Positioning method, positioning device, electronic device and readable storage medium

Abstract

The present application discloses a positioning method, a positioning device, an electronic device, and a readable storage medium. The positioning method is used for a first electronic device and includes: when the first positioning information is not obtained, searching for an ultra-wideband signal source through an ultra-wideband antenna, where the ultra-wideband signal source includes at least one second electronic device; establishing a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology; obtaining the second positioning information of the second electronic device through the network connection; when the second positioning information is obtained, obtaining the relative position information between the second electronic device and the first electronic device through the ultra-wideband antenna; and determining the current positioning information of the first electronic device according to the second positioning information and the relative position information.

Description

Technical Field

[0001] This application belongs to the field of positioning technology, and particularly relates to a positioning method, a positioning device, an electronic device, and a readable storage medium. Background Art

[0002] In the related art, the positioning function of an electronic device depends on the signals of the Global Positioning System (GPS) and base stations. If the signals are poor, the positioning cannot be successfully completed, resulting in the electronic device being unable to obtain location information and some functions being unavailable. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a positioning method, a positioning device, an electronic device, and a readable storage medium, which can solve the problem that the positioning of an electronic device in the prior art depends on GPS signals and base station signals.

[0004] In a first aspect, the embodiments of this application provide a positioning method for a first electronic device, including:

[0005] When the first positioning information is not obtained, search for an ultra-wideband signal source through an ultra-wideband antenna, where the first positioning information is Global Positioning System positioning information, and the ultra-wideband signal source includes at least one second electronic device;

[0006] Establish a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology;

[0007] Obtain the second positioning information of the second electronic device through the network connection;

[0008] When the second positioning information is obtained, obtain the relative position information between the second electronic device and the first electronic device through the ultra-wideband antenna;

[0009] Determine the current positioning information of the first electronic device according to the second positioning information and the relative position information.

[0010] In a second aspect, the embodiments of this application provide a positioning device for a first electronic device, including:

[0011] A search module, configured to search for an ultra-wideband signal source through an ultra-wideband antenna when the first positioning information is not obtained, where the first positioning information is Global Positioning System positioning information, and the ultra-wideband signal source includes at least one second electronic device;

[0012] A connection module, which establishes a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology;

[0013] An acquisition module, configured to acquire second positioning information of a second electronic device through a network connection;

[0014] A determination module, configured to:

[0015] When the second positioning information is acquired, acquire relative position information between the second electronic device and the first electronic device through an ultra-wideband antenna;

[0016] Determine the current positioning information of the first electronic device according to the second positioning information and the relative position information.

[0017] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory. The memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, the steps of the method in the first aspect are implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method in the first aspect are implemented.

[0019] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is configured to run a program or instruction to implement the steps of the method in the first aspect.

[0020] In a sixth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the method in the first aspect.

[0021] In the embodiment of the present application, by "cascading" electronic devices within a certain range, when these electronic devices cannot be positioned through GPS signals or base station signals, they can determine their own current positioning information through the positioning information of other successfully positioned electronic devices. Therefore, as long as there is one successfully positioned electronic device, the electronic device broadcasts its own positioning information, and all nearby electronic devices can achieve their own positioning through the positioning information broadcast by the successfully positioned electronic device. Therefore, the problem that a single electronic device cannot be successfully positioned when the GPS signal or base station signal is poor is effectively solved, and the dependence of the electronic device on the GPS signal and the base station signal during positioning is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Shows a flowchart of a positioning method according to an embodiment of the present application;

[0023] Figure 2 Shows one of the schematic diagrams of the principle of determining a positioning method according to an embodiment of the present application;

[0024] Figure 3 Shows the second schematic diagram of the positioning method according to an embodiment of the present application;

[0025] Figure 4 Shows the schematic diagram of TOF ranging according to an embodiment of the present application;

[0026] Figure 5 Shows the logic diagram of the positioning method according to an embodiment of the present application;

[0027] Figure 6 Shows the structural block diagram of the positioning device according to an embodiment of the present application;

[0028] Figure 7 Shows the structural block diagram of the electronic device according to an embodiment of the present application;

[0029] Figure 8 Is a schematic diagram of the hardware structure of an electronic device for implementing an embodiment of the present application. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0031] The terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally represents an "or" relationship between the associated objects before and after.

[0032] Next, the positioning method, positioning device, electronic device, and readable storage medium provided by the embodiments of the present application will be described in detail in conjunction with the accompanying drawings through specific embodiments and their application scenarios.

[0033] In some embodiments of the present application, a positioning method is provided for a first electronic device, Figure 1 Shows the flowchart of the positioning method according to an embodiment of the present application, as Figure 1 shown, the method includes:

[0034] Step 102, in case the first positioning information is not obtained, search for an ultra-wideband signal source through an ultra-wideband antenna;

[0035] In step 102, the first positioning information is global positioning system positioning information, and the ultra-wideband signal source includes at least one second electronic device;

[0036] Step 104, establish a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology;

[0037] Step 106, obtain the second positioning information of the second electronic device through the network connection;

[0038] Step 108, in case the second positioning information is obtained, obtain the relative position information between the second electronic device and the first electronic device through the ultra-wideband antenna;

[0039] Step 110, determine the current positioning information of the first electronic device according to the second positioning information and the relative position information.

