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

Abstract

The application discloses a positioning method, a positioning device, an electronic device and a readable storage medium, and belongs to the technical field of positioning. The positioning method is used for a first device, the first device is connected with a second device, the first device comprises a first antenna, and the positioning method comprises the following steps: sending a difference beam signal through the first antenna, so that the second device transmits a first feedback signal in response to the difference beam signal; determining direction information of the second device in response to the first feedback signal; sending a sum beam signal according to the direction information, so that the second device transmits a second feedback signal in response to the sum beam signal; and determining first positioning information of the second device according to the direction information and distance information in response to the second feedback signal, wherein the distance information is associated with the second feedback signal.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of positioning, and particularly relates to a positioning method, a positioning device, an electronic device and a readable storage medium. BACKGROUND

[0002] In the related art, the positioning function of an electronic device is realized by receiving electromagnetic signals from multiple base stations, which has a high requirement for clock synchronization of the base stations and terminal devices, and the positioning information has certain errors due to the signal delay difference of multiple base stations. SUMMARY

[0003] Embodiments of the present application provide a positioning method, a positioning device, an electronic device and a readable storage medium, which realize positioning of a second device by a single first device, avoid transmission delay caused by multiple base stations and multiple transmission paths in the related art, and reduce the clock synchronization requirement between adjacent base stations.

[0004] In a first aspect, embodiments of the present application provide a positioning method for a first device, the first device being connected with a second device, the first device comprising a first antenna, the positioning method comprising: sending, by the first antenna, a difference beam signal, so that the second device transmits a first feedback signal in response to the difference beam signal; determining, in response to the first feedback signal, direction information of the second device; sending a sum beam signal according to the direction information, so that the second device transmits a second feedback signal in response to the sum beam signal; and determining, in response to the second feedback signal, first positioning information of the second device according to the direction information and distance information, the distance information being associated with the second feedback signal.

[0005] In a second aspect, embodiments of the present application provide a positioning method for a second device, the second device being connected with a first device, the positioning method comprising: receiving a difference beam signal from the first device; sending a first feedback signal to the first device, so that the first device determines direction information of the second device in response to the first feedback signal, and sends a sum beam signal according to the direction information; receiving the sum beam signal from the first device; and sending a second feedback signal to the first device, so that the first device determines first positioning information of the second device according to the direction information and distance information in response to the second feedback signal, the distance information being associated with the second feedback signal.

[0006] In a third aspect, an embodiment of the present application provides a positioning apparatus for a first device, the first device being connected with a second device, the first device comprising a first antenna, the positioning apparatus comprising: a first sending module configured to send a difference beam signal through the first antenna, so that the second device transmits a first feedback signal in response to the difference beam signal; a first determining module configured to determine direction information of the second device in response to the first feedback signal; the first sending module is further configured to send a sum beam signal according to the direction information, so that the second device transmits a second feedback signal in response to the sum beam signal; and the first determining module is further configured to determine first positioning information of the second device according to the direction information and distance information associated with the second feedback signal in response to the second feedback signal.

[0007] In a fourth aspect, an embodiment of the present application provides a positioning apparatus for a second device, the second device being connected with a first device, the positioning apparatus comprising: a receiving module configured to receive a difference beam signal from the first device; a second sending module configured to send a first feedback signal to the first device, so that the first device determines direction information of the second device in response to the first feedback signal and sends a sum beam signal according to the direction information; the receiving module is further configured to receive the sum beam signal from the first device; and the second sending module is further configured to send a second feedback signal to the first device, so that the first device determines first positioning information of the second device according to the direction information and distance information associated with the second feedback signal in response to the second feedback signal.

[0008] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, the memory being capable of running programs or instructions on the processor, and the programs or instructions being executed by the processor to implement the steps of the method according to the first aspect and the second aspect.

[0009] In a sixth aspect, an embodiment of the present application provides a readable storage medium, the readable storage medium storing programs or instructions, the programs or instructions being executed by a processor to implement the steps of the method according to the first aspect and the second aspect.

[0010] In a seventh aspect, an embodiment of the present application provides a chip, the chip comprising a processor and a communication interface, the communication interface being coupled with the processor, the processor being configured to run programs or instructions to implement the steps of the method according to the first aspect and the second aspect.

[0011] In an eighth aspect, an embodiment of the present application provides a computer program product, the program product being stored in a storage medium, and the program product being executed by at least one processor to implement the method according to the first aspect and the second aspect.

[0012] In the embodiments of the present application, the first device interacts with the second device by transmitting the sum beam signal, and can determine the direction information of the second device relative to the first device. After determining the direction information, the first device adjusts the direction of the transmitted sum beam signal according to the direction information. After adjustment, the first device interacts with the second device by transmitting the sum beam signal, and can determine the distance information of the second device relative to the first device. The first device can accurately determine the position of the second device according to the direction information and the distance information.

[0013] The embodiments of the present application realize the Ultra Wide Band (UWB) technology by using the single pulse method, realize the positioning of the second device by a single first device, avoid the transmission delay caused by multiple base stations and multiple transmission paths in the related art, and reduce the clock synchronization requirement between adjacent base stations. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 A schematic diagram of a positioning system provided by the embodiments of the present application is shown;

[0015] Figure 2 One of the flowcharts of the positioning method provided by the embodiments of the present application is shown;

[0016] Figure 3 A positioning schematic diagram of the second device provided by the embodiments of the present application is shown;

[0017] Figure 4 A schematic diagram of the sum beam and the difference beam provided by the embodiments of the present application is shown;

[0018] Figure 5 A sum beam direction schematic diagram of the first antenna provided by the embodiments of the present application is shown;

[0019] Figure 6 The second of the flowcharts of the positioning method provided by the embodiments of the present application is shown;

[0020] Figure 7 One of the structural block diagrams of the positioning apparatus according to the embodiments of the present application is shown;

[0021] Figure 8 The second of the structural block diagrams of the positioning apparatus provided by the embodiments of the present application is shown;

[0022] Figure 9 The structural block diagram of the electronic device provided by the embodiments of the present application is shown;

[0023] Figure 10 The hardware structure schematic diagram of an electronic device provided by the embodiments of the present application is shown. DETAILED DESCRIPTION

[0024] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly described. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art are within the scope of the present application.

