Positioning methods, devices, electronic devices, and readable storage media

Abstract

This application discloses a positioning method, apparatus, electronic device, and readable storage medium, belonging to the field of communications. The method includes: a first device determining the sequence information of N devices; the first device transmitting data based on the sequence information of the N devices; the N devices include at least one of the following: N first devices and N second devices, where N is an integer greater than 1.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of communication, and particularly relates to a positioning method and device, electronic equipment and a readable storage medium. BACKGROUND

[0002] At present, an ultra wide band (UWB) positioning system can include initiators (such as electronic equipment such as mobile phones) and responders (such as transport equipment such as cars). Generally, one electronic equipment can position one car through five positioning anchors of the car, and at least 9 time slots are required for one positioning cycle, and the refresh rate of one positioning cycle is 1 / 0.096 = 10.4 Hz.

[0003] However, if one electronic equipment needs to position two cars, the electronic equipment can position the other car after completing positioning of any one of the two cars, so that at least 18 time slots are required for one positioning cycle, and the refresh rate of one positioning cycle is 1 / 0.192 = 5.2 Hz. In this way, in the case that one electronic equipment needs to position multiple cars, not only the refresh rate of the positioning cycle is reduced, but also additional power consumption is increased. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a positioning method, device, electronic equipment and readable storage medium, which can solve the problem of improving the refresh rate of the positioning cycle.

[0005] In a first aspect, the embodiments of the present application provide a positioning method, which comprises: a first device determining sequence information of N devices; the first device performing data transmission based on the sequence information of the N devices; the N devices include at least one of N first devices and N second devices, and N is an integer greater than 1.

[0006] In a second aspect, the embodiments of the present application provide a positioning device, which comprises a determination module and a transmission module. The determination module is configured to determine sequence information of N devices. The transmission module is configured to perform data transmission based on the sequence information of the N devices determined by the determination module; the N devices include at least one of N first devices and N second devices, and N is an integer greater than 1.

[0007] In a third aspect, the embodiments of the present application provide electronic equipment, which comprises a processor and a memory. The memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the method according to the first aspect.

[0008] In a fourth aspect, an embodiment of the present application provides a readable storage medium, the readable storage medium storing a program or instructions, the program or instructions being executed by a processor to implement steps of the method in the first aspect.

[0009] In a fifth aspect, an embodiment of the present application provides a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to run a program or instructions to implement the method in the first aspect.

[0010] In a sixth aspect, an embodiment of the present application provides a computer program product, the program product being stored in a storage medium, the program product being executed by at least one processor to implement the method in the first aspect.

[0011] In an embodiment of the present application, a positioning method is provided, a first device determines sequence information of N devices; the first device performs data transmission based on the sequence information of the N devices; the N devices include at least one of the following: N first devices, N second devices, and N is an integer greater than 1. Since the first device can determine the sequence information of the N devices in advance, and perform data transmission based on the sequence information of the N devices, rather than after completing positioning with one device of the N devices and determining the sequence information of the one device, and then completing positioning with another device of the N devices except the one device and determining the sequence information of the another device, the first device can directly implement positioning of the N devices, and perform data transmission with the N devices based on the sequence information; in this way, not only the power consumption of the first device during positioning is reduced, but also the interaction frequency and efficiency are improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a schematic diagram of a two-way ranging (DS-TWR) ranging interaction process provided by an embodiment of the present application;

[0013] Figure 2 is a time schematic diagram of single RAN communication provided by an embodiment of the present application;

[0014] Figure 3 is an interaction schematic diagram of multiple RAN communication provided by an embodiment of the present application;

[0015] Figure 4 is a time schematic diagram of multiple RAN communication provided by an embodiment of the present application;

[0016] Figure 5 is one of flowcharts of a positioning method provided by an embodiment of the present application;

[0017] Figure 6 is one of schematic diagrams of a positioning method provided by an embodiment of the present application;

[0018] Figure 7 is a time schematic diagram of a positioning method provided by an embodiment of the present application;

[0019] Figure 8 is a second schematic diagram of a positioning method provided by an embodiment of the present application;

[0020] Figure 9 is a structural schematic diagram of a positioning device provided by an embodiment of the present application;

[0021] Figure 10 is a first hardware structural schematic diagram of an electronic device provided by an embodiment of the present application;

[0022] Figure 11 is a second hardware structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0024] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", and the like are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0025] UWB technology is a wireless carrier communication technology that transmits data using nanosecond-level non-sinusoidal narrow pulse, so its occupied frequency spectrum range is very wide. UWB has many advantages such as high positioning accuracy, good security, high transmission rate, low power consumption, and strong anti-interference ability.

[0026] Currently, according to the Fira Alliance and Car Connectivity Consortium (CCC) protocol Mac layer specification, the UWB roles are divided into initiator and responder. One initiator can simultaneously measure the distance with multiple responders to complete positioning. Taking the CCC protocol Mac layer interaction mode as an example, the initiator represents a digital key with UWB, and the responder represents a vehicle end positioning anchor point (usually, there are five positioning anchor points on a vehicle, and the positioning of a mobile phone is realized through the five positioning anchor points), Figure 1 A bidirectional ranging (DS-TWR) ranging interaction process diagram (i.e., one Ranging Round) is shown.

[0027] Before ranging, the initiator and the responder can negotiate various parameters between the initiator and the responder through Bluetooth out of band (OOB), and call UWB after negotiation. First, the initiator initiates a SP0 Pre poll synchronization frame (the synchronization frame is used to synchronize UWB physical layer parameter information and a timestamp) to each responder for synchronization; then the initiator initiates a SP3 ranging frame to start ranging (DS-TWR ranging requires two back-and-forth clock differences), and the responder returns a SP3 ranging frame to the initiator in turn after receiving it. After receiving the ranging frame returned by the last responder, the initiator sends the last SP3 ranging frame to each responder for receiving, and finally the initiator sends a Final Data data to end this round of ranging.

