Positioning method, positioning device and storage medium

Abstract

The application provides a positioning method, a positioning device and a storage medium. The positioning method comprises the following steps: obtaining target data sent by a target object by radiating an electromagnetic wave scanning signal through a target antenna, wherein the target data at least comprises a target parameter used for representing a posture of the target object; determining a positioning parameter based on the target parameter; radiating an electromagnetic wave positioning signal through the target antenna; receiving an electromagnetic wave feedback signal for the electromagnetic wave positioning signal; and positioning the target object based on the electromagnetic wave feedback signal; wherein the positioning parameter acts on at least one of the following steps: the step of radiating the electromagnetic wave positioning signal through the target antenna and the step of positioning the target object based on the electromagnetic wave feedback signal.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning, in particular to a positioning method, a positioning device and a storage medium. BACKGROUND

[0002] At present, many electronic devices support Ultra-Wideband (UWB) technology. Due to the development trend of integration of electronic devices, the UWB antenna is generally arranged on the back of the electronic device. For example, the UWB antenna is arranged on the back of a mobile phone. In this way, when the UWB antenna is used to position a target object (TAG), the back of the mobile phone can only face the target object. This requires that the antenna of the TAG be designed to be very omnidirectional to ensure that the TAG in any pose can be detected. However, it is very difficult to design the TAG antenna to be very omnidirectional. Therefore, the problem needs to be solved. SUMMARY

[0003] The present application is proposed in view of at least one of the above technical problems in the prior art. According to an aspect of the present application, a positioning method is provided, which comprises:

[0004] obtaining target data sent by a target object by radiating an electromagnetic wave scanning signal by a target antenna, the target data comprising at least a target parameter for representing a pose of the target object;

[0005] determining a positioning parameter based on the target parameter;

[0006] radiating an electromagnetic wave positioning signal by the target antenna;

[0007] receiving an electromagnetic wave feedback signal for the electromagnetic wave positioning signal;

[0008] positioning the target object based on the electromagnetic wave feedback signal;

[0009] wherein the positioning parameter acts on at least one of the radiating the electromagnetic wave positioning signal by the target antenna and the positioning the target object based on the electromagnetic wave feedback signal.

[0010] In some embodiments, the target parameter for representing the pose of the target object is different, and the positioning parameter is different.

[0011] In some embodiments, the positioning parameter comprises a transmission power,

[0012] the radiating the electromagnetic wave positioning signal by the target antenna comprises:

[0013] radiating the electromagnetic wave positioning signal based on a transmission power corresponding to the target parameter.

[0014] In some embodiments, the positioning parameter comprises a phase compensation.

[0015] The positioning of the target object based on the electromagnetic wave feedback signal comprises:

[0016] The positioning engine positions the target object based on the electromagnetic wave feedback signal and a phase compensation corresponding to the target parameter.

[0017] In some embodiments, the determination of the positioning parameter based on the target parameter comprises:

[0018] Inquiring a target database based on the target parameter to obtain the positioning parameter corresponding to the target parameter.

[0019] In some embodiments, the target database comprises:

[0020] The positioning parameter corresponding to the target parameter for characterizing different postures of the target object, wherein the different postures of the target object correspond to optimal signal directions formed by the antenna of the target object in different postures.

[0021] Another aspect of the embodiments of the present application provides a positioning method, comprising:

[0022] Obtaining a target parameter, the target parameter characterizing a posture of a target object;

[0023] Based on the obtained electromagnetic wave scanning signal, feeding back target data, wherein the target data at least comprises the target parameter;

[0024] Based on the obtained electromagnetic wave positioning signal, feeding back an electromagnetic wave feedback signal for the electromagnetic wave positioning signal.

[0025] In some embodiments, the target parameter is used for at least one of the following:

[0026] Indicating the positioning device to radiate an electromagnetic wave positioning signal with a transmission power corresponding to the posture characterizing the target object:

[0027] Indicating the positioning device to process the electromagnetic wave feedback signal based on a phase compensation corresponding to the posture characterizing the target object.