[0025] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0026] The positioning method, the positioning device, the electronic device and the storage medium provided by the embodiments of the present application will be described in detail below in combination with the accompanying drawings. Figures 1 to 10 The positioning method, the positioning device, the electronic device and the storage medium provided by the embodiments of the present application will be described in detail below in combination with the accompanying drawings.

[0027] The embodiments of the present application provide a positioning method, and the positioning method is applied to a first device. Figure 1 The schematic diagram of the positioning system provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the positioning system 100 includes a first device 102 and a second device 104, the first device 102 is connected with the second device 104, the first device includes a first antenna, the first device 102 is installed at a fixed position in a room, the first antenna can emit a beam signal 106 and can also emit a difference beam signal 108. It is worth noting that the first device 102 is an indoor positioning base station, and the first antenna is a single pulse antenna. Figure 1

[0028] The flowchart of the positioning method provided by the embodiments of the present application is shown in FIG. 2. As shown in FIG. 2, the positioning method includes the following steps. Figure 2 Figure 2

[0029] Step 202, sending a difference beam signal through the first antenna, so that the second device transmits a first feedback signal in response to the difference beam signal;

[0030] Step 204, determining direction information of the second device in response to the first feedback signal;

[0031] The direction information is the direction of the second device relative to the first device.

[0032] ​​In step 206, the and-beam signal is transmitted according to the direction information, so that the second device transmits a second feedback signal in response to the and-beam signal;

[0033] In step 208, the first positioning information of the second device is determined according to the direction information and distance information associated with the second feedback signal, in response to the second feedback signal.

[0034] In the embodiments of the present application, the first device interacts with the second device by transmitting the difference-beam signal, and can determine the direction information of the second device relative to the first device. After determining the direction information, the first device adjusts the direction of transmitting the and-beam signal according to the direction information. After the adjustment, the first device interacts with the second device by transmitting the and-beam signal, and can determine the distance information of the second device relative to the first device. The first device can accurately determine the position of the second device according to the direction information and the distance information.

[0035] Specifically, the first device continuously outputs the difference-beam signal through the first antenna. The second device can transmit a corresponding first feedback signal to the first device upon receiving the difference-beam signal. The first device can determine the direction information of the second device relative to the first device according to the first feedback signal transmitted by the second device. After receiving the first feedback signal, the first device starts to output the and-beam signal. Before outputting the and-beam signal, the first device adjusts the direction of outputting the and-beam signal according to the direction information, so that the maximum radiation direction of the output and-beam signal can be aligned with the second device. The second device can transmit a second feedback signal to the first device according to the and-beam signal after receiving the and-beam signal. The first device can determine the distance information of the second device relative to the first device after receiving the second feedback signal. Since the position of the first device is fixed, the first device can determine the position of the second device according to the position information of the first device, the direction information determined through the difference-beam signal, and the distance information determined through the and-beam signal.

[0036] Exemplarily, the first device is selected as a base station, the base station is provided with a first antenna, the first antenna is selected as a single-pulse antenna, and the working mode of the first antenna includes a sum beam mode and a difference beam mode. The second device is selected as a mobile phone. The base station is fixedly arranged at any position in a room, and the position of the base station is recorded. The base station continuously operates in the difference beam mode, that is, continuously emits a difference beam signal into the free space in the room through the first antenna. The mobile phone enters the free space, can receive the difference beam signal, and sends a corresponding first feedback signal to the base station in response to the difference beam signal. At this time, the base station switches to the sum beam mode, and determines the direction information of the mobile phone relative to the base station according to the first feedback signal, and the base station sends a sum beam signal to the direction of the mobile phone. After the mobile phone receives the sum beam signal, the mobile phone sends a second feedback signal to the base station in response to the sum beam signal, and the base station can determine the distance information of the mobile phone relative to the base station according to the second feedback signal. The base station can determine the position of the mobile phone according to the position of the base station, the direction information and the distance information.

[0037] In the related art, the positioning technology of electronic devices such as mobile phones mainly relies on the electromagnetic wave transmission time between targets. The electromagnetic wave is emitted to the free space through a transmitting antenna, and then a position signal is obtained by multiple receiving antennas. Since the delay of the electromagnetic wave emitted by the target is different in different directions, the distance of the target measured by the multiple receiving antennas will bring a certain positioning error due to the delay difference in different directions, and the electronic device needs to be positioned based on multiple base stations, and the clock synchronization requirement between the base station and the electronic device is high.

[0038] Embodiments of the present application realize the Ultra Wide Band (UWB) technology by using the single-pulse method, realize the positioning of the second device by the single first device, avoid the transmission delay caused by multiple base stations and multiple transmission paths in the related art, and at the same time reduce the clock synchronization requirement between adjacent base stations.

[0039] In some embodiments of the present application, the number of difference beam signals is at least two.

[0040] It is worth noting that the first antenna emits at least two difference beam signals to determine the direction information of the second device relative to the first device. By increasing the number of difference beam signals, the accuracy of determining the direction information can be improved.

[0041] In response to the first feedback signal, the direction information of the second device is determined, including: obtaining the direction information in the first feedback signal.

[0042] In the embodiments of the present application, the direction information of the second device relative to the first device needs to be determined according to at least two difference beam signals. The second device is selected as an electronic device such as a mobile phone or a tablet computer, and the calculation steps of determining the direction information can be executed by the second device.

[0043] The first device transmits at least two difference beam signals to the free space where the second device is located. Based on the phase and gain information of the at least two difference beam signals, the second device calculates the offset of its radiation center position relative to the first device's transmitted beam, i.e., the directional information of the second device relative to the first device. The calculated directional information is then transmitted to the first device via a first feedback signal. Upon receiving the first feedback signal, the first device obtains the directional information of the second device relative to itself.

[0044] Figure 3 A schematic diagram of the positioning of the second device provided in an embodiment of this application is shown, as follows: Figure 3 As shown, the first device is selected as a base station, and the second device is selected as a mobile phone. The first antenna transmits a first differential beam signal 302 and a second differential beam signal 304 into free space, and the mobile phone 306 is located within the range of the first differential beam signal 302. Based on the phase information and gain information of the received first differential beam signal 302 and second differential beam signal 304, the mobile phone 306 can calculate the offset between the center position of the transmitted beam signal from the first antenna, i.e., the directional information of the mobile phone relative to the base station. It is worth noting that the sum beam signal 308 transmitted by the first antenna is located between the first differential beam signal 302 and the second differential beam signal 304.

