Positioning methods, devices and electronic equipment

Abstract

This application discloses a positioning method, apparatus, and electronic device, belonging to the field of communication technology. The positioning method includes selecting an initial channel from available channels during signal transmission between a terminal and a positioning tag; placing the positioning tag on an object to be located; determining the initial angle of arrival (Angle of Arrival) of the positioning tag for an antenna group in the terminal based on the initial channel; determining an acceptable blind zone range for the positioning blind zone corresponding to the antenna group based on the initial Angle of Arrival and a preset angle threshold; selecting a target channel corresponding to the antenna group from available channels based on the acceptable blind zone range; and determining the target Angle of Arrival (Angle of Arrival) between the positioning tag and the antenna group based on the target channel. The target Angle of Arrival is used to determine the location information of the object to be located; the positioning blind zone range of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel.

Description

Technical Field

[0001] This application belongs to the field of communication technology, specifically relating to a positioning method, device, and electronic device. Background Technology

[0002] Currently, in the field of smart terminals, wireless channels are typically used to achieve functions such as positioning and ranging. However, in the process of using wireless channels for positioning, existing technologies often randomly select an available channel to calculate the angle of arrival.

[0003] However, in this method, the accuracy of the angle of arrival measured directly based on the available channel is low, resulting in inaccurate positioning results and poor positioning performance. Summary of the Invention

[0004] The purpose of this application is to provide a positioning method, apparatus, and electronic device to solve the above-mentioned problems.

[0005] In a first aspect, embodiments of this application provide a positioning method applied to a terminal, comprising:

[0006] An initial channel is selected from the available channels for signal transmission between the terminal and the positioning tag; the positioning tag is placed on the object to be located;

[0007] The initial angle of arrival of the positioning tag is determined based on the initial channel for the antenna group in the terminal;

[0008] Based on the initial angle of arrival and the preset angle threshold corresponding to the antenna group, the acceptable blind zone range of the positioning blind zone corresponding to the antenna group is determined;

[0009] Based on the acceptable blind zone range corresponding to the antenna group, the target channel corresponding to the antenna group is selected from the available channels;

[0010] The target angle of arrival of the positioning tag is determined based on the target channel corresponding to the antenna group;

[0011] Wherein, the target angle of arrival is used to determine the position information of the object to be located; the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel.

[0012] Secondly, embodiments of this application provide a positioning device applied to a terminal, the device comprising:

[0013] The first selection module is used to select an initial channel from the available channels for signal transmission between the terminal and the positioning tag; the positioning tag is set on the object to be located;

[0014] The first determining module is used to determine the initial angle of arrival of the positioning tag based on the initial channel for the antenna group in the terminal;

[0015] The second determining module is used to determine the acceptable blind zone range of the positioning blind zone corresponding to the antenna group based on the initial angle of arrival and the preset angle threshold corresponding to the antenna group;

[0016] The second selection module is used to select the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group;

[0017] The third determining module is used to determine the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group;

[0018] Wherein, the target angle of arrival is used to determine the position information of the object to be located; the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel.

[0019] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory, wherein the memory stores a program or instructions that can run on the processor, and the program or instructions, when executed by the processor, implement the steps of the positioning method as described in the first aspect.

[0020] Fourthly, embodiments of this application provide a readable storage medium, characterized in that a program or instructions are stored on the readable storage medium, and when the program or instructions are executed by a processor, they implement the steps of the positioning method as described in the first aspect.

[0021] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0022] In a sixth aspect, embodiments of this application provide a computer program product stored in a storage medium, which is executed by at least one processor to implement the method described in the first aspect.

[0023] The positioning method provided in this embodiment of the invention involves selecting an initial channel from the available channels during signal transmission between the terminal and the positioning tag; the positioning tag is placed on the object to be located; determining the initial angle of arrival (Angle of Arrival) of the positioning tag based on the initial channel being an antenna group in the terminal; determining an acceptable blind zone range for the positioning blind zone corresponding to the antenna group based on the initial angle of arrival and a preset angle threshold; selecting a target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range; and determining the target angle of arrival (Angle of Arrival) of the positioning tag based on the target channel; wherein the target angle of arrival is used to determine the location information of the object to be located; the range of the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel. In this way, after measuring the initial angle of arrival through the initial channel, the acceptable range of the positioning blind zone is further determined based on the initial angle of arrival. Within the acceptable blind zone, a target channel with a channel frequency greater than the initial channel is selected. This can, to a certain extent, prevent the object to be located from falling into the blind zone while improving the accuracy of the target angle of arrival measured based on the target channel, thereby improving the accuracy of the positioning results and thus improving the positioning effect. Attached Figure Description

[0024] Figure 1 This is a flowchart of the steps of a positioning method provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the layout of a positioning antenna in a terminal according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of a positioning blind spot provided by an embodiment of the present invention;

[0027] Figure 4 This is a flowchart of another positioning method provided in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of an angle of arrival measurement provided by an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of a positioning device provided in an embodiment of the present invention;

[0030] Figure 7 This is a structural diagram of an electronic device provided in an embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0033] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] The technical solutions provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0035] Figure 1 This is a flowchart of the steps of a positioning method provided in an embodiment of the present invention, as follows: Figure 1 As shown, this method, applied to a terminal, may include the following steps:

[0036] Step 101: Select an initial channel from the available channels for signal transmission between the terminal and the positioning tag; the positioning tag is placed on the object to be located.

[0037] The aforementioned terminal can be any terminal with positioning requirements, such as a mobile phone, tablet, or computer. The aforementioned positioning tag refers to a tag capable of transmitting and receiving signals, which can be placed on the object to be located (e.g., goods, vehicles, or people). Therefore, the positioning tag in this solution can actually be understood as the target object being located. Specifically, the aforementioned terminal can be a terminal using Ultra Wide Band (UWB) technology for positioning communication; correspondingly, the aforementioned positioning tag can be a UWB tag.

[0038] In this context, "channel" refers to a communication channel, which can be understood as a medium for signal transmission. In the field of terminal positioning, "channel" usually refers to a wireless channel, which corresponds to the frequency of signal transmission. Therefore, in this embodiment, "channel" is equivalent to the frequency of signal transmission, and one frequency value corresponds to one channel. Specifically, the range of channels that a terminal can use is fixed; that is, a terminal can only use a fixed frequency band to transmit positioning signals. Correspondingly, the channels that the positioning tag can use are also fixed. Therefore, the aforementioned available channels refer to the channels that both the terminal and the positioning tag can use simultaneously during signal transmission to ensure that their positioning signals can be transmitted normally.

