Positioning method and apparatus, electronic device, and storage medium

Abstract

The application discloses a positioning method and device, electronic equipment and storage medium, belongs to the communication technical field, is applied to electronic equipment, includes first main body and second main body, first antenna, second antenna and third antenna are arranged on the first main body, the fifth antenna is arranged on the side of the first main body, the fourth antenna is arranged on the side of the second main body, the method comprises the following steps: receiving the positioning signal corresponding to the positioning target using each antenna;Whether the positioning target is in the measurement range of the first antenna and the third antenna is judged according to the measurement result of the first antenna and the third antenna;In the case of being in the measurement range, the incidence angle of the positioning target is determined based on the measurement result of the first antenna and the third antenna to the positioning signal;In the case of not being in the measurement range, the incidence angle of the positioning target is determined based on the measurement result of the fourth antenna and the fifth antenna to the positioning signal;The position of the positioning target is determined based on the incidence angle of the positioning target and the measurement result of each antenna to the positioning signal.

Description

TECHNICAL FIELD

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

[0002] In the related art, an Ultra Wide Band (UWB) antenna can be in the form of a Patch antenna on an electronic device for 3D Angle-of-Arrival (AOA) ranging, which requires three antennas; a switch controlled by a General Purpose Input Output (GPIO) can be used to select an antenna pair to measure azimuth and elevation information.

[0003] However, due to the limitations of 3D AOA ranging, the positioning measurement result is low in accuracy. SUMMARY

[0004] Embodiments of the present application provide a positioning method, device, electronic equipment and storage medium, which can solve the problem of low positioning measurement accuracy.

[0005] In a first aspect, embodiments of the present application provide a positioning method applied to an electronic device, the electronic device comprising a first body and a second body, the first body and the second body being rotationally connected by a connecting device, the first body being provided with a first antenna, a second antenna and a third antenna, the first antenna, the second antenna and the third antenna not being on the same straight line; the first body being provided with a fifth antenna on a side close to the connecting device, the second body being provided with a fourth antenna on a side close to the connecting device, the method comprising:

[0006] receiving a positioning signal corresponding to a positioning target by using the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna;

[0007] judging whether the positioning target is within a measurement range of the first antenna and the third antenna according to measurement results of the positioning signal by the first antenna and the third antenna;

[0008] in a case where the positioning target is within the measurement range of the first antenna and the third antenna, determining an incident angle of the positioning target based on the measurement results of the positioning signal by the first antenna and the third antenna;

[0009] in a case where the positioning target is not within the measurement range of the first antenna and the third antenna, determining the incident angle of the positioning target based on measurement results of the positioning signal by the fourth antenna and the fifth antenna;

[0010] determine the position of the positioning target based on the incident angle of the positioning target and the measurement results of the positioning signal by the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna.

[0011] In a second aspect, an embodiment of the present application provides a positioning device, applied to an electronic device, the electronic device comprising a first body and a second body, the first body and the second body being rotationally connected through a connecting device, the first body being provided with a first antenna, a second antenna and a third antenna, the first antenna, the second antenna and the third antenna not being on the same straight line; the first body being provided with a fifth antenna on a side close to the connecting device, the second body being provided with a fourth antenna on a side close to the connecting device, the device comprising:

[0012] a signal receiving module, configured to receive a positioning signal corresponding to a positioning target by using the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna;

[0013] a judging module, configured to judge whether the positioning target is in a measurement range of the first antenna and the third antenna according to measurement results of the positioning signal by the first antenna and the third antenna;

[0014] an incident angle determining module, configured to determine an incident angle of the positioning target based on the measurement results of the positioning signal by the first antenna and the third antenna in a case that the positioning target is in the measurement range of the first antenna and the third antenna;

[0015] the incident angle determining module is further configured to determine the incident angle of the positioning target based on measurement results of the positioning signal by the fourth antenna and the fifth antenna in a case that the positioning target is not in the measurement range of the first antenna and the third antenna;

[0016] a position determining module, configured to determine the position of the positioning target based on the incident angle of the positioning target and the measurement results of the positioning signal by the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna.

[0017] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions being executed by the processor to implement the steps of the method according to the first aspect.

[0018] In a fourth aspect, an embodiment of the present application provides a readable storage medium, the readable storage medium storing programs or instructions, the programs or instructions being executed by a processor to implement the steps of the method according to the first aspect.

[0019] In a fifth aspect, an embodiment of the present application provides a chip, which comprises a processor and a communication interface, the communication interface is coupled with the processor, and the processor is configured to run programs or instructions to implement the method in the first aspect.

[0020] In a sixth aspect, an embodiment of the present application provides a computer program product stored in a storage medium, which is executed by at least one processor to implement the method in the first aspect.

[0021] In the embodiment of the present application, the antenna is additionally arranged on the side of the electronic device comprising two main bodies, and the fourth antenna and the fifth antenna arranged on the side of the electronic device comprising two main bodies are used to measure the positioning signal in the case that the positioning target is not in the measurement range of the first antenna and the third antenna arranged on the first main body, so as to determine the incident angle of the positioning target, compensate for the limitation of the 3D AOA technology in the positioning measurement in the case that only three antennas are arranged on the first main body, expand the angle measurement range, and improve the measurement accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic diagram of the antenna for 3D AOA measurement provided by the related art;

[0023] Figure 2 is a reference schematic diagram of the positioning principle provided by the related art;

[0024] Figure 3 is a flowchart of the positioning method provided by an embodiment of the present application;

[0025] Figure 4 is a schematic diagram of the antenna distribution provided by an embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the relationship between the angle measurement coverage range and accuracy and the antenna electric spacing provided by the related art;

[0027] Figure 6 is a schematic diagram of the relationship between the angle measurement coverage range and accuracy and the antenna electric spacing provided by an embodiment of the present application;

[0028] Figure 7 is a schematic diagram of the relationship between the angle measurement coverage range and accuracy and the antenna electric spacing provided by an embodiment of the present application;

[0029] Figure 8 is a schematic diagram of the measurement range judgment provided by an embodiment of the present application;

