Device positioning method and apparatus, electronic device, storage medium, and program product

Abstract

This disclosure relates to a device positioning method, apparatus, electronic device, storage medium, and program product. The method includes: acquiring the location information of a search terminal and the relative distance between the search terminal and a target device during a locator search; acquiring the location information of the target device based on the location information of the search terminal and the relative distance; and acquiring the angle information of the target device based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal. This method improves the accuracy of obtaining the location of the target device.

Description

Technical Field

[0001] This application relates to the field of intelligent object location technology, and in particular to a device positioning method, apparatus, electronic device, storage medium, and program product. Background Technology

[0002] With the development of mobile communication technology, intelligent item-finding technology has been widely used, thus largely avoiding the difficulty of finding items in daily life.

[0003] Currently, in smart object finding scenarios, the distance to the target device is mainly obtained through Ultra Wide Band (UWB) technology, and the angle of the target device is obtained through Phase Difference of Arrival (PDOA) technology. Thus, the location of the target device can be determined based on the measured distance and angle.

[0004] However, traditional intelligent object-finding methods have low accuracy in determining the location of the target device. Summary of the Invention

[0005] This application provides a device positioning method, apparatus, electronic device, storage medium, and program product that can improve the accuracy of the measured location of the target device.

[0006] Firstly, a device positioning method is provided, including:

[0007] During the retrieval process, the location information of the search terminal and the relative distance between the search terminal and the target device are obtained;

[0008] Based on the location information of the search terminal and the relative distance, the location information of the target device is obtained;

[0009] The angle information of the target device is obtained based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal.

[0010] Secondly, a device positioning apparatus is provided, comprising:

[0011] The first acquisition module is used to acquire the location information of the search terminal and the relative distance between the search terminal and the target device during the object retrieval process;

[0012] The first positioning module is used to obtain the location information of the target device based on the location information of the search terminal and the relative distance;

[0013] The second positioning module is used to obtain the angle information of the target device based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal.

[0014] Thirdly, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the device positioning method as described in the first aspect.

[0015] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the steps of the method described in the first aspect.

[0016] Fifthly, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described in the first aspect.

[0017] The aforementioned device positioning method, apparatus, electronic device, storage medium, and program product, during the object locating process, acquire the location information of the search terminal and the relative distance between the search terminal and the target device. Based on the location information of the search terminal and the aforementioned relative distance, the location information of the target device can be obtained. Furthermore, based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal, the angle information of the target device can be obtained. Since the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal are not easily interfered with and have high accuracy, the angle information of the target device can be accurately obtained based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal, thus improving the accuracy of the obtained angle information of the target device and further improving the accuracy of the obtained location of the target device. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an application environment diagram of the device positioning method in one embodiment;

[0020] Figure 2 Here is a flowchart of a device positioning method in one embodiment;

[0021] Figure 2a This is a schematic diagram illustrating the relative distance between the search terminal and the target device in one embodiment;

[0022] Figure 3 A flowchart of a device positioning method in another embodiment;

[0023] Figure 4 A flowchart of a device positioning method in another embodiment;

[0024] Figure 5 A flowchart of a device positioning method in another embodiment;

[0025] Figure 6 A flowchart of a device positioning method in another embodiment;

[0026] Figure 7 A flowchart of a device positioning method in another embodiment;

[0027] Figure 8 A flowchart of a device positioning method in another embodiment;

[0028] Figure 9 This is a structural block diagram of the device positioning device in one embodiment;

[0029] Figure 10 This is a diagram of the internal structure of an electronic device in one embodiment. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] It is understood that the terms "first," "second," etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first client may be referred to as a second client, and similarly, a second client may be referred to as a first client. Both the first client and the second client are clients, but they are not the same client.

[0032] Figure 1 This is a schematic diagram illustrating the application environment of a device positioning method in one embodiment. For example... Figure 1 As shown, the application environment includes a search terminal 102 and a target device 104. The search terminal 102 can be various terminals such as mobile phones, tablets, and watches, while the target device 104 can be various target devices to be searched. The search terminal 102 and the target device 104 can communicate wirelessly.

[0033] Figure 2This is a flowchart of a device positioning method in one embodiment. The device positioning method in this embodiment is designed to operate in... Figure 1 The description will be based on the search terminal in the example. Figure 2 As shown, the device positioning method includes:

[0034] S201, during the object retrieval process, obtain the location information of the search terminal and the relative distance between the search terminal and the target device.

[0035] The device location method in this embodiment can be used to find items in homes, in engineering equipment, or to locate positioning devices installed on the elderly or children, etc. This embodiment does not limit the scenario for finding items. Optionally, the search terminal can be various terminals such as mobile phones, tablets, and watches.

