Device positioning method and apparatus, electronic device, and storage medium

Abstract

This invention relates to the field of positioning technology, providing a device positioning method, apparatus, electronic device, and storage medium. The method acquires the position information of a target device and the main and secondary antennas on the mobile device in a geocentric coordinate system, and converts each position information into position information in a station-centric coordinate system. Based on the converted position information, it determines the relative distance between the target device and the mobile device, as well as the heading and pitch angles of the target device relative to the mobile device, and then positions the target device. This method is introduced into a mobile device connected to the target device via a wireless communication module. Utilizing a dual-antenna model consisting of the main and secondary antennas on the mobile device, it can quickly achieve the positioning of the target device, enabling subsequent search for the target device. This eliminates the cumbersome process of pre-designing map coordinates and planning navigation paths required in navigation positioning, reducing computational load and saving positioning costs.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and in particular to a device positioning method, apparatus, electronic device, and storage medium. Background Technology

[0002] With the continuous development of social technology, there are increasingly more positioning methods used in various scenarios. In existing positioning methods, to obtain the location of an unknown target, such as when using mobile navigation to find someone, it is necessary to first obtain location information through the Global Positioning System (GPS) or the BeiDou Navigation Satellite System (BDS), and then display it intuitively on a map application (APP). Such map applications are very widespread and can meet users' needs in most scenarios.

[0003] However, the aforementioned positioning methods rely on network coverage within the area. In complex outdoor scenarios where there is no network coverage or the terrain is unpredictable, these methods are difficult to implement. GPS or BDS can only provide the absolute location of the unknown target in latitude and longitude, allowing only a general assessment of its orientation, and cannot quickly and accurately locate the target. Therefore, there is an urgent need for a device positioning method applicable to complex outdoor environments to quickly search for unknown devices. Summary of the Invention

[0004] This invention provides a device positioning method, apparatus, electronic device, and storage medium to address the deficiencies in the prior art.

[0005] This invention provides a device positioning method, comprising:

[0006] The system acquires the first position information of the target device in the geocentric coordinate system, the second position information of the main antenna on the mobile device, and the third position information of the secondary antenna; the target device and the mobile device are connected for communication based on a wireless communication module.

[0007] The first position information, the second position information, and the third position information are respectively converted into the fourth position information, the fifth position information, and the sixth position information in the station center coordinate system. Based on the fourth position information, the fifth position information, and the sixth position information, the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device are determined.

[0008] The target device is located based on the relative distance, the heading angle, and the pitch angle.

[0009] According to a device positioning method provided by the present invention, the heading angle and the pitch angle are determined based on the following steps:

[0010] Based on the fourth and fifth position information, the first heading angle and the first pitch angle of the target device relative to the mobile device in the station center coordinate system are determined, and based on the fifth and sixth position information, the second heading angle and the second pitch angle of the baseline vector of the secondary antenna pointing to the main antenna in the station center coordinate system are determined.

[0011] Based on the first heading angle and the second heading angle, the magnitude and direction of the heading deflection angle are determined, and based on the first pitch angle and the second pitch angle, the magnitude and direction of the pitch deflection angle are determined.

[0012] According to a device positioning method provided by the present invention, determining the magnitude and direction of the heading angle based on the first heading angle and the second heading angle specifically includes:

[0013] If the first heading angle and the second heading angle are in the same angular quadrant, the magnitude of the heading deflection angle is determined based on the absolute value of the difference between the first heading angle and the second heading angle, and the direction of the heading deflection angle is determined based on the sign of the heading deflection angle.

[0014] If the first heading angle and the second heading angle are in opposite or adjacent angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the angular quadrant where the first heading angle is located, the angular quadrant where the second heading angle is located, and the angular range of the heading deflection angle.

[0015] If the first heading angle is a multiple of 90 degrees and the first heading angle and the second heading angle are not in opposite angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the first heading angle and the absolute value of the difference.

[0016] If the second heading angle is a multiple of 90 degrees, then the magnitude and direction of the heading deflection angle are determined based on the angle range of the first heading angle and the absolute value of the difference.

[0017] According to a device positioning method provided by the present invention, determining the magnitude and direction of the pitch angle based on the first pitch angle and the second pitch angle specifically includes:

[0018] The pitch angle is determined based on the absolute value of the difference between the first pitch angle and the second pitch angle;

[0019] The direction of the pitch angle is determined based on its sign.

[0020] According to a device positioning method provided by the present invention, the step of converting the first position information, the second position information, and the third position information into fourth position information, fifth position information, and sixth position information in a station-centered coordinate system, respectively, specifically includes:

[0021] Based on the coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric spatial rectangular coordinate system, the first position information, the second position information, and the third position information are respectively converted into geocentric rectangular coordinates;

[0022] Based on the coordinate transformation matrix between the geocentric rectangular coordinate system and the station-centric coordinate system, the geocentric rectangular coordinates corresponding to the first position information, the second position information, and the third position information are respectively converted into the fourth position information, the fifth position information, and the sixth position information.

[0023] According to a device positioning method provided by the present invention, the step of converting the first position information, the second position information and the third position information into fourth position information, fifth position information and sixth position information in the station center coordinate system respectively includes: correcting the first position information based on a pseudorange differential positioning algorithm.

[0024] According to a device positioning method provided by the present invention, the wireless communication module includes a Zigbee module.

[0025] The present invention also provides a device positioning apparatus, comprising:

[0026] The location information acquisition module is used to acquire the first location information of the target device in the geocentric coordinate system, the second location information of the main antenna on the mobile device, and the third location information of the secondary antenna; the target device and the mobile device are connected for communication based on the wireless communication module.

[0027] The yaw angle determination module is used to convert the first position information, the second position information, and the third position information into the fourth position information, the fifth position information, and the sixth position information in the station center coordinate system, respectively, and to determine the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device based on the fourth position information, the fifth position information, and the sixth position information.

