between the positioning device and the device to be positioned and a relative orientation between the positioning device and the device to be positioned. After obtaining the relative position relationship between the positioning device and the device to be positioned, the positioning device compares the relative distance with a preset threshold. If the relative distance exceeds the preset threshold: the positioning device continues to move toward the device to be positioned according to the relative orientation, and records a displacement parameter generated by the positioning device during the movement; when the positioning device moves to a third position, it receives a third wireless signal sent by the device to be positioned; the positioning device updates the relative position relationship between the positioning device and the device to be positioned according to the recorded displacement parameter and the third wireless signal.

[0021] In the solution provided in the present application, the positioning device can perform multiple positioning calculations and compare the calculation results with a preset threshold, thereby guiding the positioning device to gradually approach the device to be located and optimize the calculation results of the positioning process. As the distance between the positioning device and the device to be located decreases, the environmental interference suffered during the positioning process decreases, and the positioning accuracy will be improved. The positioning device can correct the direction and distance based on the positioning results, and finally find the device to be located after continuously correcting the direction and distance.

[0022] With reference to the first aspect, in a possible implementation manner of the first aspect, the positioning device updates the relative distance between the positioning device and the device to be positioned to be less than the preset threshold.

[0023] In a second aspect, a positioning device is provided, comprising: a receiving unit, configured to receive a positioning start message, wherein the positioning start message is used to trigger the positioning device to locate a device to be positioned; a recording unit, configured to record displacement parameters generated by the positioning device during movement, wherein the displacement parameters include a displacement direction and a displacement distance; the receiving unit is further configured to receive a wireless signal sent by the device to be positioned during movement; and a processing unit, configured to obtain a relative position relationship between the positioning device and the device to be positioned according to the displacement parameters and the wireless signal sent by the device to be positioned.

[0024] In combination with the second aspect, in a possible implementation manner of the second aspect, the positioning device further includes a sending unit, wherein the sending unit is configured to send a positioning request message to the device to be positioned, wherein the positioning request message is configured to trigger the device to be positioned to send a wireless signal.

[0025] In combination with the second aspect, in a possible implementation of the second aspect, the receiving unit is specifically used to: when the positioning device moves to a first position, receive a first wireless signal sent by the device to be positioned; when the positioning device moves to a second position, receive a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two adjacent positions of the positioning device during the movement process; the processing unit is specifically used to: calculate the arrival angle of the device to be positioned based on the recorded displacement parameters, the first wireless signal and the second wireless signal; and obtain the relative position relationship between the positioning device and the device to be positioned based on the calculated multiple arrival angles.

[0026] In combination with the second aspect, in a possible implementation of the second aspect, the receiving unit is specifically used to: when the positioning device moves to a first position, receive a first wireless signal sent by the device to be positioned; when the positioning device moves to a second position, receive a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two positions of the positioning device during the movement process; the processing unit is specifically used to: calculate the arrival angle of the device to be positioned based on the recorded displacement parameters, the first wireless signal and the second wireless signal; and obtain the relative position relationship between the positioning device and the device to be positioned based on the calculated multiple arrival angles.

[0027] In combination with the second aspect, in a possible implementation of the second aspect, the relative position relationship includes the relative distance between the positioning device and the device to be positioned and the relative orientation between the positioning device and the device to be positioned, and the processing unit is further used to compare the relative distance with a preset threshold; the recording unit is further used to record the displacement parameters generated in the process of the positioning device continuing to move toward the device to be positioned according to the relative direction when the relative distance exceeds the threshold; the receiving unit is further used to receive a third wireless signal sent by the device to be positioned; and the processing unit is further used to update the relative position relationship between the positioning device and the device to be positioned based on the recorded displacement parameters and the third wireless signal.

[0028] With reference to the second aspect, in a possible implementation manner of the second aspect, the processing unit is specifically configured to: update the relative distance between the positioning device and the device to be positioned to be less than the preset threshold.

[0029] In a third aspect, the present application provides a computing device, comprising a processor and a memory, wherein the processor and the memory are connected via an internal bus, the memory stores instructions, and the processor calls the instructions in the memory to execute the positioning method provided in the first aspect and in combination with any one of the implementations of the first aspect.

[0030] In a fourth aspect, the present application provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement the process of the positioning method provided in the above-mentioned first aspect and in combination with any one of the implementation methods of the above-mentioned first aspect.

[0031] In a fifth aspect, the present application provides a computer program product, which includes instructions. When the computer program is executed by a computer, the computer can execute the process of the positioning method provided in the above-mentioned first aspect and in combination with any one of the implementation methods in the above-mentioned first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A comparison chart of positioning technology performance provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the structure of a Bluetooth positioning system provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the structure of a UWB positioning system provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of a system architecture provided for an embodiment of the present application;

[0036] Figure 5 A flowchart of a positioning method provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of a positioning start interface provided in an embodiment of the present application;

[0038] Figure 7 A schematic diagram of positioning based on a synthetic aperture antenna provided in an embodiment of the present application;

[0039] Figure 8 A schematic diagram of multiple continuous positioning measurements provided in an embodiment of the present application;

[0040] Fig. 9 A schematic diagram of a traction-type positioning provided in an embodiment of the present application;

[0041] Fig.10A schematic diagram of the structure of a positioning device provided in an embodiment of the present application;

[0042] Fig.11 A schematic diagram of the structure of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] First, some of the terms and related technologies involved in this application are explained in conjunction with the accompanying drawings to facilitate understanding by those skilled in the art.

[0045] The embodiments of the present application relate to a positioning device, which may be a device with one or a small number of antennas and the ability to calculate its own displacement data. Specifically, the positioning device may refer to user equipment (UE), a mobile station, a mobile device, a user terminal, a wireless communication device, etc. For example, the positioning device may be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a personal digital assistant (PDA), a tablet computer, a wearable device, etc., and the present application does not limit this. Unless otherwise specified, the present application uses the positioning device as a mobile phone as an example in the subsequent description.

