Initialization Method, Terminal and System for a New Base Station in a UWB System

Abstract

An initialization method, a terminal, and a system for a newly added base station under a UWB system, which relate to the field of positioning technology and can establish a unified navigation coordinate system in different regions and simplify the positioning algorithm. The method includes: when the device is in area 1, requesting the UWB base station in area 1 to measure the initial position and starting the IMU measurement; when the device moves to area 2, the device requests to measure the distance from each UWB base station in area 2 at at least three positions (or obtains the attitude data when the device points to each UWB base station in area 2 at at least two positions); when the mobile terminal returns to area 1, requesting the UWB base station in area 1 to measure the end position; the device corrects the coordinates of the device in area 2 deduced from the IMU measurement data according to the measured terminal position; based on the corrected coordinates of area 2 and the measured distance from each UWB base station in area 2 to the device (or the attitude data when the device points to each UWB base station in area 2), calculates the coordinates of each UWB base station in area 2.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular, to an initialization method, a terminal, and a system for a newly added base station under a UWB system. Background Art

[0002] With the rapid development of smart home, the spatial perception ability of smart devices has become an important development direction of smart home. After enabling the spatial perception ability of smart devices, the use experience of smart home can be greatly improved through spatial interaction between users and smart devices, and between smart devices.

[0003] In smart home, an indoor positioning system based on Ultra-Wide Band (UWB) technology (referred to as UWB system for short) is generally used to provide spatial perception ability for smart devices (such as universal remote controls, mobile phones) indoors. Among them, UWB technology is different from traditional communication technologies. It realizes wireless transmission by sending and receiving extremely narrow pulses with a nanosecond or sub-microsecond level. Due to the extremely short pulse time width, it can achieve ultra-wide bandwidth in the frequency spectrum. For example, the bandwidth used is above 500 MHz. In addition to realizing wireless communication, UWB technology can also realize positioning. Specifically, it can calculate the time of flight of the signal in the air by detecting the position of the signal pulse and combining certain positioning algorithms. The distance between the UWB base station and the UWB tag is obtained by multiplying this time by the rate of signal transmission in the air (such as the speed of light), thus realizing positioning.

[0004] It should be noted that UWB signals have poor penetrability and high requirements for line-of-sight propagation. The ranging and positioning accuracy are poor after passing through walls. Therefore, the UWB base station deployed in a certain room (such as the living room) may not be able to provide positioning services for other rooms (such as the bedroom). For this reason, a new UWB base station needs to be set up in other rooms (such as the bedroom) to establish a new UWB system for measuring the positioning of UWB tags located in other rooms. In other words, different rooms are provided with independent UWB systems, and different navigation coordinate systems are established in different rooms, and the positioning algorithm is quite complex. Summary of the Invention

[0005] An initialization method for a newly added base station under a UWB system provided by this application can establish a unified navigation coordinate system in different rooms and simplify the positioning algorithm.

[0006] To achieve the above object, the embodiments of this application provide the following technical solutions:

[0007] In a first aspect, there is provided an initialization method for a newly added base station in a UWB system, including: when a third electronic device is located at a first position in a first area, the third electronic device sends a first UWB signal to a first electronic device for measuring a first coordinate corresponding to the first position in a navigation coordinate system; when the third electronic device is located at the first position, the IMU measurement of the third electronic device is also started; the third electronic device moves from the first area to a second area; when the third electronic device is located at a second position in the second area, the third electronic device sends a second UWB signal to a second electronic device for measuring the distance between the third electronic device and the second electronic device when the third electronic device is at the second position, and the number of second positions is at least three; the third electronic device returns to the first area; when the third electronic device is located at a third position in the first area, the third electronic device sends a third UWB signal to the first electronic device for measuring a second coordinate corresponding to the third position in the navigation coordinate system; the third electronic device calculates the coordinate of the second electronic device in the navigation coordinate system based on the first coordinate, the data measured by the IMU, the second coordinate, and the distance between the third electronic device and the second electronic device when the third electronic device is at the second position.

[0008] Among them, the first electronic device is a UWB base station set in the first area for measuring the positions of devices in the first area, and the second electronic device is a UWB base station set in the second area for measuring the devices in the second area. Among them, the first electronic device determines a navigation coordinate system. And through the method provided by the embodiments of the present application, the coordinate of the second electronic device in this navigation coordinate system can be calculated. That is to say, the second electronic device uses the same navigation coordinate system as the first electronic device, realizing the establishment of a unified navigation coordinate system in the first area and the second area, which is beneficial to simplifying the positioning algorithm.

[0009] Also, since a unified navigation coordinate system is established in the first area and the second area, when the device to be measured switches between the first area and the second area, there is no need to perform multiple initial attitude alignments, simplifying the user operation and providing the user experience.

[0010] In a possible implementation, the third electronic device calculates the coordinates of the second electronic device in the navigation coordinate system based on the first coordinate, the data measured by the IMU, the second coordinate, and the distance between the third electronic device and the second electronic device when the third electronic device is at the second position. Specifically, the third electronic device calculates the third coordinate corresponding to the third position according to the first coordinate and the data measured by the IMU; calculates the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position; calculates the motion data of the third electronic device according to the deviation value and the data measured by the IMU; calculates the fourth coordinate corresponding to the second position according to the motion data of the third electronic device and the first coordinate corresponding to the first position; and calculates the coordinates of the second electronic device in the navigation coordinate system according to the fourth coordinate corresponding to the second position and the distance between the third electronic device and the second electronic device when the third electronic device is at the second position.

[0011] That is to say, the coordinates of the initial position (i.e., the first position) of the third electronic device are measured by using the UWB measurement of the first electronic device in the first area, and then the motion trajectory of the third electronic device in the second area is deduced by using the IMU measurement method. Combining the initial position and the motion trajectory deduced by the IMU measurement, the coordinates (i.e., the third coordinate) of the end position (i.e., the third position) can be deduced. Since the data measured by the IMU will accumulate over time and the error increases. Then, the coordinates of the end position (i.e., the second coordinate) are measured by using the first electronic device, and the data measured by the first electronic device is more accurate. Therefore, the deviation between the third coordinate and the second coordinate is used to correct the motion trajectory deduced in the second area, and the corrected motion trajectory can be used to improve the accuracy of the calculated coordinates of the second electronic device in the navigation coordinate system. Furthermore, it is also beneficial to improve the positioning accuracy of the second electronic device for measuring other devices.

[0012] In a possible implementation, calculating the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position is specifically: using the Kalman filter method, calculating the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position. Thus, a method for correcting the motion trajectory deduced by the IMU measurement is provided.

[0013] In a possible implementation, the method further includes: when the third electronic device enters the second area again, sending a fourth UWB signal to the second electronic device for measuring the distance between the third electronic device and the second electronic device; the third electronic device calculates the coordinates of the current position of the third electronic device in the navigation coordinate system based on the distance between the third electronic device and the second electronic device and the coordinates of the second electronic device in the navigation coordinate system. That is, according to the movement trajectory of the third electronic device in the second area (i.e., the position coordinates of the third electronic device at each moment in the second area can be calculated), and the distances between the third electronic device and the second electronic device at at least three positions, the coordinates of the second electronic device can be calculated.

[0014] In a possible implementation, the method further includes: when the third electronic device is at the third position, turning off or pausing the IMU measurement of the third electronic device. It can be seen that it is beneficial to turn off the IMU measurement in time to reduce the power consumption of the third electronic device.

[0015] In a possible implementation, the second electronic device and the first electronic device have different communication addresses.

[0016] In a possible implementation, the second electronic device and the first electronic device have different communication addresses, specifically: the second electronic device and the first electronic device have different communication time slots or pseudo-random code sequences.

[0017] That is to say, the first electronic device and the second electronic device can adopt communication technologies such as time division multiple access (TDMA) or code division multiple access (CDMA) to receive the UWB signal sent by the third electronic device. Therefore, different communication time slots or pseudo-random code sequences are uniformly allocated to the first electronic device and the second electronic device. Then, each second electronic device in the second area will receive the UWB signal sent to itself in its allocated communication time slot, or parse the UWB signal sent to itself using its respective pseudo-random code sequence.

[0018] In a possible implementation, before the third electronic device sends a first UWB signal to the first electronic device for measuring the first coordinate corresponding to the first position in the navigation coordinate system when the third electronic device is at the first position in the first area, the method further includes: the third electronic device receives a first operation of the user, and the first operation is used to indicate initializing the second electronic device; in response to receiving the first operation, the third electronic device issues a first prompt for prompting the user to carry the third electronic device into the first area. Thus, a prompting method is provided to inform the user how to operate.

[0019] In a possible implementation manner, before the third electronic device moves from the first area to the second area, the method further includes: the third electronic device sends out a second prompt for prompting the user to carry the third electronic device into the second area. Thereby, a prompting method is provided to inform the user how to operate.

[0020] In a possible implementation manner, before the third electronic device returns to the first area, the method further includes: the third electronic device sends out a third prompt for prompting the user to carry the third electronic device back to the first area. Thereby, a prompting method is provided to inform the user how to operate.

[0021] In a possible implementation manner, the navigation coordinate system is determined according to the first electronic device. Wherein, the navigation coordinate system is the navigation coordinate system of the UWB system constituted by the first electronic device.

[0022] In a possible implementation manner, the number of the first electronic devices is at least three, and each of the first electronic devices includes a UWB antenna; or, the number of the first electronic devices is one, and the first electronic device includes at least three UWB antennas.

[0023] In a possible implementation manner, the number of the second electronic devices is at least three, and each of the second electronic devices includes a UWB antenna; or, the number of the second electronic devices is one, and the second electronic device includes at least three UWB antennas.

[0024] In a second aspect, a method for initializing a new base station in a UWB system is provided, including: when the third electronic device is at the first position in the first area, the third electronic device sends a first UWB signal to the first electronic device for measuring the first coordinate corresponding to the first position in the navigation coordinate system; when the third electronic device is at the first position, the IMU measurement of the third electronic device is also started; the third electronic device moves from the first area to the second area; when the third electronic device is at the second position in the second area, the attitude information when the third electronic device points to the second electronic device is obtained, and the number of the second positions is at least two; the third electronic device returns to the first area; when the third electronic device is at the third position in the first area, the third electronic device sends a third UWB signal to the first electronic device for measuring the second coordinate corresponding to the third position in the navigation coordinate system; the third electronic device calculates the coordinate of the second electronic device in the navigation coordinate system based on the first coordinate, the data of the IMU measurement, the second coordinate, and the attitude information when the third electronic device points to the second electronic device.