[0036] Optionally, the search terminal can use visual positioning technology to obtain its location information. For example, the search terminal can use visual-inertial odometry (VIO) visual positioning technology, or other visual positioning technologies such as ARcore positioning technology. Optionally, the search terminal can use ultra-wideband (UWB) positioning technology to obtain the relative distance between the search terminal and the target device, or other positioning technologies such as Bluetooth positioning technology, laser positioning technology, etc., can also be used. It is understood that different positioning technologies will result in different accuracy in the distance measurement of the obtained positioning data, thus leading to different accuracy in the relative distance between the search terminal and the target device. In this embodiment, UWB positioning technology is preferably used to obtain the relative distance between the search terminal and the target device.

[0037] In this embodiment, it should be noted that the location information of the search terminal can be the coordinates of the search terminal, or the latitude and longitude information of the search terminal, etc. For example, as shown... Figure 2a As shown, the relative distance between the search terminal and the target device can be as follows: Figure 2a The distance represented by 'r' in the figure. It can be understood that the search terminal is constantly moving during the object retrieval process. In this embodiment, the location information of the search terminal and the relative distance between the search terminal and the target device can be the location information and relative distance of the search terminal at a certain moment during the movement of the search terminal, or it can be the location information of the search terminal and the relative distance between the search terminal and the target device at multiple moments during the movement of the search terminal.

[0038] S202: Obtain the location information of the target device based on the location information of the search terminal and the relative distance.

[0039] The location information of the target device can be either the coordinates of the target device's location or its latitude and longitude. Optionally, the search terminal can establish a system of equations to locate the target device based on the obtained location information of the search terminal and the relative distance, thereby obtaining the target device's location information. Alternatively, it can perform geometric calculations based on the obtained location information of the search terminal and the relative distance between the search terminal and the target device to determine the target device's location information. Optionally, in this embodiment, the search terminal can obtain the target device's location information using its location information at a certain moment and the relative distance between the search terminal and the target device at that moment, or it can obtain the target device's location information using its location information at multiple moments during the search process and the relative distance between the search terminal and the target device at these multiple moments.

[0040] S203: Obtain the angle information of the target device based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal.

[0041] The angle information of the target device can be either the direction angle between the search terminal and the target device, or the azimuth angle between them. For example, if the obtained angle information is the direction angle between the search terminal and the target device, the obtained direction angle information could be XX degrees east of north from the search terminal, or XX degrees west of south from the search terminal. As another example, if the obtained angle information is the azimuth angle between the search terminal and the target device, the obtained azimuth angle information could be 50 degrees, meaning the horizontal angle from the north end of the search terminal to the target device in a clockwise direction is 50 degrees. Optionally, the search terminal can obtain its pose information based on its inertial navigation data, and then fuse the visual information and pose information to determine its attitude information. The attitude information can include the search terminal's rotation information, orientation information, and placement angle information. Optionally, the aforementioned inertial navigation data can be data measured using the search terminal's IMU (Inertial Measurement Unit). It should be noted that in this embodiment, the search terminal obtains the angle information of the target device by combining its own position and attitude information at a certain moment with the position information of the target device. Optionally, in this embodiment, the search terminal can establish a spatial coordinate system with itself as the origin, and determine the angle information of the target device based on its own position and attitude information combined with the position information of the target device. Further, as an optional implementation, the search terminal can also generate a navigation arrow for the target device based on the angle information of the target device, and display the navigation arrow on the search terminal's UI (User Interface).

[0042] The device positioning method in this embodiment, during the object retrieval process, obtains the location information of the search terminal and the relative distance between the search terminal and the target device. Based on the location information of the search terminal and the aforementioned relative distance, the location information of the target device can be obtained. Furthermore, based on the location information of the target device, the location information of the search terminal, and the posture information of the search terminal, the angle information of the target device can be obtained. Since the location information of the target device, the location information of the search terminal, and the posture information of the search terminal are not easily interfered with and have high accuracy, the angle information of the target device can be accurately obtained based on the location information of the target device, the location information of the search terminal, and the posture information of the search terminal, thus improving the accuracy of the obtained angle information of the target device and further improving the accuracy of the obtained location of the target device.

[0043] In the scenario described above, where the location information of the target device is obtained based on the location information of the search terminal and the relative distance between the search terminal and the target device, the search terminal can establish a system of spatial equations based on its own location information and the relative distance between the search terminal and the target device to obtain the target device's location information. Building upon the above embodiments, in one embodiment, such as... Figure 3 As shown, the above S202 includes:

[0044] S301: Establish a set of spatial positioning equations based on the location information and relative distance of the search terminal, solve the set of spatial positioning equations, and obtain the location information of the target device.

