Method, device, terminal and UWB tag for determining the position of a UWB tag

Abstract

The present application discloses a method, device, terminal, and UWB tag for determining the position of a UWB tag, belonging to the field of UWB technology. The method is applied to a terminal and includes: determining the status information of the UWB tag; in response to the status information indicating that the UWB tag is in a mobile state, receiving IMU data sent by the UWB tag, the IMU data being collected by the IMU provided on the UWB tag; based on the IMU data and a first position, determining the second position of the UWB tag during the movement process, the first position being determined based on the UWB signal sent by the UWB tag before the UWB tag is in a mobile state. This method can meet the positioning requirements of the UWB tag during movement and improve the positioning accuracy of the UWB tag in mobile scenarios.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of ultra-wideband (UWB) technology, and in particular to a method, device, terminal, and UWB tag for determining the location of a UWB tag. Background Art

[0002] UWB technology is a wireless carrier communication technology. In application scenarios, UWB technology can be applied to indoor positioning, Internet of Things (IoT) device control, smart object search and other scenarios.

[0003] In related technologies, smart object-finding scenarios involve adding a UWB tag to the object being found and using a mobile phone to interact with the tag to determine the object's location. However, in related technologies, UWB tag positioning cannot be achieved when both the tag and the mobile phone are moving. Summary of the Invention

[0004] The present invention provides a method, device, terminal, and UWB tag for determining the location of a UWB tag. The technical solution is as follows:

[0005] On the one hand, an embodiment of the present application provides a method for determining the location of a UWB tag, which is applied to a terminal and includes:

[0006] Determine the status information of the UWB tag;

[0007] In response to the status information indicating that the UWB tag is in a mobile state, receiving IMU data sent by the UWB tag, where the IMU data is collected by an IMU provided on the UWB tag;

[0008] A second position of the UWB tag during movement is determined based on the IMU data and a first position, wherein the first position is determined based on a UWB signal sent by the UWB tag before the UWB tag is in the moving state.

[0009] On the other hand, an embodiment of the present application provides a method for determining the position of a UWB tag, the method being applied to a UWB tag provided with an IMU, the method comprising:

[0010] Determining the status information of the UWB tag based on the IMU data collected by the IMU;

[0011] In response to the status information indicating that it is in a moving state, the IMU data collected in the moving state is sent to the terminal, and the terminal is used to determine the second position of the UWB tag during the movement based on the IMU data and the first position, the first position being the position of the UWB tag before it is in the moving state, and the first position is determined by the UWB signal sent by the UWB tag.

[0012] On the other hand, an embodiment of the present application provides a device for determining the position of a UWB tag, which is applied to a terminal and includes:

[0013] A first determining module, configured to determine status information of a UWB tag;

[0014] a receiving module, configured to receive IMU data sent by the UWB tag in response to the status information indicating that the UWB tag is in a mobile state, wherein the IMU data is collected by an IMU provided on the UWB tag;

[0015] The second determination module is used to determine a second position of the UWB tag during the movement based on the IMU data and the first position, where the first position is determined based on a UWB signal sent by the UWB tag before the UWB tag is in the moving state.

[0016] On the other hand, an embodiment of the present application provides a device for determining the position of a UWB tag, the device being applied to a UWB tag, the UWB tag being provided with an IMU, the device comprising:

[0017] a third determining module, configured to determine the status information of the UWB tag based on the IMU data collected by the IMU;

[0018] A first sending module is used to send the IMU data collected in the mobile state to the terminal in response to the status information indicating that it is in a mobile state, and the terminal is used to determine the second position of the UWB tag during the movement based on the IMU data and the first position, the first position is the position of the UWB tag before it is in the mobile state, and the first position is determined by the UWB signal sent by the UWB tag.

[0019] On the other hand, an embodiment of the present application provides a terminal, comprising: a processor, a memory, and a UWB component, wherein the processor is electrically connected to the memory and the UWB component, respectively, and the UWB component is used to establish UWB communication with a UWB tag. The memory stores at least one instruction, and the at least one instruction is used to be loaded and executed by the processor to implement the UWB tag location determination method as described in the above aspects.

[0020] On the other hand, an embodiment of the present application provides a UWB tag, which includes: a processor, a memory, a UWB component and an IMU, the processor being electrically connected to the memory, the UWB component and the IMU respectively, the UWB component being used to establish UWB communication with the UWB tag, the IMU being used to collect IMU data of the UWB tag, the memory storing at least one instruction, and the at least one instruction being used to be loaded and executed by the processor to implement the UWB tag location determination method as described in the above aspects.

[0021] On the other hand, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one program code, and the program code is loaded and executed by a processor to implement the method for determining the position of a UWB tag as described in the above aspects.

[0022] In another aspect, embodiments of the present application provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method for determining the location of a UWB tag provided in various optional implementations of the above aspects.

[0023] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0024] When the UWB tag is in the process of moving, the IMU set at the UWB tag collects IMU data and sends the IMU data to the terminal, so that the terminal can determine the real-time position (second position) of the UWB tag during the movement through the IMU data and the position before the movement (first position), so as to realize real-time positioning of the UWB tag, which can meet the positioning requirements of the UWB tag during the movement and improve the positioning accuracy of the UWB tag in mobile scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 A schematic diagram showing an implementation environment of an exemplary embodiment of the present application is shown;

[0027] Figure 2A flow chart of a method for determining the position of a UWB tag provided by an exemplary embodiment of the present application is shown;

[0028] Figure 3 A flowchart of a method for controlling an IoT device provided by another exemplary embodiment of the present application is shown;

[0029] Figure 4 A schematic diagram showing the principle of determining the position of a UWB tag based on IMU data according to an exemplary embodiment of the present application is shown;

[0030] Figure 5 A flow chart of a method for determining the position of a UWB tag provided by another exemplary embodiment of the present application is shown;

[0031] Figure 6 A schematic diagram showing a principle of determining the second position of a UWB tag according to an exemplary embodiment of the present application is shown;

[0032] Figure 7 A schematic diagram showing a principle of determining a second position of a UWB tag according to another exemplary embodiment of the present application is shown;

[0033] Figure 8 A schematic diagram showing the principle of jointly determining the position of a UWB tag based on UWB signals and IMU data according to an exemplary embodiment of the present application is shown;

[0034] Figure 9 A flow chart of a method for determining the position of a UWB tag provided by another exemplary embodiment of the present application is shown;

[0035] Figure 10 A flow chart of a method for determining the position of a UWB tag provided by another exemplary embodiment of the present application is shown;

[0036] Figure 11 is a flowchart of the interaction between a UWB tag and a terminal during the process of determining the location of a UWB tag, shown in an exemplary embodiment of the present application;

[0037] Figure 12 A structural block diagram of a UWB tag location determination device provided by one embodiment of the present application is shown;

[0038] Figure 13 A structural block diagram of a UWB tag location determination device provided by another embodiment of the present application is shown;

[0039] Figure 14 shows a structural block diagram of a terminal provided by an exemplary embodiment of the present application;

[0040] Figure 15The figure shows a structural block diagram of a UWB tag provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0042] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment of an exemplary embodiment of the present application, the implementation environment includes a terminal 110, at least one UWB tag 120 and at least one object (or device) 130.

[0043] Terminal 110 is a device with spatial location awareness capability, which means that terminal 110 can perceive the spatial relationship between itself and other devices. Terminal 110 can be a portable electronic device such as a smartphone, tablet computer, smart remote control, smart watch, etc.