[0039] Specifically, after receiving a user's request to locate an object, the terminal can communicate with the location tag attached to the object via Bluetooth broadcast to obtain the channel range supported by the location tag. Then, based on the channel range supported by the terminal itself, the intersection of the two is obtained to determine the available channels. The channel range supported by the terminal can be pre-set and stored before the terminal leaves the factory.

[0040] The initial channel can be randomly selected from the available channels, or it can be selected according to preset requirements. For example, the preset requirement can be to select the channel with the highest frequency, or it can be to select the channel with the lowest frequency, or a channel with a medium frequency. This embodiment of the invention does not limit this.

[0041] Step 102: Determine the initial angle of arrival of the positioning tag for the antenna group in the terminal based on the initial channel.

[0042] The aforementioned angle of arrival refers to the angle between the line connecting the positioning tag and the terminal and the horizontal plane of the terminal, which is the orientation information of the positioning tag relative to the terminal. Specifically, after selecting the initial channel, the terminal can send a request signal to the positioning tag through the initial channel, and correspondingly, the positioning tag can return a feedback signal to the terminal based on the request signal.

[0043] The aforementioned antenna group is used to realize signal transmission between the terminal and the positioning tag, and is usually composed of two antennas to form an antenna group. The number of antenna groups in the terminal can be one or more, and the embodiments of the present invention do not limit this. It should be noted that the angle of arrival obtained in the embodiments of the present invention corresponds to the antenna group. When the number of antenna groups is greater than one, each antenna group can determine the angle of arrival from different dimensions or planes.

[0044] For example, taking the configuration of two mutually perpendicular positioning antenna groups in the terminal as an example, such as... Figure 2 As shown, Figure 2This is a schematic diagram of the layout of positioning antennas in a terminal according to an embodiment of the present invention. ANT1, ANT2, and ANT3 each represent an antenna. ANT1 and ANT2 form a set of vertical positioning antennas for transmitting and receiving signals in the vertical dimension, thus obtaining the angle of arrival (Angle of Arrival) of the positioned object in the vertical plane. ANT1 and ANT3 form a set of horizontal positioning antennas for transmitting and receiving signals in the horizontal direction, thus obtaining the Angle of Arrival (Angle of Arrival) of the positioned object in the horizontal plane. For any set of antennas, when the positioning tag returns a feedback signal to the terminal, due to the difference in position between the two antennas in this set relative to the positioning tag, the feedback signals received by the two antennas have a certain phase difference. The initial Angle of Arrival can be obtained based on this phase difference. Specifically, the initial Angle of Arrival can be obtained based on the Phase-Difference-of-Arrival (PDOA) positioning algorithm. Of course, it can also be calculated based on other Angle of Arrival positioning algorithms; this embodiment of the present invention does not limit this.

[0045] Step 103: Based on the initial angle of arrival and the preset angle threshold corresponding to the antenna group, determine the acceptable blind zone range of the positioning blind zone corresponding to the antenna group.

[0046] It should be noted that for any antenna group, when the terminal is a device with space constraints such as a mobile phone or tablet, the spacing between the two positioning antennas is usually fixed. However, in the field of communications, extensive experiments have shown that with a fixed antenna spacing, the lower the frequency of the channel, the narrower the mapping between the phase difference and the angle of arrival, resulting in lower positioning accuracy. Conversely, the higher the frequency of the channel, the shorter the wavelength of the signal. When the actual angle of arrival of the positioning tag is too large, the phase difference between the signals received by the two antennas in an antenna group often exceeds one cycle. This causes multiple phase differences to correspond to one angle of arrival within a certain range, making it impossible to locate the positioning tag within this range—a positioning blind zone. The higher the frequency, the larger the blind zone. Understandably, when multiple antenna groups exist, there are also multiple acceptable blind zone ranges, each corresponding to one antenna group.

[0047] Optionally, the initial channel in step 101 can be the lowest frequency channel among the available channels. Since the lowest frequency channel usually has no blind zone or a small blind zone, it can ensure that the initial channel can locate the positioning tag. Alternatively, the highest frequency channel can be selected from the available channels without blind zones, thus maintaining a relatively high positioning accuracy to a certain extent while still being able to locate the positioning tag. Furthermore, the target channel can be a channel with a higher frequency than the initial channel, thereby further improving the positioning accuracy based on the initial channel.

[0048] The acceptable blind zone range mentioned above refers to the angular size of the maximum acceptable blind zone range. For example, consider a terminal with an antenna array on a horizontal plane. Figure 3 This is a schematic diagram of a positioning blind zone provided by an embodiment of the present invention, such as... Figure 3 As shown, UE refers to the terminal, and the UWB Tag in the figure refers to the aforementioned positioning tag. It can be understood that for a terminal, its blind zone is usually symmetrical based on the terminal's horizontal plane normal. If the terminal's horizontal plane normal is taken as 0°, then its blind zone is typically [-90°~(-90°+X)] and [(90°-X)~90°]. The angle value of the blind zone range refers to the aforementioned X, which is the angle of a single-sided blind zone. Specifically, since the aforementioned acceptable blind zone range is the angle of the maximum acceptable blind zone range, when the blind zone range corresponding to the channel does not exceed the aforementioned acceptable blind zone range, it can be guaranteed that the positioning tag will not easily fall into the positioning blind zone to a certain extent. At the same time, since the channel frequency is proportional to the positioning accuracy, the channel with the highest frequency can be selected from channels whose blind zone range does not exceed the aforementioned acceptable blind zone range, thereby improving positioning accuracy while minimizing the loss of the positioning target. Accordingly, the predetermined blind zone angle margin in the figure is the aforementioned preset angle threshold. It can be seen that the aforementioned preset angle threshold is for the angle margin between the acceptable blind zone range and the positioning tag. It can be preset according to actual needs. For example, the preset angle threshold can be set to 15°, or it can be set to 16°, 20°, etc.

[0049] For example, when the initial angle of arrival is 80° and the preset angle threshold is 15°, the acceptable blind zone range can be obtained by subtracting the preset angle threshold from the initial angle of arrival. That is, the X value in the example above is 65°, so the corresponding acceptable blind zone range is [-90° to -25°] and [25° to 90°].

[0050] Step 104: Based on the acceptable blind zone range corresponding to the antenna group, select the target channel corresponding to the antenna group from the available channels.

