UWB Positioning Method, Device, Electronic Device and Storage Medium

Abstract

The present application discloses a UWB positioning method, apparatus, electronic device and storage medium. The method includes: sending a first UWB signal to a target object through a first antenna; if a second UWB signal is monitored, determining that the target object is a UWB device, and determining the relative position information between the electronic device and the target object through the first antenna and the second antenna; if the second UWB signal is not monitored, determining that the target object is a non-UWB device, and determining the relative position information between the electronic device and the target object through the second antenna and the third antenna. In the present application, the distance between the second antenna and the third antenna is greater than a second distance. When determining the relative position information between the electronic device and the target object according to the second antenna and the third antenna, the signal transmitted by the third antenna will not be coupled to the second antenna, so that the signal received by the second antenna does not include the signal coupled by the third antenna, thereby making the accuracy of the determined relative position information relatively high.

Description

Technical Field

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

[0002] Ultra Wide Band (UWB) technology is a new type of wireless communication technology. It directly modulates impulse pulses with very steep rise and fall times, enabling the signal to have a bandwidth on the order of GHz.

[0003] Due to the advantages of UWB such as being insensitive to channel fading, having a low transmit signal power spectral density, low interceptability, low system complexity, and being able to provide a positioning accuracy of several centimeters, UWB is widely used in the field of distance measurement technology.

[0004] In a distance measurement scenario, an electronic device based on UWB technology transmits a UWB signal to a target object through a transmitting antenna. The target object reflects the UWB signal, and the electronic device receives the reflected signal of the target object through a receiving antenna. Then, the electronic device determines the relative position information between the electronic device and the target object by comparing the sequence characteristics of the transmitted UWB signal and the reflected signal.

[0005] However, with the existing methods, the accuracy of the determined relative position information between the electronic device and the target object is relatively low. Summary of the Invention

[0006] In view of this, embodiments of the present application propose a UWB positioning method, device, electronic device, and storage medium.

[0007] In a first aspect, an embodiment of the present application provides a UWB positioning method for an electronic device. The electronic device includes a first antenna, a second antenna, and a third antenna. The distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, and the first distance is less than the second distance. The method includes: sending a first UWB signal to the target object through the first antenna; listening for a second UWB signal replied by the target object to the first UWB signal through the second antenna; if the second UWB signal is monitored, determining that the target object is a UWB device, and determining the relative position information between the electronic device and the target object through the first antenna and the second antenna; if the second UWB signal is not monitored, determining that the target object is a non-UWB device, and determining the relative position information between the electronic device and the target object through the second antenna and the third antenna.

[0008] Second aspect, an embodiment of the present application provides a UWB positioning device for an electronic device. The electronic device includes a first antenna, a second antenna, and a third antenna. The distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, and the first distance is less than the second distance. The device includes: a sending module for sending a first UWB signal to the target through the first antenna; a monitoring module for monitoring, through the second antenna, a second UWB signal replied by the target to the first UWB signal; a measuring module for, if the second UWB signal is monitored, determining that the target is a UWB device and determining the relative position information between the electronic device and the target through the first antenna and the second antenna; and if the second UWB signal is not monitored, determining that the target is a non-UWB device and determining the relative position information between the electronic device and the target through the second antenna and the third antenna.

[0009] Third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a first antenna, a second antenna, a third antenna, and an application program. The distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, and the first distance is less than the second distance. The application program includes one or more programs, and the one or more programs are stored in the memory and configured to be executed by the processor to implement the method described in the first aspect above.

[0010] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which program code is stored. When the program code is run by a processor, the method described in the first aspect above is executed.

[0011] Fifth aspect, an embodiment of the present application provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the method described in the first aspect above.

