Mobile device positioning method, device and positioning system

Abstract

The embodiment of the present application provides a positioning method and device for a mobile device, and a positioning system for a mobile device, the method comprising: sending a positioning request signal, the positioning request signal including the device identification information of the mobile device; networking with at least three movable positioning nodes that receive the positioning request signal; receiving positioning signals of the at least three movable positioning nodes; and determining the location information of the mobile device according to the positioning signal. The embodiment of the present application sends a positioning signal through a mobile device, networks with the at least three received movable positioning nodes, and determines the location information of the mobile device according to the positioning signals of the three received movable positioning nodes. No additional fixed base stations are required, reducing positioning costs.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning method, device and positioning system for a mobile device. Background Art

[0002] Outdoor positioning technology is often located through the global positioning system. With the development of science and technology, people have an increasingly strong demand for indoor positioning technology. For example, for indoor places such as large shopping malls, office buildings, indoor playgrounds, and underground parking lots, the more scenes require indoor positioning functions, the more related indoor positioning technologies often require the setting of multiple positioning base stations, and the positioning cost is relatively high. Summary of the invention

[0003] The embodiments of the present application provide a method, device and system for positioning a mobile device, which do not require additional fixed base stations and reduce the cost of positioning the mobile device.

[0004] The present invention provides a method for positioning a mobile device, the method comprising:

[0005] Sending a positioning request signal, wherein the positioning request signal includes device identification information of the mobile device;

[0006] Establishing a network with at least three movable positioning nodes that receive the positioning request signal;

[0007] receiving positioning signals of the at least three movable positioning nodes; and

[0008] The location information of the mobile device is determined according to the positioning signal.

[0009] The present application also provides a positioning device for a mobile device, the device comprising:

[0010] A first sending module, configured to send a positioning request signal, wherein the positioning request signal includes device identification information of the mobile device;

[0011] A first networking module, configured to establish a network with at least three movable positioning nodes that receive the positioning request signal;

[0012] A first receiving module, configured to receive positioning signals of the at least three movable positioning nodes; and

[0013] The first determining module is used to determine the location information of the mobile device according to the positioning signal.

[0014] The present application also provides another positioning method for a mobile device, the method comprising:

[0015] Receiving a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device;

[0016] Networking with the mobile device through at least three movable positioning nodes;

[0017] Acquiring positioning signals of the at least three movable positioning nodes;

[0018] The positioning signal is sent to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0019] The present application also provides another positioning device for a mobile device, the device comprising:

[0020] A second receiving module, configured to receive a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device;

[0021] A second networking module, used to establish a network with the mobile device through at least three movable positioning nodes;

[0022] A second acquisition module, configured to acquire positioning signals of the at least three movable positioning nodes;

[0023] The second sending module is used to send the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0024] The present application also provides a positioning system for a mobile device, the system comprising:

[0025] A mobile device, configured to send a positioning request signal, the positioning request signal including device identification information of the mobile device; network with at least three movable positioning nodes that receive the positioning request signal; receive positioning signals from the at least three movable positioning nodes; and determine location information of the mobile device according to the positioning signal;

[0026] A movable positioning node is used to receive a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device; to form a network with the mobile device through at least three movable positioning nodes; to obtain positioning signals of the at least three movable positioning nodes; and to send the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0027] The positioning method of the mobile device provided in the embodiment of the present application is to send a positioning signal through the mobile device, form a network with at least three received movable positioning nodes, and determine the location information of the mobile device according to the positioning signals received from the three movable positioning nodes. No additional fixed base stations are required, thus reducing the positioning cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of a first flow chart of a positioning method for a mobile device provided in an embodiment of the present application.

[0029] Figure 2 A second flow chart of the positioning method for a mobile device provided in an embodiment of the present application.

[0030] Figure 3 A schematic diagram of a first flow chart of another positioning method for a mobile device provided in an embodiment of the present application.

[0031] Figure 4 A second flow chart of another positioning method for a mobile device provided in an embodiment of the present application.

[0032] Figure 5 A schematic diagram of the structure of a positioning device for a mobile device provided in an embodiment of the present application.

[0033] Figure 6 A schematic structural diagram of a positioning device for another mobile device provided in an embodiment of the present application.

[0034] Figure 7 A schematic diagram of the structure of a positioning system for a mobile device provided in an embodiment of the present application.

[0035] Figure 8 This is an application scenario diagram of the positioning system for a mobile device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0037] The mobile device provided in the embodiment of the present application can be a mobile device with short-range communication technology. The mobile device can be a smart phone, a tablet computer, a gaming device, an AR (Augmented Reality) device, a car, an audio playback device, a video playback device, a notebook, a wearable device such as a watch, glasses, a helmet, an electronic bracelet, an electronic necklace, electronic clothing, and other devices.

[0038] See also Figure 1 , Figure 1 A first flow chart of a method for positioning a mobile device provided in an embodiment of the present application. The method for positioning a mobile device comprises the following steps:

[0039] 101. Send a positioning request signal, where the positioning request signal includes device identification information of a mobile device.

[0040] When a mobile device receives a positioning request signal sending instruction, it can send a positioning request signal in the form of broadcasting, wherein the positioning request signal sending instruction can be a positioning request signal sending instruction triggered when the mobile device moves to a specific area, or it can be a positioning request signal sending instruction triggered by a user, wherein the positioning request signal includes device identification information of the mobile device, each mobile device corresponds to a device identification, and the device identification can be the identity identification number of the mobile device.

[0041] The mobile device may be a mobile device with short-range communication technology, which includes but is not limited to Bluetooth communication technology, UWB (Ultra Wide Band) ultra-wideband communication technology, and WIFI (Wireless Fidelity) communication technology. This application uses a mobile device with UWB ultra-wideband communication technology as an example, and the mobile device includes a UWB antenna. UWB (Ultra Wide band) ultra-wideband communication technology is a carrier-free communication technology that uses non-sinusoidal narrow pulses from nanoseconds to picoseconds to transmit data. UWB has many advantages such as strong anti-interference performance, high transmission rate, extremely wide bandwidth, low power consumption, and low transmission power. It is mainly used in indoor communications, high-speed wireless LAN, home networks, cordless phones, security detection, location determination, radar and other fields. It can be understood that the device identification information can also be the identity identification number corresponding to the UWB antenna in the mobile device.

[0042] 102. Establish a network with at least three movable positioning nodes that receive the positioning request signal.

[0043] Among them, the movable positioning node can be a mobile device that also has short-range communication technology. Exemplarily, the movable positioning node can be a mobile device with a UWB antenna. The movable positioning node within the radiation range of the UWB antenna of the mobile device can receive the positioning request signal sent by the mobile device. The mobile device and at least three movable positioning nodes that can receive the positioning request signal form a network.

[0044] 103. Receive positioning signals from at least three movable positioning nodes.

[0045] When a positioning signal sent by a mobile device can be detected by at least three movable positioning nodes, the mobile device receives the positioning signals sent by at least three movable positioning nodes, wherein the positioning signal may include location information of the at least three positioning nodes, and the positioning signal may also be location information of the mobile device calculated based on the location information of the at least three positioning nodes.

[0046] 104. Determine the location information of the mobile device according to the positioning signal.

[0047] If the positioning signal includes the location information of at least three positioning nodes, the mobile device calculates the location information of the mobile device based on the location information of at least three positioning nodes. If the positioning signal is the location information of the mobile device calculated based on the location information of at least three positioning nodes, the mobile device determines its own location information based on the location information.