[0025] Among them, the first electronic device is a UWB base station set in the first area, which is used to measure the positions of devices in the first area. The second electronic device is a UWB base station set in the second area, which is used to measure the devices in the second area. Among them, the first electronic device determines a navigation coordinate system. And through the method provided by the embodiments of the present application, the coordinates of the second electronic device in this navigation coordinate system can be calculated. That is to say, the second electronic device uses the same navigation coordinate system as the first electronic device, realizing the establishment of a unified navigation coordinate system in the first area and the second area, which is beneficial to simplifying the positioning algorithm.

[0026] Moreover, due to the establishment of a unified navigation coordinate system in the first area and the second area, when the device to be measured switches between the first area and the second area, there is no need to perform multiple initial attitude alignments, simplifying the user operation and providing the user experience.

[0027] In a possible implementation manner, the third electronic device points to the second electronic device, including: a preset axis of the carrier coordinate system of the third electronic device points to the second electronic device.

[0028] Taking the third electronic device as a mobile phone as an example. Based on the habits of most users using mobile phones, the orientation (or pointing) of the mobile phone can be defined as: parallel to the long side of the mobile phone and in the direction from the tail of the mobile phone to the top. Therefore, the orientation of the mobile phone can be called the top orientation of the mobile phone. Usually, the top of the mobile phone is the body part where hardware such as a front camera, an infrared emitter, a receiver, a light sensor, or a distance sensor is installed. The tail of the mobile phone is the body part where a microphone and a speaker are installed.

[0029] In a possible implementation manner, the third electronic device calculates the coordinates of the second electronic device in the navigation coordinate system based on the first coordinate, the data measured by the IMU, the second coordinate, and the attitude information when the third electronic device points to the second electronic device. Specifically, it includes: the third electronic device calculates the third coordinate corresponding to the third position according to the first coordinate and the data measured by the IMU; calculates the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position; calculates the motion data of the third electronic device according to the deviation value and the data measured by the IMU; calculates the fourth coordinate corresponding to the second position according to the motion data of the third electronic device and the first coordinate corresponding to the first position; calculates the coordinates of the second electronic device in the navigation coordinate system according to the fourth coordinate corresponding to the second position and the attitude information when the third electronic device points to the second electronic device.

[0030] In other words, when the third electronic device is located within the second region, based on the attitude information of the third electronic device when it points to the second electronic device and the coordinates of the third electronic device in the navigation coordinate system when pointing, the coordinates of the second electronic device can be calculated. Thus, another method for calculating the coordinates of the second electronic device is provided.

[0031] In a possible implementation, according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position, the deviation value between the motion data of the third electronic device and the data measured by the IMU is calculated. Specifically: Using the Kalman filtering method, according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position, the deviation value between the motion data of the third electronic device and the data measured by the IMU is calculated.

[0032] In a possible implementation, the method further includes: when the third electronic device enters the second region again, sending a fourth UWB signal to the second electronic device for measuring the distance between the third electronic device and the second electronic device; the third electronic device calculates the coordinates of its current position in the navigation coordinate system based on the distance between the third electronic device and the second electronic device and the coordinates of the second electronic device in the navigation coordinate system.

[0033] In a possible implementation, the method further includes: when the third electronic device is at the third position, turning off or pausing the IMU measurement of the third electronic device.

[0034] In a possible implementation, the second electronic device and the first electronic device have different communication addresses.

[0035] In a possible implementation, the second electronic device and the first electronic device have different communication addresses. Specifically: the second electronic device and the first electronic device have different communication time slots or pseudo-random code sequences.

[0036] In a possible implementation, before the third electronic device sends a first UWB signal to the first electronic device for measuring the first coordinate corresponding to the first position in the navigation coordinate system when the third electronic device is at the first position in the first region, the method further includes: the third electronic device receives a first operation from the user, and the first operation is used to indicate initializing the second electronic device; in response to receiving the first operation, the third electronic device issues a first prompt for prompting the user to carry the third electronic device into the first region.

[0037] In a possible implementation, before the third electronic device moves from the first region to the second region, the method further includes: the third electronic device issues a second prompt for prompting the user to carry the third electronic device into the second region.

[0038] In a possible implementation, before the third electronic device returns to the first area, the method further includes: the third electronic device issues a third prompt for prompting the user to carry the third electronic device back to the first area.

[0039] In a possible implementation, the navigation coordinate system is determined according to the first electronic device.

[0040] In a possible implementation, the number of the first electronic devices is at least three, and each of the first electronic devices includes a UWB antenna; or, the number of the first electronic devices is one, and the first electronic device includes at least three UWB antennas.

[0041] In a possible implementation, the number of the second electronic devices is at least three, and each of the second electronic devices includes a UWB antenna; or, the number of the second electronic devices is one, and the second electronic device includes at least three UWB antennas.

[0042] In a third aspect, a third electronic device is provided, including: a processor, a memory, a UWB module, and an IMU module. The memory, the UWB module, and the IMU module are coupled to the processor. The memory is used for storing computer program code, and the computer program code includes computer instructions. When the processor reads the computer instructions from the memory, the third electronic device is enabled to execute the methods in the first aspect and any possible implementation manner in the first aspect, and execute the methods in the second aspect and any possible implementation manner in the second aspect.

[0043] In a fourth aspect, a device is provided. The device is included in the third electronic device and has a function of implementing the behavior of the third electronic device in any of the methods in the above aspects and possible implementation manners. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes at least one module or unit corresponding to the above function. For example, a communication module or unit, a measurement module or unit, and a calculation module or unit, etc.

[0044] In a fifth aspect, a computer-readable storage medium is provided, including computer instructions. When the computer instructions run on the third electronic device, the third electronic device is enabled to execute the methods in the first aspect and any possible implementation manner in the first aspect, and execute the methods in the second aspect and any possible implementation manner in the second aspect.

[0045] Sixth aspect: Provide a computer program product. When the computer program product runs on a computer, it causes the computer to execute the methods in the above-mentioned first aspect and any possible implementation manner of the first aspect, and execute the methods in the above-mentioned second aspect and any possible implementation manner of the second aspect.

[0046] Seventh aspect: Provide a chip system including a processor. When the processor executes instructions, the processor executes the methods in the above-mentioned first aspect and any possible implementation manner of the first aspect, and execute the methods in the above-mentioned second aspect and any possible implementation manner of the second aspect.

[0047] Eighth aspect: Provide a system including at least one first electronic device, at least one second electronic device, and at least one third electronic device. The at least one first electronic device is arranged in a first area, the at least one second electronic device is arranged in a second area, and the third electronic device executes the methods in the above-mentioned first aspect and any possible implementation manner of the first aspect, and execute the methods in the above-mentioned second aspect and any possible implementation manner of the second aspect.

[0048] In a possible implementation manner, the number of the first electronic devices is at least three, and each of the first electronic devices includes a UWB antenna; or, the number of the first electronic devices is one, and the first electronic device includes at least three UWB antennas.

[0049] In a possible implementation manner, the number of the second electronic devices is at least three, and each of the second electronic devices includes a UWB antenna; or, the number of the second electronic devices is one, and the second electronic device includes at least three UWB antennas.

[0050] It can be understood that for the beneficial effects that can be achieved by the third electronic device described in the above-mentioned third aspect, the device described in the fourth aspect, the computer storage medium described in the fifth aspect, the computer program product described in the sixth aspect, the chip system described in the seventh aspect, and the system described in the eighth aspect, reference can be made to the beneficial effects in the first aspect or the second aspect and any possible design manner thereof, which will not be elaborated here. Description of the Drawings

[0051] Figure 1 It is a schematic diagram of the system architecture of an application scenario provided by an embodiment of the present application;

[0052] Figure 2 It is a schematic diagram of the structure of a first electronic device provided by an embodiment of the present application;

[0053] Figure 3 It is a schematic diagram of the structure of a third electronic device provided by an embodiment of the present application;

[0054] Figure 4A Flowchart of a method for initializing a new base station in a UWB system provided by an embodiment of the present application;

[0055] Figure 4B Schematic diagrams of the interfaces of some third electronic devices provided by an embodiment of the present application;

[0056] Figure 4C Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0057] Figure 4D Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0058] Figure 4E Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0059] Figure 4F Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0060] Figure 4G Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0061] Figure 4H Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0062] Figure 4I Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0063] Figure 4J Schematic diagrams of the interfaces of some other third electronic devices provided by an embodiment of the present application;

[0064] Figure 5A Schematic diagram of the movement trajectory of a third electronic device in different regions provided by an embodiment of the present application;

[0065] Figure 5B Schematic diagram of the movement trajectory of another third electronic device in different regions provided by an embodiment of the present application;

[0066] Figure 6 Schematic diagrams of three coordinate systems provided by an embodiment of the present application;

[0067] Figure 7 Schematic diagram of the process of Kalman filtering provided by an embodiment of the present application;

[0068] Figure 8 Comparison chart of the results of a simulation experiment provided by an embodiment of the present application. Detailed implementation manners

[0069] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. "And / or" in this document is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0070] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0071] When solving the UWB positioning problem in different rooms, the following two solutions can be adopted, but each of these solutions has different problems, as follows:

[0072] Solution 1: First, set up one or more UWB base stations in Room 1 and establish a navigation coordinate system, which can measure the positioning of UWB tags located in Room 1. Then, arrange one or more UWB base stations in Room 2. The coordinates of the UWB base stations in Room 2 in the navigation coordinate system can be measured using the UWB base stations in Room 1. Subsequently, the positioning of the UWB tags located in Room 2 is measured using the UWB base stations in Room 2.

[0073] When measuring the position of the base station in Room 2 using the base station in Room 1, since there is a wall barrier between Room 1 and Room 2, the intensity of the UWB signal propagating in Room 1 and Room 2 will be weakened, and the spatial propagation delay of the UWB signal after passing through the wall will also increase, seriously affecting the positioning accuracy of the base station in Room 2.

[0074] Solution 2: First, set up one or more UWB base stations in Room 1 and establish Navigation Coordinate System 1, which can measure the positioning of UWB tags located in Room 1. Then, arrange one or more UWB base stations in Room 2 and establish Navigation Coordinate System 2 for measuring the positioning of UWB tags located in Room 2. In other words, each room is equipped with an independent UWB system, and different navigation coordinate systems are established in different rooms.