[0046] The embodiments of the present application also relate to a device to be located, which may be a device capable of sending wireless signals and used to communicate with a positioning device, for example, a wireless headset, a wireless bracelet, a wireless watch, a mobile phone, a wearable device, a vehicle-mounted wireless transceiver, etc.

[0047] In order to facilitate the understanding of the present application, the relevant technical knowledge involved in the embodiments of the present application is first introduced here.

[0048] In the scenario of positioning based on Bluetooth signals, it is necessary to combine with WLAN to complete the positioning function. It specifically uses RSS to estimate the distance between the device to be positioned and the positioning device, and then calculates the position of the device to be positioned. Figure 2As shown, four Bluetooth positioning measurement points are deployed in the Bluetooth positioning system, namely Bluetooth positioning measurement point 221, Bluetooth positioning measurement point 222, Bluetooth positioning measurement point 223 and Bluetooth positioning measurement point 224. The Bluetooth device 210 to be located sends Bluetooth signals to each Bluetooth positioning measurement point respectively. Each Bluetooth positioning measurement point detects the received Bluetooth signal and obtains RSS. Each Bluetooth positioning measurement point sends the RSS detected by each Bluetooth positioning measurement point and its own location information to the WLAN access point 230. The WLAN access point 230 reports the received RSS and location information to the positioning processing server 240. The positioning processing server 240 calculates the location of the Bluetooth device 210 to be located according to the RSS and location information detected by each Bluetooth positioning measurement point, and returns the location information of the Bluetooth device 210 to be located to the Bluetooth positioning device and the user through the WLAN access point 230.

[0049] It can be seen that in Figure 2 In the scenario shown in Figure 1, multiple Bluetooth positioning measurement points need to be deployed, and positioning needs to be completed in combination with WLAN, resulting in a complex structure of the entire positioning system. Moreover, Bluetooth positioning uses RSS to calculate the distance, which is susceptible to multipath, occlusion, etc. at long distances, resulting in poor positioning accuracy. In addition, for some ultra-low-power Internet of Things (IoT) devices, Bluetooth power consumption is relatively high and is not enough to support long-term operation. For example, when the remaining power of a Bluetooth headset is low, if the Bluetooth positioning function is always turned on, it may not be able to effectively maintain sufficient working status for the positioning process.

[0050] Alternatively, in the scenario of positioning based on UWB signals, the device to be positioned can be accurately positioned by utilizing its larger bandwidth and higher sampling rate. However, since it occupies a large bandwidth, it is easy to interfere with other communication systems, so UWB is required to communicate over the air interface at a lower power. Figure 3As shown in FIG. 1 , four UWB positioning receiving devices are deployed in the UWB positioning system, namely, UWB positioning receiving device 321, UWB positioning receiving device 322, UWB positioning receiving device 323 and UWB positioning receiving device 324. The UWB device to be positioned 310 sends pulse packet signals to each UWB positioning receiving device respectively. Each UWB positioning receiving device receives the pulse packet signal and measures the air interface flight time of the signal. It should be noted that when three UWB positioning receiving devices are deployed in the positioning area, the spatial two-dimensional positioning of the UWB device to be positioned can be completed. When four UWB positioning receiving devices are deployed in the positioning area, the UWB device to be positioned can be completed. When there are more than one UWB positioning receiving devices, the spatial three-dimensional positioning of the UWB device to be positioned can be completed. Each UWB positioning receiving device sends the measured time data and its own position information to the switch 330. The switch 330 reports the received time data and position information to the positioning processing server 340. The positioning processing server 340 calculates the position of the UWB device 310 to be positioned according to the time data and position information measured by each UWB positioning receiving device, and returns the position information of the UWB device 310 to be positioned to the UWB positioning device and the user through the switch 330.

[0051] Similarly, in Figure 3 In the scenario of positioning based on UWB signals, multiple UWB positioning receiving devices need to be deployed to complete the positioning of the UWB device to be positioned, and the entire positioning system structure is complex. Moreover, it is necessary to add UWB communication modules to the positioning device and the device to be positioned, which increases the positioning cost and limits the promotion and use of UWB positioning. In addition, the transmission power of UWB signals is small, but the bandwidth it occupies is large, resulting in limited positioning distance.

[0052] In order to solve the above problems, the present application provides a positioning method and related equipment. Without changing the hardware structure of the existing equipment, the method upgrades the software and utilizes the mobility of the positioning equipment to receive the wireless positioning signal sent by the device to be positioned at different locations, and locates the device to be positioned based on the phase difference of the signal sent by the device to be positioned received at different locations of the method, thereby effectively reducing the complexity of the positioning system, reducing the positioning cost, and improving the positioning accuracy.

[0053] The technical solution of the embodiments of the present application can be applied to various scenarios that rely on the movement of the positioning device to locate the device to be positioned, such as using an existing mobile phone to find wireless headphones and bracelet watches, using an existing mobile phone to find other mobile phones, using an existing mobile phone to find a target vehicle in a parking lot or garage, etc.

