Positioning methods and devices

Abstract

This application provides a positioning method and apparatus. The positioning method includes: a target device determining two movement directions at two different times, and reporting the difference between the two movement directions to a positioning device, enabling the positioning device to locate the target device based on the difference between the two movement directions. Because the target device reports the difference between the movement directions, the positioning method provided in this application can still use this difference for positioning even when the positioning device and the target device use different coordinate systems, thus obtaining a more accurate result.

Description

Technical Field

[0001] This application relates to the field of communication technology, and more specifically, to a positioning method and apparatus. Background Technology

[0002] One scenario for terminal device positioning is tracking the trajectory of continuous movement of the same terminal device. In this case, timely understanding of the terminal device's movement information helps improve its positioning accuracy. Generally speaking, smart terminal devices have internal sensors that can be used to estimate the terminal's movement information. These sensors include, but are not limited to, accelerometers, gyroscopes, and magnetometers.

[0003] To address this, the 3rd Generation Partnership Project (3GPP) introduced a positioning method where the terminal device transmits sensor-estimated motion information (including direction and distance traveled within a time interval) to the location management function (LMF) module. This motion information, combined with other positioning technologies, forms a hybrid positioning scheme that can achieve more accurate positioning results than using other technologies alone. However, in practical applications, when the LMF module and the terminal device being positioned use different coordinate systems, the aforementioned motion information cannot be directly used to obtain more accurate positioning results.

[0004] Therefore, when the LMF module and the terminal device to be located use different coordinate systems, how to obtain more accurate positioning results becomes an urgent problem to be solved. Summary of the Invention

[0005] This application provides a positioning method in order to obtain more accurate positioning results.

[0006] Firstly, a positioning method is provided, which can be executed by a target device, or by a chip, chip system, or circuit in the target device; this application does not limit the method in this regard. For ease of description, the following explanation uses execution by the target device as an example.

[0007] The method includes:

[0008] The target device determines a first direction of movement at a first moment; the target device determines a second direction of movement at a second moment, which is different from the first moment; the target device sends a first change in the direction of movement to the positioning device, the first change in the direction of movement being the difference between the first direction of movement and the second direction of movement, and the first change in the direction of movement being used by the positioning device to locate the target device.

[0009] Based on the above technical solution, the movement information sent by the target device to the positioning device for positioning is the change in the direction of movement. In other words, even if the positioning device and the target device use different coordinate systems, the movement information reported by the target device can still be used to obtain more accurate positioning results.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: the target device receiving first indication information from the positioning device, the first indication information being used to indicate the periodicity of the target device periodically transmitting a change in the direction of movement; and / or, the target device receiving a first threshold from the positioning device, the first threshold being used to compare the magnitude with the first change in the direction of movement.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the method of the target device sending the first change in the direction of movement to the positioning device includes: the target device sending the first change in the direction of movement to the positioning device according to the first indication information and the period configured by the positioning device; or, before the target device sends the first change in the direction of movement to the positioning device, the method further includes: the target device determining that the first change in the direction of movement is greater than or equal to the first threshold.

[0012] Based on the above technical solution, the target device can report the first change in the direction of movement periodically or when the first change in the direction of movement meets a certain condition, providing different reporting methods for the first change in the direction of movement and increasing the flexibility of the solution.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: the target device sending first confidence information to the positioning device, the first confidence information being used to indicate the degree of confidence of the first change in the direction of movement.

[0014] Based on the above technical solution, by sending first confidence information indicating the degree of credibility of the first change in the direction of movement to the positioning device, the positioning device can combine confidence information with various other information and positioning technologies for positioning. A simple mixing scheme is a weighted average, where information with high confidence has a higher weight and information with low confidence has a lower weight, thereby obtaining more accurate positioning and increasing the overall accuracy of the solution.

[0015] Secondly, a positioning method is provided, which can be executed by a positioning device, or by a chip, chip system, or circuit in the positioning device; this application does not limit the method in this regard. For ease of description, the following explanation uses the method executed by a positioning device as an example.

[0016] The method includes:

[0017] The positioning device receives a first change in the movement direction of the target device, which is the difference between a first movement direction and a second movement direction. The first movement direction is the movement direction determined by the target device at a first moment, and the second movement direction is the movement direction determined by the target device at a second moment, which is different from the first moment. The positioning device locates the target device based on this first change in movement direction.

[0018] Based on the above technical solution, the movement information sent by the target device to the positioning device for positioning is the change in the direction of movement. In other words, even if the positioning device and the target device use different coordinate systems, the movement information reported by the target device can still be used to obtain more accurate positioning results.

[0019] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the positioning device receiving first information from the auxiliary device, the first information including the position information of the target device and / or the movement information of the target device, wherein the movement information of the target device includes at least one of a second change in the movement direction of the target device, acceleration, movement direction, and velocity; the positioning device locating the target device based on the first change in the movement direction and the first information.

[0020] Based on the above technical solution, when locating a target device, the positioning device can also refer to the location information of the target device reported by the auxiliary device and / or the movement information of the target device, which can further increase the accuracy of positioning.

[0021] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the positioning device sending second indication information to the auxiliary device, the second indication information being used to indicate the period during which the auxiliary device periodically sends information; and / or, the positioning device sending a second threshold to the auxiliary device, the second threshold being used to compare the magnitude with a second change in the direction of movement.

[0022] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the positioning device receiving second confidence information from the auxiliary device, the second confidence information being used to indicate the degree of credibility of the first information.

[0023] In conjunction with the second aspect, in some implementations of the second aspect, the auxiliary device includes at least one of the following devices: access network device, terminal device, short-range communication device, or smart camera device.

[0024] Based on the above technical solutions, there are many possibilities for auxiliary equipment, which increases the flexibility of the solution.

[0025] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the positioning device sending first indication information to the target device, the first indication information being used to indicate the periodicity of the target device sending changes in the direction of movement; and / or, the positioning device sending a first threshold to the target device, the first threshold being used to compare the magnitude with a first change in the direction of movement.

[0026] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the positioning device receiving first confidence information from the target device, the first confidence information being used to indicate the degree of confidence of the first change in the direction of movement.

[0027] Thirdly, a positioning method is provided, which can be executed by a positioning device, or by a chip, chip system, or circuit in the positioning device; this application does not limit the method in this regard. For ease of description, the following explanation uses the method executed by a positioning device as an example.

[0028] The method includes:

[0029] The positioning device receives first information from the auxiliary device, the first information including the location information of the target device and / or the movement information of the target device, wherein the movement information of the target device includes at least one of the second change in the movement direction of the target device, acceleration, movement direction, and velocity; the positioning device locates the target device based on the first information.

[0030] Based on the above technical solution, the positioning device can locate the target device based on the information reported by the auxiliary device. In other words, even if the target device does not have the ability to report its own movement information, the positioning device can still obtain the positioning result of the target device based on the information reported by the auxiliary device.

[0031] In conjunction with the third aspect, in some implementations of the third aspect, the method further includes: The method also includes:

[0032] The positioning device receives a first change in the direction of movement of the target device, which is the difference between a first direction of movement and a second direction of movement. The first direction of movement is the direction of movement of the target device determined at a first moment, and the second direction of movement is the direction of movement of the target device determined at a second moment, which is different from the first moment. The positioning device locates the target device based on the first change in the direction of movement and the first information.

[0033] Based on the above technical solution, when locating a target device, the positioning device can also refer to the movement information reported by the target device, which can further increase the accuracy of positioning.

[0034] In conjunction with the third aspect, in some implementations of the third aspect, the method further includes: the positioning device sending second indication information to the auxiliary device, the second indication information being used to indicate the period during which the auxiliary device periodically sends information; and / or, the positioning device sending a second threshold to the auxiliary device, the second threshold being used to compare the magnitude with a second change in the direction of movement.