[0040] In the embodiments of the present application, both the first electronic device and the second electronic device can be a mobile phone, a tablet computer, a personal digital assistant, a laptop computer, etc. The first positioning information specifically includes the positioning signal obtained by an electronic device such as a mobile phone through a GPS signal or a base station signal, and this positioning signal can globally reflect the position information of the current electronic device.

[0041] In the related art, if an electronic device such as a mobile phone cannot obtain a GPS signal and a base station signal, or the GPS signal and the base station signal are weak, positioning cannot be achieved, resulting in the unavailability of the positioning function. In this case, in the embodiments of the present application, when an electronic device such as a mobile phone cannot be positioned through a GPS signal and a base station signal, the second positioning information broadcast by other electronic devices is scanned.

[0042] Specifically, the second electronic device can be an electronic device that has obtained a position signal, that is, an electronic device that has completed positioning. After completing positioning, the second electronic device will continuously broadcast its own position signal. In some embodiments, the electronic device that has completed positioning can broadcast the position signal through ultra-wideband (UWB) technology.

[0043] The electronic device that scans this position signal will establish a point-to-point (P2P) network with the electronic device that broadcasts the position signal, and through this P2P network, the second positioning information of the second electronic device and the position information of the second electronic device will be sent to the first electronic device that is performing positioning.

[0044] After receiving the second positioning information sent by the second electronic device, the first electronic device calculates its own position in combination with the position information of the second electronic device, so as to obtain its own current positioning information.

[0045] Specifically, for example, when an electronic device performs positioning through GPS signals or base station signals, the obtained position information is generally longitude and latitude information. Longitude and latitude information is also a type of coordinate information. By converting the longitude and latitude information into coordinate information, coordinates in the same coordinate system, such as the geodetic coordinate system, can be obtained, and the coordinate format can be coordinates such as (x, y).

[0046] When an electronic device cannot achieve positioning through GPS signals or base station signals, it establishes a P2P connection with other successfully positioned electronic devices through UWB technology, so that these electronic devices are "connected in series" through UWB. Therefore, as long as one of the electronic devices "connected in series" through UWB is successfully positioned, all other "connected in series" electronic devices can achieve positioning through this successfully positioned electronic device.

[0047] In the embodiments of the present application, by "connecting in series" electronic devices within a certain range, when these electronic devices cannot be positioned through GPS signals or base station signals, they can determine their own current positioning information through the positioning information of other successfully positioned electronic devices. Therefore, as long as there is one successfully positioned electronic device, this electronic device broadcasts its own positioning information, and all nearby electronic devices can achieve their own positioning through the positioning information broadcast by the successfully positioned electronic device. Thus, the problem that a single electronic device cannot be successfully positioned when GPS signals or base station signals are poor is effectively solved, and the dependence of electronic devices on GPS signals and base station signals during positioning is reduced.

[0048] In some embodiments of the present application, the relative position information includes:

[0049] The distance information between the second electronic device and the first electronic device, the altitude difference between the second electronic device and the first electronic device, and the angular information of the second electronic device relative to the first electronic device;

[0050] Determining the current positioning information of the first electronic device according to the second positioning information and the relative position information includes:

[0051] Determining the first coordinate information according to the second positioning information, where the first coordinate information is the coordinate information of the second electronic device in the preset coordinate system;

[0052] Determining the second coordinate information according to the first coordinate information, the distance information, the altitude difference, and the angular information, where the second coordinate information is the coordinate information of the first electronic device in the preset coordinate system;

[0053] Determine the current positioning information according to the second coordinate information.

[0054] In the embodiment of the present application, after receiving the second positioning information sent by the second electronic device, the first electronic device combines the position information of the second electronic device to calculate its own position, so as to obtain its own current positioning information.

[0055] Among them, the position information of the second electronic device specifically includes the distance information between the second electronic device and the first electronic device. This distance information is specifically the straight-line distance information, that is, the length of the straight-line segment with the first electronic device and the second electronic device as endpoints.

[0056] The position information of the second electronic device also includes the altitude difference and angle information between the second electronic device and the first electronic device. It can be understood that when an electronic device obtains positioning information, it generally obtains longitude and latitude information and does not require altitude information. And since the distance information between the first electronic device and the second electronic device is measured as a straight-line distance, this distance actually includes the distance difference caused by altitude changes.

[0057] According to the straight-line distance, altitude difference and angle information between the first electronic device and the second electronic device, the distance between the first electronic device and the second electronic device on the horizontal plane can be calculated through trigonometric functions. Thus, accurately based on this distance difference and the coordinate information of the second electronic device, the coordinate information of the first electronic device can be calculated, and then the longitude and latitude of the first electronic device can be calculated to achieve accurate positioning of the first electronic device.