[0051] Step 105: Determine the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group.

[0052] Wherein, the target angle of arrival is used to determine the position information of the object to be located; the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel.

[0053] The target angle of arrival (Angle of Arrival) corresponding to the antenna group refers to the angle of arrival of the positioning tag on the positioning plane corresponding to the antenna group. Specifically, for any antenna group, after obtaining the acceptable blind zone range, the corresponding acceptable blind zone can be obtained, and a target channel can be selected for the antenna group based on the acceptable blind zone. Optionally, the available channel whose corresponding blind zone is closest to the acceptable blind zone can be selected as the target channel. Of course, an available channel with a frequency higher than the initial channel and no blind zone can also be selected as the target channel, as long as the blind zone range of the target channel does not exceed the acceptable blind zone. This embodiment of the invention does not impose any restrictions on this. The location information mentioned above can be the orientation information of the object to be located obtained through the angle of arrival, which can be represented by an arrow starting from the terminal.

[0054] For example, with Figure 3 For example, the initial angle of arrival mentioned above is the acute angle α formed by the UWB tag and the horizontal plane where the UE is located in the figure. Therefore, the acceptable blind zone range mentioned above is actually the blind zone range formed by subtracting the predetermined blind zone angle margin from the initial angle of arrival. Wherein, Figure 3 The blind zone range shown is the blind zone range corresponding to the current channel. It can be seen that the blind zone range of the current channel does not exceed the acceptable blind zone range. Therefore, a channel with a higher frequency can be selected at this time. For example, the channel whose blind zone range is closest to the above-mentioned acceptable blind zone range can be selected as the target channel.

[0055] Specifically, the operation of determining the target angle of arrival corresponding to the antenna group can also be performed using the PDOA algorithm or other angle of arrival positioning algorithms, thereby obtaining the location of the positioning tag on the positioning plane corresponding to the antenna group relative to the location of the terminal.

[0056] Optionally, the distance information between the positioning tag and the terminal can be obtained based on the time difference between the terminal receiving the feedback signal, so that the positioning tag can be located more accurately based on the above target arrival angle and distance information.

[0057] In summary, the positioning method provided by this embodiment of the invention involves: selecting an initial channel from the available channels during signal transmission between the terminal and the positioning tag; the positioning tag being placed on the object to be located; determining the initial angle of arrival (Angle of Arrival) of the positioning tag based on the initial channel being an antenna group in the terminal; determining an acceptable blind zone range for the positioning blind zone corresponding to the antenna group based on the initial angle of arrival and a preset angle threshold; selecting a target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range; and determining the target angle of arrival (Angle of Arrival) of the positioning tag based on the target channel. The target angle of arrival is used to determine the location information of the object to be located; the range of the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel. In this way, after measuring the initial angle of arrival through the initial channel, the acceptable range of the positioning blind zone is further determined based on the initial angle of arrival. Within the acceptable blind zone, a target channel with a channel frequency greater than the initial channel is selected. This can, to a certain extent, prevent the object to be located from falling into the blind zone while improving the accuracy of the target angle of arrival measured based on the target channel, thereby improving the accuracy of the positioning results and thus improving the positioning effect.

[0058] Optionally, the operation of selecting the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group can specifically include the following steps in this embodiment of the invention:

[0059] Step 201: Based on the correspondence between the channels and blind zone ranges preset by the antenna group, determine the first range of the positioning blind zone of each available channel.

[0060] Step 202: Determine the available channels corresponding to the antenna group as the channels whose first range does not exceed the acceptable blind zone range and whose angle difference between the first range and the acceptable blind zone range meets the preset angle difference requirement.

[0061] Understandably, the aforementioned correspondence between channels and blind zone ranges refers to the blind zone ranges corresponding to different available channels. The terminal's positioning antenna can be calibrated before the terminal leaves the factory to obtain information such as whether the terminal has positioning blind zones under different channels, and the range of these blind zones. The first range mentioned above refers to the angular size of the blind zone corresponding to each channel.

[0062] The aforementioned preset angle difference requirement can be that the angle difference between the first range and the acceptable blind zone range is minimized. Since channel frequency is positively correlated with positioning accuracy and blind zone range, selecting the channel with the smallest angle difference from the acceptable blind zone range as the target channel can achieve the highest positioning accuracy without losing the positioning target. Alternatively, an angle difference threshold can be set so that the angle difference is within this threshold; this embodiment of the invention does not impose any restrictions on this. Specifically, using an available channel whose first range does not exceed the acceptable blind zone range and whose angle difference meets the preset angle difference requirement as the target channel can ensure that the blind zone range of the target channel meets the preset requirement while maintaining high positioning accuracy.

[0063] In this embodiment of the invention, a first range of the positioning blind zone for each available channel is determined based on a preset correspondence between the channels and blind zone ranges of the antenna group. Available channels whose first range does not exceed the acceptable blind zone range, and whose angle difference between the first range and the acceptable blind zone range meets a preset angle difference requirement, are determined as the target channels corresponding to the antenna group. Thus, by directly selecting a target channel that meets the requirements from the available channels, the efficiency of selecting the target channel can be improved. Simultaneously, by selecting available channels whose angle difference within the blind zone range meets the preset angle difference requirement, the positioning accuracy is improved.

[0064] Optionally, the operation of selecting the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group can specifically include the following steps in this embodiment of the invention:

[0065] Step 301: Take the channel frequency of the initial channel as the target channel frequency, and increase the target channel frequency based on a preset adjustment amount.

[0066] Step 302: Determine the second range of the positioning blind zone of the available channel corresponding to the increased target channel frequency.

[0067] Since channels and frequencies are correlated, channels can be adjusted by adjusting the channel frequency. The preset adjustment amount can be understood as a step value; that is, the channel frequency can be gradually adjusted according to this step value. For example, if the preset adjustment amount is Y and the initial channel frequency is A, then the increased target channel frequency is A+Y.

[0068] Furthermore, since channels and frequencies are corresponding, after obtaining the target channel frequency, the corresponding available channels can be determined, and the range of the positioning blind zone corresponding to the available channel can be obtained, which is the second range mentioned above.

[0069] Step 303: If the second range does not exceed the acceptable blind zone range, increase the target channel frequency again based on the preset adjustment amount, and if the proximity between the second range and the acceptable blind zone range meets the preset requirements, determine the available channel corresponding to the target channel frequency as the target channel corresponding to the antenna group.