[0030] Figure 9 is a schematic diagram of the measurement range judgment provided by an embodiment of the present application;

[0031] Figure 10 FIG. 3 is a third diagram of a measurement range determination provided by an embodiment of the present application;

[0032] Figure 11 FIG. 4 is a third diagram of a relationship between an angle measurement coverage range and accuracy and an antenna electrical distance provided by an embodiment of the present application;

[0033] Figure 12 FIG. 5 is a diagram of mirror flipping provided by an embodiment of the present application;

[0034] Figure 13 FIG. 6 is a second diagram of a positioning method provided by an embodiment of the present application;

[0035] Figure 14 FIG. 7 is a structural diagram of a positioning apparatus provided by an embodiment of the present application;

[0036] Figure 15 FIG. 8 is a structural diagram of an electronic device provided by an embodiment of the present application;

[0037] Figure 16 FIG. 9 is a hardware structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0039] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally represents a "or" relationship between the front and rear associated objects.

[0040] First, the following is introduced:

[0041] Figure 1 FIG. 1 is an antenna diagram of 3D AOA measurement provided by related art, as shown in FIG. 1, in related art, the UWB antenna can be in the form of a patch antenna on an electronic device to perform 3D AOA, and 3D AOA requires 3 antennas (ANT1, ANT2, ANT3); Figure 1 ​

[0042] Wherein, the antenna pairs can be selected to measure the azimuth and elevation information by using the switches controlled by the GPIO. When the mobile phone is placed vertically, the horizontal arc can be determined based on the measurement results of ANT1 and ANT3, and the vertical arc can be determined based on the measurement results of ANT1 and ANT2, and the two arcs intersect to determine a point in space; and ANT0 is a relatively independent antenna, only having a ranging function.

[0043] Positioning principle:

[0044] Figure 2 The positioning principle provided by the related art is a reference schematic diagram, as shown in Figure 2 The theoretical phase difference of arrival (PDoA) Wherein, d is the interval (electric distance) between the antennas, λ is the working wavelength, and θ is the angle of arrival; the distance between the positioning target and the center of each antenna is D, D is very large, generally more than several times of λ, and D >> d, so that θ1 = θ2 = θ can be regarded.

[0045] The distance difference between the wave of the positioning signal reaching the first antenna and the second antenna is d1 = dcosθ, so the required time is That is, the time difference of arrival (TDOA). Since the distance can also be written as Therefore, the phase difference of arrival is It can be obtained that

[0046] Because Must be less than 180° to ensure monotonicity to avoid ambiguity in the AoA result, so d must satisfy For example, for a wave as high as 8.24 GHz, d must be <18mm, otherwise more than one phase period, and a flip phenomenon occurs.

[0047] In order to make up for the limitations brought by the above-mentioned three-antenna measurement positioning and improve the measurement accuracy, the embodiments of the present application provide a positioning method, device, electronic equipment and storage medium.

[0048] The positioning method, device, electronic equipment and storage medium provided by the embodiments of the present application will be described in detail in combination with the drawings, specific embodiments and application scenarios.

[0049] Figure 3is a flowchart of a positioning method provided by an embodiment of the present application. The execution subject of the method is an electronic device, which includes a first body and a second body. The first body and the second body are rotationally connected through a connecting device. The first body is provided with a first antenna, a second antenna and a third antenna. The first antenna, the second antenna and the third antenna are not on the same straight line. The first body is provided with a fifth antenna on the side close to the connecting device. The second body is provided with a fourth antenna on the side close to the connecting device. The method includes the following steps.

[0050] In step 300, the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna are used to receive a positioning signal corresponding to a positioning target.

[0051] Optionally, the straight line on which the first antenna and the third antenna are located is parallel to, or close to parallel with, the straight line on which the fourth antenna and the fifth antenna are located.

[0052] Optionally, the straight line on which the first antenna and the third antenna are located is perpendicular to, or close to perpendicular with, the straight line on which the first antenna and the second antenna are located.

[0053] Optionally, the electronic device can be a folding mobile phone, a folding tablet, a folding notebook computer or the like, and the embodiments of the present application do not limit the electronic device.

[0054] Figure 4 is an antenna distribution diagram provided by an embodiment of the present application. As shown in the figure, the first body is provided with a first antenna ANT1, a second antenna ANT2 and a third antenna ANT3. The first body is provided with a fifth antenna ANT0 on the side close to the connecting device. The second body is provided with a fourth antenna ANT4 on the side close to the connecting device. Figure 4

[0055] Compared with the related art, the fourth antenna added on the side of the second body can effectively expand the angle measurement range and improve the measurement accuracy.

[0056] Optionally, the fifth antenna can be arranged at any position on the side of the first body, and the fourth antenna can be arranged at a position on the side of the second body aligned with the fifth antenna.

[0057] Optionally, the fifth antenna can be arranged at any position on the side of the first body, and the fourth antenna can be arranged at any position on the side of the second body. The fourth antenna and the fifth antenna can be arranged non-alignedly.

[0058] Optionally, the fifth antenna can be arranged at the top of the side of the first body, and the fourth antenna can be arranged at the top of the side of the second body.

[0059] ​Optionally, the fifth antenna can be arranged at the bottom of the side of the first main body, and the fourth antenna can be arranged at the bottom of the side of the second main body.

[0060] Optionally, the fifth antenna can be arranged at the middle of the side of the first main body, and the fourth antenna can be arranged at the middle of the side of the second main body.

[0061] Optionally, the fifth antenna can be arranged at the middle of the side of the first main body, and the fourth antenna can be arranged at the middle of the side of the second main body.

[0062] Optionally, the fifth antenna can be arranged at the middle of the side of the first main body, and the fourth antenna can be arranged at the middle of the side of the second main body.

[0063] Optionally, the electric distance d' between the fifth antenna and the fourth antenna is less than 18 mm.

[0064] Optionally, after the fourth antenna is added, the fourth antenna and the fifth antenna can determine a new horizontal arc on the side of the electronic device based on the positioning signal. The horizontal arc determined by the fourth antenna and the fifth antenna based on the positioning signal, and the horizontal arc determined by the first antenna and the third antenna based on the positioning signal, can cover a range of more than 180° (but less than 270°), which is obviously improved compared with the incident angle measurement range of 180° in the related art.