[0012] A UWB positioning method, device, electronic device, and storage medium provided by an embodiment of the present application, through

[0013] The second antenna monitors a second UWB signal replied by the target object for the first UWB signal. The distance between the second antenna and the third antenna is greater than the second distance. When determining the relative position information between the electronic device and the target object according to the second antenna and the third antenna, the signal transmitted by the third antenna will not be coupled to the second antenna, so that the signal received by the second antenna does not include the signal coupled by the third antenna, thereby making the accuracy of the determined relative position information between the electronic device and the target object relatively high. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0015] Figure 1 The flowchart of a UWB positioning method provided by an embodiment of the present application is shown;

[0016] Figure 2 The schematic structural diagram of an electronic device in an embodiment of the present application is shown;

[0017] Figure 3 The schematic structural diagram of another electronic device in an embodiment of the present application is shown

[0018] Figure 4 Shown is Figure 1 The flowchart of an implementation manner of step S130 in

[0019] Figure 5 The schematic diagram of the determination process of the relative angle in an embodiment of the present application is shown;

[0020] Figure 6 Shown is Figure 1 The flowchart of an implementation manner of step S140 in

[0021] Figure 7 The block diagram of a UWB positioning device proposed by an embodiment of the present application is shown;

[0022] Figure 8 The block diagram of the electronic device for executing the UWB positioning method according to the embodiment of the present application is shown;

[0023] Figure 9 The block diagram of a computer-readable storage medium provided by an embodiment of the present application is shown;

[0024] Figure 10 The block diagram of a computer program product provided by an embodiment of the present application is shown. Detailed implementation manners

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0026] In the following description, the terms "first / second" only distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0028] When the target object is a UWB (Ultra Wide Band) device, the relative position information between the electronic device and the target object can be directly determined by sending a measurement signal in UWB format; when the target object is a non-UWB device, the electronic device emits a UWB signal to the target object through a transmitting antenna, the target object reflects the UWB signal, the electronic device receives the reflected signal of the target object through a receiving antenna, and then the electronic device determines the relative position information between the electronic device and the target object by comparing the sequence characteristics of the transmitted UWB signal and the reflected signal.

[0029] The inventors found that with the existing positioning scheme, the signal emitted by the transmitting antenna will be coupled to the receiving antenna, resulting in the receiving antenna being unable to distinguish whether the signal is coupled in by the transmitting antenna or emitted by the object under test when receiving the reflected signal of the target object, making it difficult to accurately determine the relative position information between the electronic device and the target object.

[0030] To solve the above problems, an embodiment of the present application provides a UWB positioning method, an object selection method, a device, an electronic device, and a storage medium. The electronic device in the embodiment of the present application includes a first antenna, a second antenna, and a third antenna. The distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, and the first distance is less than the second distance. The electronic device sends a first UWB signal to the target through the first antenna; if a second UWB signal is monitored through the second antenna, it is determined that the target is a UWB device, and the relative position information between the electronic device and the target is determined through the first antenna and the second antenna; if the second UWB signal is not monitored through the second antenna, it is determined that the target is a non-UWB device, and the relative position information between the electronic device and the target is determined through the second antenna and the third antenna.

[0031] In the present application, the distance between the second antenna and the third antenna is greater than the second distance. When determining the relative position information between the electronic device and the target according to the second antenna and the third antenna, the signal transmitted by the third antenna will not be coupled to the second antenna, so that the signal received by the second antenna does not include the signal coupled by the third antenna, thereby making the accuracy of the determined relative position information between the electronic device and the target relatively high.

[0032] Please refer to Figure 1 , Figure 1 which shows a flowchart of a UWB positioning method provided by an embodiment of the present application. The method can be used for an electronic device, and the method includes:

[0033] S110. Send a first UWB signal to the target through the first antenna.

[0034] In this embodiment, the electronic device includes a first antenna, a second antenna, and a third antenna. The distance between the first antenna and the second antenna is less than the first distance, the distance between the second antenna and the third antenna is greater than the second distance, and the first distance is less than the second distance. Among them, the third antenna can be a radar antenna, which is used to transmit a UWB signal with the function of a radar signal, so that a non-UWB device can reflect the UWB signal transmitted by the third antenna.

[0035] In the present application, the first distance is not greater than half of the wavelength of the signal transmitted and received by the first antenna, and the second distance is not less than 5 cm. For example, if the frequency of the signal transmitted and received by the first antenna is 8 GHz, the first distance can be a value not greater than 18 mm.