[0075] Then, for a UWB tag moving in different rooms, the UWB tag needs to store information about the navigation coordinate systems of different rooms (such as the coordinates of UWB base stations under different navigation coordinate systems). When positioning the UWB tag, the UWB tag also needs to determine, according to the specific situation of the received UWB signal, which UWB base station under which navigation coordinate system sends the UWB signal. Then, it calculates using the coordinates of the corresponding UWB base station and outputs the coordinates of the UWB tag under this navigation coordinate system. It can be seen that the positioning algorithm is quite complex. In addition, when the UWB tag switches to another navigation coordinate system each time, it is necessary to recalibrate the initial attitude of the UWB tag, resulting in a poor user experience.

[0076] For this reason, the embodiment of the present application provides an initialization method for adding a new base station in a UWB system, which can establish a unified navigation coordinate system in different rooms, reduce the storage burden of the UWB tag, simplify the algorithm when the UWB tag is positioned in different rooms, and is also conducive to ensuring the positioning accuracy of the UWB tag in different rooms. Moreover, users do not need to calibrate the initial attitude of the UWB tag multiple times, improving the user experience.

[0077] The following will combine the accompanying drawings to elaborate on the technical solutions provided by the embodiments of the present application in detail.

[0078] As Figure 1 shown, it is a schematic diagram of the architecture of an application scenario provided by the embodiment of the present application. Among them, one or more first electronic devices 100 with UWB signal transceiver devices are arranged in area 1 (such as room 1), and the first electronic devices 100 have established a navigation coordinate system (abbreviated as U system). The one or more first electronic devices 100 can be used to measure the position of the UWB tag located in area 1 under the U system. In some examples, the above UWB signal transceiver device can be a multi-antenna architecture (such as a three-antenna architecture, a four-antenna architecture, etc.), that is, it includes at least multiple antennas for sending and receiving UWB signals. Then, one first electronic device 100 can be arranged in area 1 to realize the positioning of the UWB tag located in area 1. In other examples, the above UWB signal transceiver device can be a single-antenna architecture, that is, it includes one antenna for sending and receiving UWB signals. Then, according to the principle of triangulation, at least three first electronic devices 100 with a single-antenna architecture need to be arranged in area 1 to realize the positioning of the UWB tag located in area 1. In still other examples, both first electronic devices 100 with a single-antenna architecture and first electronic devices 100 with a multi-antenna architecture can be arranged in area 1. In short, the antenna architecture of the first electronic device 100 in the embodiment of the present application and the number of first electronic devices 100 arranged in area 1 are not limited.

[0079] Among them, Area 2 (such as Room 2) is a newly added positioning area. Similarly, one or more second electronic devices 200 with UWB signal transceiver devices can be set in Area 2 (such as Room 2). The one or more second electronic devices 200 will be used to measure the positions of UWB tags located within Area 2. Similar to the first electronic device 100 in Area 1, the UWB signal transceiver device of the second electronic device 200 can be a multi-antenna architecture or a single-antenna architecture. When the second electronic device 200 is a multi-antenna architecture, the number of the second electronic devices 200 can be one. When the second electronic device 200 is a single-antenna architecture, the number of the second electronic devices 200 is at least three. For related content, reference can be made to the description of the first electronic device 100 above, that is, the antenna architecture of the second electronic device 200 in the embodiments of the present application and the number of the second electronic devices 200 set in Area 2 are not limited. In addition, the structure of the second electronic device 200 can be the same as or different from that of the first electronic device 100, which is not limited in the embodiments of the present application either.

[0080] In the embodiments of the present application, Figure 1 The system architecture of the application scenario shown further includes a third electronic device 300, which can move between Area 1 and Area 2. The third electronic device 300 can include an inertial measurement unit (IMU) for measuring the movement trajectory of the third electronic device 300 itself.

[0081] When initializing the second electronic device 200 in area 2, the first electronic device 100 can be used to measure the starting position of the third electronic device 300 in area 1. Then, the third electronic device 300 can be moved from area 1 to area 2 and then back to area 1. During the entire movement of the third electronic device 300, an IMU is used to measure the movement trajectory of the third electronic device 300, and the distance between the third electronic device 300 and the second electronic device 200 in area 2 is measured. When the third electronic device 300 returns to area 2, the first electronic device 100 is used again to measure the ending position of the third electronic device 300 in area 1. It should be noted that the movement trajectory of the third electronic device 300 measured by the IMU has a certain actual time accumulation error, and the positioning error is relatively large after continuous operation. The continuous positioning accuracy of the third electronic device 300 measured by the first electronic device 100 is higher. Therefore, subsequently, the first electronic device 100 can be used to measure the ending position of the third electronic device 300 when it returns to area 1. Then, the ending position measured by the first electronic device 100 is used to correct the offset of the movement trajectory of the third electronic device 300 measured by the IMU. Using the corrected movement trajectory and the measured distance between the third electronic device 300 and the second electronic device 200 in area 2, the position of the second electronic device 200 in area 2, that is, the coordinates of the second electronic device 200 in the navigation coordinate system, is calculated. After the coordinates of the second electronic device 200 are calculated, the second electronic device 200 can be used to measure the positions of other devices in area 2. It should be noted that throughout the process, the same navigation coordinate system is used, that is, the effect of unifying the coordinate systems of area 2 and area 1 is achieved. The specific implementation scheme will be described in detail below.

[0082] Exemplarily, the above-mentioned first electronic device 100 can specifically be a UWB base station, smart speaker, smart TV, air purifier, humidifier, smart lamp (such as ceiling lamp, table lamp, aromatherapy lamp, etc.), desktop computer, router, smart socket, water dispenser, refrigerator, smart switch, smart door lock, Customer Premise Equipment (CPE), tablet computer, mobile phone, etc. The present application does not limit the specific form of the first electronic device 100.

[0083] Please refer to Figure 2 , which shows a schematic structural diagram of the first electronic device 100.

[0084] As Figure 2 shown, the first electronic device 100 may include a processor 110, a memory 120, a universal serial bus (USB) interface 130, a power module 140, a UWB module 150, a wireless communication module 160, etc.

[0085] It can be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on the first electronic device 100. In other embodiments of the present application, the first electronic device 100 may include more or fewer components than those illustrated, or combine certain components, or split certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware. In addition, the interface connection relationships between the modules illustrated in the embodiments of the present invention are only illustrative and do not constitute a structural limitation on the first electronic device 100. In other embodiments of the present application, the first electronic device 100 may also adopt Figure 2 different interface connection methods, or a combination of multiple interface connection methods.

[0086] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor, a modem processor, a controller, a baseband processor, etc. Among them, different processing units may be independent devices or integrated in one or more processors. For example, the processor 210 is a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or may be one or more integrated circuits configured to implement the embodiments of the present application. For example: one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0087] The controller can generate operation control signals according to the instruction operation code and timing signals to complete the control of fetching and executing instructions.

[0088] A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. This memory can save the instructions or data that the processor 110 has just used or reused. If the processor 110 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0089] The memory 120 can be used to store computer-executable program codes, and the executable program codes include instructions. For example, the memory 120 can also store the data processed by the processor 110, such as the calculated position, attitude, etc. of the UWB tag 200. In addition, the memory 120 can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 110 executes various functional applications and data processing of the first electronic device 100 by running the instructions stored in the memory 120, and / or the instructions stored in the memory provided in the processor.

[0090] In some embodiments, the processor 110 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface 130, etc.

[0091] Among them, the USB interface 130 is an interface that conforms to the USB standard specification, and specifically can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the first electronic device 100, and can also be used for data transmission between the first electronic device 100 and peripheral devices.

[0092] The power module 140 is used to supply power to each component of the first electronic device 100, such as the processor 210, the memory 220, etc.

[0093] The wireless communication function of the first electronic device 100 can be implemented by the UWB module 150, the wireless communication module 160, the modulation and demodulation processor, and the baseband processor, etc.

[0094] Among them, the modulation and demodulation processor may include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. Subsequently, the demodulator transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is transmitted to the application processor. In some embodiments, the modulation and demodulation processor may be an independent device. In other embodiments, the modulation and demodulation processor may be independent of the processor 110 and be disposed in the same device as the UWB module 150 or other functional modules.

[0095] The UWB module 150, that is, the UWB signal transceiver device, can provide a solution for wireless communication based on UWB technology applied to the first electronic device 100. Among them, the UWB technology is different from traditional communication technologies. It realizes wireless transmission by sending and receiving extremely narrow pulses with a nanosecond or sub-microsecond level. Due to the extremely short pulse time width, it can achieve ultra-wideband in the frequency spectrum. For example, the bandwidth used is above 500 MHz. In addition to realizing wireless communication, the UWB technology can also realize positioning. Specifically, it can calculate the time for the signal to fly in the air by detecting the position of the signal pulse and combining certain positioning algorithms. The time multiplied by the rate of the signal transmitted in the air (such as the speed of light) is the distance between the UWB tag 200 and the first electronic device 100. And in this application, the first electronic device 100 can also determine the direction of the UWB tag 200 relative to the first electronic device 100 according to the phase difference of the UWB signal received by different antennas of the UWB tag 200. Thus, the goal of the positioning function can be achieved, and the accuracy can reach centimeter-level precise positioning.

[0096] The UWB module 150 may be one or more devices integrating at least one communication processing module. The UWB module 150 receives electromagnetic waves via an antenna, performs frequency modulation and filtering processing on the electromagnetic wave signal, and transmits the processed signal to the processor 110. The UWB module 150 can also receive the signal to be transmitted from the processor 110, perform frequency modulation on it, amplify it, and convert it into electromagnetic waves through the antenna and radiate it out. Among them, the UWB module 150 may include one or more antennas for transmitting UWB signals, or the UWB module 150 is connected to one or more antennas for transmitting UWB signals.

[0097] Optionally, the first electronic device 100 may further include a wireless communication module 160 to provide wireless communication solutions applied to the first electronic device 100, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), etc. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via an antenna, performs frequency modulation and filtering processing on the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 may also receive signals to be sent from the processor 110, perform frequency modulation and amplification on them, and convert them into electromagnetic wave radiation via the antenna and radiate them out.

[0098] Among them, the specific form / structure of the second electronic device 200 may refer to the description of the specific form / structure of the first electronic device 100 above, which will not be elaborated here. Additionally, the specific form / structure of the second electronic device 200 may be the same as or different from that of the first electronic device 100.

[0099] Exemplarily, the above-mentioned third electronic device 300 may specifically be a UWB tag, mobile phone, remote control, wearable electronic device (such as smart watch, smart bracelet, VR glasses, etc.), tablet computer, personal digital assistant (PDA), handle, air mouse, floor cleaning robot, etc. The present application does not limit the specific form of the third electronic device 300 either.

[0100] Please refer to Figure 3 , which shows a schematic structural diagram of the third electronic device 300.

