Indoor positioning method and device

Abstract

Disclosed are an indoor positioning method and device, the method comprising: receiving first measurement parameters obtained by a first device measuring a second device in a first coordinate system, the first measurement parameters comprising a first angle and a first distance, the first angle being the angle of the second device in the first coordinate system, and the first distance being the distance of the second device relative to the coordinate origin of the first coordinate system; determining a first spatial position of the second device in the first coordinate system based on the first angle and the first distance; and determining the spatial position of the second device in the geodetic coordinate system based on the first spatial position and the conversion relationship between the first coordinate system and the geodetic coordinate system. This method establishes a first coordinate system for the first device, uses the first coordinate system to measure the angle and distance of the second device indoors, and then determines the spatial position of the second device in the geodetic coordinate system, avoiding the manual erection and deployment of anchor points, thereby achieving positioning and saving labor costs.

Description

Technical Field

[0001] The present application relates to the field of wireless positioning technology, and in particular to an indoor positioning method and device. Background Art

[0002] As people's living standards improve, smart homes are becoming increasingly commonplace. Simultaneously, the industry is vigorously promoting the evolution of related technologies to enhance the user experience of smart homes. For example, Huawei has proposed a full-scenario intelligence strategy, establishing partnerships with 200 companies through the HiLink ecosystem to comprehensively promote the upgrade of the smart home industry. User or object location information is a crucial component of smart homes. Accurately locating users or objects can help improve the user experience of smart homes. For example, accurately locating indoor furnishings allows robot vacuums to plan optimal cleaning routes, improving cleaning efficiency.

[0003] To provide accurate location information, positioning systems typically require a pre-existing infrastructure. Nodes within this infrastructure, called anchors, have fixed and known locations. The positioning system infers the location of mobile targets by measuring the properties of wireless signals between each anchor and the target.

[0004] However, when deploying anchor points indoors, their position and orientation directly affect the accuracy of the positioning system. Therefore, professional technicians are required to accurately set up the anchor points, ensuring their position and orientation. This is difficult to achieve in some communities. Furthermore, even in some cities where it is possible to deploy anchor points for indoor homes, the limited number of professional technicians means that deploying and setting up anchor points in indoor home environments still consumes a lot of manpower and costs. Summary of the Invention

[0005] This application provides an indoor positioning method and device for achieving indoor positioning and reducing labor costs. Specifically, the following technical solutions are disclosed:

[0006] In a first aspect, the present application discloses an indoor positioning method, which includes: receiving a first measurement parameter obtained by a first device measuring a second device in a first coordinate system, determining a first spatial position of the second device in the first coordinate system based on the first angle and the first distance, and determining the spatial position of the second device in the geodetic coordinate system based on the first spatial position and the conversion relationship between the first coordinate system and the geodetic coordinate system.

[0007] In which, the first coordinate system is established based on one antenna in the antenna array of the first device as the coordinate origin and the geometric structure of the first device, and the first measurement parameters include a first angle and a first distance, the first angle is the angle of the second device in the first coordinate system, and the first distance is the distance of the second device relative to the coordinate origin.

[0008] This method uses the geometric structure of a first device to establish a first coordinate system. This system is used to measure the angle and distance of a second device indoors. The spatial position of the second device in the geodetic coordinate system is then determined based on the previously determined conversion relationship between the first coordinate system and the geodetic coordinate system. This method automatically locates the second device indoors without requiring specialized technicians to install and set up anchor points, and without being restricted by the user's ability to touch the orientation of the antenna array. It accurately determines the relative position of the second device in the geodetic coordinate system, improving positioning accuracy.

[0009] In addition, the geometric structure of the first device includes the length, width, and height of the first device, and the first coordinate system establishes coordinate axes based on the length, width, and height of the first device. The first angle is the angle of the antenna array in the second device measured by the first device in the first coordinate system. This implementation establishes the first coordinate system based on the length, width, and height of the first device. Since the plane formed by the length and width of the first device is likely parallel to the horizontal plane, the z-axis of the first coordinate system is parallel to the height of the first device, thereby simplifying coordinate system positioning operations and improving positioning efficiency.

[0010] In combination with the first aspect, in a possible implementation of the first aspect, the method also includes: receiving a second measurement parameter obtained by the second device measuring the third device in the aligned second coordinate system, determining the second spatial position of the third device in the aligned second coordinate system based on the second angle and the second distance; and determining the third spatial position of the third device in the first coordinate system based on the second spatial position.

[0011] In which, the coordinate axis direction of the aligned second coordinate system is consistent with that of the first coordinate system, and the second measurement parameter includes a second angle and a second distance, the second angle is the angle of the third device in the aligned second coordinate system, and the second distance is the distance of the third device relative to the coordinate origin of the aligned second coordinate system.

[0012] In combination with the first aspect, in another possible implementation of the first aspect, before receiving the second measurement parameter of the second device, it also includes: obtaining the first angle and the third angle, the third angle being the angle of the first device in the second coordinate system, the second coordinate system being a coordinate system established based on one antenna in the antenna array of the second device as the coordinate origin and the geometric structure of the second device; determining the target angle based on the first angle and the third angle; rotating the first plane of the second coordinate system horizontally by the target angle to obtain the aligned second coordinate system, the first plane being composed of the x-axis and y-axis of the second coordinate system.

[0013] In this implementation method, the server can obtain the relative posture and target angle of each device in each other's coordinate system by measuring the angles between devices, and align the coordinate systems of other devices according to the target angle. The aligned coordinate system is then used to measure the angles and distances of other devices, thereby obtaining the spatial positions of other devices in the basic coordinate system. Finally, the conversion relationship between the basic coordinate system and the geodetic coordinate system is used to accurately locate the spatial positions of other home appliances in the geodetic coordinate system, avoiding the manual establishment of anchor points and the changes in the direction and posture of the anchor points due to human factors, thereby affecting the positioning accuracy.

[0014] Optionally, determining the target angle based on the first angle and the third angle includes: determining the target angle based on a first relationship, where the first relationship is δ1=θ1-θ3-180°.

[0015] Wherein, δ is the target angle, θ1 is the first angle, and θ3 is the third angle.

[0016] In combination with the first aspect, in another possible implementation of the first aspect, the method further includes: determining the spatial position of the third device in the geodetic coordinate system based on the third spatial position of the third device and the conversion relationship between the first coordinate system and the geodetic coordinate system.

[0017] In this implementation, the positioning server can periodically obtain measurement parameters such as angles and distances reported by each device, thereby obtaining the latest relative posture and relative position between the devices, and converting them into posture and position in the geodetic coordinate system, thereby achieving accurate position positioning and posture maintenance for each indoor device, avoiding the manual erection and deployment of anchor points, reducing the deployment cost of anchor points, and saving labor resources and costs.