[0054] See also Figure 4 , Figure 4 Schematic diagram of a system architecture provided by an embodiment of the present application. Figure 4As shown, the system includes a positioning device 410 and a device to be positioned 420. The positioning device 410 can be specifically a mobile phone, a tablet, etc. There are fewer positioning antennas available on the positioning device 410, only one or a few, and the device to be positioned 420 cannot be directly positioned. The device to be positioned 420 can be specifically a wireless headset, a wireless bracelet, a wireless watch, other mobile phones, a car-mounted wireless transceiver, etc. The device to be positioned 420 has the ability to transmit wireless signals, and the positioning device 410 can receive the wireless signal for positioning transmitted by the device to be positioned 420. The communication format, communication protocol, communication radio frequency and communication time between the positioning device 410 and the device to be positioned 420 are relatively flexible, and any communication method can be selected as needed. For example, the positioning device 410 and the device to be positioned 420 can use Bluetooth signals or orthogonal frequency division multiplexing (orthogonal frequency division multiplexing, OFDM) signals for communication. The positioning device 410 forms a virtual antenna array by moving, and then receives the wireless signal sent by the device to be positioned 420 at different positions, and calculates the three-dimensional direction and distance of its own displacement, thereby calculating the phase difference of the wireless signal sent by the device to be positioned 420 received at different positions, and finally calculates the position of the device to be positioned 420, thereby completing the positioning of the device to be positioned 420.

[0055] Based on the above, the positioning method and related devices provided by the embodiments of the present application are described below. Figure 5 , Figure 5 A flowchart of a positioning method provided in an embodiment of the present application. Figure 5 The positioning device and the device to be positioned described in the figure can correspond to Figure 4 The positioning device 410 and the device to be positioned 420 shown in Figure 5 As shown, the method includes but is not limited to the following steps:

[0056] S501: The positioning device receives a positioning start message.

[0057] Specifically, a positioning module is deployed in the positioning device. After receiving the positioning start message, the positioning device triggers the positioning module to enter a working state, thereby starting to locate the device to be positioned.

[0058] In a possible implementation, the positioning device receives a positioning start message through an input interface, where the input interface includes an application programming interface (API) and a positioning start interface.

[0059] Specifically, the positioning device can display a positioning start interface, and the user clicks a start button in the interface to trigger the positioning device to start the positioning task and locate the device to be located; or other applications call the positioning module in the positioning device through an API interface, thereby triggering the positioning device to start the positioning task and locate the device to be located.

[0060] For example, take the input interface as the positioning start interface as an example. Figure 6 As shown, the positioning device displays a positioning start interface, which includes a confirmation button. The user can click the confirmation button. After the positioning device senses that the user clicks the confirmation button, it starts the positioning task to locate the device to be positioned.

[0061] S502: The positioning device records displacement parameters generated during the movement of the positioning device, where the displacement parameters include a displacement direction and a displacement distance.

[0062] Specifically, after starting the positioning task, the positioning device prompts the user to start moving the positioning device according to a customized or randomly selected direction, distance, time, etc., and the user moves the positioning device according to the prompt.

[0063] It should be noted that the positioning device is deployed with corresponding hardware devices (related sensors) so that it can accurately calculate its displacement parameters during movement. For example, an accelerometer is deployed in the positioning device to obtain its own movement speed and direction; a gyroscope is also deployed to obtain the rotation direction; a geomagnetic field sensor or an electronic compass can also be deployed to obtain the geographic direction or relative movement direction. Based on the deployed related hardware, the positioning device can accurately obtain the three-dimensional direction and distance of its own displacement.

[0064] After the positioning device detects its own displacement through relevant sensors, it will be triggered to send a positioning request message to the device to be positioned. The positioning request message contains the identifier of the device to be positioned. After receiving the positioning request message, the device to be positioned can reply with a confirmation message to the positioning device and send a wireless signal for positioning to the positioning device.

[0065] It should be understood that when there are multiple devices to be located, the positioning device can send positioning request messages to the multiple devices to be located at the same time. After receiving the positioning request message sent by the positioning device, each device to be located sends a wireless signal for positioning to the positioning device respectively. The positioning device can accurately distinguish the wireless signals sent by each device to be located, for example, it can distinguish them by the device identifier carried in the wireless signal, thereby identifying the wireless signals sent by different devices to be located.

[0066] S503: The positioning device receives a wireless signal sent by the device to be positioned during movement.

[0067] Specifically, the movement process of the positioning device is continuous. In order to locate the device to be positioned, it is not necessary to receive and save the wireless signals sent by the device to be positioned in real time. It is only necessary to collect the wireless signals sent by the device to be positioned at key positions during the movement of the positioning device.

[0068] Optionally, the wireless signal sent by the device to be located may be a Bluetooth signal, or other wireless signals such as OFDM, which is not limited in the present application.

[0069] S504: The positioning device obtains a relative position relationship between the positioning device and the device to be positioned according to the recorded displacement parameters and the wireless signal sent by the device to be positioned.

[0070] Specifically, during the movement, the positioning device collects wireless signals sent by the device to be positioned at different positions, thereby ensuring that sufficient data is obtained to calculate the position of the device to be positioned, and finally obtains the relative position relationship between the positioning device and the device to be positioned.

[0071] In a possible implementation, when the positioning device moves to a first position, it receives a first wireless signal sent by the device to be positioned; when the positioning device moves to a second position, it receives a second wireless signal sent by the device to be positioned; the positioning device inputs the recorded displacement parameters, the first wireless signal, and the second wireless signal into a synthetic aperture antenna model; the synthetic aperture antenna model is used to process the input data and calculate the relative position relationship between the positioning device and the device to be positioned.

[0072] Specifically, since the positioning device cannot directly locate the device to be positioned, it is necessary to move the positioning device and receive the wireless signal sent by the device to be positioned at different locations, so as to virtualize it into the data obtained by the aperture antenna array, thereby calculating the arrival angle of the wireless signal sent by the device to be positioned and obtaining the position of the device to be positioned relative to the positioning device.