[0048] In the positioning method of a mobile device provided in the embodiment of the present application, the mobile device sends a positioning signal, forms a network with at least three received movable positioning nodes, and determines the location information of the mobile device according to the positioning signals of the three received movable positioning nodes. No additional fixed base stations are required, thus reducing positioning costs.

[0049] See also Figure 2 , Figure 2 A second flow chart of a method for positioning a mobile device provided in an embodiment of the present application, wherein the method for positioning a mobile device comprises the following steps:

[0050] 201. Send a positioning request signal, where the positioning request signal includes device identification information of a mobile device.

[0051] When a mobile device receives a positioning request signal sending instruction, it can send a positioning request signal in the form of broadcasting, wherein the positioning request signal sending instruction can be a positioning request signal sending instruction triggered when the mobile device moves to a specific area, or it can be a positioning request signal sending instruction triggered by a user, wherein the positioning request signal includes device identification information of the mobile device, each mobile device corresponds to a device identification, and the device identification can be the identity identification number of the mobile device.

[0052] The mobile device may be a mobile device with short-range communication technology, which includes but is not limited to Bluetooth communication technology, UWB (Ultra Wide Band) ultra-wideband communication technology, and WIFI (Wireless Fidelity) communication technology. This application uses a mobile device with UWB ultra-wideband communication technology as an example, and the mobile device includes a UWB antenna. UWB (Ultra Wide band) ultra-wideband communication technology is a carrier-free communication technology that uses non-sinusoidal narrow pulses from nanoseconds to picoseconds to transmit data. UWB has many advantages such as strong anti-interference performance, high transmission rate, extremely wide bandwidth, low power consumption, and low transmission power. It is mainly used in indoor communications, high-speed wireless LAN, home networks, cordless phones, security detection, location determination, radar and other fields. It can be understood that the device identification information can also be the identity identification number corresponding to the UWB antenna in the mobile device.

[0053] 202: Establish a network with at least three movable positioning nodes that receive the positioning request signal.

[0054] Among them, the movable positioning node can be a mobile device that also has short-range communication technology. Exemplarily, the movable positioning node can be a mobile device with a UWB antenna. The movable positioning node within the radiation range of the UWB antenna of the mobile device can receive the positioning request signal sent by the mobile device. The mobile device and at least three movable positioning nodes that can receive the positioning request signal form a network.

[0055] 203: Receive positioning signals from at least three movable positioning nodes.

[0056] When a positioning signal sent by a mobile device can be detected by at least three movable positioning nodes, the mobile device receives the positioning signals sent by at least three movable positioning nodes, wherein the positioning signal may include location information of the at least three positioning nodes, and the positioning signal may also be location information of the mobile device calculated based on the location information of the at least three positioning nodes.

[0057] 204. Obtain distance information between each of at least three movable positioning nodes and the mobile device according to the positioning signal to obtain at least three distance information.

[0058] 205. Generate at least three coverage areas according to at least three pieces of distance information respectively.

[0059] 206. Obtain intersection positions of at least three coverage areas.

[0060] 207 , determining the location information of the mobile device according to the location of the intersection.

[0061] Regarding steps 204 to 207:

[0062] If the positioning signal received by the mobile device includes the position information of at least three movable positioning nodes, the distance information between each of the at least three movable positioning nodes and the mobile device is obtained to obtain at least three distance information, for example, the at least three movable positioning nodes are a first movable positioning node, a second movable positioning node and a third movable positioning node, and the first distance information between the first movable positioning node and the mobile device, the second distance information between the second movable positioning node and the mobile device, and the third distance information between the third movable positioning node and the mobile device are obtained, wherein the first distance information can be obtained by calculating the first distance information based on the communication between the UWB antenna of the mobile device and the UWB antenna of the first movable positioning node, and the second distance information can be obtained by calculating the second distance information based on the UWB antenna of the mobile device. The UWB antenna of the mobile device communicates with the UWB antenna of the second movable positioning node to obtain the third distance information. The third distance information can be calculated based on the third distance information obtained by communicating with the UWB antenna of the third movable positioning node. A first coverage area is generated on a map with the first distance information as a radius and the position of the first movable positioning node as a center. A second coverage area is generated on a map with the second distance information as a radius and the position of the second movable positioning node as a center. A third coverage area is generated on a map with the third distance information as a radius and the third movable positioning node as a center. The first coverage area, the second coverage area and the third coverage area are three coverage circles located at different positions. The coordinates of the intersection of the three coverage circles on the map are obtained, and the location information of the mobile device is determined according to the coordinates of the intersection.

[0063] It should be noted that when there are multiple movable positioning nodes detected for a mobile device at the same time, there may be a situation where more than three movable positioning nodes receive the positioning request signal of the mobile device at the same time. If the number of movable positioning nodes of the mobile device detected at the same time in the list is greater than three, the strength of the communication signal between the UWB antennas of different movable positioning nodes and the UWB antenna of the mobile device can be compared, and three movable positioning nodes with stronger communication signals are determined from the multiple movable positioning nodes, and the location information of the mobile device is determined by the above method.

[0064] Of course, it is also possible to directly generate multiple coverage areas based on the distance information between multiple movable positioning nodes (the number is greater than three) and the mobile device, obtain the intersection of the multiple coverage areas, and determine the location information of the mobile device based on the intersection, so as to avoid the situation where the mobile device cannot be detected due to the change in the position of the movable positioning node during the process of obtaining the location information of the mobile device. Exemplarily, if the movable positioning nodes that simultaneously detect the mobile device are the first movable positioning node, the second movable positioning node, the third movable positioning node, and the fourth movable positioning node, four coverage areas can be obtained by the above method, the intersection coordinates of the four coverage areas on the map are obtained, and the location of the mobile device to be tested is determined based on the intersection coordinates. If in the process of determining the location information of the mobile device, the position of any one of the first movable positioning node, the second movable positioning node, the third movable positioning node, and the fourth movable positioning node changes, and the movable positioning node with the changed position cannot detect the mobile device, the location information of the mobile device is determined by the positioning information of the other three movable positioning nodes. For example, if the position of the third mobile positioning node changes, causing the UWB antenna of the third mobile positioning node to be unable to communicate with the UWB antenna of the mobile device, the location information of the mobile device can be calculated using the positioning information of the first mobile positioning node, the second mobile positioning node and the fourth mobile positioning node using the above method.

[0065] 208. Add the location information and device identification information of the mobile device to the networking positioning information list.

[0066] The networking positioning information list may be a list pre-generated by the mobile positioning node. For example, when the mobile positioning node broadcasts a positioning request signal to the surroundings and is not received by other mobile positioning nodes, the mobile positioning node generates a networking positioning information list and adds the identity number of the mobile positioning node to the networking positioning information list. If the positioning request signal can be received by one or two mobile positioning nodes when the mobile positioning node broadcasts a positioning request signal to the surroundings, it is determined whether the mobile positioning node receiving the positioning request signal has joined other networking positioning information lists. If the mobile positioning node receiving the positioning request signal has joined other networking positioning information lists, the mobile positioning node sending the positioning request signal applies to join the networking positioning information list joined by the mobile positioning node receiving the positioning request signal. If none of the mobile positioning nodes receiving the positioning request signal have joined the networking positioning information list, a target mobile positioning node is determined from two or three mobile positioning nodes to generate the networking positioning information list, and as the administrator of the networking positioning information list, the target mobile positioning node has the management authority to add, delete, modify and query the mobile positioning nodes in the network.