[0044] In the embodiment of the present application, the terminal 110 can establish UWB communication with the UWB tag 120 through the UWB component. That is, the terminal 110 can receive the UWB signal sent by the UWB tag 120 through the UWB component and determine the location of the UWB tag based on the UWB signal.

[0045] Optionally, the UWB component can be separated from the terminal 110, or the UWB component can be independent of the terminal 110. That is, when the UWB component is installed or worn, the terminal 110 is capable of establishing UWB communication with the UWB tag 120. When the terminal 110 is not carrying or equipped with the UWB component, the terminal 110 may not be able to establish UWB communication with the UWB tag. In this application scenario, the UWB component can be packaged as a terminal accessory, such as a mobile phone case, mobile phone protective cover, mobile phone pendant, or other terminal accessory.

[0046] Optionally, the UWB component may also be provided inside the terminal 110 , that is, the UWB component is provided inside the terminal 110 , so that the terminal 110 can establish UWB communication with the UWB tag 120 through the UWB component.

[0047] The UWB tag 120 is used to represent the item (or device) 130. In other words, the UWB tag 120 is independent of the item (or device) 130. Independence means that the UWB tag 120 is a device independent of the item (or device) 130 and can be sold as a separate product. It is not integrated into the item (or device) 130 as part of another item (or other device) 130, nor is it a component module of the item (or device) 130.

[0048] In the embodiment of the present application, the UWB tag 120 is applied to a smart object-finding scenario. In this scenario, the object (or device) 130 carries the UWB tag 120, so that the location of the UWB tag 120 can represent the location of the object (or device) 130. For example, the UWB tag is attached to or worn on the object (or device) 130. Figure 1 As shown, the terminal 110 communicates with the UWB tag 121 via UWB to determine the location of the key 131, the terminal 110 communicates with the UWB tag 122 via UWB to determine the location of the tablet computer 132, and the terminal 110 communicates with the UWB tag 123 via UWB to determine the location of the access card 133, etc.

[0049] Please refer to Figure 2 , which shows a flowchart of a method for determining the position of a UWB tag provided by an exemplary embodiment of the present application. The embodiment of the present application applies this method to Figure 1 Taking the terminal shown in FIG. 1 as an example, the method includes:

[0050] Step 201: Determine the status information of the UWB tag.

[0051] The embodiment of the present application is applied to the intelligent object-finding scenario, that is, through UWB communication (or UWB interaction process) between the terminal and the UWB tag, the location of the UWB tag is determined, and then the location of the object or device carrying the UWB tag is determined. Optionally, the UWB tag can be independent of the object or device. When the UWB tag needs to be used to locate the position of an object or device, the UWB tag can be set on the object or device in advance, and the terminal can associate each UWB tag with the object or device it represents, so that the location of the associated object or device can be determined based on the UWB tag later.

[0052] Schematically, the terminal stores an association relationship between the UWB tag and the associated item or associated device, and the association relationship may be as shown in Table 1 (taking the terminal as smartphone A as an example).

[0053] Table 1

[0054] UWB Tags Related items (related equipment) Tag 1 key Tag 2 tablet Tag 3 Access card Tag 4 USB flash drive Tag 5 Smartphone B .... ....

[0055] In the intelligent object-finding scenario, the UWB tag needs to interact with the terminal for UWB information in real time to obtain the real-time location of the UWB tag. When the UWB tag is in a mobile state, since the position of the UWB tag is changing in real time, if the accurate position of the UWB tag needs to be obtained, the UWB interaction frequency (or UWB communication frequency) between the UWB tag and the terminal needs to be increased. The power consumption of UWB communication itself is relatively high. The increase in the interaction frequency will cause the power consumption of UWB communication to increase significantly, which may affect the endurance of the terminal or UWB tag. If the UWB tag is in a mobile state, the UWB interaction frequency between the UWB tag and the terminal is not increased, which will obviously reduce the accuracy of the real-time location of the UWB tag, thereby affecting the intelligent object-finding process. Therefore, in order to balance the accuracy of the position determination of the UWB tag during movement and the power consumption problem, in one possible implementation method, the terminal first needs to determine the status information of the UWB tag. That is, it is determined whether the UWB tag is in a moving state or a stationary state, and then when the UWB tag is in a moving state, a different positioning method is adopted compared to when the UWB tag is in a stationary state to determine the real-time position of the UWB tag.

[0056] Optionally, the terminal determines the status information corresponding to the UWB tag in the following manner: an inertial measurement unit (IMU) is set in the UWB tag, and the IMU includes a three-axis gyroscope and a three-axis accelerometer. The IMU data is collected by the IMU to determine whether the UWB tag is in a moving state. If the IMU data is 0, it means that the UWB tag is in a stationary state. Conversely, if the IMU data is not 0, it means that the UWB tag is in a moving state. After the UWB tag determines that it is in a moving state, it can send the status information to the terminal, and correspondingly, the terminal can obtain the status information corresponding to the UWB tag. Optionally, since the terminal can interact with the UWB tag through UWB to determine the position of the UWB tag, when the UWB tag is in a moving state, the terminal can compare the position information determined at the current moment with the position information determined historically to see if there is a displacement. If so, it means that the UWB tag is in a moving state. Conversely, it means that the UWB tag is in a stationary state.

[0057] Optionally, when the UWB tag is in a stationary state, the UWB tag communicates with the terminal via UWB to determine the location of the UWB tag. Schematically, the UWB positioning methods adopted may include: Angle of Arrival (AOA) measurement, which determines the location of the UWB tag based on the angle of arrival of the UWB signal; Phase Difference of Arrival (PDOA) measurement, which determines the location of the UWB tag based on the phase difference of arrival of the UWB signal; Two-way Ranging (TWR), which determines the location of the UWB tag based on the time of flight difference of the UWB signal, etc. The embodiments of the present application do not limit the specific principles adopted when determining the location of the UWB tag.

[0058] Step 202 : In response to the status information indicating that the UWB tag is in a moving state, IMU data sent by the UWB tag is received, where the IMU data is collected by an IMU provided on the UWB tag.

[0059] In order to reduce the UWB interaction power consumption between the UWB tag and the terminal when the UWB tag is moving, in one possible implementation, when it is determined that the UWB tag is in a moving state, the UWB tag can send the IMU data collected during the movement to the terminal, and the terminal receives the IMU data sent by the UWB tag, and then realizes the positioning process of the UWB tag based on the IMU data.

[0060] Illustratively, IMU data may include acceleration data, magnetic data, gravity acceleration data, and the like.

[0061] Optionally, if IMU data is used to realize UWB tag positioning during movement, and the IMU collects data at a higher frequency, it is possible to avoid the need to increase the UWB interaction frequency between the UWB tag and the terminal during the movement of the UWB tag. Instead, the UWB interaction frequency between the UWB tag and the terminal can be reduced during the movement of the UWB tag. Or, directly during the movement of the UWB tag, the UWB communication between the UWB tag and the terminal is stopped, which can reduce the UWB power consumption during the movement of the UWB tag. Increasing the IMU data acquisition frequency will not affect the endurance of the terminal or UWB tag, as the data acquisition power consumption of the IMU is much lower than the UWB interaction power consumption. Increasing the IMU data acquisition frequency will not affect the endurance of the terminal or UWB tag, and can ensure the accuracy of real-time positioning, thus achieving a balance between power consumption performance and positioning accuracy.

[0062] Optionally, the UWB tag can establish a Bluetooth connection with the terminal in advance, and the corresponding UWB tag can send IMU data to the terminal through the Bluetooth data channel, which can further reduce the power consumption of the terminal.

[0063] Step 203: Determine a second position of the UWB tag during movement based on the IMU data and the first position, where the first position is determined based on a UWB signal sent by the UWB tag before the UWB tag is in a moving state.