[0073] For example, see Figure 7 , Figure 7 Schematic diagram of positioning based on synthetic aperture antenna provided in the embodiment of the present application. Figure 7 As shown in the figure, the coordinates corresponding to the initial position of the positioning device are (x0, y0). After the positioning device is moved, the coordinates corresponding to the position of the positioning device become (x1, y1), and the moving distance is L. Assume that the wireless signal sent by the device to be positioned is The signal received by the positioning device at time (x0, y0)t0 is Then we can calculate the down-converted signal of the positioning device at (x0, y0) Similarly, the down-converted signal received by the positioning device at time (x1, y1) t1 can be calculated After calculating S0 and S1, we need to further calculate their complex number argument (argument of a complex number, Arg), that is, calculate Where I is the frequency deviation interference term and I = Δω(t0-t1). This interference term can be estimated by fixing the location of the positioning device and sampling multiple times continuously, and then eliminating this interference term to obtain It should be understood that Δω is relative to the signal carrier ω c It is relatively small, so ω RX is the local carrier and ω RX =ω c -Δω, the phase difference between the two signals can be further obtained After obtaining the phase difference, the arrival angle of the signal received by the positioning device at (x1, y1) can be calculated. L can be obtained through relevant sensors in the positioning device.

[0074] Similarly, after the positioning device moves from (x1, y1) to (x2, y2), the arrival angle θ1 of the signal received by the positioning device at (x2, y2) can be calculated according to the same principle. According to the relationship between θ0, θ1 and the various receiving positions where the positioning device receives the wireless signal, the relative position relationship between the positioning device and the device to be positioned can be calculated, thereby completing the positioning of the device to be positioned.

[0075] It can be seen that the present application can locate the device to be located by moving a single positioning device only, without the need for networking and support from other devices, which greatly simplifies the system structure and complexity and expands the applicable scenarios. In addition, neither the positioning device nor the device to be located requires additional hardware (such as a UWB module), and the existing positioning device (such as a mobile phone) and the device to be located (such as a wireless bracelet) hardware can be fully reused. Moreover, the present application performs positioning calculations by measuring the angle of arrival of the signal, so there is no restriction on the communication mode and protocol between the positioning device and the device to be located, which effectively reduces production costs and improves positioning efficiency and positioning accuracy.

[0076] In a possible implementation, the positioning device continuously receives wireless signals sent by the device to be positioned at multiple different locations, such as Figure 8 As shown, the positioning device receives N wireless signals sent by the device to be positioned at N positions, and for any two adjacent positions in the N positions, such as the above Figure 7The synthetic aperture positioning algorithm shown calculates the arrival angle of the wireless signal, and then N-1 arrival angles can be obtained. Then, the relative position relationship between the positioning device and the device to be positioned is obtained by combining the calculations to complete the positioning of the device to be positioned.

[0077] It is easy to understand that the positioning accuracy can be improved through multiple consecutive positioning calculations, and each calculation only needs to rely on the wireless signals received at adjacent locations. Therefore, the positioning device only needs to store the wireless signals received twice adjacently to calculate the arrival angle of the wireless signal sent by the device to be positioned. At the same time, the wireless signals previously stored and irrelevant to this calculation can be cleared, which saves the storage space of the positioning device and improves the utilization rate of the storage resources of the positioning device.

[0078] In another possible implementation, the positioning device receives wireless signals sent by the device to be positioned at different locations for multiple times, and stores all received wireless signals and location information of the received wireless signals. After completing signal reception, the positioning device uses all stored wireless signals and location information of the received wireless signals to calculate the location of the device to be positioned. Exemplarily, the positioning device receives N wireless signals sent by the device to be positioned at N different locations and stores them, and then selects two wireless signals received at different locations from the N wireless signals, and uses the above wireless signals to calculate the location of the device to be positioned. Figure 7 The synthetic aperture positioning algorithm shown calculates the arrival angle of the wireless signal sent by the device to be positioned, and a total of N*(N-1) / 2 arrival angles can be calculated, and finally the relative position relationship between the positioning device and the device to be positioned is obtained by merging and calculating. It should be noted that although calculating the arrival angle of the wireless signal in this way requires the positioning device to allocate more storage space to store all received wireless signals, more arrival angles can be calculated, which can further improve the positioning accuracy.

[0079] Alternatively, after the positioning device receives N wireless signals at N different locations, the positioning device will also obtain N pieces of its own location information. The positioning device arbitrarily selects the sum of the Euclidean distances of two non-repeating position combinations based on the N different pieces of its own location information. The Euclidean distance refers to the three-dimensional straight-line distance between two points in space. For example, the positioning device receives wireless signals sent by the device to be positioned at four different locations, which are A, B, C, and D. The positioning device needs to calculate the sum of the Euclidean distances of AB and CD, the sum of the Euclidean distances of AC and BD, and the sum of the Euclidean distances of AD and BC, and then selects the maximum value of the sum of the Euclidean distances from all the calculated sums of the Euclidean distances as the best combination, and then uses the best combination through the above method. Figure 7The synthetic aperture positioning algorithm shown calculates the arrival angle of the wireless signal sent by the device to be positioned, thereby calculating the relative position relationship between the positioning device and the device to be positioned. It is worth noting that by selecting the position of the positioning device corresponding to the maximum sum of the Euclidean distances as the best combination, the spatial multiplexing gain of the positioning device position can be fully utilized, that is, the greater the difference in spatial position, the stronger the mutual difference of its channels, the smaller the same interference is suffered by the positioning calculation after the combination, and the higher the calculation accuracy. In this way, the positioning accuracy can be effectively improved.

[0080] In a possible implementation manner, after obtaining the relative position relationship between the positioning device and the device to be positioned, the positioning device sends a termination message to the device to be positioned, where the termination message instructs the device to be positioned to terminate sending wireless signals.