[0028] Another aspect of the embodiments of the present application provides a positioning device, the device comprising:

[0029] A first radiation module for radiating an electromagnetic wave scanning signal through a target antenna to obtain target data sent by a target object, the target data at least comprising a target parameter for characterizing a posture of the target object;

[0030] A parameter determination module for determining a positioning parameter based on the target parameter;

[0031] a second radiation module configured to radiate an electromagnetic wave positioning signal through the target antenna;

[0032] a first receiving module configured to receive an electromagnetic wave feedback signal for the electromagnetic wave positioning signal;

[0033] a positioning module configured to position the target object based on the electromagnetic wave feedback signal;

[0034] wherein the positioning parameter acts on at least one of the radiation of the electromagnetic wave positioning signal through the target antenna and the positioning of the target object based on the electromagnetic wave feedback signal.

[0035] In another aspect, the embodiments of the present application provide a positioning device, which comprises:

[0036] a parameter obtaining module configured to obtain a target parameter, the target parameter representing a posture of a target object;

[0037] a first feedback module configured to feed back target data based on the obtained electromagnetic wave scanning signal, wherein the target data at least comprises the target parameter;

[0038] a second feedback module configured to feed back an electromagnetic wave feedback signal for the electromagnetic wave positioning signal based on the obtained electromagnetic wave positioning signal. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 a schematic flow chart of a positioning method according to an embodiment of the present application is shown;

[0040] Figures 2(a) to 2(d) a schematic diagram of a sector in which a target object is located according to an embodiment of the present application is shown;

[0041] Figure 3 a schematic diagram of a target database according to an embodiment of the present application is shown;

[0042] FIG. 4(a) and FIG. 4(b) show schematic diagrams of a target antenna and a target object operating at a preset frequency band of 6G and 8.5GHz according to an embodiment of the present application;

[0043] Figure 5 a schematic flow chart of a positioning method according to another embodiment of the present application is shown;

[0044] Figure 6 a schematic block diagram of a positioning device according to an embodiment of the present application is shown

[0045] Figure 7 a schematic block diagram of a positioning device according to another embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] In order for those skilled in the art to better understand the technical solutions of the embodiments of the present application, the present application will be described in detail below in conjunction with the drawings and specific embodiments.

[0047] With the development of Ultra-Wideband (UWB) technology and the increasing demand for indoor positioning and object finding, more and more electronic devices such as mobile phones begin to support UWB antennas. At the same time, more and more mobile terminals such as mobile phones are equipped with UWB modules and corresponding antennas to support UWB functions, that is, to locate Tags.

[0048] From the perspective of the mobile phone, the number of internal antennas of the mobile phone is very large, which may include 4G antennas, 5G antennas, MIMO receiving antennas, separate WIFI antennas, GPS antennas, NFC antennas, and the like. If a UWB antenna is added, it will bring greater challenges to the already particularly tight space. In order to save space, the UWB antenna is generally arranged on the back of the mobile phone. Only when the antenna of the Tag is consistent with the UWB antenna on the back of the mobile phone (for example, facing) can the mobile phone locate the Tag. However, in general, the Tag is hung on an object (for example, a box) and moves with the object. Therefore, it cannot be guaranteed that the UWB antenna of the mobile phone and the antenna of the Tag are consistent when the mobile phone locates the Tag, resulting in errors in the positioning of the Tag by the mobile phone and inaccuracy.

[0049] To solve at least one of the above technical problems, the present application provides a positioning method, which comprises: radiating an electromagnetic wave scanning signal through a target antenna, obtaining target data transmitted by a target object, the target data comprising at least a target parameter for representing a posture of the target object; determining a positioning parameter based on the target parameter; radiating an electromagnetic wave positioning signal through the target antenna; receiving an electromagnetic wave feedback signal for the electromagnetic wave positioning signal; and positioning the target object based on the electromagnetic wave feedback signal; wherein the positioning parameter acts on at least one of the radiating of the electromagnetic wave positioning signal through the target antenna and the positioning of the target object based on the electromagnetic wave feedback signal. In the present application, the target antenna radiates an electromagnetic wave scanning signal (for example, to determine whether a Tag exists in a space), obtains a target parameter for representing a posture of the target object (for example, the target parameter for representing the posture of the target object can be obtained from the feedback of the target object when the Tag exists), further determines a positioning parameter for positioning, and then radiates an electromagnetic wave positioning signal through the target antenna and receives an electromagnetic wave feedback signal to position the target object (that is, to position the target object relative to a positioning device performing the method provided in the present application in terms of an angle or / and a distance). Since the positioning device performing the method provided in the present application obtains the target parameter for representing the posture of the target object, the positioning device can effectively adjust the positioning process based on UWB to achieve more accurate positioning angle or / and positioning distance.