[0058] Figure 2 Shows one of the schematic diagrams of the positioning method according to the embodiment of the present application, as Figure 2 shown, P1 is the position of the first electronic device, P2 is the position of the second electronic device, L is the straight-line distance between the first electronic device and the second electronic device, H1 is the altitude of the first electronic device, H2 is the altitude of the second electronic device. The electronic device can obtain the altitude through its own altitude sensor or through the network. L’ is the distance between the first electronic device and the second electronic device on the horizontal plane.

[0059] According to Figure 2 , the calculation formula for L’ can be obtained:

[0060] ;

[0061] Wherein, L’ is the distance between the first electronic device and the second electronic device on the horizontal plane, L is the straight-line distance between the first electronic device and the second electronic device, H1 is the altitude of the first electronic device, and H2 is the altitude of the second electronic device.

[0062] Figure 3 Fig. 2 shows the second schematic diagram of the method for determining the positioning according to the embodiment of the present application. As Figure 3 shown, the coordinates of the first electronic device P1 are (x1, y1), and the coordinates of the second electronic device are (x, y). Since the second electronic device has completed its own positioning, (x, y) is known. At the same time, the electronic device measures the signal arrival angle through a 360-degree array antenna, that is, the angle α between the first electronic device and the second electronic device, and calculates its own coordinates (x1, y1). The calculation formula is as follows:

[0063] x = x1 + L’×cosα;

[0064] y = y1 + L’×sinα;

[0065] Wherein, (x1, y1) are the coordinates of the first electronic device, (x, y) are the coordinates of the second electronic device, and α is the angle information of the second electronic device relative to the first electronic device.

[0066] In this process, the first electronic device no longer depends on GPS signals and base station signals, nor does it need to add UWB base station equipment. It can achieve positioning only by relying on the signal connection between electronic devices, which greatly solves the positioning requirements when the signal of a single device is poor.

[0067] In some embodiments of the present application, the relative position information between the second electronic device and the first electronic device is obtained through an ultra-wideband antenna, including:

[0068] Transmit a first signal to the second electronic device through the ultra-wideband antenna;

[0069] Receive the second signal replied by the electronic device. The second signal includes a first duration, and the first duration is the interval duration between the second electronic device receiving the first signal and sending out the second signal;

[0070] Determine the distance information according to the first duration and the second duration, where the second duration is the interval duration between the first electronic device sending out the first signal and receiving the second signal.

[0071] In the embodiment of the present application, the position information of the second electronic device specifically includes the distance information between the second electronic device and the first electronic device. The distance information is specifically the straight-line distance information, that is, the length of the straight-line segment with the first electronic device and the second electronic device as endpoints.

[0072] When measuring and determining the distance information between the first electronic device and the second electronic device, the measurement can be performed by the Time of Flight (TOF) ranging method.

[0073] Specifically, the TOF ranging method belongs to the two-way ranging technology, which mainly measures the distance between nodes by using the flight time of signals between two asynchronous transceivers. Because in the line-of-sight environment, based on the TOF ranging method, it is linearly related to the distance, so the result will be more accurate.

[0074] In some embodiments, the time length of the data packet of the first signal sent by the sending end, that is, the first electronic device, and the time to receive the response of the second signal is denoted as the second time length T TOT . The time interval between the receiving end, that is, the second electronic device, receiving the data packet of the first signal and sending the response of the second signal is denoted as the first time length T TAT .

[0075] It can be understood that Figure 4 shows the schematic diagram of TOF ranging according to the embodiments of the present application. As Figure 4 shown, the difference between the second time length T TOT and the first time length T TAT is the time length that the signal passes between the first electronic device and the second electronic device.

[0076] Therefore, according to the product of this time difference and the electromagnetic wave propagation speed, the distance L between the two points can be calculated. The formula is as follows:

[0077] L = C × (T TOT - T TAT ) ÷ 2;

[0078] where L is the distance information, C is the electromagnetic wave propagation speed, T TOT is the second time length, and T TAT is the first time length.

[0079] Through the TOF ranging method, the straight-line distance between the first electronic device and the second electronic device can be accurately calculated, so as to accurately obtain the current positioning information of the first electronic device, and realize accurate positioning under weak GPS signals or no GPS signals.

[0080] In some embodiments of the present application, both the first positioning information and the second positioning information include a timestamp and valid duration information;

[0081] Before searching for the ultra-wideband signal source, the method further includes:

[0082] When the first positioning information is obtained, determine the current positioning information according to the first positioning information;

[0083] After determining the current positioning information of the first electronic device, the method further includes:

[0084] Determine the remaining duration information according to the timestamp and the current time information;

[0085] When the remaining duration information is less than the effective duration information, broadcast the current positioning information.

[0086] In the embodiments of the present application, since the person holding the electronic device may move, the position of the electronic device may move. Therefore, when the electronic device broadcasts its own positioning information, an effective duration information and a timestamp information will be added to the positioning information. The timestamp information is the time point when the second electronic device broadcasts the positioning information, and the effective duration information represents the validity period of the position information after it is broadcast. In some embodiments, the effective duration information can be set to 5 seconds.