[0028] The device positioning module is used to locate the target device based on the relative distance, the heading angle, and the pitch angle.

[0029] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the device positioning method as described above.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the device positioning method as described above.

[0031] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the device positioning method as described above.

[0032] The device positioning method, apparatus, electronic device, and storage medium provided by this invention first acquire the first position information of the target device in the geocentric coordinate system, the second position information of the main antenna on the mobile device, and the third position information of the secondary antenna. Then, the first, second, and third position information are converted into fourth, fifth, and sixth position information in the geocentric coordinate system, respectively. Based on these information, the relative distance between the target device and the mobile device, as well as the heading and pitch angles of the target device relative to the mobile device, are determined. Finally, the target device is positioned based on the relative distance, heading angle, and pitch angle. This method is introduced into a mobile device connected to the target device via a wireless communication module. Utilizing a dual-antenna model consisting of the main and secondary antennas on the mobile device, it can quickly locate the target device and enable target device searching. This eliminates the cumbersome process of pre-designing map coordinates and planning navigation paths required in navigation positioning, reducing computational load and saving positioning costs. This method can be applied to target search in complex outdoor environments, especially in wilderness rescue scenarios. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on the drawings described below without creative effort.

[0034] Figure 1 This is a flowchart illustrating the device positioning method provided by the present invention;

[0035] Figure 2 This is a three-dimensional coordinate diagram under the station center coordinate system O-ENU in the equipment positioning method provided by the present invention;

[0036] Figure 3This is a two-dimensional coordinate diagram of the EON plane under the station center coordinate system O-ENU in the equipment positioning method provided by the present invention;

[0037] Figure 4 This is a schematic diagram illustrating the relative positional relationship between the geocentric rectangular coordinate system T-XYZ and the station-centric coordinate system O-ENU in the equipment positioning method provided by this invention.

[0038] Figure 5 This is a schematic diagram of the device positioning device provided by the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] Existing device positioning methods are only applicable to areas with network coverage. However, in complex outdoor scenarios where there is no network coverage or the terrain is unpredictable, they can only obtain the absolute location of the unknown target using GPS or BDS, representing its latitude and longitude, and determine its approximate location. This is insufficient for quickly and accurately locating the unknown target. Therefore, this invention provides a device positioning method applicable to complex outdoor environments to quickly search for unknown devices.

[0042] Figure 1 This is a flowchart illustrating a device positioning method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes:

[0043] S1, acquire the first position information of the target device, the second position information of the main antenna on the mobile device, and the third position information of the secondary antenna in the geocentric coordinate system; the target device and the mobile device are connected for communication based on the wireless communication module;

[0044] S2, convert the first position information, the second position information and the third position information into the fourth position information, the fifth position information and the sixth position information in the station center coordinate system, respectively, and determine the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device based on the fourth position information, the fifth position information and the sixth position information;

[0045] S3. Based on the relative distance, the heading angle, and the pitch angle, the mobile device is navigated to search for the target device.

[0046] Specifically, the device positioning method provided in this embodiment of the invention uses a device positioning device as its execution entity. This device can be an STM32 main control module. It can be configured within a mobile device or on a third-party device outside the mobile device. The third-party device can be wired or wirelessly connected to the mobile device. The mobile device or third-party device can be a portable device such as a laptop, tablet, or smartphone. If the device positioning device is configured within the mobile device, the mobile device and the target device communicate via a wireless communication module; that is, both the mobile device and the target device are equipped with wireless communication modules. If the device positioning device is configured within a third-party device, both the mobile device and the target device communicate with the third-party device via wireless communication modules; that is, the mobile device, the target device, and the third-party device are all equipped with wireless communication modules. In this embodiment of the invention, the wireless communication module used can be a short-range wireless communication module, such as a Zigbee module.

[0047] To reduce device positioning costs, the device positioning device can be directly integrated into the mobile device, giving it positioning capabilities. This allows the mobile device to locate the target device and then navigate to it for searching. Here, there can be one or more target devices, which can be represented as o. i (1≤i≤n), where n is the total number of target devices. This method can simultaneously locate and search for one or more target devices.

[0048] The navigation and positioning device can be used to execute step S1, and to parse the location information obtained in step S1 by executing steps S2 and S3, to obtain the relative positional relationship between the target device and the mobile device, and to forward the relative positional relationship to the display module for display, so that users can more intuitively determine the location of the target device and improve the user experience.

[0049] First, execute step S1 to obtain the target device o in the geocentric coordinate system. i The system provides the first location information, the second location information of the main antenna o on the mobile device, and the third location information of the secondary antenna o′. Both the target device and the mobile device can be equipped with GPS or BDS. The first location information can be obtained through the GPS or BDS installed on the target device, and the second and third location information can be obtained through the GPS or BDS installed on the mobile device. In other words, the location information obtained by GPS or BDS is based on the geocentric coordinate system.

[0050] Understandably, the geocentric coordinate system is a coordinate system established with the Earth's center of mass as the origin and the reference ellipsoid as the reference surface. In the geocentric coordinate system, the location information of each surface point is represented by geodetic longitude (L), geodetic latitude (B), and geodetic height (H). L represents the angle between the ellipsoidal meridian plane passing through the surface point and the Greenwich Meridian plane; B is the angle between the ellipsoidal normal passing through the surface point and the ellipsoidal equatorial plane; and H is the distance from the surface point along the ellipsoidal normal to the Earth's ellipsoid.

[0051] A mobile device can be configured with a receiver, which can contain two receiving modules. Each receiving module contains a receiving antenna, meaning the mobile device includes two receiving antennas, one as the main antenna and the other as the secondary antenna. The main antenna and the secondary antenna can form a dual-antenna model.