[0064] Since the real-time displacement (including moving distance and moving direction) of the UWB tag during movement can be determined based on IMU data, if it is necessary to determine the real-time position of the UWB tag during movement, it is also necessary to determine the historical position of the UWB tag before movement. Therefore, in a possible implementation manner, the terminal obtains the first position of the UWB tag before it is in a moving state, and then determines the second position of the UWB tag during movement based on the first position and the IMU data. The real-time positions calculated at different data collection times are superimposed through the first position to obtain the second position of the UWB tag during movement.

[0065] Optionally, when the UWB tag is moving, the position of the UWB tag at the t+1 data collection time can be determined by using the IMU data corresponding to the t+1 data collection time and the position of the UWB tag at the t data collection time. The position of the UWB tag at the t+2 data collection time can be determined by using the IMU data corresponding to the t+2 data collection time and the position of the UWB tag at t+1. The second position of the UWB tag during the movement is determined by displacement superposition.

[0066] To sum up, in the embodiment of the present application, when the UWB tag is moving, IMU data is collected by the IMU set at the UWB tag, and the IMU data is sent to the terminal, so that the terminal can determine the real-time position (second position) of the UWB tag during the movement through the IMU data and the position before movement (first position), so as to realize real-time positioning of the UWB tag, which can meet the positioning requirements of the UWB tag during movement and improve the positioning accuracy of the UWB tag in mobile scenarios.

[0067] To further reduce the power consumption of UWB communication between the UWB tag and the terminal during its movement, one possible implementation utilizes the IMU data transmitted by the UWB tag while it is moving, determining the UWB tag's real-time location through displacement superposition. Since the UWB tag does not utilize UWB communication while moving, UWB communication between the terminal and the UWB tag can be stopped during the movement.

[0068] Please refer to Figure 3 , which shows a flow chart of a method for determining the position of a UWB tag provided by another exemplary embodiment of the present application. Figure 1 Taking the terminal shown in FIG. 1 as an example, the method includes:

[0069] Step 301: In response to receiving status prompt information sent by a UWB tag, it is determined that the UWB tag is in a moving state. The status prompt information is sent to the terminal when the UWB tag detects that it is in a moving state.

[0070] In a possible implementation, when the UWB tag detects that it is in a moving state, it sends status prompt information to the terminal. The corresponding terminal receives the status prompt information sent by the UWB tag and determines that the UWB tag is in a moving state.

[0071] Optionally, in order to reduce the power consumption of the UWB tag, when the UWB tag detects that it is in a stationary state, it will not send status prompt information to the terminal.

[0072] Optionally, the UWB tag may also report its own status information to the terminal. That is, when the UWB tag determines that it is in a stationary state, it may also send status prompt information to the terminal, and the status information in the status prompt information is the stationary state.

[0073] Optionally, when the UWB tag determines that its own state has changed, it reports status prompt information to the terminal. Schematically, when the UWB tag detects that it has changed from a stationary state to a mobile state, it sends status prompt information to the terminal, so that the terminal can switch the positioning method based on the status prompt information, that is, switch from a positioning method based on UWB signals to a positioning method based on IMU data. When the UWB tag detects that it has changed from a moving state to a stationary state, it can also send status prompt information to the terminal, so that the terminal can switch the positioning method based on the status prompt information, that is, switch from a positioning method based on IMU data to a positioning method based on UWB signals.

[0074] Step 302 : In response to the status information indicating that the UWB tag is in a moving state, stop UWB communication with the UWB tag through the UWB component, and receive IMU data sent by the UWB tag through the target data transmission component, which may be different from the UWB component.

[0075] Since real-time positioning can be performed entirely based on IMU data and historical positions when a UWB tag is in motion, in order to further reduce UWB power consumption, in one possible implementation, when the terminal determines that the UWB tag is in motion, it can directly disable the communication function of the UWB component and stop UWB communication with the UWB tag through the UWB component. In other words, when the UWB tag is in motion, the terminal will not send UWB signals to the UWB tag, and correspondingly, it will not receive UWB signals sent by the UWB tag.

[0076] Optionally, after the terminal stops UWB communication with the UWB tag, in order to enable the UWB tag to promptly send the collected IMU data to the terminal, the terminal can establish a target data communication connection with the UWB tag, so that the IMU data sent by the UWB tag can be received through the target data transmission component. If the target data communication connection is different from the UWB communication connection, the target data transmission component is also different from the UWB component.

[0077] Illustratively, the target data transmission component can be a Bluetooth component, and correspondingly, the terminal can establish a Bluetooth connection with the UWB tag and receive the IMU data sent by the UWB tag through the Bluetooth component; optionally, the target data communication connection can also be a WiFi connection, infrared connection, etc., which is not limited to the embodiments of the present application.

[0078] Step 303 : In response to not receiving the UWB signal sent by the UWB tag at the IMU data collection time, determining a second position of the UWB tag at the IMU data collection time based on the IMU data and the first position.

[0079] Since the terminal stops UWB communication with the UWB tag during the movement of the UWB tag, it will not receive the UWB signal sent by the UWB tag at each IMU data collection moment. Therefore, the positioning method based entirely on IMU data is used during the movement of the UWB tag. In one possible implementation, the terminal obtains the first position of the UWB tag before it enters the mobile state, and then obtains the IMU data collected by the terminal during the movement from the first position to the second position, determines the movement displacement, and then, based on the movement displacement and the first position, determines the second position of the UWB tag at the time of the IMU data collection.

[0080] In one illustrative example, the process of determining the second position based on the IMU data and the first position may include step 303A and step 303B (or step 303 may include step 303A and step 303B).

[0081] Step 303A: Determine a first distance and a moving direction corresponding to a process in which the UWB tag moves from a first position to a second position based on the IMU data.

[0082] In one possible implementation, since the IMU data contains acceleration data, the acceleration data is integrated once to determine the moving speed, and the moving speed is then integrated twice to determine the moving displacement, which includes the first distance and moving direction corresponding to the process of moving from the first position to the second position.

[0083] Optionally, the terminal is provided with an algorithm for positioning and analyzing IMU data. The terminal inputs the IMU data collected during the movement of the UWB tag from the first position to the second position (during the movement of the UWB tag) into the algorithm, and obtains the speed-time relationship curve corresponding to the UWB tag during the movement by a first integration, and then obtains the displacement-time relationship curve corresponding to the UWB tag during the movement by a second integration. Based on the displacement-time relationship curve, the movement displacement corresponding to the UWB tag at each IMU data collection moment can be determined.

[0084] Step 303B: Determine a second position based on the first position, the first distance, and the moving direction.

[0085] In a possible implementation, after the terminal determines the first distance and moving direction corresponding to the UWB tag moving from the first position to the second position, the terminal may determine the second position based on the first position, the first distance, and the moving direction.

[0086] Optionally, at least two second candidate positions may be determined based on the first position and the first distance, and the second candidate position located in the moving direction may be determined as the second position.

[0087] like Figure 4 As shown, it shows a schematic diagram of the principle of determining the position of the UWB tag based on IMU data shown in an exemplary embodiment of the present application. When the UWB tag is in a moving state at time t1, the terminal obtains the first position of the UWB tag at time t1. When the terminal needs to determine the second position of the UWB tag at time t2, it is necessary to calculate the first (moving) distance S1 and the first moving direction corresponding to the UWB tag from the first position to the second position based on the IMU data collected by the UWB tag from time t1 to time t2: moving along the y-axis, and then based on the first position, S1 and the y-axis direction, calculate the second position. When the terminal needs to determine the third position of the UWB tag at time t3, it is also necessary to obtain the IMU data collected when the UWB tag moves from time t2 to time t3, calculate the second (moving distance) S2 and the second moving direction corresponding to the UWB tag from the second position to the third position: moving along the x-axis, and then based on the second position, S2 and the x-axis direction, calculate the third position. Optionally, when determining the third position, it can also be calculated based on the first position and IMU data corresponding to moving from the first position to the third position.