[0101] As Figure 3 shown, the third electronic device 300 may include a processor 310, a memory 320, a universal serial bus (USB) interface 330, a power module 340, a UWB module 350, a wireless communication module 360, and an IMU module 370, etc.

[0102] It can be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on the third electronic device 300. In some other embodiments of the present application, the third electronic device 300 may include more or fewer components than those illustrated, or combine certain components, or split certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware. Additionally, the interface connection relationships between the modules illustrated in the embodiments of the present invention are only illustrative and do not constitute a structural limitation on the third electronic device 300. In some other embodiments of the present application, the third electronic device 300 may also adopt Figure 3 different interface connection methods, or a combination of multiple interface connection methods.

[0103] The processor 310 may include one or more processing units. For example, the processor 310 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0104] The controller can generate operation control signals according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0105] A memory may also be provided in the processor 310 for storing instructions and data. In some embodiments, the memory in the processor 310 is a cache memory. This memory can save the instructions or data that the processor 310 has just used or recycled. If the processor 310 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 310, and thus improves the efficiency of the system.

[0106] The memory 320 can be used to store computer-executable program codes, and the executable program codes include instructions. The memory 320 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.). The data storage area can store data created during the use of the electronic device 100 (such as audio data, a phone book, etc.). In addition, the memory 320 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, a universal flash storage (UFS), etc. The processor 110 executes various functional applications and data processing of the electronic device 100 by running the instructions stored in the memory 320, and / or the instructions stored in the memory provided in the processor.

[0107] The USB interface 330 is an interface that conforms to the USB standard specification. Specifically, it can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 330 can be used to connect a charger to charge the electronic device 100, and can also be used to transfer data between the electronic device 100 and a peripheral device. It can also be used to connect a headset to play audio through the headset. This interface can also be used to connect other electronic devices, such as an AR device, etc.

[0108] It can be understood that the interface connection relationship between the modules illustrated in the embodiments of the present invention is only for illustrative purposes and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 can also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0109] The power module 340 is used to supply power to each component of the third electronic device 300, such as the processor 310, the memory 320, etc.

[0110] The UWB module 350, that is, a UWB signal transceiver device, can provide a wireless communication solution based on UWB technology applied to the third electronic device 300. The UWB module 350 includes an antenna module, and the antenna module can include one or more antennas for transmitting and receiving UWB signals, so that the second electronic device 200 can determine the distance between the third electronic device 300 and the first electronic device 100, and the direction of the third electronic device 300 relative to the first electronic device 100.

[0111] The UWB module 350 may be one or more devices integrating at least one communication processing module. The UWB module 350 receives electromagnetic waves via an antenna, performs frequency modulation and filtering processing on the electromagnetic wave signals, and sends the processed signals to the processor 110. The UWB module 350 may also receive the signals to be sent from the processor 110, perform frequency modulation on them, amplify them, and convert them into electromagnetic waves through the antenna for radiation. Among them, the UWB module 350 may include one or more antennas for sending UWB signals, or the UWB module 350 is connected to one or more antennas for sending UWB signals.

[0112] Optionally, the third electronic device 300 may further include a wireless communication module 360 to provide solutions for wireless communications including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), etc. applied to the first electronic device 100. The wireless communication module 360 may be one or more devices integrating at least one communication processing module. The wireless communication module 360 receives electromagnetic waves via an antenna, performs frequency modulation and filtering processing on the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 360 may also receive the signals to be sent from the processor 110, perform frequency modulation on them, amplify them, and convert them into electromagnetic waves through the antenna for radiation.

[0113] The IMU module 370 is used to measure the motion data of the third electronic device 300, such as acceleration and angular velocity. Among them, the IMU module 370 may include a combined unit composed of three accelerometers and three gyroscopes, and the accelerometers and gyroscopes are installed on measurement axes perpendicular to each other. Among them, the accelerometers can detect the accelerations of the third electronic device 300 on the three axes in the body coordinate system (abbreviated as the b system), and the gyroscopes can detect the angular velocities of the b system around the three axes in the geographical coordinate system (abbreviated as the n system). Then, the attitude of the third electronic device 300 can be calculated according to the motion data of the third electronic device 300 measured by the IMU module 370. Further, according to the attitude change of the third electronic device 300 and the acceleration measured by the IMU module 370, the motion trajectory of the third electronic device 300 can be calculated. In some examples, the positions of the third electronic device 300 at some moments measured by the first electronic device 100 or the second electronic device 200 can also be combined to provide more accurate and continuous positioning and navigation for the third electronic device 300.

[0114] The embodiments of the present application can be applied to the Figure 1 communication system shown above, where the first electronic device 100 and the second electronic device 200 may have Figure 2 the structures shown, and the third electronic device 300 may have Figure 3 the structures shown. The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0115] As Figure 4A shown, it is a schematic flowchart of a method for initializing a newly added base station in a UWB system provided by an embodiment of the present application, including:

[0116] S401. The third electronic device triggers the initialization of the UWB system constituted by the first electronic device 100.

[0117] Exemplarily, one or more first electronic devices 100 are arranged in area 1, and the one or more first electronic devices 100 can constitute a positioning system for measuring the positions of UWB tags located in area 1. Among them, area 1 can be a closed or semi-closed space, such as room 1, and area 1 can also be an open space.

[0118] In one example, the first electronic device 100 has a single-antenna architecture. Then, at least three first electronic devices 100 need to be set in area 1. Below, taking the example that three first electronic devices 100 are set in area 1, the description is as follows. First, install the three first electronic devices 100 according to a preset layout rule (for example, in area 1, the first electronic device A, the first electronic device B, and the first electronic device C are set, and the connection line between the first electronic device A and the first electronic device B is parallel to the horizontal plane, and the connection line between the second electronic device A and the first electronic device B is parallel to the vertical plane), and determine the navigation coordinate system of the first electronic device 100 and the coordinates of each first electronic device 100 in this coordinate system.

[0119] In a specific implementation, a control device (such as the third electronic device 300) installed with a home application can be used to set the first electronic device 100 in area 1. Taking the control device as a mobile phone as an example, as Figure 4B shown in (1) below, it is the main interface of the home application. This main interface includes the registered and networked home devices (such as TV 1 and speaker 1). The user can add a new device by adding a control 410. The specific process of adding a new device can refer to the existing technology and will not be elaborated here. As Figure 4B shown in (2) below, the registration and networking of speaker 2 have been completed. Among them, TV 1, speaker 1, and speaker 2 are all located in the living room (area 1). Here, taking the example that TV 1, speaker 1, and speaker 2 (i.e., three first electronic devices 100) are all equipped with UWB modules, the process of establishing a UWB system composed of TV 1, speaker 1, and speaker 2 is described. As Figure 4B shown in (2) below, in response to the user selecting to turn on the identifier 411 of a device (such as speaker 2), the mobile phone enters the control interface of speaker 2 as shown in Figure 4C shown in (1) below. This control interface includes the setting controls for each function of speaker 2, such as the control 412 for establishing a UWB system. In response to the user operating the control 412, the mobile phone displays the setting interface as shown in Figure 4C shown in (2) below. This setting interface can set the communication address of speaker 2. Of course, since speaker 2 is the first device set for this UWB system (which can be used as the master device), the communication address can also be the default address.

[0120] It should be noted that multiple base stations in the UWB system can adopt communication technologies such as time division multiple access (TDMA) or code division multiple access (CDMA) to receive UWB signals sent by other devices or send UWB signals to other devices. Therefore, communication addresses need to be set for the devices joining the UWB system respectively.

[0121] After setting the communication address of the speaker 2, the mobile phone displays the interface as shown in Figure 4D (1). This interface shows that the speaker 2 has been added as a base station in the newly established UWB system. Further, the user can add other base stations in the UWB system through the add control 414 in this interface. For example, in response to the user operating the add control 414, the mobile phone can display other devices with UWB modules that have been registered and networked in the home application. The user can select one or more devices from them and add them to the UWB system, and set communication addresses for each added device. Of course, the mobile phone can also set default communication addresses for each device according to the order in which each device is added. The embodiments of the present application do not limit this. As shown in Figure 4D (2), at this time, the speaker 2, the speaker 1, and the TV 1 have been added as UWB base stations in the UWB system. Then, the UWB system can be initialized. In response to the user operating the UWB system initialization control 415, the mobile phone (including the UWB module) can send UWB signals to the three base stations to request measurement of the distance between the mobile phone and the three base stations. And, taking the position of one of the base stations as the origin, a navigation coordinate system of the UWB system is established, and according to the distance between the mobile phone and the three base stations, the coordinates of the other base stations in the navigation coordinate system of the UWB system are calculated. When the initialization of the UWB system is completed, the mobile phone can display the interface as shown in Figure 4E . The coordinates 416 of each base station in the navigation coordinate system of the UWB system can be displayed in this interface. Then, the user can trigger the first electronic device 100 to measure the position of the third electronic device 300 in the navigation coordinate system by operating the control 417 that requests the UWB system to measure the distance.

[0122] So far, the positioning system composed of the first electronic device 100 can achieve positioning of the devices in area 1.

[0123] S402. The third electronic device 300 sets the communication address of the second electronic device 200 located in area 2.

[0124] Exemplarily, when it is necessary to position the devices in area 2, one or more second electronic devices 200 can be set in area 2, and the one or more second electronic devices 200 are initialized. In one example, the second electronic device has a single-antenna architecture, so at least three second electronic devices 200 need to be set in area 2. Below, an example in which three second electronic devices 200 are set in area 2 will be used for description.

[0125] Since a unified navigation coordinate system needs to be established within Region 1 and Region 2 in this application, the second electronic device 200 located in Region 2 and the first electronic device 100 in Region 1 belong to the same positioning system. Then, in this positioning system, the first electronic device 100 and the second electronic device 200 can adopt communication technologies such as time division multiple access (TDMA) or code division multiple access (CDMA) to receive the UWB signals sent by the third electronic device 300. Therefore, different communication time slots or pseudo-random code sequences are uniformly allocated to the first electronic device 100 and the second electronic device 200. Then, each second electronic device 200 in Region 2 will receive the UWB signal sent to itself during its allocated communication time slot, or parse the UWB signal sent to itself using its respective pseudo-random code sequence.