[0028] Figure 2 A time diagram of single station RAN communication is shown, as Figure 2As shown, according to the current CCC protocol specification, in the case of a single mobile phone to a single vehicle, i.e., one ranging area network (RAN), in which the vehicle has five anchor points and five Responders, one positioning is completed at least 9 slots (including: the Pre poll synchronization frame sent by the Initiator to the Responder, the SP3 ranging frame sent by the Initiator to the Responder, the five SP3 ranging frames returned by the five Responders to the Initiator, and the Final ranging frame and the Final Date data packet sent by the Initiator to the Responder, respectively), and the calculation is performed according to the slot duration of 2 ms, the T round (the time of one Ranging Round, i.e., the total time of the above process) is 18 ms, and according to the CCC definition, the T_Block time is at least 96 ms, and the refresh rate is 1 / 0.096 = 10.4 Hz.

[0029] Figure 3 An interaction schematic diagram of multiple RAN communications is shown, Figure 4 A time schematic diagram of multiple RAN communications is shown, as Figure 3 and Figure 4 As shown, in the case of a single mobile phone to multiple vehicles, or multiple mobile phones to a single vehicle, i.e., multiple RANs, for example, in the case of a single mobile phone to two vehicles (the single mobile phone simultaneously communicates with the two vehicles), one positioning is completed at least 18 slots, the T_round time is 18 ms*2 = 36 ms, according to the current CCC definition, the T_Block_min = 96 ms*2 = 192 ms, and the refresh rate is 1 / 0.192 = 5.2 Hz.

[0030] Therefore, based on the current CCC mode, when multiple RANs exist, not only the overall refresh rate is reduced, but also the number of additional packets is increased, resulting in an increase in power consumption.

[0031] In the embodiments of the present application, multiple RANs can be performed in the same Ranging Round, thereby reducing the overall T_Block time and improving the overall refresh rate, and the number of overall packets can be reduced, thereby reducing the overall power consumption under the same refresh rate.

[0032] The positioning provided by the embodiments of the present application will be described in detail in combination with the drawings and specific embodiments and application scenarios.

[0033] The embodiments of the present application provide a positioning method, in the first implementation manner of the embodiments of the present application, Figure 5A flow chart of a positioning method provided by an embodiment of the present application is shown, which can be applied to a first device. As shown in Figure 5 The positioning method provided by the embodiment of the present application can include the following steps 201 and 202.

[0034] Step 201: The first device determines the sequence information of N devices.

[0035] Optionally, in the embodiment of the present application, when the first device needs to transmit data with the N devices, the first device needs to determine the sequence information of the N devices first, so that the first device can transmit data with the N devices according to the sequence information of the N devices.

[0036] Optionally, in the embodiment of the present application, in a UWB positioning system, the first device can be an initiator, and the second device can be a responder. The first device and the second device can negotiate various parameters between the initiator and the responder according to the CCC protocol, such as positioning parameters, identity ID parameters, and the priority of M responders and the numbering of the positioning anchors of the M responders, so that the M responders can return data packets to the initiator in turn according to the numbered sequence to complete the positioning process.

[0037] Optionally, in the embodiment of the present application, the first device can be a handheld vehicle key device (for example, a UWB-enabled mobile phone, a smart watch, a vehicle key, etc.).

[0038] Step 202: The first device transmits data based on the sequence information of the N devices.

[0039] In the embodiment of the present application, the N devices include at least one of the following: N first devices, N second devices, and N is an integer greater than 1.

[0040] Optionally, in the embodiment of the present application, when the first device and the N devices negotiate and determine the sequence of the N devices, the first device can transmit data with the N devices based on the sequence information of the N devices.

[0041] Optionally, in the first implementation manner provided by the embodiment of the present application, the N devices include N second devices; and the step 201 can be implemented by the following steps 201a and 201b.

[0042] Step 201a: The first device negotiates positioning parameters with the N second devices.

[0043] In the embodiment of the present application, the positioning parameters are used to indicate the N second devices to be positioned.

[0044] Optionally, in the embodiment of the present application, the first device and the N devices can negotiate the positioning parameters through Bluetooth OOB.

[0045] Optionally, in the embodiment of the present application, the first device and the N second devices negotiate various parameters between the initiator and the responder through Bluetooth OOB (for details, refer to the CCC protocol), and in addition, the priority order of the N second devices and the responder sequence number also need to be negotiated (so that the N second devices can return the SP3 data in the order negotiated subsequently).

[0046] Step 201b, the first device determines the sequence information of the N second devices according to the negotiated positioning parameters.

[0047] Optionally, in the embodiment of the present application, the positioning parameters can include the priority of the N second devices and the identification of the N second devices, so that the first device can determine the sequence information of the N second devices according to the identification of the N second devices.

[0048] Optionally, in the embodiment of the present application, the step 202 can be implemented through the following steps 202a and 202b.

[0049] Step 202a, the first device simultaneously sends a first data packet to the N second devices and simultaneously sends a second data packet to the N second devices according to the sequence information of the N devices.

[0050] In the embodiment of the present application, the first data packet and the second data packet are used for positioning the N second devices; the first data packet is used for the first device to synchronize the ultra-wideband (UWB) module parameters to the N second devices; and the second data packet is used for obtaining the positioning information between the first device and each second device.