[0081] Specifically, after the positioning device completes the positioning of the device to be positioned, the positioning device can further send a termination message to the device to be positioned, and the termination message can carry the identifier of the device to be positioned. After receiving the termination message sent by the positioning device, the device to be positioned determines that the positioning device has completed the positioning process, stops sending wireless signals for positioning to the positioning device, and ends the positioning process. This can avoid the device to be positioned from continuing to send wireless signals after positioning is completed, can reduce the power consumption of the device to be positioned, and ensure that the device to be positioned is in a sufficient state.

[0082] In a possible implementation, before performing positioning calculation, the positioning device determines whether the number of wireless signals sent by the device to be positioned exceeds a first preset threshold, and if it exceeds the first preset threshold, the positioning device stops moving and then calculates the position of the device to be positioned based on the received wireless signal and the corresponding displacement parameter.

[0083] Specifically, the positioning device and the device to be positioned can agree in advance on the conditions for terminating the process. For example, after the device to be positioned sends a wireless signal exceeding the first preset threshold, it stops sending further. The positioning device and the device to be positioned terminate the positioning interaction process at the same time. The positioning device performs positioning calculations based on the received wireless signals to obtain the position of the device to be positioned, and can present the position of the device to be positioned to the user or pass it to other related software. The first preset threshold can be set according to actual needs, for example, it can be set to 10 times, and this application does not limit this. It should be understood that in addition to agreeing on the number of times the wireless signal is sent, the positioning device and the device to be positioned can also terminate the positioning process by agreeing on other parameters. For example, a preset measurement duration can be agreed in advance. When the measurement time between the positioning device and the device to be positioned exceeds the preset measurement duration, the reception and transmission of wireless signals are terminated.

[0084] In a possible implementation, the relative position relationship includes a relative distance between the positioning device and the device to be positioned and a relative orientation between the positioning device and the device to be positioned. After obtaining the relative position relationship between the positioning device and the device to be positioned, the positioning device compares the relative distance with a second preset threshold. If the relative distance exceeds the second preset threshold, the positioning device continues to move to a third position toward the device to be positioned according to the relative orientation, and records a displacement parameter generated during the movement. The positioning device receives a third wireless signal sent by the device to be positioned at the third position. The positioning device positions the device to be positioned according to the recorded displacement parameter and the third wireless signal, updates the relative position relationship between the positioning device and the device to be positioned, and the positioning device compares the updated relative distance between the positioning device and the device to be positioned with the second preset threshold again. If the relative distance still exceeds the second preset threshold, the positioning device continues to move toward the device to be positioned and records the displacement parameter generated during the movement, thereby continuing to update the relative position relationship between the positioning device and the device to be positioned until the relative distance between the positioning device and the device to be positioned is less than the second preset threshold.

[0085] Specifically, in the embodiment of the present application, the positioning device will perform multiple positioning calculations during the process of positioning the device to be positioned. The specific positioning calculation process can be as follows: Figure 7 The synthetic aperture positioning algorithm shown compares the positioning result with the second preset threshold each time it is obtained, and guides the positioning device to move closer to the device to be positioned based on the comparison result, and then repeats the positioning measurement and calculation until the distance between the positioning device and the device to be positioned is less than the second preset threshold. The second preset threshold can be set according to actual needs, for example, it can be set to 1 meter, and this application does not limit this.

[0086] For example, see Fig. 9 , Fig. 9 is a schematic diagram of a traction-type positioning provided in an embodiment of the present application, such as Fig. 9 As shown, the positioning device can estimate the direction and distance of the device to be positioned through the first positioning. Because the distance between the positioning device and the device to be positioned is far at this time, exceeding the second preset threshold, and it is easily affected by interference such as multipath and occlusion, resulting in inaccurate positioning results. Although the positioning result is inaccurate, the positioning device can move closer to the device to be positioned according to the obtained direction, and then perform positioning measurement and calculation again. As the distance between the positioning device and the device to be positioned decreases, the environmental interference suffered during the positioning process decreases, and the positioning accuracy will be improved. The positioning device can correct the direction and distance according to the positioning result. Finally, after continuously correcting the direction and distance, the distance between the positioning device and the device to be positioned will be less than the second preset threshold, and the positioning device can find the device to be positioned.

[0087] Easy to understand, Fig. 9 The traction positioning method shown is very suitable for scenarios such as finding objects, for example, using a mobile phone to find a vehicle in a parking lot or underground garage, using a mobile phone to find a wireless headset or a wireless watch bracelet, etc. As the positioning device moves closer to the device to be located, the distance between the two devices continues to decrease, and the interference such as multipath blocking will continue to improve. The signal attenuation in space will continue to decrease, the signal-to-noise ratio will be improved, and the positioning accuracy will become higher until the device to be located is finally found.

[0088] It can be seen that Figure 5 The method embodiment described can complete the reuse of the hardware structure of existing positioning devices such as mobile phones, and when the positioning device has only one or a small number of antennas for positioning, the effect of a synthetic aperture antenna array can be achieved through its own movement, thereby solving the problem that traditional positioning devices can only measure the distance but not the positioning of the positioning device, effectively reducing the complexity of the positioning system, reducing the positioning cost, and improving the positioning accuracy through a traction positioning method.

[0089] It should also be understood that all the embodiments described above are illustrated by taking the positioning device positioning one device to be positioned as an example. For the positioning device positioning multiple devices to be positioned at the same time, the specific process and implementation principle are consistent with the above. The positioning device can position the devices to be positioned according to the wireless signals sent by different devices to be positioned. For the sake of brevity, it will not be repeated here.

[0090] The method of the embodiment of the present application is described in detail above. In order to facilitate better implementation of the above scheme of the embodiment of the present application, correspondingly, related equipment for cooperating in implementing the above scheme is also provided below.