[0035] In conjunction with the third aspect, in some implementations of the third aspect, the method further includes: the positioning device receiving second confidence information from the auxiliary device, the second confidence information being used to indicate the degree of confidence of the first information.

[0036] In conjunction with the third aspect, in some implementations of the third aspect, the auxiliary device includes at least one of the following devices: access network device, terminal device, short-range communication device, or smart camera device.

[0037] Based on the above technical solutions, there are many possibilities for auxiliary equipment, which increases the flexibility of the solution.

[0038] In conjunction with the third aspect, in some implementations of the third aspect, the method further includes: the positioning device sending first indication information to the target device, the first indication information being used to indicate the periodicity of the target device sending changes in the direction of movement; and / or, the positioning device sending a first threshold to the target device, the first threshold being used to compare the magnitude with a first change in the direction of movement.

[0039] In conjunction with the third aspect, in some implementations of the third aspect, the method further includes: the positioning device receiving first confidence information from the target device, the first confidence information being used to indicate the degree of confidence of the first change in the direction of movement.

[0040] Fourthly, a positioning method is provided, which can be executed by an auxiliary device, or by a chip, chip system, or circuit in the auxiliary device; this application does not limit the method in this regard. For ease of description, the following explanation uses the example of execution by an auxiliary device.

[0041] The method includes:

[0042] The auxiliary device acquires first information, which includes the location information of the target device and / or the movement information of the target device. The movement information of the target device includes at least one of the second change in the movement direction of the target device, acceleration, movement direction, and velocity. The auxiliary device sends the first information to the positioning device, which is used by the positioning device to locate the target device.

[0043] Based on the above technical solution, the positioning device can locate the target device based on the information reported by the auxiliary device. In other words, even if the target device does not have the ability to report its own movement information, the positioning device can still obtain the positioning result of the target device based on the information reported by the auxiliary device.

[0044] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the method further includes: the auxiliary device receiving second indication information from the positioning device, the second indication information being used to indicate the period during which the auxiliary device periodically transmits information; and / or, the auxiliary device receiving a second threshold from the positioning device, the second threshold being used to compare the magnitude with a second change in the direction of movement.

[0045] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the auxiliary device sending the first information to the positioning device includes: the auxiliary device sending the first information to the positioning device according to the second instruction information and the period configured by the positioning device; or, before the auxiliary device sends the first information to the positioning device, the method further includes: the target device determining that the second change in the movement information is greater than or equal to the second threshold.

[0046] Based on the above technical solution, the auxiliary device can report the first information of the direction of movement periodically or when the second change in the direction of movement meets a certain condition, providing different reporting methods for the first information and increasing the flexibility of the solution.

[0047] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the auxiliary device includes at least one of the following devices: access network device, terminal device, short-range communication device, or smart camera device.

[0048] Based on the above technical solutions, there are many possibilities for auxiliary equipment, which increases the flexibility of the solution.

[0049] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the method further includes: the auxiliary device sending first confidence information to the positioning device, the first confidence information being used to indicate the degree of credibility of the first information.

[0050] Based on the above technical solution, by sending a second confidence level information indicating the credibility of the first information to the positioning device, the positioning device can combine confidence levels with various information and positioning technologies for positioning. A simple mixing scheme is a weighted average, where information with high confidence levels has a higher weight and information with low confidence levels has a lower weight, thereby obtaining more accurate positioning and increasing the overall accuracy of the solution.

[0051] Fifthly, a target device is provided, comprising a module for performing the method described in any possible implementation of the first aspect above.

[0052] A sixth aspect provides a positioning device including a module for performing the method described in any of the possible implementations of the second and third aspects described above.

[0053] In a seventh aspect, an auxiliary device is provided, comprising a module for performing the method described in any possible implementation of the fourth aspect above.

[0054] Eighthly, a target device is provided, the target device including a processor for implementing the functions of the target device in the method described in the first aspect above.

[0055] In one possible implementation, the target device may further include a memory for storing program instructions and data. This memory is coupled to a processor that implements the functions of the target device in the method described in the first aspect above.

[0056] In one possible implementation, the target device may further include a communication interface for communicating with other devices. This communication interface may be a transceiver, an input / output interface, or a circuit, etc.

[0057] Ninthly, a positioning device is provided, the positioning device including a processor for implementing the functions of the positioning device in the methods described in the second and third aspects above.

[0058] In one possible implementation, the target device may further include a memory for storing program instructions and data. This memory is coupled to a processor that implements the functions of the positioning device in the methods described in the second and third aspects above.

[0059] In one possible implementation, the positioning device may further include a communication interface for communicating with other devices. This communication interface may be a transceiver, an input / output interface, or a circuit, etc.

[0060] Tenthly, an auxiliary device is provided, which includes a processor for implementing the functions of the auxiliary device in the method described in the fourth aspect above.

[0061] In one possible implementation, the auxiliary device may further include a memory for storing program instructions and data. The memory is coupled to a processor that implements the functions of the auxiliary device in the method described in the fourth aspect above.

[0062] In one possible implementation, the auxiliary device may further include a communication interface for communicating with other devices. This communication interface may be a transceiver, an input / output interface, or a circuit, etc.

[0063] In one aspect, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described above.

[0064] In a twelfth aspect, this application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods described above.

[0065] In a thirteenth aspect, a positioning system is provided, comprising a target device as shown in the fifth aspect and a positioning device as shown in the sixth aspect.

[0066] In conjunction with aspect thirteen, in some implementations of aspect thirteen, the positioning system also includes the auxiliary equipment shown in aspect seven. Attached Figure Description

[0067] Figure 1 (a) and (b) in the examples are the positioning architectures applicable to the embodiments of this application.

[0068] Figure 2 (a) in the diagram is a schematic of a positioning architecture; Figure 2 (b) is a schematic flowchart of a positioning method.

[0069] Figure 3 This is a schematic flowchart illustrating a positioning method provided in an embodiment of this application.

[0070] Figure 4 This is a schematic diagram of the first change in the direction of movement.

[0071] Figure 5 This is another positioning method provided in the embodiments of this application.

[0072] Figure 6 This is a schematic block diagram of the device provided in the embodiments of this application.

[0073] Figure 7 This is another schematic block diagram of the device provided in the embodiments of this application.

[0074] Figure 8 This is a schematic diagram of the structure of a device provided in an embodiment of this application. Detailed Implementation

[0075] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0076] The technical solutions of this application can be applied to various communication systems, such as: 5th generation (5G) systems or new radio (NR), long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, and future 6th generation (6G) systems. The technical solutions of this application can also be applied to device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine (M2M) communication, machine-type communication (MTC), and Internet of Things (IoT) communication systems or other communication systems.

[0077] To facilitate understanding of the embodiments of this application, firstly, in conjunction with Figure 1 This paper briefly introduces the positioning architecture applicable to the embodiments of this application.

[0078] Figure 1 The architecture shown in (a) is a positioning architecture based on the Uu interface proposed by 3GPP. Figure 1 As shown in (a) above, the positioning architecture may include, but is not limited to, the following devices (or functional network elements, functional entities, nodes, etc.):

[0079] Positioning equipment, target equipment, and third-party equipment.

[0080] The following is about Figure 1 A brief introduction to each device shown in (a) is provided:

[0081] 1. Location device (also known as a location server): This device is used to estimate the location of a target device. Location devices can be deployed within the core network, meaning they are also a core network element. For example, a location device can communicate with a third device through an access and mobility management function (AMF) network element (not shown in the diagram).

[0082] The positioning device can also communicate with the target device. For example, the positioning device can communicate with the target device through the LTE positioning protocol (LPP).