[0052] Then, step S2 is executed to convert the first, second, and third position information into the fourth, fifth, and sixth position information in the station-centered coordinate system, respectively. The station-centered coordinate system O-ENU, also known as the station coordinate system or the East-North-Sky coordinate system, can be used to understand the motion patterns of other objects centered at its origin O.

[0053] The origin O of the station-centered coordinate system O-ENU can be set at the base station, which can work with the wireless communication module to enable communication between the target device and the mobile device. The location of the base station can be defined manually and is not specifically limited here. For example, in the application scenario of searching for supplies in the field, supplies are usually airdropped to the target area in batches, so the base station can be set at the center of the target area.

[0054] In the station-centered coordinate system O-ENU, coordinate axis E is eastward and tangent to the parallel line to the Earth's surface of the ellipsoid; coordinate axis N is northward and tangent to the meridian, at which point the EON plane is the Earth's surface plane; coordinate axis U is perpendicular to the EON plane and points towards the sky, and is the zenith-oriented coordinate axis.

[0055] In this embodiment of the invention, the fourth position information corresponding to the first position information, the fifth position information corresponding to the second position information, and the sixth position information corresponding to the third position information can be determined by the coordinate transformation relationship between the geocentric coordinate system and the station-centric coordinate system.

[0056] Subsequently, based on the fourth, fifth, and sixth position information, the relative distance between the target device and the mobile device, as well as the target device's yaw and pitch angles relative to the mobile device, can be determined. Since the distance between the main and secondary antennas on the mobile device is negligible compared to the distance between the mobile device and the target device, the mobile device's position information can be determined first based on at least one of the fifth and sixth position information. Here, the fifth position information can be directly used as the mobile device's position information, or the sixth position information can be directly used as the mobile device's position information, or the average of the fifth and sixth position information can be used as the mobile device's position information; no specific limitation is made here.

[0057] Then, using the fourth location information and the mobile device's location information, the relative distance between the target device and the mobile device is determined. For example, the fifth location information o(x0,y0,z0) can be directly used as the mobile device's location information, and the target device's fourth location information can be represented as o. i (x i ,y i ,z i If the relative distance Δx between the target device and the mobile device is 0, then it can be expressed as:

[0058]

[0059] Since the target device is usually located at or near the ground plane, the change in the z value can be ignored when calculating the relative distance Δx.

[0060] In the station-centered coordinate system, both the target device and the mobile device have corresponding heading and pitch angles. The heading and pitch angles of the target device relative to the mobile device can be determined by the fourth and fifth position information. The heading and pitch angles of the mobile device can be determined by the dual-antenna model, that is, by the fifth and sixth position information.

[0061] Therefore, the deviation between the heading angles of the target device and the mobile device is called the heading deflection, and the deviation between the pitch angles of the target device and the mobile device is called the pitch deflection. As the mobile device moves continuously, the relative position between the target device and the mobile device changes, and the heading angle of the target device relative to the mobile device also changes accordingly. At this time, the heading deflection between the target device and the handheld device also changes continuously. If there is a changing altitude difference between the target device and the mobile device, the pitch deflection between the target device and the handheld device will also change continuously.

[0062] Finally, step S3 is executed to locate the target device based on the relative distance, heading angle, and pitch angle. Since the mobile device's position information, as well as its heading and pitch angles, can be determined using a dual-antenna model, combining the relative distance, the target device's heading angle relative to the mobile device, and its pitch angle allows for the determination of the target device's position information, thus achieving target device localization. Subsequently, the mobile device can be navigated using the target device's position information to search for the target device.

[0063] The device positioning method provided in this embodiment of the invention first acquires the first position information of the target device in the geocentric coordinate system, the second position information of the main antenna on the mobile device, and the third position information of the secondary antenna. Then, the first, second, and third position information are converted into fourth, fifth, and sixth position information in the geocentric coordinate system, respectively. Based on these information, the relative distance between the target device and the mobile device, as well as the heading and pitch angles of the target device relative to the mobile device, are determined. Finally, the target device is positioned based on the relative distance, heading angle, and pitch angle. This method is introduced into a mobile device connected to the target device via a wireless communication module. Utilizing a dual-antenna model consisting of the main and secondary antennas on the mobile device, it can quickly locate the target device and enable target device searching. This eliminates the cumbersome process of pre-designing map coordinates and planning navigation paths required in navigation positioning, reducing computational load and saving positioning costs. This method can be applied to target search in complex outdoor environments, especially in wilderness rescue scenarios.

[0064] Based on the above embodiments, the heading angle and the pitch angle are determined according to the following steps:

[0065] Based on the fourth and fifth position information, the first heading angle and the first pitch angle of the target device relative to the mobile device in the station center coordinate system are determined, and based on the fifth and sixth position information, the second heading angle and the second pitch angle of the baseline vector of the secondary antenna pointing to the main antenna in the station center coordinate system are determined.

[0066] Based on the first heading angle and the second heading angle, the magnitude and direction of the heading deflection angle are determined, and based on the first pitch angle and the second pitch angle, the magnitude and direction of the pitch deflection angle are determined.

[0067] Specifically, in this embodiment of the invention, when determining the heading angle Δθ of the target device relative to the mobile device... i and pitch angle At that time, we can first rely on the fourth position information oi (x i ,y i ,z i The fifth position information o(x0,y0,z0) is used to determine the first heading angle θ of the target device relative to the mobile device in the exit center coordinate system. i and the first pitch angle Here, the angle is positive in the counterclockwise direction of rotation.

[0068] First heading angle θ i It can be calculated using the following formula:

[0069]

[0070] First pitch angle It can be calculated using the following formula:

[0071]

[0072] Based on the fifth position information o(x0,y0,z0) and the sixth position information, determine the baseline vector pointing from the secondary antenna o to the primary antenna o′ in the station-centered coordinate system. The second heading angle θ0 and the second pitch angle The sixth position information can be represented as o′(x′,y′,z′).