[0065] Optionally, the positioning signal corresponding to the positioning target can be a signal sent by the positioning target for positioning.

[0066] Optionally, the positioning signal corresponding to the positioning target can be a signal reflected back by the positioning target after being emitted by the electronic device.

[0067] Optionally, the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna can respectively receive the positioning signal corresponding to the positioning target, and obtain measurement results based on the positioning measurement principle, to realize positioning of the positioning target.

[0068] In the embodiments of the present application, by adding antennas on the side of the electronic device including two main bodies, and measuring the positioning signal based on the fourth antenna and the fifth antenna arranged on the side of the electronic device with two main bodies in the case that the positioning target is not in the measurement range of the first antenna and the third antenna arranged on the first main body, the incident angle of the positioning target is determined, the limitation of the 3D AOA technology of arranging only three antennas on the first main body in positioning measurement is made up, the angle measurement range is expanded, and the measurement accuracy is improved.

[0069] Optionally, the antenna electric distance of the first antenna, the second antenna and the third antenna is greater than a preset distance threshold.

[0070] Figure 5 is a schematic diagram of the relationship between the angle measurement coverage and accuracy and the antenna electrical distance provided by the related art, as shown in Figure 5 As shown in the figure, in the case where only ANT1, ANT2, and ANT3 exist, except for the side antenna ANTO, the other three antennas constitute a Patch antenna range-finding and angle-finding coverage and accuracy that is strongly related to the antenna electrical distance d: when the electrical distance d is large, the PDOA vs AoA curve is steep, that is, the accuracy and resolution are high, but the phase difference at a large angle will touch ±180°, causing phase deflection and angle measurement error; when the electrical distance d is small, phase rollover does not occur, but the curve is relatively flat, resulting in a decrease in accuracy and resolution.

[0071] According to the PDOA angle measurement principle and the influence of the electrical distance d on the PDOA measurement range and accuracy, the effective range of the incident angle θ (i.e., the range of θ when phase rollover does not occur) is determined by Once the electrical distance d and the wavelength λ are determined, the effective range of the incident angle θ is also determined, and increasing the electrical distance d can reduce the effective range of the incident angle θ, which can improve the measurement accuracy.

[0072] Alternatively, the preset distance threshold can be the antenna electrical distance of the first antenna, the second antenna, and the third antenna in the related art, or slightly larger than the antenna electrical distance of the first antenna, the second antenna, and the third antenna in the related art.

[0073] Therefore, the antenna electrical distance of the first antenna, the second antenna, and the third antenna can be increased, and the accuracy and resolution of the positioning measurement can be improved.

[0074] In one embodiment, Figure 6 is one of the schematic diagrams of the relationship between the angle measurement coverage and accuracy and the antenna electrical distance provided by the embodiments of the present application, as shown in Figure 6 The image with the increased electrical distance of 27 mm and the original electrical distance of 18 mm are shown. When the frequency is 8420 MHz, the electrical distance is increased to 27 mm, that is, Then, -0.7 < cos θ < 0.7, that is, 45° < θ < 135°, and the effective range of the incident angle θ is 45° to 135°. The image center slope in the effective range is 4.52, which is higher than the original 2.59, that is, the corresponding relationship between the incident angle θ and the arrival phase difference is more obvious, that is, the accuracy is improved.

[0075] In one embodiment, Figure 7 is the second of the schematic diagrams of the relationship between the angle measurement coverage and accuracy and the antenna electrical distance provided by the embodiments of the present application, as shown in Figure 7 d = 36 mm, the effective range of the incident angle θ is 58° to 122°, and the image center slope in the effective range is 6.02.

[0076] Optionally, the measurement result comprises at least one of the following: an incident angle of the positioning signal, a difference in arrival phase of the positioning signal;

[0077] Optionally, a theoretical difference in arrival phase of the positioning signal can be measured using the first antenna and the third antenna an incident angle θ is calculated; a theoretical difference in arrival phase thereof is measured using the fifth antenna and the fourth antenna an incident angle θ' is calculated.

[0078] In step 310, it is judged whether the positioning target is within the measurement range of the first antenna and the third antenna according to the measurement result of the positioning signal by the first antenna and the third antenna.

[0079] Optionally, when the measured angle positioning target exceeds the effective range of the incident angle θ corresponding to the first antenna and the third antenna, the theoretical difference in arrival phase will exceed the range of -180°-180°, for example as required will be considered as by the incident angle θ deviation derived from both 190° and -170° is huge, the former θ=18° is not within the range, and the latter θ=148° is an incorrect angle. However, at this time, the electronic device can only derive 148°, and cannot judge whether the positioning target is located outside the effective range of the incident angle θ, so it is necessary to judge whether the positioning target is within the measurement range of the first antenna and the third antenna.

[0080] In step 320, in the case that the positioning target is within the measurement range of the first antenna and the third antenna, the incident angle of the positioning target is determined based on the measurement result of the positioning signal by the first antenna and the third antenna; in the case that the positioning target is not within the measurement range of the first antenna and the third antenna, the incident angle of the positioning target is determined based on the measurement result of the positioning signal by the fourth antenna and the fifth antenna.

[0081] Optionally, in order to avoid the positioning inaccuracy caused by phase flipping, it can be judged according to the incident angle measured by the first antenna and the third antenna whether the positioning target is within the measurement range of the first antenna and the third antenna, and then the positioning target is positioned based on the judgment result.

[0082] Optionally, Figure 8 is one of the schematic diagrams of the measurement range judgment provided by the embodiments of the present application, as Figure 8As shown, the maximum coverage range of the antenna combination of ANT1 and ANT3 overlaps with the maximum coverage range of the antenna combination of ANT0 and ANT4 in a range of 90 degrees, which can be measured by both ANT1 and ANT3 and ANT0 and ANT4. Here, only a part of the range of this area (the shaded area) is measured by ANT0 and ANT4, so the electrical distance d of ANT1 and ANT3 can be increased to increase the slope of the PDOA vs AoA curve to improve the measurement accuracy within the effective measurement angle of ANT1 and ANT3.