[0087] When the first electronic device obtains the second positioning information broadcast by the second electronic device, first determine the remaining duration information according to the timestamp carried in the second positioning information and the current time information. The remaining duration information is also the duration elapsed after the second positioning information is sent.

[0088] Compare the remaining duration information with the effective duration information. If the target duration is less than the effective duration, it means that the currently received second positioning information is valid. At this time, it is also highly credible for the first electronic device to determine its own current positioning information according to the second positioning information. At this time, the first electronic device can broadcast its own current positioning information to other terminals that need positioning.

[0089] If the target duration is greater than or equal to the effective duration, it means that the second positioning information has expired. At this time, the credibility of the current positioning information determined according to the second positioning information is reduced. Therefore, the first electronic device will not broadcast its own current positioning information, thus ensuring the accuracy of positioning.

[0090] Figure 5 Shows a logic diagram of the positioning method according to the embodiments of the present application. As Figure 5 shown, when the electronic device starts positioning, it obtains the position information through the GPS signal or the broadcast of other electronic devices. When the electronic device starts, it marks itself as type 1, and at this time, it obtains the positioning information. Once the positioning information is obtained, it is marked as type 2. When the remaining duration of the obtained positioning information is greater than 0, that is, the target duration is less than the effective duration, it broadcasts its own position information. Once the remaining effective duration is 0 or less than 0, it is marked as type 1 again, and at this time, it no longer broadcasts the position information.

[0091] In some embodiments of the present application, determining the current location information of the first electronic device according to the second location information and the relative location information includes:

[0092] When the number of the second location information is multiple, determining the target location information among the multiple second location information, where the target location information is the location information with the smallest confidence value among the multiple second location information;

[0093] Determining the current location information according to the target location information and the relative location information corresponding to the target location information.

[0094] In the embodiments of the present application, a confidence value is set for the location information of the electronic device. When the confidence value is 0, its confidence value is the smallest, and for each increase of 1 in the confidence value, its confidence relatively decreases.

[0095] Set the confidence value of the location information obtained through the GPS signal or the base station signal to 0. If the self-location information is obtained through the location information broadcast by other electronic devices, then set the confidence value of the calculated self-location information to the confidence value of the obtained location information plus 1.

[0096] For example, if the electronic device A obtains its own location information A through the GPS signal, then the confidence value of the location information A is 0. The electronic device A broadcasts the location information A, and the electronic device B calculates its own location information B according to the location information A, then set the confidence value of the location information B to 1, and so on.

[0097] If when the electronic device searches for the location information broadcast by multiple second electronic devices, then according to the confidence values of the multiple second location information searched, select a target location information with the smallest confidence value among them, and perform self-location through the target location information.

[0098] The present application assigns a confidence value to the broadcast location information, so that the electronic device for location can select appropriate location information according to the confidence value, which can effectively improve the location accuracy.

[0099] In some embodiments of the present application, determining the current location information according to the target location information and the relative location information corresponding to the target location information includes:

[0100] When the number of the target location information is multiple, obtaining multiple third electronic devices corresponding to the multiple target location information, and the second electronic device includes the third electronic device;

[0101] According to the distance information, determining the target electronic device with the closest distance to the first electronic device among the multiple third electronic devices;

[0102] Determine the current location information based on the target location information broadcast by the target electronic device and the location information of the third electronic device.

[0103] In the embodiments of the present application, when the electronic device searches for the location information broadcast by multiple second electronic devices, it selects a target location information with the smallest confidence value from the multiple second location information obtained, and locates itself based on the target location information.

[0104] If there are multiple target location information with the same confidence value and all are greater than the confidence values of other second location information, such as there are multiple location information with a confidence value of 1 at the same time, it is further necessary to determine the distance between the electronic devices that broadcast these location information and the electronic device currently seeking location, and select a broadcast location information that is the closest to the current electronic device and has the highest confidence value among them, and use the location information broadcast by the third device as the target location information finally used for self-location.

[0105] The present application selects a location information with the smallest confidence value and the closest distance as the target location information, and locates itself based on the target location information, which can effectively improve the location accuracy.

[0106] In some embodiments of the present application, a location device is provided for the first electronic device. Figure 6 The structural block diagram of the location device according to the embodiments of the present application is shown, as Figure 6 shown, the location device 600 includes:

[0107] A search module 602, configured to search for an ultra-wideband signal source through an ultra-wideband antenna when the first location information is not obtained, where the first location information is global positioning system location information, and the ultra-wideband signal source includes at least one second electronic device;

[0108] A connection module 604, establishing a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology;

[0109] An acquisition module 606, configured to acquire the second location information of the second electronic device through the network connection;

[0110] A determination module 608, configured to:

[0111] When the second location information is obtained, acquire the relative location information between the second electronic device and the first electronic device through the ultra-wideband antenna;

[0112] Determine the current positioning information of the first electronic device according to the second positioning information and the relative position information.