[0067] When the positioning request signal sent by the mobile device is received by at least three movable positioning nodes in the networking positioning information list, networking is performed with the at least three movable positioning nodes that receive the positioning request signal, and positioning signals of the at least three movable positioning nodes are received. After the location information of the mobile device is determined according to the positioning signals, the mobile device uploads the location information and device identification information to the networking positioning information list where the at least three movable positioning nodes are located, so that the mobile device serves as a movable positioning node in the networking positioning information list.

[0068] In some embodiments, adding the location information and device identification information of the mobile device to the networking positioning information list includes:

[0069] Continuously acquiring the location information of the mobile device within a preset time period;

[0070] If the change in the location of the mobile device is within a preset range within the preset time period, the location information and the device identification of the mobile device are added to the networking positioning information list.

[0071] For example, a mobile device continuously broadcasts a positioning request signal to the surroundings. If at least three movable positioning nodes can detect the positioning request signal of the mobile device within a long period of time (such as 10 minutes or 20 minutes), that is, the mobile device can receive positioning information from at least three movable positioning nodes within a preset time period (such as 10 minutes or 20 minutes), then the device identification and location information of the mobile device are added to the corresponding positioning networking information list.

[0072] In some embodiments, after adding the location information and the device identification of the mobile device to the networking positioning information list, the method further includes:

[0073] If the location information of the mobile device changes, it is determined whether the change in the location information meets the preset condition. Specifically, the following method can be used to determine whether the change in the location information meets the preset condition:

[0074] Receive positioning signals of movable positioning nodes in the networking positioning information list in real time;

[0075] Determine whether the mobile device is unable to receive a positioning signal from any movable positioning node in the networking positioning information list;

[0076] If the change in location information meets the preset conditions, the location information and device identification information of the mobile device will be deleted from the networking positioning information list. Specifically, if the mobile devices cannot receive the positioning signal of any movable positioning node in the networking positioning information list, the location information and device identification of the mobile device whose position has changed will be deleted from the networking positioning list. It can be understood that when a mobile device cannot be detected by any movable positioning node in the networking positioning information list, it proves that the mobile device has left the network communication area formed by the movable positioning node in the networking positioning information list, and the mobile device applies to be removed from the networking positioning information list to delete the device identification and location information of the mobile device from the networking positioning information list.

[0077] In some embodiments, after determining the location information of the mobile device according to the positioning signal, it also includes: implementing a positioning navigation service according to the location information.

[0078] The positioning method of a mobile device provided in an embodiment of the present application includes sending a positioning request signal, the positioning request signal including device identification information of the mobile device; networking with at least three movable positioning nodes that receive the positioning request signal; receiving positioning signals of at least three movable positioning nodes; obtaining distance information between each of the at least three movable positioning nodes and the mobile device according to the positioning signal, and obtaining at least three distance information; generating at least three coverage areas according to the at least three distance information; obtaining intersection positions of the at least three coverage areas; determining the position information of the mobile device according to the intersection position; adding the position information and device identification information of the mobile device to a networking positioning information list, and if the position information of the mobile device changes, determining whether the change in the position information meets a preset condition; if the change in the position information meets the preset condition, deleting the position information and device identification information of the mobile device from the networking positioning information list, and dynamically updating the networking positioning information list without setting up an additional fixed base station, thereby reducing the positioning cost.

[0079] See also Figure 3 , Figure 3 A schematic diagram of a first flow chart of another positioning method for a mobile device provided in an embodiment of the present application.

[0080] 301. Receive a positioning request signal sent by a mobile device, where the positioning request signal includes device identification information of the mobile device.

[0081] The mobile positioning node can receive a positioning request signal sent by a mobile device, wherein the mobile device can send a positioning request signal in the form of a broadcast when receiving a positioning request signal sending instruction, and the positioning request signal sending instruction can be a positioning request signal sending instruction triggered when the mobile device moves to a specific area, and can also be a positioning request signal sending instruction triggered by a user, wherein the positioning request signal includes device identification information of the mobile device, each mobile device corresponds to a device identification, and the device identification can be an identity identification number of the mobile device.

[0082] The movable positioning node and the mobile device may be a mobile device with short-range communication technology, and the short-range communication technology includes but is not limited to Bluetooth communication technology, UWB (Ultra Wide Band) ultra-wideband communication technology and WIFI (Wireless Fidelity) communication technology, etc. This application takes the example that both the movable positioning node and the mobile device have UWB ultra-wideband communication technology, and both the movable positioning node and the mobile device include UWB antennas. UWB (Ultra Wide band) ultra-wideband communication technology is a carrier-free communication technology that uses non-sinusoidal narrow pulses from nanoseconds to picoseconds to transmit data. UWB has many advantages such as strong anti-interference performance, high transmission rate, extremely wide bandwidth, low power consumption, and low transmission power. It is mainly used in indoor communications, high-speed wireless LAN, home networks, cordless phones, security detection, location determination, radar and other fields. It can be understood that the device identification information can also be the identity identification number corresponding to the UWB antenna in the mobile device.

[0083] 302. Networking is performed with a mobile device through at least three movable positioning nodes.

[0084] If at least three movable positioning nodes all receive the positioning request signal of the mobile device, a network can be established with the mobile device through the at least three movable positioning nodes.

[0085] 303: Acquire positioning signals of at least three movable positioning nodes.

[0086] When the positioning signal sent by the mobile device can be detected by at least three movable positioning nodes, the positioning signals of the at least three movable positioning nodes are obtained, wherein the positioning signal may include the location information of the at least three positioning nodes, and the positioning signal may also be the location information of the mobile device calculated based on the location information of the at least three positioning nodes.

[0087] 304, sending the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0088] If the positioning signal includes the location information of at least three positioning nodes, the positioning signal including the location information of at least three positioning nodes is sent to the mobile device, so that the mobile device calculates the location information of the mobile device based on the location information of at least three positioning nodes. If the positioning signal is the location information of the mobile device calculated based on the location information of at least three positioning nodes, the positioning signal including the location information of the mobile device is sent to the mobile device, so that the mobile device determines the location of the mobile device based on the location information of the mobile device.

[0089] The positioning method of the mobile device provided in the embodiment of the present application receives the positioning signal sent by the mobile device, forms a network with at least three received movable positioning nodes, and determines the location information of the mobile device according to the positioning signals of the three received movable positioning nodes. No additional fixed base stations are required, thus reducing the positioning cost.

[0090] See also Figure 4 , Figure 4 A second flow chart of another positioning method for a mobile device provided in an embodiment of the present application.

[0091] 401 , generate a networking positioning information list, and add the device identifier of the movable positioning node to the networking positioning information list.

[0092] 402, detecting a signal of a movable positioning node.

[0093] 403: Add the device identification information of at least two detected movable positioning nodes to the networking positioning information list.