[0126] In a specific implementation, the control device (such as the third electronic device 300) installed with the home application can still be used to set the second electronic device 200 in Region 2. Still taking the control device as a mobile phone as an example. First, the user registers and configures the network for the second electronic device 200 in Region 2 through the home application. As Figure 4F shown in (1) below, the main interface of the home application displays the devices newly added in the master bedroom (i.e., Region 2): Speaker 3, TV 2, and Speaker 4 (i.e., the second electronic device 200). Optionally, the home application can also mark the master device of the UWB system, for example, mark the master device Speaker 2 of the UWB system established in step S400, for example, mark it as the master device of UWB System 1. This application does not limit the marking method. Then, in response to the user operating the identifier 418 of Speaker 2, the mobile phone enters the control interface of Speaker 2 as shown in Figure 4F (2) below. The user can add the devices in the master bedroom as base stations in this UWB System 1 by adding the control 419. During the adding process, a communication address will be set for each newly added device. The specific adding process can refer to the method of adding a base station in step S400. As shown in the control interface in Figure 4G (1) below, Speaker 3, Speaker 4, and TV 2 have been added as base stations in UWB System 1. It can be noted that the coordinates of the newly added devices in this UWB System 1 are unknown at this time. The control interface displays the control 420 for initializing the newly added base stations. In response to the user operating this control 420, the mobile phone triggers the initialization of the newly added base stations (Speaker 3, Speaker 4, and TV 2). In one example, the mobile phone can display the interface as shown in Figure 4G (2) below to prompt the user to return to Region 1 (i.e., the living room) to start initializing the newly added base stations.

[0127] S403. At time 1, the third electronic device 300 is located in area 1, requests ranging from each first electronic device 100, and obtains the initial position of the third electronic device 300, denoted as p0. Also, the third electronic device 300 starts IMU measurement to measure the motion data of the third electronic device 300.

[0128] Please refer to Figure 5A , which shows the motion trajectory of the third electronic device 300, that is, marks the positions of the third electronic device 300 at different times.

[0129] As Figure 5A shown, at time 1, the third electronic device 300 is located in area 1. At this time, the third electronic device 300 can request ranging from each first electronic device 100 in area 1. At this time, the first electronic device 100 can receive the ranging request sent by the third electronic device 300 during the communication time slot of the first electronic device 100, or the first electronic device 100 can parse the ranging request sent by the third electronic device 300 using the pseudo-random code sequence of the first electronic device 100. The first electronic device 100 can measure the distance from the third electronic device 300 using, for example, the two-way ranging method. In some examples, the third electronic device 300 can calculate the coordinates of the third electronic device 300 in the navigation coordinate system at this time, which is the initial position, based on the measured distance between each first electronic device 100 and the third electronic device 300 and the pre-stored coordinates of each first electronic device 100.

[0130] And starting from the initial position, the third electronic device 300 starts the IMU module 370 to start measuring the motion data of the third electronic device 300 in order to calculate the motion trajectory of the third electronic device 300. In some examples, the third electronic device 300 can prompt the user to perform a preset operation, and this preset operation can make the third electronic device 300 in a preset posture and start IMU measurement. The preset posture, for example, can be that the user operates the third electronic device 300 to align a specific direction of one coordinate axis (such as the Y axis of the b system) of the third electronic device 300 with the first electronic device 100. At this time, the posture of the third electronic device 300 is the initial posture. This initial posture can be represented by posture angles (such as pitch angle, azimuth angle, and roll angle), and these posture angles can be calculated based on the posture data (angular velocity of the three axes of the carrier coordinate system) measured by the IMU module of the third electronic device 300. Among them, the process of the user performing the preset operation is also called the calibration process of the initial posture of the third electronic device 300.

[0131] Optionally, the third electronic device 300 can prompt the user to move the third electronic device 300 starting from the initial position, move from area 1 to area 2, and finally return to area 2. This application does not limit the prompting method and prompting timing of the third electronic device 300.

[0132] In a specific implementation, the control device (such as the third electronic device 300) installed with the home application can still be used to prompt the user to perform corresponding operations to cooperate with the initialization of the second electronic device 200. Still taking the control device as a mobile phone as an example. As Figure 4G shown in (2) below, the mobile phone displays a prompt message to prompt the user to carry the mobile phone back to the living room. When the user carries the mobile phone back to the living room and clicks the control 421 indicating that they have returned to the living room. In response to the user clicking the control 421, the mobile phone can display the prompt interface shown in (1) of 4H, prompting the user to point the top of the mobile phone at the speaker 2. At this time, it is time 1 and the mobile phone is at the initial position. The mobile phone measures the initial position p0 of the mobile phone under the UWB system with the first electronic device 100 at this time. And, the mobile phone simultaneously starts IMU measurement to measure the motion data of the mobile phone.

[0133] S404. At time 2, when the third electronic device 300 enters area 2 and obtains at least three positions, the third electronic device 300 measures the distance between itself and each second electronic device 200. Or, when obtaining at least two positions, the third electronic device 300 measures the attitude data when pointing at each second electronic device 200.

[0134] In a technical solution, after the third electronic device 300 enters area 2, it requests each second electronic device 200 to measure the distance at at least three positions, and obtains the distance between each second electronic device 200 and the third electronic device 300 in area 2.

[0135] In an example of this technical solution, the third electronic device 300 (i.e., the mobile phone) can display a prompt interface as shown in Figure 4H (2) below, prompting the user to hold the third electronic device 300 and enter area 2 (i.e., the master bedroom). When the user enters area 2, operate the third electronic device 300 (such as operating the control 422 indicating that they have entered the master bedroom). The third electronic device 300 requests each second electronic device 200 in area 2 to measure the distance from the third electronic device 300 in response to the user's operation. Among them, the time when the third electronic device 300 receives the user's operation on the third electronic device 300 is time 2. In another example, the third electronic device 300 can display as Figure 4HThe prompt interface shown in (3) prompts the user to enter area 2 within a preset time period (such as 1 minute, 5 minutes, etc.) after time 1. Then, after the preset time period after time 1, the third electronic device 300 may start requesting distance measurement from the second electronic device 200. In another example, after time 1, the third electronic device 300 may start requesting distance measurement from the second electronic device 200 at intervals. If the third electronic device 300 cannot receive the UWB signal sent by the second electronic device or the received UWB signal sent by the second electronic device is weak, the third electronic device 300 does not calculate the distance between the third electronic device 300 and each second electronic device 200. When the third electronic device 300 enters area 2, the third electronic device 300 may receive the UWB signal sent by the second electronic device or the received UWB signal sent by the second electronic device is strong, then the third electronic device 300 starts to calculate the distance between the third electronic device 300 and each second electronic device 200. In another example, the third electronic device 300 may also start requesting distance measurement from the second electronic device 200 after determining that the third electronic device 300 has roughly entered area 2 based on the motion data measured by the IMU. In other words, this application does not limit the timing when the third electronic device 300 starts requesting distance measurement from the second electronic device 200.

[0136] Then, in some embodiments, when it is necessary to measure the distances between the third electronic device 300 and each second electronic device 200 at at least three positions (these three positions cannot be on the same straight line as the second electronic device 200) within area 2. For example, as Figure 5A shown, at least measure the distances between the third electronic device 300 and each second electronic device 200 when the third electronic device 300 is located at position A (corresponding to time 2), position B (corresponding to time 4), and position C (corresponding to time 5). Figure 5A Only the distances between one second electronic device and the third electronic device at three positions are shown. In a specific implementation, the third electronic device 300 (i.e., the mobile phone) may automatically select three positions to request distance measurement from the second electronic device 200. The third electronic device 300 may also, according to the user's operation, select three positions specified by the user to request distance measurement from the second electronic device 200. For example, after the user operates the control shown in (2) indicating that they have entered the master bedroom, or, after a preset time period (such as 1 minute) after the interface shown in (3) is displayed on the third electronic device 300, display as Figure 4H shown in (2), or, after a preset time period (such as 1 minute) after the interface shown in (3) is displayed on the third electronic device 300, display as Figure 4H shown in (3), display as Figure 4IThe interface shown in (1) is used to prompt the user to select at least three positions in area 2 and request the second electronic device 200 to measure distances. When the third electronic device 300 receives the user's click on the distance measurement control 423, it sends a distance measurement request to the second electronic device 200 once to measure the distance between the third electronic device and the corresponding second electronic device 200 at this position.

[0137] In another technical solution, after the third electronic device 300 enters area 2, at at least two positions (such as position C and position B), the attitude information of the third electronic device 300 when pointing to each second electronic device is recorded. This attitude information can be represented by attitude angles (such as pitch angle, azimuth angle, and roll angle) and can be calculated from the angular velocity output by the IMU module of the third electronic device 300. The specific calculation method can be referred to the description below.

[0138] Among them, the third electronic device 300 pointing to a certain second electronic device 200 means aligning a specific coordinate axis in the body coordinate system of the third electronic device 300 with the second electronic device 200. Taking the third electronic device 300 being a mobile phone as an example. Based on the usage habits of most users using mobile phones, the orientation of the mobile phone (or the direction the mobile phone points) can be defined as: parallel to the long side of the mobile phone and in the direction from the tail of the mobile phone to the top. Therefore, the orientation of the mobile phone can be called the top orientation of the mobile phone. Usually, the top of the mobile phone is the body part where hardware such as a front camera, an infrared emitter, a receiver, a light sensor, or a distance sensor is installed. The tail of the mobile phone is the body part where a microphone and a speaker are installed.

[0139] Among them, when the third electronic device 300 enters area 2, the relevant interface displayed by the third electronic device 300 can refer to Figure 4H in (2) and (3) in 4H. Then, the third electronic device 300 can display an interface as shown in Figure 4I in (3), prompting the user to point to each second electronic device 200 at at least two positions in sequence. When the user clicks the OK control 425, the third electronic device calculates the attitude information of pointing to the corresponding second electronic device 200 at this position.

[0140] It should be noted that in this step, the third electronic device 300 continuously performs IMU measurements to measure the motion data of the third electronic device 300.

[0141] S405. At time 3, the third electronic device 300 returns to area 1, requests each first electronic device 100 to measure distances, and obtains the end position of the third electronic device 300, denoted as p1.

[0142] In some examples, the third electronic device 300 may turn off IMU measurement at the end position. For example, when the third electronic device 300 obtains the end position, it turns off the IMU measurement. Alternatively, the third electronic device 300 turns off the IMU measurement and prompts the user to stay at the current position for a preset period (e.g., 30 seconds). During this preset period, the third electronic device 300 sends ranging requests to each first electronic device 100 and obtains the end position.

[0143] For example, after executing step S404, the third electronic device 300 may display Figure 4I the interface shown in (2) of, prompting the user to return to the living room. When the user returns to the living room, the user may operate the control 424 indicating that they have returned to the living room. When the third electronic device 300 receives the user's operation of the control 424, it is time 3, and the third electronic device requests ranging from each first electronic device 100.