[0073] The second heading angle θ0 can be calculated using the following formula:

[0074]

[0075] Second pitch angle It can be calculated using the following formula:

[0076]

[0077] Figure 2 This is a three-dimensional coordinate diagram in the station-centered coordinate system O-ENU. Figure 3 This is a two-dimensional coordinate diagram of the EON plane under the station-centered coordinate system O-ENU. (Example) Figure 2 , Figure 3 The figures show the cases with three target devices and i = 2. On the EON plane, the baseline vector... projection vector The angle between the baseline vector and the eastward coordinate axis (i.e., the E-axis) is the heading angle of the mobile device, i.e., the second heading angle θ0. The angle between the device and the EON plane is the pitch angle of the mobile device, i.e., the second pitch angle. Similarly, on the EON plane, from o″ to o iThe angle between the direction and the eastward coordinate axis is the heading angle of the target device relative to the mobile device, i.e., the first heading angle θ. i , from o″ to o i The angle between the direction and the EON plane is the pitch angle of the target device relative to the mobile device, i.e., the first pitch angle. Figure 2 In the diagram, the coordinate system o-xyz is the mobile coordinate system on the mobile device.

[0078] Finally, based on the first heading angle θ i And the second heading angle θ0, which determines the magnitude and direction of the heading deflection. The heading deflection can be expressed as Δθ. i =θ i -θ0, heading angle Δθ i The magnitude can be expressed as δ=|Δθ i |, heading angle Δθ i The direction can be determined by the position of the target device relative to the direction of travel of the mobile device. Here, the direction of travel of the mobile device is the baseline vector. The direction is east, which is used as the reference direction here. Figure 3 Projection vector The extension of the line and o″ point to o i The angle between the directions is the heading angle Δθ. i .

[0079] Furthermore, based on the first pitch angle and the second pitch angle Determine the magnitude and direction of the pitch angle. The pitch angle can be expressed as... Pitch angle The size can be expressed as

[0080] In practical applications, target devices are usually located on the ground surface. However, in three-dimensional space, various unexpected situations can occur, meaning that the target device may exist at a certain height near the ground surface, for example, target device o i When placed on a hillside at a certain height or hung in a tree, there is a certain pitch angle between the mobile device and the target device. Based on this, the pitch angle... The direction can be determined by the sign of the pitch angle.

[0081] That is: if The target device is located below the mobile device; if The target device is located above the mobile device; if The target device and the mobile device are on the same plane.

[0082] In this embodiment of the invention, by using position information to determine the heading angle and pitch angle, the heading angle and pitch angle of the target device and the mobile device can be quickly determined, thereby improving the device positioning efficiency.

[0083] Based on the above embodiments, determining the magnitude and direction of the heading angle based on the first heading angle and the second heading angle specifically includes:

[0084] If the first heading angle and the second heading angle are in the same angular quadrant, the magnitude of the heading deflection angle is determined based on the absolute value of the difference between the first heading angle and the second heading angle, and the direction of the heading deflection angle is determined based on the sign of the heading deflection angle.

[0085] If the first heading angle and the second heading angle are in opposite or adjacent angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the angular quadrant where the first heading angle is located, the angular quadrant where the second heading angle is located, and the angular range of the heading deflection angle.

[0086] If the first heading angle is a multiple of 90 degrees and the first heading angle and the second heading angle are not in opposite angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the first heading angle and the absolute value of the difference.

[0087] If the second heading angle is a multiple of 90 degrees, then the magnitude and direction of the heading deflection angle are determined based on the angle range of the first heading angle and the absolute value of the difference.

[0088] Specifically, in this embodiment of the invention, when determining the magnitude and direction of the heading angle, analysis reveals that the mobile device has multiple heading possibilities in the station-centered coordinate system, with the second heading angle varying from 0° to 360°. Similarly, the target device also has multiple heading possibilities, with the first heading angle varying from 0° to 360°. Therefore, determining the magnitude and direction of the heading angle requires analyzing both the mobile device and the target device, resulting in multiple possible scenarios. The specific analysis includes the following scenarios:

[0089] If the first heading angle θ i And if the second heading angle θ0 is in the same angular quadrant, then based on the first heading angle θ i The absolute value δ of the difference between the second heading angle θ0 and the heading angle θ0 is used to determine the heading deflection angle Δθ. i The size, and based on Δθ i The sign of the value determines the heading angle Δθ. iThe direction. Among them, the angular quadrants can include 4: the first angular quadrant is (0, 90°), the second angular quadrant is (90°, 180°), the third angular quadrant is (180°, 270°), and the fourth angular quadrant is (270°, 360°).

[0090] First heading angle θ i The cases where the second heading angle θ0 is in the same angular quadrant can include: 0° < θ0 < 90° and 0° < θ i <90°, 90°<θ0<180° and 90°<θ i <180°, 180°<θ0<270° and 180°<θ i <270°, 270°<θ0<360° and 270°<θ i <360°. At this point, the target device and the mobile device are on the same side.

[0091] In any of the above cases, Δθ i The size and orientation are shown in Table 1:

[0092] Table 1 θ i And the analysis of heading deflection when θ0 is in the same angular quadrant

[0093]

[0094]

[0095] If the first heading angle θ i And if the second heading angle θ0 is in a relative or adjacent angular quadrant, then based on the first heading angle θ i The angular quadrant in which the second heading angle θ0 is located, and the heading deviation angle Δθ i Determine the heading angle Δθ within the given angular range. i Size and orientation.

[0096] If θ0 < θ i First heading angle θ i The cases where the second heading angle θ0 is in the relative angular quadrant can include: 0° < θ0 < 90° and 180° < θ i <270°, 90°<θ0<180° and 270°<θ i <360°. Δθ occurs when either of the two aforementioned conditions is met. i The size and orientation are shown in Table 2:

[0097] Table 2 θ0<θ i And θ i And the analysis of heading deflection when θ0 is in the relative angular quadrant.