[0094] Regarding steps 401 to 403:

[0095] The networking positioning information list may be a list generated by a movable positioning node. For example, when the movable positioning node broadcasts a positioning request signal to all surrounding areas and is not received by other movable positioning nodes, the movable positioning node generates a networking positioning information list and adds the identity number of the movable positioning node to the networking positioning information list. If the positioning request signal can be received by one or two movable positioning nodes when the movable positioning node broadcasts a positioning request signal to all surrounding areas, it is determined whether the movable positioning node that receives the positioning request signal has joined other networking positioning information lists. If the movable positioning node that receives the positioning request signal has joined other networking positioning information lists, the movable positioning node that sends the positioning request signal applies to join the networking positioning information list joined by the movable positioning node that receives the positioning request signal. If none of the movable positioning nodes that receive the positioning request signal have joined the networking positioning information list, a target movable positioning node is determined from two or three movable positioning nodes to generate the networking positioning information list, and as the administrator of the networking positioning information list, the target movable positioning node has the management authority to add, delete, modify and query the movable positioning nodes in the network. Through the above method, the networking positioning information list includes at least three movable positioning nodes.

[0096] 404. Receive a positioning request signal sent by a mobile device, where the positioning request signal includes device identification information of the mobile device.

[0097] The mobile positioning node can receive a positioning request signal sent by a mobile device, wherein the mobile device can send a positioning request signal in the form of a broadcast when receiving a positioning request signal sending instruction, and the positioning request signal sending instruction can be a positioning request signal sending instruction triggered when the mobile device moves to a specific area, and can also be a positioning request signal sending instruction triggered by a user, wherein the positioning request signal includes device identification information of the mobile device, each mobile device corresponds to a device identification, and the device identification can be an identity identification number of the mobile device.

[0098] The movable positioning node and the mobile device may be a mobile device with short-range communication technology, and the short-range communication technology includes but is not limited to Bluetooth communication technology, UWB (Ultra Wide Band) ultra-wideband communication technology and WIFI (Wireless Fidelity) communication technology, etc. This application takes the example that both the movable positioning node and the mobile device have UWB ultra-wideband communication technology, and both the movable positioning node and the mobile device include UWB antennas. UWB (Ultra Wide band) ultra-wideband communication technology is a carrier-free communication technology that uses non-sinusoidal narrow pulses from nanoseconds to picoseconds to transmit data. UWB has many advantages such as strong anti-interference performance, high transmission rate, extremely wide bandwidth, low power consumption, and low transmission power. It is mainly used in indoor communications, high-speed wireless LAN, home networks, cordless phones, security detection, location determination, radar and other fields. It can be understood that the device identification information can also be the identity identification number corresponding to the UWB antenna in the mobile device.

[0099] 405 , networking is performed with the mobile device through at least three movable positioning nodes.

[0100] If at least three movable positioning nodes all receive the positioning request signal of the mobile device, a network can be established with the mobile device through the at least three movable positioning nodes.

[0101] 406. Acquire positioning signals of at least three movable positioning nodes.

[0102] When the positioning signal sent by the mobile device can be detected by at least three movable positioning nodes, the positioning signals of the at least three movable positioning nodes are obtained, wherein the positioning signal may include the location information of the at least three positioning nodes, and the positioning signal may also be the location information of the mobile device calculated based on the location information of the at least three positioning nodes.

[0103] 407 : Send the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0104] If the positioning signal includes the location information of at least three positioning nodes, the positioning signal including the location information of at least three positioning nodes is sent to the mobile device, so that the mobile device calculates the location information of the mobile device based on the location information of at least three positioning nodes. If the positioning signal is the location information of the mobile device calculated based on the location information of at least three positioning nodes, the positioning signal including the location information of the mobile device is sent to the mobile device, so that the mobile device determines the location of the mobile device based on the location information of the mobile device.

[0105] In some embodiments, the mobile positioning node may calculate the location information of the mobile device according to the location information of at least three positioning nodes by the following method:

[0106] According to the position information of at least three movable positioning nodes, the distance information between each of the at least three movable positioning nodes and the mobile device is obtained to obtain at least three distance information, for example, the at least three movable positioning nodes are a first movable positioning node, a second movable positioning node and a third movable positioning node, and the first distance information between the first movable positioning node and the mobile device, the second distance information between the second movable positioning node and the mobile device, and the third distance information between the third movable positioning node and the mobile device are obtained, wherein the first distance information can be the first distance information obtained by calculating based on the communication between the UWB antenna of the mobile device and the UWB antenna of the first movable positioning node, and the second distance information can be the first distance information obtained by calculating based on the communication between the UWB antenna of the mobile device and the UWB antenna of the second movable positioning node. The third distance information can be calculated based on the third distance information obtained by communicating with the UWB antenna of the mobile device and the UWB antenna of the third movable positioning node. A first coverage area is generated on the map with the first distance information as a radius and the position of the first movable positioning node as a center. A second coverage area is generated on the map with the second distance information as a radius and the position of the second movable positioning node as a center. A third coverage area is generated on the map with the third distance information as a radius and the third movable positioning node as a center. The first coverage area, the second coverage area and the third coverage area are three coverage circles located at different positions. The coordinates of the intersection of the three coverage circles on the map are obtained, the location information of the mobile device is determined according to the coordinates of the intersection, and the positioning signal including the location information of the mobile device is sent to the mobile device.

[0107] It should be noted that when there are multiple movable positioning nodes detected for a mobile device at the same time, there may be a situation where more than three movable positioning nodes receive the positioning request signal of the mobile device at the same time. If the number of movable positioning nodes of the mobile device detected at the same time in the list is greater than three, the strength of the communication signal between the UWB antennas of different movable positioning nodes and the UWB antenna of the mobile device can be compared, and three movable positioning nodes with stronger communication signals are determined from the multiple movable positioning nodes. The location information of the mobile device is determined by the above method, and the positioning signal including the location information of the mobile device is sent to the mobile device.

[0108] Of course, it is also possible to directly generate multiple coverage areas based on the distance information between multiple movable positioning nodes (the number is greater than three) and the mobile device, obtain the intersection of the multiple coverage areas, and determine the location information of the mobile device based on the intersection, so as to avoid the situation where the mobile device cannot be detected due to the change in the position of the movable positioning node during the process of obtaining the location information of the mobile device. Exemplarily, if the movable positioning nodes that simultaneously detect the mobile device are the first movable positioning node, the second movable positioning node, the third movable positioning node, and the fourth movable positioning node, four coverage areas can be obtained by the above method, the intersection coordinates of the four coverage areas on the map are obtained, and the location of the mobile device to be tested is determined based on the intersection coordinates. If in the process of determining the location information of the mobile device, the position of any one of the first movable positioning node, the second movable positioning node, the third movable positioning node, and the fourth movable positioning node changes, and the movable positioning node with the changed position cannot detect the mobile device, the location information of the mobile device is determined by the positioning information of the other three movable positioning nodes. For example, if the position of the third mobile positioning node changes, causing the UWB antenna of the third mobile positioning node to be unable to communicate with the UWB antenna of the mobile device, the location information of the mobile device can be calculated using the positioning information of the first mobile positioning node, the second mobile positioning node and the fourth mobile positioning node using the above method.

[0109] 408, adding the location information and device identification information of the mobile device to the networking positioning information list.

[0110] After sending the positioning signal to the mobile device, the movable positioning node as the administrator adds the location information and the device identification information of the mobile device to the networking positioning information list.

[0111] In some embodiments, adding the location information and device identification information of the mobile device to the networking positioning information list includes:

[0112] Continuously acquiring the location information of the mobile device within a preset time period;

[0113] If the change in the location of the mobile device is within a preset range within the preset time period, the location information and the device identification of the mobile device are added to the networking positioning information list.