[0144] S406. The third electronic device 300 estimates the movement trajectory of the third electronic device 300 based on the initial position and the movement data of the third electronic device 300 measured by the IMU.

[0145] Here, taking the third electronic device 300 as a mobile phone as an example, the carrier coordinate system (i.e., the b system) of the third electronic device, the navigation coordinate system (i.e., the n system) of the third electronic device, and the navigation coordinate system (i.e., the U system) established by the first electronic device 100 will be described first.

[0146] Please refer to Figure 6 , the b system has the origin at the center point P of the mobile phone firmware. The Y-axis and X-axis of the b system are parallel to the plane of the mobile phone screen. The Y-axis is along the length of the mobile phone, and the X-axis is along the width of the mobile phone. The Z-axis of the b system is perpendicular to the mobile phone screen, and the direction from the back of the mobile phone screen to the front of the mobile phone screen is the positive direction of the Z-axis.

[0147] The n system also has the origin at the center point P of the mobile phone firmware. The X-axis of the n system points east (E) along the local latitude line, the Y-axis of the n system points north (N) along the local meridian line, and the Z-axis of the n system points upward along the local geographical vertical line and forms a right-handed rectangular coordinate system with the X-axis and Y-axis. Among them, the plane formed by the X-axis and Y-axis is the local horizontal plane, and the plane formed by the Y-axis and Z-axis is the local vertical plane.

[0148] The U coordinate system is a rectangular coordinate system established by the first electronic device 100. In some examples, when the number of the first electronic devices 100 is 1 (the first electronic device 100 has a multi-antenna architecture), the position O of a certain UWB antenna in the first electronic device 100 is used as the origin. In other examples, when the number of the first electronic devices 100 is three or more (the first electronic device 100 has a single-antenna architecture), the position O of the UWB antenna in one of the first electronic devices 100 is used as the origin. For subsequent simple calculations, the three-axis directions of the U coordinate system are the same as those of the n coordinate system. That is, the X-axis of the U coordinate system points east (E) along the local latitude line, the Y-axis of the U coordinate system points north (N) along the local meridian line, and the Z-axis of the U coordinate system points upward along the local geographic vertical line and forms a right-handed rectangular coordinate system with the X-axis and the Y-axis. That is to say, the difference between the U coordinate system and the n coordinate system is only the origin, and the directions of the three axes are the same.

[0149] (1) Calculate the attitude of the third electronic device 300.

[0150] After the third electronic device 300 starts the IMU module 370, the IMU module 370 collects the motion data of the third electronic device 300 at a certain frequency, including the accelerations on the three axes of the third electronic device 300 in the carrier coordinate system (abbreviated as the b coordinate system) (denoted as and ), and the angular velocities of the b coordinate system around the three axes of the geographic coordinate system (abbreviated as the n coordinate system) (denoted as and ).

[0151] In some examples, integral operations are performed on the angular velocities ( and ) collected by the IMU module 370 to obtain the angular changes of the third electronic device 300 on the three axes, that is, the attitude changes of the third electronic device 300 are obtained. According to the angular changes of the third electronic device 300 and the initial attitude of the third electronic device 300 (calculated in step S403), the attitudes of the third electronic device 300 at each moment can be obtained. In other examples, when calculating the attitude of the third electronic device 300, the accelerations collected by the IMU module 370 or the data of other sensors can also be combined for fusion calculation to obtain a more accurate attitude, which is not limited in the embodiments of the present application.

[0152] (2) Calculate the velocity of the third electronic device 300 in the U coordinate system.

[0153] Integral operations are performed on the accelerations ( and ) collected by the IMU module 370 to obtain the velocities of the third electronic device 300 on the three axes of the b coordinate system (denoted as and )。 Then, using the attitude of the third electronic device 300 at each moment calculated in (1), the velocity of the third electronic device 300 on the three axes of the b system can be converted to obtain the velocity of the third electronic device 300 on the U system (denoted as and ).

[0154] (3) Solve for the position of the third electronic device 300.

[0155] The velocity of the third electronic device 300 on the U system (denoted as and ) is integrated to obtain the position change of the third electronic device 300. Combining the initial position of the third electronic device 300, the position of the third electronic device 300 during the entire movement process from time 1 to time 3 can be estimated, that is, the movement trajectory. Among them, the end position of the third electronic device 300 is estimated, denoted as p1'.

[0156] S407. According to the end position p1 measured by the first electronic device 100 and the estimated movement trajectory of the third electronic device 300, obtain the corrected movement trajectory of the third electronic device 300.

[0157] Since the p1' calculated by the third electronic device 300 using the motion data collected by the IMU module 370 has a time cumulative error, and it is considered that the p1 measured by the UWB system (the first electronic device 100) with high positioning accuracy is accurate position information, then, the difference between p1' and p1 can be used to correct the estimated movement trajectory of the third electronic device 300 in step S406.

[0158] In a specific embodiment, it can be corrected using a Kalman filter.

[0159] As Figure 7 shown, it is a schematic diagram of data processing of each module in the third electronic device 300. Among them, the UWB module 350 is used to obtain the initial position p0 of the third electronic device 300 when departing from area 1, and the end position p1 when returning to area 1 via area 2. Among them, the UWB module 350 sends the initial position p0 to the IMU module 370, and the IMU module 370 measures its own motion data (acceleration, angular velocity) from the initial position to the end position, and estimates the end position p1' in combination with the initial position p0 sent by the UWB module 350. The IMU module 370 inputs both the end position p1' and the UWB module 350 inputs the end position p1 into the Kalman filter module (for example, it can be located in the processor 310 in the third electronic device 300), and outputs the deviation of the estimated optimal motion data. Then, the IMU module 370 can be based on the deviation of the motion data (for example, the bias error ε of the gyroscope b, and the bias error of the accelerometer ), correct the motion data measured by the IMU module 370, and obtain a corrected motion trajectory based on the corrected motion data.

[0160] The filtering process of the Kalman filter module is described in detail below.

[0161] Among them, the Kalman filter is an algorithm that uses a linear system state model to optimally estimate the system state through the system input and output observation data. Since the observation data includes the influence of noise and interference in the system, the optimal estimate can also be regarded as a filtering process. Data filtering is a data processing technology for removing noise and restoring real data.

[0162] Among them, the linear system state model describes the state of the system changing over time, and is represented by formula (1):

[0163] x m = Φ m|m-1 x m-1 + w m-1 Formula (1)

[0164] Among them, x m represents the state quantity at the mth epoch, Φ (m|m-1) represents the state transition matrix, and w (m-1) represents the process noise vector. In order to correct the estimated value of the state quantity, it is necessary to observe the state quantity or other variables associated with the state quantity. If the observed quantity is not the state quantity itself, it is also necessary to calculate and convert the observed quantity of the variable into the observed quantity of the state quantity. In order to achieve the above goals, a measurement equation needs to be established. The measurement equation of the system characterizes the relationship between the state quantity and the observed quantity of the system, and is shown in formula (2):

[0165] y m = H m x m + v m Formula (2)

[0166] Among them, y m represents the observed quantity of the system, H m represents the observation matrix, and v m represents the measurement noise vector.

[0167] In the embodiments of the present application, the state quantity of the Kalman filter can be set as shown in formula (3):

[0168]

[0169] Among them, δv U and δp UThe attitude error, velocity error, and position error under the U system of the third electronic device 300, respectively, ε b is the angular velocity bias error output by the gyroscope in the third electronic device 300, and

[0170] is the acceleration bias error output by the accelerometer in the third electronic device 300. And, the differential relationship between each state quantity in formula (3) can be expressed by formula (4):

[0171]

[0172] Among them, is the transformation matrix between the b system and the U system; is the acceleration output by the accelerometer in the IMU module ([[]] and ) after being transformed to the U system.

[0173] Rewrite the differential equation of formula (4) into matrix form to obtain formula (5):

[0174]

[0175] Then the differential equation is obtained, as shown in formula (6):

[0176]

[0177] Furthermore, the linear system state model equation is obtained, as shown in formula (7):

[0178] x m =[F 15×15 ·Δt + I]·x m-1 + w m-1 Formula (7)

[0179] Among them, Δt is the time interval from the (m - 1)th moment to the mth moment, and w m-1 is the noise vector for calculating the motion trajectory based on the output data of the IMU module 370.

[0180] In the embodiment of the present application, the measurement equation is formula (8), as follows:

[0181] y m = p1' - p1 Formula (8)

[0182] According to formula (8), combined with the Kalman filter algorithm, the bias error ε b of the gyroscope, and the bias error of the accelerometer

[0183] can be calculated and transmitted. After that, according to the bias error ε b, and the bias error of the accelerometer Calibrate the angular velocity and acceleration of the outputs of the gyroscope and the accelerometer, and use the calibrated angular velocity and acceleration to calculate the motion trajectory of the third electronic device 300 from time 1 to time 3 again.

[0184] For example, as Figure 5A shown, according to the calibrated angular velocity and acceleration, recalculate the coordinates of the third electronic device 300 at positions A, B, and C, denoted as point A (x A , y A , z A ), point B (x B , y B , z B ), and point C (x C , y C , z C ).

[0185] S408. The third electronic device 300 calculates the coordinates of each second electronic device 200 in the navigation coordinate system according to the calibrated motion trajectory of the third electronic device 300 and the measured distance between the third electronic device 300 and each second electronic device 200. Alternatively, the third electronic device 300 calculates the coordinates of each second electronic device 200 in the navigation coordinate system according to the calibrated motion trajectory of the third electronic device 300 and the attitude information when the third electronic device 300 points to each second electronic device 200.

[0186] In one technical solution, in step S404, the distances between the third electronic device 300 and the second electronic device 200 at points A, B, and C have been measured. Then, combined with the position information of points A, B, and C obtained in step S407, the position information of each second electronic device 200 can be calculated.

[0187] Here, one of the second electronic devices 200 is taken as an example for illustration. The distances measured by a certain second electronic device 200 between this second electronic device and the third electronic device 300 are r A , r B , r C . The position of this second electronic device 200 is an unknown, denoted as (x, y, z), and formula (9) can be obtained as follows:

[0188]

[0189] Solving formula (9) can obtain the position (x, y, z) of the second electronic device 200. In some other embodiments, in addition to obtaining the coordinates of points A, B, and C, the coordinates of more positions and the distances corresponding to each position can also be obtained, more equations can be established, and the position of the second electronic device 200 can be obtained more accurately by using Newton iteration and the least squares method.