[0045] Figure 4 The diagram illustrates the sum and difference beams provided in the embodiments of this application, as shown below. Figure 4 As shown, the first antenna can operate simultaneously in sum beam mode and difference beam mode. Using a sum-difference feeding network to feed the antenna array of the first antenna, the first antenna can switch between sum beam mode and difference beam mode via the feeding network. That is, the first antenna can transmit sum directional beam signal 402 and difference directional beam signal 404.

[0046] In this embodiment of the application, after the second device receives at least two difference beam signals, it can calculate the direction information of the second device relative to the first device based on the difference beam signals, and send the direction information to the first device through the first feedback signal, thereby reducing the calculation pressure on the first device when locating the second device.

[0047] In some embodiments of this application, the number of difference beam signals is at least two, and in response to the first feedback signal, the direction information of the second device is determined, including:

[0048] The phase information and gain information in the first feedback signal are obtained, where the phase information and gain information are the signal phase and signal strength of at least two differential beam signals received by the second device; the direction information is determined based on the at least two phase information and at least two gain information.

[0049] In the embodiments of the present application, the direction information of the second device relative to the first device needs to be determined according to at least two difference beam signals. The second device is selected as an electronic device such as a mobile phone or a tablet computer. After receiving the at least two difference beam signals, the second device can determine the phase information and gain information of the at least two difference beam signals, and send the phase information and gain information of the at least two difference beam signals to the second device through a first feedback signal.

[0050] The first device sends at least two difference beam signals to the free space where the second device is located. After receiving the at least two difference beam signals, the second device determines the phase information and gain information of the at least two difference beam signals. The phase information and gain information of the at least two difference beam signals are sent to the first device through a first feedback signal. The first device calculates the offset of the second device relative to the radiation center position of the first device transmitting beam according to the phase information and gain information, that is, the direction information of the second device relative to the first device.

[0051] In the embodiments of the present application, after the second device receives the at least two difference beam signals, the second device can determine the phase information and gain information of the at least two difference beam signals, and send the phase information and gain information of the at least two difference beam signals to the first device through a first feedback signal. The first device can calculate the direction information of the second device relative to the first device according to the received phase information and gain information. In the case that the computing power of the second device is insufficient, the direction information of the second device relative to the first device is calculated by the first device.

[0052] In some embodiments of the present application, the first antenna includes a phase shifter, and the transmitting and beam signal according to the direction information includes:

[0053] According to the direction information, the relative angle information of the second device and the first device is determined. According to the relative angle information, the phase shift parameter of the phase shifter is configured. The transmitting and beam signal is sent through the first antenna.

[0054] In the embodiments of the present application, the phase shifter is arranged in the first antenna. The phase of the beam signal emitted by the multiple output ends of the first antenna can be adjusted through the phase shifter, so as to adjust the maximum radiation direction of the beam emitted by the first antenna.

[0055] Specifically, after the first device obtains the direction information of the second device relative to the first device, the relative angle information can be determined according to the direction information, the relative angle information including a relative angle of the second device relative to the first device, that is, a relative angle of the second device relative to a maximum radiation direction of the current beam signal transmitted by the first device. According to the relative angle, the direction of the beam signal transmitted by the first antenna can be determined, and the phase shift parameter of the phase shifter is configured accordingly, so as to change the phase of the beam signal transmitted by the multiple output ends of the first antenna, so that the maximum radiation direction of the beam signal transmitted by the first antenna can be directly opposite to the second device, thereby facilitating the subsequent determination of the distance of the second device relative to the first device according to the beam signal.

[0056] Figure 5 The beam direction of the first antenna provided by the embodiment of the application is shown in the figure. Figure 5 As shown in the figure, the first antenna 500 has multiple output ends 502, and the direction of the beam signal transmitted by each output end can be controlled by the corresponding phase shifter 504. The current transmission angle of the beam signal is θ1, and the target transmission angle of the beam signal is θ2, which is determined according to the direction information. Then, the phase shift parameter of the phase shifter is adjusted to move the current transmission angle to the target transmission angle.

[0057] In the embodiment of the application, by adjusting the phase shift parameter of the phase shifter of the first antenna, the maximum radiation direction of the beam signal output by the first antenna can be adjusted. Before controlling the first antenna to transmit the beam signal, the maximum radiation direction of the beam signal is adjusted to be directly opposite to the second device by controlling the phase shifter, so as to improve the accuracy of the distance information determined according to the beam signal.

[0058] In some embodiments of the application, before determining the first positioning information of the second device according to the direction information and the distance information in response to the second feedback signal, the following steps are included:

[0059] The signal power information in the second feedback signal is obtained, the signal power information being the signal power of the beam signal received by the second device; and the distance information is determined according to the signal power information.

[0060] In the embodiment of the application, the first device can calculate the distance information of the second device relative to the first device according to the signal power information of the beam signal received by the second device. After receiving the beam signal, the second device can determine the signal power information of the beam signal, and the second device transmits the signal power information of the beam signal back to the first device through the second feedback signal. The first device can determine the distance information of the second device relative to the first device according to the signal power information.

[0061] Specifically, the first device is selected as a base station, and the second device is selected as a mobile phone. The base station adjusts the phase shift parameter of the phase shifter according to the direction information, so that the maximum radiation direction of the sum beam emitted by the first antenna of the base station is aligned with the mobile phone. After the mobile phone receives the sum beam signal, the mobile phone feeds back the signal power information of the sum beam signal to the base station, and the base station calculates the distance between the mobile phone and the base station according to the signal power information.

[0062] In the embodiments of the present application, the first device can accurately calculate the distance information of the second device relative to the first device according to the signal power information of the sum beam signal fed back by the second device, thereby improving the accuracy of the first positioning information determined according to the distance information and the direction information.

[0063] In some embodiments of the present application, in response to the second feedback signal, the first positioning information is determined according to the distance information and the direction information, including:

[0064] obtaining second positioning information of the first device; determining relative position information of the second device relative to the first device according to the distance information and the direction information; and determining the first positioning information of the second device according to the relative position information and the second positioning information.

[0065] In the embodiments of the present application, the first device is arranged at a fixed position in a room, and the second positioning information of the first device is pre-stored in the first device. The first device can determine the relative position information of the second device relative to the first device according to the distance information and the direction information of the second device relative to the first device. The first positioning information of the second device can be determined according to the second positioning information and the relative position information.