[0070] The aforementioned preset requirement can be that the second range does not exceed the acceptable blind zone range and is closest to the acceptable blind zone range. For example, if the second range corresponding to the target channel frequency after increasing n times does not exceed the acceptable blind zone range, but the second range corresponding to the target channel frequency after increasing n+1 times exceeds the acceptable blind zone range, then the target channel frequency after increasing n times can be considered to be a channel frequency that meets the preset requirement.

[0071] Optionally, when the second range corresponding to the target channel frequency after increasing it n+1 times exceeds the acceptable blind zone range, it indicates that the blind zone range corresponding to the target channel frequency is likely to cause the positioning tag to fall into the blind zone, thus making positioning impossible. In this case, the preset adjustment amount can be reduced, and the channel frequency increase operation can continue to be performed according to the reduced preset adjustment amount. Thus, the degree of gradual improvement in positioning accuracy can be adjusted by adjusting the preset adjustment amount, improving the flexibility of controlling positioning accuracy.

[0072] Specifically, when the proximity between the second range and the acceptable blind zone range meets the preset requirements, the positioning accuracy is highest while the available channel corresponding to the target channel frequency will not cause the positioning tag to easily fall into the blind zone range.

[0073] Specifically, when there is a channel among the available channels whose corresponding frequency matches the target channel frequency, the available channel corresponding to the target channel frequency refers to the available channel whose corresponding frequency matches the target channel frequency. Correspondingly, when there is no channel among the available channels whose corresponding frequency matches the target channel frequency, the available channel with the smallest difference between its corresponding frequency and the target channel frequency can be used as the target channel, thereby avoiding the situation where the location cannot be determined after increasing the channel frequency.

[0074] In this embodiment of the invention, the channel frequency of the initial channel is used as the target channel frequency. The channel frequency of the initial channel is increased by a preset adjustment amount to obtain the target channel frequency. A second range of the positioning blind zone of the available channel corresponding to the increased target channel frequency is determined. If the second range does not exceed the acceptable blind zone range, the target channel frequency is increased again by the preset adjustment amount. If the proximity between the second range and the acceptable blind zone range meets a preset requirement, the available channel corresponding to the target channel frequency is determined as the target channel corresponding to the antenna group. In this way, the channel frequency can be gradually adjusted by a preset adjustment amount, and the channel corresponding to the channel frequency whose blind zone range meets the preset requirement is taken as the final target channel. This gradual adjustment of the channel frequency can gradually improve positioning accuracy.

[0075] Optionally, after determining the initial angle of arrival of the positioning tag for the antenna group in the terminal based on the initial channel, the embodiments of the present invention may further include the following steps:

[0076] Step 401: Display the location information determined based on the initial angle of arrival in the positioning interface.

[0077] After determining the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group, the following steps may also be included:

[0078] Step 402: Display the location information determined based on the target arrival angle on the positioning interface.

[0079] After increasing the target channel frequency based on the preset adjustment amount, the following steps may also be included:

[0080] Step 403: Determine the angle of arrival of the positioning tag based on the available channel corresponding to the increased target channel frequency to obtain the intermediate angle of arrival.

[0081] Step 404: Display the location information determined based on the intermediate angle of arrival in the positioning interface.

[0082] After determining the initial angle of arrival, target angle of arrival, and intermediate angle of arrival, these can all be displayed through the positioning interface. This positioning interface is a preset interface in the terminal; upon receiving a positioning request, the terminal can jump to this interface, allowing for real-time observation of the location information of the target object.

[0083] The aforementioned intermediate angle of arrival refers to the angle of arrival measured during the gradual adjustment of the target channel frequency in steps 301-303. It can be understood that as the target channel frequency is gradually increased, the positioning accuracy gradually improves, and the corresponding intermediate angle of arrival will also be more accurate. Optionally, after obtaining the intermediate angle of arrival based on the target channel frequency, the acceptable blind zone range can be updated based on the current intermediate angle of arrival to obtain a more accurate acceptable blind zone range.

[0084] Specifically, by displaying the intermediate angle of arrival, initial angle of arrival, and target angle of arrival, the location information of the positioning tag can be updated in real time during the positioning process, so that the accuracy of the location information is gradually improved, thereby avoiding the problem of position information jumps caused by large adjustment spans in positioning accuracy.

[0085] Alternatively, the operation of determining the intermediate angle of arrival can be skipped, and only the most accurate target angle of arrival obtained based on the final target channel can be displayed.

[0086] In this embodiment of the invention, location information determined based on the initial angle of arrival is displayed on the positioning interface; location information determined based on the target angle of arrival is also displayed on the positioning interface; the angle of arrival of the positioning tag is determined based on the available channel corresponding to the increased target channel frequency to obtain the intermediate angle of arrival; and location information determined based on the intermediate angle of arrival is displayed on the positioning interface. In this way, by displaying the intermediate angle of arrival, the initial angle of arrival, and the target angle of arrival, the location information of the positioning tag can be updated in real time during the positioning process, allowing the accuracy of the location information to gradually improve. This avoids the problem of abrupt changes in location information caused by large adjustments in positioning accuracy, thus improving the effect of location information display.

[0087] Optionally, after determining the initial angle of arrival of the positioning tag for the antenna group in the terminal based on the initial channel, the embodiments of the present invention may further include the following steps:

[0088] Step 501: Detect the change in the state information of the terminal; the state information includes the displacement information and / or angle information of the terminal.

[0089] The displacement information mentioned above refers to the terminal's position in the horizontal or vertical direction, the angle information refers to the terminal's rotation angle, and correspondingly, the change in state information refers to the degree to which the terminal's displacement or angle has changed. Specifically, the change in the terminal's state information can be detected by sensors (e.g., gyroscopes and accelerometers) installed in the terminal.

[0090] Step 502: If the change exceeds the preset change threshold, re-execute the operation of selecting the initial channel from the available channels when transmitting signals between the terminal and the positioning tag.

[0091] The aforementioned preset change threshold can be pre-set according to actual needs, and different thresholds can be set for displacement information and angle information respectively. Specifically, when the change exceeds the preset change threshold, it indicates that the actual orientation information of the positioning tag relative to the terminal has changed, which may cause the positioning tag to fall into the blind zone of the current channel. Therefore, it is necessary to recalculate the angle of arrival of the positioning tag. At this time, the operation of selecting the initial channel can be re-executed to avoid target loss.