[0018] In combination with the first aspect, in another possible implementation of the first aspect, the method further includes: obtaining the spatial position of the first device in the geodetic coordinate system based on the conversion relationship between the first coordinate system and the geodetic coordinate system; and positioning the mobile target point in the geodetic coordinate system using the spatial positions of the first device, the second device, and the third device to obtain the spatial position of the mobile target point in the geodetic coordinate system.

[0019] The first coordinate system, the aligned second coordinate system, the geodetic coordinate system, the first and second measurement parameters, and the geometric structures of the first, second, and third devices can all be automatically displayed in the 3D home model and displayed on the user's terminal device, providing the user with intuitive and visual location information. Furthermore, the output of the positioning system (i.e., the location of the moving target point) can also be displayed, thereby improving user satisfaction.

[0020] This method reduces the technical difficulty and labor cost of anchor point deployment and improves the robustness of the positioning system.

[0021] In a second aspect, the present application discloses an indoor positioning device, wherein the device includes: a communication circuit for receiving a first measurement parameter obtained by a first device measuring a second device in a first coordinate system; a processing circuit for determining a first spatial position of the second device in the first coordinate system based on the first angle and the first distance, and determining the spatial position of the second device in the geodetic coordinate system based on the first spatial position and the conversion relationship between the first coordinate system and the geodetic coordinate system.

[0022] The first coordinate system is established based on an antenna in an antenna array of the first device as a coordinate origin and a geometric structure of the first device, and the first measurement parameter includes a first angle and a first distance, the first angle being the angle of the second device in the first coordinate system, and the first distance being the distance of the second device relative to the coordinate origin;

[0023] Optionally, the geometric structure of the first device includes the length, width, and height of the first device, and the first coordinate system establishes coordinate axes based on the length, width, and height of the first device. In addition, the first angle is the angle of the antenna array in the second device measured by the first device in the first coordinate system.

[0024] In combination with the second aspect, in a possible implementation of the second aspect, the communication circuit is also used to receive a second measurement parameter obtained by the second device measuring the third device in the aligned second coordinate system, wherein the aligned second coordinate system is consistent with the coordinate axis direction of the first coordinate system, and the second measurement parameter includes a second angle and a second distance, the second angle is the angle of the third device in the aligned second coordinate system, and the second distance is the distance of the third device relative to the coordinate origin of the aligned second coordinate system.

[0025] The processing circuit is further used to determine the second spatial position of the third device in the second coordinate system after the alignment based on the second angle and the second distance, and to determine the third spatial position of the third device in the first coordinate system based on the second spatial position.

[0026] In combination with the second aspect, in another possible implementation of the second aspect, the processing circuit is also used to obtain the first angle and the third angle before receiving the second measurement parameter through the communication circuit, determine the target angle based on the first angle and the third angle, and rotate the first plane of the second coordinate system in the horizontal direction by the target angle to obtain the aligned second coordinate system.

[0027] Among them, the third angle is the angle of the first device in the second coordinate system, and the second coordinate system is a coordinate system established based on one antenna in the antenna array of the second device as the coordinate origin and the geometric structure of the second device; the first plane is composed of the x-axis and y-axis of the second coordinate system.

[0028] Furthermore, the processing circuit is further configured to determine the target angle according to a first relational expression: δ1=θ1-θ3-180°, wherein δ is the target angle, θ1 is the first angle, and θ3 is the third angle.

[0029] In combination with the second aspect, in another possible implementation of the second aspect, the processing circuit is also used to determine the spatial position of the third device in the geodetic coordinate system based on the third spatial position of the third device and the conversion relationship between the first coordinate system and the geodetic coordinate system.

[0030] In combination with the second aspect, in another possible implementation of the second aspect, the processing circuit is also used to obtain the spatial position of the first device in the geodetic coordinate system based on the conversion relationship between the first coordinate system and the geodetic coordinate system, and to locate the moving target point using the spatial positions of the first device, the second device and the third device in the geodetic coordinate system, and to obtain the spatial position of the moving target point in the geodetic coordinate system.

[0031] On the third aspect, the present application also provides a device, which may be a household appliance, such as a first device, which includes: a communication circuit, a processing chip, an antenna array and a memory.

[0032] The processing chip is used to obtain a first measurement parameter, which includes a first angle and a first distance; the first angle is the angle of the second device in the first coordinate system, and the first distance is the distance of the second device relative to the coordinate origin; the first coordinate system is established based on one antenna in the antenna array of the first device as the coordinate origin, and the geometric structure of the first device.

[0033] The communication circuit is used to send the first measurement parameter.

[0034] In combination with the third aspect, in a possible implementation of the third aspect, the processing chip is also used to obtain the first angle and the third angle, determine the target angle based on the first angle and the third angle; and rotate the first plane of the second coordinate system in the horizontal direction by the target angle to obtain the aligned second coordinate system; wherein the first plane is composed of the x-axis and y-axis of the second coordinate system.

[0035] The communication circuit is further configured to send the aligned second coordinate system.

[0036] When the target angle is δ, the first angle is θ1, and the third angle is θ3, the target angle is determined to be δ1=θ1-θ3-180°.

[0037] Optionally, in combination with the third aspect, in another possible implementation of the third aspect, the processing chip is further used to obtain the first angle and the third angle; and the communication circuit is further used to send the first angle and the third angle.

[0038] Optionally, in a possible implementation, the first device includes a PCB board, and the communication circuit, processing chip, antenna array and memory are all integrated on the PCB board.

[0039] Optionally, the processing chip may be a processor, such as a CPU.

[0040] It should be understood that the home appliance may also be a second device or a third device, and the home appliance includes but is not limited to a TV, a speaker, an air conditioner, and the like.

[0041] When the device is a second device, the processing chip is used to obtain a second measurement parameter, which includes a second angle and a second distance; wherein the second angle is the angle of the second coordinate system of the third device after alignment, the coordinate axis of the aligned second coordinate system is consistent with the direction of the coordinate axis of the first coordinate system, and the second distance is the distance of the third device relative to the coordinate origin of the second coordinate system; the communication circuit is also used to send the second measurement parameter.

[0042] In a fourth aspect, the present application also provides a communication device, comprising a processor and a memory, wherein the memory is coupled to the processor, and the memory is used to store computer program instructions; the processor is used to execute the instructions stored in the memory, so that the communication device executes the method in the aforementioned first aspect and various implementation methods of the first aspect.

[0043] In a fifth aspect, the present application also provides a computer-readable storage medium having instructions stored therein, so that when the instructions are run on a computer or a processor, the method can be used to execute the aforementioned first aspect and various implementations of the first aspect.

[0044] In addition, the present application also provides a computer program product, which includes computer instructions. When the instructions are executed by a computer or a processor, the method of the aforementioned first aspect and various implementations of the first aspect can be implemented.

[0045] In a sixth aspect, the present application further provides a wireless positioning system, comprising a communication device and at least three household appliances. The communication device may be the device described in the second or fourth aspect, and may implement the method of the first aspect and its various implementations. The household appliances may be the device described in the third aspect, and include the functions of the third aspect and its various implementations.