[0114] For example, a mobile device continuously broadcasts a positioning request signal to the surrounding area. If within a relatively long period of time (such as 10 minutes or 20 minutes, etc.), the administrator counts that at least three movable positioning nodes in the list can detect the positioning request signal of the mobile device, that is, the mobile device can receive the positioning information of at least three movable positioning nodes within a preset time period (such as 10 minutes or 20 minutes), then the device identification and location information of the mobile device will be added to the corresponding positioning networking information list.

[0115] In some embodiments, after adding the location information and the device identification of the mobile device to the networking positioning information list, the method further includes:

[0116] If the location information of the mobile device changes, it is determined whether the change in the location information meets the preset condition. Specifically, it can be determined whether the change in the location information meets the preset condition by the following method: the movable positioning node in the networking positioning information list sends a positioning signal to the mobile device in real time, and it is determined whether any movable positioning node in the networking positioning information list is unable to receive the positioning request signal of the mobile device;

[0117] If the change in location information meets the preset conditions, the location information and device identification information of the mobile device are deleted from the networking positioning information list. Specifically, if any movable positioning node in the networking positioning information list cannot receive the positioning signal of the mobile device, the location information and device identification of the mobile device with the changed location are deleted from the networking positioning list.

[0118] It can be understood that when the positioning request signal of a mobile device cannot be received by any movable positioning node in the networking positioning information list, it proves that the mobile device has left the network communication area formed by the movable positioning nodes in the networking positioning information list. The movable positioning node as an administrator can remove the mobile device from the networking positioning information list and delete the device identification and location information of the mobile device from the networking positioning information list.

[0119] In some embodiments, after determining the location information of the mobile device according to the positioning signal, the method further includes: providing a positioning navigation service to the mobile device according to the location information.

[0120] See also Figure 5 , Figure 5 A schematic diagram of the structure of a positioning device for a mobile device provided in an embodiment of the present application. The positioning device 500 for a mobile device includes:

[0121] A first sending module 501 is used to send a positioning request signal, where the positioning request signal includes device identification information of the mobile device;

[0122] A first networking module 502, configured to establish a network with at least three movable positioning nodes that receive the positioning request signal;

[0123] A first receiving module 503 is configured to receive positioning signals of the at least three movable positioning nodes; and

[0124] The first determining module 504 is configured to determine the location information of the mobile device according to the positioning signal.

[0125] In some embodiments, the positioning device 500 for a mobile device further comprises a first adding module 505 for adding the location information and device identification information of the mobile device to a networking positioning information list after determining the location information of the mobile device according to the positioning signal.

[0126] In some embodiments, when adding the location information and device identification information of the mobile device to the networking positioning information list, the first adding module 505 is further used to: continuously obtain the location information of the mobile device within a preset time period;

[0127] If the change in the location of the mobile device is within a preset range within the preset time period, the location information and the device identification of the mobile device are added to the networking positioning information list.

[0128] In some embodiments, the positioning device 500 of the mobile device further includes: a first determination module 506 and a first deletion module 507;

[0129] A first judgment module 506 is used to judge whether the change of the location information satisfies a preset condition if the location information of the mobile device changes after the location information and the device identification of the mobile device are added to the networking positioning information list;

[0130] The first deleting module 507 is configured to delete the location information and device identification information of the mobile device from the networking positioning information list if the change in the location information satisfies a preset condition.

[0131] In some embodiments, when determining whether the location change information satisfies a preset condition, the first determination module 506 is further configured to:

[0132] Receiving in real time the positioning signal of the movable positioning node in the networking positioning information list;

[0133] Determine whether the mobile device is unable to receive a positioning signal from any movable positioning node in the networking positioning information list;

[0134] When the location information and the device identification information of the mobile device are deleted from the networking positioning information list if the change of the location information meets the preset condition, the first deleting module 507 is further used to:

[0135] If the mobile device cannot receive the positioning signal of any movable positioning node in the networking positioning information list, the location information and device identification of the mobile device whose position has changed are deleted from the networking positioning list.

[0136] In some embodiments, when determining the location information of the mobile device according to the positioning signal, the first determination module 504 is further configured to:

[0137] Acquire distance information between each of the at least three movable positioning nodes and the mobile device according to the positioning signal to obtain at least three distance information;

[0138] Generate at least three coverage areas respectively according to the at least three distance information;

[0139] Obtaining the intersection position of the at least three coverage areas;

[0140] The location information of the mobile device is determined according to the location of the intersection.

[0141] See also Figure 6 , Figure 6 A schematic diagram of the structure of another positioning device of a mobile device provided in an embodiment of the present application. The positioning device 600 of another mobile device includes:

[0142] The second receiving module 601 is used to receive a positioning request signal sent by a mobile device, where the positioning request signal includes device identification information of the mobile device;

[0143] A second networking module 602, configured to establish a network with the mobile device through at least three movable positioning nodes;

[0144] A second acquisition module 603 is used to acquire positioning signals of the at least three movable positioning nodes;

[0145] The second sending module 604 is configured to send the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0146] In some embodiments, the positioning device 600 for a mobile device further includes: a generating module 605 and a second adding module 606;

[0147] A generating module 605 is used to generate a networking positioning information list before receiving a positioning request signal, wherein the networking positioning information list includes device identification information of at least three movable positioning nodes;

[0148] The second adding module 606 is configured to add the location information and device identification information of the mobile device to the networking positioning information list after determining the location information of the mobile device according to the positioning signal.

[0149] In some embodiments, when generating the networking location information list, the generating module 605 is further used to:

[0150] Generate a networking positioning information list, and add the device identifier of the movable positioning node to the networking positioning information list;

[0151] Detecting signals of movable positioning nodes;

[0152] The device identification information of at least two detected movable positioning nodes is added to the networking positioning information list.

[0153] In some embodiments, when adding the location information and device identification information of the mobile device to the networking positioning information list, the second adding module 606 is further used to:

[0154] Continuously acquiring the location information of the mobile device within a preset time period;

[0155] If the change in the location of the mobile device is within a preset range within the preset time period, the location information and the device identification of the mobile device are added to the networking positioning information list.

[0156] In some embodiments, the positioning device 600 of the mobile device further includes: a second determination module 607 and a second deletion module 608;

[0157] A second judgment module 607 is used to judge whether the change of the location information meets a preset condition if the location information of the mobile device changes after the location information and the device identification information of the mobile device are added to the networking positioning information list;

[0158] The second deleting module 608 is configured to delete the location information and device identification information of the mobile device from the networking positioning information list if the change in the location information satisfies a preset condition.

[0159] In some embodiments, when determining whether the location change information satisfies a preset condition, the second determination module 607 is further configured to:

[0160] Receiving a positioning signal of the mobile device in real time;

[0161] Determine whether any movable positioning node in the networking positioning information list is unable to receive the positioning request signal of the mobile device;

[0162] The second deleting module 608 is further configured to delete the location information and device identification of the mobile device whose location has changed from the networking positioning list if any movable positioning node in the networking positioning information list cannot receive the positioning signal of the mobile device.

[0163] In some embodiments, the second determining module 604 is further configured to:

[0164] Acquire distance information between each of the at least three movable positioning nodes and the mobile device according to the positioning signal to obtain at least three distance information;

[0165] Generate at least three coverage areas respectively according to the at least three distance information;

[0166] Obtaining the intersection position of the at least three coverage areas;

[0167] The location information of the mobile device is determined according to the location of the intersection.