[0088] In this embodiment, when a UWB tag detects that it is in motion, it sends status information to the terminal, allowing the terminal to promptly determine the UWB tag's status. Furthermore, by fully utilizing IMU data-based positioning and ceasing UWB communication with the UWB tag while the UWB tag is moving, UWB power consumption during the movement of the UWB tag can be further avoided or reduced, thereby increasing the terminal's battery life in object-hunting scenarios.

[0089] During the IMU-based positioning process, if a position is miscalculated, the subsequent movement and displacement may cause a significant error between the second position determined and the actual position, reducing the positioning accuracy of the UWB tag. To improve the positioning accuracy of the UWB tag during movement, in one possible implementation, the terminal and the UWB tag communicate at a lower UWB interaction frequency so that the second position of the UWB tag can be corrected at a preset time interval.

[0090] Please refer to Figure 5 , which shows a flow chart of a method for determining the position of a UWB tag provided by another exemplary embodiment of the present application. Figure 1 Taking the terminal shown in FIG. 1 as an example, the method includes:

[0091] Step 501: In response to receiving status prompt information sent by a UWB tag, it is determined that the UWB tag is in a moving state. The status prompt information is sent to the terminal when the UWB tag detects that it is in a moving state.

[0092] The implementation of step 501 may refer to step 301 and will not be described in detail in this embodiment.

[0093] Since the positioning method shown in the embodiment of this application uses UWB positioning for position correction, and in the object-hunting scenario, the UWB tag and the terminal may be in a moving state at the same time, there is no reference coordinate, which may make UWB positioning impossible. Therefore, in one possible implementation, after the terminal determines that the UWB tag is in a moving state, it can also display a status prompt information. The status prompt information is also used to remind the terminal to stop moving, to avoid the situation where the UWB tag cannot be located through UWB signals when both the terminal and the UWB tag are in a moving state.

[0094] Step 502 , in response to the status information indicating that the UWB tag is in a mobile state, UWB communication is performed with the UWB tag at a target frequency through the UWB component, and IMU data sent by the UWB tag is received through the target data transmission component, wherein the target frequency is lower than a data acquisition frequency of the IMU data.

[0095] During the IMU data-based positioning process, if a position in the middle is miscalculated, the subsequent movement and displacement may cause a large error between the second position determined and the actual position, thereby reducing the positioning accuracy of the UWB tag. To improve the positioning accuracy of the UWB tag during movement, in one possible implementation, when the terminal determines that the UWB tag is in a moving state, it does not shut down UWB communication. Instead, it communicates with the UWB tag at a lower target frequency through the UWB component, and uses the UWB positioning accuracy to correct the UWB tag's current second position at regular intervals.

[0096] Since the UWB interaction frequency (target frequency) between the UWB tag and the terminal is lower than the data acquisition frequency of the IMU data, during the movement of the UWB tag, the second position is determined based on the UWB signal at each target frequency. Within the time interval of the target frequency, since the interaction time of the UWB signal has not been reached, the second position is determined entirely by the IMU data, so that the positioning error of the IMU data can be corrected in time, thereby avoiding excessive power consumption due to excessively high UWB interaction frequency.

[0097] Optionally, although the terminal and the UWB tag can still perform UWB communication, since the interaction frequency of UWB communication is low, while the data collection frequency of IMU data is high, in order to be able to send the collected IMU data to the terminal in a timely manner. In one possible embodiment, the terminal can establish a target data communication connection with the UWB tag so that the IMU data sent by the UWB tag can be received through the target data transmission component. If the target data communication connection is different from the UWB communication connection, the target data transmission component is also different from the UWB component.

[0098] Illustratively, the target data transmission component can be a Bluetooth component, and correspondingly, the terminal can establish a Bluetooth connection with the UWB tag and receive the IMU data sent by the UWB tag through the Bluetooth component; optionally, the target data communication connection can also be a WiFi connection, infrared connection, etc., which is not limited to the embodiments of the present application.

[0099] Step 503 : In response to not receiving the UWB signal sent by the UWB tag at the time of IMU data collection, determining a second position of the UWB tag at the time of IMU data collection based on the IMU data and the first position.

[0100] Because the interaction frequency (target frequency) between the UWB tag and the terminal is lower than the IMU data acquisition frequency during the UWB tag's movement, UWB positioning cannot be performed at certain IMU data acquisition times. Therefore, in one possible embodiment, when the UWB signal sent by the UWB tag is not received at the IMU data acquisition time, the second position of the UWB tag at the IMU data acquisition time is determined based solely on the IMU data and the first position.

[0101] The implementation method of determining the second position based on the IMU data and the first position can refer to the above embodiment, and this embodiment will not be described in detail here.

[0102] Step 504 , in response to receiving a UWB signal sent by the UWB tag at the time of IMU data collection, determine a second position of the UWB tag at the time of IMU data collection based on the UWB signal, the IMU data, and the first position.

[0103] In a possible implementation, if a UWB signal sent by a UWB tag is received at the time of IMU data collection, the second position of the UWB tag at the time of IMU data collection can be jointly determined based on the UWB signal, IMU data, and the first position.

[0104] Optionally, when the second position is determined based on the UWB signal and IMU data, the UWB TWR positioning principle or PDOA positioning principle can be used. Figure 6 As shown, it shows a schematic diagram of the principle of determining the second position of the UWB tag shown in an exemplary embodiment of the present application. The UWB tag starts to move from the first position at time t1. At time t1, the UWB tag and the terminal perform a TWR test to determine that the distance between the first position and the terminal is S1. At time t2, the UWB tag moves to the second position. The UWB tag and the terminal perform a TWR test to determine that the distance between the second position and the terminal is S2. Between time t1 and time t2, the distance moved by the UWB tag can be calculated by IMU data to obtain S0, and then based on S0, S1 and S2, the second position of the UWB tag is determined by the three-point positioning principle.

[0105] like Figure 7As shown, it shows a schematic diagram of the principle of determining the second position of the UWB tag shown in another exemplary embodiment of the present application. The UWB tag starts to move from the first position at time t1, and the UWB tag and the terminal perform a TWR test at time t1 to determine that the distance between the first position and the terminal is S1. At time t2, the UWB tag moves to the second position, and the UWB tag and the terminal perform a TWR test to determine that the distance between the second position and the terminal is S2. Between time t1 and time t2, the distance moved by the UWB tag can be calculated by IMU data to obtain S0. Through S0, S1 and S2, the angle a=a1=a2 of the terminal relative to the direction of the UWB tag motion trajectory is determined, and then the second position can be determined based on the first position, angle a, S0, and S2.

[0106] In an exemplary example, the process of determining the second position based on the TWR ranging principle and IMU data may include steps 504A to 504E (step 504 may include steps 504A to 504E).

[0107] Step 504A: Determine a first distance and a moving direction corresponding to a process in which the UWB tag moves from a first position to a second position based on the IMU data.

[0108] The implementation of step 504A may refer to the above embodiment, and will not be described in detail in this embodiment.

[0109] Step 504B: Determine, based on the UWB signal, a second distance corresponding to the UWB tag when the UWB tag is at a second position.