[0113] In the embodiments of the present application, by "cascading" electronic devices within a certain range, when these electronic devices cannot be positioned through GPS signals or base station signals, they can determine their own current positioning information through the positioning information of other successfully positioned electronic devices. Therefore, as long as there is one successfully positioned electronic device, the device broadcasts its own positioning information, and all nearby electronic devices can achieve their own positioning through the positioning information broadcast by the successfully positioned electronic device. Thus, the problem that a single electronic device cannot be successfully positioned when the GPS signal or base station signal is poor is effectively solved, and the dependence of electronic devices on GPS signals and base station signals during positioning is reduced.

[0114] In some embodiments of the present application, the position information of the second electronic device includes:

[0115] The distance information between the second electronic device and the first electronic device, the altitude difference between the second electronic device and the first electronic device, and the angle information of the second electronic device relative to the first electronic device;

[0116] The determining module is further configured to:

[0117] Determine the first coordinate information according to the second positioning information, where the first coordinate information is the coordinate information of the second electronic device in a preset coordinate system;

[0118] Determine the second coordinate information according to the first coordinate information, the distance information, the altitude difference, and the angle information, where the second coordinate information is the coordinate information of the first electronic device in a preset coordinate system;

[0119] Determine the current positioning information according to the second coordinate information.

[0120] In the embodiments of the present application, according to the straight-line distance, altitude difference, and angle information between the first electronic device and the second electronic device, the distance between the first electronic device and the second electronic device on the horizontal plane can be calculated through trigonometric functions. Thus, accurately based on this distance difference and the coordinate information of the second electronic device, the coordinate information of the first electronic device can be calculated, and then the longitude and latitude of the first electronic device can be calculated to achieve accurate positioning of the first electronic device.

[0121] In this process, the first electronic device no longer depends on GPS signals and base station signals, and there is no need to add UWB base station equipment. It can achieve positioning only by signal cascading between electronic devices, greatly meeting the positioning requirements when the signal of a single device is poor.

[0122] In some embodiments of the present application, the positioning device further includes:

[0123] A transmitting module, configured to transmit a first signal to a second electronic device via an ultra-wideband antenna;

[0124] A receiving module, configured to receive a second signal replied by the electronic device, where the second signal includes a first duration, and the first duration is the interval duration between the second electronic device receiving the first signal and sending the second signal;

[0125] A determining module, further configured to determine distance information according to the first duration and a second duration, where the second duration is the interval duration between the first electronic device sending the first signal and receiving the second signal.

[0126] In an embodiment of the present application, the straight-line distance between the first electronic device and the second electronic device can be accurately calculated by the TOF ranging method, so as to accurately obtain the current positioning information of the first electronic device, realizing precise positioning under weak GPS signals or no GPS signals.

[0127] In some embodiments of the present application, both the first positioning information and the second positioning information include a timestamp and valid duration information;

[0128] The determining module is further configured to:

[0129] When the first positioning information is obtained, determine the current positioning information according to the first positioning information;

[0130] Determine remaining duration information according to the timestamp and the current time information;

[0131] The positioning device further includes:

[0132] A broadcasting module, configured to broadcast the current positioning information when the remaining duration information is less than the valid duration information.

[0133] In an embodiment of the present application, the remaining duration information is compared with the valid duration information. If the target duration is less than the valid duration, it indicates that the currently received second positioning information is valid. At this time, it is also highly credible for the first electronic device to determine its own current positioning information according to the second positioning information. At this time, the first electronic device can broadcast its own current positioning information to other terminals that need positioning.

[0134] If the target duration is greater than or equal to the valid duration, it indicates that the second positioning information has expired. At this time, the credibility of the current positioning information determined according to the second positioning information is reduced. Therefore, the first electronic device will not broadcast its own current positioning information, thereby ensuring the accuracy of positioning.

[0135] In some embodiments of the present application, the determining module is further configured to:

[0136] When the number of second positioning information is multiple, among the multiple second positioning information, determine the target positioning information, where the target positioning information is the positioning information with the smallest confidence value among the multiple second positioning information;

[0137] Determine the current positioning information according to the target positioning information and the position information of the second electronic device corresponding to the target positioning information.

[0138] In the embodiments of the present application, by assigning a confidence value to the broadcast positioning information, so that the electronic device performing positioning selects appropriate positioning information according to the confidence value, the positioning accuracy can be effectively improved.

[0139] In some embodiments of the present application, the positioning device further includes:

[0140] An acquisition module, configured to acquire multiple third electronic devices corresponding to multiple target positioning information when the number of target positioning information is multiple, and the second electronic device includes the third electronic device;

[0141] The determination module is further configured to:

[0142] According to the distance information, determine the target electronic device with the closest distance to the first electronic device among the multiple third electronic devices;

[0143] Determine the current positioning information according to the target positioning information broadcast by the target electronic device and the position information of the third electronic device.

[0144] In the embodiments of the present application, by selecting the positioning information with the closest distance and the smallest confidence value as the target positioning information and performing self-positioning according to the target positioning information, the positioning accuracy can be effectively improved.

[0145] The positioning device in the embodiments of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than terminals. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, a vehicle-mounted electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. It can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0146] The positioning device in the embodiments of the present application can be a device with an operating system. The operating system can be the Android operating system, the iOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0147] The positioning device provided by the embodiments of the present application can implement each process implemented by the above method embodiments. To avoid repetition, it will not be elaborated here.