[0190] The solution methods for the positions of other second electronic devices 200 are the same and will not be elaborated here. As Figure 4J shown, after the third electronic device 300 calculates the coordinates of each second electronic device 200 in the navigation coordinate system of the UWB system, it can display Figure 4J the interface shown. At this time, the initialization process of the newly added base station has been completed.

[0191] After that, when the third electronic device 300 is located in area 2, it can request the second electronic device 200 to measure the distance, and then calculate its own current position based on the measured distance and the positions of each second electronic device 200. That is, the positioning and navigation of the third electronic device 300 located in area 2 by using the second electronic device 200 are realized.

[0192] In another technical solution, in step S404, when the attitude information of the third electronic device 300 pointing to the second electronic device 200 has been measured when the third electronic device 300 is at points B and C respectively. Then, combined with the position information of points B and C obtained in step S407, the position information of each second electronic device 200 can be calculated.

[0193] Here, one of the second electronic devices 200 is taken as an example for illustration. Exemplarily, the position information of the third electronic device 300 at position i is (x i , y i , z i ), and the attitude information of the third electronic device 300 pointing to the second electronic device at position i includes the pitch angle azimuth angle φ i and roll angle θ i . Among them, i takes values in sequence in {1, 2..., n}, n ≥ 2, and n is an integer.

[0194] For example, when the third electronic device 300 is at Figure 5B the position B shown, the coordinate position of the third electronic device 300 in the U system is (x1, y1, z1), and the attitude information of the third electronic device 300 includes the pitch angle azimuth angle φ1 and roll angle θ1. When the third electronic device 300 is at Figure 5BWhen at the position C shown, the coordinate position of the third electronic device 300 in the U system is (x2, y2, z2), and the attitude information of the third electronic device 300 includes the pitch angle azimuth angle φ2 and roll angle θ2.

[0195] That is to say, when the third electronic device 300 is at position i, the coordinate position of the third electronic device 300 in the U system is (x i , y i , z i ), and the attitude information is the pitch angle azimuth angle φ i and roll angle θ i . Wherein, i takes values in sequence from {1, 2..., n}, n≥2, and n is an integer. In the following embodiments, when the third electronic device 300 is at position i, the position information of the third electronic device 300 is (x i , y i , z i ), and the attitude information is the pitch angle azimuth angle φ i and roll angle θ i are taken as examples to introduce the specific method for the third electronic device 300 to calculate the position information (x, y, z) of the second electronic device.

[0196] Among them, the position information (x i , y i , z i ) and attitude information (including pitch angle azimuth angle φ i and roll angle θ i ) of the third electronic device 300 are known quantities. The position information (x, y, z) of the second electronic device is an unknown quantity. i takes values in sequence from {1, 2..., n}, n≥2, and n is an integer.

[0197] It should be understood that the position information (x, y, z) of the second electronic device is the coordinate position of the second electronic device in the U system, and (x, y, z) can be represented by a matrix of three rows and one column as shown in matrix (1). The position information (x i , y i , z i ) of the third electronic device 300 is the coordinate position of the third electronic device 300 in the U system, and (x i , y i , z i ) can be represented by a matrix of three rows and one column as shown in matrix (2).

[0198]

[0199] Therefore, as shown in formula (10), subtracting matrix (2) from matrix (1) can obtainFigure 5B the vector K shown i R.

[0200] vector

[0201] wherein, the coordinates of the third electronic device 300 at position i are K i (x i , y i , z i ); the coordinates of the second electronic device are R(x, y, z). The subscript U in the above matrix (1) and matrix (2) represents the U system constructed by the UWB base station; K i (x i , y i , z i ) and R(x, y, z) are the coordinates in the U system. Among them, (x i , y i , z i ) are known quantities, and (x, y, z) are unknown quantities.

[0202] According to the coordinate system transformation principle, the following formula (11) can be obtained:

[0203] vector

[0204] wherein, is the transformation matrix from the b system to the U system, which can also be called the rotation matrix from the b system to the U system, and can be obtained through formula (12), as follows:

[0205]

[0206] wherein, r i = K i R, K i R is the distance between the third electronic device 300 and the second electronic device when the third electronic device 300 is at position i. When the third electronic device 300 points to the second electronic device at position i, the Y axis of the b system of the third electronic device 300 passes through the position where the second electronic device is located. Therefore, the coordinates of the second electronic device in the b system are (0, r i , 0). The above matrix is obtained from the coordinates (0, r i , 0) of the second electronic device in the b system. r i is the modulus of the vector K i R, that is, the length of the vector K i R. The vector K i R is a vector in the U system e. It should be noted again that (x i , y i , z i ), pitch angle Azimuth angle φ i and roll angle θ i are both known quantities, and (x, y, z) and r i are both unknown quantities.

[0207] Combining the above formulas (10) and (11) can yield the following formula (13), and thus formula (14):

[0208]

[0209]

[0210] Among them, the in is the product of the element in the first row and the second column of described in formula (12) and r i , and can be expressed as

[0211] Similarly, the in formula (14) is the product of the element in the second row and the second column of described in formula (12) and r i , and can be expressed as The in formula (14) is the product of the element in the third row and the second column of described in formula (12) and r i , and can be expressed as

[0212] That is to say, Therefore, the above formula (14) can be transformed into the following formula (15):

[0213]

[0214] From formula (15), it can be obtained that:

[0215] According to the above formula (15), combining the n attitude information of the third electronic device 300 measured at n positions, the following matrix equation (1) can be obtained:

[0216] AX = B Matrix equation (1)

[0217] Among them,

[0218] The third electronic device 300 can use the formula X = (A T A) -1 A TSolve the above matrix equation (1). Among them, A T is the transpose matrix of A,

[0219]

[0220]

[0221] . A T A represents the product of A T and A. (A T A) -1 is the inverse matrix of A T A. X is equal to the inverse matrix of A T A multiplied by A T , and then multiplied by B.

[0222] The third electronic device 300 uses X = (A T A) -1 A T B, and can calculate the matrix X, that is That is, the third electronic device 300 can calculate the coordinates R(x, y, z) of the second electronic device in the U system.

[0223] The solution methods for the positions of other second electronic devices 200 are the same and will not be elaborated here. After that, when the third electronic device 300 is located in area 2, it can request to measure the distance from the second electronic device 200, and then calculate its own current position based on the measured distance and the positions of each second electronic device 200. That is, it realizes the positioning and navigation of the third electronic device 300 located in area 2 by using the second electronic device 200.

[0224] In summary, the calculated position of the second electronic device 200 is the coordinate in the same navigation coordinate system as the position of the first electronic device 100, that is, the effect of unifying the coordinate systems of area 2 and area 1 is achieved. In other words, the present application realizes the establishment of a unified navigation coordinate system in different areas. The device to be located does not need to store the information of multiple navigation coordinate systems, reducing the storage burden of the device to be located, and reducing the algorithms for positioning the device to be located in different areas. It is also beneficial to ensure the positioning accuracy in different areas. Furthermore, when the device to be located moves in different areas, the user does not need to perform multiple initial attitude calibrations on the device to be located, improving the user experience.

[0225] The above embodiments illustrate the technical solutions of the present application by taking at least three UWB base stations with single-antenna architectures (i.e., the first electronic device 100) being set in area 1 and at least three (taking three as an example) UWB base stations with single-antenna architectures (i.e., the second electronic device 200) being set in area 2. In some other embodiments, a UWB base station with a multi-antenna architecture (i.e., the first electronic device 100) can also be set in area 1 and a UWB base station with a multi-antenna architecture (i.e., the second electronic device 200) can be set in area 2. It should be noted that the method for a UWB base station with three single-antenna architectures to measure the coordinates of the third electronic device in the U system is different from that of a UWB base station with a multi-antenna architecture to measure the coordinates of the third electronic device in the U system. Therefore, in the execution process, and Figure 4A is slightly different in

[0226] In the method of using a UWB base station with three single-antenna architectures to measure the position of the third electronic device, the third electronic device needs to send ranging requests to the three UWB base stations with single-antenna architectures respectively. Then, the three UWB base stations with single-antenna architectures respond to the third electronic device respectively. Based on, for example, the two-way ranging method, the third electronic device can calculate the distances between itself and the three UWB base stations with single-antenna architectures respectively. Then, based on the three distances, the coordinates of the third electronic device in the U system can be calculated using the triangulation principle. Thus, it can be seen that every time the coordinates of the third electronic device in the U system need to be measured, the third electronic device needs to interact with each UWB base station with a single-antenna architecture, and it is the third electronic device that calculates its own coordinates in the U system. Moreover, in step S408, the third electronic device needs to calculate the coordinates of the second electronic device with three single-antenna architectures in the U system.

[0227] In the method for a UWB base station with a multi-antenna architecture to measure the position of a third electronic device, the third electronic device only needs to send a ranging request to a UWB base station with a multi-antenna architecture. Then, the UWB base station with a multi-antenna architecture responds to the third electronic device. The third electronic device can calculate the distance between itself and the third electronic device based on, for example, the two-way ranging method, and can also determine the vector from the third electronic device to the UWB base station with a multi-antenna architecture according to the time difference when the third electronic device reaches different antennas. Then, based on a distance and a vector, the coordinates of the third electronic device in the U system are calculated. Thus, when it is necessary to measure the coordinates of the third electronic device in the U system, the third electronic device only needs to interact with a UWB base station with a multi-antenna architecture, and the coordinates of the third electronic device in the U system are calculated by the UWB base station with a multi-antenna architecture. Then, the UWB base station with a multi-antenna architecture sends the calculated coordinates of the third electronic device in the U system to the third electronic device for subsequent calculations by the third electronic device. And, in step S408, the third electronic device only needs to calculate the coordinates of a second electronic device with a multi-antenna architecture in the U system.

[0228] In some other embodiments, a UWB base station with a multi-antenna architecture (i.e., the first electronic device 100) may also be set in area 1, and at least three UWB base stations with single-antenna architectures (i.e., the second electronic devices 200) may be set in area 2. Alternatively, at least three UWB base stations with single-antenna architectures (i.e., the first electronic device 100) may be set in area 1, and a UWB base station with a multi-antenna architecture (i.e., the second electronic device 200) may be set in area 2. This will not be elaborated herein.

[0229] As Figure 8 shown, it is a set of data of simulation experiments. The movement trajectory of a mobile phone (i.e., the third electronic device 300) is simulated within the simulated space scene for 10 s, and the original data of the gyroscope and acceleration are simulated. In the gray-marked area in the figure, it is the signal coverage area of the existing UWB base stations, and the white area is the signal coverage area of the newly added UWB base stations. A total of 3 newly added base stations to be initialized are arranged in the newly expanded area (i.e., the white area), which are distributed as base station 1, base station 2, and base station 3. The real positions of these three base stations are marked as shown in the figure. In addition, in the simulation, the fixed bias of the three axes of the gyroscope is set to 0.1 deg / s (degrees per second), and the random noise of the gyroscope is 1 deg / sqrt(s) (degrees per square meter).