[0051] Optionally, in the embodiment of the present application, the positioning information includes the timestamp information or the time-of-flight information required when measuring the distance in the positioning process.

[0052] Optionally, in the embodiment of the present application, the first device can send a Pre-poll to the N second devices respectively to synchronize the UWB parameters.

[0053] Optionally, in the embodiment of the present application, the first device can send a Poll to the N second devices respectively to send the SP3 ranging data packet.

[0054] It should be noted that the time interval T_inter between the two data packets is performed according to the CCC specification.

[0055] Step 202b, the first device receives the first data sent by the N second devices based on the sequence information in sequence.

[0056] In the embodiments of the present application, the first data is used to indicate the first positioning information, and the first positioning information is the positioning information between the second device sending the first data and the first device.

[0057] Optionally, in the embodiments of the present application, the first device sequentially receives the SP3 ranging data packets returned by the N second devices in the respective time slots based on the previously negotiated order information.

[0058] It should be noted that if one of the second devices does not receive the Poll information, it cannot occupy the time slot of the other second device.

[0059] The embodiments of the present application provide a positioning method, a first device determines order information of N devices; the first device performs data transmission based on the order information of the N devices; the N devices include at least one of the following: N first devices, N second devices, and N is an integer greater than 1. Since the first device can determine the order information of the N devices in advance and perform data transmission based on the order information of the N devices, rather than after completing positioning with one of the N devices and determining the order information of the one device, and then completing positioning with another device of the N devices other than the one device and determining the order information of the another device, the first device can directly implement positioning of the N devices and perform data transmission with the N devices based on the order information. In this way, not only the power consumption of the first device during positioning is reduced, but also the interaction frequency and efficiency are improved.

[0060] Optionally, after the step 202b, the positioning method provided by the embodiments of the present application further includes the following step 301.

[0061] Step 301, the first device simultaneously sends third data to the N second devices once.

[0062] In the embodiments of the present application, the third data is used to indicate that the positioning of the N second devices is completed.

[0063] It should be noted that in the case that the first device simultaneously sends third data to the N second devices once, and the N second devices receive the third data, the first device completes the positioning of the N second devices.

[0064] Optionally, in the embodiments of the present application, the third data includes a third data packet and a fourth data packet; the above-mentioned step 301 can be implemented by the following steps 301a and 301b.

[0065] Step 301a, the first device simultaneously sends a third data packet to the N second devices once.

[0066] In the embodiments of the present application, the third data packet is used to indicate the second positioning information, and the second positioning information is the positioning information between the first device and the second device sending the third data packet.

[0067] Optionally, in the embodiments of the present application, the first device can send the Final ranging packet to the N second devices simultaneously and respectively once after receiving the last SP3 ranging data packet sent by the last second device.

[0068] Step 301b, the first device sends the fourth data packet to the N second devices simultaneously.

[0069] In the embodiments of the present application, the fourth data packet is used to indicate the end of positioning.

[0070] Optionally, in the embodiments of the present application, after the first device sends the Final ranging packet to the N second devices simultaneously and respectively once, the first device can send the Final Date data packet to the N second devices simultaneously and respectively once to end the positioning.

[0071] Exemplarily, the process of the first device completing the positioning of the N second devices can be that the first device calculates the distance between the N second devices according to the positioning information included in the second data packet sent by the N second devices, the positioning information included in the first data received by the N second devices based on the sequence information, and the positioning information included in the third data packet sent by the N second devices, to complete the positioning of the N second devices.

[0072] Exemplarily, Figure 6 A positioning method is shown, as shown in Figure 6As shown, the first device (Initator) can position the identity of one of the second devices (e.g. Vehicle1) as R00, R01, R02, R03, R04 and the identity of the other second device (e.g. Vehicle2) as R10, R11, R12, R13, R14 after negotiation with the two devices. The Initator can send Pre-Poll (SP0) to R00 to R14 simultaneously according to the identity number, then send Poll (SP3) to R00 to R14 simultaneously according to the identity number, and then R00 to R14 return SP3 ranging packets in turn according to a certain time interval, so that the Initator can receive Response_00 sent by R00, Response_01 sent by R01, Response_02 sent by R02, Response_03 sent by R03, Response_04 sent by R04, Response_10 sent by R10, Response_11 sent by R11, Response_12 sent by R12, Response_13 sent by R13, and Response_14 sent by R14 in turn. Then the Initator can send Final (SP3) and Final Data (SP0) to R00 to R14 simultaneously according to the identity number to complete the positioning.

[0073] Figure 7 A time diagram of a positioning method is shown as Figure 7 As shown, according to the positioning method provided in the embodiment of the present application, 14 slots (i.e. N_slot = 14) are needed when the first device (i.e. Initator) interacts with Vehicle1 and Vehicle2 at the same frequency. If the slot duration = 2ms is calculated, then T_round = 14*2 = 28ms, that is, only 14 packet interactions are performed in the whole T_block. Therefore, compared with 18 interactions in the prior art, the power consumption is reduced by about 23%. In the embodiment of the present application, if the first device and the two second devices interact at the same time, they can interact according to a minimum T_block of 96ms. In this way, the interaction frequency can be improved and the user experience can be improved.

[0074] Optionally, in the second implementation provided in the embodiment of the present application, the N devices include N first devices; and the step 201 can be implemented by the following steps 201c and 201d.

[0075] The step 201c is that the first device negotiates priority information with the N first devices.

[0076] Optionally, in the embodiments of the present application, in the case where there are multiple first devices, the multiple first devices need to negotiate priority information to determine the priority of the multiple first devices.