[0083] In some embodiments, some functions of the positioning device, such as the location management component (LMC), can be integrated into the third device. Sending information from the LMC integrated into the third device to the third device can also be considered as the positioning device sending information to the third device.

[0084] For example, Figure 1 The positioning device shown in (a) can be a location management function (LMF) network element.

[0085] 2. Target Equipment: The equipment to be located, including but not limited to terminal equipment. Specifically, terminal equipment can include various handheld devices, in-vehicle devices, wearable devices, computing devices, or other processing devices connected to a wireless modem, as well as various forms of terminals, mobile stations (MS), terminals, or soft terminals, etc. For example, water meters, electricity meters, sensors, etc.

[0086] Furthermore, in this embodiment of the application, the terminal device can also be a user device in the Internet of Things (IoT) system. IoT is an important part of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0087] 3. Third-party equipment: Used to provide the positioning equipment with the initial positioning information of the target device, so that the positioning equipment can locate or enhance the positioning of the target device. Third-party equipment includes, but is not limited to, radio access network (RAN) equipment. Specifically, RAN equipment is used to provide network access functionality for authorized terminal devices in a specific area, and can use transmission tunnels with different quality of service according to the terminal device's level, service requirements, etc.

[0088] RAN can manage radio resources, provide access services for terminal devices, and then forward control signals and terminal device data between the terminal devices and the core network. RAN can also be understood as a base station in a traditional network.

[0089] For example, the access network device in this application embodiment can be any kind of communication device with wireless transceiver function for communicating with terminal devices. The access network equipment includes, but is not limited to: evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home evolved Node B (HeNB, or home Node B (HNB), baseband unit (BBU), access point (AP), wireless relay node, wireless backhaul node, transmission point (TP), or transmission and reception point (TRP) in a wireless fidelity (WIFI) system. It can also be a gNB in ​​a 5G system, such as NR, or a transmission point (TRP or TP), one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or transmission point, such as a baseband unit (BBU) or a distributed unit (DU).

[0090] The third device can communicate with the positioning device. For example, the third device can communicate with the positioning device through NR positioning protocol A (NRPPa).

[0091] Figure 1 There may be multiple third devices in the architecture shown in (a).

[0092] Figure 1 The positioning architecture shown in (b) is a PC5 interface-based positioning architecture proposed by 3GPP. Figure 1 As shown in (b) above, the positioning architecture may include, but is not limited to, the following devices (or functional network elements, functional entities, nodes, etc.):

[0093] Positioning equipment and target equipment.

[0094] The following is about Figure 1 A brief description of each device shown in (b) is provided below:

[0095] 1. Positioning equipment: This can be used to estimate the location of a target device. This includes, but is not limited to, terminal devices. For specific forms of terminal devices, please refer to the description above; they will not be repeated here.

[0096] 2. Target device: The device that needs to be located, including but not limited to terminal devices. The specific form of the terminal device can be referred to the above description, and will not be repeated here.

[0097] Optionally, Figure 1 (a) and Figure 1 (b) shows that the positioning architecture may further include an auxiliary device for sensing the location and movement information of the target device. The movement information of the target device includes, but is not limited to, at least one of: direction of movement, change in direction of movement, velocity, and acceleration. The auxiliary device can transmit the location and movement information of the target device to the positioning device for high-precision positioning of the target device. The auxiliary device includes, but is not limited to, access network devices, terminal devices, short-range communication devices, or smart camera devices. For example, Figure 1 In the positioning architecture shown in (a), the third device can act as an auxiliary device.

[0098] Figure 1 (a) and Figure 1 The architecture shown in (b) may have multiple auxiliary devices.

[0099] Currently targeting Figure 2 The positioning architecture shown in (a) provides a positioning method that can obtain more accurate positioning results. The following section combines... Figure 2 (b) briefly introduces this positioning method. Figure 2 (b) in the diagram is a schematic flowchart of a positioning method. It includes the following steps:

[0100] S210, the positioning device obtains the first positioning information from the third device.

[0101] Cellular network-based terminal device positioning is one of the key technology directions that 5G and its future evolution are focusing on. 3GPP has studied various positioning methods, such as observed time difference of arrival (OTDOA), enhanced cell ID (e-CID), and network-assisted global navigation satellite system (Network-assisted GNSS) positioning, and has formulated corresponding system frameworks and interaction protocols for terminal device positioning.

[0102] For example, the positioning information of the target device required by the various positioning methods described above includes first positioning information obtained from a third device and / or second positioning information obtained from the target device. When it is necessary to obtain the second positioning information from the target device, the following step S220 needs to be performed.

[0103] Furthermore, the target device (e.g., a smart terminal) may contain internal sensors that can be used to estimate its movement information. These sensors include accelerometers, gyroscopes, and magnetometers. To this end, 3GPP also defines how the target device transmits its estimated movement information, obtained from these sensors, to the positioning device. This movement information includes direction and distance traveled within a time interval. This movement information, combined with other positioning technologies (e.g., the aforementioned OTDOA, e-CID, or Network-assisted GNSS positioning methods), forms a hybrid positioning scheme, which can achieve more accurate positioning results than using only other positioning technologies.

[0104] Figure 2 The method flow shown also includes:

[0105] S220, the positioning device obtains second positioning information and / or movement information from the target device.

[0106] Specifically, the positioning device performs positioning or positioning enhancement based on first positioning information obtained from a third device and second positioning information and / or motion information obtained from the target device.

[0107] The first positioning information obtained by the positioning device from the third device and the second positioning information obtained by the positioning device from the target device may be the same or different. The method by which the positioning device obtains the second positioning information from the target device can refer to the description in the current protocol (3GPP 37.355, LPP protocol), which will not be elaborated in this application.

[0108] It should be noted that if the positioning device obtains the second positioning information and motion information required for positioning from the target device, it is not necessary to obtain the first positioning information from the third device.

[0109] Figure 2 The method flow shown also includes:

[0110] S230, the positioning device performs positioning or enhances positioning.

[0111] As one possible implementation, positioning or positioning enhancement by the positioning device includes: the positioning device acquiring an independent position sequence based on positioning information, including the aforementioned first positioning information and / or second positioning information (e.g., information acquired by the positioning device that is needed for other positioning technologies); and then further optimizing the position sequence by combining motion information (e.g., motion information estimated by the target device acquired by the positioning device) using Kalman filtering (KF) or deep learning (DL) to obtain a more accurate positioning result;

[0112] As another possible implementation, positioning or positioning enhancement by the positioning device includes: the positioning device directly obtaining the location based on positioning information, which includes the aforementioned first positioning information and / or second positioning information (e.g., information acquired by the positioning device that is required by other positioning technologies) and motion information (e.g., motion information estimated by the target device that is acquired by the positioning device).

[0113] As can be seen from the above description, Figure 2 The positioning method shown in (b) has the following problems:

[0114] 1. The target device transmits motion information estimated by internal sensors to the positioning device, including direction and distance of movement. This requires the target device and the positioning device to use the same coordinate system. For example, the north pole of the coordinate system used by the target device and the positioning device is the north pole of the geographic location; another example is that the north pole of the coordinate system used by the target device and the positioning device is the north pole of the magnetic pole; yet another example is that the target device and the positioning device maintain the same coordinate system.

[0115] When the target device and the positioning device use different coordinate systems Figure 2 One way to obtain more accurate positioning results is to align the coordinate systems used by the target device and the positioning device so that they use the same coordinate system.

[0116] When the target device and the positioning device use different coordinate systems Figure 2 Another way to obtain more accurate positioning results is by subtracting the target device’s movement direction from the positioning device’s movement direction at two consecutive moments. This process introduces additional time delay when positioning is initiated.