[0050] Figure 1 A schematic flowchart of a positioning method according to an embodiment of the present application is shown. As shown in the figure, the positioning method 100 according to the embodiment of the present application can comprise the following steps S101, S102, S103, S104 and S105: Figure 1

[0051] In step S101, an electromagnetic wave scanning signal is radiated through a target antenna, and target data transmitted by a target object is obtained, the target data comprising at least a target parameter for representing a posture of the target object.

[0052] The target antenna and the target object in the present application can communicate through an Ultra-Wideband (UWB) communication mode. UWB technology is a low-power wireless radio technology applied in the field of wireless communication, which realizes wireless communication by using nanosecond or sub-nanosecond pulses. It does not need to generate a continuous high-frequency carrier, but only needs to generate a pulse with a very short time interval (less than nS), so it is also called Impulse Radio (IR). When transmitting information by using UWB technology, information transmission can be realized by changing the amplitude, time and phase of the pulse. The use of UWB technology has the following advantages:

[0053] ​First, the positioning accuracy is high, and the UWB positioning accuracy can be sub-meter level;

[0054] Second, the power consumption is small, and the UWB device has very small power consumption and can be used continuously for several months. The power saving technology is higher and can be used continuously for more than half a year;

[0055] Third, the anti-interference ability is strong, and the UWB positioning adopts a pulse with a very short time interval (for example, less than 1 ns) for communication, which has strong anti-interference ability;

[0056] Fourth, the system architecture is simple, and the UWB positioning system mainly consists of a positioning tag, a positioning base station and positioning software, and the system architecture is simple.

[0057] In one specific embodiment of the present application, the positioning device such as a mobile phone that executes the method provided in the embodiment can include a first UWB module and a target antenna corresponding to the first UWB module, and a second UWB module is included in the target object. The first UWB module and the second UWB module can establish a communication connection, that is, the first UWB module radiates an electromagnetic wave scanning signal to obtain target data of the second UWB module, and a target parameter for representing the posture of the target object is obtained from the target data. The target object is integrated with an acceleration sensor (G-sensor) and / or an electronic compass (E-compass), so that the target object can determine its own posture, that is, determine the target parameter, through the acceleration sensor (G-sensor) and / or the electronic compass (E-compass). In one specific example, the target parameter can be the current sensing value of the acceleration sensor (G-sensor) and / or the electronic compass (E-compass). The sensing value, that is, the target parameter, is carried as information of the electromagnetic wave feedback signal in response to the electromagnetic wave scanning signal, so that the positioning device such as a mobile phone that executes the method provided in the embodiment obtains the target parameter.

[0058] In the embodiment of the present application, the positioning device that executes the method provided in the embodiment can be an electronic device or a hardware module in the electronic device. The electronic device can include one or more memories and one or more processors, and the memories store computer programs that are run by the processors. The computer programs, when run by the processors, make the processors execute the positioning method of the embodiment of the present application. The electronic device can be part or all of a computer device that can realize the design method of the power device layout by software, hardware or a combination of software and hardware.

[0059] The electronic device includes one or more memories, one or more processors, a display (not shown), a communication interface, and the like, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown). It should be noted that the components and structures of the electronic device are only exemplary and are not restrictive, and the electronic device can also have other components and structures as needed.

[0060] The memory is used to store various data generated during the operation of the relevant train and executable program instructions, such as algorithms for storing various application programs or implementing various specific functions. One or more computer program products can be included, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory and the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory and the like.