[0077] Step 201d, the first device determines the sequence information of the N first devices according to the negotiated priority information.

[0078] Optionally, in the embodiments of the present application, after the first device negotiates the priority information with the N first devices, the sequence information of the N first devices can be determined according to the negotiated priority information.

[0079] Optionally, in the embodiments of the present application, the N first devices include a first target device and a second target device; and the step 202 can be implemented by the following steps 202c to 202e.

[0080] Step 202c, the first target device simultaneously sends a first data packet to the second device once, and simultaneously sends a second data packet to the second device once.

[0081] In the embodiments of the present application, the first target device is the device with the highest priority among the N first devices; the first data packet is used to synchronize the ultra-wideband (UWB) module parameters of the first target device to the second device; the second data packet is used to obtain the positioning information between the first target device and the second device; and the second target device is a device other than the first target device among the N first devices.

[0082] Optionally, in the embodiments of the present application, the first target device simultaneously sends a Pre-poll data packet to the second device once according to the CCC protocol, to synchronize the UWB parameters with the second device, and sends a Poll to the second device to send an SP3 ranging data packet.

[0083] Step 202d, the second target device simultaneously sends a second data packet to the second device once.

[0084] Optionally, in the embodiments of the present application, the second target device can send a Poll to the second device once to send an SP3 ranging data packet.

[0085] Step 202e, the N first devices receive the first data sent by the second device in turn.

[0086] In the embodiments of the present application, the first data is used to indicate first positioning information, and the first positioning information is the positioning information between the second device sending the first data and the N first devices.

[0087] Optionally, in the embodiments of the present application, the N first devices receive the SP3 sent by the second device in turn.

[0088] Optionally, after step 202e, the positioning method provided in the embodiments of the present application further includes steps 401 and 402.

[0089] In step 401, the N first devices sequentially send third data packets to the second device based on the sequence information.

[0090] In the embodiments of the present application, the third data packet is used to indicate the second positioning information, and the second positioning information is the positioning information between the N first devices and the second device sending the third data packet.

[0091] Optionally, in the embodiments of the present application, the first target device sends a Final data packet to the second device based on the sequence information, and the second target device also sends a Final data packet to the second device based on the sequence information.

[0092] In step 402, the first target device sends a fourth data packet to the second device.

[0093] In the embodiments of the present application, the fourth data packet is used to indicate the end of positioning.

[0094] Optionally, in the embodiments of the present application, the Final Data data packet can be sent by the first target device with the highest priority to the second device to end the positioning.

[0095] Exemplarily, Figure 8 A positioning method is shown in a schematic diagram as shown in Figure 8 Taking N as 2, M as 1, and one device including 5 UWB positioning anchors as an example, after the first target device (Initator1), the second target device (Initator2) and one second device (Vehicle) negotiate, the identity of the second device can be positioned as R0, R1, R2, R3 and R4. The Initator1 can send a Pre-Poll (SP0) to the Initator2, and the Initator1 can send a Pre-Poll (SP0) to R0 to R4 respectively, then the Initator1 and the Initator2 can send a Poll (SP3) to R0 to R4 according to the identity number respectively, then the Initator1 and the Initator2 can receive Response_0 sent by R0, Response_1 sent by R1, Response_2 sent by R2, Response_3 sent by R3 and Response_4 sent by R4 in turn, then the Initator1 and the Initator2 can send a Final (SP3) to R0 to R4 according to the identity number respectively, and finally the Initator1 can send a Final Data (SP0) to R0 to R4 respectively to complete the positioning.

[0096] In the embodiments of the present application, when the first target device (i.e., Initator1) and the second target device (i.e., Initator2) interact with the Vehicle at the same frequency according to the positioning method provided in the embodiments of the present application, 12 slots (i.e., N_slot=12) are required, and if the slot duration=2ms is calculated, T_round=12*2=24ms, that is, only 12 packets are interacted in the entire T_block. Therefore, compared with the 18 interactions in the prior art, the power consumption is reduced by about 34%; and in the embodiments of the present application, if the first target device, the second target device and a second device interact at the same time, they can interact according to the minimum T_block of 96ms, so that the interaction frequency can be improved and the user experience can be improved.

[0097] Exemplarily, taking N as 2, M as 2, and taking one device including 5 UWB positioning anchors as an example, after negotiation between the first target device (Initator1), the second target device (Initator2) and two second devices (i.e., Vehicle1 and Vehicle2), the identification of Vehicle1 can be positioned as: R00, R01, R02, R03, R04, and the identification of Vehicle2 can be positioned as: R10, R11, R12, R13, R14. Initator1 can first send a Pre-Poll (SP0) to Initator2, then Initator1 can send Pre-Poll (SP0) to R00 to R14 according to the identification number, then Initator1 and Initator2 can send Poll (SP3) to R00 to R14 according to the identification number, then Response_00 sent by R00, Response_01 sent by R01, Response_02 sent by R02, Response_03 sent by R03, Response_04 sent by R04, Response_10 sent by R10, Response_11 sent by R11, Response_12 sent by R12, Response_13 sent by R13, and Response_14 sent by R14 can be received in turn, then Initator1 and Initator2 can send Final (SP3) to R00 to R14 according to the identification number, and finally, Initator1 can send Final Data (SP0) to R00 to R14 respectively to complete the positioning.