[0091] See also Fig.10 , Fig.10 1 is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. The positioning device 100 includes a receiving unit 110, a recording unit 120 and a processing unit 130. Among them:

[0092] The receiving unit 110 is configured to receive a positioning start message, where the positioning start message is used to trigger the positioning device to locate the device to be positioned;

[0093] A recording unit 120, used to record displacement parameters generated by the positioning device during movement, wherein the displacement parameters include a displacement direction and a displacement distance;

[0094] The receiving unit 110 is further configured to receive a wireless signal sent by the device to be located during movement;

[0095] The processing unit 130 is configured to obtain a relative position relationship between the positioning device and the device to be positioned according to the displacement parameter and the wireless signal sent by the device to be positioned.

[0096] As an embodiment, the receiving unit 110 is specifically used to: receive a positioning start message through an input interface, and the input interface includes an application programming interface API and a positioning start interface.

[0097] As an embodiment, the positioning device 100 further includes a sending unit 140, and the sending unit 140 is used to send a positioning request message to the device to be positioned, and the positioning request message is used to trigger the device to be positioned to send a wireless signal.

[0098] As an embodiment, the receiving unit 110 is specifically used to: when the positioning device moves to a first position, receive a first wireless signal sent by the device to be positioned; when the positioning device moves to a second position, receive a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two adjacent positions of the positioning device during the movement process; the processing unit 130 is specifically used to: calculate the arrival angle of the device to be positioned based on the recorded displacement parameters, the first wireless signal and the second wireless signal; and obtain the relative position relationship between the positioning device and the device to be positioned based on the calculated multiple arrival angles.

[0099] As an embodiment, the receiving unit 110 is specifically used to: when the positioning device moves to a first position, receive a first wireless signal sent by the device to be positioned; when the positioning device moves to a second position, receive a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two positions of the positioning device during the movement process; the processing unit 130 is specifically used to: calculate the arrival angle of the device to be positioned based on the recorded displacement parameters, the first wireless signal and the second wireless signal; and obtain the relative position relationship between the positioning device and the device to be positioned based on the calculated multiple arrival angles.

[0100] As an embodiment, the sending unit 140 is further configured to send a termination message to the device to be located, wherein the termination message instructs the device to be located to terminate sending wireless signals.

[0101] As an embodiment, the processing unit 130 is further configured to prompt the positioning device to stop moving after determining that the number of wireless signals sent by the device to be positioned exceeds a first preset threshold.

[0102] As an embodiment, the relative position relationship includes the relative distance between the positioning device and the device to be positioned and the relative orientation between the positioning device and the device to be positioned. The processing unit 130 is further used to compare the relative distance with a preset threshold; the recording unit 120 is further used to record the displacement parameters generated when the positioning device continues to move toward the device to be positioned according to the relative direction when the relative distance exceeds the threshold; the receiving unit 110 is further used to receive a third wireless signal sent by the device to be positioned; the processing unit 130 is further used to update the relative position relationship between the positioning device and the device to be positioned based on the recorded displacement parameters and the third wireless signal.

[0103] As an embodiment, the processing unit 130 is specifically configured to: update the relative distance between the positioning device and the device to be positioned to be less than the preset threshold.

[0104] It can be understood that the receiving unit 110 and the sending unit 140 in the embodiment of the present application can be implemented by a transceiver or a transceiver-related circuit component, the recording unit 120 and the processing unit 130 can be implemented by a processor or a processor-related circuit component, and the positioning device can execute the following steps: Figure 5 The steps performed by the positioning device in the positioning method shown are not described here in detail. Figure 5 and related content.

[0105] See also Fig.11 , Fig.11 Schematic diagram of a computing device provided in an embodiment of the present application. The computing device of this embodiment includes a mobile phone, a tablet, a tablet computer, etc.

[0106] Taking a mobile phone as an example, Fig.11 FIG. 2 is a block diagram showing a partial structure of a mobile phone 200 related to an embodiment of the present application. Fig.11 The mobile phone 200 includes: a radio frequency (RF) circuit 210, a memory 220, other input devices 230, a display screen 240, a sensor 250, an audio circuit 260, an I / O subsystem 270, a processor 280, and a power supply 290. Those skilled in the art will appreciate that Fig.11 The mobile phone structure shown in the figure does not constitute a limitation on the mobile phone, and may include more or fewer components than shown in the figure, or combine some components, or separate some components, or arrange the components differently. Those skilled in the art will understand that the display screen 240 belongs to the user interface (UI), and the mobile phone 200 may include more or fewer user interfaces than shown in the figure.

[0107] Combine the following Fig.11The various components of the mobile phone 200 are introduced in detail:

[0108] The RF circuit 210 can be used for receiving and sending signals during information transmission or calls. In particular, after receiving the downlink information of the base station, it is sent to the processor 280 for processing; in addition, the data related to the uplink is sent to the base station. Generally, the RF circuit includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA), a duplexer, etc. In addition, the RF circuit 210 can also communicate with the network and other devices through wireless communication. The wireless communication can use any communication standard or protocol, including but not limited to the global system of mobile communication (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), long term evolution (LTE), email, short messaging service (SMS), etc. In the embodiment of the present application, the RF circuit 210 may be configured to receive a Bluetooth signal or an OFDM signal, etc. In addition, the RF circuit 210 may also be configured to send a positioning request signal or terminate a positioning signal, etc.

[0109] The memory 220 can be used to store software programs and modules. The processor 280 executes various functional applications and data processing of the mobile phone 200 by running the software programs and modules stored in the memory 220. The memory 220 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone 200 (such as audio data, a phone book, etc.), etc. In addition, the memory 220 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. In a specific embodiment of the present application, the memory 220 can store parameter change information of the mobile phone location.