[0061] The processor can be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can be other components in the electronic device to perform desired functions.

[0062] In one example, the electronic device further includes an output device that can output various information (such as images or sounds) to the outside (such as a user), and can include one or more of a display device, a speaker, and the like.

[0063] The communication interface can be an interface of any communication protocol known at present, such as a wired interface or a wireless interface, wherein the communication interface can include one or more serial ports, USB interfaces, Ethernet ports, WiFi, wired networks, DVI interfaces, device integrated interconnection modules or other suitable various ports, interfaces, or connections.

[0064] At step S102, the positioning parameter is determined based on the target parameter.

[0065] In an embodiment of the present application, the determining the positioning parameter based on the target parameter includes: querying a target database based on the target parameter to obtain the positioning parameter corresponding to the target parameter.

[0066] In the embodiment of the present application, the target parameter for representing the posture of the target object is different, and the positioning parameter is different. Therefore, the positioning parameter corresponding to the target parameter needs to be obtained by querying a target database. The target database can be pre-stored in an electronic device provided with the target antenna, so that when the target antenna receives the target parameter, the positioning parameter corresponding to the target parameter can be searched in the target database.

[0067] The positioning parameter acts on at least one of the following: the electromagnetic wave positioning signal radiated by the target antenna and the positioning of the target object based on the electromagnetic wave feedback signal.

[0068] In step S103, the electromagnetic wave positioning signal is radiated by the target antenna.

[0069] In step S104, the electromagnetic wave feedback signal for the electromagnetic wave positioning signal is received.

[0070] In step S105, the target object is positioned based on the electromagnetic wave feedback signal.

[0071] In one embodiment of the present application, the positioning parameter includes the transmission power. Accordingly, the electromagnetic wave positioning signal radiated by the target antenna includes radiating the electromagnetic wave positioning signal based on the transmission power corresponding to the target parameter. The positioning device for performing the method provided in the embodiment obtains the target parameter representing the posture of the target object, obtains the transmission power corresponding to the target parameter by querying the target database (i.e., the target parameter representing the posture of the target object is different, and the transmission power of the electromagnetic wave positioning signal is different), and radiates the electromagnetic wave positioning signal with the transmission power. Since the posture of the Tag is determined before the electromagnetic wave positioning signal is transmitted, when the antenna of the Tag and the UWB antenna on the back of the mobile phone do not correspond to each other (e.g., are not oriented in the same direction), the Tag is effectively and accurately positioned by adjusting the transmission power of the electromagnetic wave positioning signal.

[0072] In another embodiment of the present application, the positioning parameter includes phase compensation.

[0073] Correspondingly, the positioning the target object based on the electromagnetic wave feedback signal comprises: a positioning engine positioning the target object based on the electromagnetic wave feedback signal and a phase compensation corresponding to the target parameter. The positioning device performing the method provided in the embodiment obtains the target parameter representing the posture of the target object, and obtains the phase compensation corresponding to the target parameter by querying a target database (i.e., the target parameter represents a different posture of the target object, and the positioning engine is configured with a different phase compensation). That is, the embodiment acts on the positioning engine, and the positioning engine calculates the angle and / or distance of the target object relative to the positioning device performing the method provided in the embodiment based on the electromagnetic wave positioning signal, the electromagnetic wave feedback signal, and the phase compensation corresponding to the posture of the target object. The embodiment of the application determines the posture of the Tag before obtaining the electromagnetic wave feedback signal for the electromagnetic wave positioning signal, so that when the antenna of the Tag and the UWB antenna on the back of the mobile phone do not correspond (e.g., are not oriented) to each other, the phase compensation corresponding to the current posture of the Tag is configured to the positioning engine, so that the positioning engine determines the angle and / or distance of the target object relative to the positioning device performing the method provided in the embodiment based on the electromagnetic wave positioning signal and the electromagnetic wave feedback signal when the antenna of the Tag and the UWB antenna on the back of the mobile phone do not correspond (e.g., are not oriented) to each other. The pair of Tags is effective and accurately positioned.