[0045] The aforementioned spatial positioning equations can be based on TOA (Time of Arrival). Optionally, the search terminal can establish the spatial positioning equations using a double-weighted least squares method, based on the search terminal's location information and the relative distance between the search terminal and the target device. Optionally, if the obtained location information of the search terminal and the relative distance between the search terminal and the target device represent the location information of the search terminal and the relative distance between the search terminal and the target device at a specific moment during the retrieval process, the search terminal can establish the aforementioned spatial positioning equations based on the location information of the search terminal and the relative distance between the search terminal and the target device at that moment. Optionally, if the obtained location information of the search terminal and the relative distance between the search terminal and the target device represent the location information of the search terminal and the relative distance between the search terminal and the target device at multiple moments during the retrieval process, the search terminal can establish the aforementioned spatial positioning equations based on the location information of the search terminal and the relative distance between the search terminal and the target device at these multiple moments. For example, taking the location information of the search terminal at i moments during the item-finding process and the relative distance between the search terminal and the target device as an example, assume that the location information of the search terminal at these i moments are (x1, y1, z1), (x2, y2, z2)...(x i ,y i ,z i The relative distances between the search terminal and the target device at time i are r1, r2, ..., r. i The spatial positioning equations established by the search terminal can be:

[0046]

[0047]

[0048]

[0049] …

[0050]

[0051] Optionally, the search terminal can use a Time-of-Arrival Model-based Double Weighted Least Squares (DWLS) positioning algorithm or a Taylor series method to solve the above spatial positioning equations to obtain the location information of the target device. For example, taking the search terminal using the DWLS positioning algorithm to solve the above spatial positioning equations as an example, the solution process can include: first, performing a first weighting process on the above spatial positioning equations to transform them into a linear equation system; then, performing a second weighting process on the resulting linear equation system to obtain the location information of the target device.

[0052] In this embodiment, the search terminal can accurately establish a set of spatial positioning equations based on its location information and the relative distance between the search terminal and the target device. This allows the search terminal to solve the set of spatial positioning equations and accurately obtain the location information of the target device, thus improving the accuracy of the obtained location information.

[0053] Furthermore, based on the above embodiments, such as Figure 4 As shown, the above S201 includes:

[0054] S401, during the object retrieval process, acquires the initial location information of the search terminal at multiple times, as well as the initial relative distance between the search terminal and the target device.

[0055] In this embodiment, the search terminal moves continuously during the object-finding process. Different times correspond to different location information of the search terminal and different relative distances between the search terminal and the target device. Therefore, in this embodiment, the search terminal can acquire initial location information of the search terminal and initial relative distances between the search terminal and the target device at multiple moments during the object-finding process. Taking a process involving 10 moments as an example, in this embodiment, the search terminal can acquire the initial location information of the search terminal at each of these 10 moments, as well as the initial relative distances between the search terminal and the target device at each moment. That is, the search terminal will obtain 10 different initial location information and 10 different initial relative distances between the search terminal and the target device. It should be noted that during the object-finding process, the search terminal needs to acquire initial location information of the search terminal at least three moments to perform two-dimensional planar positioning of the target device; or, during the object-finding process, the search terminal needs to acquire initial location information of the search terminal at least four moments to perform three-dimensional planar positioning of the target device.

[0056] S402, align each initial position information and each initial relative distance in time to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device.

[0057] Understandably, the initial location information of the search terminal is obtained using visual positioning technology during the object-finding process, while the initial relative distance is obtained using UWB positioning technology. Different positioning technologies may have inconsistencies in data acquisition time. Therefore, it is necessary to align the multiple initial location information and multiple initial relative distances in time to obtain multiple location information of the search terminal and multiple relative distances between the search terminal and the target device. Optionally, the search terminal can use an interpolation algorithm to align the initial location information and each initial relative distance in time to obtain multiple location information of the search terminal and multiple relative distances between the search terminal and the target device. For example, taking a retrieval process that includes three moments, the initial position information of the search terminal at these three moments is (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), respectively. The initial relative distances between the search terminal and the target device at these three moments are r1, r2, and r3, respectively. The search terminal can then assign the average of the initial relative distances between the search terminal and the target device at the first moment and the initial relative distances at the third moment, i.e., r1 + r3 / 2, to the initial position information (x2, y2, z2) of the search terminal at the second moment. In other words, at the second moment... The location information of the search terminal at the first moment is (x2, y2, z2), and the relative distance between the search terminal and the target device at the second moment is r1 + r3 / 2; or, the search terminal can assign the average of the initial location information of the search terminal at the first moment and the initial location information of the search terminal at the third moment, i.e., (x1, y1, z1) + (x3, y3, z3) / 2, to the initial relative distance r2 between the search terminal and the target device at the second moment. That is to say, during the object search process, the location information of the search terminal at the second moment is (x1, y1, z1) + (x3, y3, z3) / 2, and the relative distance between the search terminal and the target device at the second moment is r2.