[0098] <![CDATA[Δθ i Angle range <![CDATA[Δθ i Size <![CDATA[Δθ i Direction <![CDATA[0°<Δθ i <180°]]> δ Left rear <![CDATA[Δθ i =180°]]> 180° Directly behind <![CDATA[180°<Δθ i <270°]]> 360°-δ Right rear

[0099] If θ0>θ i First heading angle θ i The cases where the second heading angle θ0 is in the relative angular quadrant can include: 180° < θ0 < 270° and 0° < θ i <90°, 270°<θ0<360° and 90°<θ i <180°. Δθ occurs when either of the two aforementioned conditions is met. i The size and orientation are shown in Table 3:

[0100] Table 3 θ0>θ i And θ i And the analysis of heading deflection when θ0 is in the relative angular quadrant.

[0101] <![CDATA[Δθ i Angle range <![CDATA[Δθ i Size <![CDATA[Δθ i Direction <![CDATA[-270°<Δθ i <-180°]]> 360°-δ Left rear <![CDATA[Δθ i =-180°]]> 180° Directly behind <![CDATA[-180°<Δθ i <-90°]]> δ Right rear

[0102] When 0° < θ0 < 90°, the first heading angle θ i The cases where the second heading angle θ0 is in an adjacent angular quadrant are shown in Table 4, including the following:

[0103] If 90° < θ i If <180°, then Δθ i The size is δ; Δθ i Within an angle range of 0° to 90°, the target device is located to the left front of the mobile device; Δθ i When the angle is between 90° and 180°, the target device is located to the right front of the mobile device;

[0104] If 270° < θ i If Δθ < 360°, then i The size is 360° - δ; Δθ i Within an angle range of 180° to 270°, the target device is located to the right rear of the mobile device; Δθ i When the angle is between 270° and 360°, the target device is in front of the right side of the mobile device.

[0105] When 0° < θ0 < 90°, the first heading angle θ i Cases involving multiples of 90 degrees can include the following:

[0106] If θ i =0° or 360°, then the target device is in front and to the right of the mobile device, Δθ i The sizes are δ and 360°-δ, respectively;

[0107] If θ i=90°, then the target device is in front of and to the left of the mobile device, Δθ i The size is δ;

[0108] If θ i =180°, then the target device is to the left rear of the mobile device, Δθ i The magnitude is δ. Table 4 0°<θ0<90°, θ i And θ0 is in the adjacent angular quadrant, θ i Analysis of heading deflection angles when they are multiples of 90 degrees

[0109]

[0110] When 90° < θ0 < 180°, the first heading angle θ i The cases where the second heading angle θ0 is in an adjacent angular quadrant are shown in Table 5, including the following:

[0111] If 0° < θ i If <90°, then Δθ i The size is δ; Δθ i When the angle range is between -180° and -90°, the target device is to the right rear of the mobile device; Δθ i When the angle range is from -90° to 0°, the target device is located to the right front of the mobile device;

[0112] If 180° < θ i If Δθ < 270°, then i The size is δ; Δθ i Within an angle range of 0° to 90°, the target device is located to the left front of the mobile device; Δθ i When the angle is between 90° and 180°, the target device is to the left rear of the mobile device.

[0113] When 90° < θ0 < 180°, the first heading angle θ i Cases involving multiples of 90 degrees can include the following:

[0114] If θ i = 0° or 360°, then Δθ i The sizes are δ and 360°-δ, respectively, and the target device is located to the right rear and right front of the mobile device, respectively; if θ i =90°, then the target device is in front and to the right of the mobile device, Δθ i The size is δ; if θ i =180°, then the target device is in front of and to the left of the mobile device, Δθ i The size is δ.

[0115] Table 5 90°<θ0<180°, θ iAnd θ0 is in the adjacent angular quadrant, θ i Analysis of heading deflection angles when they are multiples of 90 degrees

[0116]

[0117] When 180° < θ0 < 270°, the first heading angle θ i The cases where the second heading angle θ0 is in an adjacent angular quadrant are shown in Table 6, including the following:

[0118] If 90° < θ i If <180°, then Δθ i The size is δ; Δθ i When the angle range is between -180° and -90°, the target device is to the right rear of the mobile device; Δθ i When the angle range is from -90° to 0°, the target device is located to the right front of the mobile device;

[0119] If 270° < θ i If Δθ < 360°, then i The size is δ; Δθ i Within an angle range of 0° to 90°, the target device is located to the left front of the mobile device; Δθ i When the angle is between 90° and 180°, the target device is to the left rear of the mobile device.

[0120] When 180° < θ0 < 270°, the first heading angle θ i Cases involving multiples of 90 degrees can include the following:

[0121] If θ i = 0° or 360°, Δθ i The sizes are 360°-δ and δ, respectively, and the target device is to the left rear of the mobile device; if θ i =90°, then Δθ i The size is δ, and the target device is located to the right rear of the mobile device; if θ i =270°, the target device is in front and to the left of the mobile device, Δθ i The size is δ; if θ i = 180°, then the target device is in front and to the right of the mobile device, Δθ i The size is δ.

[0122] Table 6. 180°<θ0<270°, θ i And θ0 is in the adjacent angular quadrant, θ i Analysis of heading deflection angles when they are multiples of 90 degrees

[0123]

[0124] When 270° < θ0 < 360°, the first heading angle θ i The cases where the second heading angle θ0 is in an adjacent angular quadrant are shown in Table 7, including the following:

[0125] If 0° < θ i If <90°, then Δθ i The size is 360° - δ; Δθ i When the angle range is -360° to -270°, the target device is to the left front of the mobile device; Δθ i When the angle range is between -270° and -180°, the target device is to the left rear of the mobile device;

[0126] If 180° < θ i If Δθ < 270°, then i The size is δ; Δθ i When the angle range is -180° to -90°, the target device is to the right rear of the mobile device; Δθ i When the angle range is from -90° to 0°, the target device is in front of the right side of the mobile device.