[0092] In this embodiment of the invention, the change in the terminal's state information, including displacement and / or angle information, is detected. If the change exceeds a preset threshold, the operation of selecting an initial channel from the available channels during signal transmission between the terminal and the positioning tag is re-executed. This allows for the reselection of an available channel when the terminal experiences sudden and drastic displacement or rotation, preventing the positioning tag from being located and further improving the real-time positioning effect.

[0093] Figure 4 This is a flowchart of another positioning method provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the method may include:

[0094] Step 211: The terminal obtains the available channel with the UWB tag via Bluetooth.

[0095] Step 212: Select an initial channel from the available channels and send a positioning signal.

[0096] Here, the initial channel can be a channel among the available channels that has no blind spots and has high positioning accuracy (i.e., high frequency).

[0097] Step 213: Receive the response signal returned by the UWB tag.

[0098] Step 214: Based on the response signal, determine the orientation information of the UWB tag using the PDOA algorithm.

[0099] Step 215: Use a gyroscope or accelerometer to determine if the terminal is rotating or displacing violently.

[0100] If yes, then repeat step 212; if no, then repeat step 216.

[0101] Step 216: The current channel can be adjusted according to a preset angle threshold or by stepping a step value. The positioning signal is then sent to the UWB tag again based on the adjusted channel, and step 213 is executed again.

[0102] The aforementioned adjustment method can be to increase or decrease the channel frequency according to actual needs.

[0103] As can be seen, in this embodiment of the invention, by adjusting the channel in real time during the positioning process, a target channel with high positioning accuracy and a blind zone range within the preset requirements can be selected, thereby realizing the channel change according to the actual situation during the positioning process, and thus improving the positioning accuracy.

[0104] Optionally, the antenna group mentioned above includes two signal receivers. The operation of determining the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group may specifically include the following steps in this embodiment of the invention:

[0105] Step 601: Send a first positioning signal to the positioning tag based on the target channel.

[0106] Step 602: Determine the phase difference between the second positioning signals received by the two signal receivers; the second positioning signal is the response returned by the positioning tag in response to the first positioning signal.

[0107] Step 603: Determine the target arrival angle based on the phase difference value.

[0108] Specifically, for any antenna group, the terminal can send the first positioning signal to the positioning tag using the frequency corresponding to the target channel as the carrier frequency. After receiving the first positioning signal, the positioning tag returns a signal on the same channel to the terminal, namely the second positioning signal. However, since there are two positioning antennas on the antenna group, the second positioning signals received by the two antennas are in different phases, resulting in a phase difference.

[0109] The aforementioned signal receivers are respectively installed in the two positioning antennas. They can demodulate the received second positioning signal to obtain the amplitude and phase of the signal, thereby obtaining the phase difference between the second positioning signals received by the two antennas.

[0110] The operation of determining the angle of arrival based on the phase difference value can be performed using the PDOA algorithm, or it can be performed using other angle of arrival measurement algorithms. The PDOA algorithm will be used as an example for explanation below:

[0111] Figure 5 This is a schematic diagram of an angle of arrival measurement provided by an embodiment of the present invention, such as... Figure 5As shown in the figure, point A refers to the positioning object, namely the positioning tag mentioned above. B and C represent the two positioning antennas (forming an antenna group) set in the terminal. Correspondingly, the plane where BC is located is the horizontal plane of the terminal. The angle θ refers to the angle of arrival, which is the azimuth information of the positioning tag. D represents the straight-line distance between the positioning tag and the terminal.

[0112] It should be noted that in practical applications, the available channel frequency range is typically f = 6.24–8.24 GHz, corresponding to a signal wavelength range λ = 36.4–48 mm, and the maximum antenna spacing is typically d. max =18mm.

[0113] Specifically, in practical use, when the distance between the positioning tag and the terminal is much greater than the signal wavelength, we can assume that θ1≈θ2≈θ in the diagram. Therefore, with the antenna spacing d fixed:

[0114] d1=dcosθ (1)

[0115] And because of d1, there is a phase difference between the signals received by B and C:

[0116]

[0117] Among them, the above This refers to the phase difference.

[0118] Therefore, by combining formulas (1) and (2) above, we can obtain Thus, the angle of arrival is obtained.

[0119] In this embodiment of the invention, a first positioning signal is sent to the positioning tag based on the target channel; the phase difference between the second positioning signals received by the two signal receivers is determined; the second positioning signal is returned by the positioning tag in response to the first positioning signal; and the target angle of arrival is determined based on the phase difference. In this way, the terminal only needs to determine the angle of arrival of the positioning tag based on the phase difference of the received signals, resulting in high positioning efficiency.

[0120] Optionally, embodiments of the present invention may further include the following steps:

[0121] Step 701: Based on the correspondence between the channels and blind zone ranges preset by the antenna group, obtain the third range of the positioning blind zone corresponding to the initial channel.

[0122] Step 702: If the third range exceeds the acceptable blind zone range, perform the operation of selecting the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group.

[0123] In this embodiment, after obtaining the initial angle of arrival based on the initial channel, it can be determined whether the blind zone range of the initial channel exceeds the acceptable blind zone range. If it does, it indicates that the blind zone range corresponding to the selected initial channel is large, and the probability of the positioning tag falling into the positioning blind zone is high. At this time, the operation of selecting the target channel, that is, the channel whose blind zone does not exceed the acceptable blind zone range, can be performed again.

[0124] Accordingly, if the third range mentioned above does not exceed the acceptable blind zone range, the operation of selecting a target channel can be skipped, and the current initial channel can be used directly to locate the positioning tag.

[0125] In this embodiment of the invention, a third range of the positioning blind zone corresponding to the initial channel is obtained based on the preset correspondence between the channel and the blind zone range of the antenna group. If the third range exceeds the acceptable blind zone range, the operation of selecting the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group is performed. In this way, the subsequent operation of selecting the target channel is only performed when the blind zone range of the initial channel exceeds the acceptable blind zone range, thereby avoiding unnecessary operations and improving positioning efficiency.

[0126] Optionally, when there are at least two antenna groups in the terminal, the operation of determining the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group may specifically include the following steps in this embodiment of the invention:

[0127] Step 801: Select a final channel from the at least two target channels corresponding to the at least two antenna groups; the positioning blind zone of the final channel does not exceed the acceptable blind zone range corresponding to the at least two antenna groups.

[0128] Step 802: Use the at least two antenna groups to perform angle of arrival detection on the positioning tag with the final channel to obtain at least two target angles of arrival.