[0110] In a possible implementation, when the UWB tag moves to the second position, the terminal performs UWB communication with the UWB tag and determines a second distance between the UWB tag and the terminal at this time based on a UWB signal fed back by the UWB tag.

[0111] Step 504C: determine a first circle with the first position as the center and the first distance as the radius.

[0112] A first circle is determined with the first position as the telecenter and a first distance between the first position and the second position as the radius.

[0113] Step 504D: determine a second circle with the terminal position as the center and the second distance as the radius.

[0114] A second circle is determined with the current terminal position as the telecenter and the second distance between the terminal and the UWB tag when the UWB tag is at the second position as the radius.

[0115] Step 504E: Determine a second position based on the first circle, the second circle, and the moving direction.

[0116] In a possible implementation, the first circle and the second circle have two intersection points, and the second position where the UWB tag is actually currently located can be determined from the two intersection points based on the moving direction.

[0117] In an illustrative example, step 504E further includes the following steps 1 and 2.

[0118] Step 1: Determine the intersection of the first circle and the second circle as the first candidate position and the second candidate position.

[0119] In a possible implementation, there are two intersection points between the first circle and the second circle. The positions of the two intersection points are the second positions where the UWB tag may be located, that is, the first candidate position and the second candidate position.

[0120] Step 2: Determine the candidate position located on one side of the moving direction as the second position.

[0121] Since the displacement direction can be determined based on the IMU data, in a possible implementation, the candidate position located on one side of the moving direction can be determined as the second position.

[0122] like Figure 8 As shown, it shows a schematic diagram of the principle of jointly determining the position of the UWB tag based on the UWB signal and IMU data shown in an exemplary embodiment of the present application. The UWB tag starts to move from the first position at time t1, and moves to the second position at time t2. The UWB tag and the terminal perform a TWR test to determine that the distance between the second position and the terminal is S2. Between time t1 and time t2, the distance moved by the UWB tag can be calculated by IMU data to obtain S0. With the first position as the center and S0 as the radius, a first circle is determined. With the terminal position as the center and S2 as the radius, a second circle is determined. The intersection of the first circle and the second circle is point A and point B. Since the movement direction calculated based on the IMU data is movement in the y-axis direction, point A is determined as the second position accordingly.

[0123] In this embodiment, during the movement of the UWB tag, since the UWB interaction frequency (target frequency) between the UWB tag and the terminal is lower than the data acquisition frequency of the IMU data, during the movement of the UWB tag, the second position is determined based on the UWB signal at every target frequency. Within the time interval of the target frequency, since the interaction time of the UWB signal has not been reached, the second position is determined entirely by the IMU data, so that the positioning error of the IMU data can be corrected in time, thereby avoiding excessive power consumption caused by excessively high UWB interaction frequency.

[0124] The above embodiment uses the terminal as the execution subject to describe the UWB tag location determination process. This embodiment uses the UWB tag as the execution subject and focuses on how the UWB tag interacts with the terminal during movement to achieve the UWB tag location determination process.

[0125] Please refer to Figure 9 , which shows a flow chart of a method for determining the position of a UWB tag provided by another exemplary embodiment of the present application. Figure 1 Taking the UWB tag shown in FIG. 1 as an example, the method includes:

[0126] Step 901: Determine the status information of the UWB tag based on the IMU data collected by the IMU.

[0127] In order to take into account both the power consumption of the terminal and the positioning accuracy of the UWB tag, in this embodiment, the terminal adopts different positioning methods when the UWB tag is in a moving state or a stationary state. Therefore, in a possible implementation method, an IMU is provided in the UWB tag, and the status information of the UWB tag is determined by analyzing the IMU data collected by the IMU.

[0128] Schematically, when the UWB tag is in a stationary state, the acceleration data collected by the IMU in all directions is 0, and when the UWB tag is in a moving state, the acceleration data collected by the IMU in at least one direction is not 0.

[0129] Step 902: In response to the status information indicating that the device is in a moving state, IMU data collected in the moving state is sent to the terminal. The terminal is used to determine the second position of the UWB tag during the movement based on the IMU data and the first position. The first position is the position of the UWB tag before it is in the moving state. The first position is determined by the UWB signal sent by the UWB tag.

[0130] In order to promptly alert the terminal that the UWB tag is in a mobile state, the terminal needs to use IMU data to locate the UWB tag when it determines that the UWB tag is in a mobile state. Therefore, in one possible implementation, when the UWB tag is determined to be in a mobile state, the UWB tag sends the collected IMU data to the terminal, so that the terminal can determine the second position of the UWB tag during the movement based on the IMU data and the first position.

[0131] Among them, the process of how the terminal determines the second position based on the IMU data and the first position can be referred to the above embodiment, and this embodiment will not be repeated here.

[0132] Optionally, the data transmission frequency of the UWB tag for sending IMU data may be determined by the data collection frequency of the IMU data.

[0133] Optionally, when the UWB tag is in motion, in order to improve the accuracy of UWB tag positioning based on IMU data, it is necessary to increase the frequency of IMU data acquisition. In other words, the frequency of IMU data acquisition when the UWB tag is in motion is higher than the frequency of IMU data acquisition when the UWB tag is stationary.

[0134] To sum up, in the embodiments of the present application, when the UWB tag is moving, IMU data is collected by the IMU set at the UWB tag, and the IMU data is sent to the terminal, so that the terminal can determine the real-time position (second position) of the UWB tag during the movement through the IMU data and the position before movement (first position), so as to realize real-time positioning of the UWB tag, which can meet the positioning requirements of the UWB tag during movement and improve the positioning accuracy of the UWB tag in mobile scenarios.

[0135] In one possible implementation, when the terminal is in the process of moving the UWB tag, the IMU data sent by the UWB tag is fully used to determine the real-time position of the UWB tag through displacement superposition. Since the UWB tag does not use UWB communication during the movement process, the UWB communication between the terminal and the UWB tag can be directly stopped during the movement process. When the terminal is in the process of moving the UWB tag, UWB communication is indirectly used for position calibration, and the UWB tag can communicate with the terminal at a lower interaction frequency.

[0136] In an illustrative example, Figure 9 On the basis of Figure 10 As shown, step 902 may also include step 902A and step 902B.

[0137] Step 902A: In response to the state information indicating that the terminal is in a moving state, stop UWB communication with the terminal through the UWB component, and send IMU data to the terminal through the target data transmission component, which is different from the UWB component.

[0138] Since the terminal can locate the UWB tag in real time based entirely on IMU data and historical locations when the UWB tag is moving, in order to further reduce the power consumption of the UWB tag, in one possible implementation, when the UWB tag determines that it is in a mobile state, it can directly shut down the communication function of the UWB component and stop UWB communication with the terminal through the UWB component. In other words, when the UWB tag is moving, the UWB tag will not send UWB signals to the terminal, and correspondingly, it will not receive UWB signals sent by the terminal.

[0139] Optionally, after the UWB tag stops UWB communication with the terminal, in order to enable the UWB tag to promptly send the collected IMU data to the terminal, the UWB tag can establish a target data communication connection with the terminal, so that the IMU data can be sent to the terminal via the target data transmission component. If the target data communication connection is different from the UWB communication connection, the target data transmission component is also different from the UWB component.

[0140] Illustratively, the target data transmission component can be a Bluetooth component, and correspondingly, the terminal can establish a Bluetooth connection with the UWB tag and receive the IMU data sent by the UWB tag through the Bluetooth component; optionally, the target data communication connection can also be a WiFi connection, infrared connection, etc., which is not limited to the embodiments of the present application.