[0098] In the embodiments of the present application, when the first target device (Initator 1) and the second target device (Initator 2) interact with Vehicle 1 and Vehicle 2 at the same frequency according to the positioning method provided in the embodiments of the present application, 17 slots (N_slot = 17) are required, and if the slot duration = 2 ms is calculated, T_round = 17 * 2 = 34 ms, that is, only 17 packets are interacted in the whole T_block. Therefore, compared with the 27 interactions in the prior art, the power consumption is reduced by about 37%; and in the embodiments of the present application, if the first target device, the second target device and the two second devices interact at the same time, the interaction can be performed according to the minimum T_block of 96 ms, so that the interaction frequency can be improved and the user experience can be improved.

[0099] Optionally, in the embodiments of the present application, the number of the second devices is M, and M is an integer greater than 1; before the step 202c, the positioning method provided in the embodiments of the present application further includes the following step 501, the step 202c can be implemented by the following step 202c1, and the step 202d can be implemented by the following step 202d1.

[0100] The step 501 comprises: determining, by the N first devices, the sequence information of the M second devices.

[0101] Optionally, in the embodiments of the present application, the N first devices can negotiate with the M second devices to determine the sequence information of the M second devices.

[0102] Optionally, in the embodiments of the present application, the N first devices negotiate the positioning parameters with the M second devices, wherein the positioning parameters can include the priority information of the N first devices, and after the priority information of the N first devices is determined, the N first devices can determine the sequence information of the M second devices.

[0103] Optionally, in the embodiments of the present application, the N first devices (Initators) can negotiate the positioning parameters between the N Initators and the M second devices (Responders) through the Bluetooth OOB, wherein the positioning parameters can include the priority information of the N Initators.

[0104] Optionally, in the embodiments of the present application, after the N first devices and the M second devices negotiate through the OOB mode, the priority information of the N first devices is determined by the second devices, so that the N first devices can locate the first target device (Initator1) with higher priority according to the priority information, so as to synchronize the parameters through the Initator1 and the second target device (i.e. other Initator) and the M second devices (Responder).

[0105] Optionally, in the embodiments of the present application, after the N first devices and the M second devices negotiate through the OOB mode, the N first devices can first synchronize the parameters, that is, the Initator1 sends the Pre-Poll and the other Initator (for example, the Initator2) synchronizes.

[0106] Optionally, in the embodiments of the present application, after the N first devices and the M second devices negotiate through the OOB mode, the priority information of the N first devices is determined by the second devices, so that the N first devices can locate the first target device (Initator1) with higher priority according to the priority information, so as to synchronize the parameters through the Initator1 and the second target device (i.e. other Initator) and the M second devices (Responder).

[0107] Optionally, in the embodiments of the present application, after the N first devices and the M second devices negotiate through the OOB mode, the N first devices can first synchronize the parameters, that is, the Initator1 sends the Pre-Poll and the other Initator (for example, the Initator2) synchronizes.

[0108] Optionally, in the embodiments of the present application, in the case that the number of the second devices is M, the first target device with higher priority can negotiate with the M second devices to negotiate the priority of the M Responder and number the positioning anchor point of the M Responder, so as to determine the sequence information of the M Responder, and according to the numbered sequence information, the data packets can be returned to the N Initator in turn to complete the positioning process.

[0109] Step 202c1, the first target device simultaneously sends a first data packet to the M second devices and a second data packet to the M second devices according to the M sequence information.

[0110] Optionally, in embodiments of the present application, the first target device can send a Pre-Poll (SP0) to each of the M second devices according to the M order information, and send a Poll to each of the M second devices to send an SP3 ranging data packet.

[0111] In step 202d1, the second target device sends a second data packet to each of the M second devices according to the M order information.

[0112] Optionally, in embodiments of the present application, the second target device can send a Poll to each of the M second devices to send an SP3 ranging data packet according to the M order information.

[0113] The positioning method provided in embodiments of the present application can be executed by a positioning device. In embodiments of the present application, the positioning device is taken as an example to illustrate the positioning device provided in embodiments of the present application.

[0114] Figure 9 A possible structural schematic diagram of the positioning device involved in embodiments of the present application is shown. As shown in the figure, the positioning device 40 can include a determination module 41 and a transmission module 42. Figure 9

[0115] The determination module 41 is configured to determine order information of N devices. The transmission module 42 is configured to perform data transmission based on the order information of the N devices determined by the determination module 41; the N devices include at least one of N first devices and N second devices, and N is an integer greater than 1.

[0116] Embodiments of the present application provide a positioning device. Since the first device can determine the order information of the N devices in advance and perform data transmission based on the order information of the N devices, rather than completing positioning with one of the N devices and determining the order information of the one device, and then completing positioning with another device of the N devices except the one device and determining the order information of the another device, the first device can directly implement positioning of the N devices and perform data transmission with the N devices based on the order information. In this way, not only the power consumption of the first device during positioning is reduced, but also the interaction frequency and efficiency are improved.

[0117] In a possible implementation manner, the N devices include N second devices; the determination module 41 is specifically configured to negotiate positioning parameters with the N second devices, the positioning parameters being used to indicate the N second devices to be positioned; and determine the order information of the N second devices according to the negotiated positioning parameters.

[0118] ​In a possible implementation, the transmission module 42 is specifically configured to simultaneously send a first data packet to the N second devices once and simultaneously send a second data packet to the N second devices once according to the sequence information of the N devices, the first data packet and the second data packet being used for positioning the N second devices; the first data packet is used for synchronizing ultra-wideband (UWB) module parameters of the first device to the N second devices; the second data packet is used for obtaining positioning information between the first device and each second device; and the transmission module 42 is specifically configured to sequentially receive first data sent by the N second devices based on the sequence information, the first data being used for indicating first positioning information, the first positioning information being the positioning information between the second device sending the first data and the first device.