[0058] In this embodiment, the search terminal acquires initial location information of the search terminal at multiple times and initial relative distances between the search terminal and the target device at multiple times during the object search process. Then, the initial location information of the search terminal at each time and the initial relative distances between the search terminal and the target device at each time are aligned in time, which can accurately obtain multiple location information of the search terminal and multiple relative distances between the search terminal and the target device, thereby improving the accuracy of the obtained multiple location information of the search terminal and multiple relative distances between the search terminal and the target device.

[0059] In the above-described object-finding process, in scenarios where the initial relative distance between the search terminal and the target device is obtained at multiple moments, the obtained initial relative distances at these multiple moments may contain data affected by multipath propagation, meaning the obtained initial relative distance values ​​are larger than the true values, requiring filtering processing. Based on the above embodiments, in one embodiment, such as... Figure 5 As shown, the above method also includes:

[0060] S501 performs noise filtering on the initial relative distances at multiple times to obtain the filtered relative distances;

[0061] The time alignment of each initial position information and each initial relative distance in S302 above includes: time alignment of each initial position information and the filtered relative distance.

[0062] In this embodiment, the initial relative distances obtained at multiple moments during the object retrieval process may be affected by multipath effects, and the obtained initial relative distances may be larger than the true values. Therefore, the search terminal can perform noise filtering on the initial relative distances obtained at multiple moments to obtain the filtered relative distances. Then, the initial position information of the search terminal and the filtered relative distances are aligned in time to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device.

[0063] In this embodiment, the search terminal performs noise filtering on the initial relative distances acquired at multiple moments during the item-finding process. This filters out data with large errors in the initial relative distances acquired at multiple moments, thereby obtaining a more accurate filtered relative distance. This allows for temporal alignment of the initial position information of the search terminal at each moment during the item-finding process with the filtered relative distance. Because the accuracy of the filtered relative distance is improved, the accuracy of the multiple position information of the search terminal and the multiple relative distances between the search terminal and the target device obtained by temporally aligning the initial position information of the search terminal at each moment during the item-finding process is also improved. Furthermore, noise filtering on the initial relative distances acquired at multiple moments during the item-finding process removes data with large errors in the initial relative distances acquired at multiple moments, thereby reducing the amount of data processed subsequently and improving processing efficiency.

[0064] In the scenario described above, where the initial location information of the search terminal and the initial relative distance between the search terminal and the target device are obtained at multiple moments during the object retrieval process, the initial location information of the search terminal is obtained in multiple ways, and the initial relative distance between the search terminal and the target device is also obtained in multiple ways. The search terminal can determine the target location information and the target relative distance from these multiple initial location information and multiple relative distances, and thus use the determined target location information and target relative distance to obtain the location information of the target device. Based on the above embodiments, in one embodiment, such as Figure 6 As shown, the above method also includes:

[0065] S601, based on the spatial distribution of initial location information at multiple times and HDOP values, determines the target location information and target relative distance from multiple location information of the search terminal and multiple relative distances between the search terminal and the target device.

[0066] The above-mentioned S203 includes: obtaining the location information of the target device based on the target location information and the relative distance to the target.

[0067] Wherein, HDOP (horizontal dilution of precision) is the square root of the sum of squared errors of latitude and longitude. In this embodiment, the search terminal can determine the target location information of the search terminal and the target relative distance between the search terminal and the target device from multiple location information of the search terminal and multiple relative distances between the search terminal and the target device based on the spatial distribution of initial location information at multiple times and the HDOP value. Thus, the location information of the target device can be obtained based on the determined target location information and target relative distance. Optionally, before determining the target location information and target relative distance from multiple location information of the search terminal and the target device based on the spatial distribution of initial location information at multiple times and the HDOP value, the search terminal can select the location information of the search terminal and the relative distance between the search terminal and the target device that can be used to obtain the location information of the target device from the multiple initial location information and multiple relative distances between the search terminal and the target device, based on the interval of the initial location information of the search terminal at multiple times, whether the relative distance between the search terminal and the target device is available at multiple times, and the error of the relative distance between the search terminal and the target device at multiple times. Then, based on the spatial distribution of initial location information and HDOP value at multiple times, the target location information and target relative distance are determined from the location information of the search terminal selected to obtain the location information of the target device and the relative distance between the search terminal and the target device.