[0117] It should be noted that when the target device and the positioning device use different coordinate systems, the more valuable information for improving positioning accuracy may not be the direction, but the change in the direction of the target device; at the same time, this also means that if the direction has not changed, there is no need to feed back to the positioning device.

[0118] 2. Not all target devices have internal sensors; data cards or low-cost target devices may not have internal sensors. In this case, the positioning device cannot obtain the target device's movement information, and therefore cannot use hybrid positioning technology to obtain more accurate positioning results.

[0119] 3. Given that the target device has internal sensors and can transmit movement information to the positioning device, how can the movement information of the target device be obtained through other independent sensing technologies to further improve positioning accuracy?

[0120] To address the problems existing in the aforementioned positioning methods, this application provides a positioning method that redefines the information type fed back by the target device, enabling more accurate positioning results to be obtained even when the target device and the positioning device use different coordinate systems.

[0121] It should be understood that the methods provided in the embodiments of this application can be applied to existing positioning architectures, for example, Figure 1 The positioning architecture is shown in (a) above. However, the embodiments of this application do not limit the scenarios in which this method can be applied; for example, it is also applicable to other positioning architectures that include devices capable of performing the corresponding functions.

[0122] The above text combined Figure 1 This paper introduces the scenarios in which the embodiments of this application can be applied, and combines them with... Figure 2 This paper briefly introduces the problems existing in the current positioning methods. The positioning method provided in this application will be described in detail below with reference to the accompanying drawings.

[0123] To facilitate understanding of the embodiments of this application, a brief description of the short-range communication involved in the embodiments of this application will be given first.

[0124] Generally, any communication where the sender and receiver use radio waves to transmit information over a short distance can be called short-range wireless communication, or short-range communication technology. Short-range communication technologies share several common characteristics, including peer-to-peer connectivity, low cost, and low power consumption. Essentially, short-range communication technology refers to wireless personal networking technology in a general sense, and primarily includes the following standards:

[0125] Bluetooth, Ultra Wide Band (UWB), Wireless Fidelity (WIFI), ZigBee, Infrared Data Association (IrDA), and Radio Frequency Identification (RFID), etc.

[0126] In addition, short-range communication technologies include various access technologies, such as wireless local area network (WLAN) technology.

[0127] Short-range communication technologies have relatively low power consumption and cost, are simple to deploy, and are easy to operate. Currently, the most widely used short-range wireless communication technologies are Bluetooth, Wi-Fi, and IrDA. There are also some promising short-range wireless technology standards, such as ZigBee, Ultra Wideband (UWB), Near-Field Communication (NFC), WiMedia, Digital Enhanced Cordless Telecommunications (DECT), and dedicated wireless systems.

[0128] The short-range communication devices involved in the embodiments of this application include, but are not limited to, WLAN devices, Bluetooth devices, UWB devices, etc.

[0129] The embodiments shown below do not specifically limit the structure of the execution subject of the method provided in the embodiments of this application. As long as it is possible to communicate according to the method provided in the embodiments of this application by running a program that records the code of the method provided in the embodiments of this application, for example, the execution subject of the method provided in the embodiments of this application can be a positioning device, or a functional module in the positioning device that can call and execute a program.

[0130] To facilitate understanding of the embodiments of this application, the following points are provided.

[0131] First, in this application, "for instruction" can be understood as "enabling," and "enabling" can include direct enabling and indirect enabling. When describing information for enabling A, it can include whether the information directly enables A or indirectly enables A, but does not necessarily mean that the information carries A.

[0132] The information that enables the information is called the information to be enabled. In the specific implementation process, there are many ways to enable the information to be enabled, such as, but not limited to, directly enabling the information to be enabled, such as the information to be enabled itself or its index. It can also be indirectly enabled by enabling other information, where there is a relationship between the other information and the information to be enabled. It can also enable only a part of the information to be enabled, while the other parts are known or pre-agreed upon. For example, enabling specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing enabling overhead to some extent. Simultaneously, common parts of various pieces of information can be identified and enabled uniformly to reduce the enabling overhead caused by individually enabling the same information.

[0133] Second, the first, second, and various numerical designations (e.g., "#1", "#2", etc.) shown in this application are merely for descriptive convenience and to distinguish objects, and are not intended to limit the scope of the embodiments of this application. For example, to distinguish different messages, etc., rather than to describe a specific order or sequence. It should be understood that such described objects can be interchanged where appropriate to describe solutions other than those in the embodiments of this application.

[0134] Third, in this application, "preset" may include predefined terms, such as protocol definitions. These "predefined terms" can be implemented by pre-storing corresponding codes, tables, or other means that can be used to indicate relevant information in the device; this application does not limit the specific implementation method.

[0135] Fourth, the term "storage" in the embodiments of this application can refer to storage in one or more memories. These memories can be separate installations or integrated into an encoder, decoder, processor, or communication device. Alternatively, some memories can be separately installed, while others can be integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0136] Without loss of generality, the positioning method provided in the embodiments of this application will be described in detail below using the interaction between devices as an example.

[0137] Figure 3 This is a schematic flowchart illustrating a positioning method provided in an embodiment of this application. It includes the following steps:

[0138] S310, the target device determines the first direction of movement at the first moment.

[0139] As one possible implementation, the target device can sense its first direction of movement at the first moment based on its own configured internal sensors (e.g., gyroscopes);

[0140] As another possible implementation, the target device can read the first direction of movement of the target device from the sensor input from its internal memory at the first moment;

[0141] As another possible implementation, the target device can learn its first direction of movement from other devices (e.g., devices attached to the target device, or devices attached to the target device) at the first moment.

[0142] For example, a smartphone is the target device, and a smartwatch connected to the smartphone is a device attached to the target device.

[0143] In this embodiment of the application, the specific method by which the target device determines the first moving direction at the first moment is not limited; it is sufficient that the target device can obtain a moving direction at the first moment.

[0144] S320, the target device determines the second direction of movement at the second moment.

[0145] The second time point is different from the first time point.

[0146] Specifically, the way the target device determines the second direction of movement at the second moment is similar to the way the target device determines the first direction of movement at the first moment, and will not be described in detail here.

[0147] S330, the target device sends the first change in the direction of movement to the positioning device, or in other words, the positioning device receives the first change in the direction of movement from the target device.

[0148] The first change in the direction of movement is the difference between the first direction of movement and the second direction of movement, and this first change in the direction of movement is used to assist the positioning device in locating the target device.

[0149] To facilitate understanding, the possible ways to determine the first change in the direction of movement will be discussed below. Figure 4 This will be explained, but not in detail here.

[0150] Optionally, the target device may periodically send changes in its direction of movement to the positioning device.

[0151] For example, the period for the target device to send movement information is ΔT. The target device sends the change in movement direction to the positioning device at time T, at time T+ΔT, and at time T+2ΔT, and so on.

[0152] As one possible implementation, the aforementioned period is configured for the positioning device. In this approach, Figure 3 The method flow shown also includes:

[0153] S331, the positioning device sends the first instruction information to the target device, or in other words, the target device receives the first instruction information from the positioning device.

[0154] The first indication information is used to indicate the period during which the target device periodically sends mobile information.

[0155] As another possible implementation, the aforementioned period is determined by the target device.

[0156] Optionally, the target device may send movement information to the positioning device when certain conditions are met.

[0157] For example, the target device determines whether the first change in the direction of movement is greater than or equal to a first threshold: when the first change in the direction of movement is greater than or equal to the first threshold, it sends the first change in the direction of movement to the positioning device; when the first change in the direction of movement is less than the first threshold, it does not send the first change in the direction of movement to the positioning device.