[0129] It should be noted that when there are at least two antenna groups in the terminal, the channel frequency used by each antenna group needs to be consistent. Therefore, after obtaining the target channel corresponding to each antenna group, a unified final channel can be selected from them.

[0130] Understandably, when there are at least two antenna groups in the terminal, the above-mentioned acceptable blind zone range corresponds one-to-one with the antenna groups. Therefore, in order to ensure that each antenna group can obtain accurate angle of arrival information in its own dimension or plane, a final channel that does not exceed the acceptable blind zone range of all antenna groups can be selected from the target channels corresponding to each antenna group. At the same time, since the channel frequency of the target channel corresponding to each antenna group is greater than the initial channel frequency, the channel frequency of the selected final channel is also greater than the initial channel frequency.

[0131] Specifically, after obtaining the target channels corresponding to each antenna group, the target channel corresponding to the antenna group with the highest priority can be selected as the final channel according to the user or actual needs. The aforementioned priority refers to the ranking of positioning accuracy requirements for different dimensions or planes in the actual application of the terminal, and this embodiment of the invention does not impose any restrictions on this.

[0132] Furthermore, after determining the final channel, all antenna groups can perform angle-of-arrival (AOA) detection based on this final channel to obtain at least two target OAAs for each antenna group. This allows the location information of the positioning tag in different dimensions or planes to be obtained based on the setting direction of each antenna group. It is understandable that the more antenna groups set in the terminal, the more accurate the final positioning information. For example, if the terminal has... Figure 2 Taking the two antenna groups shown as an example, with the normal of either plane being 0°, when ANT1 and ANT2 can obtain the vertical angle of arrival of the target object on the vertical plane as -60° through the channel, and when ANT1 and ANT3 can obtain the horizontal angle of arrival of the target object on the horizontal plane as 0° through the channel, the three-dimensional position information of the target object can be obtained by combining the vertical angle of arrival and the horizontal angle of arrival. That is, the target object is located directly in front of the terminal and at a position 60° downward from directly above.

[0133] In this embodiment of the invention, when at least two antenna groups exist in the terminal, a final channel is selected from at least two target channels corresponding to the at least two antenna groups; the positioning blind zone of the final channel does not exceed the acceptable blind zone range corresponding to the at least two antenna groups; the at least two antenna groups are used to perform angle of arrival detection on the positioning tag using the final channel to obtain at least two target angles of arrival. This improves the positioning accuracy of each antenna group while ensuring that the positioning tag does not fall into the blind zone range of any antenna group, thus enabling the antenna groups in the terminal to obtain accurate target angle of arrival information in their respective dimensions or planes.

[0134] The positioning method provided in this application can be executed by a positioning device. This application uses a positioning device executing the positioning method as an example to illustrate the positioning device provided in this application.

[0135] Figure 6 This is a schematic diagram of the structure of a positioning device provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the device 90 includes:

[0136] The first selection module 901 is used to select an initial channel from the available channels for signal transmission between the terminal and the positioning tag; the positioning tag is set on the object to be located;

[0137] The first determining module 902 is used to determine the initial angle of arrival of the positioning tag based on the initial channel for the antenna group in the terminal;

[0138] The second determining module 903 is used to determine the acceptable blind zone range of the positioning blind zone corresponding to the antenna group based on the initial angle of arrival and the preset angle threshold corresponding to the antenna group;

[0139] The second selection module 904 is used to select the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group;

[0140] The third determining module 905 is used to determine the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group;

[0141] Wherein, the target angle of arrival is used to determine the position information of the object to be located; the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel.

[0142] Optionally, the second selection module 904 mentioned above includes:

[0143] The third determining submodule is used to determine the first range of the positioning blind zone of each available channel based on the correspondence between the channels and the blind zone range preset by the antenna group;

[0144] The fourth determining submodule is used to determine the available channels that are not within the acceptable blind zone range and whose angle difference between the first range and the acceptable blind zone range meets the preset angle difference requirement as the target channels corresponding to the antenna group.

[0145] Optionally, the second selection module 904 mentioned above includes:

[0146] The first amplification submodule is used to use the channel frequency of the initial channel as the target channel frequency and increase the target channel frequency based on a preset adjustment amount.

[0147] The fifth determining submodule is used to determine the second range of the positioning blind zone of the available channel corresponding to the increased target channel frequency;

[0148] The sixth determining submodule is used to increase the target channel frequency again based on the preset adjustment amount when the second range does not exceed the acceptable blind zone range, and to determine the available channel corresponding to the target channel frequency as the target channel corresponding to the antenna group when the proximity between the second range and the acceptable blind zone range meets the preset requirements.

[0149] Optionally, the aforementioned device 90 further includes:

[0150] The first display module is used to display the location information determined based on the initial angle of arrival of the positioning tag in the positioning interface after the initial angle of arrival of the positioning tag is determined based on the initial channel.

[0151] The second display module is used to display the location information determined based on the target angle of arrival of the positioning tag in the positioning interface after determining the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group.

[0152] The seventh determining module is used to determine the angle of arrival of the positioning tag based on the available channel corresponding to the increased target channel frequency after increasing the target channel frequency based on the preset adjustment amount, so as to obtain the intermediate angle of arrival;

[0153] The eighth determining module is used to display the location information determined based on the intermediate angle of arrival in the positioning interface.

[0154] Optionally, the device 90 further includes:

[0155] The detection module is used to detect changes in the state information of the terminal after determining the initial angle of arrival of the positioning tag for the antenna group in the terminal based on the initial channel; the state information includes the displacement information and / or angle information of the terminal.

[0156] The first execution module is used to re-execute the operation of selecting the initial channel from the available channels when transmitting signals between the terminal and the positioning tag if the change exceeds a preset change threshold.

[0157] Optionally, the antenna group includes two signal receivers, and the third determining module 905 includes:

[0158] A transmitting submodule is used to transmit a first positioning signal to the positioning tag based on the target channel;

[0159] The ninth determining submodule is used to determine the phase difference value of the second positioning signal received by the two signal receivers; the second positioning signal is returned by the positioning tag in response to the first positioning signal;

[0160] The tenth determining submodule is used to determine the target angle of arrival based on the phase difference value.

[0161] Optionally, the device 90 further includes:

[0162] The acquisition module is used to acquire the third range of the positioning blind zone corresponding to the initial channel based on the correspondence between the channel and the blind zone range preset by the antenna group.