[0083] Alternatively, if the positioning target is out of the effective measurement angle of the first antenna and the third antenna, i.e., out of the measurement range of the first antenna and the third antenna, the measurement data of the fourth antenna and the fifth antenna can be used.

[0084] For example, if the judgment result indicates that the positioning target is not within the measurement range of the first antenna and the third antenna, the incident angle of the positioning target can be determined based on the measurement results of the fourth antenna and the fifth antenna on the positioning signal.

[0085] For example, if the judgment result indicates that the positioning target is within the measurement range of the first antenna and the third antenna, the incident angle of the positioning target can be determined based on the first antenna and the third antenna.

[0086] Step 330, based on the incident angle of the positioning target, and the measurement results of the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna on the positioning signal, determining the position of the positioning target.

[0087] Alternatively, after the incident angle of the positioning target is determined, the position of the positioning target can be further determined based on the measurement results of other antennas.

[0088] In the embodiments of the present application, by first judging whether the positioning target is within the measurement range of the first antenna and the third antenna, and then positioning the positioning target based on the judgment result, the inaccuracy caused by phase flipping is avoided, the measurement accuracy is ensured, and the measurement range is increased.

[0089] Alternatively, the judgment of whether the positioning target is within the measurement range of the first antenna and the third antenna based on the measurement results of the first antenna and the third antenna on the positioning signal comprises:

[0090] In the case where the value range of the incident angle measured by the first antenna and the third antenna during the overall rotation of the electronic device includes 90 degrees, it is determined that the positioning target is within the measurement range of the first antenna and the third antenna.

[0091] If, during the overall rotation of the electronic device, the range of incident angles measured by the first antenna and the third antenna does not include 90 degrees, it is determined that the positioning target is not within the measurement range of the first antenna and the third antenna.

[0092] Optionally, the entire electronic device is rotated around a vertical axis (hinges, such as rotating frames) by a certain angle and then rotated back. Based on whether the range of the incident angle θ measured by the first antenna and the third antenna during the rotation includes 90 degrees, it is determined whether the positioning target is within the measurement range of the first antenna and the third antenna.

[0093] In one embodiment, Figure 9 This is the second schematic diagram of the measurement range determination provided in the embodiments of this application, as shown below. Figure 9 As shown, if the calculated θ < 90°, rotate clockwise by a certain angle and then back; if the calculated θ > 90°, rotate counterclockwise by a certain angle and then back.

[0094] In one embodiment, Figure 10 This is the third schematic diagram of the measurement range determination provided in the embodiments of this application. Figure 11 This is the third schematic diagram illustrating the relationship between the angular measurement coverage and accuracy and the antenna electrical distance provided in the embodiments of this application. Figure 10 and Figure 11 As shown, when the actual incident angle θ = 18°, due to phase reversal, it will be incorrectly measured as θ = 148°. At this point, after counterclockwise rotation, the actual incident angle actually gets closer to 0° or even less than 0°. The phase difference reaches its maximum when the actual angle of incidence approaches 0° from 18°. The relationship between the incident angle θ and the incident angle θ is as follows: Figure 11 The phase-flipped part, such as Figure 11 The portion inside the box in the upper left corner will be incorrectly calculated as... Figure 11 The part of the phase that has not been flipped, such as Figure 11 The area within the box in the upper right corner. However, when the actual angle is less than 0°, the antenna performance deteriorates, which may cause significant fluctuations in the measured θ.

[0095] Optionally, the phase difference can be determined by whether θ reaches or passes through 90° during the rotation process. Whether the value can be reached to 0 determines whether the target is within the measurement range of the first antenna and the third antenna.

[0096] ①If the incident angle θ can be measured to reach 90°, such as Figure 9 As shown, the target is located within the measurement range of the first antenna and the third antenna;

[0097] If the angle θ cannot reach 90° and approaches a certain angle during the measurement, it indicates that the positioning target is not located in the measurement range of the first antenna and the third antenna, i.e., the positioning target is not located in the front side of the electronic device.

[0098] In the embodiments of the present application, whether the positioning target is located in the measurement range of the first antenna and the third antenna is determined by rotating the electronic device, which is easy to operate and implement.

[0099] Optionally, in the case that the positioning target is located in the measurement range of the first antenna and the third antenna, the position of the positioning target is determined based on the incident angle of the positioning target and the measurement results of the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna on the positioning signal, comprising:

[0100] The relative position of the positioning target relative to the electronic device is determined based on the arrival phase difference measured by the fourth antenna and the fifth antenna.

[0101] The position of the positioning target is determined based on the relative position of the positioning target relative to the electronic device, the incident angle of the positioning target, and the measurement results of the first antenna and the second antenna on the positioning target.

[0102] Optionally, although the gain efficiency of the Patch antenna is low in the rear, there is still a possibility that the rear object is misidentified, resulting in a mirror image error problem, i.e., the rear object is mistakenly considered to be in the front, leading to measurement errors. Figure 12 is a schematic diagram of mirror image inversion provided by the embodiments of the present application, as shown in Figure 12 When the fourth antenna is added, the fifth antenna and the fourth antenna can measure the angle to obtain the position of the positioning target relative to the fifth antenna and the fourth antenna, so as to determine whether the positioning target is located in the rear of the first antenna and the third antenna.

[0103] Optionally, if the positioning target is located in the measurement range of the first antenna and the third antenna, the arrival phase difference measured by the first antenna and the third antenna is taken as the basis for calculation, and the arrival phase difference measured by the fourth antenna and the fifth antenna is taken as the basis for determining whether the positioning target is located in the front side or the rear side, so as to eliminate the mirror image problem.

[0104] Optionally, the arc in the horizontal direction is determined based on the measurement results of the first antenna and the third antenna, and then the arc in the vertical direction is determined based on the measurement results of the first antenna and the second antenna, so as to determine the position of the positioning target.