[0168] This application also provides a positioning system for a mobile device, see Figure 7 , Figure 7 A schematic diagram of the structure of a positioning system for a mobile device provided in an embodiment of the present application. The positioning system 700 for mobile positioning includes:

[0169] A mobile device 701 is configured to send a positioning request signal, wherein the positioning request signal includes device identification information of the mobile device; form a network with at least three movable positioning nodes that receive the positioning request signal; receive positioning signals from the at least three movable positioning nodes; and determine location information of the mobile device according to the positioning signal;

[0170] The mobile positioning node 702 is used to receive a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device; to establish a network with the mobile device through at least three mobile positioning nodes; to obtain positioning signals of the at least three mobile positioning nodes; and to send the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0171] Mobile device 701 is the mobile device described above, and movable positioning node 702 is the locatable node described above. The positioning system of the mobile device can be applied to indoor positioning scenarios such as large indoor shopping malls, indoor amusement parks, and indoor parking lots. For example, please refer to the indoor parking lot example. Figure 8 , Figure 8 This is an application scenario diagram of the positioning system for a mobile device provided in an embodiment of the present application.

[0172] The mobile device and the movable positioning node of the present application may be a car equipped with a short-range communication technology, such as a car equipped with a UWB antenna.

[0173] When a car (mobile device) enters the range of an indoor parking lot, it broadcasts a positioning request signal to the surrounding area. If it cannot receive positioning signals from other cars (mobile positioning nodes), it generates a fleet list (network positioning information list). If it only receives positioning signals from one or two cars, it determines whether the car corresponding to the positioning signal has joined other fleet lists. If the corresponding car has joined other fleet lists, it applies to the administrator of the corresponding fleet list to join the fleet list. If the corresponding car has not joined other fleet lists, it determines the target vehicle from two or three cars that have not joined the fleet list according to the preset rules. The target vehicle generates a fleet list and becomes the administrator of the fleet list. Among them, the preset rule is that the vehicle that enters the parking lot first can be used as the administrator according to the time when the car enters the parking lot.

[0174] It is understandable that if there are enough parking spaces in an indoor parking lot, cars do not need to look for parking spaces and can find parking spaces more conveniently without using navigation to find parking space services. When parking spaces in an indoor parking lot are relatively scarce, users need to use navigation to find parking space services. At this time, multiple fleet lists can be generated in the indoor parking lot. The UWB antennas of multiple cars in the fleet list form multiple radiation areas, corresponding to different locations in the parking lot. For example, as shown in Figure 8, fleet 1 and fleet 2 are formed in the indoor parking lot. Fleet 1 corresponds to the first fleet list (first network positioning information list), and fleet 2 corresponds to the second fleet list (second network positioning information list). Each fleet list may include car information of one or more cars. , the car information includes the car equipment identification, the car location information and the time when the car joined the fleet list. For example, the first fleet list includes administrator 1, team member 1, team member 2, team member 3, team member 4, and team member 5, and the second fleet list includes administrator 2, team member 1, and team member 2. The car location information can be the location coordinates of the car or the parking space number corresponding to the location coordinates. The car that joins the earliest time is used as the administrator, and the other cars are used as ordinary team members to form a fleet. In some embodiments, in order to improve the efficiency of fleet management, an upper limit can be set for the number of ordinary team members. For example, the number of ordinary team members in each fleet must be less than 10. When the fleet list is full, it includes 1 administrator and 9 ordinary team members.

[0175] When the car under test (mobile device) that needs navigation or parking services enters the parking lot, it will broadcast a positioning request signal, where the positioning request signal includes its own device identification. If the administrator in the fleet receives the positioning request signal and the UWB antennas of at least three cars in the fleet can receive the signal of the UWB antenna of the car under test, the administrator will obtain the distance information between at least three cars in the fleet and the car under test.

[0176] For example, when the car to be tested enters the signal coverage area of ​​fleet 1, administrator 1 receives the request signal of the car to be tested, obtains the device identifications of administrator 1, team member 1, and team member 2 that can simultaneously detect the UWB antenna signal of the car to be tested, calculates the distance A between administrator 1 and the car to be tested based on the UWB antenna signal of the car to be tested obtained by administrator 1, calculates the distance B between team member 1 and the car to be tested based on the UWB antenna signal of the car to be tested obtained by team member 1, and calculates the distance C between team member 2 and the car to be tested based on the UWB antenna signal of the car to be tested obtained by team member 2. The management takes distance A as the radius. The first coverage area A' is formed on the map with the position of member 1 as the center, the second coverage area B' is formed on the map with the distance B as the radius, and the second coverage area C' is formed on the map with the position of member 2 as the center, and the coordinates of the intersection D of the first coverage area A', the second coverage area B' and the third coverage area C' are obtained. The coordinates of the intersection D are the current position information of the car to be tested. In some embodiments, the current position information is sent to the car to be tested, and navigation services can be provided to the car to be tested based on the current position information and the parking space number uploaded by the car to be tested where parking is required. Alternatively, if the car to be tested does not upload the parking space number where parking is required, the fleet manager of the car to be tested determines whether there is a vacant space in the current fleet, and provides navigation services to the car to be tested based on the vacant space number and the current position information of the car to be tested. It should be noted that in order to provide navigation services, each car needs to download a map of the garage after entering the garage.

[0177] If there are less than three vehicles in the fleet list, the device identification and time information of the vehicle to be tested corresponding to the UWB antenna signal received by any vehicle in the fleet list are added to the fleet list, and the location information or parking space code uploaded by the vehicle to be tested is added to the fleet list, so that the vehicle to be tested can be used as a mobile device for positioning. In some embodiments, when any vehicle in the fleet list receives the UWB antenna signal of the mobile device to be tested, and at least one vehicle in the fleet list can receive the UWB antenna signal of the vehicle to be tested for a long period of time (such as 20 minutes or 30 minutes, etc.), the device identification and time information of the vehicle to be tested are added to the fleet list, and the location information or parking space code uploaded by the vehicle to be tested is added to the fleet list.

[0178] The positioning system for mobile devices provided in the embodiment of the present application does not require additional fixed base stations for positioning. It uses the short-range communication equipment (UWB antenna) carried by the car itself to implement a dynamic networking method to provide positioning and navigation services for other cars in the parking lot that need navigation services. There is no need to increase the cost of deploying base stations.

[0179] In some embodiments, if the request signal broadcast by the vehicle under test is not received by other vehicles, the vehicle under test generates a new fleet, corresponds to a new fleet list, and becomes the administrator of the fleet.

[0180] In some embodiments, when a car in the fleet list needs to leave the garage and change from a stationary state to a moving state, the car sends a list update request to the administrator. After receiving the list update request, the administrator deletes the car information of the car team member from the list. If the state of the administrator in the fleet list changes from a stationary state to a moving state, the fleet list can be sorted by joining time, the first member to join can be set as the administrator, and the car information of the original administrator can be deleted from the list.

[0181] The present application also provides a storage medium, which stores a computer program. When the computer program is executed on a computer, the computer executes the method for positioning a mobile device in any of the above embodiments, such as:

[0182] Sending a positioning request signal, wherein the positioning request signal includes device identification information of the mobile device;

[0183] Establishing a network with at least three movable positioning nodes that receive the positioning request signal;

[0184] receiving positioning signals of the at least three movable positioning nodes; and

[0185] The location information of the mobile device is determined according to the positioning signal.

[0186] For example:

[0187] Receiving a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device;

[0188] Networking with the mobile device through at least three movable positioning nodes;

[0189] Acquiring positioning signals of the at least three movable positioning nodes;

[0190] The positioning signal is sent to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal.