[0163] The second execution module is configured to perform the operation of selecting the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group when the third range exceeds the acceptable blind zone range.

[0164] Optionally, if at least two antenna groups exist in the terminal, the third determining module 905 includes:

[0165] The third selection submodule is used to select a final channel from at least two target channels corresponding to the at least two antenna groups; the positioning blind zone of the final channel does not exceed the acceptable blind zone range corresponding to the at least two antenna groups;

[0166] The third determining module 905 is specifically used to use the at least two antenna groups to perform angle of arrival detection on the positioning tag with the final channel to obtain at least two target angles of arrival.

[0167] In summary, the positioning device provided in this embodiment of the invention selects an initial channel from the available channels during signal transmission between the terminal and the positioning tag; the positioning tag is disposed on the object to be located; the initial angle of arrival of the positioning tag is determined based on the initial channel being an antenna group in the terminal; an acceptable blind zone range for the positioning blind zone corresponding to the antenna group is determined based on the initial angle of arrival and a preset angle threshold; a target channel corresponding to the antenna group is selected from the available channels based on the acceptable blind zone range; and a target angle of arrival of the positioning tag is determined based on the target channel; wherein the target angle of arrival is used to determine the location information of the object to be located; the range of the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel. In this way, after measuring the initial angle of arrival through the initial channel, the acceptable range of the positioning blind zone is further determined based on the initial angle of arrival. Within the acceptable blind zone, a target channel with a channel frequency greater than the initial channel is selected. This can, to a certain extent, prevent the object to be located from falling into the blind zone while improving the accuracy of the target angle of arrival measured based on the target channel, thereby improving the accuracy of the positioning results and thus improving the positioning effect.

[0168] The positioning device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television set (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the scope of the device.

[0169] The positioning device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.

[0170] The positioning device provided in this application embodiment can achieve... Figure 1 The implementation process of the method embodiment will not be described again here to avoid repetition.

[0171] Optionally, such as Figure 7 As shown in the illustration, this application also provides an electronic device 1500, including a processor 15001 and a memory 15002. The memory 15002 stores programs or instructions that can run on the processor 15001. When the program or instructions are executed by the processor 15001, they implement the steps of the methods described in the foregoing embodiments. Furthermore, the same technical effects can be achieved, and to avoid repetition, they will not be described again here.

[0172] It should be noted that the electronic devices in the embodiments of this application include mobile electronic devices and non-mobile electronic devices.

[0173] Figure 8 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of this application.

[0174] The electronic device 1600 includes, but is not limited to, components such as: radio frequency unit 1601, network module 1602, audio output unit 1603, input unit 1604, sensor 1605, display unit 1606, user input unit 1607, interface unit 1608, memory 1609, and processor 1610.

[0175] Those skilled in the art will understand that the electronic device 1600 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 1610 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 8 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0176] The processor 1610 is configured to select an initial channel from available channels for signal transmission between the terminal and the positioning tag; the positioning tag is disposed on the object to be located; determine the initial angle of arrival of the positioning tag based on the initial channel for the antenna group in the terminal; determine the acceptable blind zone range of the positioning blind zone corresponding to the antenna group based on the initial angle of arrival and a preset angle threshold; select a target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range of the antenna group; determine the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group; wherein the target angle of arrival is used to determine the location information of the object to be located; the positioning blind zone range of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel.

[0177] The electronic device provided in this embodiment of the invention selects an initial channel from the available channels during signal transmission between the terminal and the positioning tag; the positioning tag is disposed on the object to be located; the initial angle of arrival of the positioning tag is determined based on the initial channel as an antenna group in the terminal; an acceptable blind zone range for the positioning blind zone corresponding to the antenna group is determined based on the initial angle of arrival and a preset angle threshold; a target channel corresponding to the antenna group is selected from the available channels based on the acceptable blind zone range; and a target angle of arrival of the positioning tag is determined based on the target channel; wherein the target angle of arrival is used to determine the location information of the object to be located; the range of the positioning blind zone of the target channel does not exceed the acceptable blind zone range, and the channel frequency of the target channel is greater than the channel frequency of the initial channel. In this way, after measuring the initial angle of arrival through the initial channel, the acceptable range of the positioning blind zone is further determined based on the initial angle of arrival. Within the acceptable blind zone, a target channel with a channel frequency greater than the initial channel is selected. This can, to a certain extent, prevent the object to be located from falling into the blind zone while improving the accuracy of the target angle of arrival measured based on the target channel, thereby improving the accuracy of the positioning results and thus improving the positioning effect.

[0178] Optionally, the processor 1610 is further configured to determine a first range of the positioning blind zone of each available channel based on the correspondence between the channels and the blind zone range preset by the antenna group; and to determine the available channels whose first range does not exceed the acceptable blind zone range and whose angle difference between the first range and the acceptable blind zone range meets the preset angle difference requirement as the target channels corresponding to the antenna group.

[0179] Optionally, the processor 1610 is further configured to: use the channel frequency of the initial channel as the target channel frequency; increase the target channel frequency based on a preset adjustment amount; determine a second range of the positioning blind zone of the available channel corresponding to the increased target channel frequency; if the second range does not exceed the acceptable blind zone range, increase the target channel frequency again based on the preset adjustment amount; and if the proximity between the second range and the acceptable blind zone range meets a preset requirement, determine the available channel corresponding to the target channel frequency as the target channel corresponding to the antenna group.

[0180] Optionally, the processor 1610 is further configured to: after determining the initial angle of arrival of the positioning tag based on the initial channel for the antenna group in the terminal, display location information determined based on the initial angle of arrival in the positioning interface; after determining the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group, display location information determined based on the target angle of arrival in the positioning interface; after increasing the target channel frequency based on the preset adjustment amount, determine the angle of arrival of the positioning tag according to the available channel corresponding to the increased target channel frequency to obtain an intermediate angle of arrival; and display location information determined based on the intermediate angle of arrival in the positioning interface.

[0181] Optionally, the processor 1610 is further configured to detect changes in the state information of the terminal; the state information includes displacement information and / or angle information of the terminal; and if the changes exceed a preset change threshold, re-execute the operation of selecting an initial channel from the available channels during signal transmission between the terminal and the positioning tag.

[0182] Optionally, the antenna array includes two signal receivers and a processor 1610, which is further configured to send a first positioning signal to the positioning tag based on the target channel; determine the phase difference between the second positioning signals received by the two signal receivers; the second positioning signal is returned by the positioning tag in response to the first positioning signal; and determine the target angle of arrival based on the phase difference.