[0036] The first antenna can be an antenna for transmitting and receiving signals, the second antenna can be an antenna for receiving signals, and the third antenna can be an antenna for transmitting signals. The first antenna, the second antenna, and the third antenna can all be UWB antennas. UWB antenna is a short-range wireless communication method, with a transmission distance usually within 10 meters and usually using a bandwidth above 1 GHz. UWB antennas do not use carriers but use non-sinusoidal narrow pulses in the nanosecond to picosecond range to transmit data. Therefore, the spectrum range it occupies is very wide, suitable for high-speed, short-range wireless communication, and its communication efficiency is also relatively high. The Federal Communications Commission (FCC) in the United States stipulates that the operating frequency band range of UWB antennas is from 3.1 GHz to 10.6 GHz, and the minimum operating bandwidth is 500 MHz. Currently, the center frequencies of the mainstream UWB antenna frequency bands are 6.5 GHz and 8 GHz, with a bandwidth requirement of more than 500 MHz; CH5: 6.25 - 6.75 GHz; CH9: 7.75 - 8.25 GHz.

[0037] In this application, the positions of the first antenna, the second antenna, and the third antenna can be set based on requirements. For example, in Figure 2 , the first antenna 1 and the second antenna 2 can be installed on the top 42 of the electronic device 4, and the third antenna 3 can be installed on the bottom 41 of the electronic device. Another example is in Figure 3 , the first antenna 1 and the second antenna 2 can be installed on the bottom 41 of the electronic device 4, and the third antenna 3 can be installed on the top 42 of the electronic device 4.

[0038] It can be understood that as long as the first antenna, the second antenna, and the third antenna satisfy that the distance between the first antenna and the second antenna is less than the first distance, and the distance between the second antenna and the third antenna is greater than the second distance, this application does not make specific limitations on the installation positions of the first antenna, the second antenna, and the third antenna.

[0039] The target object can refer to the item to be located. The target object can be a UWB device. A UWB device refers to a device that can transmit and receive UWB signals based on ultra-wideband technology, such as the device similar to the electronic device mentioned above. The target object can also be a non-UWB device, which refers to a device that cannot transmit and receive UWB signals, such as people, animals, and decorative furniture.

[0040] The first UWB signal can refer to the probe frame signal broadcast by the electronic device, and this probe frame signal is a UWB - formatted signal. When the electronic device locates the target object, the electronic device can broadcast the first UWB signal around so that the first UWB signal can reach the target object.

[0041] S120. Listen for a second UWB signal replied by the target object to the first UWB signal through the second antenna.

[0042] The second antenna is used to receive the second UWB signal replied by the target object to the first UWB signal. After the first antenna sends the first UWB signal, the second antenna starts to listen for the second UWB signal.

[0043] When the target object is a UWB device, after the first UWB signal reaches the target object, the target object can receive the first UWB signal. Then, based on the first UWB signal, the target object obtains the second UWB signal and returns the second UWB signal to the electronic device. The second antenna of the electronic device receives the second UWB signal. At this time, the electronic device determines that it has listened for the second UWB signal.

[0044] When the target object is a non-UWB device, after the first UWB signal reaches the target object, the target object cannot receive the first UWB signal. Therefore, the target object cannot obtain the second UWB signal based on the first UWB signal either. At this time, the second antenna of the electronic device cannot receive the second UWB signal either, and the electronic device determines that it has not listened for the second UWB signal.

[0045] S130. If the second UWB signal is listened for, determine that the target object is a UWB device, and determine the relative position information between the electronic device and the target object through the first antenna and the second antenna.

[0046] When the second UWB signal is listened for, determine that the target object is a UWB device, and determine the relative position information between the electronic device and the target object through the first antenna and the second antenna.

[0047] It can be that the electronic device emits a ranging signal to the target object through the first antenna, so that the target object returns a feedback signal based on the received ranging signal. The electronic device receives the feedback signal through the first antenna and the second antenna, and then determines the relative position information between the electronic device and the target object according to the feedback signal received by the first antenna and the feedback signal received by the second antenna.

[0048] S140. If the second UWB signal is not listened for, determine that the target object is a non-UWB device, and determine the relative position information between the electronic device and the target object through the second antenna and the third antenna.

[0049] When the second UWB signal is not listened for, determine that the target object is a non-UWB device, and determine the relative position information between the electronic device and the target object through the first antenna and the third antenna.

[0050] It can be that the electronic device emits a radar signal to the target through the third antenna, so that the target reflects the radar signal. The electronic device receives the reflected radar signal through the first antenna or the second antenna, and then determines the relative position information between the electronic device and the target according to the radar signal and the reflected radar signal.