[0119] In a possible implementation, the apparatus 40 further includes a sending module, which is configured to send third data to the N second devices once simultaneously by the transmission module 42 after the transmission module 42 sequentially receives the first data sent by the N second devices based on the sequence information, the third data being used for indicating that the positioning of the N second devices is completed.

[0120] In a possible implementation, the third data includes a third data packet and a fourth data packet; the sending module is specifically configured to simultaneously send the third data packet to the N second devices once, the third data packet being used for indicating second positioning information, the second positioning information being the positioning information between the first device sending the third data packet and the second device; and simultaneously send the fourth data packet to the N second devices once, the fourth data packet being used for indicating the end of positioning.

[0121] In a possible implementation, the N devices include N first devices; the determining module 41 is specifically configured to negotiate priority information with the N first devices; and determine the sequence information of the N first devices according to the negotiated priority information.

[0122] In a possible implementation, the N first devices include a first target device and a second target device; the transmission module 42 is specifically configured to simultaneously send the first data packet to the second device once and simultaneously send the second data packet to the second device once; the first target device is a device with the highest priority among the N first devices; the first data packet is used for synchronizing UWB module parameters of the first target device to the second device; the second data packet is used for obtaining positioning information between the first target device and the second device; the second target device is a device other than the first target device among the N first devices; the second data packet is simultaneously sent to the second device once; and the transmission module 42 is specifically configured to sequentially receive first data sent by the second device, the first data being used for indicating first positioning information, the first positioning information being the positioning information between the second device sending the first data and the N first devices.

[0123] In a possible implementation, the apparatus 40 further includes a sending module, which is configured to, after the transmission module 42 sequentially receives the first data sent by the second device, send, based on the sequence information, third data packets to the second device in sequence, the third data packets being used to indicate second positioning information, the second positioning information being positioning information between the N first devices sending the third data packets and the second device; and send fourth data packets to the second device, the fourth data packets being used to indicate the end of positioning.

[0124] In a possible implementation, the number of the second devices is M, M being an integer greater than 1; the determining module 41 is further configured to, before the transmission module 42 simultaneously sends, to the second devices, the first data packets once and simultaneously sends, to the second devices, the second data packets once, determine sequence information of the M second devices. The transmission module 42 is specifically configured to simultaneously send, to the M second devices, the first data packets once and the second data packets once according to the M sequence information, respectively; and simultaneously send, to the M second devices, the second data packets once according to the M sequence information, respectively.

[0125] The positioning apparatus in the embodiments of the present application can be an electronic device or a component in an electronic device, for example, an integrated circuit or a chip. The electronic device can be a terminal or other devices other than the terminal. For example, the electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), and can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the like, and the embodiments of the present application are not limited in this regard.

[0126] The positioning apparatus in the embodiments of the present application can be an apparatus with an operating system. The operating system can be an Android operating system, an ios operating system, or other possible operating systems, and the embodiments of the present application are not limited in this regard.

[0127] The positioning apparatus provided in the embodiments of the present application can implement each process implemented by the method embodiments, and thus repeated details are not described herein.

[0128] Optionally, as shown in Figure 10 The embodiments of the present application further provide an electronic device 700, including a processor 701 and a memory 702, wherein the memory 702 stores programs or instructions which can be run on the processor 701, and the programs or instructions are executed by the processor 701 to implement the steps of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0129] It should be noted that the electronic device in the embodiments of the present application includes the mobile electronic device and the non-mobile electronic device.

[0130] Figure 11 A hardware structure schematic diagram of an electronic device for implementing the embodiments of the present application.

[0131] The electronic device 100 includes, but is not limited to, a radio frequency unit 101, a network module 102, an audio output unit 103, an input unit 104, a sensor 105, a display unit 106, a user input unit 107, an interface unit 108, a memory 109, and a processor 110, etc.

[0132] Those skilled in the art can understand that the electronic device 100 can further include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 110 through a power management system, so as to realize the functions of power management, such as charging, discharging, and power consumption management, through the power management system. Figure 11 The electronic device structure shown in the above figure does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than the figure, or combine certain components, or different component arrangements, which are not described herein.

[0133] The processor 110 is configured to determine sequence information of N devices, and perform data transmission based on the sequence information of the N devices; the N devices include at least one of N first devices and N second devices, and N is an integer greater than 1.

[0134] The embodiments of the present application provide an electronic device, since the first device can determine the sequence information of the N devices in advance, and perform data transmission based on the sequence information of the N devices, rather than after completing positioning with one of the N devices and determining the sequence information of the one device, and then completing positioning with another device of the N devices except the one device and determining the sequence information of the another device, therefore, the first device can directly implement positioning of the N devices, and perform data transmission with the N devices based on the sequence information; in this way, not only the power consumption of the first device during positioning is reduced, but also the interaction frequency and efficiency are improved.

[0135] Optionally, the N devices include N second devices; the processor 110 is specifically configured to negotiate positioning parameters with the N second devices, the positioning parameters being used to indicate the N second devices to be positioned; and determine the sequence information of the N second devices according to the negotiated positioning parameters.

[0136] Optionally, the processor 110 is specifically configured to send the first data packet to the N second devices simultaneously and send the second data packet to the N second devices simultaneously according to the sequence information of the N devices, the first data packet and the second data packet being used to position the N second devices; the first data packet is used for the first device to synchronize ultra-wideband (UWB) module parameters with the N second devices; the second data packet is used to obtain positioning information between the first device and each second device; and sequentially receive first data sent by the N second devices based on the sequence information, the first data being used to indicate first positioning information, the first positioning information being the positioning information between the second device sending the first data and the first device.