[0066] Specifically, the first device is selected as a base station arranged fixedly in a device, the base station can obtain the second positioning information of the base station through networking or the like, and the base station can also determine the relative position information between the second device and the first device according to the direction information and the distance information fed back by the first device, thereby determining the first positioning information of the second device.

[0067] For example, the second positioning information of the first device is a positioning coordinate (X, Y, Z), and the relative position information between the second device and the first device determined through the direction information and the distance information is a coordinate distance (+x, -y, +z), and the first positioning information of the second device can be determined as a positioning coordinate (X+x, Y-y, Z+z).

[0068] In the embodiments of the present application, the first antenna position of the first device is fixed and known, the direction information of the second device relative to the first device is determined through the difference beam, the distance information of the second device relative to the first device is determined through the sum beam, and the position of the second device can be determined through the above direction information and distance information, thereby realizing high-precision positioning of the second device.

[0069] In some embodiments of the present application, in response to the second feedback signal, the first positioning information of the second device is determined according to the direction information, and then the first positioning information is sent to the second device.

[0070] In the embodiments of the present application, after the first positioning information of the second device is acquired by the first device, the first positioning information is sent to the second device, so that the second device can acquire the position information of itself in time.

[0071] In the embodiments of the present application, a positioning method is provided, and the positioning method is applied to a second device. A first device is connected to the second device, and the first device includes a first antenna. The first antenna is installed at a fixed position in a room, and the first antenna can emit a sum beam signal and a difference beam signal. It is worth noting that the first device is an indoor positioning base station, and the first antenna is a single-pulse antenna. Figure 6 A flowchart of the positioning method provided by the embodiments of the present application is shown in FIG. 2. As shown in FIG. 2, the positioning method includes the following steps. Figure 6

[0072] In step 602, the difference beam signal emitted by the first device is received.

[0073] In step 604, a first feedback signal is sent to the first device, so that the first device determines the direction information of the second device in response to the first feedback signal, and emits the sum beam signal according to the direction information.

[0074] In step 606, the sum beam signal emitted by the first device is received.

[0075] In step 608, a second feedback signal is sent to the first device, so that the first device determines the first positioning information of the second device according to the direction information and distance information in response to the second feedback signal. The distance information is associated with the second feedback signal.

[0076] In the embodiments of the present application, the second device can receive the difference beam signal emitted by the first device, and feed back the first feedback signal to the first device, so that the first device determines the direction information and emits the sum beam signal based on the direction information. The second device receives the sum beam signal emitted by the first device, and feeds back the second feedback signal to the first device, so that the first device determines the distance information. The first device can accurately determine the position of the second device according to the direction information and the distance information.

[0077] ​Specifically, the first device continuously outputs the difference beam signals through the first antenna. The second device can send a corresponding first feedback signal to the first device upon receiving the difference beam signals. The first device can determine the direction information of the second device relative to the first device according to the first feedback signal sent by the second device. After receiving the first feedback signal, the first device starts to output the sum beam signal, and before outputting the sum beam signal, the first device adjusts the direction of the output sum beam signal according to the direction information, so that the maximum radiation direction of the output sum beam signal can be aligned with the second device. After receiving the sum beam signal, the second device can send a second feedback signal to the first device according to the sum beam signal. After receiving the second feedback signal, the first device can determine the distance information of the second device relative to the first device. Since the position of the first device is fixed, the first device can determine the position of the second device according to the position information of the first device, the direction information determined through the difference beam signal, and the distance information determined through the sum beam signal.

[0078] Embodiments of the present application implement Ultra Wide Band (UWB) technology by using a single pulse method, realize positioning of a second device by a single first device, avoid transmission delay caused by multiple base stations and multiple transmission paths in related technologies, and reduce clock synchronization requirements between adjacent base stations.

[0079] In some embodiments of the present application, the number of difference beam signals is at least two, and sending the first feedback signal to the first device includes:

[0080] determining the phase information and the gain information of the at least two difference beam signals;

[0081] sending the first feedback signal to the first device, the first feedback signal including the phase information and the gain information.

[0082] In embodiments of the present application, the first device can calculate the direction information of the second device relative to the first device according to the phase information and the gain information of the at least two difference beam signals received by the second device, that is, the calculation process is performed by the first device.

[0083] The first device sends at least two difference beam signals to the free space where the second device is located, and the second device determines the phase information and the gain information of the at least two difference beam signals after receiving the at least two difference beam signals. The phase information and the gain information of the at least two difference beam signals are sent to the first device through the first feedback signal, and the first device calculates the offset of the second device relative to the radiation center position of the first device according to the phase information and the gain information, that is, the direction information of the second device relative to the first device.

[0084] In the embodiments of the present application, after the second device receives the at least two difference beam signals, the second device can determine the phase information and the gain information of the at least two difference beam signals, and feed back the phase information and the gain information of the at least two difference beam signals to the first device through the first feedback signal. The first device can calculate the direction information of the second device relative to the first device according to the received phase information and the gain information. In the case that the computing power of the second device is insufficient, the direction information of the second device relative to the first device is calculated by the first device.

[0085] In some embodiments of the present application, the number of difference beam signals is at least two, and the first feedback signal sent to the first device includes:

[0086] According to the at least two phase information and the at least two gain information, the direction information is determined.

[0087] The first feedback signal is sent to the first device, and the first feedback signal includes the direction information.

[0088] In the embodiments of the present application, the second device can calculate the direction information of the first device relative to the second device according to the received phase information and the gain information of the at least two difference beam signals, that is, the calculation process is performed by the second device.

[0089] The first device sends at least two difference beam signals to the free space where the second device is located, and the second device calculates the offset of the second device relative to the radiation center position of the beam emitted by the first device according to the phase information and the gain information of the at least two difference beam signals, that is, the direction information of the second device relative to the first device. The calculated direction information is sent to the first device through the first feedback signal. After receiving the first feedback signal, the first device obtains the direction information of the second device relative to the first device.

[0090] In the embodiments of the present application, after the second device receives the at least two difference beam signals, the second device can calculate the direction information of the second device relative to the first device according to the difference beam signals, and send the direction information to the first device through the first feedback signal, thereby reducing the calculation pressure of the first device when positioning the second device.

[0091] In some embodiments of the present application, the second feedback signal is sent to the first device, including:

[0092] The signal power information of the beam signal is obtained, and the second feedback signal is sent to the first device, and the second feedback signal includes the signal power information, so that the first device determines the distance information according to the signal power information.