[0051] In some embodiments, the electronic device may be equipped with an antenna switch. When it is determined that the target is a UWB device, the transmission channel is switched to the first antenna through the antenna switch, the UWB signal is sent through the first antenna, and the UWB signal replied by the target is received through the first antenna and the second antenna; when it is determined that the target is a non-UWB device, the transmission channel is switched to the third antenna through the antenna switch, the UWB signal is sent through the third antenna, and the signal reflected by the target is received through the second antenna.

[0052] Such as Figure 2 and Figure 3 shown, the antenna switch 5 is respectively connected to the first antenna 1 and the third antenna 3. Such as Figure 2 shown, when the target is a UWB device, the antenna switch 5 switches the transmission channel to the first antenna 1, which is shown as a solid line connection between the first antenna 1 and the antenna switch 5, and a dotted line connection between the third antenna 3 and the antenna switch 5 in Figure 2 ; such as Figure 3 shown, when the target is a non-UWB device, the antenna switch 5 switches the transmission channel to the third antenna 3, which is shown as a dotted line connection between the first antenna 1 and the antenna switch 5, and a solid line connection between the third antenna 3 and the antenna switch 5 in Figure 3 .

[0053] In some embodiments, the determining that the target is a UWB device if the second UWB signal is monitored includes: determining that the target is a UWB device if the second UWB signal is monitored within a preset time period after the first UWB signal is sent. The determining that the target is a non-UWB device if the second UWB signal is not monitored includes: determining that the target is a non-UWB device if the second UWB signal is not monitored within a preset time period after the first UWB signal is sent. Among them, the preset time period can be 1 minute, and in different scenarios, the preset time period can be adaptively adjusted. This application does not make specific limitations on the preset time period.

[0054] By setting the preset time period, it is avoided that the electronic device listens to the second UWB signal endlessly, which facilitates the electronic device to quickly determine whether the target is a UWB device, improves the determination efficiency of the target, and thus improves the positioning efficiency of the target.

[0055] In this embodiment, the second UWB signal replied by the target object to the first UWB signal is monitored by the second antenna. According to the monitoring result of the second UWB signal, it can be accurately determined whether the target object is a UWB device. Meanwhile, when the target object is a UWB device, the relative position information is obtained through the first antenna and the second antenna. When the target object is a non-UWB device, the relative position information is obtained through the second antenna and the third antenna, so that the relative position information between the electronic device and the target object can be accurately determined.

[0056] Please refer to Figure 4 , Figure 4 which shows Figure 1 a flowchart of an implementation manner of step S130 in

[0057] S210. If the second UWB signal is monitored, it is determined that the target object is a UWB device.

[0058] Among them, the description of S210 refers to the partial descriptions of S120 and S130 above, and will not be elaborated here.

[0059] S220. Send a third UWB signal to the target object through the first antenna, so that the target object replies a fourth UWB signal according to the third UWB signal.

[0060] After determining that the target object is a UWB device, enter the UWB device positioning mode. At this time, both the electronic device and the target object are UWB devices, and this scenario is also called a multi-UWB device scenario.

[0061] Send a third UWB signal to the target object through the first antenna. After the third UWB signal reaches the target object, the target object receives the third UWB signal, obtains a fourth UWB signal according to the third UWB signal, and then the target object sends the fourth UWB signal to the electronic device.

[0062] S230. Receive the fourth UWB signal through the first antenna and the second antenna.

[0063] S240. Determine the relative position information between the electronic device and the target object according to the third UWB signal, the fourth UWB signal received by the first antenna, and the fourth UWB signal received by the second antenna.

[0064] The electronic device receives the fourth UWB signal through the first antenna and the second antenna respectively, and then the electronic device determines the relative position information between the electronic device and the target object according to the third UWB signal, the fourth UWB signal received by the first antenna, and the fourth UWB signal received by the second antenna.

[0065] Optionally, determining relative position information between the electronic device and the target object according to the third UWB signal, the fourth UWB signal received by the first antenna, and the fourth UWB signal received by the second antenna includes: determining a relative angle between the electronic device and the target object according to the phase of the fourth UWB signal received by the first antenna and the phase of the fourth UWB signal received by the second antenna; determining a relative distance between the electronic device and the target object according to the transmission time of the third UWB signal, the reception time of the third UWB signal by the target object in the fourth UWB signal, the transmission time of the fourth UWB signal by the target object in the fourth UWB signal, and the reception time of the fourth UWB signal by the second antenna; and using the relative distance and the relative angle as the relative position information between the electronic device and the target object.