[0074] In another embodiment of the application, the positioning parameters include the transmission power and the phase compensation. That is, the embodiment acts on both the radiation of the electromagnetic wave positioning signal and the positioning engine. The same description as the above two embodiments is not repeated in this embodiment. Since the embodiment not only adjusts the transmission power corresponding to the posture of the target object, but also configures the phase compensation corresponding to the posture of the target object for the positioning engine, the process of positioning the target object based on the UWB can be more accurate.

[0075] In the embodiment of the application, the positioning engine receives the electromagnetic wave feedback signal of the target object from the target antenna, and can calculate the distance and / or angle of the electronic device including the target antenna and the target object based on an Angle-of-Arrival (AoA) ranging algorithm and / or a Phase-Difference-of-Arrival (PDOA) angle measurement algorithm. The AoA ranging algorithm is a positioning algorithm based on the angle of arrival of a signal, which perceives the direction of arrival of a signal from a transmitting node through certain hardware devices, calculates the relative position or angle between a receiving node and an anchor node, and then calculates the position of an unknown node by using a triangulation method or other methods. This algorithm has low communication overhead and high positioning accuracy.

[0076] PDOA is an indoor positioning algorithm, which calculates the round-trip distance by measuring the phase difference to obtain the round-trip propagation time of the signal. The principle of PDOA positioning algorithm is as follows: two same antennas are placed on the UWB base station with an interval of d<λ / 2, and the phase difference of the signal arriving at the two antennas is within the range of-180° to 180°. The measured phase difference is converted into distance difference (P), the distance r is obtained by time of flight, and finally the coordinate value is obtained.

[0077] In one specific embodiment, as shown in Figures 2(a) to 2(d) , the antenna of the target object (Tag) forms a radiation pattern, as shown in Fig. 2(d). The antenna of the target object determines the radiation pattern of the antenna, which is determined to be constant. As shown in Fig. 2(d), if the target object is directed against the UWB target antenna of the mobile phone in the upward arrow in Fig. 2(d), the signal of the target object is strong; the mobile phone can effectively locate the target object; if the arrow shown by Y is directed against the UWB target antenna of the mobile phone, the signal of the target object is weak, and the mobile phone cannot effectively locate the target object. Therefore, according to the different postures of the target object, the radiation pattern is divided into 4, 8 or more sectors, that is, each sector represents a posture of the target object; as shown in Figure 2a -2c. In one embodiment of the present application, as shown in Figure 3 , the target database construction method, the mobile phone end calibrates each sector to determine the calibration parameters (i.e., positioning parameters). And store the calibration parameters of different sectors. That is, multiple sets of calibration parameters represent the amplitude and phase information of the target object pointing to the target antenna of the mobile phone from different angles, as well as the UWB chip internal gain and phase supplement information, etc., and are stored in the target database.

[0078] In a specific embodiment of the present application, the target antenna is arranged on the back of the mobile phone, and the target database can be pre-stored in the mobile phone. When the mobile phone is required to be used to locate the TAG, the target antenna in the mobile phone first radiates an electromagnetic wave scanning signal. After receiving the electromagnetic wave scanning signal, the TAG sends the target parameters of the TAG, i.e. the posture information of the TAG, to the mobile phone. After receiving the posture information of the TAG, the mobile phone searches the target database pre-stored in the mobile phone according to the posture information of the TAG, and determines the transmission power and phase compensation according to the corresponding relationship between the posture information and the transmission power and phase compensation stored in the target database. Then the mobile phone radiates an electromagnetic wave positioning signal using the corresponding transmission power, and performs corresponding phase compensation on the electromagnetic wave feedback signal received for the electromagnetic wave positioning signal, and calculates the distance between the TAG and the mobile phone according to the compensated phase information, so as to locate the TAG. When the TAG is in a relatively ideal direction, the detection angle obtained by the mobile phone is relatively accurate, and the calculated distance is also relatively accurate. When the TAG is in a relatively poor direction, the mobile phone performs phase compensation on the detection angle, and then calculates the distance between the mobile phone and the TAG according to the compensated phase, and the calculated distance is also relatively accurate.