[0093] In the embodiments of the present application, the first device can calculate the distance information of the second device relative to the first device according to the signal power information of the sum beam signal received by the second device. After receiving the sum beam signal, the second device can determine the signal power information of the sum beam signal, and the second device can feed back the signal power information of the sum beam signal to the first device through the second feedback signal. The first device can determine the distance information of the second device relative to the first device according to the signal power information.

[0094] Specifically, the first device is selected as a base station, and the second device is selected as a mobile phone. The base station adjusts the phase shift parameter of the phase shifter according to the direction information, so that the maximum radiation direction of the sum beam transmitted by the first antenna of the base station is aligned with the mobile phone. After receiving the sum beam signal, the mobile phone feeds back the signal power information of the sum beam signal to the base station, and the base station calculates the distance between the mobile phone and the base station according to the signal power information.

[0095] In the embodiments of the present application, the first device can accurately calculate the distance information of the second device relative to the first device according to the signal power information of the sum beam signal fed back by the second device, and improve the accuracy of the first positioning information determined according to the distance information and the direction information.

[0096] In some embodiments of the present application, after sending the second feedback signal to the first device, the method further comprises:

[0097] Receiving the first positioning information from the second device.

[0098] In the embodiments of the present application, after the first device obtains the first positioning information of the second device, the first positioning information is sent to the second device, so that the second device can obtain the position information of itself in time.

[0099] In some embodiments of the present application, a positioning device for a first device connected with a second device is provided, the first device comprising a first antenna, Figure 7 One of the structure block diagrams of the positioning device according to the embodiments of the present application is shown as follows, Figure 7 As shown in the figure, the positioning device 700 comprises:

[0100] The first sending module 702 is configured to send a difference beam signal through the first antenna, so that the second device feeds back a first feedback signal in response to the difference beam signal;

[0101] The first determining module 704 is configured to determine the direction information of the second device in response to the first feedback signal;

[0102] The first sending module 702 is further configured to send a sum beam signal according to the direction information, so that the second device feeds back a second feedback signal in response to the sum beam signal;

[0103] The first determining module 704 is further configured to determine first positioning information of the second device according to the direction information and the distance information in response to the second feedback signal, the distance information being associated with the second feedback signal.

[0104] Embodiments of the present application implement the Ultra Wide Band (UWB) technology by using the single-pulse method, implement positioning of the second device by the single first device, avoid transmission delay caused by multiple base stations and multiple transmission paths in related technologies, and reduce the clock synchronization requirement between adjacent base stations.

[0105] In some embodiments of the present application, the number of difference beam signals is at least two.

[0106] The positioning apparatus 700 further includes:

[0107] The first obtaining module is configured to obtain direction information in the first feedback signal.

[0108] In embodiments of the present application, after the second device receives the at least two difference beam signals, the second device can calculate the direction information of the second device relative to the first device according to the difference beam signals, and send the direction information to the first device through the first feedback signal, thereby reducing the calculation pressure of the first device when positioning the second device.

[0109] In some embodiments of the present application, the number of difference beam signals is at least two.

[0110] The first obtaining module is further configured to obtain phase information and gain information in the first feedback signal, the phase information and the gain information being signal phases and signal strengths of the at least two difference beam signals received by the second device.

[0111] The first determining module 704 is further configured to determine the direction information according to the at least two phase information and the at least two gain information.

[0112] In embodiments of the present application, after the second device receives the at least two difference beam signals, the second device can determine the phase information and the gain information of the at least two difference beam signals, and return the phase information and the gain information of the at least two difference beam signals to the first device through the first feedback signal. The first device can calculate the direction information of the second device relative to the first device according to the received phase information and gain information. In the case that the calculation power of the second device is insufficient, the first device calculates the direction information of the second device relative to the first device.

[0113] In some embodiments of the present application, the first antenna includes a phase shifter.

[0114] The first determining module 704 is further configured to determine relative angle information of the second device and the first device according to the direction information.

[0115] The positioning apparatus further includes:

[0116] The configuration module is configured to configure a phase shift parameter of the phase shifter according to the relative angle information.

[0117] The first sending module 702 is further configured to send the sum beam signal through the first antenna.

[0118] In the embodiments of the present application, the maximum radiation direction of the sum beam signal output by the first antenna can be adjusted by adjusting the phase shift parameter of the phase shifter of the first antenna. Before the first antenna transmits the sum beam signal, the maximum radiation direction of the sum beam signal is adjusted to be directly opposite to the second device by controlling the phase shifter, so that the accuracy of the distance information determined according to the sum beam signal can be improved.

[0119] In some embodiments of the present application, the first determining module 704 is further configured to acquire signal power information in the second feedback signal, the signal power information being signal power of the sum beam signal received by the second device.

[0120] The first determining module 704 is further configured to determine the distance information according to the signal power information.

[0121] In the embodiments of the present application, the first device can accurately calculate the distance information of the second device relative to the first device according to the signal power information of the sum beam signal fed back by the second device, so that the accuracy of the first positioning information determined according to the distance information and the direction information can be improved.

[0122] In some embodiments of the present application, the positioning apparatus 700 further includes:

[0123] The second acquiring module is configured to acquire second positioning information of the first device.

[0124] The first determining module 704 is further configured to determine relative position information of the second device relative to the first device according to the distance information and the direction information.

[0125] The first determining module 704 is further configured to determine the first positioning information according to the relative position information and the second positioning information.

[0126] In the embodiments of the present application, the first antenna position of the first device is fixed and known, the direction information of the second device relative to the first device is determined by the difference beam, the distance information of the second device relative to the first device is determined by the sum beam, and the position of the second device can be determined according to the above direction information and distance information, so that high-precision positioning of the second device can be realized.

[0127] In some embodiments of the present application, the first sending module 702 is further configured to send the first positioning information to the second device.

[0128] In the embodiments of the present application, after the first device acquires the first positioning information of the second device, the first positioning information is sent to the second device, so that the second device can acquire the position information of itself in time.

[0129] In some embodiments of the present application, a positioning device is provided for the second device, the second device is connected with the first device, the first device includes a first antenna, Figure 8 A structural block diagram of the positioning device according to the embodiments of the present application is shown as follows. Figure 8 As shown in the figure, the positioning device 800 includes:

[0130] The receiving module 802 is configured to receive the difference beam signals from the first device;

[0131] The second sending module 804 is configured to send the first feedback signal to the first device, so that the first device determines the direction information of the second device in response to the first feedback signal, and sends the sum beam signal according to the direction information.