[0066] The data content in the fourth UWB signal received by the first antenna and the fourth UWB signal received by the second antenna is the same, but the phase of the fourth UWB signal received by the first antenna and the phase of the fourth UWB signal received by the second antenna are different. Calculate the phase difference between the phase of the fourth UWB signal received by the first antenna and the phase of the fourth UWB signal received by the second antenna, and then determine the difference between the first measurement distance and the second measurement distance according to the phase difference, where the first measurement distance refers to the distance between the first antenna and the target object, and the second measurement distance is the distance between the second antenna and the target object. Since the first distance between the first antenna and the second antenna is not greater than half of the wavelength of the signal transmitted and received by the first antenna, multiplying the phase difference by the wavelength of the received fourth UWB signal can obtain the difference between the first measurement distance and the second measurement distance.

[0067] The third UWB signal may include a transmission timestamp for characterizing the transmission time of the third UWB signal; the fourth UWB signal may include a reception timestamp for receiving the third UWB signal for characterizing the reception time of the third UWB signal by the target object; the fourth UWB signal may further include a transmission timestamp for transmitting the fourth UWB signal for characterizing the transmission time of the fourth UWB signal by the target object. When the electronic device receives the fourth UWB signal, it can determine the reception time of the fourth UWB signal by the second antenna and can also determine the reception time of the fourth UWB signal by the first antenna.

[0068] The transmission speeds of the third UWB signal and the fourth UWB signal can be the speed of light. Determine the time difference between the transmission time of the third UWB signal and the reception time when the target object receives the third UWB signal, multiply this time difference by the speed of light to determine the first measured distance; determine the time difference between the transmission time when the target object transmits the fourth UWB signal and the reception time when the second antenna receives the fourth UWB signal, multiply this time difference by the speed of light to determine the second measured distance, and determine the relative angle between the electronic device and the target object according to the first measured distance, the second measured distance, and the antenna spacing, where the antenna spacing refers to the spacing between the first antenna and the second antenna.

[0069] The first measured distance or the second measured distance can be used as the relative distance between the electronic device and the target object, and then the relative distance and the relative angle are used as the relative position information between the electronic device and the target object.

[0070] In some embodiments, it is also possible to determine the sum of the transmission time of the third UWB signal (the difference between the transmission time of the third UWB signal and the reception time when the target object receives the third UWB signal in the fourth UWB signal) and the transmission time of the fourth UWB signal (the difference between the transmission time when the target object transmits the fourth UWB signal and the reception time when the second antenna receives the fourth UWB signal in the fourth UWB signal), then multiply this sum of time by the speed of light to obtain the sum of the first measured distance and the second measured distance, then determine the first measured distance and the second measured distance according to the difference between the first measured distance and the second measured distance, and then determine the relative angle between the electronic device and the target object according to the first measured distance, the second measured distance, and the antenna spacing.

[0071] As Figure 5 shown, the second antenna 2 receives the fourth UWB signal 7, the first antenna 1 receives the fourth UWB signal 7, determine the phase difference between the phase of the fourth UWB signal 7 received by the first antenna 1 and the phase of the fourth UWB signal 7 received by the second antenna 2, determine the difference between the first measured distance and the second measured distance according to this phase difference, then determine the sum of the first measured distance and the second measured distance, then determine the specific values of the first measured distance and the second measured distance, and finally construct a triangle according to the first measured distance, the second measured distance, and the antenna spacing, so as to determine the relative angle 8 between the electronic device and the target object through the constructed triangle, where the relative angle 8 can refer to the included angle between the first antenna 1 and the target object 6.

[0072] In this embodiment, when the target object is a UWB device, the relative position information between the electronic device and the target object is determined through the first antenna and the second antenna, thereby achieving precise positioning of the target object.

[0073] Please refer to Figure 6, Figure 6 shows Figure 1 a flowchart of an implementation of step S140 in

[0074] S310. If the second UWB signal is not detected, determine that the target object is a non-UWB device.

[0075] Among them, the description of S310 refers to the partial description of S120 and S130 above, which will not be elaborated here.