[0137] Optionally, the radio frequency unit 101 is configured to send third data to the N second devices simultaneously after sequentially receiving the first data sent by the N second devices based on the sequence information, the third data being used to indicate that the positioning of the N second devices is completed.

[0138] Optionally, the third data includes a third data packet and a fourth data packet; the radio frequency unit 101 is specifically configured to send the third data packet to the N second devices simultaneously, the third data packet being used to indicate second positioning information, the second positioning information being the positioning information between the first device sending the third data packet and the second device; and send the fourth data packet to the N second devices simultaneously, the fourth data packet being used to indicate the end of positioning.

[0139] Optionally, the N devices include N first devices; the processor 110 is specifically configured to negotiate priority information with the N first devices; and determine the sequence information of the N first devices according to the negotiated priority information.

[0140] Optionally, the N first devices include a first target device and a second target device; the processor 110 is specifically configured to send the first data packet to the second device simultaneously and send the second data packet to the second device simultaneously; the first target device is a device with the highest priority among the N first devices; the first data packet is used for the first target device to synchronize UWB module parameters with the second device; the second data packet is used to obtain positioning information between the first target device and the second device; the second target device is a device other than the first target device among the N first devices; the second data packet is sent to the second device simultaneously; and sequentially receive first data sent by the second device, the first data being used to indicate first positioning information, the first positioning information being the positioning information between the second device sending the first data and the N first devices.

[0141] Optionally, the radio frequency unit 101 is configured to sequentially send third data packets to the second device based on the sequence information after sequentially receiving the first data sent by the second device, the third data packets being used to indicate second positioning information, the second positioning information being the positioning information between the N first devices sending the third data packets and the second device; and send fourth data packets to the second device, the fourth data packets being used to indicate the end of the positioning.

[0142] Optionally, the number of the second devices is M, M being an integer greater than 1; the processor 110 is further configured to determine the sequence information of the M second devices before simultaneously sending the first data packets to the second devices and simultaneously sending the second data packets to the second devices once. The processor 110 is specifically configured to send the first data packets to the M second devices and send the second data packets to the M second devices respectively according to the M sequence information simultaneously; and send the second data packets to the M second devices respectively according to the M sequence information simultaneously.

[0143] It should be understood that in the embodiments of the present application, the input unit 104 can include a graphics processor (GPU) 1041 and a microphone 1042. The graphics processor 1041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 106 can include a display panel 1061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 107 includes at least one of a touch panel 1071 and other input devices 1072. The touch panel 1071 is also called a touch screen. The touch panel 1071 can include a touch detection device and a touch controller. The other input devices 1072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a trackball, a mouse, an operating rod, and the like, which will not be described here.

[0144] The memory 109 can be used to store software programs and various data. The memory 109 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 109 can include a volatile memory or a non-volatile memory, or the memory 109 can include both a volatile memory and a non-volatile memory. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 109 in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0145] The processor 110 can include one or more processing units; optionally, the processor 110 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 110.

[0146] The embodiments of the present application also provide a readable storage medium, the readable storage medium stores programs or instructions, the programs or instructions are executed by a processor to realize various processes of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[0147] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0148] The embodiment of the present application further provides a chip, which comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions to realize the processes of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0149] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0150] The embodiment of the present application further provides a positioning system, which comprises N first devices and a second device, the N first devices are used for executing the steps of the positioning method described above, and the second device is used for executing the steps of the positioning method described above.

[0151] The embodiment of the present application provides a computer program product stored in a storage medium, which is executed by at least one processor to realize the processes of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0152] It should be noted that in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to the order of performing functions as shown or discussed, but can also include performing functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0153] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned example methods can be realized by means of software and a necessary general hardware platform, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product in essence or in the form of a part that contributes to the prior art, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0154] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A positioning method, characterized by, The method comprises: The first device determines sequence information of N devices; The first device transmits data based on the sequence information of the N devices; The N devices comprise at least one of the following: N first devices, N second devices, N being an integer greater than 1; The N first devices comprise a first target device and a second target device; The first device transmits data based on the sequence information of the N devices, comprising: The first target device simultaneously sends a first data packet to a second device once, and simultaneously sends a second data packet to the second device once; the first target device is a device with the highest priority among the N first devices; the first data packet is used to synchronize ultra-wideband (UWB) module parameters of the first target device to the second device; the second data packet is used to obtain positioning information between the first target device and the second device; the second target device is a device other than the first target device among the N first devices; The second target device simultaneously sends the second data packet to the second device once; The N first devices sequentially receive first data sent by the second device, the first data being used to indicate first positioning information, the first positioning information being positioning information between the second device sending the first data and the N first devices.

2. The method of claim 1, wherein, The N devices comprise the N second devices; The first device determines sequence information of N devices, comprising: The first device negotiates positioning parameters with the N second devices, the positioning parameters being used to indicate the N second devices to be positioned; The first device determines sequence information of the N second devices according to the negotiated positioning parameters.

3. The method according to claim 1 or 2, characterized in that, The first device transmits data based on the sequence information of the N devices, comprising: The first device simultaneously sends a first data packet to the N second devices once and simultaneously sends a second data packet to the N second devices once according to the sequence information of the N devices, the first data packet and the second data packet being used to position the N second devices; the first data packet is used to synchronize UWB module parameters of the first device to the N second devices; the second data packet is used to obtain positioning information between the first device and each second device; The first device sequentially receives first data sent by the N second devices based on the sequence information, the first data being used to indicate first positioning information, the first positioning information being positioning information between the second device sending the first data and the first device.