[0148] Optionally, the embodiments of the present application further provide an electronic device. Figure 7 The block diagram of the electronic device according to the embodiments of the present application is shown. As Figure 7 shown, the electronic device 700 includes a processor 702, a memory 704, a program or instruction stored on the memory 704 and executable on the processor 702. When the program or instruction is executed by the processor 702, it implements each process of the above method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0149] It should be noted that the electronic device in the embodiments of the present application includes the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0150] Figure 8 The schematic diagram of the hardware structure of an electronic device for implementing the embodiments of the present application.

[0151] The electronic device 800 includes, but is not limited to, components such as a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810.

[0152] Those skilled in the art can understand that the electronic device 800 may further include a power source (such as a battery) for supplying power to each component. The power source can be logically connected to the processor 810 through a power management system, so as to manage functions such as charging, discharging, and power consumption management through the power management system. Figure 8 The structure of the electronic device shown does not limit the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0153] Among them, the processor 810 is used to search for an ultra-wideband signal source through an ultra-wideband antenna when the first positioning information is not obtained. The first positioning information is global positioning system positioning information, and the ultra-wideband signal source includes at least one second electronic device;

[0154] Establish a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology;

[0155] Obtain the second positioning information of the second electronic device through the network connection;

[0156] When the second positioning information is obtained, obtain the relative position information between the second electronic device and the first electronic device through the ultra-wideband antenna;

[0157] Determine the current positioning information of the first electronic device according to the second positioning information and the relative position information.

[0158] In the embodiments of the present application, by "connecting in series" electronic devices within a certain range, these electronic devices can determine their own current positioning information through the positioning information of other successfully positioned electronic devices when they cannot be positioned by GPS signals or base station signals. Therefore, as long as there is one successfully positioned electronic device, the electronic device broadcasts its own positioning information, and all nearby electronic devices can achieve their own positioning through the positioning information broadcast by the successfully positioned electronic device. Therefore, the problem that a single electronic device cannot be successfully positioned when the GPS signal or base station signal is poor is effectively solved, and the dependence of the electronic device on the GPS signal and the base station signal during positioning is reduced.

[0159] Optionally, the relative position information includes:

[0160] The distance information between the second electronic device and the first electronic device, the altitude difference between the second electronic device and the first electronic device, and the angle information of the second electronic device relative to the first electronic device;

[0161] The processor 810 is further configured to determine first coordinate information according to the second positioning information, where the first coordinate information is the coordinate information of the second electronic device in a preset coordinate system;

[0162] Determine second coordinate information according to the first coordinate information, the distance information, the altitude difference, and the angle information, where the second coordinate information is the coordinate information of the first electronic device in a preset coordinate system;

[0163] Determine the current positioning information according to the second coordinate information.

[0164] In the embodiment of the present application, according to the straight-line distance, altitude difference, and angle information between the first electronic device and the second electronic device, the distance between the first electronic device and the second electronic device on the horizontal plane can be calculated through trigonometric functions, so that the coordinate information of the first electronic device can be accurately calculated according to the distance difference and the coordinate information of the second electronic device, and thus the longitude and latitude of the first electronic device can be calculated to achieve accurate positioning of the first electronic device.

[0165] In this process, the first electronic device no longer depends on GPS signals and base station signals, and there is no need to add UWB base station equipment. It can achieve positioning only by relying on the signal connection between electronic devices, which largely solves the positioning requirements when the signal of a single device is poor.

[0166] Optionally, the processor 810 is further configured to transmit a first signal to the second electronic device;

[0167] Receive a second signal replied by the electronic device, where the second signal includes a first duration, and the first duration is the interval duration between the second electronic device receiving the first signal and sending the second signal;

[0168] Determine the distance information according to the first duration and a second duration, where the second duration is the interval duration between the first electronic device sending the first signal and receiving the second signal.

[0169] In the embodiment of the present application, the straight-line distance between the first electronic device and the second electronic device can be accurately calculated by the TOF ranging method, so as to accurately obtain the current positioning information of the first electronic device and achieve precise positioning under weak GPS signals or no GPS signals.

[0170] Optionally, both the first positioning information and the second positioning information include a timestamp and valid duration information;

[0171] The processor 810 is further configured to determine the current location information according to the first location information when the first location information is obtained;

[0172] After determining the location information of the first electronic device, the method further includes:

[0173] Determine the remaining duration information according to the timestamp and the current time information;

[0174] Broadcast the current location information when the remaining duration information is less than the effective duration information.

[0175] In the embodiment of the present application, comparing the remaining duration information with the effective duration information, if the target duration is less than the effective duration, it indicates that the currently received second location information is valid. At this time, it is also highly credible for the first electronic device to determine its own current location information according to the second location information. At this time, the first electronic device can broadcast its own current location information to other terminals that need location.