[0158] As one possible implementation, the first threshold mentioned above is configured by the positioning device. In this approach, Figure 3 The method flow shown also includes:

[0159] S332, the positioning device sends a first threshold to the target device, or in other words, the target device receives a first threshold from the positioning device.

[0160] The first threshold is used to compare the magnitude with the change in the direction of movement mentioned above.

[0161] As another possible implementation, the first threshold mentioned above is determined by the target device.

[0162] Optionally, to indicate the confidence level of the first change in the direction of movement, the target device may send first confidence information to the positioning device. This first confidence information indicates the degree of confidence in the first change in the direction of movement. Figure 3 The method flow shown also includes:

[0163] S333, the target device sends the first confidence information to the positioning device, or in other words, the positioning device receives the first confidence information from the target device.

[0164] For example, the first confidence information can be characterized by a confidence interval and a confidence level.

[0165] Optionally, the first change in the direction of movement and the first confidence level information mentioned above can be carried in a message and sent to the positioning device.

[0166] For example, it can be Figure 3 The positioning method shown is applied to Figure 1 In the positioning architecture shown in (a), when locating a target device, in addition to the first change in the direction of movement reported by the target device, the positioning device also needs to base its positioning on the first positioning information of the target device sent by a third device, and / or the second positioning information of the target device sent by the target device. Figure 3 The method flow shown also includes:

[0167] S311, The positioning device receives the first positioning information from the third device.

[0168] Please refer to the description of S210 above; it will not be repeated here.

[0169] S312, the positioning device receives second positioning information from the target device.

[0170] Please refer to the description of S220 above; it will not be repeated here.

[0171] Figure 3 The positioning method shown can also be applied to Figure 1 The positioning architecture shown in (b) and other positioning architectures including devices capable of performing the corresponding functions will not be described in detail here.

[0172] Specifically, after the positioning device obtains the first change in the direction of movement, it can locate the target device based on this first change in the direction of movement. Figure 3 The method flow shown also includes:

[0173] S340, the positioning device performs positioning.

[0174] When the positioning device receives first positioning information about the target device from a third device, and / or receives second positioning information about the target device from the target device, the positioning device can locate the target device based on the first change in the direction of movement and the first and / or second positioning information of the target device. This allows for more accurate positioning results.

[0175] Figure 4 This is a diagram illustrating the first change in the direction of movement. From Figure 4 As can be seen from the data, before the second time, the direction of movement of the target device determined in the first time is the first direction of movement, and the direction of movement of the target device determined in the second time is the second direction of movement.

[0176] As one possible implementation, the first moment is the moment when the third change in the direction of movement reported to the positioning device is determined. This third change in the direction of movement is also determined by the difference between two directions of movement. The subtrahend of these two directions of movement is the first direction of movement, and the minuend is the direction of movement determined by the target device before the first moment. The second moment is the moment when the first change in the direction of movement reported to the positioning device is determined.

[0177] In this approach, the change in the direction of movement can be understood as the difference between the direction of movement when the target device determines the change in the direction of movement that needs to be reported this time and the direction of movement when it previously determined the change in the direction of movement that needs to be reported.

[0178] For example, the target device determines the third change in its direction of movement to be reported to the positioning device at time T, and the direction of movement of the target device at time T is the first direction of movement; at time T+ΔT, it determines the first change in its direction of movement to be reported to the positioning device, and the second direction of movement of the target device at time T+ΔT is 30 degrees clockwise compared to the first direction of movement at time T. Assuming that clockwise movement is represented by (+) and counterclockwise movement is represented by (-), and the target device does not send the change in its direction of movement to the positioning device between T and T+ΔT, then the first change in the direction of movement mentioned above is +30 degrees.

[0179] As another possible implementation, the first moment is when the target device is configured to report the change in the direction of movement; the second moment is when the first change in the direction of movement to be reported to the positioning device is determined.

[0180] In this approach, the change in movement direction can be understood as the difference between the movement direction when the target device determines the change in movement direction that needs to be reported and the movement direction when the target device is configured to report the change in movement direction.

[0181] For example, the target device is configured to report the change in its direction of movement at time T, and the target device's direction of movement at time T is the first direction of movement. The positioning device can obtain this first direction of movement (e.g., by sensing the first direction of movement through the direction sensing module). At time T+ΔT, the direction of movement changes abruptly, and the target device determines the amount of change in its direction of movement to report. The second direction of movement moves 30 degrees counterclockwise compared to the first direction of movement. Then, the first change in the aforementioned direction of movement is -30 degrees.

[0182] It should be understood that Figure 4 This is merely an example illustrating the possible forms of the first change in the direction of movement and does not constitute any limitation on the scope of protection of this application. The first moment and the second moment can also be defined in other ways, for example, the second moment is the moment before the first moment, which will not be elaborated here.

[0183] Figure 3 In the positioning method shown, the first change in the direction of movement can be determined by information obtained from sensors installed inside the target device. If no sensors are installed inside the target device, auxiliary equipment can be used to locate the target device using the auxiliary information provided by the auxiliary equipment. The following section will combine... Figure 5 This section details a method for positioning based on auxiliary information provided by auxiliary equipment.

[0184] Figure 5 This is another positioning method provided in the embodiments of this application. It includes the following steps:

[0185] S510, auxiliary equipment obtains first information.

[0186] The first information includes the location information of the target device and / or the movement information of the target device.

[0187] The location information of the target device includes relative location information or absolute location information. The relative location information includes the location information of the target device relative to the auxiliary device or the location information of the target device relative to the preset anchor point.

[0188] When the relative position information is the position information of the target device relative to the auxiliary device, the positioning device needs to know the position of the auxiliary device. For example, the positioning device knows the position of the auxiliary device through signaling interaction.

[0189] When the relative position information is the position information of the target device relative to the preset anchor point, the positioning device needs to know the position of the preset anchor point. For example, the positioning device senses the position of the preset anchor point, which is a pre-calibrated anchor point.

[0190] The aforementioned movement information of the target device includes at least one of the following: a second change in the direction of movement of the target device, acceleration, direction of movement, and velocity.

[0191] As one possible implementation, when the auxiliary device is an access network device, the auxiliary device can obtain the first information in the following ways:

[0192] Method 1: Based on radar sensing technology.

[0193] For example, auxiliary equipment can acquire the location and movement information of the target device based on frequency-modulated continuous-wave (FMCW) technology.

[0194] It should be understood that the above-described FMCW technology is merely an example and does not constitute any limitation on the scope of protection of this application. In the embodiments of this application, no limitation is made on which radar sensing technology the auxiliary device uses to obtain the movement information of the target device.

[0195] The auxiliary device can sense and acquire the movement information of the target device through method one. The movement information of the target device includes at least one of the following: second change in movement direction, acceleration, movement direction, and velocity. The movement information of the target device may be an absolute value or a relative value.

[0196] The auxiliary device can sense and obtain the relative position information of the target device through method one. In this case, the positioning device is required to know the position of the auxiliary device.

[0197] For example, when the auxiliary equipment uses radar-based sensing technology, it can also directly feed back radar reflection signal information to the positioning equipment, which will then perform subsequent processing to improve the positioning accuracy of the target equipment.

[0198] Method 2: Acquire image information using an auxiliary camera attached to the device.

[0199] The auxiliary device can obtain the motion information of the target device through deep learning technology. The motion information of the target device includes at least one of the following: a second change in the direction of movement of the target device, acceleration, direction of movement, and velocity. The motion information of the target device may be an absolute value or a relative value.

[0200] Corresponding to Method 2 above, if an auxiliary device with an attached camera is used to acquire image information, the auxiliary device may acquire the relative position information of the target device (e.g., the position of the target device relative to a pre-defined anchor point) or its absolute position information. In the case of relative position information, the positioning device is required to know the position of the anchor point.