[0141] Step 902B, in response to the status information indicating that the device is in a mobile state, UWB communication is performed with the terminal at a target frequency through the UWB component, and IMU data is sent to the terminal through the target data transmission component, where the target frequency is lower than the data acquisition frequency of the IMU data.

[0142] During the positioning process based on IMU data, if a position in the middle is calculated incorrectly, the subsequent superposition of movement displacement may cause a large error between the second position determined subsequently and the actual position, reducing the positioning accuracy of the UWB tag. In order to improve the positioning accuracy of the UWB tag during movement, in one possible implementation, when the terminal determines that the UWB tag is in a moving state, it does not shut down the UWB communication. Instead, it communicates with the UWB tag at a lower target frequency through the UWB component, and uses the positioning accuracy of UWB to correct the current second position of the UWB tag at regular intervals; correspondingly, the UWB tag also communicates with the terminal at the target frequency.

[0143] Alternatively, while UWB tags and terminals can still communicate via UWB, the interaction frequency of UWB communication is low, while the frequency of IMU data acquisition is high. To ensure timely transmission of collected IMU data to the terminal, in one possible implementation, the UWB tag can establish a target data communication connection with the terminal, allowing the UWB tag to send IMU data to the terminal via a target data transmission component. Since this target data communication connection is different from the UWB communication connection, the target data transmission component is also different from the UWB component.

[0144] Illustratively, the target data transmission component can be a Bluetooth component, and correspondingly, the terminal can establish a Bluetooth connection with the UWB tag and receive the IMU data sent by the UWB tag through the Bluetooth component; optionally, the target data communication connection can also be a WiFi connection, infrared connection, etc., which is not limited to the embodiments of the present application.

[0145] Optionally, in order to avoid the situation where both the terminal and the UWB tag are in a moving state and UWB positioning cannot be performed, in one possible implementation, when the UWB tag determines that it is in a moving state, it sends a status prompt information to the terminal. The status prompt information is used to prompt that the UWB tag is in a moving state and further prompt the terminal to stop moving.

[0146] In this embodiment, when the UWB tag detects that it is in a moving state, it sends status prompt information to the terminal, so that the terminal can promptly determine the status information of the UWB tag; in addition, by completely adopting a positioning method based on IMU data when the UWB tag is moving and stopping UWB communication with the terminal, the power consumption of the UWB tag during movement can be further avoided or reduced, and the endurance of the UWB tag in the object search scenario can be increased; in addition, during the movement of the UWB tag, since the UWB interaction frequency (target frequency) between the UWB tag and the terminal is lower than the data acquisition frequency of the IMU data, during the movement of the UWB tag, the second position is determined based on the UWB signal at each target frequency. Within the time interval of the target frequency, since the interaction time of the UWB signal has not been reached, the second position is completely determined by the IMU data, so that the positioning error of the IMU data can be corrected in time, thereby avoiding excessive power consumption caused by excessive UWB interaction frequency.

[0147] Please refer to Figure 11 , which is a flowchart of the interaction between a UWB tag and a terminal during the UWB tag location determination process shown in an exemplary embodiment of the present application. The interaction process includes:

[0148] In step 1101 , the UWB tag determines the state information of the UWB tag based on the IMU data collected by the IMU.

[0149] Step 1102: In response to the status information indicating that the terminal is in a moving state, the UWB tag sends status prompt information to the terminal.

[0150] Step 1103: In response to receiving the status prompt information sent by the UWB tag, the terminal determines that the UWB tag is in a moving state.

[0151] In step 1104 , the UWB tag sends the IMU data collected in the mobile state to the terminal.

[0152] Step 1105 : In response to the status information indicating that the UWB tag is in a moving state, the terminal receives IMU data sent by the UWB tag.

[0153] Step 1106: The terminal determines a second position of the UWB tag during the movement based on the IMU data and the first position.

[0154] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0155] Please refer to Figure 12 , which shows a structural block diagram of a UWB tag location determination device provided by an embodiment of the present application. The device has the function of implementing the above method embodiment executed by the terminal side, and the function can be implemented by hardware or by hardware executing the corresponding software. Figure 12 As shown, the device may include:

[0156] A first determining module 1201 is configured to determine status information of a UWB tag;

[0157] a receiving module 1202 for receiving, in response to the status information indicating that the UWB tag is in a mobile state, IMU data sent by the UWB tag, where the IMU data is collected by an IMU provided on the UWB tag;

[0158] The second determination module 1203 is used to determine a second position of the UWB tag during the movement based on the IMU data and the first position, where the first position is determined based on the UWB signal sent by the UWB tag before the UWB tag is in the moving state.

[0159] Optionally, the receiving module 1202 includes:

[0160] A first receiving unit is configured to stop UWB communication with the UWB tag through a UWB component in response to the status information indicating that the UWB tag is in the mobile state, and receive the IMU data sent by the UWB tag through a target data transmission component, wherein the target data transmission component is different from the UWB component.

[0161] Optionally, the second determining module 1203 includes:

[0162] A first determining unit is configured to determine, in response to not receiving a UWB signal sent by the UWB tag at the IMU data collection moment, the second position of the UWB tag at the IMU data collection moment based on the IMU data and the first position.

[0163] Optionally, the receiving module 1202 includes:

[0164] A second receiving unit is configured to, in response to the status information indicating that the UWB tag is in the mobile state, perform UWB communication with the UWB tag at a target frequency through a UWB component, and receive the IMU data sent by the UWB tag through a target data transmission component, wherein the target frequency is lower than a data acquisition frequency of the IMU data, and the target data transmission component is different from the UWB component.

[0165] Optionally, the second determining module 1203 includes:

[0166] a second determining unit, configured to determine, in response to not receiving the UWB signal sent by the UWB tag at the IMU data collection time, the second position of the UWB tag at the IMU data collection time based on the IMU data and the first position;

[0167] A third determining unit is configured to determine, in response to receiving the UWB signal sent by the UWB tag at the IMU data collection time, the second position of the UWB tag at the IMU data collection time based on the UWB signal, the IMU data and the first position.

[0168] Optionally, the first determining unit is further configured to:

[0169] Determine, based on the IMU data, a first distance and a moving direction corresponding to a process in which the UWB tag moves from the first position to the second position;

[0170] The second position is determined based on the first position, the first distance, and the movement direction.

[0171] Optionally, the third determining unit is further configured to:

[0172] Determine, based on the IMU data, a first distance and a moving direction corresponding to a process in which the UWB tag moves from the first position to the second position;

[0173] determining, based on the UWB signal, a second distance corresponding to the second position between the UWB tag and the UWB tag;

[0174] Determine a first circle with the first position as the center and the first distance as the radius;

[0175] Determine a second circle with the terminal position as the center and the second distance as the radius;

[0176] The second position is determined based on the first circle, the second circle, and the movement direction.

[0177] Optionally, the third determining unit is further configured to:

[0178] Determine the intersection of the first circle and the second circle as a first candidate position and a second candidate position;

[0179] A candidate position located on one side of the moving direction is determined as the second position.

[0180] Optionally, the first determining module 1201 includes:

[0181] The fourth determining unit is configured to determine that the UWB tag is in the mobile state in response to receiving the status prompt information sent by the UWB tag, wherein the status prompt information is sent to the terminal when the UWB tag detects that it is in the mobile state.

[0182] Optionally, the device further includes:

[0183] The display module is used to display the status prompt information, and the status prompt information is also used to remind the terminal to stop moving.