[0127] When 270° < θ0 < 360°, the first heading angle θ i Cases involving multiples of 90 degrees can include the following:

[0128] If θ i = 0° or 360°, then Δθ i The sizes are 360°-δ and δ, respectively, and the target device is in front of the left side of the mobile device; if θ i =90° or 270°, then Δθ i The sizes are 360°-δ and δ, respectively, and the target device is to the left rear of the mobile device; if θ i =180°, the target device is to the right rear of the mobile device, then Δθ i The size is δ.

[0129] Table 7 270°<θ0<360°, θ i And θ0 is in the adjacent angular quadrant, θ i Analysis of heading deflection angles when they are multiples of 90 degrees

[0130]

[0131] If the second heading angle θ0 is a multiple of 90 degrees, including cases such as θ0 = 0°, θ0 = 90°, θ0 = 180°, θ0 = 270°, θ0 = 360°, then based on the first heading angle θ i Determine Δθ based on the angular range and the absolute value of the difference δ. iThe magnitude and direction of the heading deflection are shown in Tables 8 and 9.

[0132] Table 8. Analysis of heading deflection angles when θ0 is a multiple of 90 degrees (Part 1)

[0133]

[0134]

[0135] Table 9. Analysis of heading deflection angles when θ0 is a multiple of 90 degrees (Part 2)

[0136]

[0137] In this embodiment of the invention, detailed calculations of the navigation deflection angle are performed for different situations, which can achieve precise positioning of the target equipment.

[0138] Based on the above embodiments, determining the second heading angle and second elevation angle of the baseline vector of the secondary antenna pointing to the main antenna in the station-centered coordinate system based on the fifth position information and the sixth position information specifically includes:

[0139] Determine the length of the baseline vector;

[0140] Based on the length, the fifth position information, and the sixth position information, the second heading angle and the second elevation angle of the baseline vector from the secondary antenna to the primary antenna in the station center coordinate system are determined.

[0141] Specifically, in this embodiment of the invention, when determining the second heading angle θ0 and the second pitch angle... At this time, the baseline vector can be determined first. Given the length d, and combining it with the fifth position information o(x0,y0,z0) and the sixth position information o′(x′,y′,z′), and using the relationship between the sides and included angles of a triangle, the second heading angle θ0 and the second pitch angle can be determined.

[0142] Based on the above embodiments, determining the magnitude and direction of the pitch angle based on the first pitch angle and the second pitch angle specifically includes:

[0143] The pitch angle is determined based on the absolute value of the difference between the first pitch angle and the second pitch angle;

[0144] The direction of the pitch angle is determined based on its sign.

[0145] Specifically, pitch angle The size can be expressed as The direction of the pitch angle can be determined by judging the pitch angle. The relationship between 0 and 0 is determined, that is, if The target device is located below the mobile device; if The target device is located above the mobile device; if The target device and the mobile device are on the same plane.

[0146] Based on the above embodiments, the step of converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in the station-centered coordinate system, respectively, specifically includes:

[0147] Based on the coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric spatial rectangular coordinate system, the first position information, the second position information, and the third position information are respectively converted into geocentric rectangular coordinates;

[0148] Based on the coordinate transformation matrix between the geocentric rectangular coordinate system and the station-centric coordinate system, the geocentric rectangular coordinates corresponding to the first position information, the second position information, and the third position information are respectively converted into the fourth position information, the fifth position information, and the sixth position information.

[0149] Specifically, in this embodiment of the invention, when determining the fourth, fifth, and sixth position information, the first, second, and third position information can be converted into geocentric rectangular coordinates based on the coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric spatial rectangular coordinate system. The geocentric spatial rectangular coordinate system T-XYZ is a coordinate system constructed with three mutually perpendicular coordinate axes X, Y, and Z, with the Earth's center of mass T as the origin. The X-axis coincides with the intersection of the prime meridian and the equatorial plane, with eastward being positive; the Z-axis coincides with the Earth's rotation axis, with northward being positive; and the Y-axis is perpendicular to the XZ plane. The position information of various surface points in the geocentric spatial rectangular coordinate system is represented by X, Y, and Z.

[0150] The coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric spatial rectangular coordinate system T-XYZ can be expressed by the following formula:

[0151] X = (N + H)cos B cos L (6)

[0152] Y = (N + H)cos B sin L (7)

[0153] Z = [N(1-e] 2 )+H]sin B (8)

[0154] Where N is the radius of the ramusoidal circle and e is the first eccentricity of the ellipsoid.

[0155] Subsequently, based on the coordinate transformation matrix between the geocentric rectangular coordinate system T-XYZ and the station-centric coordinate system O-ENU, the geocentric rectangular coordinates corresponding to the first, second, and third position information are converted into the fourth, fifth, and sixth position information, respectively.

[0156] Figure 4 This is a schematic diagram showing the relative positional relationship between the geocentric rectangular coordinate system T-XYZ and the station-centric coordinate system O-ENU. Figure 4 In the station-centered coordinate system O-ENU, the geocentric rectangular coordinates of the origin O can be represented as (X0, Y0, Z0).

[0157] In the station-centered coordinate system O-ENU, a certain P can be obtained using the following formula. i (x i ,y i ,z i Location of )

[0158]

[0159] in, It is the coordinate transformation matrix between the geocentric rectangular coordinate system T-XYZ and the station-centered coordinate system O-ENU.