[0079] In other embodiments of the present application, since only low antenna gain and low sensitivity are required for communication, the target antenna and the target object can first be made to establish a communication relationship by using Bluetooth or UWB, so that the target antenna obtains the positioning parameters. Then the target antenna radiates an electromagnetic wave positioning signal, receives an electromagnetic wave feedback signal for the electromagnetic wave positioning signal, and then uses the above-mentioned AoA ranging algorithm and PDOA angle measurement algorithm to calculate the angle and distance between the target antenna and the target object, thereby completing the positioning of the target object. In this way, the energy consumption of the target antenna can be saved, and the purpose of energy saving can be achieved.

[0080] In another embodiment of the present application, the target antenna and the target object can work at different preset frequency bands. For example, as shown in FIG. 4, it is a schematic diagram of the target antenna and the target object working at preset frequency bands of 6G and 8.5GHz. Accordingly, when constructing the target database, different positioning parameters corresponding to different target parameters of the target antenna and the target object working at the two frequency bands of 6G and 8.5G need to be stored respectively.

[0081] The embodiments of the present application can realize more accurate detection angle and detection distance, and more accurate positioning, by radiating an electromagnetic wave scanning signal by the target antenna, obtaining target parameters representing the posture of the target object, and further determining positioning parameters for positioning, and then radiating an electromagnetic wave positioning signal by the target antenna and receiving an electromagnetic wave feedback signal to locate the target object.

[0082] As Figure 5Fig. 5 shows a schematic flowchart of a positioning method according to an embodiment of the present application. The positioning method 500 according to an embodiment of the present application can comprise the following steps S501, S502 and S503.

[0083] In step S501, a target parameter is obtained, the target parameter representing a pose of a target object.

[0084] In step S502, target data is fed back based on the obtained electromagnetic wave scanning signal, wherein the target data comprises at least the target parameter.

[0085] In one specific example, the target parameter can be an azimuth angle of the target object. After the target object and the target antenna establish a wireless connection through UWB technology, the target object shares its azimuth angle to the target antenna. The target object can obtain its azimuth angle by using an acceleration sensor (G-sensor) and / or an electronic compass (E-compass), wherein the azimuth angle can have a certain error.

[0086] In step S503, an electromagnetic wave feedback signal is fed back for the electromagnetic wave positioning signal based on the obtained electromagnetic wave positioning signal.

[0087] In one embodiment of the present application, the target parameter is used for at least one of the following:

[0088] indicating the positioning device to radiate the electromagnetic wave positioning signal at a transmission power corresponding to the pose of the target object:

[0089] indicating the positioning device to compensate the electromagnetic wave feedback signal based on a phase corresponding to the pose of the target object.

[0090] In one specific example of the present application, the target antenna can comprise a first UWB module, and the target antenna can be arranged on various electronic devices, such as a mobile phone. The target object can comprise a second UWB module, and the target object can be a tag. The target object can be physically connected to an object to be positioned, such as a key. Since the target antenna can be arranged on the back of the mobile phone, the target antenna requires the tag to be designed to be very omnidirectional when the target antenna establishes a connection with the tag. According to an embodiment of the present application, when the target antenna establishes a connection with the tag, the target antenna can obtain the target parameter of the tag (e.g., the azimuth angle of the tag), and further obtain the positioning parameter of the target object (e.g., the calibration parameter corresponding to the azimuth angle of the tag) according to the target parameter. Then the target antenna radiates the electromagnetic wave positioning signal, and receives the electromagnetic wave feedback signal sent by the target object, and uses the AoA ranging algorithm and / or the PDOA angle measurement algorithm to position the target object according to the calibration parameter obtained in the previous step.

[0091] As Figure 6The diagram shown is a schematic block diagram of a positioning device according to an embodiment of this application. The positioning device 500 of this embodiment includes a first radiation module 601, a parameter determination module 602, a second radiation module 603, a first receiving module 604, and a positioning module 605.

[0092] The first radiation module 601 is used to radiate electromagnetic wave scanning signals through the target antenna to obtain target data sent by the target object. The target data includes at least target parameters used to characterize the attitude of the target object.