[0105] In related technologies, patch antennas have a characteristic: good gain efficiency in the front hemisphere, but very low gain efficiency in the rear hemisphere, resulting in a significant performance degradation. If the target is located in the rear hemisphere, not only will the testing performance be poor, but a mirroring problem will also occur, making it impossible to accurately determine whether the object being tested is in front of or behind the patch plane, leading to measurement errors.

[0106] In this embodiment of the application, after determining whether the positioning target is within the measurement range of the first antenna and the third antenna, it is further determined whether the positioning target is located in front of or behind the electronic device, and then the position of the positioning target is determined, so as to avoid the mirror problem and improve the accuracy of positioning measurement.

[0107] Optionally, determining the relative orientation of the positioning target with respect to the electronic device based on the arrival phase difference measured by the fourth and fifth antennas includes:

[0108] If the arrival phase difference measured by the fourth and fifth antennas is greater than 0, it is determined that the positioning target is located in front of the plane containing the first antenna, the second antenna, and the third antenna.

[0109] If the arrival phase difference measured by the fourth and fifth antennas is less than 0, it is determined that the positioning target is located behind the plane containing the first, second, and third antennas.

[0110] Optionally, if the determination result includes that the positioning target is within the measurement range of the first antenna and the third antenna, then the arrival phase difference measured by the fourth antenna and the fifth antenna is further determined. Is it greater than 0? For example... Figure 12 As shown, if it is greater than 0, the corresponding θ′ range is in the third and fourth quadrants, that is, the positioning target is in front of the first antenna and the third antenna, that is, the positioning target is in front of the plane where the first antenna, the second antenna and the third antenna are located; otherwise, it is behind.

[0111] Optionally, when the positioning target is not within the measurement range of the first antenna and the third antenna, determining the position of the positioning target based on the incident angle of the positioning target and the measurement results of the positioning signal by the first antenna, the second antenna, the third antenna, the fourth antenna, and the fifth antenna includes:

[0112] Based on the arrival phase difference measured by the first antenna and the third antenna, the relative orientation of the positioning target with respect to the electronic device is determined;

[0113] The position of the positioning target is determined based on the relative orientation of the positioning target to the electronic device, the incident angle of the positioning target, and the measurement results of the positioning target by the first antenna and the second antenna.

[0114] Alternatively, if the target is not within the measurement range of the first and third antennas, the arrival phase difference measured by the fourth and fifth antennas can be used. The calculation is based on the arrival phase difference measured by the first and third antennas. This serves as the basis for determining whether the target is located in front or behind, thereby eliminating the mirror image problem.

[0115] In this embodiment of the application, after determining whether the positioning target is within the measurement range of the first antenna and the third antenna, it is further determined whether the positioning target is located in front of or behind the electronic device, and then the position of the positioning target is determined, so as to avoid the mirror problem and improve the accuracy of positioning measurement.

[0116] Optionally, determining the relative orientation of the positioning target with respect to the electronic device based on the arrival phase difference measured by the first antenna and the third antenna includes:

[0117] If the arrival phase difference measured by the first antenna and the third antenna is greater than 0, it is determined that the positioning target is located behind the plane containing the first antenna, the second antenna, and the third antenna.

[0118] If the arrival phase difference measured by the first antenna and the third antenna is less than 0, it is determined that the positioning target is located in front of the plane containing the first antenna, the second antenna, and the third antenna.

[0119] Optionally, if the target being located is not within the measurement range of the first and third antennas, the arrival phase difference measured by the first and third antennas is then further determined. Is it greater than 0? For example... Figure 12 As shown, if If the value is greater than 0, the corresponding range of θ is in the second and third quadrants, meaning the target is behind the fourth and fifth antennas, i.e., behind the plane containing the first, second, and third antennas. Conversely, if the value is less than 0, the target is in front of the antenna.

[0120] Optionally, after determining the horizontal arc based on the measurement results of the fourth and fifth antennas, the vertical arc is then determined based on the measurement results of the first and second antennas, thus determining the orientation of the positioning target.

[0121] In this embodiment, the problem of false positives by combining different antenna combinations for joint judgment is solved, thereby improving positioning accuracy.

[0122] Figure 13 This is a second flowchart illustrating the positioning method provided in the embodiments of this application, as shown below. Figure 13 As shown, the theoretical arrival phase difference can be first measured using the first and third antennas. Calculate the incident angle θ; the theoretical arrival phase difference measured by the fourth antenna and the fifth antenna Calculate the incident angle θ'; and according to the measured θ, rotate a certain angle clockwise or counterclockwise and then rotate back, based on the change of θ during the rotation, judge whether the positioning target is located in the measurement range of the first antenna and the third antenna; if θ can reach 90°, the positioning target is located in the measurement range of the first antenna and the third antenna, then the arrival phase difference of the first antenna and the third antenna can be used As the basis for calculation, the arc line in the horizontal direction is determined by As the basis for judging whether the positioning target is in the front or back, the mirror problem is eliminated, that is, the arrival phase difference of the fourth antenna and the fifth antenna is used to continue to judge If greater than 0, corresponding to the range of θ' in the third and fourth quadrants, that is, the positioning target is in front of the electronic device, otherwise it is in the back; if θ cannot reach 90°, the positioning target is not located in the measurement range of the first antenna and the third antenna, then the arrival phase difference of the fourth antenna and the fifth antenna can be used As the basis for calculation, the arc line in the horizontal direction is determined by As the basis for judging whether the positioning target is in the front or back, the mirror problem is eliminated; if Greater than 0, corresponding to the range of θ in the second and third quadrants, that is, the positioning target is in the back of the electronic device, otherwise it is in the front. After determining the arc line in the horizontal direction based on the first antenna and the third antenna or the first antenna and the third antenna, the arc line in the vertical direction is determined based on the measurement results of the first antenna and the second antenna, that is, the position of the positioning target can be determined.

[0123] The positioning method provided by the embodiments of the present application can be executed by the positioning device. In the embodiments of the present application, the positioning device is taken as an example to illustrate the positioning device provided by the embodiments of the present application.