[0160] Based on the above embodiments, the step of converting the first position information, the second position information, and the third position information into the fourth position information, the fifth position information, and the sixth position information in the station center coordinate system, respectively, includes: correcting the first position information based on a pseudorange differential positioning algorithm.

[0161] Specifically, in this embodiment of the invention, after obtaining the first location information, the second location information, and the third location information, in order to avoid errors caused by the positioning of the target device itself, a pseudorange differential positioning algorithm can be used to correct the first location information.

[0162] The pseudorange differential positioning algorithm involves placing a receiver at a base station for observation. Based on the base station's known precise coordinates, a distance correction factor from the base station to the satellite is calculated. This correction factor is then transmitted in real-time to the mobile device. Upon receiving the initial location information, the mobile device's receiver uses the distance correction factor to adjust the information, thereby improving the accuracy and precision of the target device's location. Subsequent operations are then performed using the corrected initial location information.

[0163] In summary, this invention provides a device positioning method that simulates the concept of a navigation gyroscope. It uses coordinate transformation algorithms, pseudorange differential positioning algorithms, and a dual-antenna model to solve for the relative position of the target device. This method can obtain the relative distance and deflection angle between the target device and the mobile device, enabling users to quickly determine the position of the target device based on their own position and direction of travel, thus improving the user experience.

[0164] like Figure 5 As shown, based on the above embodiments, this embodiment of the invention provides a device positioning apparatus, including:

[0165] The location information acquisition module 51 is used to acquire the first location information of the target device in the geocentric coordinate system, the second location information of the main antenna on the mobile device, and the third location information of the secondary antenna; the target device and the mobile device are connected for communication based on the wireless communication module.

[0166] The yaw angle determination module 52 is used to convert the first position information, the second position information and the third position information into the fourth position information, the fifth position information and the sixth position information in the station center coordinate system, respectively, and to determine the relative distance between the target device and the mobile device, as well as the heading yaw angle and the pitch yaw angle of the target device relative to the mobile device based on the fourth position information, the fifth position information and the sixth position information.

[0167] The device positioning module 53 is used to locate the target device based on the relative distance, the heading angle, and the pitch angle.

[0168] Based on the above embodiments, the device positioning device provided in this embodiment of the invention, wherein the deflection angle determination module is specifically used for:

[0169] Based on the fourth and fifth position information, the first heading angle and the first pitch angle of the target device relative to the mobile device in the station center coordinate system are determined, and based on the fifth and sixth position information, the second heading angle and the second pitch angle of the baseline vector of the secondary antenna pointing to the main antenna in the station center coordinate system are determined.

[0170] Based on the first heading angle and the second heading angle, the magnitude and direction of the heading deflection angle are determined, and based on the first pitch angle and the second pitch angle, the magnitude and direction of the pitch deflection angle are determined.

[0171] Based on the above embodiments, the device positioning device provided in this embodiment of the invention, wherein the deflection angle determination module is specifically used for:

[0172] If the first heading angle and the second heading angle are in the same angular quadrant, the magnitude of the heading deflection angle is determined based on the absolute value of the difference between the first heading angle and the second heading angle, and the direction of the heading deflection angle is determined based on the sign of the heading deflection angle.

[0173] If the first heading angle and the second heading angle are in opposite or adjacent angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the angular quadrant where the first heading angle is located, the angular quadrant where the second heading angle is located, and the angular range of the heading deflection angle.

[0174] If the first heading angle is a multiple of 90 degrees and the first heading angle and the second heading angle are not in opposite angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the first heading angle and the absolute value of the difference.

[0175] If the second heading angle is a multiple of 90 degrees, then the magnitude and direction of the heading deflection angle are determined based on the angle range of the first heading angle and the absolute value of the difference.

[0176] Based on the above embodiments, the device positioning device provided in this embodiment of the invention, wherein the deflection angle determination module is specifically used for:

[0177] The pitch angle is determined based on the absolute value of the difference between the first pitch angle and the second pitch angle;

[0178] The direction of the pitch angle is determined based on its sign.

[0179] Based on the above embodiments, the device positioning device provided in this embodiment of the invention, wherein the deflection angle determination module is specifically used for:

[0180] Based on the coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric spatial rectangular coordinate system, the first position information, the second position information, and the third position information are respectively converted into geocentric rectangular coordinates;

[0181] Based on the coordinate transformation matrix between the geocentric rectangular coordinate system and the station-centric coordinate system, the geocentric rectangular coordinates corresponding to the first position information, the second position information, and the third position information are respectively converted into the fourth position information, the fifth position information, and the sixth position information.

[0182] Based on the above embodiments, the device positioning device provided in this embodiment of the invention further includes a correction module, used for:

[0183] The first location information is corrected based on the pseudorange differential positioning algorithm.

[0184] Based on the above embodiments, the device positioning device provided in this embodiment of the invention includes a Zigbee module in its wireless communication module.

[0185] Specifically, the functions of each module in the device positioning device provided in the embodiments of the present invention correspond one-to-one with the operation flow of each step in the above method embodiments, and the achieved effects are also the same. For details, please refer to the above embodiments, and this will not be repeated in the embodiments of the present invention.

[0186] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include a processor 610, a communications interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communications interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute the device positioning method provided in the above embodiments. The method includes: acquiring first position information of the target device in a geocentric coordinate system, second position information of the main antenna on the mobile device, and third position information of the secondary antenna; the target device and the mobile device are connected for communication based on a wireless communication module; converting the first position information, the second position information, and the third position information into fourth position information, fifth position information, and sixth position information in a geocentric coordinate system, respectively, and determining the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device based on the fourth position information, the fifth position information, and the sixth position information; and positioning the target device based on the relative distance, the heading angle, and the pitch angle.