[0046] It should be noted that the beneficial effects corresponding to the technical solutions of the various implementation methods of the above-mentioned second to sixth aspects are the same as the beneficial effects of the above-mentioned first aspect and the various implementation methods of the first aspect. Please refer to the description of the beneficial effects in the above-mentioned first aspect and the various implementation methods of the first aspect for details, and no further details will be given. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of the structure of an indoor positioning system provided in an embodiment of the present application;

[0048] Figure 2A A schematic diagram of an anchor point coordinate system established based on a speaker provided in an embodiment of the present application;

[0049] Figure 2BA schematic diagram of an anchor coordinate system established based on a TV according to an embodiment of the present application;

[0050] Figure 3A A schematic diagram of an anchor point coordinate system and a geodetic coordinate system provided in an embodiment of the present application;

[0051] Figure 3B A schematic diagram of another anchor point coordinate system and a geodetic coordinate system provided in an embodiment of the present application;

[0052] Figure 4 A flowchart of an indoor positioning method provided in an embodiment of the present application;

[0053] Figure 5A A schematic diagram of a first coordinate system and a second coordinate system provided in an embodiment of the present application;

[0054] Figure 5B A schematic diagram of the positional relationship between a TV and a speaker provided in an embodiment of the present application;

[0055] Figure 6 A flowchart of another indoor positioning method provided in an embodiment of the present application;

[0056] Figure 7A A schematic diagram including a third coordinate system provided in an embodiment of the present application;

[0057] Figure 7B A schematic diagram illustrating the positional relationship between a TV, a speaker, and an air conditioner provided in an embodiment of the present application;

[0058] Figure 8A A schematic diagram of a second coordinate system before alignment provided in an embodiment of the present application;

[0059] Figure 8B A schematic diagram of an aligned second coordinate system provided in an embodiment of the present application;

[0060] Figure 9A A schematic diagram of the structure of a second coordinate system before alignment in a 3D scene provided in an embodiment of the present application;

[0061] Figure 9B A schematic diagram of the structure of a second coordinate system after alignment in a 3D scene provided in an embodiment of the present application;

[0062] Figure 10 A schematic diagram of household appliances in an overdetermined system in a two-dimensional scenario provided by an embodiment of the present application;

[0063] Figure 11A A schematic diagram of positioning using trilateration provided in an embodiment of the present application;

[0064] Figure 11B A schematic diagram of positioning using triangulation provided in an embodiment of the present application;

[0065] Figure 11C A schematic diagram of RSSI-based location fingerprinting provided in an embodiment of the present application;

[0066] Figure 12 A schematic diagram of the structure of a positioning device provided in this application;

[0067] Figure 13 A schematic diagram of the structure of a communication device provided in this application;

[0068] Figure 14 A schematic diagram of the structure of a PCB board provided in this application. DETAILED DESCRIPTION

[0069] The technical solution of the present application is described below in conjunction with the embodiments of the present application and the accompanying drawings. In order to facilitate understanding of the technical solution provided by the embodiments of the present application, the technical scenarios to which the technical solution of the present application is applicable are first introduced.

[0070] The technical solution of this application can be applied to indoor positioning scenarios, such as Figure 1 As shown, an indoor positioning system includes three anchor points and a mobile target point. In addition, a server or other more anchor points may be included, which is not limited in this embodiment.

[0071] Among them, each anchor point has the function of direction finding and distance measurement of wireless signals. For example, each anchor point may include a processing module or a processing chip, and a communication module. The processing module is used to process the wireless signals received or sent by the communication module, determine the distance and direction (or relative angle) between itself and other anchor points based on the wireless signals, and send this information to the server of the positioning system through the communication module. The communication module is used to realize communication between the anchor point and the server, or between the anchor points. For example, the processing module reports the measured distance between itself and the moving target point, and / or the relative angle between itself and the moving target point to the server through the communication module.

[0072] The server may receive the measurement information reported by each anchor point, and perform positioning calculation on the mobile target point based on the information. The specific positioning calculation method is not limited in this application.

[0073] In addition, to support direction finding technology, each anchor point also includes an antenna array, which includes at least two antennas. In the embodiment of the present application, each antenna is treated as a point, and the posture or orientation of a single antenna is not considered individually. Instead, the posture or orientation of the entire antenna array is considered, such as whether the orientation of the antenna array at the anchor point is parallel to a certain wall in the room. The posture or orientation of the antenna array can be represented by the antenna array coordinate system of the anchor point. Optionally, the position of each antenna can also be represented by the antenna array coordinate system.

[0074] Optionally, the antenna array coordinate system of the anchor point is also called the anchor point coordinate system.

[0075] The angle values ​​measured by each anchor point with other anchor points, or the angle value with the moving target point can be expressed by the antenna array coordinate system.

[0076] In addition, the technical solutions of the embodiments of the present application can also be applied to various wireless technologies that can support ranging and direction finding, such as Bluetooth, WiFi, Ultra Wideband (UWB), and ZigBee.

[0077] In this embodiment, anchor points are established based on the attributes of home appliances. Specifically, in an indoor home scenario, home appliances include the following attributes:

[0078] 1) The position and posture of home appliances are usually fixed, such as a TV mounted on the wall, a refrigerator placed in a corner, an air conditioner mounted on the wall, etc. In addition, although some home appliances can be moved, their position and posture are still fixed most of the time, such as speakers, fans, etc.

[0079] 2) Home appliances are basically powered by a mains, usually connected to a mains using a power plug.

[0080] 3) The size of home appliances is generally much larger than the anchor point, so there is enough space on the home appliances to install the anchor point.

[0081] Based on the properties of the above-mentioned home appliances, home appliances can provide a good installation platform for the anchor points of the indoor positioning system and can also continuously power the anchor points.

[0082] In the embodiment of the present application, the anchor point is set in an indoor home appliance. Specifically, the processing module and communication module of each anchor point are integrated into the processor or processing chip of the home appliance, thereby utilizing the processor or processing chip of the home appliance to realize the positioning function of the anchor point.

[0083] For example, one implementation method includes setting an anchor coordinate system based on the geometric structure of the home appliance, which can also be called the "first coordinate system". For example, the length, width, and height of the home appliance are set as the x, y, and z axes of the first coordinate system. Figure 2A As shown, an anchor point is set up on a speaker. The antenna array of the anchor point can be located on the top of the speaker, and the antenna array is a 3x2 matrix antenna array. The connection direction of the three antennas in each row is the x-axis of the anchor point coordinate system, the connection direction of the two antennas in each column is the y-axis of the first coordinate system, and the direction perpendicular to the x-axis and y-axis is the z-axis. The x, y, and z axes of the anchor point coordinate system are parallel to the length, width, and height of the speaker, respectively. In addition, the coordinate origin of the first coordinate system can be freely set, for example, the position of a certain antenna in the antenna array is used as the coordinate origin of the first coordinate system. Figure 2A The origin of the mid-coordinate is the antenna position at the upper right corner of the antenna array, which can also be called the "origin antenna".