[0132] The receiving module 802 is further configured to receive the sum beam signal from the first device;

[0133] The second sending module 804 is further configured to send the second feedback signal to the first device, so that the first device determines the first positioning information of the second device according to the direction information and the distance information in response to the second feedback signal, the distance information being associated with the second feedback signal.

[0134] The embodiments of the present application utilize the single pulse method to realize the Ultra Wide Band (UWB) technology, realize the positioning of the second device by a single first device, avoid the transmission delay caused by multiple base stations and multiple transmission paths in the related art, and reduce the clock synchronization requirement between adjacent base stations.

[0135] In some embodiments of the present application, the number of difference beam signals is at least two, and the positioning device 800 further includes:

[0136] The second determining module is configured to determine the phase information and the gain information of the at least two difference beam signals;

[0137] The second sending module 804 is further configured to send the first feedback signal to the first device, the first feedback signal including the phase information and the gain information.

[0138] In the embodiments of the present application, after receiving the at least two difference beam signals, the second device can determine the phase information and the gain information of the at least two difference beam signals, and feed back the phase information and the gain information of the at least two difference beam signals to the first device through the first feedback signal. The first device can calculate the direction information of the second device relative to the first device according to the received phase information and the gain information. In the case that the computing power of the second device is insufficient, the direction information of the second device relative to the first device is calculated by the first device.

[0139] In some embodiments of the present application, the number of difference beam signals is at least two, and the positioning device 800 further comprises:

[0140] The second determination module is configured to determine the direction information according to the at least two phase information and the at least two gain information.

[0141] The second sending module 804 is configured to send the first feedback signal to the first device, and the first feedback signal comprises the direction information.

[0142] In the embodiments of the present application, after receiving the at least two difference beam signals, the second device can calculate the direction information of the second device relative to the first device according to the difference beam signals, and send the direction information to the first device through the first feedback signal, thereby reducing the calculation pressure of the first device when positioning the second device.

[0143] In some embodiments of the present application, the positioning device 800 further comprises:

[0144] The third acquisition module is configured to acquire the signal power information of the beam signal.

[0145] The second sending module 804 is configured to send the second feedback signal to the first device, and the second feedback signal comprises the signal power information, so that the first device determines the distance information according to the signal power information.

[0146] In the embodiments of the present application, the first device can accurately calculate the distance information of the second device relative to the first device according to the signal power information of the beam signal fed back by the second device, thereby improving the accuracy of the first positioning information determined according to the distance information and the direction information.

[0147] In some embodiments of the present application, the receiving module 802 is configured to receive the first positioning information from the second device.

[0148] In the embodiments of the present application, after the first device acquires the first positioning information of the second device, the first positioning information is sent to the second device, so that the second device can acquire the position information of itself in time.

[0149] The positioning apparatus in the embodiments of the present applicationapplicationbe an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic deviceapplicationbe a terminal or another device other than a terminal. For example, the electronic deviceapplicationbe a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), andapplicationbe a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the like, and the embodiments of the present application do not make a specific limitation.

[0150] The positioning apparatus in the embodiments of the present applicationapplicationbe a device having an operating system. The operating systemapplicationbe an Android operating system, an iOS operating system, or another possible operating system, and the embodiments of the present application do not make a specific limitation.

[0151] The positioning apparatus provided in the embodiments of the present applicationapplicationimplement the various processes achieved by the method embodiments, and thus the details are not described herein again.

[0152] Optionally, the embodiments of the present application further provide an electronic device including the positioning apparatus in any of the above embodiments, and thus has all the beneficial effects of the positioning apparatus in any of the embodiments, and the details are not described herein again.

[0153] Optionally, the embodiments of the present application further provide an electronic device including the positioning apparatus in any of the above embodiments. Figure 9 A structural block diagram of an electronic device according to the embodiments of the present application is shown in FIG. 9. Figure 9 As shown in FIG. 9, the electronic device 900 includes a processor 902, a memory 904, and a program or instruction stored in the memory 904 and executable on the processor 902. The program or instruction is executed by the processor 902 to implement the various processes of the positioning method embodiments and achieve the same technical effects, and thus the details are not described herein again.

[0154] It should be noted that the electronic device in the embodiments of the present applicationapplicationinclude the above mobile electronic device and non-mobile electronic device.

[0155] It should be noted that the electronic device in the embodiments of the present applicationapplicationinclude the above mobile electronic device and non-mobile electronic device.Figure 10 A hardware structure schematic diagram of an electronic device according to an embodiment of the present application.

[0156] The electronic device 1000 includes, but is not limited to, a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, and a processor 1010, etc.

[0157] Those skilled in the art can understand that the electronic device 1000 can also include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 1010 through a power management system, so as to realize the functions of managing charging, discharging, and power consumption management through the power management system. Figure 10 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than the figure, or combine certain components, or different component arrangements, which are not described here.

[0158] In the case where the electronic device 1000 is a first device, the processor 1010 is configured to transmit a difference beam signal through a first antenna, so that a second device transmits a first feedback signal in response to the difference beam signal;

[0159] The processor 1010 is configured to determine direction information of the second device in response to the first feedback signal.

[0160] The processor 1010 is further configured to transmit a sum beam signal according to the direction information, so that the second device transmits a second feedback signal in response to the sum beam signal.

[0161] The processor 1010 is further configured to determine first positioning information of the second device according to the direction information and distance information in response to the second feedback signal, the distance information being associated with the second feedback signal.

[0162] Embodiments of the present application utilize a single pulse method to implement Ultra Wide Band (UWB) technology, to realize positioning of a second device through a single first device, to avoid transmission delay caused by multiple base stations and multiple transmission paths in related technologies, and to reduce clock synchronization requirements between adjacent base stations.

[0163] Further, the number of difference beam signals is at least two.

[0164] The processor 1010 is configured to obtain direction information in the first feedback signal.

[0165] In the embodiment of the present application, after the second device receives the at least two difference beam signals, the direction information of the second device relative to the first device can be calculated according to the difference beam signals, and the direction information is sent to the first device through the first feedback signal, thereby reducing the calculation pressure of the first device when positioning the second device.