[0201] As another possible implementation, when the auxiliary device is a short-range communication device (e.g., a smart camera, WLAN device, Bluetooth device, UWB device, etc.), the auxiliary device can obtain the first information in the following ways:

[0202] Method 1: When the auxiliary device is a smart camera, it can capture image information of the target device and its surrounding environment.

[0203] Smart cameras can obtain motion information of target devices by processing image information through deep learning technology. The motion information of target devices includes at least one of the following: a second change in the direction of movement of the target device, acceleration, direction of movement, and velocity. The motion information of target devices may be absolute or relative values.

[0204] Alternatively, smart cameras can use deep learning technology to process image information and obtain the location information of the target device.

[0205] Method 2: When the auxiliary device is a WLAN device, Bluetooth device or UWB device, the positioning technology within the auxiliary device system can be used to obtain the location information and / or the movement information of the target device.

[0206] In order for the positioning device to refer to the aforementioned first information when locating the target device, the auxiliary device needs to send the aforementioned first information to the positioning device. Figure 5 The method flow shown also includes:

[0207] S520, the auxiliary device sends the first information to the positioning device, or in other words, the positioning device receives the first information from the auxiliary device.

[0208] It should be understood that a communication connection has been established between the auxiliary device and the positioning device before the auxiliary device sends the first information to the positioning device. Figure 5 The method process also includes:

[0209] S511, the auxiliary equipment establishes a connection with the positioning equipment and negotiates to determine the positioning of the target equipment.

[0210] In this application embodiment, there are no limitations on how the auxiliary device establishes a connection with the positioning device and negotiates to determine the positioning of the target device. The connection establishment method of the device that can currently establish a connection with the positioning device can be referred to.

[0211] Optionally, the auxiliary device may periodically send information to the positioning device.

[0212] As one possible implementation, the aforementioned period is configured for the positioning device. In this approach, Figure 5 The method flow shown also includes:

[0213] S512, the positioning device sends a second instruction message to the auxiliary device, or in other words, the auxiliary device receives a second instruction message from the positioning device.

[0214] The first indication information is used to indicate the period during which the auxiliary device periodically sends information.

[0215] As another possible implementation, the aforementioned cycle is determined by the auxiliary equipment.

[0216] Optionally, the auxiliary device may send the first information to the positioning device when certain conditions are met.

[0217] For example, the auxiliary device determines whether a second change in the direction of movement is greater than or equal to a second threshold: when the second change in the direction of movement is greater than or equal to the second threshold, it sends first information to the positioning device; when the second change in the direction of movement is less than the second threshold, it does not send first information to the positioning device.

[0218] As one possible implementation, the second threshold mentioned above is configured by the positioning device. In this approach, Figure 5 The method flow shown also includes:

[0219] S513, the positioning device sends a second threshold to the auxiliary device, or in other words, the auxiliary device receives a second threshold from the positioning device.

[0220] The second threshold is used to compare the magnitude with the change in the direction of movement mentioned above.

[0221] As another possible implementation, the second threshold mentioned above is determined by the auxiliary device.

[0222] Optionally, to indicate the credibility of the first information, the auxiliary device may send second confidence information to the positioning device. The second confidence information is used to indicate the degree of credibility of the first information. Figure 5 The method flow shown also includes:

[0223] S514, the auxiliary device sends second confidence information to the positioning device, or in other words, the positioning device receives second confidence information from the auxiliary device.

[0224] For example, the second confidence information can be characterized by confidence intervals and confidence levels.

[0225] Optionally, the aforementioned first information and second confidence information can be sent to the positioning device in a single message.

[0226] For example, it can be Figure 5 The positioning method shown is applied to Figure 1 In the positioning architecture shown in (a) above.

[0227] Right now Figure 5 The method flow shown also includes:

[0228] S521, the positioning device receives the first positioning information from the third device.

[0229] Please refer to the description of S210 above; it will not be repeated here.

[0230] S522, the positioning device receives second positioning information from the target device.

[0231] Please refer to the description of S220 above; it will not be repeated here.

[0232] In this embodiment, when both the auxiliary information device and the third device are access network devices, the auxiliary device and the third device can be the same access network device or different access network devices. It should be noted that regardless of whether the auxiliary device and the third device are the same access network device, the first information obtained by the auxiliary device and the first positioning information obtained by the third device are not entirely the same.

[0233] For example, the first positioning information acquired by the third device includes positioning reference signal (PRS) information, time delay information, etc., required by the aforementioned OTDOA positioning method, e-CID positioning method, or Network-assisted GNSS positioning method; while the auxiliary information acquired includes the target device's position information, movement information, etc.

[0234] Figure 5 The positioning method shown can also be applied to Figure 1 The positioning architecture shown in (b) and the positioning architectures of other devices that can achieve the corresponding functions will not be described in detail here.

[0235] Specifically, after obtaining the aforementioned first information, the positioning device can locate the target device based on that first information. Figure 5 The methodological process shown also includes:

[0236] S530, the positioning device performs positioning.

[0237] When the positioning device receives first positioning information about the target device from a third device, and / or receives second positioning information about the target device from the target device, the positioning device can locate the target device based on the first information and the first and / or second positioning information of the target device. This allows for more accurate positioning results.

[0238] Optionally, Figure 3 The method shown and Figure 5 The method shown can be combined with other methods, namely, the positioning device can also receive a first change in the direction of movement of the target device. The positioning device can then locate the target device based on this first change in the direction of movement, the first information, and the positioning information of the target device (the positioning information includes first positioning information and / or second positioning information). This allows for more accurate positioning results.

[0239] It should be understood that, in the embodiments of this application Figure 3 and Figure 5 The specific examples shown are only intended to help those skilled in the art better understand the embodiments of this application, and are not intended to limit the scope of the embodiments of this application.

[0240] It should also be understood that the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0241] It should also be understood that, in the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0242] For example, Figure 3 The illustrated embodiments and Figure 5 The illustrated embodiments can be combined to obtain:

[0243] In one embodiment, the positioning device is based on Figure 3 The process shown can be based on obtaining the first change in the direction of movement from the target device, and can also be based on... Figure 5 The process shown obtains further auxiliary information from the auxiliary equipment, and performs positioning based on the auxiliary information and the first change in the direction of movement, in order to obtain a more accurate positioning result.

[0244] In another embodiment, the positioning device is based on Figure 5 The process shown can obtain auxiliary information from auxiliary equipment, and can also be based on... Figure 3 The process shown obtains the first change in the direction of movement from the target device, and performs positioning based on auxiliary information and the first change in the direction of movement in order to obtain a more accurate positioning result.

[0245] It should also be understood that in some of the above embodiments, the examples are mainly based on devices in existing positioning architectures (e.g., auxiliary devices, positioning devices, target devices, etc.). It should be understood that the specific form of the device is not limited in the embodiments of this application. For example, any device that can achieve the same function in the future is applicable to the embodiments of this application.

[0246] It is understood that, in the above-described method embodiments, the methods and operations implemented by the device (e.g., auxiliary device, positioning device, target device) can also be implemented by components (e.g., chips or circuits) that can be used in the device.

[0247] The above, combined with Figure 3 and Figure 5 The positioning method provided in the embodiments of this application is described in detail. The positioning method described above is mainly from the perspective of interaction between various devices. It is understood that each device, in order to achieve the above functions, includes the corresponding hardware structure and / or software module to perform each function.

[0248] Those skilled in the art will recognize that, based on the units and algorithm steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is implemented in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0249] The following, combined with Figures 6 to 8 This application provides a detailed description of the positioning apparatus provided in its embodiments. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments; therefore, any content not described in detail can be found in the above method embodiments. For brevity, some content is omitted hereafter.