[0124] Figure 14 The structure diagram of the positioning device provided by the embodiments of the present application, which can be applied to an electronic device, the electronic device comprising a first body and a second body, the first body and the second body being rotationally connected through a connecting device, the first body being provided with a first antenna, a second antenna and a third antenna, the first antenna, the second antenna and the third antenna not being on the same straight line; the side of the first body close to the connecting device being provided with a fifth antenna, the side of the second body close to the connecting device being provided with a fourth antenna, the device 1400 comprising:

[0125] The signal receiving module 1410 is configured to receive the positioning signal corresponding to the positioning target by using the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna.

[0126] determining, by a judging module 1420, whether the positioning target is within a measurement range of the first antenna and the third antenna according to measurement results of the positioning signal by the first antenna and the third antenna;

[0127] determining, by an incident angle determining module 1430, an incident angle of the positioning target based on the measurement results of the positioning signal by the first antenna and the third antenna in a case where the positioning target is within the measurement range of the first antenna and the third antenna;

[0128] The incident angle determining module 1430 is further configured to determine the incident angle of the positioning target based on measurement results of the positioning signal by the fourth antenna and the fifth antenna in a case where the positioning target is not within the measurement range of the first antenna and the third antenna.

[0129] determining, by a position determining module 1440, a position of the positioning target based on the incident angle of the positioning target and the measurement results of the positioning signal by the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna.

[0130] In the embodiments of the present application, the incident angle of the positioning target is determined based on the measurement of the positioning signal by the fourth antenna and the fifth antenna arranged on the side of the electronic device including two main bodies in a case where the positioning target is not within the measurement range of the first antenna and the third antenna arranged on the first main body, so as to compensate for the defects of the antennas arranged on the first main body in positioning measurement, expand the angle measurement range, and improve the measurement accuracy.

[0131] Optionally, the judging module is specifically configured to:

[0132] In a case where the value range of the incident angle measured by the first antenna and the third antenna during the overall rotation of the electronic device includes 90 degrees, it is determined that the positioning target is within the measurement range of the first antenna and the third antenna.

[0133] In a case where the value range of the incident angle measured by the first antenna and the third antenna during the overall rotation of the electronic device does not include 90 degrees, it is determined that the positioning target is not within the measurement range of the first antenna and the third antenna.

[0134] Optionally, in a case where the positioning target is within the measurement range of the first antenna and the third antenna, the position determining module is specifically configured to:

[0135] determine a relative position of the positioning target relative to the electronic device based on the arrival phase difference measured by the fourth antenna and the fifth antenna.

[0136] determine the position of the positioning target based on the relative position of the positioning target relative to the electronic device, based on the incident angle of the positioning target, and based on the measurement results of the positioning target by the first antenna and the second antenna.

[0137] Optionally, the position determination module is specifically configured to:

[0138] in a case where the arrival phase difference measured by the fourth antenna and the fifth antenna is greater than 0, determine that the positioning target is located in front of the plane where the first antenna, the second antenna and the third antenna are located;

[0139] in a case where the arrival phase difference measured by the fourth antenna and the fifth antenna is less than 0, determine that the positioning target is located in back of the plane where the first antenna, the second antenna and the third antenna are located.

[0140] Optionally, in a case where the positioning target is not within the measurement range of the first antenna and the third antenna, the position determination module is specifically configured to:

[0141] determine the relative position of the positioning target relative to the electronic device based on the arrival phase difference measured by the first antenna and the third antenna;

[0142] determine the position of the positioning target based on the relative position of the positioning target relative to the electronic device, based on the incident angle of the positioning target, and based on the measurement results of the positioning target by the first antenna and the second antenna.

[0143] Optionally, the position determination module is specifically configured to:

[0144] in a case where the arrival phase difference measured by the first antenna and the third antenna is greater than 0, determine that the positioning target is located in back of the plane where the first antenna, the second antenna and the third antenna are located;

[0145] in a case where the arrival phase difference measured by the first antenna and the third antenna is less than 0, determine that the positioning target is located in front of the plane where the first antenna, the second antenna and the third antenna are located.

[0146] Optionally, the antenna electrical spacing of the first antenna, the second antenna and the third antenna is greater than a preset distance threshold.

[0147] In the embodiment of the present application, the antenna is additionally arranged on the side of the electronic device including two main bodies, and the fourth antenna and the fifth antenna arranged on the side of the electronic device including two main bodies are used to measure the positioning signal in the case that the positioning target is not in the measurement range of the first antenna and the third antenna arranged on the first main body, so as to determine the incident angle of the positioning target, make up the limitation of the 3D AOA technology in which only three antennas are arranged on the first main body in the positioning measurement, expand the angle measurement range, and improve the measurement accuracy.

[0148] The positioning apparatus in the embodiment of the present application can be an electronic device or a component in the electronic device, for example, an integrated circuit or a chip. The electronic device can be a terminal or other devices except the terminal. For example, the electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a mobile Internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), and can also be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the like, and the embodiment of the present application is not limited in this regard.

[0149] The positioning apparatus in the embodiment of the present application can be an apparatus having an operating system. The operating system can be an Android operating system, an ios operating system, or other possible operating systems, and the embodiment of the present application is not limited in this regard.

[0150] The positioning apparatus provided in the embodiment of the present application can implement the method Figures 3 to 13 The method embodiment implements various processes, and to avoid repetition, details are not described herein.

[0151] Optionally, Figure 15 is a structural schematic diagram of an electronic device provided in the embodiment of the present application, like Figure 15As shown, the embodiments of the present application further provide an electronic device 1500, comprising a processor 1501 and a memory 1502, wherein the memory 1502 stores programs or instructions executable on the processor 1501, and the programs or instructions are executed by the processor 1501 to implement the steps of the positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0152] It should be noted that the electronic device in the embodiments of the present application includes the mobile electronic device and the non-mobile electronic device described above.

[0153] Figure 16 A hardware structure schematic diagram of an electronic device according to an embodiment of the present application.

[0154] The electronic device 1600 includes, but is not limited to, a radio frequency unit 1601, a network module 1602, an audio output unit 1603, an input unit 1604, a sensor 1605, a display unit 1606, a user input unit 1607, an interface unit 1608, a memory 1609, and a processor 1610, etc.