[0230] Figure 8 The movement trajectory data (i.e., the unoptimized movement trajectory) obtained by the mobile phone only applying the data solution of the IMU is marked in [the figure], as well as the estimated positions of the newly added base stations calculated using the unoptimized movement trajectory (marked in the figure), and the average positioning error of the newly added base stations is 0.5 m. Figure 8Also marked in the figure is the motion trajectory (i.e., the optimized motion trajectory) obtained by correcting the data measured by the IMU with the data measured by the existing UWB base stations (the position measured after the mobile phone returns to the signal coverage area of the existing UWB base stations), as well as the estimated position of the new base station calculated by applying the optimized motion trajectory (marked in the figure), and its average positioning error is reduced to 0.1 m.

[0231] It can be seen that after optimizing the motion trajectory measured by the IMU with the data measured by the existing UWB base stations, the positioning accuracy of the new base station is improved.

[0232] It can be understood that in order to implement the above functions, the above terminal, etc. includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present invention.

[0233] The embodiments of the present application can divide the above terminal, etc. into functional modules according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present invention is illustrative, only a logical functional division, and there can be other division methods in actual implementation.

[0234] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0235] In each embodiment of the present application, each functional unit can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0236] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: various media that can store program codes, such as flash memory, mobile hard disk, read-only memory, random access memory, magnetic disk, or optical disc.

[0237] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claimed rights.

Claims

1. An initialization method for a newly added base station in a UWB system, characterized in that, Including: When the third electronic device is at the first position in the first area, the third electronic device sends a first UWB signal to the first electronic device, for measuring the first coordinate corresponding to the first position in the navigation coordinate system; when the third electronic device is at the first position, the IMU measurement of the third electronic device is also started; The third electronic device moves from the first area to the second area; When the third electronic device is at the second position in the second area, the third electronic device sends a second UWB signal to the second electronic device, for measuring the distance between the third electronic device and the second electronic device when the third electronic device is at the second position, and the number of the second positions is at least three; The third electronic device returns to the first area; When the third electronic device is at the third position in the first area, the third electronic device sends a third UWB signal to the first electronic device, for measuring the second coordinate corresponding to the third position in the navigation coordinate system; The third electronic device calculates the coordinate of the second electronic device in the navigation coordinate system based on the first coordinate, the data measured by the IMU, the second coordinate, and the distance between the third electronic device and the second electronic device when the third electronic device is at the second position.

2. The method according to claim 1, wherein The third electronic device calculates the coordinate of the second electronic device in the navigation coordinate system based on the first coordinate, the data measured by the IMU, the second coordinate, and the distance between the third electronic device and the second electronic device when the third electronic device is at the second position, specifically including: The third electronic device calculates the third coordinate corresponding to the third position according to the first coordinate and the data measured by the IMU; According to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position, calculate the deviation value between the motion data of the third electronic device and the data measured by the IMU; According to the deviation value and the data measured by the IMU, calculate the motion data of the third electronic device; According to the motion data of the third electronic device and the first coordinate corresponding to the first position, calculate the fourth coordinate corresponding to the second position; According to the fourth coordinate corresponding to the second position and the distance between the third electronic device and the second electronic device when the third electronic device is at the second position, calculate the coordinate of the second electronic device in the navigation coordinate system.

3. The method according to claim 2, wherein The calculating the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position is specifically: Adopt the Kalman filtering method to calculate the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: When the third electronic device re-enters the second area, it sends a fourth UWB signal to the second electronic device for measuring the distance between the third electronic device and the second electronic device; The third electronic device calculates the coordinates of the current position of the third electronic device in the navigation coordinate system based on the distance between the third electronic device and the second electronic device and the coordinates of the second electronic device in the navigation coordinate system.

5. The method according to claim 1, wherein The method further includes: When the third electronic device is at the third position, turn off or pause the IMU measurement of the third electronic device.

6. The method according to claim 1, wherein The second electronic device and the first electronic device have different communication addresses.

7. The method according to claim 6, wherein The second electronic device and the first electronic device have different communication addresses, specifically: The second electronic device and the first electronic device have different communication time slots or pseudo-random code sequences.

8. The method according to claim 1, characterized in that, Before the third electronic device sends a first UWB signal to the first electronic device for measuring the first coordinate corresponding to the first position in the navigation coordinate system when the third electronic device is at the first position in the first area, the method further includes: The third electronic device receives a first operation from the user, and the first operation is used to indicate initializing the second electronic device; In response to receiving the first operation, the third electronic device issues a first prompt for prompting the user to carry the third electronic device into the first area.

9. The method according to claim 1, wherein Before the third electronic device moves from the first area to the second area, the method further includes: The third electronic device issues a second prompt for prompting the user to carry the third electronic device into the second area.

10. The method according to claim 1, wherein Before the third electronic device returns to the first area, the method further includes: The third electronic device issues a third prompt for prompting the user to carry the third electronic device back to the first area.

11. The method according to claim 1, characterized in that, The navigation coordinate system is determined according to the first electronic device.

12. The method according to claim 1, wherein The number of the first electronic devices is at least three, and each of the first electronic devices includes a UWB antenna; or, the number of the first electronic devices is one, and the first electronic device includes at least three UWB antennas.

13. The method according to claim 1, characterized in that, The number of the second electronic devices is at least three, and each of the second electronic devices includes a UWB antenna; or, the number of the second electronic devices is one, and the second electronic device includes at least three UWB antennas.

14. An initialization method for a newly added base station under a UWB system, characterized in that, Includes: When the third electronic device is at the first position in the first area, the third electronic device sends a first UWB signal to the first electronic device for measuring the first coordinate corresponding to the first position in the navigation coordinate system; when the third electronic device is at the first position, it also starts the IMU measurement of the third electronic device; The third electronic device moves from the first area to the second area; When the third electronic device is at the second position in the second area, obtain the attitude information when the third electronic device points to the second electronic device, and the number of the second positions is at least two; The third electronic device returns to the first area; When the third electronic device is located at the third position in the first region, the third electronic device sends a third UWB signal to the first electronic device for measuring a second coordinate corresponding to the third position in the navigation coordinate system; The third electronic device calculates the coordinate of the second electronic device in the navigation coordinate system based on the first coordinate, the data measured by the IMU, the second coordinate, and the attitude information when the third electronic device points to the second electronic device.

15. The method according to claim 14, wherein The third electronic device pointing to the second electronic device includes: a preset axis of the carrier coordinate system of the third electronic device pointing to the second electronic device.

16. The method according to claim 14 or 15, characterized in that, The third electronic device calculates the coordinate of the second electronic device in the navigation coordinate system based on the first coordinate, the data measured by the IMU, the second coordinate, and the attitude information when the third electronic device points to the second electronic device, specifically including: The third electronic device calculates a third coordinate corresponding to the third position according to the first coordinate and the data measured by the IMU; According to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position, calculate a deviation value between the motion data of the third electronic device and the data measured by the IMU; According to the deviation value and the data measured by the IMU, calculate the motion data of the third electronic device; According to the motion data of the third electronic device and the first coordinate corresponding to the first position, calculate a fourth coordinate corresponding to the second position; According to the fourth coordinate corresponding to the second position and the attitude information when the third electronic device points to the second electronic device, calculate the coordinate of the second electronic device in the navigation coordinate system.

17. The method according to claim 16, wherein The calculating the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position is specifically: Using the Kalman filtering method, calculate the deviation value between the motion data of the third electronic device and the data measured by the IMU according to the third coordinate corresponding to the third position and the second coordinate corresponding to the third position.

18. The method according to claim 14, wherein The method further includes: When the third electronic device enters the second region again, send a fourth UWB signal to the second electronic device for measuring the distance between the third electronic device and the second electronic device; The third electronic device calculates the coordinate of the current position of the third electronic device in the navigation coordinate system based on the distance between the third electronic device and the second electronic device and the coordinate of the second electronic device in the navigation coordinate system.

19. The method according to claim 14, wherein The method further includes: When the third electronic device is at the third position, turn off or pause the IMU measurement of the third electronic device.

20. The method according to claim 14, wherein The second electronic device and the first electronic device have different communication addresses.

21. The method according to claim 20, characterized in that, The second electronic device and the first electronic device have different communication addresses, specifically: The second electronic device has different communication time slots or pseudo-random code sequences from the first electronic device.

22. The method according to claim 14, wherein Before the third electronic device sends a first UWB signal to the first electronic device for measuring a first coordinate corresponding to the first position in the navigation coordinate system when the third electronic device is located at the first position in the first region, the method further includes: The third electronic device receives a first operation of the user, and the first operation is used to indicate initializing the second electronic device. In response to receiving the first operation, the third electronic device issues a first prompt for prompting the user to carry the third electronic device into the first region.

23. The method according to claim 14, wherein Before the third electronic device moves from the first region to the second region, the method further includes: The third electronic device issues a second prompt for prompting the user to carry the third electronic device into the second region.

24. The method according to claim 14, characterized in that, Before the third electronic device returns to the first region, the method further includes: The third electronic device issues a third prompt for prompting the user to carry the third electronic device back to the first region.

25. The method according to claim 14, characterized in that, The navigation coordinate system is determined according to the first electronic device.

26. The method according to claim 14, characterized in that The number of the first electronic devices is at least three, and each of the first electronic devices includes a UWB antenna; or, the number of the first electronic devices is one, and the first electronic device includes at least three UWB antennas.

27. The method according to claim 14, wherein The number of the second electronic devices is at least three, and each of the second electronic devices includes a UWB antenna; or, the number of the second electronic devices is one, and the second electronic device includes at least three UWB antennas.

28. A third electronic device, characterized in that, Comprising: A processor, a memory, a UWB module and an IMU module, the memory, the UWB module, the IMU module are coupled to the processor, the memory is used for storing computer program code, the computer program code includes computer instructions, when the processor reads the computer instructions from the memory, so that the third electronic device executes the method according to any one of claims 1-27.

29. A computer-readable storage medium, characterized in that, Including computer instructions, when the computer instructions run on the third electronic device, so that the third electronic device executes the method according to any one of claims 1-27.

30. A computer program product, characterized in that, When the computer program product runs on a computer, so that the computer executes the method according to any one of claims 1-27.

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