[0250] This application embodiment can divide the transmitting or receiving device into functional modules according to the above method examples. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following description uses the division of functional modules according to each function as an example.

[0251] Figure 6 This is a schematic block diagram of the device 600 provided in an embodiment of this application. The device 600 includes a transceiver unit 610 and a processing unit 620. The transceiver unit 610 can implement corresponding communication functions, and the processing unit 620 is used for data processing. The transceiver unit 610 can also be referred to as a communication interface or a communication unit.

[0252] Optionally, the device 600 may further include a storage unit for storing instructions and / or data, and the processing unit 620 may read the instructions and / or data from the storage unit to enable the device to implement the aforementioned method embodiments.

[0253] The device 600 can be used to perform the actions performed by the device (e.g., auxiliary device, positioning device, target device) in the above method embodiments. In this case, the device 600 can be a device or a component that can be configured on the device. The transceiver unit 610 is used to perform transceiver-related operations on the device side in the above method embodiments, and the processing unit 620 is used to perform processing-related operations on the device side in the above method embodiments.

[0254] As a design, the device 600 is used to perform the actions performed by the target device in the above method embodiments.

[0255] In one possible implementation, the transceiver unit 610 is used to send a first change in the movement direction to the positioning device. The first change in the movement direction is the difference between the first movement direction and the second movement direction. The first change in the movement direction is used by the positioning device to locate the target device.

[0256] Processing unit 620 is used to determine the first direction of movement at a first moment;

[0257] The processing unit 620 is also configured to determine a second direction of movement at a second moment, which is different from the first moment.

[0258] Optionally, the transceiver unit 610 is further configured to receive first indication information from the positioning device, the first indication information being used to indicate the periodicity of the target device periodically transmitting changes in the direction of movement; and / or,

[0259] A first threshold is received from the positioning device, which is used to compare the magnitude of the first threshold with a first change in the direction of movement.

[0260] The apparatus 600 can implement steps or processes corresponding to those executed by the target device in the method embodiments according to the present application. The apparatus 600 may include units for executing the methods performed by the target device in the method embodiments. Furthermore, each unit in the apparatus 600 and the other operations and / or functions described above respectively implement the corresponding processes of the method embodiments in the target device.

[0261] Among them, when the device 600 is used to perform Figure 3 When the method is in use, the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S312, S331, S332, S330 and S333; the processing unit 620 can be used to execute the processing steps in the method, such as steps S310 and S320.

[0262] When the device 600 is used to perform Figure 5 When the method is in use, the transceiver unit 610 can be used to execute the transceiver steps in the method, such as step S522.

[0263] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0264] As an alternative design, the device 600 is used to perform the actions performed by the positioning device in the above method embodiments.

[0265] In one possible implementation, the transceiver unit 610 is configured to receive a first change in the direction of movement from the target device, the first change in the direction of movement being the difference between a first direction of movement and a second direction of movement.

[0266] Wherein, the first moving direction is the moving direction of the target device determined by the target device at a first moment, and the second moving direction is the moving direction of the target device determined by the target device at a second moment, which is different from the first moment.

[0267] The processing unit 620 is used to locate the target device based on a first change in the direction of movement.

[0268] Optionally, the transceiver unit 610 is further configured to receive first information from the auxiliary device, the first information including the location information of the target device and / or the movement information of the target device.

[0269] The movement information of the target device includes at least one of the following: a second change in the movement direction of the target device, acceleration, movement direction, and velocity;

[0270] The processing unit 620 is also configured to locate the target device based on a first change in the direction of movement and the first information.

[0271] Optionally, the transceiver unit 610 is further configured to send a second indication message to the auxiliary device, the second indication message being used to indicate the period for the auxiliary device to periodically send information; and / or,

[0272] A second threshold is sent to the auxiliary device, which is used to compare the magnitude of the second change in the direction of movement.

[0273] Optionally, the transceiver unit 610 is further configured to send first indication information to the target device, the first indication information being used to indicate the periodicity of the target device periodically transmitting changes in the direction of movement; and / or,

[0274] A first threshold is sent to the target device, which is used to compare the magnitude of the first change in the direction of movement.

[0275] Optionally, the transceiver unit 610 is further configured to receive second confidence information from the auxiliary device, the second confidence information being used to indicate the degree of credibility of the first information.

[0276] Optionally, the transceiver unit 610 is further configured to receive first confidence information from the target device, the first confidence information being used to indicate the degree of confidence of the first change in the direction of movement.

[0277] The device 600 can implement steps or processes corresponding to those executed by the positioning device in the method embodiments according to the present application. The device 600 may include units for executing the methods performed by the positioning device in the method embodiments. Furthermore, each unit in the device 600 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the method embodiments in the positioning device of the method embodiments.

[0278] Among them, when the device 600 is used to perform Figure 3 When the method is in use, the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S311, S312, S331, S332, S330 and S333; the processing unit 620 can be used to execute the processing steps in the method, such as step S340.

[0279] When the device 600 is used to perform Figure 5 When the method is in use, the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S521, S522, S512, S513, S514, S511, S520 and S515; the processing unit 620 can be used to execute the processing steps in the method, such as step S530.

[0280] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0281] As an alternative design, the device 600 is used to perform the actions performed by the auxiliary device in the above method embodiments.

[0282] In one possible implementation, the processing unit 620 is configured to acquire first information, which includes the location information of the target device and / or the movement information of the target device.

[0283] The movement information of the target device includes at least one of the following: a second change in the direction of movement of the target device, acceleration, direction of movement, and velocity.

[0284] The transceiver unit 610 is used to send the first information to the positioning device, and the first information is used by the positioning device to locate the target device.

[0285] Optionally, the transceiver unit 610 is further configured to receive second indication information from the positioning device, the second indication information being used to indicate the periodicity of the auxiliary device's periodic information transmission; and / or,

[0286] A second threshold is received from the positioning device, which is used to compare the magnitude of the second change in the direction of movement.

[0287] Optionally, the transceiver unit 610 is further configured to send second confidence information to the positioning device, the second confidence information being used to indicate the degree of credibility of the first information.

[0288] The device 600 can implement steps or processes corresponding to those executed by the auxiliary device in the method embodiments according to the present application. The device 600 may include units for executing the methods performed by the auxiliary device in the method embodiments. Furthermore, each unit in the device 600 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the method embodiments in the auxiliary device of the method embodiments.

[0289] Among them, when the device 600 is used to perform Figure 5 When the method is in use, the transceiver unit 610 can be used to execute the transceiver steps in the method, such as steps S512, S513, S511, S520 and S514; the processing unit 620 can be used to execute the processing steps in the method, such as step S510.

[0290] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0291] The processing unit 620 in the above embodiments can be implemented by at least one processor or processor-related circuitry. The transceiver unit 610 can be implemented by a transceiver or transceiver-related circuitry. The storage unit can be implemented by at least one memory.

[0292] like Figure 7 As shown, this application embodiment also provides an apparatus 700. The apparatus 700 includes a processor 710, which is coupled to a memory 720. The memory 720 is used to store computer programs or instructions and / or data. The processor 710 is used to execute the computer programs or instructions and / or data stored in the memory 720, so that the methods in the above method embodiments are executed.

[0293] Optionally, the device 700 may include one or more processors 710.

[0294] Optionally, such as Figure 7 As shown, the device 700 may also include a memory 720.

[0295] Optionally, the device 700 may include one or more memories 720.

[0296] Alternatively, the memory 720 can be integrated with the processor 710, or it can be set separately.

[0297] Optionally, such as Figure 7As shown, the device 700 may further include a transceiver 730 for receiving and / or transmitting signals. For example, a processor 710 is used to control the transceiver 730 to receive and / or transmit signals.