[0155] Those skilled in the art can understand that the electronic device 1600 can further include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 1610 through a power management system, so as to realize the functions of power management, such as charging, discharging, and power consumption management, through the power management system. Figure 16 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than the figure, or combine certain components, or different component arrangements, which are not described herein.

[0156] The electronic device includes a first body and a second body, the first body and the second body are rotationally connected through a connecting device, the first body is provided with a first antenna, a second antenna and a third antenna, the first antenna, the second antenna and the third antenna are not on the same straight line; a fifth antenna is arranged on the side of the first body close to the connecting device, a fourth antenna is arranged on the side of the second body close to the connecting device, and the radio frequency unit 1601 is used for:

[0157] receiving a positioning signal corresponding to a positioning target using the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna;

[0158] The processor 1610 is configured to:

[0159] determine whether the positioning target is within the measurement range of the first antenna and the third antenna according to the measurement results of the positioning signal by the first antenna and the third antenna;

[0160] in a case where the positioning target is in the measurement range of the first antenna and the third antenna, determining the angle of incidence of the positioning target based on measurement results of the positioning signal by the first antenna and the third antenna;

[0161] in a case where the positioning target is not in the measurement range of the first antenna and the third antenna, determining the angle of incidence of the positioning target based on measurement results of the positioning signal by the fourth antenna and the fifth antenna;

[0162] determining the position of the positioning target based on the angle of incidence of the positioning target and the measurement results of the positioning signal by the first antenna, the second antenna, the third antenna, the fourth antenna, and the fifth antenna.

[0163] In the embodiments of the present application, by additionally arranging antennas on the side of the electronic device including two main bodies, and in a case where the positioning target is not in the measurement range of the first antenna and the third antenna arranged on the first main body, the angle of incidence of the positioning target is determined based on the measurement of the positioning signal by the fourth antenna and the fifth antenna arranged on the side of the electronic device including two main bodies, so as to make up for the limitation of the 3D AOA technology in positioning measurement in a case where only three antennas are arranged on the first main body, expand the angle measurement range, and improve the measurement accuracy.

[0164] Optionally, the processor 1610 is configured to:

[0165] in a case where the value range of the angle of incidence measured by the first antenna and the third antenna during the overall rotation of the electronic device includes 90 degrees, determining that the positioning target is in the measurement range of the first antenna and the third antenna;

[0166] in a case where the value range of the angle of incidence measured by the first antenna and the third antenna during the overall rotation of the electronic device does not include 90 degrees, determining that the positioning target is not in the measurement range of the first antenna and the third antenna.

[0167] Optionally, in a case where the positioning target is in the measurement range of the first antenna and the third antenna, the processor 1610 is configured to:

[0168] determining the relative position of the positioning target relative to the electronic device based on the phase difference of arrival measured by the fourth antenna and the fifth antenna;

[0169] determining the position of the positioning target based on the relative position of the positioning target relative to the electronic device, the angle of incidence of the positioning target, and the measurement results of the positioning target by the first antenna and the second antenna.

[0170] Optionally, the processor 1610 is configured to:

[0171] In a case where the arrival phase difference measured by the fourth antenna and the fifth antenna is greater than 0, it is determined that the positioning target is located in front of the plane where the first antenna, the second antenna and the third antenna are located.

[0172] In a case where the arrival phase difference measured by the fourth antenna and the fifth antenna is less than 0, it is determined that the positioning target is located in back of the plane where the first antenna, the second antenna and the third antenna are located.

[0173] Optionally, in a case where the positioning target is not located in the measurement range of the first antenna and the third antenna, the processor 1610 is configured to:

[0174] determine the relative position of the positioning target relative to the electronic device based on the arrival phase difference measured by the first antenna and the third antenna;

[0175] determine the position of the positioning target based on the relative position of the positioning target relative to the electronic device, the incident angle of the positioning target and the measurement result of the positioning target by the first antenna and the second antenna.

[0176] Optionally, the processor 1610 is configured to:

[0177] In a case where the arrival phase difference measured by the first antenna and the third antenna is greater than 0, it is determined that the positioning target is located in back of the plane where the first antenna, the second antenna and the third antenna are located.

[0178] In a case where the arrival phase difference measured by the first antenna and the third antenna is less than 0, it is determined that the positioning target is located in front of the plane where the first antenna, the second antenna and the third antenna are located.

[0179] Optionally, the antenna electric distance of the first antenna, the second antenna and the third antenna is greater than a preset distance threshold.

[0180] In the embodiments of the present application, by additionally arranging antennas on the side of the electronic device including two main bodies, and in a case where the positioning target is not located in the measurement range of the first antenna and the third antenna arranged on the first main body, the fourth antenna and the fifth antenna arranged on the side of the electronic device including two main bodies are used to measure the positioning signal, the incident angle of the positioning target is determined, the limitation of the 3D AOA technology in the positioning measurement in which only three antennas are arranged on the first main body is compensated, the angle measurement range is expanded, and the measurement accuracy is improved.

[0181] It should be understood that in the embodiments of the present application, the input unit 1604 can include a graphics processor (GPU) 16041 and a microphone 16042. The graphics processor 16041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1606 can include a display panel 16061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1607 includes at least one of a touch panel 16071 and other input devices 16072. The touch panel 16071 is also referred to as a touch screen. The touch panel 16071 can include two parts of a touch detection device and a touch controller. The other input devices 16072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a trackball, a mouse, a joystick, and the like, which will not be described here.

[0182] The memory 1609 can be used to store software programs and various data. The memory 1609 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 1609 can include a volatile memory or a non-volatile memory, or the memory 1609 can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 1609 in the embodiments of the present application includes but is not limited to these and any other suitable types of memories.

[0183] The processor 1610 can include one or more processing units; optionally, the processor 1610 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 1610.

[0184] The embodiments of the present application also provide a readable storage medium, the readable storage medium stores programs or instructions, the programs or instructions are executed by a processor to realize various processes of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[0185] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0186] The embodiment of the present application further provides a chip, which comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions to realize the processes of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0187] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system level chip, a system chip, a chip system or a system on chip, etc.