[0191] In the embodiment of the present application, the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0192] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0193] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0194] It should be noted that, for the method of positioning a mobile device in the embodiment of the present application, ordinary testers in the field can understand that all or part of the process of implementing the method of positioning a mobile device in the embodiment of the present application can be completed by controlling the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, such as a memory of a mobile device, and executed by at least one processor in the mobile device, and the execution process may include the process of the embodiment of the method of positioning a mobile device. Among them, the storage medium can be a disk, an optical disk, a read-only memory, a random access memory, etc.

[0195] For the device for positioning a mobile device in the embodiment of the present application, each functional module can be integrated into a processing chip, or each module can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium, such as a read-only memory, a disk or an optical disk.

[0196] The above is a detailed introduction to a positioning method, device and positioning system for a mobile device provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for positioning a mobile device, characterized in that: The method comprises: Sending a positioning request signal, wherein the positioning request signal includes device identification information of the mobile device; When the positioning request signal sent by the mobile device is received by at least three movable positioning nodes in the networking positioning information list, networking is performed with the at least three movable positioning nodes that receive the positioning request signal; wherein the generation of the networking positioning information list includes: When the mobile positioning node broadcasts a positioning request signal to the surroundings and is not received by other mobile positioning nodes, the mobile positioning node generates a networking positioning information list and adds the identity number of the mobile positioning node to the networking positioning information list. If the mobile positioning node broadcasts a positioning request signal to the surroundings and the positioning request signal is received by at least one mobile positioning node, it is determined whether the mobile positioning node that receives the positioning request signal has been added to other networking positioning information lists. If the mobile positioning node that receives the positioning request signal has been added to other networking positioning information lists, the mobile positioning node generates a networking positioning information list and adds the identity number of the mobile positioning node to the networking positioning information list. The mobile positioning node sending the positioning request signal applies to join the networking positioning information list joined by the mobile positioning node receiving the positioning request signal; when the mobile positioning nodes receiving the positioning request signal have not joined the networking positioning information list, a target mobile positioning node is determined from at least two mobile positioning nodes to generate a networking positioning information list, and the target mobile positioning node is used as an administrator of the networking positioning information list, with the management authority of adding, deleting, modifying and checking the mobile positioning nodes in the networking positioning information list; receiving positioning signals of the at least three mobile positioning nodes; and Determining the location information of the mobile device according to the positioning signal includes: If the number of the at least three movable positioning nodes is greater than three, and the position of any one of the at least three movable positioning nodes changes, and the movable positioning node with the changed position cannot detect the mobile device, the location information of the mobile device is determined by the positioning information of other movable positioning nodes.

2. The method for positioning a mobile device according to claim 1, characterized in that: After determining the location information of the mobile device according to the positioning signal, the method further includes: The location information and device identification information of the mobile device are added to the networking positioning information list.

3. The method for positioning a mobile device according to claim 2, characterized in that: The adding the location information and device identification information of the mobile device to the networking positioning information list includes: Continuously acquiring the location information of the mobile device within a preset time period; If the change in the location of the mobile device is within a preset range within the preset time period, the location information and the device identification of the mobile device are added to the networking positioning information list.

4. The method for positioning a mobile device according to claim 2, characterized in that: After adding the location information and the device identification of the mobile device to the networking positioning information list, the method further includes: If the location information of the mobile device changes, determining whether the change in the location information satisfies a preset condition; If the change in the location information meets a preset condition, the location information and device identification information of the mobile device are deleted from the networking positioning information list.

5. The method for positioning a mobile device according to claim 4, characterized in that: The determining whether the location change information satisfies a preset condition comprises: Receiving in real time the positioning signal of the movable positioning node in the networking positioning information list; Determine whether the mobile device is unable to receive a positioning signal from any movable positioning node in the networking positioning information list; If the change of the location information satisfies a preset condition, deleting the location information and the device identification information of the mobile device from the networking positioning information list includes: If the mobile device cannot receive the positioning signal of any movable positioning node in the networking positioning information list, the location information and device identification of the mobile device whose position has changed are deleted from the networking positioning list.

6. The method for positioning a mobile device according to any one of claims 1 to 5, characterized in that: Determining the location information of the mobile device according to the positioning signal includes: Acquire distance information between each of the at least three movable positioning nodes and the mobile device according to the positioning signal to obtain at least three distance information; Generate at least three coverage areas respectively according to the at least three distance information; Obtaining the intersection position of the at least three coverage areas; The location information of the mobile device is determined according to the location of the intersection.

7. A positioning device for a mobile device, characterized in that: The device comprises: A first sending module, configured to send a positioning request signal, wherein the positioning request signal includes device identification information of the mobile device; The first networking module is configured to form a network with at least three movable positioning nodes that receive the positioning request signal when the positioning request signal sent by the mobile device is received by at least three movable positioning nodes in the networking positioning information list; wherein the generation of the networking positioning information list includes: When the movable positioning node broadcasts a positioning request signal to the surroundings and is not received by other movable positioning nodes, the movable positioning node generates a networking positioning information list and adds the identity number of the movable positioning node to the networking positioning information list. If the movable positioning node broadcasts a positioning request signal to the surroundings and the positioning request signal is received by at least one movable positioning node, it is determined whether the movable positioning node that receives the positioning request signal has joined other networking positioning information lists. When the movable positioning node that receives the positioning request signal has joined other networking positioning information lists, the movable positioning node that sends the positioning request signal applies to join the networking positioning information list joined by the movable positioning node that receives the positioning request signal. When none of the movable positioning nodes that receive the positioning request signal have joined the networking positioning information list, a target movable positioning node is determined from at least two movable positioning nodes to generate a networking positioning information list, and the target movable positioning node is used as an administrator of the networking positioning information list, with management authority to add, delete, modify and query movable positioning nodes in the networking positioning information list. A first receiving module, configured to receive positioning signals of the at least three movable positioning nodes; and The first determining module is used to determine the location information of the mobile device according to the positioning signal, including: If the number of the at least three movable positioning nodes is greater than three, and the position of any one of the at least three movable positioning nodes changes, and the movable positioning node with the changed position cannot detect the mobile device, the location information of the mobile device is determined by the positioning information of other movable positioning nodes.

8. A method for positioning a mobile device, characterized in that: The method comprises: Generate a networking positioning information list, wherein the networking positioning information list includes device identification information of at least three movable positioning nodes; The generating of the networking location information list includes: When the movable positioning node broadcasts a positioning request signal to the surroundings and is not received by other movable positioning nodes, the movable positioning node generates a networking positioning information list and adds the identity number of the movable positioning node to the networking positioning information list. If the movable positioning node broadcasts a positioning request signal to the surroundings and the positioning request signal is received by at least one movable positioning node, it is determined whether the movable positioning node that receives the positioning request signal has joined other networking positioning information lists. When the movable positioning node that receives the positioning request signal has joined other networking positioning information lists, the movable positioning node that sends the positioning request signal applies to join the networking positioning information list joined by the movable positioning node that receives the positioning request signal. When none of the movable positioning nodes that receive the positioning request signal have joined the networking positioning information list, a target movable positioning node is determined from at least two movable positioning nodes to generate a networking positioning information list, and the target movable positioning node is used as an administrator of the networking positioning information list, with management authority to add, delete, modify and query movable positioning nodes in the networking positioning information list. Receiving a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device; Networking with the mobile device through at least three movable positioning nodes; Acquiring positioning signals of the at least three movable positioning nodes; The method of sending the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal comprises: If the number of the at least three movable positioning nodes is greater than three, and the position of any one of the at least three movable positioning nodes changes, and the movable positioning node with the changed position cannot detect the mobile device, the location information of the mobile device is determined by the positioning information of other movable positioning nodes.