[0110] The other input devices 230 may be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the mobile phone 200. Specifically, the other input devices 230 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, an optical mouse (an optical mouse is a touch-sensitive surface that does not display visual output, or is an extension of a touch-sensitive surface formed by a touch screen), etc. The other input devices 230 are connected to the other input device controller 271 of the I / O subsystem 270, and perform signal interaction with the processor 280 under the control of the other device input controller 271.

[0111] The display screen 240 can be used to display information input by the user or information provided to the user and various menus of the mobile phone 200, and can also accept user input. The specific display screen 240 may include a display panel 241 and a touch panel 242. The display panel 241 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel 242, also known as a touch screen, a touch-sensitive screen, etc., can collect user contact or non-contact operations on or near it (such as operations performed by users using fingers, styluses, or any other suitable objects or accessories on or near the touch panel 242, and may also include somatosensory operations; the operations include single-point control operations, multi-point control operations, and other operation types.), and drive the corresponding connection device according to a pre-set program. Optionally, the touch panel 242 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction and posture, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into information that can be processed by the processor, and then sends it to the processor 280, and can receive the command sent by the processor 280 and execute it. In addition, the touch panel 242 can be implemented by various types such as resistive, capacitive, infrared and surface acoustic wave, and any technology developed in the future can also be used to implement the touch panel 242. Further, the touch panel 242 can cover the display panel 241, and the user can operate on or near the touch panel 242 covered on the display panel 241 according to the content displayed on the display panel 241 (the display content includes but is not limited to soft keyboard, virtual mouse, virtual button, icon, etc.). After the touch panel 242 detects the operation on or near it, it is transmitted to the processor 280 through the I / O subsystem 270 to determine the user input, and then the processor 280 provides corresponding visual output on the display panel 241 through the I / O subsystem 270 according to the user input. Although in Fig.11In the embodiment, the touch panel 242 and the display panel 241 are used as two independent components to implement the input and output functions of the mobile phone 200, but in some embodiments, the touch panel 242 and the display panel 241 can be integrated to implement the input and output functions of the mobile phone 200.

[0112] The mobile phone 200 may also include at least one sensor 250, such as a light sensor, a motion sensor, a specific absorption rate (SAR) sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 241 according to the brightness of the ambient light, and the proximity sensor may turn off the display panel 241 and / or the backlight when the mobile phone 200 is moved to the ear. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary, which can be used for applications that identify the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors that the mobile phone 200 can also be configured with, such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., they will not be repeated here.

[0113] The audio circuit 260, the speaker 261, and the microphone 262 can provide an audio interface between the user and the mobile phone 200. The audio circuit 260 can transmit the signal converted from the received audio data to the speaker 261, which is converted into a sound signal for output; on the other hand, the microphone 262 converts the collected sound signal into a signal, which is received by the audio circuit 260 and converted into audio data, and then outputs the audio data to the RF circuit 208 to be sent to, for example, another mobile phone, or outputs the audio data to the memory 220 for further processing.

[0114] The I / O subsystem 270 is used to control external devices for input and output, and may include other device input controllers 271, sensor controllers 272, and display controllers 273. Optionally, one or more other input control device controllers 271 receive signals from other input devices 230 and / or send signals to other input devices 230. Other input devices 230 may include physical buttons (press buttons, rocker buttons, etc.), dials, slide switches, joysticks, click wheels, and optical mice (optical mice are touch-sensitive surfaces that do not display visual output, or are extensions of touch-sensitive surfaces formed by touch screens). It is worth noting that other input control device controllers 271 may be connected to any one or more of the above devices. The display controller 273 in the I / O subsystem 270 receives signals from the display screen 240 and / or sends signals to the display screen 240. After the display screen 240 detects user input, the display controller 273 converts the detected user input into interaction with the user interface object displayed on the display screen 240, that is, realizes human-computer interaction. The sensor controller 272 may receive signals from and / or send signals to one or more sensors 250 .

[0115] The processor 280 is the control center of the mobile phone 200. It uses various interfaces and lines to connect various parts of the entire mobile phone. By running or executing software programs and / or modules stored in the memory 220, and calling data stored in the memory 220, it executes various functions of the mobile phone 200 and processes data, thereby monitoring the mobile phone as a whole. Optionally, the processor 280 may include one or more processing units; preferably, the processor 280 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 280.

[0116] The mobile phone 200 also includes a power source 290 (such as a battery) for supplying power to various components. Preferably, the power source can be logically connected to the processor 280 through a power management system, so that the power management system can manage functions such as charging, discharging, and power consumption.

[0117] Although not shown, the mobile phone 200 may also include a camera, a Bluetooth module, etc., which will not be described in detail here. Figure 5 The steps performed by the positioning device in the positioning method shown are not described here in detail. Figure 4 and related content.

[0118] It should be understood that the above-mentioned modules or devices and their integration are only exemplary descriptions and are not limited to this application.

[0119] The embodiment of the present application also provides a computer program product, which, when executed on a computer or processor, enables the computer or processor to perform one or more steps in any of the above methods. If the components of the above-mentioned devices are implemented in the form of software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0120] In the above embodiments, the description of each embodiment has different emphases. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0121] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0122] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0123] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0124] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method, characterized in that: Applied to a single-antenna positioning device, the method comprises: The positioning device receives a positioning start message, where the positioning start message is used to trigger the positioning device to locate the device to be positioned; The positioning device records the displacement parameters and position information generated by the positioning device during movement, wherein the displacement parameters include the displacement direction and the displacement distance; The positioning device receives a wireless signal sent by the device to be positioned during the movement; The positioning device calculates the sum of the Euclidean distances of any two non-repeating position combinations according to the position information, and selects the position information corresponding to the maximum value from the calculated sum of the Euclidean distances; The positioning device obtains the relative position relationship between the positioning device and the device to be positioned according to the recorded displacement parameters, the position information corresponding to the maximum value of the sum of the Euclidean distances, and the wireless signal sent by the device to be positioned.