[0166] Further, the processor 1010 is configured to acquire phase information and gain information in the first feedback signal, the phase information and the gain information being signal phases and signal strengths of the at least two difference beam signals received by the second device.

[0167] The processor 1010 is configured to determine the direction information according to the at least two phase information and the at least two gain information.

[0168] In the embodiment of the present application, after the second device receives the at least two difference beam signals, the phase information and the gain information of the at least two difference beam signals can be determined, and the phase information and the gain information of the at least two difference beam signals are fed back to the first device through the first feedback signal. The first device can calculate the direction information of the second device relative to the first device according to the received phase information and gain information. In the case that the computing power of the second device is insufficient, the direction information of the second device relative to the first device is calculated by the first device.

[0169] Further, the first antenna includes a phase shifter, and the processor 1010 is configured to determine relative angle information of the second device and the first device according to the direction information.

[0170] The processor 1010 is configured to configure a phase shift parameter of the phase shifter according to the relative angle information.

[0171] The processor 1010 is configured to send the and-beam signal through the first antenna.

[0172] In the embodiment of the present application, by adjusting the phase shift parameter of the phase shifter of the first antenna, the maximum radiation direction of the and-beam signal output by the first antenna can be adjusted. Before the and-beam signal is emitted by the first antenna, the maximum radiation direction of the and-beam signal is adjusted to face the second device by controlling the phase shifter, thereby improving the accuracy of the distance information determined according to the and-beam signal.

[0173] Further, the processor 1010 is configured to acquire signal power information in the second feedback signal, the signal power information being signal power of the and-beam signal received by the second device.

[0174] The processor 1010 is configured to determine the distance information according to the signal power information.

[0175] In the embodiments of the present application, the first device can accurately calculate the distance information of the second device relative to the first device according to the signal power information of the sum beam signal fed back by the second device, and improve the accuracy of the first positioning information determined according to the distance information and the direction information.

[0176] Further, the processor 1010 is configured to acquire second positioning information of the first device.

[0177] The processor 1010 is configured to determine relative position information of the second device relative to the first device according to the distance information and the direction information.

[0178] The processor 1010 is configured to determine the first positioning information according to the relative position information and the second positioning information.

[0179] In the embodiments of the present application, the first antenna position of the first device is fixed and known, the direction information of the second device relative to the first device is determined by the difference beam, the distance information of the second device relative to the first device is determined by the sum beam, and the position of the second device can be determined by the above direction information and distance information, thereby realizing high-precision positioning of the second device.

[0180] Further, the processor 1010 is configured to send the first positioning information to the second device.

[0181] In the embodiments of the present application, after the first device acquires the first positioning information of the second device, the first positioning information is sent to the second device, so that the second device can acquire its own position information in time.

[0182] In the case that the electronic device 1000 is the second device, the processor 1010 is configured to receive the difference beam signal from the first device.

[0183] The processor 1010 is configured to send a first feedback signal to the first device, so that the first device determines the direction information of the second device in response to the first feedback signal, and sends the sum beam signal according to the direction information.

[0184] The processor 1010 is configured to receive the sum beam signal from the first device.

[0185] The processor 1010 is configured to send a second feedback signal to the first device, so that the first device determines the first positioning information of the second device according to the direction information and the distance information in response to the second feedback signal, and the distance information is associated with the second feedback signal.

[0186] Embodiments of the present application utilize a single pulse method to implement ultra wide band (UWB) technology, enabling a single first device to locate a second device, avoiding transmission delays caused by multiple base stations and multiple transmission paths in related technologies, while reducing the clock synchronization requirements between adjacent base stations.

[0187] In some embodiments of the present application, the number of difference beam signals is at least two, and the processor 1010 is configured to determine phase information and gain information of the at least two difference beam signals.

[0188] The processor 1010 is configured to send a first feedback signal to the first device, and the first feedback signal includes the phase information and the gain information.

[0189] In embodiments of the present application, after the second device receives the at least two difference beam signals, the second device can determine the phase information and the gain information of the at least two difference beam signals, and feed back the phase information and the gain information of the at least two difference beam signals to the first device through the first feedback signal. The first device can calculate the direction information of the second device relative to the first device according to the received phase information and gain information. In the case that the computing power of the second device is insufficient, the first device can calculate the direction information of the second device relative to the first device.

[0190] In some embodiments of the present application, the number of difference beam signals is at least two, and the processor 1010 is configured to determine the direction information according to the at least two phase information and the at least two gain information.

[0191] The processor 1010 is configured to send a first feedback signal to the first device, and the first feedback signal includes the direction information.

[0192] In embodiments of the present application, after the second device receives the at least two difference beam signals, the second device can calculate the direction information of the second device relative to the first device according to the difference beam signals, and send the direction information to the first device through the first feedback signal, thereby reducing the calculation pressure of the first device when locating the second device.

[0193] In some embodiments of the present application, the processor 1010 is configured to obtain signal power information of the sum beam signal.

[0194] The processor 1010 is configured to send a second feedback signal to the first device, and the second feedback signal includes the signal power information, so that the first device can determine distance information according to the signal power information.

[0195] In embodiments of the present application, the first device can accurately calculate the distance information of the second device relative to the first device according to the signal power information of the sum beam signal fed back by the second device, thereby improving the accuracy of the first positioning information determined according to the distance information and the direction information.

[0196] In some embodiments of the present application, the processor 1010 is configured to receive the first positioning information from the second device.

[0197] In some embodiments of the present application, after the first device obtains the first positioning information of the second device, the first positioning information is transmitted to the second device, so that the second device can obtain its own position information in time.

[0198] It should be understood that in some embodiments of the present application, the input unit 1004 can include a graphics processing unit (GPU) 10041 and a microphone 10042. The graphics processing unit 10041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1006 can include a display panel 10061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072. The touch panel 10071 is also called a touch screen. The touch panel 10071 can include at least two parts of a touch detection device and a touch controller. The other input devices 10072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a trackball, a mouse, an operation lever, and the like, which will not be described here.

[0199] The memory 1009 can be used to store software programs and various data. The memory 1009 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), etc. In addition, the memory 1009 can include a volatile memory or a non-volatile memory, or the memory 1009 can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 1009 in the embodiments of the present application includes but is not limited to these and any other suitable types of memories.

[0200] The processor 1010 can include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 1010.