[0093] Parameter determination module 602 is used to determine positioning parameters based on the target parameters;

[0094] The second radiation module 603 is used to radiate electromagnetic wave positioning signals through the target antenna;

[0095] The first receiving module 604 is used to receive electromagnetic wave feedback signals for the electromagnetic wave positioning signal.

[0096] Positioning module 605 is used to locate the target object based on the electromagnetic wave feedback signal;

[0097] The positioning parameters apply to at least one of the positioning signal radiated by the target antenna and the positioning of the target object based on the electromagnetic wave feedback signal.

[0098] like Figure 7 The diagram shown is a schematic block diagram of a positioning device according to an embodiment of this application. The positioning device 700 of this embodiment includes a parameter acquisition module 701, a first feedback module 702, and a second feedback module 703.

[0099] The parameter acquisition module 701 is used to acquire target parameters, which characterize the attitude of the target object.

[0100] The first feedback module 702 is used to feed back target data based on the obtained electromagnetic wave scanning signal, wherein the target data includes at least the target parameters.

[0101] The second feedback module 703 is used to provide an electromagnetic wave feedback signal based on the obtained electromagnetic wave positioning signal.

[0102] In addition, according to an embodiment of the present application, a storage medium is also provided, and program instructions are stored in the storage medium, and the program instructions are used to execute corresponding steps of the positioning method of the embodiment of the present application when the program instructions are run by a computer or a processor. The storage medium may, for example, include a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media.

[0103] The positioning device and the storage medium of the embodiment of the present application have the same advantages as the positioning method described above, because the positioning device and the storage medium can implement the positioning method described above.

[0104] Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the example embodiments are merely exemplary and are not intended to limit the scope of the present application. Those of ordinary skill in the art can make various changes and modifications without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

[0105] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be realized by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0106] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be omitted or not executed.

[0107] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not described in detail in order not to obscure the understanding of the present specification.

[0108] Similarly, it is to be understood that the features of the present application that are of a generic nature can be equally applied to any one or more of the various aspects described herein, and vice versa, unless there are specific features of a particular aspect that are incompatible with a generic feature. Similarly, it is to be understood that, for brevity and clarity of the description, various aspects of the application are sometimes grouped together in a single embodiment, drawing, or description thereof. However, this is not to be interpreted as reflecting an intention that the application requires more features than are explicitly recited in each claim. Thus, the claims following, appropriately relate to the embodiment with independence as to each of their separate aspects. Moreover, use of "first" and "second" in the description is only to distinguish one feature from another and is not to be construed as indicating a relative importance of the one feature over the other feature.

[0109] Those skilled in the art will appreciate that all features described herein (including all features of the accompanying claims, abstract and drawings) can be taken in any combination and that the disclosure of this document (including the accompanying claims, abstract, and drawings) teaches from a combination of all disclosed features at least the presently claimed application. Each feature disclosed in this document (including the accompanying claims, abstract, and drawings) can be replaced by alternative features serving the same, equivalent, or a similar purpose, unless expressly stated otherwise.

[0110] Furthermore, those skilled in the art will recognize that references in the specification to "one embodiment", "an embodiment", "an example embodiment", means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily referring to a single, "one embodiment".

[0111] Various component embodiments of the application can be implemented in hardware, or as software modules running in one or more processors, or in combinations thereof. Those skilled in the art will appreciate that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the application. The application can also be implemented as a program (e.g., computer program and computer program product) for performing part or all of the methods described herein. Such program(s) of the present application can be stored on a computer readable medium, or can be transmitted over a network. Such a computer program product can cause a computer to perform the methods according to the embodiments of the application when said program is executed on a computer. Such a computer program product can be downloaded from an internet website, or provided on a carrier medium, or in any other form.

[0112] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unitary claim, several devices or sub-claims can be joined by means of the expression "and / or". The use of the term "at least" followed by a list of one or more items should be interpreted as including at least one of the items but it does not exclude the presence of others not listed. The use of the term "one" followed by a list of one or more items should be interpreted as including at least one of the items but it does not exclude the presence of others not listed. It is emphasized that the terms "comprises / comprising" when used in this specification are taken to specify the presence of stated features, integers, steps or components but do not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.