[0084] For example, take a TV as an example. Figure 2B As shown, an anchor point containing a 5x1 antenna array is mounted on top of the TV. The length, width, and height of the TV are defined as the x, y, and z axes of the anchor point coordinate system, respectively. The rightmost antenna in the antenna array is the origin antenna, which is located at the origin of the anchor point coordinate system.

[0085] It should be understood that the above-mentioned household appliances may include, in addition to the speakers and TVs mentioned as examples, washing machines, refrigerators, air conditioners, etc., and the embodiments of this application do not give examples one by one.

[0086] The above embodiment introduces two corresponding relationships contained in a household appliance with an anchor point. The first corresponding relationship is the relationship between the placement of each antenna in the antenna array of the anchor point and the anchor point coordinate system. The second corresponding relationship is the relationship between the anchor point coordinate system and the geometric shape of the household appliance where the anchor point is located. Specifically, in the first corresponding relationship, each antenna will measure the phase of the signal it receives from other devices, and then the processing module or processor will process these phase values ​​to obtain an angle value, and then use this angle value to perform angle of arrival (AoA) positioning calculation, wherein the angle value is based on the anchor point coordinate system established by the current anchor point as a reference benchmark, so for different anchor point coordinate systems, the corresponding angle values ​​are different. In the second corresponding relationship, the geometric structure of the household appliance is used as an intermediate bridge to realize the conversion between the anchor point coordinate system and the earth coordinate system.

[0087] Specifically, similar to the outdoor positioning system, the indoor positioning system needs to establish a geodetic coordinate system, or, also known as a "map coordinate system". The coordinate axes of the geodetic coordinate system can be set according to the building structure of the house. For the convenience of calculation, a certain room in the room, such as the living room, can be used to set the x, y, and z axes of the geodetic coordinate system in the three directions contained in a wall corner of the living room. The point on the wall corner is the coordinate origin of the geodetic coordinate system. Figure 3A As shown, x, y, and z represent the three coordinate axes of the geodetic coordinate system, and x', y', and z' represent the three coordinate axes of the anchor point coordinate system established according to the geometric structure of the speaker device.

[0088] In another example, Figure 3B As shown, the geodetic coordinate system is formed by the x, y, and z axes at a corner of a wall. The anchor coordinate system established based on the TV is represented by the x', y', and z' axes. Furthermore, since the TV is hung on a wall, the plane formed by the y and z axes of the geodetic coordinate system and the plane formed by the x' and z' axes of the anchor coordinate system are coplanar, simplifying the computational complexity during coordinate system conversion.

[0089] In this embodiment, the positioning server can obtain the conversion relationship between the anchor point coordinate system and the geodetic coordinate system based on the anchor point coordinate system and the position and posture of the TV in the geodetic coordinate system. Figure 3B The coordinates of the origin antenna of the anchor coordinate system in the earth coordinate system are (0, m z , m y ), where m y is the distance from the origin antenna to the y-axis of the geodetic coordinate system, m z is the distance from the origin antenna to the z-axis. Then, according to the conversion relationship between the anchor coordinate system and the earth coordinate system, the AoA measured in the anchor coordinate system is converted into an angle in the earth coordinate system for subsequent AoA positioning and calculation.

[0090] It should be noted that, in this embodiment, the anchor point is set in the processor or processing chip of the home appliance, so the anchor point coordinate system is a coordinate system established based on the geometric structure of the home appliance, such as the first coordinate system, the second coordinate system and the third coordinate system.

[0091] The technical solutions provided in the embodiments of this application are described in detail below.

[0092] In order to reduce the technical difficulty of anchor point deployment, save costs, and improve the robustness of the positioning system, the embodiment of the present application provides an indoor positioning method, which is applied to the aforementioned indoor positioning scenario and can be executed by a positioning server. Specifically, Figure 4 As shown, the method includes:

[0093] 101: Receive first measurement parameters obtained by measuring a second device in a first coordinate system using a first device, where the first measurement parameters include a first angle and a first distance.

[0094] The first device is a household appliance, and a first coordinate system is established based on the geometric structure of the household appliance. Specifically, the first coordinate system uses one antenna in the antenna array of the first device as the coordinate origin, and the length, width, and height of the first device as the x, y, and z axes of the first coordinate system. The first angle is the angle of the second device in the first coordinate system measured by the first device. The second device may be another household appliance in the room. The first distance is the distance of the second device relative to the coordinate origin of the first coordinate system, measured by the first device.

[0095] For example Figure 5A As shown, the first device is a TV 10, and the second device is a speaker 20. The TV 10 includes a processing chip and a first antenna array, while the speaker 20 includes a processing chip and a second antenna array. The processing chip in the TV 10 establishes a first coordinate system based on the length, width, and height of the TV 10 and the position of one antenna in the first antenna array. The three coordinate axes of the first coordinate system are denoted as x, y, and z, respectively, and the origin of the first coordinate system is the first antenna in the first row of the first antenna array. Similarly, the processing chip in the speaker 20 establishes a second coordinate system based on the length, width, and height of the speaker 20 and the position of one antenna in the second antenna array. The three coordinate axes of the second coordinate system are denoted as x', y', and z', respectively, and the origin of the second coordinate system is the third antenna in the first row of the second antenna array. Furthermore, the z' axis of the second coordinate system is perpendicular to the horizontal plane, and the plane formed by the x' and y' axes is parallel to the horizontal plane, which can be understood as the surface of the Earth.

[0096] In addition, the plane formed by the x-axis and the y-axis in the first coordinate system is also parallel to the horizontal plane.

[0097] like Figure 5B As shown, the first angle is the angle of the second antenna array on the speaker 20 in the first coordinate system, measured by the first device on the TV 10. It is understandable that because the spacing between antennas in the antenna array (in centimeters) is much smaller than the distance between home appliances (in meters), this embodiment of the application treats the antenna array of the device as a point, and the angle of each antenna in the second antenna array in the first coordinate system is approximately the same. Therefore, it is only necessary to measure the angle of one antenna in the second antenna array, such as the origin antenna, in the first coordinate system to obtain the first angle.

[0098] Optionally, the first angle is expressed as θ1, and the first distance is expressed as d1.

[0099] It should be noted that when home appliances leave the factory, the processing chip and antenna array are already installed on the printed circuit board (PCB) of each home appliance, and a coordinate system for the home appliance is established. The placement direction of the antenna array on each PCB board, the position of the origin antenna in the antenna array and other information have also been determined. When purchasing home appliances, users can obtain the coordinate system of the home appliance and related information of the coordinate system provided by the home appliance manufacturer.

[0100] 102: Determine a first spatial position of the second device in the first coordinate system according to the first angle and the first distance.

[0101] For example, the position of the speaker 20 in the first coordinate system is (x1, y1), and the first spatial position of the speaker 20 in the first coordinate system is obtained by combining the first distance d1, and the first spatial position is (x1, y1, 0).