[0201] The embodiments of the present application also provide a readable storage medium, and the readable storage medium stores programs or instructions, the programs or instructions are executed by a processor to realize various processes of the above-mentioned method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[0202] The processor is a processor in the electronic device in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0203] The chip provided in the embodiments of the present application includes a processor and a communication interface. The communication interface is coupled with the processor. The processor is configured to execute programs or instructions to implement various processes of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0204] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip, etc.

[0205] The embodiments of the present application provide a computer program product stored in a storage medium. The program product is executed by at least one processor to implement various processes of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0206] It should be noted that in this document, the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such a process, method, article, or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article, or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to the order of performing the functions as shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from the described order, and various steps can be added, omitted, or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0207] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, or network device, etc.) execute the methods of various embodiments of the present application.

[0208] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims.

Claims

1. A positioning method for a first device, the method comprising: The first device is connected with a second device, the first device comprises a first antenna, and the positioning method comprises: sending, by the first antenna, difference beam signals for the second device to return first feedback signals in response to the difference beam signals; determining, in response to the first feedback signals, direction information of the second device, the direction information being a direction of the second device relative to the first device; sending, according to the direction information, a sum beam signal for the second device to return second feedback signals in response to the sum beam signal; determining, in response to the second feedback signals, first positioning information of the second device according to the direction information and distance information, the distance information being associated with the second feedback signals, the second feedback signals comprising signal power information of the sum beam signal for the first device to determine the distance information according to the signal power information; the number of the difference beam signals is at least two, and the determining, in response to the first feedback signals, the direction information of the second device comprises: obtaining the direction information in the first feedback signals, the direction information being an offset of the second device relative to a radiation center position of a beam emitted by the first device, calculated by the second device according to phase information and gain information of at least two of the difference beam signals.

2. The positioning method according to claim 1, characterized in that, The determining, in response to the first feedback signals, the direction information of the second device further comprises: obtaining phase information and gain information in the first feedback signals, the phase information and the gain information being signal phases and signal strengths of at least two of the difference beam signals received by the second device; determining the direction information according to at least two of the phase information and at least two of the gain information.

3. The positioning method of claim 1, wherein, The first antenna comprises a phase shifter, and the sending, according to the direction information, a sum beam signal comprises: determining, according to the direction information, relative angle information of the second device and the first device; configuring a phase shift parameter of the phase shifter according to the relative angle information; sending, by the first antenna, the sum beam signal.

4. The positioning method according to any one of claims 1 to 3, characterized in that, Before the determining, in response to the second feedback signals, the first positioning information of the second device according to the direction information and distance information, comprises: obtaining signal power information in the second feedback signals, the signal power information being signal power of the sum beam signal received by the second device; determining the distance information according to the signal power information.

5. A positioning method for a second device, the method comprising: The second device is connected with a first device, comprising: receiving difference beam signals from the first device; sending first feedback signals to the first device for the first device to determine direction information of the second device in response to the first feedback signals and to send a sum beam signal according to the direction information; receiving the sum beam signal from the first device; sending a second feedback signal to the first device, for the first device to determine first positioning information of the second device according to the direction information and distance information associated with the second feedback signal, the second feedback signal comprising signal power information of the sum beam signal, for the first device to determine the distance information according to the signal power information; the number of the difference beam signals is at least two, and the sending the first feedback signal to the first device comprises: calculating, according to phase information and gain information of the at least two difference beam signals, an offset of the second device relative to a radiation center position of a transmitting beam of the first device, to obtain the direction information; sending the first feedback signal to the first device, the first feedback signal comprising the direction information.

6. The positioning method of claim 5, wherein, The sending the first feedback signal to the first device further comprises: determining phase information and gain information of the at least two difference beam signals; sending the first feedback signal to the first device, the first feedback signal comprising the phase information and the gain information.

7. The positioning method according to claim 6, characterized in that, The sending the second feedback signal to the first device comprises: obtaining signal power information of the sum beam signal; sending the second feedback signal to the first device, the second feedback signal comprising the signal power information, for the first device to determine the distance information according to the signal power information.

8. The positioning method according to any one of claims 5 to 7, characterized in that, After the sending the second feedback signal to the first device, the method further comprises: receiving first positioning information of the second device.

9. A positioning apparatus for a first device, the apparatus comprising: The first device is connected with a second device, and the first device comprises a first antenna, and the positioning apparatus comprises: a first sending module, configured to send, through the first antenna, difference beam signals, for the second device to return first feedback signals in response to the difference beam signals; a first determining module, configured to determine, in response to the first feedback signals, direction information of the second device; the first sending module is further configured to send, according to the direction information, sum beam signals, for the second device to return second feedback signals in response to the sum beam signals; the first determining module is further configured to determine, in response to the second feedback signals, first positioning information of the second device according to the direction information and distance information associated with the second feedback signals, the second feedback signals comprising signal power information of the sum beam signals, for the first device to determine the distance information according to the signal power information; the number of the difference beam signals is at least two, and the determining, in response to the first feedback signals, the direction information of the second device comprises: obtaining, from the first feedback signals, the direction information, which is an offset of the second device relative to a radiation center position of a transmitting beam of the first device, calculated by the second device according to phase information and gain information of the at least two difference beam signals.

10. A positioning apparatus for a second device, the apparatus comprising: The second device is connected with a first device, and comprises: a receiving module, configured to receive difference beam signals from the first device; a second sending module, configured to send a first feedback signal to the first device, so that the first device determines direction information of the second device in response to the first feedback signal, and sends a sum beam signal according to the direction information; the receiving module is further configured to receive the sum beam signal from the first device; the second sending module is further configured to send a second feedback signal to the first device, so that the first device determines first positioning information of the second device according to the direction information and distance information in response to the second feedback signal, the distance information is associated with the second feedback signal, the second feedback signal comprises signal power information of the sum beam signal, so that the first device determines the distance information according to the signal power information; the number of the difference beam signals is at least two, and the sending of the first feedback signal to the first device comprises: calculating offset of the second device relative to a radiation center position of a transmitting beam of the first device according to phase information and gain information of the at least two difference beam signals, to obtain the direction information; the first feedback signal sent to the first device comprises the direction information.

11. An electronic device, comprising: comprise: a memory, having a program or instruction stored thereon; a processor, configured to execute the program or instruction to implement steps of the positioning method in any one of claims 1 to 8.

12. A readable storage medium, having stored thereon a program or instructions, characterized in that, the program or instruction is executed by the processor to implement steps of the positioning method in any one of claims 1 to 8.

Images