[0076] S320. Send a fifth UWB signal to the target object through the third antenna so that the target object reflects the fifth UWB signal.

[0077] After determining that the target object is a non-UWB device, enter the non-UWB device positioning mode. At this time, the electronic device is a UWB device and the target object is a non-UWB device. This scenario is also called a single UWB device scenario.

[0078] The third antenna can be a radar antenna, and the fifth UWB signal can be a UWB signal in radar format. The third antenna sends a fifth UWB signal to the target object, and the target object directly reflects the fifth UWB signal.

[0079] S330. Receive the fifth UWB signal reflected by the target object through the second antenna.

[0080] S340. Determine the relative position information between the electronic device and the target object according to the fifth UWB signal and the fifth UWB signal reflected by the target object.

[0081] It is possible to determine the time difference between the transmission time of the fifth UWB signal and the reception time of the fifth UWB signal reflected by the target object received by the second antenna, and take half of the product of the speed of light and this time difference as the relative distance between the electronic device and the target object. Then, according to the angle of the fifth UWB signal reflected by the target object received by the second antenna, determine the relative angle between the electronic device and the target object.

[0082] Optionally, the determining the relative position information between the electronic device and the target object according to the fifth UWB signal and the fifth UWB signal reflected by the target object includes: determining the relative angle between the electronic device and the target object according to the transmission direction of the fifth UWB signal and the reception direction of the fifth UWB signal reflected by the target object; determining the relative distance between the electronic device and the target object according to the transmission time of the fifth UWB signal and the reception time of the fifth UWB signal reflected by the target object; and taking the relative distance and the relative angle as the relative position information between the electronic device and the target object.

[0083] Based on the characteristic that the fifth UWB signal is a radar signal, directly determine the relative angle between the electronic device and the target object according to the transmission direction of the fifth UWB signal and the reception direction of the fifth UWB signal reflected by the target object; then, determine the difference between the transmission time of the fifth UWB signal and the reception time of the fifth UWB signal reflected by the target object, and take half of the product of this difference and the speed of light as the relative distance between the electronic device and the target object; finally, take the relative distance and the relative angle as the relative position information of the electronic device and the target object.

[0084] In this embodiment, when the target object is a non-UWB device, the electronic device can still accurately locate the target object, improving the positioning versatility and universality of the electronic device.

[0085] At the same time, on the basis of not changing the structure of the electronic device based on UWB technology, a third antenna is introduced to realize the positioning of non-UWB devices through the third antenna, avoiding major structural changes to the electronic device and reducing the design and manufacturing costs of the electronic device.

[0086] Please refer to Figure 7 , Figure 7 which shows a block diagram of a UWB positioning device proposed in an embodiment of the present application. The device can be used for an electronic device, and the electronic device includes a first antenna, a second antenna, and a third antenna. The distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, and the first distance is less than the second distance; the device 700 includes:

[0087] A sending module 710, configured to send a first UWB signal to the target object through the first antenna;

[0088] A listening module 720, configured to listen for a second UWB signal replied by the target object to the first UWB signal through the second antenna;

[0089] A measuring module 730, configured to, if the second UWB signal is listened to, determine that the target object is a UWB device, and determine the relative position information between the electronic device and the target object through the first antenna and the second antenna; if the second UWB signal is not listened to, determine that the target object is a non-UWB device, and determine the relative position information between the electronic device and the target object through the second antenna and the third antenna.

[0090] Optionally, the measurement module 730 is further configured to send a third UWB signal to the target object through the first antenna, so that the target object replies with a fourth UWB signal according to the third UWB signal; receive the fourth UWB signal through the first antenna and the second antenna; and determine relative position information between the electronic device and the target object according to the third UWB signal, the fourth UWB signal received by the first antenna, and the fourth UWB signal received by the second antenna.

[0091] Optionally, the measurement module 730 is further configured to determine a relative angle between the electronic device and the target object according to the phase of the fourth UWB signal received by the first antenna and the phase of the fourth UWB signal received by the second antenna; determine a relative distance between the electronic device and the target object according to the transmission time of the third UWB signal, the reception time when the target object receives the third UWB signal in the fourth UWB signal, the transmission time when the target object sends the fourth UWB signal in the fourth UWB signal, and the reception time when the second antenna receives the fourth UWB signal; and use the relative distance and the relative angle as the relative position information between the electronic device and the target object.