[0102] 103: Determine the spatial position of the second device in the geodetic coordinate system according to the first spatial position and a conversion relationship between the first coordinate system and the geodetic coordinate system.

[0103] Specifically, the spatial position of the second device in the geodetic coordinate system is determined according to the first spatial position of the second device in the first coordinate system and the conversion relationship between the first coordinate system and the geodetic coordinate system.

[0104] The conversion relationship between the first coordinate system and the earth coordinate system can be obtained in advance and stored in the positioning server. Specifically, the positioning server obtains the conversion relationship between the first coordinate system and the earth coordinate system through the position and posture of the first device in the first coordinate system and the position and posture of the first device in the earth coordinate system. The specific acquisition process can be found in the above Figure 3A and Figure 3B The relevant description of this embodiment will not be repeated here.

[0105] It should be understood that in this embodiment, the second coordinate system established by the second device can also be used as the basic coordinate system. According to the conversion relationship between the second coordinate system and the geodetic coordinate system, the position of the first device can be represented by the second coordinate system. The specific method is the same as the method of representing the position of the second device by the first coordinate system in this embodiment, and this embodiment will not repeat it.

[0106] The method provided in this embodiment establishes a first coordinate system using the geometric structure of a first device. This first coordinate system is used to measure the angle and distance of a second device indoors. The spatial position of the second device in the geodetic coordinate system is then determined based on the previously acquired conversion relationship between the first coordinate system and the geodetic coordinate system. This method automatically locates the second device indoors without requiring specialized technicians to install and set up anchor points, nor is it restricted by the user's ability to touch the orientation of the antenna array. It accurately determines the relative position of the second device in the geodetic coordinate system, improving positioning accuracy.

[0107] Optionally, the above method further includes: positioning a third device in the room. Specifically, Figure 6 Shown, including:

[0108] 104: Receive a second measurement parameter sent by the second device, where the second measurement parameter is obtained by the second device measuring the third device in the aligned second coordinate system, and the second measurement parameter includes a second angle and a second distance.

[0109] The second angle is the angle of the third device in the aligned second coordinate system, as measured by the second device. The three coordinate axes of the aligned second coordinate system are oriented in the same direction as the three coordinate axes of the first coordinate system. The second distance is the distance between the third device and the origin of the aligned second coordinate system, as measured by the second device. The second distance is expressed in the aligned second coordinate system.

[0110] Optionally, the second distance is expressed as d2, and the second angle is expressed as θ2.

[0111] like Figure 7A As shown, in the third device, such as the air conditioner 30, the coordinate system established by the geometric structure of the air conditioner 30 is the third coordinate system, and the three coordinate axes of the third coordinate system are respectively represented as x", y", and z". Figure 7B As shown, the second device uses the aligned second coordinate system to measure the second angle as θ2 and the second distance as d2.

[0112] Optionally, before using the aligned second coordinate system to measure θ2 and d2, it also includes: the positioning server obtains the aligned second coordinate system, that is, aligns the second coordinate with the first coordinate system, and then sends the aligned second coordinate system to the positioning server; or, the second device may send the required information, such as the first angle and the third angle, to the positioning server, and the positioning server calculates the aligned second coordinate system based on this information.

[0113] This embodiment is described by taking the example of the positioning server calculating and obtaining the aligned second coordinate system based on the information reported by the second device. Specifically, obtaining the aligned second coordinate system includes:

[0114] Step 1: Obtain the first angle and the third angle.

[0115] The third angle is the angle of the first device in the second coordinate system. Specifically, the third angle is the angle of the antenna array of the first device in the second coordinate system measured by the second device. Optionally, the third angle is expressed as θ3.

[0116] like Figure 8A As shown, assuming that the coordinate origin of the coordinate system corresponding to the first device is A and the coordinate origin of the coordinate system corresponding to the second device is B, the first coordinate system can be represented by the coordinate axis X A 、Y A , Z A Indicates that the second coordinate system is composed of the coordinate axis X B 、Y B , Z B Expressed, and satisfying Z A / / Z B , X A Y A / / X B Y B , that is, Z A Parallel to Z B (z-axis Figure 8A Not shown), X A Y A Plane parallel to X B Y B Plane, because the geometric shape of household appliances generally has a horizontal plane (such as the top of a speaker or the top of a TV), which is parallel to the earth plane. Therefore, establishing the x-axis and y-axis based on the horizontal plane of each household appliance can ensure that the horizontal planes of the first coordinate system and the second coordinate system are parallel to each other.

[0117] Step 2: Determine a target angle based on the first angle and the third angle, where the target angle is represented by δ.

[0118] Specifically, one way to determine is, δ1 = θ1 - θ3 - 180°, for example Figure 8A As shown, θ1 = 45°, θ3 = -45°, then δ1 = 45° - (-45°) - 180° = -90°.

[0119] Alternatively, another way to determine is, δ2 = θ3 - θ1 - 180°, for example, δ2 = (-45°) - 45° - 180° = -270°.

[0120] Step 3: Rotate the plane formed by the x-axis and y-axis of the second coordinate system in the horizontal direction by the target angle to obtain the aligned second coordinate system.

[0121] For example Figure 8B As shown, the X of the second coordinate system B Axis and Y B The plane formed by the axes is rotated clockwise along the target angle δ1 to obtain the aligned second coordinate system. For example, the second coordinate system is rotated clockwise by -90°, that is, the coordinate system obtained by rotating it counterclockwise by 90°. The converted X′ B Axis and Y′ B The axes are respectively the X B Axis and Y B The axis direction is consistent.

[0122] Optionally, the coordinate axis of the first coordinate system can be rotated so that it is aligned with the second coordinate system after rotation. A Axis and Y A The plane composed of the axes rotates counterclockwise along the target angle δ2, that is, after rotating 270° counterclockwise, the X′ of the coordinate system is obtained. A Axis and Y′ A Axis and the X of the second coordinate system B Axis Y B The axis direction is consistent.

[0123] In addition, in a 3D scene, the first angle and the third angle can be represented by a measured azimuth angle γ, for example: Figure 9A As shown, the first angle is the azimuth angle γ A , azimuth angle γ A The coordinate origin B of the second device is the horizontal plane (X A Axis Y A The projection P1 and X B The third angle is the azimuth angle γ B , azimuth angle γ B The coordinate origin A of the first device is the horizontal plane (X B Axis and Y B The projection P2 and X B The angle between the axis and the A and φ B is the pitch angle, specifically, φ A is the angle between line AB and the horizontal plane of the first coordinate system, φ B It is the angle between line AB and the horizontal plane of the second coordinate system.

[0124] The second step is based on the azimuth angle γ B and γ BDetermine the target angle as δ1=γ A -γ B -180°, and then in the third step, the plane of the second coordinate system is rotated clockwise by the target angle δ1 to obtain the aligned second coordinate system, such as Figure 9A As shown, γ A =60°,γ B =190°, determine the target angle δ = γ A -γ B -180°=60°-190°-180°=-310°, B Axis and Y B A 50° clockwise rotation of the axis plane yields the aligned second coordinate system, Z B The axis remains unchanged, as Figure 9B shown.