[0176] If the target duration is greater than or equal to the effective duration, it indicates that the second location information has expired. At this time, the credibility of the current location information determined according to the second location information is reduced. Therefore, the first electronic device will not broadcast its own current location information, thereby ensuring the accuracy of the location.

[0177] Optionally, the processor 810 is further configured to determine the target location information among multiple second location information when the number of second location information is multiple, where the target location information is the location information with the smallest confidence value among the multiple second location information;

[0178] Determine the current location information according to the target location information and the relative location information corresponding to the target location information.

[0179] In the embodiment of the present application, by assigning a confidence value to the broadcast location information, the electronic device performing the location can select the appropriate location information according to the confidence value, which can effectively improve the location accuracy.

[0180] Optionally, the processor 810 is further configured to obtain multiple third electronic devices corresponding to multiple target location information when the number of target location information is multiple, and the second electronic device includes the third electronic device;

[0181] Determine the target electronic device with the closest distance to the first electronic device among the multiple third electronic devices according to the distance information;

[0182] Determine the current location information according to the target location information broadcast by the target electronic device and the location information of the third electronic device.

[0183] In the embodiment of the present application, by selecting the positioning information with the closest distance and the smallest confidence value as the target positioning information, and aligning itself according to the target positioning information, the positioning accuracy can be effectively improved.

[0184] It should be understood that in the embodiment of the present application, the input unit 804 may include a Graphics Processing Unit (GPU) 8041 and a microphone 8042. The graphics processor 8041 processes the image data of static pictures or videos obtained by an image capturing device (such as a camera) in a video capture mode or an image capture mode. The display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 807 includes at least one of a touch panel 8071 and other input devices 8072. The touch panel 8071 is also called a touch screen. The touch panel 8071 may include two parts: a touch detection device and a touch controller. The other input devices 8072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be elaborated here.

[0185] The memory 809 can be used to store software programs and various data. The memory 809 mainly includes a first storage area for storing programs or instructions and a second storage area for storing data. Among them, the first storage area can store an operating system, application programs or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 809 can include a volatile memory or a non-volatile memory, or the memory 809 can include both a volatile memory and a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchlink dynamic random access memory (SLDRAM), and a direct rambus random access memory (DRRAM). The memory 809 in the embodiments of the present application includes, but is not limited to, these and any other suitable types of memories.

[0186] The processor 810 can include one or more processing units; optionally, the processor 810 integrates an application processor and a modem processor. Among them, the application processor mainly processes operations related to the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor may not be integrated into the processor 810.

[0187] The embodiments of the present application also provide a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, it implements each process of the above method embodiment and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0188] Among them, the processor is the processor in the electronic device in the above-mentioned embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs, etc.

[0189] Another embodiment of the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0190] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip, etc.

[0191] The embodiments of the present application provide a computer program product. The program product is stored in a storage medium and is executed by at least one processor to implement each process of the above method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0192] It should be noted that in this article, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described method may be executed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0193] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present application.

[0194] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

Claims

1. A positioning method for a first electronic device, characterized in that, The first electronic device includes an ultra-wideband antenna, and the method includes: When the first positioning information is not obtained, search for an ultra-wideband signal source through the ultra-wideband antenna, where the ultra-wideband signal source includes at least one second electronic device; the second electronic device is an electronic device that has completed positioning, and after completing positioning, the second electronic device will continuously broadcast its own position signal; the first electronic device is an electronic device that has not completed positioning; Establish a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology; Obtain the second positioning information of the second electronic device through the network connection; When the second positioning information is obtained, obtain the relative position information between the second electronic device and the first electronic device through the ultra-wideband antenna; Determine the current positioning information of the first electronic device according to the second positioning information and the relative position information; Both the first positioning information and the second positioning information include a timestamp and valid duration information; Before searching for the ultra-wideband signal source, the method further includes: When the first positioning information is obtained, determine the current positioning information according to the first positioning information; After determining the current positioning information of the first electronic device, the method further includes: Determine the remaining duration information according to the timestamp and the current time information; mark the first electronic device as the second electronic device; When the remaining duration information is greater than 0, broadcast the current positioning information; When the remaining duration information is less than or equal to 0, do not broadcast the current positioning information, and mark the second electronic device as the first electronic device; The relative position information includes: The distance information between the second electronic device and the first electronic device, the altitude difference between the second electronic device and the first electronic device, and the angle information of the second electronic device relative to the first electronic device; The step of determining the current positioning information of the first electronic device according to the second positioning information and the relative position information includes: Determine the first coordinate information according to the second positioning information, where the first coordinate information is the coordinate information of the second electronic device in a preset coordinate system; Determine the second coordinate information according to the first coordinate information, the distance information, the altitude difference, and the angle information, where the second coordinate information is the coordinate information of the first electronic device in the preset coordinate system; Determine the current positioning information according to the second coordinate information; When the number of the second positioning information is multiple, determine the target positioning information among the multiple second positioning information, where the target positioning information is the positioning information with the smallest confidence value among the multiple second positioning information; Determine the current positioning information according to the target positioning information and the relative position information corresponding to the target positioning information; Among them, the confidence value of the positioning information obtained through the GPS signal or the base station signal is set to 0. When obtaining its own positioning information through the positioning information broadcast by other electronic devices, the confidence value of the calculated own positioning information is the confidence value of the obtained positioning information plus 1.