[0092] Optionally, the measurement module 730 is further configured to send a fifth UWB signal to the target object through the third antenna, so that the target object reflects the fifth UWB signal; receive the fifth UWB signal reflected by the target object through the second antenna; and determine relative position information between the electronic device and the target object according to the fifth UWB signal and the fifth UWB signal reflected by the target object.

[0093] Optionally, the measurement module 730 is further configured to determine a relative angle between the electronic device and the target object according to the transmission direction of the fifth UWB signal and the reception direction of the fifth UWB signal reflected by the target object; determine a relative distance between the electronic device and the target object according to the transmission time of the fifth UWB signal and the reception time of the fifth UWB signal reflected by the target object; and use the relative distance and the relative angle as the relative position information between the electronic device and the target object.

[0094] Optionally, the measurement module 730 is further configured to determine that the target object is a UWB device if the second UWB signal is monitored within a preset duration after the first UWB signal is sent; and determine that the target object is a non-UWB device if the second UWB signal is not monitored within a preset duration after the first UWB signal is sent.

[0095] It should be noted that the device embodiments in this application correspond to the foregoing method embodiments. For the specific principles in the device embodiments, reference may be made to the content in the foregoing method embodiments, which will not be elaborated here.

[0096] Please refer to Figure 8 , Figure 8 FIG. shows a block diagram of an electronic device for performing the UWB positioning method according to an embodiment of the present application. The electronic device 2900 may be an electronic device such as a smart phone, a tablet computer, an e-book, a server, etc. that can run application programs. In the present application, for the electronic device 2900, the electronic device 2900 may be the foregoing object recommendation platform. The electronic device 2900 may include one or more of the following components: an antenna assembly 2940, an antenna switch 2930, a processor 2910, a memory 2920, and one or more application programs, where one or more application programs may be stored in the memory 2920 and configured to be executed by one or more processors 2910. One or more programs are configured to execute the method described in the foregoing method embodiments.

[0097] The antenna assembly 2940 includes a first antenna, a second antenna, and a third antenna. The distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, and the first distance is less than the second distance.

[0098] The antenna switch 2930 is configured to switch the transmission channel to the first antenna when determining that the target is a UWB device, send a UWB signal through the first antenna, and receive the UWB signal replied by the target through the first antenna and the second antenna. The antenna switch 2930 is further configured to switch the transmission channel to the third antenna when determining that the target is a non-UWB device, send a UWB signal through the third antenna, and receive the signal reflected by the target through the second antenna.

[0099] The processor 2910 may include one or more processing cores. The processor 2910 connects various parts within the entire electronic device 2900 through various interfaces and circuits. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 2920, and by invoking data stored in the memory 2920, it performs various functions of the electronic device 2900 and processes data. Optionally, the processor 2910 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 2910 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing display content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 2910 and may be implemented separately through a communication chip.

[0100] The memory 2920 may include random access memory (RAM) and may also include read-only memory. The memory 2920 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 2920 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created during the use of the electronic device 2900 (such as phone book, audio and video data, chat record data, etc.).

[0101] Please refer to Figure 9 , which shows a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application. Program code is stored in the computer-readable medium 3000, and the program code can be called by a processor to execute the method described in the above method embodiments.

[0102] The computer-readable storage medium 3000 can be an electronic memory such as a flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium 3000 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 3000 has a storage space for program code 3010 that executes any of the method steps in the above-described method. These program codes can be read from or written into one or more computer program products. The program code 3010 can be compressed in a suitable form, for example.

[0103] Please refer to Figure 10 , which shows a structural block diagram of a computer program product 3100 provided by an embodiment of the present application. The computer program product includes a computer program / instructions 3110, and when the computer program / instructions are executed by a processor, the above-described method is implemented.