[0125] 105 : Determine a second spatial position of a third device in the aligned second coordinate system according to the second angle and the second distance.

[0126] For example, in the above Figure 7B In the calculation, the second distance d2 is the distance between the coordinate origin of the coordinate system of speaker 20 and the coordinate origin of the coordinate system of air conditioner 30. The second angle θ2 is the angle of the antenna array on air conditioner 30 measured by speaker 20 using the aligned second coordinate system, or can be considered as the angle of air conditioner 30 in the aligned second coordinate system. The second spatial position of air conditioner 30 in the aligned second coordinate system can be calculated based on the second distance d2 and the second angle θ2. The specific process is the same as that of step 102 above and is not repeated here.

[0127] 106: Determine a third spatial position of the third device in the first coordinate system according to the second spatial position.

[0128] Since the aligned second coordinate system has the same coordinate axis direction as the first coordinate system, the spatial position of the third device in the first coordinate system can be directly obtained. For example, the position of the air conditioner 30 in the aligned second coordinate system is (x2, y2), and since the position of the speaker 20 in the first coordinate system is (x1, y1), the position of the air conditioner 30 in the first coordinate system is calculated to be (x1+x2, y1+y2). Then, by combining the first distance d1 and the second distance d2, the third spatial position of the air conditioner 30 in the first coordinate system is calculated.

[0129] The method further includes determining the spatial position of the third device in the geodetic coordinate system based on the third spatial position of the third device in the first coordinate system and the conversion relationship between the first coordinate system and the geodetic coordinate system. The specific process is described in step 104 above and will not be repeated here.

[0130] In the above position calculation process, for a positioning system including three or more devices, the unknowns can be solved by using overdetermined equations in an overdetermined system, where the number of equations in the overdetermined system is greater than the number of unknowns. Figure 10 As shown, the coordinate origin in the TV coordinate system is A, the coordinate origin in the speaker coordinate system is B, and the coordinate origin in the air conditioner coordinate system is C. The number of measured parameters obtained is greater than the number of unknown quantities. Specifically, in addition to the aforementioned measurement value between the TV and the speaker (θ BA d AB ,θ AB ), and the measurement value between the speaker and the air conditioner (θ CB d BC ,θ BC ), also includes the measurement value between TV and air conditioner (θ CA d AC ,θ AC ), with a total of nine measurement parameters. When calculating the spatial position and attitude of the antenna arrays B in the speaker and C in the air conditioner in the TV coordinate system, we can use an overdetermined system of equations to solve them. Using the TV coordinate system as the base coordinate system, we can calculate the spatial positions and attitudes of the other devices in this base coordinate system using the least squares method. Finally, the spatial positions of the speaker and air conditioner in the geodetic coordinate system are determined using the conversion relationship between the TV coordinate system and the geodetic coordinate system.

[0131] In this method, the positioning server can obtain the relative posture and target angle of each device in each other's coordinate system by mutual measurement of the angles between devices, and align the coordinate systems of other devices according to the target angle. Then, the aligned coordinate system is used to measure the angles and distances of other devices, and the spatial positions of other devices in the basic coordinate system are obtained. Finally, the conversion relationship between the basic coordinate system and the geodetic coordinate system is used to accurately locate the spatial positions of other home appliances in the geodetic coordinate system, avoiding the manual establishment of anchor points and the changes in the direction and posture of the anchor points due to human factors, which affects the positioning accuracy.

[0132] In this embodiment, the first coordinate system where the TV is located is used as the basic coordinate system. The spatial position and posture of the speaker are first calculated based on the first coordinate system. Then, the second coordinate system established based on the speaker is aligned with the basic coordinate system, and the aligned second coordinate system is used as the coordinate system of the intermediate home appliance to measure the spatial position of the air-conditioning equipment. The spatial position of the air-conditioning equipment in the basic coordinate system is accurately located through the relationship between the aligned second coordinate system and the basic coordinate system.

[0133] In addition, the positioning system can periodically obtain measurement parameters such as angles and distances reported by each device, thereby obtaining the latest relative posture and relative position between devices, and converting them into posture and position in the geodetic coordinate system, thus achieving accurate positioning and posture maintenance for each indoor device.

[0134] It also includes: the positioning server obtains the spatial position of the first device in the geodetic coordinate system based on the conversion relationship between the first coordinate system and the geodetic coordinate system, and then locates the mobile target point according to the spatial positions of the first device, the second device and the third device in the geodetic coordinate system, and calculates the location information of the mobile target point by analyzing the wireless signal properties between each device and the mobile target point, thereby obtaining the spatial position of the mobile target point in the geodetic coordinate system.

[0135] The wireless signal attributes include: signal time of flight (TOF), angle of arrival (AoA), angle of departure (AoD), received signal strength indication (RSSI), etc.

[0136] Correspondingly, if Figures 11A to 11C As shown, the positioning server can use trilateration, triangulation, and RSSI-based position fingerprinting to locate the mobile target point using these wireless signal attributes. This embodiment does not introduce the specific positioning process in detail.

[0137] Optionally, each coordinate system in the first device, the second device and the third device is displayed using a three-dimensional model diagram, for example Figure 3A 、 Figure 3B 、 Figure 5A 、 Figure 5B 、 7A to 10 In addition, the position of the moving target point calculated by the indoor positioning system can also be displayed in the three-dimensional model diagram, thereby providing a visual interface for users to easily obtain various information provided by the positioning system and improve the positioning calculation speed.

[0138] The following describes an apparatus embodiment corresponding to the above method embodiment.

[0139] Figure 12 This is a schematic diagram of the structure of an indoor positioning device provided in an embodiment of the present application. The device may be the positioning server in the aforementioned embodiment, or may be a positioning chip located in the positioning server.

[0140] Specifically, if Figure 12 As shown, the device may include: a communication circuit 1201 and a processing circuit 1202. In addition, the device may also include other units or modules such as a storage unit, which is not limited in this embodiment.

[0141] The communication circuit 1201 is configured to receive a first measurement parameter sent by a first device. The first measurement parameter is obtained by the first device measuring a second device in a first coordinate system, and the first measurement parameter includes a first angle and a first distance. The first angle is the angle of the second device in the first coordinate system, and the first distance is the distance of the second device relative to the coordinate origin.

[0142] The processing circuit 1202 is used to determine the first spatial position of the second device in the first coordinate system based on the first angle and the first distance, and to determine the spatial position of the second device in the geodetic coordinate system based on the first spatial position and the conversion relationship between the first coordinate system and the geodetic coordinate system.

[0143] The geometric structure of the first device includes the length, width, and height of the first device, and the first coordinate system establishes coordinate axes based on the length, width, and height of the first device. In addition, the first angle is the angle of the antenna array in the second device measured by the first device in the first coordinate system.