9. The positioning method according to claim 8, characterized in that: After determining the location information of the mobile device according to the positioning signal, the method further includes: The location information and device identification information of the mobile device are added to the networking positioning information list.

10. The positioning method according to claim 9, characterized in that: The generating of the networking positioning information list comprises: Generate a networking positioning information list, and add the device identifier of the movable positioning node to the networking positioning information list; Detecting signals of movable positioning nodes; The device identification information of at least two detected movable positioning nodes is added to the networking positioning information list.

11. The positioning method according to claim 9, characterized in that: The adding the location information and device identification information of the mobile device to the networking positioning information list includes: Continuously acquiring the location information of the mobile device within a preset time period; If the change in the location of the mobile device is within a preset range within the preset time period, the location information and the device identification of the mobile device are added to the networking positioning information list.

12. The positioning method according to any one of claims 9 or 11, characterized in that: After adding the location information and device identification information of the mobile device to the networking positioning information list, the method further includes: If the location information of the mobile device changes, determining whether the change in the location information satisfies a preset condition; If the change in the location information meets a preset condition, the location information and device identification information of the mobile device are deleted from the networking positioning information list.

13. The positioning method according to claim 12, characterized in that: The determining whether the location change information satisfies a preset condition comprises: Receiving a positioning signal of the mobile device in real time; Determine whether any movable positioning node in the networking positioning information list is unable to receive the positioning request signal of the mobile device; If the change of the location information satisfies a preset condition, deleting the location information and the device identification information of the mobile device from the networking positioning information list includes: If any movable positioning node in the networking positioning information list cannot receive the positioning signal of the mobile device, the location information and device identification of the mobile device whose location has changed are deleted from the networking positioning list.

14. The positioning method according to any one of claims 8 to 11, characterized in that: Determining the location information of the mobile device according to the positioning signal includes: Acquire distance information between each of the at least three movable positioning nodes and the mobile device according to the positioning signal to obtain at least three distance information; Generate at least three coverage areas respectively according to the at least three distance information; Obtaining the intersection position of the at least three coverage areas; The location information of the mobile device is determined according to the location of the intersection.

15. A positioning device for a mobile device, characterized in that: The positioning device of the mobile device comprises: A generating module, configured to generate a networking positioning information list, wherein the networking positioning information list includes device identification information of at least three movable positioning nodes; The generating of the networking location information list includes: When the movable positioning node broadcasts a positioning request signal to the surroundings and is not received by other movable positioning nodes, the movable positioning node generates a networking positioning information list and adds the identity number of the movable positioning node to the networking positioning information list. If the movable positioning node broadcasts a positioning request signal to the surroundings and the positioning request signal is received by at least one movable positioning node, it is determined whether the movable positioning node that receives the positioning request signal has joined other networking positioning information lists. When the movable positioning node that receives the positioning request signal has joined other networking positioning information lists, the movable positioning node that sends the positioning request signal applies to join the networking positioning information list joined by the movable positioning node that receives the positioning request signal. When none of the movable positioning nodes that receive the positioning request signal have joined the networking positioning information list, a target movable positioning node is determined from at least two movable positioning nodes to generate a networking positioning information list, and the target movable positioning node is used as an administrator of the networking positioning information list, with management authority to add, delete, modify and query movable positioning nodes in the networking positioning information list. A second receiving module, configured to receive a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device; A second networking module, used to establish a network with the mobile device through at least three movable positioning nodes; A second acquisition module, configured to acquire positioning signals of the at least three movable positioning nodes; The second sending module is used to send the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal, including: If the number of the at least three movable positioning nodes is greater than three, and the position of any one of the at least three movable positioning nodes changes, and the movable positioning node with the changed position cannot detect the mobile device, the location information of the mobile device is determined by the positioning information of other movable positioning nodes.

16. A positioning system for a mobile device, characterized in that: The positioning system comprises: A mobile device, used for sending a positioning request signal, wherein the positioning request signal includes device identification information of the mobile device; when the positioning request signal sent by the mobile device is received by at least three movable positioning nodes in a networking positioning information list, networking is performed with the at least three movable positioning nodes that receive the positioning request signal; wherein the generation of the networking positioning information list includes: when the movable positioning node broadcasts a positioning request signal to all surroundings and is not received by other movable positioning nodes, the movable positioning node generates a networking positioning information list and adds the identity identification number of the movable positioning node to the networking positioning information list; if the movable positioning node broadcasts a positioning request signal to all surroundings and the positioning request signal is received by at least one movable positioning node, determining that the movable positioning node that received the positioning request signal whether the positioning node has joined other networking positioning information lists; when the movable positioning node receiving the positioning request signal has joined other networking positioning information lists, the movable positioning node sending the positioning request signal applies to join the networking positioning information list joined by the movable positioning node receiving the positioning request signal; when none of the movable positioning nodes receiving the positioning request signal have joined the networking positioning information list, a target movable positioning node is determined from at least two movable positioning nodes to generate a networking positioning information list, and the target movable positioning node is used as an administrator of the networking positioning information list, with management authority to add, delete, modify and query the movable positioning nodes in the networking positioning information list; receiving positioning signals of the at least three movable positioning nodes; and determining the location information of the mobile device according to the positioning signals, including: If the number of the at least three movable positioning nodes is greater than three, and the position of any one of the at least three movable positioning nodes changes, and the movable positioning node with the changed position cannot detect the mobile device, the position information of the mobile device is determined by the positioning information of other movable positioning nodes; A movable positioning node is used to generate a networking positioning information list, wherein the networking positioning information list includes device identification information of at least three movable positioning nodes; the generating of the networking positioning information list includes: when the movable positioning node broadcasts a positioning request signal to all sides and is not received by other movable positioning nodes, the movable positioning node generates a networking positioning information list and adds the identity identification number of the movable positioning node to the networking positioning information list; if the movable positioning node broadcasts a positioning request signal to all sides and the positioning request signal is received by at least one movable positioning node, it is determined whether the movable positioning node that receives the positioning request signal has been added to other networking positioning information lists; when the movable positioning node that receives the positioning request signal has been added to other networking positioning information lists, the movable positioning node that sends the positioning request signal requests to The method comprises: adding a networking positioning information list to which a movable positioning node that receives a positioning request signal is added; when none of the movable positioning nodes that receive the positioning request signal is added to the networking positioning information list, determining a target movable positioning node from at least two movable positioning nodes to generate a networking positioning information list, and using the target movable positioning node as an administrator of the networking positioning information list, with management authority for adding, deleting, modifying and checking movable positioning nodes in the networking positioning information list; receiving a positioning request signal sent by a mobile device, wherein the positioning request signal includes device identification information of the mobile device; networking with the mobile device through at least three movable positioning nodes; obtaining positioning signals of the at least three movable positioning nodes; and sending the positioning signal to the mobile device so that the mobile device determines the location information of the mobile device according to the positioning signal, including: If the number of the at least three movable positioning nodes is greater than three, and the position of any one of the at least three movable positioning nodes changes, and the movable positioning node with the changed position cannot detect the mobile device, the location information of the mobile device is determined by the positioning information of other movable positioning nodes.

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