2. The positioning method according to claim 1, wherein The obtaining of the relative position information between the second electronic device and the first electronic device through the ultra-wideband antenna includes: Transmitting a first signal to the second electronic device through the ultra-wideband antenna; Receiving a second signal replied by the second electronic device, where the second signal includes a first duration, and the first duration is the interval duration between the second electronic device receiving the first signal and sending out the second signal; Determining the distance information according to the first duration and a second duration, where the second duration is the interval duration between the first electronic device sending out the first signal and receiving the second signal.

3. The positioning method according to claim 1 or 2, characterized in that, The determining of the current positioning information according to the target positioning information and the relative position information corresponding to the target positioning information includes: When the number of the target positioning information is multiple, obtaining multiple third electronic devices corresponding to the multiple target positioning information, and the second electronic device includes the third electronic device; Determining, according to the distance information, a target electronic device with the closest distance to the first electronic device among the multiple third electronic devices; Determining the current positioning information according to the target positioning information broadcast by the target electronic device and the position information of the third electronic device.

4. A positioning device for a first electronic device, characterized in that, The first electronic device includes an ultra-wideband antenna, and the positioning device includes: A search module, configured to search for an ultra-wideband signal source through the ultra-wideband antenna when the first positioning information is not obtained, where the first positioning information is global positioning system positioning information, and the ultra-wideband signal source includes at least one second electronic device; the second electronic device is an electronic device that has completed positioning, and after completing positioning, the second electronic device will continuously broadcast its own position signal; the first electronic device is an electronic device that has not completed positioning; A connection module, establishing a network connection with the second electronic device through the ultra-wideband signal source, where the network connection is a network connection based on ultra-wideband technology; An obtaining module, configured to obtain the second positioning information of the second electronic device through the network connection; A determining module, configured to: When the second positioning information is obtained, obtaining the relative position information between the second electronic device and the first electronic device through the ultra-wideband antenna; Determining the current positioning information of the first electronic device according to the second positioning information and the relative position information; Both the first positioning information and the second positioning information include a timestamp and valid duration information; The determining module is further configured to: When the first positioning information is obtained, determining the current positioning information according to the first positioning information; Determine the remaining duration information according to the timestamp and the current time information; mark the first electronic device as the second electronic device; The positioning device further includes: A broadcast module, configured to broadcast the current positioning information when the remaining duration information is greater than 0; When the remaining duration information is less than or equal to 0, do not broadcast the current positioning information, and mark the second electronic device as the first electronic device; The position information of the second electronic device includes: The distance information between the second electronic device and the first electronic device, the altitude difference between the second electronic device and the first electronic device, and the angular information of the second electronic device relative to the first electronic device; The determination module is further configured to: Determine first coordinate information according to the second positioning information, where the first coordinate information is the coordinate information of the second electronic device in a preset coordinate system; Determine second coordinate information according to the first coordinate information, the distance information, the altitude difference, and the angular information, where the second coordinate information is the coordinate information of the first electronic device in the preset coordinate system; Determine the current positioning information according to the second coordinate information; The determination module is further configured to: When the number of the second positioning information is multiple, determine target positioning information among the multiple second positioning information, where the target positioning information is the positioning information with the smallest confidence value among the multiple second positioning information; Determine the current positioning information according to the target positioning information and the relative position information corresponding to the target positioning information; Wherein, the confidence value of the positioning information obtained through the GPS signal or the base station signal is set to 0, and when the self-positioning information is obtained through the positioning information broadcast by other electronic devices, the confidence value of the calculated self-positioning information is the confidence value of the obtained positioning information plus 1.

5. The positioning device according to claim 4, wherein It further includes: A transmitting module, configured to transmit a first signal to the second electronic device through the ultra-wideband antenna; A receiving module, configured to receive a second signal replied by the electronic device, where the second signal includes a first duration, and the first duration is the interval duration between the second electronic device receiving the first signal and sending the second signal; The determination module is further configured to determine the distance information according to the first duration and the second duration, where the second duration is the interval duration between the first electronic device sending the first signal and receiving the second signal.

6. The positioning device according to claim 4 or 5, characterized in that, It further includes: An obtaining module, configured to obtain multiple third electronic devices corresponding to the multiple target positioning information when the number of the target positioning information is multiple, and the second electronic device includes the third electronic device; The determination module is further configured to: Determine a target electronic device with the closest distance to the first electronic device among the multiple third electronic devices according to the distance information; Determine the current positioning information according to the target positioning information broadcast by the target electronic device and the position information of the third electronic device.

7. An electronic device, characterized in that, It includes a processor and a memory. The memory stores programs or instructions that can run on the processor. When the programs or instructions are executed by the processor, the steps of the positioning method according to any one of claims 1 to 3 are implemented.

8. A readable storage medium, characterized in that, Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the steps of the positioning method according to any one of claims 1 to 3 are implemented.

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