[0144] Optionally, in a specific implementation of this embodiment, the communication circuit 1201 is also used to receive a second measurement parameter sent by the second device, wherein the second measurement parameter is obtained by the second device measuring the third device in the aligned second coordinate system, and the second measurement parameter includes a second angle and a second distance, the second angle is the angle of the third device in the aligned second coordinate system, and the coordinate axis of the aligned second coordinate system is in the same direction as the coordinate axis of the first coordinate system; the second distance is the distance of the second device relative to the coordinate origin of the aligned second coordinate system.

[0145] The processing circuit 1202 is further configured to calculate a second spatial position of the third device in the aligned second coordinate system based on the second angle and the second distance, and determine a third spatial position of the third device in the first coordinate system based on the second spatial position.

[0146] Optionally, in another specific implementation of this embodiment, the processing circuit 1202 is further configured to obtain the first angle and the third angle before receiving the second measurement parameter sent by the second device through the communication circuit 1201, determine a target angle based on the first angle and the third angle, and rotate the first plane formed by the x-axis and the y-axis of the second coordinate system horizontally by the target angle to obtain the aligned second coordinate system; wherein the third angle is the angle of the first device in the second coordinate system. The second coordinate system is a coordinate system established based on one antenna in the antenna array of the second device as the coordinate origin and the geometric structure of the second device.

[0147] Furthermore, the processing circuit 1202 is further configured to determine the target angle according to a first relational expression, wherein the first relational expression is δ1=θ1-θ3-180°; wherein δ is the target angle, θ1 is the first angle, and θ3 is the third angle.

[0148] Optionally, in another specific implementation of this embodiment, the processing circuit 1202 is also used to determine the spatial position of the third device in the geodetic coordinate system based on the third spatial position of the third device in the first coordinate system and the conversion relationship between the first coordinate system and the geodetic coordinate system.

[0149] In addition, the processing circuit 1202 is also used to obtain the spatial position of the first device in the geodetic coordinate system based on the conversion relationship between the first coordinate system and the geodetic coordinate system, use the spatial positions of the first device, the second device and the third device in the geodetic coordinate system to locate the moving target point, and obtain the spatial position of the moving target point in the geodetic coordinate system.

[0150] In addition, in a hardware implementation, an embodiment of the present application further provides a communication device, which may be the positioning server in the aforementioned embodiment, or a device integrated with the above-mentioned anchor point position determination device.

[0151] Figure 13 A schematic structural diagram of a communication device is shown. The network device may include: a processor 110 , a memory 120 and at least one communication interface 130 , wherein the processor 110 , the memory 120 and the at least one communication interface 130 are coupled via a communication bus 140 .

[0152] The processor 110 is the control center of the communication device and can be used for communication between devices, including the transmission and reception of measurement parameters, conversion between coordinate systems, and positioning and calculation of device positions.

[0153] The processor 110 may be comprised of an integrated circuit (IC), such as a single packaged IC or a combination of multiple packaged ICs having the same or different functions. For example, the processor 1101 may include a central processing unit (CPU) or a digital signal processor (DSP).

[0154] In addition, the processor 110 may further include a hardware chip, which may be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. Optionally, the hardware chip is a processing chip.

[0155] In addition, the processor 110 also includes an antenna array, which is composed of at least one antenna.

[0156] Optionally, the processor 110 is integrated into a PCB board, and the PCB board includes the processing chip and the antenna array.

[0157] The memory 120 is used to store and exchange various data or software, including storing the first measurement parameter, the second measurement parameter, the first coordinate system, the second coordinate system, and the third coordinate system, etc. In addition, the memory 120 may store computer programs or codes.

[0158] Specifically, the memory 120 may include a volatile memory, such as a random access memory (RAM); it may also include a non-volatile memory, such as a flash memory, a hard disk (HDD) or a solid-state drive (SSD). The memory 120 may also include a combination of the above types of memory.

[0159] The communication interface 130 , which uses any transceiver or other device, is used to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), WLAN, VXLAN, etc. For example, the communication interface 130 is used to receive the first measurement parameter, the second measurement parameter, and other information reported by each anchor point.

[0160] It should be understood that the above communication device may also include more or fewer components, and the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the communication device. Figure 13 The components shown may be implemented in hardware, software, firmware, or any combination thereof.

[0161] When implemented using software, it can be implemented in whole or in part in the form of a computer program product. Figure 12 The communication circuit 1201 in the indoor positioning device shown can be implemented by the communication interface 130 , the function of the processing circuit 1202 can be implemented by the processor 110 , and the function of the storage unit can be implemented by the memory 120 .

[0162] In addition, the communication device also includes a mobile communication module, a wireless communication module, etc. The mobile communication module includes: a module with wireless communication functions such as 2G / 3G / 4G / 5G. In addition, it can also include filters, switches, power amplifiers, low noise amplifiers (LNA), etc. The wireless communication module can provide wireless communication solutions including wireless local area network (WLAN), Bluetooth, global navigation satellite system (GNSS), frequency modulation (FM), etc. applied to network equipment.

[0163] In addition, the embodiment of the present application also provides a wireless positioning system, which includes at least one network device and at least one home appliance, wherein the network device can be the aforementioned Figure 13 The communication device shown, such as a positioning server, can have the same structure as the aforementioned Figure 13 The devices shown have the same structure and are used to implement the positioning method in the aforementioned embodiments.

[0164] The household appliance may be the first appliance, the second appliance or the third appliance in the aforementioned embodiment. Figure 13 The structures of the communication devices shown may be the same or different. This embodiment does not limit the structure and specific form of the household appliance.

[0165] Among them, for each home appliance, a possible structure is as follows Figure 14 As shown, the system includes a PCB board, which includes a communication circuit 1401, a processing chip 1402, an antenna array 1403, and a storage circuit 1404. The functions of the communication circuit 1401 are the same as those of the communication module in each of the aforementioned anchor points. The processing chip 1402 also includes the functions of the processing module in each of the aforementioned anchor points, for example, including obtaining the first measurement parameter, the second measurement parameter, etc., and sending the first measurement parameter or the second measurement parameter to the positioning server via the communication circuit 1401. The storage circuit 1404 is used to store the first measurement parameter, the second measurement parameter, the first coordinate system or the second coordinate system, etc.

[0166] Optionally, the processing chip 1402 is further configured to obtain the first angle and the third angle, determine a target angle based on the first angle and the third angle, and rotate the first plane of the second coordinate system horizontally by the target angle to obtain the aligned second coordinate system. The first plane is composed of the x-axis and y-axis of the second coordinate system.

[0167] This embodiment does not limit the connection method between the communication circuit 1401, the processing core 1402, the antenna array 1403 and the storage circuit 1404 in the above-mentioned PCB board.

[0168] This embodiment proposes a design scheme that uses home appliances as an anchor deployment platform. Compared with traditional anchor deployment methods, the anchor processing module is integrated into the processor or processing chip of the home appliance, which does not require additional deployment space. In addition, it is powered by the home appliance, so no additional power supply is required. This reduces the deployment cost of the anchor and removes obstacles for the widespread application of indoor positioning systems in smart homes.