4. The method of claim 3, wherein, After the first device sequentially receives the first data sent by the N second devices based on the sequence information, the method further comprises: The first device simultaneously sends third data to the N second devices once, the third data being used to indicate that positioning of the N second devices is completed.

5. The method of claim 4, wherein, The third data comprises a third data packet and a fourth data packet; the first device simultaneously sends third data to the N second devices once, comprising: The first device simultaneously sends a third data packet to the N second devices once, and the third data packet is used to indicate second positioning information, the second positioning information being positioning information between the first device sending the third data packet and the second devices; The first device simultaneously sends a fourth data packet to the N second devices once, and the fourth data packet is used to indicate the end of positioning.

6. The method of claim 1, wherein, The N devices include the N first devices; The first device determines sequence information of N devices, including: The first device negotiates priority information with the N first devices; The first device determines sequence information of the N first devices according to the negotiated priority information.

7. The method of claim 6, wherein, After the N first devices sequentially receive the first data sent by the second device, the method further includes: The N first devices sequentially send third data packets to the second device based on the sequence information, and the third data packets are used to indicate second positioning information, the second positioning information being positioning information between the N first devices sending the third data packets and the second device; The first target device sends a fourth data packet to the second device, and the fourth data packet is used to indicate the end of positioning.

8. The method of claim 6, wherein, The number of the second devices is M, and M is an integer greater than 1; Before the first target device simultaneously sends a first data packet to the second devices once and simultaneously sends a second data packet to the second devices once, the method further includes: The N first devices determine sequence information of M second devices; The first target device simultaneously sends a first data packet to the second devices once and sends a second data packet to the second devices once, including: The first target device simultaneously sends the first data packet to the M second devices once and sends the second data packet to the M second devices once according to the sequence information of the M second devices; The second target device simultaneously sends the second data packet to the second devices once, including: The second target device simultaneously sends the second data packet to the M second devices once according to the sequence information of the M second devices.

9. A positioning device, characterized in that The apparatus includes a determination module and a transmission module; The determination module is configured to determine sequence information of N devices; The transmission module is configured to perform data transmission based on the sequence information of the N devices determined by the determination module; The N devices include at least one of the following: N first devices, N second devices, and N is an integer greater than 1; The N first devices include a first target device and a second target device; The transmission module is specifically configured to simultaneously send a first data packet to the second device once and simultaneously send a second data packet to the second device once; the first target device is a device with the highest priority among the N first devices; the first data packet is used for synchronizing ultra-wideband (UWB) module parameters of the first target device to the second device; the second data packet is used for obtaining positioning information between the first target device and the second device; the second target device is a device other than the first target device among the N first devices; the second data packet is simultaneously sent to the second device once; and first data sent by the second device is sequentially received, the first data being used for indicating first positioning information, the first positioning information being positioning information between the second device sending the first data and the N first devices.

10. The apparatus of claim 9, wherein, The N devices include the N second devices. The determination module is specifically configured to negotiate positioning parameters with the N second devices, the positioning parameters being used for indicating the N second devices to be positioned; and determine sequence information of the N second devices according to the negotiated positioning parameters.

11. The apparatus of claim 9 or 10, wherein, The transmission module is specifically configured to simultaneously send a first data packet to the N second devices once and simultaneously send a second data packet to the N second devices once according to the sequence information of the N devices, the first data packet and the second data packet being used for positioning the N second devices; the first data packet is used for synchronizing UWB module parameters of the first device to the N second devices; and the second data packet is used for obtaining positioning information between the first device and each second device. And first data sent by the N second devices based on the sequence information is sequentially received, the first data being used for indicating first positioning information, the first positioning information being positioning information between the second device sending the first data and the first device.

12. The apparatus of claim 11, wherein, The apparatus further includes a sending module. The sending module is configured to send third data to the N second devices simultaneously once after the transmission module sequentially receives the first data sent by the N second devices based on the sequence information, the third data being used for indicating that positioning of the N second devices is completed.

13. The apparatus of claim 12, wherein, The third data includes a third data packet and a fourth data packet; the sending module is specifically configured to simultaneously send a third data packet to the N second devices once, the third data packet being used for indicating second positioning information, the second positioning information being positioning information between the first device sending the third data packet and the second device; and simultaneously send a fourth data packet to the N second devices once, the fourth data packet being used for indicating the end of positioning.

14. The apparatus of claim 9, wherein, The N devices include the N first devices. The determination module is specifically configured to negotiate priority information with the N first devices; and determine sequence information of the N first devices according to the negotiated priority information.

15. The apparatus of claim 9, wherein, The apparatus further includes a sending module. The sending module is configured to, after the transmission module sequentially receives the first data sent by the second device, sequentially send third data packets to the second device based on the sequence information, the third data packets being used to indicate second positioning information, the second positioning information being positioning information between the N first devices sending the third data packets and the second device; and send fourth data packets to the second device, the fourth data packets being used to indicate an end of positioning.

16. The apparatus of claim 9, wherein, The number of the second devices is M, and M is an integer greater than 1; The determination module is further configured to determine sequence information of the M second devices before the transmission module simultaneously sends the first data packet to the second device once and simultaneously sends the second data packet to the second device once. The transmission module is specifically configured to simultaneously send the first data packet to the M second devices once and the second data packet to the M second devices once according to the sequence information of the M second devices, and simultaneously send the second data packet to the M second devices once according to the sequence information of the M second devices.

17. An electronic device, comprising: A processor and a memory are included, the memory stores programs or instructions that can be run on the processor, and the programs or instructions are executed by the processor to implement the steps of the positioning method in any one of claims 1 to 8.

18. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the positioning method in any one of claims 1 to 8.

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