[0104] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more of the above-described modules or units can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0105] From the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by a combination of software and necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0106] After considering the specification and practicing the disclosed embodiments herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common knowledge or conventional technical means in the technical field not disclosed in the present application. It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A UWB positioning method, characterized in that, for an electronic device, the electronic device includes a first antenna, a second antenna, and a third antenna, the distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, the first distance is less than the second distance, and the second distance is not less than 5 cm; the method includes: sending a first UWB signal to a target through the first antenna; listening for a second UWB signal replied by the target to the first UWB signal through the second antenna; if the second UWB signal is monitored, determining that the target is a UWB device, and determining the relative position information between the electronic device and the target through the first antenna and the second antenna; if the second UWB signal is not monitored, determining that the target is a non-UWB device, and sending a fifth UWB signal to the target through the third antenna to make the target reflect the fifth UWB signal; receiving the fifth UWB signal reflected by the target through the second antenna; determining the relative position information between the electronic device and the target according to the fifth UWB signal and the fifth UWB signal reflected by the target.

2. The method according to claim 1, characterized in that, the determining the relative position information between the electronic device and the target through the first antenna and the second antenna includes: sending a third UWB signal to a target through the first antenna to make the target reply a fourth UWB signal according to the third UWB signal; receiving the fourth UWB signal through the first antenna and the second antenna; determining the relative position information between the electronic device and the target according to the third UWB signal, the fourth UWB signal received by the first antenna, and the fourth UWB signal received by the second antenna.

3. The method according to claim 2, characterized in that, the determining the relative position information between the electronic device and the target according to the third UWB signal, the fourth UWB signal received by the first antenna, and the fourth UWB signal received by the second antenna includes: determining the relative angle between the electronic device and the target according to the phase of the fourth UWB signal received by the first antenna and the phase of the fourth UWB signal received by the second antenna; determining the relative distance between the electronic device and the target according to the sending time of the third UWB signal, the receiving time of the third UWB signal by the target in the fourth UWB signal, the sending time of the fourth UWB signal by the target in the fourth UWB signal, and the receiving time of the fourth UWB signal received by the second antenna; taking the relative distance and the relative angle as the relative position information between the electronic device and the target.

4. The method according to claim 1, characterized in that, Determining the relative position information between the electronic device and the target object according to the fifth UWB signal and the fifth UWB signal reflected by the target object includes: Determining the relative angle between the electronic device and the target object according to the transmission direction of the fifth UWB signal and the reception direction of the fifth UWB signal reflected by the target object; Determining the relative distance between the electronic device and the target object according to the transmission time of the fifth UWB signal and the reception time of the fifth UWB signal reflected by the target object; Taking the relative distance and the relative angle as the relative position information between the electronic device and the target object.

5. The method according to claim 1, wherein, Determining that the target object is a UWB device if the second UWB signal is monitored includes: Determining that the target object is a UWB device if the second UWB signal is monitored within a preset time period after the first UWB signal is sent; Determining that the target object is a non-UWB device if the second UWB signal is not monitored includes: Determining that the target object is a non-UWB device if the second UWB signal is not monitored within a preset time period after the first UWB signal is sent.

6. The method according to any one of claims 1-5, wherein, The third antenna is a radar antenna, and the first distance is not greater than half of the wavelength of the signal transmitted and received by the first antenna.

7. A UWB positioning device, wherein, For an electronic device, the electronic device includes a first antenna, a second antenna, and a third antenna. The distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, the first distance is less than the second distance, and the second distance is not less than 5 cm; the device includes: A sending module, configured to send a first UWB signal to a target object through the first antenna; A monitoring module, configured to monitor, through the second antenna, a second UWB signal replied by the target object to the first UWB signal; A measuring module, configured to determine that the target object is a UWB device if the second UWB signal is monitored, and determine the relative position information between the electronic device and the target object through the first antenna and the second antenna; The measuring module is further configured to determine that the target object is a non-UWB device if the second UWB signal is not monitored, and send a fifth UWB signal to the target object through the third antenna to enable the target object to reflect the fifth UWB signal; receive the fifth UWB signal reflected by the target object through the second antenna; determine the relative position information between the electronic device and the target object according to the fifth UWB signal and the fifth UWB signal reflected by the target object.

8. An electronic device, wherein, includes: One or more processors; A memory; The first antenna, the second antenna, and the third antenna, wherein the distance between the first antenna and the second antenna is less than a first distance, the distance between the second antenna and the third antenna is greater than a second distance, and the first distance is less than the second distance; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1-6.

9. A computer-readable storage medium, Characterized in that, The computer-readable storage medium stores program code, and the program code can be called by a processor to execute the method according to any one of claims 1-6.

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