[0184] To sum up, in the embodiments of the present application, when the UWB tag is moving, IMU data is collected by the IMU set at the UWB tag, and the IMU data is sent to the terminal, so that the terminal can determine the real-time position (second position) of the UWB tag during the movement through the IMU data and the position before movement (first position), so as to realize real-time positioning of the UWB tag, which can meet the positioning requirements of the UWB tag during movement and improve the positioning accuracy of the UWB tag in mobile scenarios.

[0185] Please refer to Figure 13, which shows a structural block diagram of a UWB tag location determination device provided by another embodiment of the present application. The device has the function of implementing the above method embodiment performed by the UWB tag side, and the function can be implemented by hardware or by hardware executing the corresponding software. Figure 13 As shown, the device may include:

[0186] A third determining module 1301 is configured to determine the status information of the UWB tag based on the IMU data collected by the IMU;

[0187] The first sending module 1302 is used to send the IMU data collected in the mobile state to the terminal in response to the status information indicating that it is in a mobile state, and the terminal is used to determine the second position of the UWB tag during the movement based on the IMU data and the first position, the first position is the position of the UWB tag before it is in the mobile state, and the first position is determined by the UWB signal sent by the UWB tag.

[0188] Optionally, the first sending module 1302 includes:

[0189] a first sending unit, configured to, in response to the state information indicating the moving state, stop UWB communication with the terminal through the UWB component, and send the IMU data to the terminal through a target data transmission component, the target data transmission component being different from the UWB component;

[0190] Optionally, the first sending module 1302 includes:

[0191] A second sending unit is configured to perform UWB communication with the terminal at a target frequency through a UWB component in response to the status information indicating that the terminal is in the mobile state, and to send the IMU data to the terminal through a target data transmission component, wherein the target frequency is lower than a data acquisition frequency of the IMU data, and the target data transmission component is different from the UWB component.

[0192] Optionally, the device further includes:

[0193] The second sending module is configured to send status prompt information to the terminal, where the status prompt information is used to prompt that the UWB tag is in the mobile state.

[0194] To sum up, in the embodiments of the present application, when the UWB tag is moving, IMU data is collected by the IMU set at the UWB tag, and the IMU data is sent to the terminal, so that the terminal can determine the real-time position (second position) of the UWB tag during the movement through the IMU data and the position before movement (first position), so as to realize real-time positioning of the UWB tag, which can meet the positioning requirements of the UWB tag during movement and improve the positioning accuracy of the UWB tag in mobile scenarios.

[0195] It should be noted that the above embodiments provide devices that implement their functions using only the division of the above functional modules as examples. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the devices and method embodiments provided in the above embodiments are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0196] In a possible application scenario, the UWB component can be encapsulated as an internal antenna component of the terminal. The UWB component is electrically connected to the terminal through an internal circuit board, and the corresponding terminal can receive the UWB signal sent by the UWB tag through the UWB component.

[0197] Please refer to Figure 14 , which shows a block diagram of the structure of a terminal 1400 provided by an exemplary embodiment of the present application. The terminal 1400 in the present application may include one or more of the following components: a processor 1410, a memory 1420, and a UWB component 1430, wherein the processor 1410 is electrically connected to the memory 1420 and the UWB component 1430 respectively.

[0198] Processor 1410 may include one or more processing cores. Processor 1410 utilizes various interfaces and circuits to connect various components within terminal 1400. It executes instructions, programs, code sets, or instruction sets stored in memory 1420, and accesses data stored in memory 1420 to perform various functions and process data for terminal 1400. Optionally, processor 1410 may be implemented using at least one of the following hardware forms: digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). Processor 1410 may integrate one or a combination of a CPU, a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the touchscreen display; and the modem handles wireless communications. It is understood that the modem may not be integrated into processor 1410 and may be implemented separately via a communications chip.

[0199] The memory 1420 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 1420 includes a non-transitory computer-readable storage medium. The memory 1420 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1420 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The operating system may be an Android system (including a system developed based on an Android system in depth), an iOS system developed by Apple (including a system developed based on an iOS system in depth), or other systems. The data storage area may also store data (such as a phone book, audio and video data, chat history data), etc., created by the terminal 1400 during use.

[0200] The UWB component 1430 is used to receive UWB signals broadcast by external UWB tags, so that the terminal 1400 can process the UWB signals through the processor to achieve positioning processing of the UWB tags.

[0201] Optionally, the terminal 1400 further includes a target data transmission component, through which the terminal 1400 receives the IMU data sent by the UWB tag.

[0202] In the embodiment of the present application, the memory 1420 stores at least one instruction, and the at least one instruction is used to be executed by the processor 1410 to perform the method for determining the position of the UWB tag as shown in the above embodiment.

[0203] Optionally, the terminal 1400 may further include a touch screen display, which may be a capacitive touch screen display, configured to receive touch operations on or near the terminal 1400 using any suitable object such as a finger or stylus, and to display the user interface of each application. The touch screen display is typically provided on the front panel of the terminal 1400. The touch screen display may be designed as a full screen, a curved screen, or a special-shaped screen. The touch screen display may also be designed as a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in the present embodiment.

[0204] In another possible implementation, the UWB component can be packaged as a terminal accessory that is independent of the terminal 1400. When the terminal 1400 is equipped with the terminal accessory, the terminal 1400 and the terminal accessory are electrically connected via an interface circuit, so that the terminal 1400 can locate the UWB tag.

[0205] In addition, those skilled in the art will understand that the structure of terminal 1400 shown in the above figures does not constitute a limitation of terminal 1400. The terminal may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, terminal 1400 also includes RF circuits, camera components, sensors (excluding temperature sensors), audio circuits, Wireless Fidelity (WiFi) components, power supplies, Bluetooth components, and other components, which will not be detailed here.

[0206] Please refer to Figure 15 , which shows a block diagram of a UWB tag 1500 provided by an exemplary embodiment of the present application. UWB tag 1500 includes a UWB component 1510, an IMU 1520, a processor 1530, and a memory 1540. Processor 1530 is electrically connected to memory 1540, UWB component 1510, and IMU 1520, respectively.

[0207] The UWB component 1510 is used to interact with the terminal through UWB signals, so that the terminal can determine the location of the UWB tag based on the UWB signals.

[0208] IMU1520 is used to detect whether the UWB tag is in a mobile state. When it is determined to be in a mobile state, the UWB tag sends IMU data to the terminal, so that the terminal can locate the UWB tag based on the IMU data.

[0209] The memory 1540 may store the IMU data collected by the IMU 1520. The memory 1540 may also store at least one instruction, which is used to be executed by the processor 1530 to perform the method for determining the position of the UWB tag as shown in the above embodiment.

[0210] An embodiment of the present application further provides a computer-readable storage medium storing at least one program code, wherein the program code is loaded and executed by a processor to implement the method for determining the position of a UWB tag as described in the above embodiments.

[0211] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method for determining the location of a UWB tag provided in various optional implementations of the above aspects.

[0212] It should be understood that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. In addition, the step numbers described in this article only illustrate a possible execution sequence between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order to the diagram. The embodiments of the present application do not limit this.

[0213] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for determining the location of a UWB tag, characterized in that: The method is applied to a terminal, and includes: Determine the status information of the UWB tag; In response to the status information indicating that the UWB tag is in a mobile state, performing UWB communication with the UWB tag at a target frequency through a UWB component, and receiving IMU data sent by the UWB tag through a target data transmission component, wherein the target frequency is lower than a data acquisition frequency of the IMU data, the target data transmission component is different from the UWB component, and the IMU data is acquired by an IMU provided on the UWB tag; In response to not receiving the UWB signal sent by the UWB tag at the time of IMU data collection, determining the second position of the UWB tag at the time of IMU data collection based on the IMU data and the first position; in response to receiving the UWB signal sent by the UWB tag at the time of IMU data collection, determining the first distance and moving direction corresponding to the process of the UWB tag moving from the first position to the second position based on the IMU data; determining the second distance corresponding to the UWB tag when the UWB tag is in the second position based on the UWB signal; determining a first circle with the first position as the center and the first distance as the radius; determining a second circle with the terminal position as the center and the second distance as the radius; determining the second position based on the first circle, the second circle and the moving direction, the first position being determined based on the UWB signal sent by the UWB tag before the UWB tag is in the moving state.