[0183] Optionally, the processor 1610 is further configured to obtain a third range of the positioning blind zone corresponding to the initial channel based on the correspondence between the channels and blind zone ranges preset by the antenna group; and, if the third range exceeds the acceptable blind zone range, to perform the operation of selecting the target channel corresponding to the antenna group from the available channels based on the acceptable blind zone range corresponding to the antenna group.

[0184] Optionally, the processor 1610 is further configured to, when there are at least two antenna groups in the terminal, select a final channel from at least two target channels corresponding to the at least two antenna groups; the positioning blind zone of the final channel does not exceed the acceptable blind zone range corresponding to the at least two antenna groups; and use the at least two antenna groups to perform angle of arrival detection on the positioning tag with the final channel to obtain at least two target angles of arrival.

[0185] It should be understood that, in this embodiment, the input unit 1604 may include a graphics processing unit (GPU) 16041 and a microphone 16042. The GPU 16041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1606 may include a display panel 16061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1607 includes at least one of a touch panel 16071 and other input devices 16072. The touch panel 16071 is also called a touch screen. The touch panel 16071 may include a touch detection device and a touch controller. Other input devices 16072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0186] The memory 1609 can be used to store software programs and various data, including but not limited to application programs and operating systems. The memory 1609 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 1609 may include volatile memory or non-volatile memory, or both. The non-volatile memory may 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), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1609 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0187] Processor 1610 may include one or more processing units; optionally, processor 1610 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 1610.

[0188] This application also provides a readable storage medium that stores a program or instructions. When the program or instructions are executed by a processor, they implement the steps of the method described in the foregoing embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0189] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0190] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described positioning method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0191] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0192] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the positioning method embodiments described above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0193] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0194] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0195] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A positioning method applied to a terminal, characterized in that, The method comprises: selecting an initial channel from available channels during signal transmission between the terminal and a positioning tag; the positioning tag is arranged on an object to be positioned; determining an initial angle of arrival of the positioning tag for an antenna group in the terminal based on the initial channel; determining an acceptable blind area range of a positioning blind area corresponding to the antenna group based on the initial angle of arrival corresponding to the antenna group and a preset angle threshold; selecting a target channel corresponding to the antenna group from the available channels based on the acceptable blind area range corresponding to the antenna group; determining a target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group; wherein the target angle of arrival is used to determine position information of the object to be positioned; a range of a positioning blind area of the target channel does not exceed the acceptable blind area range, and a channel frequency of the target channel is greater than a channel frequency of the initial channel.

2. The method of claim 1, wherein, The method further comprises: determining a first range of a positioning blind area of each of the available channels based on a preset correspondence between channels and blind area ranges of the antenna group; determining an available channel as the target channel corresponding to the antenna group, if the first range does not exceed the acceptable blind area range, and an angle difference between the first range and the acceptable blind area range meets a preset angle difference requirement.

3. The method of claim 1, wherein, The method further comprises: increasing the channel frequency of the initial channel as a target channel frequency by a preset adjustment amount; determining a second range of a positioning blind area of an available channel corresponding to the increased target channel frequency; in a case where the second range does not exceed the acceptable blind area range, increasing the target channel frequency by the preset adjustment amount again, and determining an available channel corresponding to the current target channel frequency as the target channel corresponding to the antenna group, in a case where a closeness between the second range and the acceptable blind area range meets a preset requirement.

4. The method of claim 3, wherein, The method further comprises: displaying position information determined based on the initial angle of arrival in a positioning interface; The method further comprises: displaying position information determined based on the target angle of arrival in the positioning interface; The method further comprises: determining an angle of arrival of the positioning tag based on an available channel corresponding to the increased target channel frequency, to obtain an intermediate angle of arrival; 5. The method of claim 1, wherein, displaying position information determined based on the intermediate angle of arrival in the positioning interface. The method further comprises: detecting a change amount of state information of the terminal; the state information comprises displacement information and / or angle information of the terminal; re-performing the operation of selecting an initial channel from available channels when signals are transmitted between the terminal and a positioning tag, in a case where the change amount exceeds a preset change amount threshold.

6. The method of claim 1, wherein, The antenna group comprises two signal receivers, and the determining of the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group comprises: sending a first positioning signal to the positioning tag based on the target channel; determining a phase difference value of a second positioning signal received by the two signal receivers; the second positioning signal is returned by the positioning tag in response to the first positioning signal; determining the target angle of arrival based on the phase difference value.

7. The method of claim 1, wherein, The method further comprises: obtaining a third range of a positioning blind area corresponding to the initial channel based on a preset correspondence between channels and blind area ranges of the antenna group; in a case where the third range exceeds the acceptable blind area range, performing the operation of selecting a target channel corresponding to the antenna group from the available channels based on the acceptable blind area range corresponding to the antenna group.

8. The method according to any of claims 1 to 7, characterized in that In a case where there are at least two antenna groups in the terminal, the determining of the target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group comprises: selecting a final channel from at least two target channels corresponding to the at least two antenna groups; a range of a positioning blind area of the final channel does not exceed acceptable blind area ranges corresponding to the at least two antenna groups; performing angle of arrival detection on the positioning tag using the at least two antenna groups respectively in the final channel to obtain at least two target angles of arrival.

9. A positioning apparatus applied to a terminal, characterized in that, The apparatus comprises: a first selection module configured to select an initial channel from available channels when signals are transmitted between the terminal and a positioning tag; the positioning tag is arranged on an object to be positioned; a first determination module configured to determine an initial angle of arrival of the positioning tag for an antenna group in the terminal based on the initial channel; a second determination module configured to determine an acceptable blind area range of a positioning blind area corresponding to the antenna group based on the initial angle of arrival corresponding to the antenna group and a preset angle threshold; a second selection module configured to select a target channel corresponding to the antenna group from the available channels based on the acceptable blind area range corresponding to the antenna group; a third determination module configured to determine a target angle of arrival of the positioning tag based on the target channel corresponding to the antenna group; wherein the target angle of arrival is used to determine position information of the object to be positioned; a range of a positioning blind area of the target channel does not exceed the acceptable blind area range, and a channel frequency of the target channel is greater than a channel frequency of the initial channel.

10. An electronic device, comprising: The apparatus comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the positioning method according to any one of claims 1-8.

Images