[0169] The present application also provides a computer program product comprising one or more computer program instructions. When a computer loads and executes the computer program instructions, the computer program product generates, in whole or in part, the processes or functions described in the above embodiments. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0170] The computer program instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one communication device, computer, server, or data center to another communication device via wired or wireless means.

[0171] The computer program product and the computer program instructions may be located in the memory 120 of the aforementioned communication device, or may be located in a storage circuit on a PCB board of each household appliance, thereby implementing the indoor positioning method described in the embodiment of the present application.

[0172] In addition, in the description of the embodiments of the present application, the at least one refers to one or more. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first", "second", and "third" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit differences.

[0173] The embodiments of the present application described above do not constitute a limitation on the scope of protection of the present application.

Claims

1. An indoor positioning method, characterized in that: The method comprises: Receiving a first measurement parameter obtained by measuring a second device by a first device in a first coordinate system, wherein the first coordinate system is established based on an antenna in an antenna array of the first device as a coordinate origin and a geometric structure of the first device, the first measurement parameter including a first angle and a first distance, the first angle being an angle of the second device in the first coordinate system, and the first distance being a distance of the second device relative to the coordinate origin; determining a first spatial position of the second device in the first coordinate system according to the first angle and the first distance; determining a spatial position of the second device in the geodetic coordinate system according to the first spatial position and a conversion relationship between the first coordinate system and the geodetic coordinate system; Receiving a second measurement parameter obtained by the second device measuring the third device in the aligned second coordinate system, wherein the aligned second coordinate system has a coordinate axis direction consistent with that of the first coordinate system, and the second measurement parameter includes a second angle and a second distance, the second angle being an angle of the third device in the aligned second coordinate system, and the second distance being a distance of the third device relative to a coordinate origin of the aligned second coordinate system; determining a second spatial position of the third device in the second coordinate system after the alignment according to the second angle and the second distance; determining a third spatial position of the third device in the first coordinate system according to the second spatial position; The spatial position of the third device in the geodetic coordinate system is determined according to the third spatial position of the third device and a conversion relationship between the first coordinate system and the geodetic coordinate system.

2. The method according to claim 1, characterized in that The geometric structure of the first device includes the length, width, and height of the first device, and the first coordinate system establishes coordinate axes according to the length, width, and height of the first device; The first angle is the angle of the antenna array in the second device measured by the first device in the first coordinate system.

3. The method according to claim 1, characterized in that Before receiving the second measurement parameter of the second device, the method further includes: Obtaining the first angle and a third angle, where the third angle is an angle of the first device in a second coordinate system, where the second coordinate system is established based on an antenna in an antenna array of the second device as a coordinate origin and a geometric structure of the second device; determining a target angle according to the first angle and the third angle; The aligned second coordinate system is obtained by rotating the first plane of the second coordinate system in a horizontal direction by the target angle, wherein the first plane is composed of the x-axis and the y-axis of the second coordinate system.

4. The method according to claim 3, characterized in that The determining the target angle according to the first angle and the third angle includes: Determine the target angle according to a first relationship, wherein the first relationship is δ1=θ1-θ3-180°; Wherein, δ is the target angle, θ1 is the first angle, and θ3 is the third angle.

5. The method according to claim 1, characterized in that The method further comprises: Acquire the spatial position of the first device in the geodetic coordinate system according to a conversion relationship between the first coordinate system and the geodetic coordinate system; The first device, the second device, and the third device are used to locate the moving target point in the spatial position of the geodetic coordinate system to obtain the spatial position of the moving target point in the geodetic coordinate system.

6. An indoor positioning device, characterized in that: include: a communication circuit, configured to receive a first measurement parameter obtained by the first device measuring a second device in a first coordinate system, where the first coordinate system is established based on an antenna in an antenna array of the first device as a coordinate origin and a geometric structure of the first device, the first measurement parameter including a first angle and a first distance, where the first angle is an angle of the second device in the first coordinate system, and the first distance is a distance of the second device relative to the coordinate origin; a processing circuit, configured to determine a first spatial position of the second device in the first coordinate system based on the first angle and the first distance, and determine a spatial position of the second device in the geodetic coordinate system based on the first spatial position and a conversion relationship between the first coordinate system and the geodetic coordinate system; The communication circuit is further configured to receive a second measurement parameter obtained by the second device measuring a third device in an aligned second coordinate system, wherein the aligned second coordinate system has a coordinate axis direction consistent with that of the first coordinate system, and the second measurement parameter includes a second angle and a second distance, the second angle being an angle of the third device in the aligned second coordinate system, and the second distance being a distance of the third device relative to a coordinate origin of the aligned second coordinate system; the processing circuit is further configured to determine a second spatial position of the third device in the second coordinate system after the alignment based on the second angle and the second distance, and determine a third spatial position of the third device in the first coordinate system based on the second spatial position; The processing circuit is further configured to determine the spatial position of the third device in the geodetic coordinate system according to the third spatial position of the third device and a conversion relationship between the first coordinate system and the geodetic coordinate system.

7. The device according to claim 6, characterized in that The geometric structure of the first device includes the length, width, and height of the first device, and the first coordinate system establishes coordinate axes according to the length, width, and height of the first device; The first angle is the angle of the antenna array in the second device measured by the first device in the first coordinate system.

8. The device according to claim 6, characterized in that The processing circuit is further configured to, before receiving the second measurement parameter through the communication circuit, obtain the first angle and the third angle, determine a target angle based on the first angle and the third angle, and rotate the first plane of the second coordinate system in a horizontal direction by the target angle to obtain the aligned second coordinate system; Among them, the third angle is the angle of the first device in the second coordinate system, and the second coordinate system is a coordinate system established based on one antenna in the antenna array of the second device as the coordinate origin and the geometric structure of the second device; the first plane is composed of the x-axis and y-axis of the second coordinate system.

9. The device according to claim 8, characterized in that The processing circuit is further configured to determine the target angle according to a first relational expression, wherein the first relational expression is δ1=θ1-θ3-180°; wherein δ is the target angle, θ1 is the first angle, and θ3 is the third angle.

10. The device according to claim 6, characterized in that The processing circuit is also used to obtain the spatial position of the first device in the geodetic coordinate system based on the conversion relationship between the first coordinate system and the geodetic coordinate system, use the spatial positions of the first device, the second device and the third device in the geodetic coordinate system to locate the moving target point, and obtain the spatial position of the moving target point in the geodetic coordinate system.

11. A communication device, characterized in that: including processor and memory, The memory is used to store computer program instructions; The processor is configured to execute the instructions stored in the memory, so that the communication device performs the method according to any one of claims 1 to 5. 12 . A computer-readable storage medium comprising instructions, which, when executed on a computer, cause the computer to perform the method according to claim 1 .

13. A computer program product, which, when run on a computer, causes the computer to perform the method according to any one of claims 1 to 5.

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