[0188] The embodiment of the present application provides a computer program product, which is stored in a storage medium, and is executed by at least one processor to realize the processes of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0189] It should be noted that in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to the order of performing the functions as shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in the opposite order, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0190] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned example methods can be realized by means of software and a necessary general hardware platform, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product in essence or in the form of a part that contributes to the prior art, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0191] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A positioning method, characterized by, The application is applied to an electronic device, the electronic device comprises a first body and a second body, the first body and the second body are rotationally connected through a connecting device, a first antenna, a second antenna and a third antenna are arranged on the first body, the first antenna, the second antenna and the third antenna are not in the same straight line, a fifth antenna is arranged on the side of the first body close to the connecting device, a fourth antenna is arranged on the side of the second body close to the connecting device, and the method comprises: Receiving a positioning signal corresponding to a positioning target by using the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna; Determining whether the positioning target is in the measurement range of the first antenna and the third antenna according to the measurement results of the first antenna and the third antenna on the positioning signal; In the case that the positioning target is in the measurement range of the first antenna and the third antenna, determining the incident angle of the positioning target based on the measurement results of the first antenna and the third antenna on the positioning signal; In the case that the positioning target is not in the measurement range of the first antenna and the third antenna, determining the incident angle of the positioning target based on the measurement results of the fourth antenna and the fifth antenna on the positioning signal; Determining the position of the positioning target based on the incident angle of the positioning target and the measurement results of the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna on the positioning signal.

2. The positioning method according to claim 1, characterized in that, The method comprises: In the case that the value range of the incident angle measured by the first antenna and the third antenna during the overall rotation of the electronic device includes 90 degrees, it is determined that the positioning target is in the measurement range of the first antenna and the third antenna; In the case that the value range of the incident angle measured by the first antenna and the third antenna during the overall rotation of the electronic device does not include 90 degrees, it is determined that the positioning target is not in the measurement range of the first antenna and the third antenna.

3. The positioning method according to claim 1 or 2, characterized in that, In the case that the positioning target is in the measurement range of the first antenna and the third antenna, the method for determining the position of the positioning target based on the incident angle of the positioning target and the measurement results of the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna on the positioning signal comprises: Determining the relative position of the positioning target relative to the electronic device based on the arrival phase difference measured by the fourth antenna and the fifth antenna; Determining the position of the positioning target based on the relative position of the positioning target relative to the electronic device, the incident angle of the positioning target and the measurement results of the first antenna and the second antenna on the positioning target.

4. The positioning method according to claim 3, characterized in that, The method for determining the relative position of the positioning target relative to the electronic device based on the arrival phase difference measured by the fourth antenna and the fifth antenna comprises: In a case where the arrival phase difference measured by the fourth antenna and the fifth antenna is greater than 0, it is determined that the positioning target is located in front of the plane where the first antenna, the second antenna and the third antenna are located. In a case where the arrival phase difference measured by the fourth antenna and the fifth antenna is less than 0, it is determined that the positioning target is located in back of the plane where the first antenna, the second antenna and the third antenna are located.

5. The positioning method according to claim 1 or 2, characterized by, In a case where the positioning target is not in the measurement range of the first antenna and the third antenna, the position of the positioning target is determined based on the incidence angle of the positioning target, and the measurement results of the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna on the positioning signal, comprising: determining the relative position of the positioning target relative to the electronic device based on the arrival phase difference measured by the first antenna and the third antenna; determining the position of the positioning target based on the relative position of the positioning target relative to the electronic device, the incidence angle of the positioning target, and the measurement result of the first antenna and the second antenna on the positioning target.

6. The positioning method according to claim 5, characterized in that, The determination of the relative position of the positioning target relative to the electronic device based on the arrival phase difference measured by the first antenna and the third antenna, comprising: In a case where the arrival phase difference measured by the first antenna and the third antenna is greater than 0, it is determined that the positioning target is located in back of the plane where the first antenna, the second antenna and the third antenna are located. In a case where the arrival phase difference measured by the first antenna and the third antenna is less than 0, it is determined that the positioning target is located in front of the plane where the first antenna, the second antenna and the third antenna are located.

7. The positioning method of claim 1, wherein, The antenna spacing of the first antenna, the second antenna and the third antenna is greater than a preset distance threshold.

8. A positioning device, characterized in that The electronic device comprises a first main body and a second main body, the first main body and the second main body are rotationally connected through a connecting device, the first main body is provided with a first antenna, a second antenna and a third antenna, the first antenna, the second antenna and the third antenna are not in the same straight line; the side of the first main body close to the connecting device is provided with a fifth antenna, and the side of the second main body close to the connecting device is provided with a fourth antenna, and the device comprises: a signal receiving module for receiving a positioning signal corresponding to a positioning target by using a first antenna, a second antenna, a third antenna, a fourth antenna and a fifth antenna; a judgment module for judging whether a positioning target is in the measurement range of the first antenna and the third antenna according to the measurement result of the first antenna and the third antenna on the positioning signal; an incidence angle determination module for determining the incidence angle of the positioning target based on the measurement result of the first antenna and the third antenna on the positioning signal in a case where the positioning target is in the measurement range of the first antenna and the third antenna; the incidence angle determination module is also used for determining the incidence angle of the positioning target based on the measurement result of the fourth antenna and the fifth antenna on the positioning signal in a case where the positioning target is not in the measurement range of the first antenna and the third antenna; a position determining module configured to determine the position of the positioning target based on the angle of incidence of the positioning target and the measurements of the positioning signal by the first antenna, the second antenna, the third antenna, the fourth antenna and the fifth antenna.

9. An electronic device, comprising: a processor and a memory, said memory storing a program or instructions executable on said processor, said program or instructions, when executed by said processor, implementing the steps of the positioning method according to any one of claims 1 to 7.

10. A readable storage medium, characterized by, a program or instructions stored on a readable storage medium, said program or instructions, when executed by a processor, implementing the steps of the positioning method according to any one of claims 1 to 7.

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