[0113] The above description is only specific embodiments of the present application or specific explanations of specific embodiments, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, and all of them should be covered in the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A positioning method, comprising: obtaining target data transmitted by a target object via Bluetooth communication between the target object and a positioning device, the target data comprising at least a target parameter used to represent a posture of the target object, the posture of the target object being determined by the target object using an acceleration sensor and / or an electronic compass integrated in the target object; querying a target database based on the target parameter to obtain a positioning parameter corresponding to the target parameter, the target database pre-storing a correspondence between the target parameter and the positioning parameter; radiating an electromagnetic wave positioning signal via a target antenna; receiving an electromagnetic wave feedback signal corresponding to the electromagnetic wave positioning signal; positioning the target object based on the electromagnetic wave feedback signal to position the target object via ultra-wideband communication, wherein the positioning parameter is used in at least one of the radiating of the electromagnetic wave positioning signal via the target antenna and the positioning of the target object based on the electromagnetic wave feedback signal. 2.The method of claim 1, wherein the target parameter used to represent the posture of the target object is different, and the positioning parameter is different. 3.The method of claim 2, wherein the positioning parameter comprises a transmission power, the radiating of the electromagnetic wave positioning signal via the target antenna comprises: radiating the electromagnetic wave positioning signal based on the transmission power corresponding to the target parameter. 4.The method of claim 2 or 3, wherein the positioning parameter comprises a phase compensation, the positioning of the target object based on the electromagnetic wave feedback signal comprises: positioning the target object by a positioning engine based on the electromagnetic wave feedback signal and the phase compensation corresponding to the target parameter. 5.The method of claim 1, wherein the target database comprises: the positioning parameter corresponding to the target parameter used to represent different postures of the target object, wherein the different postures of the target object correspond to optimal signal directions formed by an antenna of the target object in different postures. 6.A positioning method, comprising: obtaining a target parameter representing a posture of a target object, the posture of the target object being determined by the target object using an acceleration sensor and / or an electronic compass integrated in the target object; feeding back target data via Bluetooth communication, wherein the target data comprises at least the target parameter; obtaining an electromagnetic wave positioning signal via ultra-wideband communication and feeding back an electromagnetic wave feedback signal corresponding to the electromagnetic wave positioning signal. 7.The method of claim 6, wherein the target parameter is used for at least one of: indicating a positioning device to radiate an electromagnetic wave positioning signal at a transmission power corresponding to the posture of the target object; and indicating the positioning device to process the electromagnetic wave feedback signal based on a phase compensation corresponding to the posture of the target object. 8.A positioning device, comprising: a first radiating module configured to perform Bluetooth communication and obtain target data transmitted by a target object, the target data comprising at least a target parameter used to represent a posture of the target object, the posture of the target object being determined by the target object using an acceleration sensor and / or an electronic compass integrated in the target object; A parameter determining module is configured to query a target database based on the target parameter to obtain a positioning parameter corresponding to the target parameter, and the target database pre-stores a corresponding relationship between the target parameter and the positioning parameter; A second radiation module is configured to perform ultra-wideband communication and radiate an electromagnetic wave positioning signal through a target antenna; A first receiving module is configured to receive an electromagnetic wave feedback signal for the electromagnetic wave positioning signal; A positioning module is configured to position the target object based on the electromagnetic wave feedback signal to position the target object in an ultra-wideband communication manner; The positioning parameter is used in at least one of the radiation of the electromagnetic wave positioning signal through the target antenna and the positioning of the target object based on the electromagnetic wave feedback signal.

9. A positioning device, comprising: An obtaining parameter module is configured to obtain a target parameter, and the target parameter represents a target object posture, and the target object posture is determined by a target object using an acceleration sensor and / or an electronic compass integrated in the target object; A first feedback module is configured to feed back target data in a Bluetooth communication manner, and the target data at least includes the target parameter; A second feedback module is configured to obtain an electromagnetic wave positioning signal in an ultra-wideband communication manner and feed back an electromagnetic wave feedback signal for the electromagnetic wave positioning signal.

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