[0187] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0188] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the device positioning method provided in the above embodiments. The method includes: acquiring first position information of a target device in a geocentric coordinate system, second position information of a main antenna on the mobile device, and third position information of a secondary antenna; the target device and the mobile device are connected for communication based on a wireless communication module; converting the first position information, the second position information, and the third position information into fourth position information, fifth position information, and sixth position information in a geocentric coordinate system, respectively; and determining the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device based on the fourth position information, the fifth position information, and the sixth position information; and positioning the target device based on the relative distance, the heading angle, and the pitch angle.

[0189] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program is implemented to perform the device positioning method provided in the above embodiments. The method includes: acquiring first position information of a target device in a geocentric coordinate system, second position information of a main antenna on the mobile device, and third position information of a secondary antenna; the target device and the mobile device are connected in communication via a wireless communication module; converting the first position information, the second position information, and the third position information into fourth position information, fifth position information, and sixth position information in a geocentric coordinate system, respectively; and determining the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device, based on the fourth position information, the fifth position information, and the sixth position information; and positioning the target device based on the relative distance, the heading angle, and the pitch angle.

[0190] The device embodiments described above are merely illustrative. 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0191] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0192] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device positioning method characterized by, include: Acquire the first position information of the target device in the geocentric coordinate system, the second position information of the main antenna on the mobile device, and the third position information of the secondary antenna; The target device and the mobile device are connected via a wireless communication module. The first position information, the second position information, and the third position information are respectively converted into fourth position information, fifth position information, and sixth position information in the station center coordinate system. Based on the fourth position information, the fifth position information, and the sixth position information, the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device are determined. The target device is located based on the relative distance, the heading angle, and the pitch angle. The heading angle and the pitch angle are determined based on the following steps: Based on the fourth and fifth position information, the first heading angle and the first pitch angle of the target device relative to the mobile device in the station center coordinate system are determined, and based on the fifth and sixth position information, the second heading angle and the second pitch angle of the baseline vector of the secondary antenna pointing to the main antenna in the station center coordinate system are determined. Based on the first heading angle and the second heading angle, the magnitude and direction of the heading deflection angle are determined, and based on the first pitch angle and the second pitch angle, the magnitude and direction of the pitch deflection angle are determined; Determining the magnitude and direction of the pitch angle based on the first pitch angle and the second pitch angle specifically includes: The pitch angle is determined based on the absolute value of the difference between the first pitch angle and the second pitch angle; The direction of the pitch angle is determined based on its sign.

2. The device positioning method according to claim 1, wherein The determination of the magnitude and direction of the heading angle based on the first heading angle and the second heading angle specifically includes: If the first heading angle and the second heading angle are in the same angular quadrant, the magnitude of the heading deflection angle is determined based on the absolute value of the difference between the first heading angle and the second heading angle, and the direction of the heading deflection angle is determined based on the sign of the heading deflection angle. If the first heading angle and the second heading angle are in opposite or adjacent angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the angular quadrant where the first heading angle is located, the angular quadrant where the second heading angle is located, and the angular range of the heading deflection angle. If the first heading angle is a multiple of 90 degrees and the first heading angle and the second heading angle are not in opposite angular quadrants, then the magnitude and direction of the heading deflection angle are determined based on the first heading angle and the absolute value of the difference. If the second heading angle is a multiple of 90 degrees, then the magnitude and direction of the heading deflection angle are determined based on the angle range of the first heading angle and the absolute value of the difference.

3. The device positioning method according to any one of claims 1-2, characterized by, The step of converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in the station center coordinate system, respectively, specifically includes: Based on the coordinate transformation relationship between the geocentric geodetic coordinate system and the geocentric spatial rectangular coordinate system, the first position information, the second position information, and the third position information are respectively converted into geocentric rectangular coordinates; Based on the coordinate transformation matrix between the geocentric rectangular coordinate system and the station-centric coordinate system, the geocentric rectangular coordinates corresponding to the first position information, the second position information, and the third position information are respectively converted into the fourth position information, the fifth position information, and the sixth position information.

4. The device positioning method according to any one of claims 1-2, wherein, The step of converting the first location information, the second location information, and the third location information into fourth location information, fifth location information, and sixth location information in the station center coordinate system, respectively, includes: correcting the first location information based on a pseudorange differential positioning algorithm.

5. The equipment positioning method according to any one of claims 1-2, characterized in that, The wireless communication module includes a Zigbee module.

6. A device positioning apparatus, characterized by, include: The location information acquisition module is used to acquire the first location information of the target device in the geocentric coordinate system, the second location information of the main antenna on the mobile device, and the third location information of the secondary antenna. The target device and the mobile device are connected via a wireless communication module. The yaw angle determination module is used to convert the first position information, the second position information, and the third position information into the fourth position information, the fifth position information, and the sixth position information in the station center coordinate system, respectively, and to determine the relative distance between the target device and the mobile device, as well as the heading angle and pitch angle of the target device relative to the mobile device based on the fourth position information, the fifth position information, and the sixth position information. The device positioning module is used to locate the target device based on the relative distance, the heading angle, and the pitch angle. The deflection angle determination module is specifically used for: Based on the fourth and fifth position information, the first heading angle and the first pitch angle of the target device relative to the mobile device in the station center coordinate system are determined, and based on the fifth and sixth position information, the second heading angle and the second pitch angle of the baseline vector of the secondary antenna pointing to the main antenna in the station center coordinate system are determined. Based on the first heading angle and the second heading angle, the magnitude and direction of the heading deflection angle are determined, and based on the first pitch angle and the second pitch angle, the magnitude and direction of the pitch deflection angle are determined; Determining the magnitude and direction of the pitch angle based on the first pitch angle and the second pitch angle specifically includes: The pitch angle is determined based on the absolute value of the difference between the first pitch angle and the second pitch angle; The direction of the pitch angle is determined based on its sign.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the device positioning method as described in any one of claims 1-5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the device positioning method as described in any one of claims 1-5.

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