2. The method according to claim 1, characterized in that After the positioning device receives the positioning start message, the method further includes: The positioning device sends a positioning request message to the device to be positioned, where the positioning request message is used to trigger the device to be positioned to send a wireless signal.

3. The method according to claim 1 or 2, characterized in that The positioning device receives a wireless signal sent by the device to be positioned during movement, including: When the positioning device moves to the first position, the first wireless signal sent by the device to be positioned is received; When the positioning device moves to a second position, the second wireless signal sent by the device to be positioned is received, wherein the first position and the second position are any two adjacent positions of the positioning device during the movement; The positioning device obtains the relative position relationship between the positioning device and the device to be positioned according to the recorded displacement parameters and the wireless signal sent by the device to be positioned, including: The positioning device calculates the arrival angle of the device to be positioned according to the recorded displacement parameter, the first wireless signal and the second wireless signal; The positioning device obtains the relative position relationship between the positioning device and the device to be positioned according to the calculated multiple arrival angles.

4. The method according to claim 1 or 2, characterized in that: The positioning device receives a wireless signal sent by the device to be positioned during movement, including: When the positioning device moves to the first position, the first wireless signal sent by the device to be positioned is received; When the positioning device moves to a second position, a second wireless signal sent by the device to be positioned is received, wherein the first position and the second position are any two positions of the positioning device during the movement; The positioning device obtains the relative position relationship between the positioning device and the device to be positioned according to the recorded displacement parameters and the wireless signal sent by the device to be positioned, including: The positioning device calculates the arrival angle of the device to be positioned according to the recorded displacement parameter, the first wireless signal and the second wireless signal; The positioning device obtains the relative position relationship between the positioning device and the device to be positioned according to the calculated multiple arrival angles.

5. The method according to claim 3, characterized in that The relative position relationship includes the relative distance between the positioning device and the device to be positioned and the relative orientation between the positioning device and the device to be positioned. After obtaining the relative position relationship between the positioning device and the device to be positioned, the method further includes: The relative distance is compared with a preset threshold, and if the relative distance exceeds the preset threshold: The positioning device continues to move toward the device to be positioned according to the relative orientation, and records the displacement parameters generated by the positioning device during the movement; When the positioning device moves to a third position, the third wireless signal sent by the device to be positioned is received; The positioning device updates the relative position relationship between the positioning device and the device to be positioned according to the recorded displacement parameters and the third wireless signal.

6. The method according to claim 5, characterized in that The updating of the relative position relationship between the positioning device and the device to be positioned includes: updating the relative distance between the positioning device and the device to be positioned to be less than the preset threshold.

7. A positioning device, characterized in that: The positioning device is a single-antenna positioning device, comprising: A receiving unit, configured to receive a positioning start message, wherein the positioning start message is used to trigger the positioning device to locate the device to be positioned; A recording unit, used to record displacement parameters and position information generated by the positioning device during movement, wherein the displacement parameters include displacement direction and displacement distance; The receiving unit is further configured to receive a wireless signal sent by the device to be located during movement; A calculation unit, configured to calculate the sum of the Euclidean distances of any two non-repeating position combinations according to the position information, and select the position information corresponding to the maximum value from the calculated sum of the Euclidean distances; The processing unit obtains the relative position relationship between the positioning device and the device to be positioned according to the displacement parameter, the position information corresponding to the maximum value of the sum of the Euclidean distances, and the wireless signal sent by the device to be positioned.

8. The positioning device according to claim 7, characterized in that The positioning device also includes a sending unit, The sending unit is used to send a positioning request message to the device to be located, where the positioning request message is used to trigger the device to be located to send a wireless signal.

9. The positioning device according to claim 7 or 8, characterized in that: The receiving unit is specifically used for: When the positioning device moves to a first position, receiving a first wireless signal sent by the device to be positioned; When the positioning device moves to a second position, receiving a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two adjacent positions of the positioning device during the movement; The processing unit is specifically used for: Calculating the arrival angle of the device to be located according to the recorded displacement parameter, the first wireless signal and the second wireless signal; According to the calculated multiple arrival angles, the relative position relationship between the positioning device and the device to be positioned is obtained.

10. The positioning device according to claim 7 or 8, characterized in that: The receiving unit is specifically used for: When the positioning device moves to a first position, receiving a first wireless signal sent by the device to be positioned; When the positioning device moves to a second position, receiving a second wireless signal sent by the device to be positioned, wherein the first position and the second position are any two positions of the positioning device during the movement; The processing unit is specifically used for: Calculating the arrival angle of the device to be located according to the recorded displacement parameter, the first wireless signal and the second wireless signal; According to the calculated multiple arrival angles, the relative position relationship between the positioning device and the device to be positioned is obtained.

11. The positioning device according to claim 9, characterized in that The relative position relationship includes the relative distance between the positioning device and the device to be positioned and the relative orientation between the positioning device and the device to be positioned. The processing unit is further used to compare the relative distance with a preset threshold; The recording unit is further used to record the displacement parameters generated in the process of the positioning device continuing to move toward the device to be positioned according to the relative orientation when the relative distance exceeds the threshold; The receiving unit is further configured to receive a third wireless signal sent by the device to be located; The processing unit is further used to update the relative position relationship between the positioning device and the device to be positioned according to the recorded displacement parameters and the third wireless signal.

12. The positioning device according to claim 11, characterized in that The processing unit is specifically used for: The relative distance between the positioning device and the device to be positioned is updated to be less than the preset threshold.

13. A computing device, characterized in that: The computing device comprises a memory and a processor, and the processor executes computer instructions stored in the memory, so that the computing device performs the method according to any one of claims 1 to 6.

14. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the function of the method according to any one of claims 1 to 6 is realized.

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