[0298] As one option, the device 700 is used to implement the operations performed by the device (e.g., auxiliary device, positioning device, target device) in the above method embodiments.

[0299] This application also provides an apparatus 800, which can be a device or a chip. The apparatus 800 can be used to perform the operations performed by a device (e.g., an auxiliary device, a positioning device, a target device) in the above method embodiments.

[0300] Figure 8 A simplified structural diagram is shown. The device 800 includes part 810 and part 820. Part 810 is mainly used for transmitting and receiving radio frequency signals and converting radio frequency signals to baseband signals; part 820 is mainly used for baseband processing and controlling the base station. Part 810 is commonly referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver. Part 820 is typically the control center of the base station, often referred to as a processing unit, used to control the base station to perform the processing operations on the receiving end device side in the above method embodiments.

[0301] The transceiver unit of the 810 section, also known as a transceiver or transceiver unit, includes an antenna and radio frequency (RF) circuitry, where the RF circuitry is primarily used for RF processing. Optionally, the devices in the 810 section that implement the receiving function can be considered as receiving units, and the devices that implement the transmitting function can be considered as transmitting units; that is, the 810 section includes both receiving and transmitting units. The receiving unit can also be called a receiver, receiver circuit, or receiving unit, while the transmitting unit can be called a transmitter, transmitter, or transmitting circuit.

[0302] The 820 section may include one or more single boards, each single board may include one or more processors and one or more memories. The processor is used to read and execute programs in the memory to implement baseband processing functions and control the base station. If multiple single boards exist, they can be interconnected to enhance processing capabilities. As an optional implementation, multiple single boards may share one or more processors, multiple single boards may share one or more memories, or multiple single boards may simultaneously share one or more processors.

[0303] It should be understood that Figure 8 This is merely an example and not a limitation; the devices described above, including transceiver units and processing units, may not depend on... Figure 8 The structure shown.

[0304] When the device 800 is a chip, the chip includes a transceiver unit and a processing unit. The transceiver unit can be an input / output circuit or a communication interface; the processing unit is a processor, microprocessor, or integrated circuit integrated on the chip. Alternatively, the device 800 can be a chip system or a processing system, enabling devices equipped with the device 800 to implement the methods and functions of the embodiments of this application. For example, the processing unit 820 can be a processing circuit within the chip system or processing system, controlling devices equipped with the chip system or processing system. It can also be coupled to a storage unit to call instructions stored in the storage unit, enabling the device to implement the methods and functions of the embodiments of this application. The transceiver unit 810 can be an input / output circuit within the chip system or processing system, outputting information processed by the chip system or inputting data or signaling information to be processed into the chip system for processing.

[0305] This application also provides a computer-readable storage medium storing computer instructions for implementing the methods executed by a device (e.g., a target device, a positioning device, or an auxiliary device) in the above-described method embodiments.

[0306] For example, when the computer program is executed by a computer, it enables the computer to implement the method performed by the device (e.g., target device, positioning device, or auxiliary device) in the above method embodiments.

[0307] This application also provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the method described above, which is executed by a device (e.g., a target device, a positioning device, or an auxiliary device).

[0308] This application also provides a positioning system, which includes the devices described in the above embodiments (e.g., target device, positioning device, or auxiliary device).

[0309] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0310] It should be understood that the processor mentioned in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0311] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM can include a variety of forms, such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0312] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0313] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0314] Those skilled in the art will recognize that the units and steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of protection of this application.

[0315] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of apparatus or units may be electrical, mechanical, or other forms.

[0316] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to implement the solution provided in this application, depending on actual needs.

[0317] In addition, the functional units in the various embodiments of this application can be integrated into one unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0318] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. For example, the computer can be a personal computer, a server, or a network device, etc. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs). For example, the aforementioned available media may include, but are not limited to, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, and other media capable of storing program code.

[0319] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of positioning, characterized by, The method comprises: a target device determines a first moving direction at a first time; the target device determines a second moving direction at a second time, the second time being different from the first time; the target device sends a first change amount of moving direction to a positioning device, the first change amount of moving direction being a difference between the first moving direction and the second moving direction, the first change amount of moving direction being used by the positioning device to locate the target device, wherein the target device and the positioning device use different coordinate systems.

2. The method of claim 1, wherein, The method further comprises: the target device receives first indication information from the positioning device, the first indication information being used to indicate a period at which the target device periodically sends a change amount of moving direction; and / or, the target device receives a first threshold value from the positioning device, the first threshold value being used to compare with the first change amount of moving direction.

3. The method of claim 2, wherein, The target device sending the first change amount of moving direction to the positioning device comprises: the target device sends the first change amount of moving direction to the positioning device according to the period configured by the positioning device according to the first indication information; or, before the target device sends the first change amount of moving direction to the positioning device, the method further comprises: the target device determines that the first change amount of moving direction is greater than or equal to the first threshold value.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: the target device sends first confidence information to the positioning device, the first confidence information being used to indicate a confidence level of the first change amount of moving direction.

5. A method of positioning, characterized by, The method comprises: a positioning device receives a first change amount of moving direction from a target device, the first change amount of moving direction being a difference between a first moving direction and a second moving direction, wherein the first moving direction is a moving direction of the target device determined by the target device at a first time, and the second moving direction is a moving direction of the target device determined by the target device at a second time, the second time being different from the first time; the positioning device locates the target device according to the first change amount of moving direction, wherein the target device and the positioning device use different coordinate systems.

6. The method of claim 5, wherein, The method further comprises: the positioning device receives first information from an auxiliary device, the first information comprising position information of the target device and / or movement information of the target device, wherein the movement information of the target device comprises at least one of a second change amount of moving direction, acceleration, moving direction, and speed of the target device; the positioning device locates the target device according to the first change amount of moving direction and the first information.

7. The method of claim 6, wherein, The method further comprises: the positioning device sends second indication information to the auxiliary device, the second indication information being used to indicate a period at which the auxiliary device periodically sends information; and / or, the positioning device sends a second threshold value to the auxiliary device, the second threshold value being used to compare with the second change amount of moving direction.

8. The method according to claim 6 or 7, characterized in that, The method further comprises: The positioning device receives second confidence information from the auxiliary device, the second confidence information being used to indicate a degree of credibility of the first information.

9. The method according to claim 6 or 7, characterized in that, The auxiliary device comprises at least one of the following devices: an access network device, a terminal device, a short-range communication device, or a smart camera device.

10. The method according to any one of claims 5 to 7, characterized in that, The method further comprises: The positioning device sends first indication information to the target device, the first indication information being used to indicate a period of periodically sending a change amount of the moving direction by the target device; and / or, The positioning device sends a first threshold to the target device, the first threshold being used to compare with the first change amount of the moving direction in size.

11. The method of any one of claims 5 to 7, wherein, The method further comprises: The positioning device receives first confidence information from the target device, the first confidence information being used to indicate a degree of credibility of the first change amount of the moving direction.

12. A target device, comprising: comprise: a memory, configured to store a computer program; a processor, configured to execute the computer program stored in the memory, so that the target device executes the method in any one of claims 1 to 4.

13. A positioning device, characterized by comprise: a memory, configured to store a computer program; a processor, configured to execute the computer program stored in the memory, so that the positioning device executes the method in any one of claims 5 to 11.

14. A system for positioning, characterized by comprise the target device in claim 12 and the positioning device in claim 13.

15. A computer storage medium, comprising, comprise computer instructions, when the computer instructions run on an electronic device, make the electronic device execute the method in any one of claims 1 to 11.

16. A computer program product, characterised in that, when the computer program product runs on a computer, make the computer execute the method in any one of claims 1 to 11.

Images