2. The method according to claim 1, characterized in that The method further comprises: In response to the state information indicating that the UWB tag is in the moving state, UWB communication with the UWB tag through the UWB component is stopped, and the IMU data sent by the UWB tag is received through the target data transmission component.

3. The method according to claim 2, characterized in that The method further comprises: In response to not receiving the UWB signal sent by the UWB tag at the IMU data collection time, determining the second position of the UWB tag at the IMU data collection time based on the IMU data and the first position.

4. The method according to claim 3, characterized in that The determining, based on the IMU data and the first position, the second position of the UWB tag at the time of the IMU data collection includes: Determine, based on the IMU data, the first distance and the moving direction corresponding to the movement of the UWB tag from the first position to the second position; The second position is determined based on the first position, the first distance, and the movement direction.

5. The method according to claim 1, characterized in that The determining the second position based on the first circle, the second circle, and the moving direction includes: Determine the intersection of the first circle and the second circle as a first candidate position and a second candidate position; A candidate position located on one side of the moving direction is determined as the second position.

6. The method according to any one of claims 1 to 5, characterized in that: The determining of the status information of the UWB tag includes: In response to receiving the status prompt information sent by the UWB tag, it is determined that the UWB tag is in the mobile state, and the status prompt information is sent to the terminal when the UWB tag detects that it is in the mobile state.

7. The method according to claim 6, characterized in that After the state information indicates that the UWB tag is in a mobile state in response, the method further includes: The status prompt information is displayed, and the status prompt information is also used to remind the terminal to stop moving.

8. A method for determining the location of a UWB tag, characterized in that: The method is applied to a UWB tag, wherein the UWB tag is provided with an IMU, and the method comprises: Determining the status information of the UWB tag based on the IMU data collected by the IMU; In response to the status information indicating that it is in a mobile state, UWB communication is performed with the terminal at a target frequency through the UWB component, and the IMU data is sent to the terminal through the target data transmission component, wherein the target frequency is lower than the data acquisition frequency of the IMU data, and the target data transmission component is different from the UWB component. The terminal is used to determine the second position of the UWB tag at the time of the IMU data acquisition based on the IMU data and the first position in response to not receiving the UWB signal sent by the UWB tag at the time of the IMU data acquisition; in response to receiving the UWB signal sent by the UWB tag at the time of the IMU data acquisition, based on the IMU data According to the UWB signal, determine the first distance and moving direction corresponding to the movement of the UWB tag from the first position to the second position; based on the UWB signal, determine the second distance corresponding to the UWB tag when the UWB tag is in the second position; determine a first circle with the first position as the center and the first distance as the radius; determine a second circle with the terminal position as the center and the second distance as the radius; determine the second position based on the first circle, the second circle and the moving direction, the first position is the position of the UWB tag before it is in the moving state, and the first position is determined by the UWB signal sent by the UWB tag.

9. The method according to claim 8, characterized in that The method further comprises: In response to the state information indicating the moving state, UWB communication with the terminal through the UWB component is stopped, and the IMU data is sent to the terminal through the target data transmission component.

10. The method according to any one of claims 8 to 9, characterized in that: After the state information indicates that the user is in a moving state, the method further includes: Sending status prompt information to the terminal, where the status prompt information is used to prompt that the UWB tag is in the mobile state.

11. A device for determining the position of a UWB tag, characterized in that: The device is applied to a terminal, and includes: A first determining module, configured to determine status information of a UWB tag; a receiving module, configured to, in response to the status information indicating that the UWB tag is in a mobile state, perform UWB communication with the UWB tag at a target frequency through a UWB component, and receive IMU data sent by the UWB tag through a target data transmission component, wherein the target frequency is lower than a data acquisition frequency of the IMU data, the target data transmission component is different from the UWB component, and the IMU data is acquired by an IMU provided on the UWB tag; A second determination module is configured to determine, in response to not receiving the UWB signal sent by the UWB tag at the IMU data acquisition moment, the second position of the UWB tag at the IMU data acquisition moment based on the IMU data and the first position; in response to receiving the UWB signal sent by the UWB tag at the IMU data acquisition moment, determine, based on the IMU data, the first distance and moving direction corresponding to the UWB tag moving from the first position to the second position; based on the UWB signal, determine the second distance corresponding to the UWB tag when the UWB tag is in the second position; determine a first circle with the first position as the center and the first distance as the radius; determine a second circle with the terminal position as the center and the second distance as the radius; determine the second position based on the first circle, the second circle and the moving direction, wherein the first position is determined based on the UWB signal sent by the UWB tag before the UWB tag is in the moving state.

12. A device for determining the position of a UWB tag, characterized in that: The device is applied to a UWB tag, wherein the UWB tag is provided with an IMU, and the device includes: a third determining module, configured to determine the status information of the UWB tag based on the IMU data collected by the IMU; A first sending module is configured to perform UWB communication with a terminal at a target frequency through a UWB component in response to the status information indicating that the terminal is in a mobile state, and to send the IMU data to the terminal through a target data transmission component, wherein the target frequency is lower than the data acquisition frequency of the IMU data, and the target data transmission component is different from the UWB component. The terminal is configured to determine a second position of the UWB tag at the time of the IMU data acquisition based on the IMU data and the first position in response to not receiving the UWB signal sent by the UWB tag at the time of the IMU data acquisition; and in response to receiving the UWB signal sent by the UWB tag at the time of the IMU data acquisition, based on the The method comprises the steps of: determining a first distance and a moving direction corresponding to the UWB tag moving from the first position to the second position based on the IMU data; determining a second distance corresponding to the UWB tag when the UWB tag is in the second position based on the UWB signal; determining a first circle with the first position as the center and the first distance as the radius; determining a second circle with the terminal position as the center and the second distance as the radius; and determining the second position based on the first circle, the second circle and the moving direction, wherein the first position is the position of the UWB tag before the tag is in the moving state, and the first position is determined by the UWB signal sent by the UWB tag.

13. A terminal, characterized in that: The terminal includes: a processor, a memory, and a UWB component, the processor being electrically connected to the memory and the UWB component respectively, the UWB component being used to establish UWB communication with a UWB tag, the memory storing at least one instruction, the at least one instruction being used to be loaded and executed by the processor to implement the UWB tag location determination method according to any one of claims 1 to 7.

14. A UWB tag, characterized in that: The UWB tag includes: a processor, a memory, a UWB component and an IMU, the processor is electrically connected to the memory, the UWB component and the IMU respectively, the UWB component is used to establish UWB communication with the UWB tag, the IMU is used to collect IMU data of the UWB tag, the memory stores at least one instruction, and the at least one instruction is used to be loaded and executed by the processor to implement the UWB tag position determination method according to any one of claims 8 to 10.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one program code, which is loaded and executed by the processor to implement the method for determining the position of the UWB tag according to any one of claims 1 to 7, or to implement the method for determining the position of the UWB tag according to any one of claims 8 to 10.

16. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the method for determining the position of the UWB tag as described in any one of claims 1 to 7, or the method for determining the position of the UWB tag as described in any one of claims 8 to 10.

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