[0068] In this embodiment, based on the spatial distribution of initial location information at multiple times and the HDOP value, the search terminal can accurately determine the target location information and target relative distance of the search terminal that can be used to obtain the target device's location information from multiple location information of the search terminal and multiple relative distances between the search terminal and the target device. Thus, based on the determined target location information and target relative distance, the location information of the target device can be accurately obtained, improving the accuracy of obtaining the target device's location information.

[0069] In the scenario described above, where the initial location information of the search terminal and the initial relative distance between the search terminal and the target device are obtained at multiple moments during the item retrieval process, based on the above embodiments, in one embodiment, such as Figure 7 As shown, the above S203 includes:

[0070] S701 obtains multiple candidate location information of the target device based on multiple location information and multiple relative distances of the search terminal.

[0071] In this embodiment, the search terminal can establish a set of spatial positioning equations based on multiple location information of the search terminal and multiple relative distances between the search terminal and the target device. Solving these equations yields multiple candidate location information for the target device. For example, if the obtained location information of the search terminal and the relative distances between the search terminal and the target device are the location information of the search terminal at five different times, the search terminal can use these five time points to establish a set of spatial positioning equations to obtain five candidate location information for the target device.

[0072] S702, averages multiple candidate location information to obtain the location information of the target device.

[0073] In this embodiment, the search terminal averages the multiple candidate location information of the target device obtained above to obtain the location information of the target device. Optionally, the search terminal may calculate a geometric mean or a weighted average of the multiple candidate location information of the target device to obtain the location information of the target device. Optionally, before averaging the multiple candidate location information, the search terminal may remove abnormal information from the multiple candidate location information, and then average the removed candidate location information to obtain the location information of the target device.

[0074] In this embodiment, the search terminal can obtain multiple candidate location information of the target device based on multiple location information of the search terminal and multiple relative distances between the search terminal and the target device. By averaging multiple candidate location information, the location information of the target device can be accurately obtained, thus improving the accuracy of obtaining the location information of the target device.

[0075] In the scenario described above where the location information and angle information of the target device are obtained, a locator path can be further determined based on the location information and angle information of the target device. In one embodiment, the method further includes: determining a target path for finding the target device based on the location information and the angle information of the target device.

[0076] In this embodiment, the search terminal can first determine the distance between the search terminal and the target device based on the location information of the target device and the current location information of the search terminal. Then, based on the angle information of the target device, it can determine the driving path from the search terminal to the target device, thus determining the target path for finding the target device. Optionally, the search terminal can plan multiple candidate paths for finding the target device based on the location information and angle information of the target device, and then determine the candidate path with the shortest travel time as the target path for finding the target device. Furthermore, after determining the target path for the target device, the search terminal can also generate navigation information based on the target path and display the navigation information to assist the user in finding the target device.

[0077] In this embodiment, the search terminal can accurately determine the target path for finding the target device based on the location information and angle information of the target device, thereby enabling the user to accurately find the target device according to the target path and improving the accuracy of finding the target device.

[0078] The following describes an embodiment of this disclosure using a specific scenario of finding a lost item. See below for details. Figure 8 As shown, for Figure 8 The explanations for each module are as follows:

[0079] The UWB data filtering module primarily filters the relative distance between the search terminal and the target device transmitted by the UWB sensor, removing data with significant errors due to multipath interference.

[0080] Data interpolation module: Due to the inconsistency in refresh rates between UWB and IrisCamera, interpolation is required to align the electronic device coordinate information output by IrisCamera with the UWB data on the time scale.

[0081] Select a buffer module for DWLS (a two-weighted positioning algorithm based on TOA) positioning: This module is mainly responsible for selecting and storing data points suitable for positioning during the movement of the search terminal, so as to facilitate subsequent module operations.

[0082] Select different positioning combination array modules from the buffer: Not every data point stored in the buffer is suitable for row positioning. The positioning effect is related to the spatial geometric distribution of the points in the buffer. Therefore, the combination can be selected based on the spatial distribution of the points in the buffer and the HDOP value.

[0083] All positioning combinations are processed by the DWLS positioning solution module: using the location information of the search terminal and the ranging information of UWB through two weighted least squares methods, a set of equations for TOA (Time of Arrival) is established, and then solved to obtain the spatial positioning of the target device.

[0084] The module for removing outliers from all DWLS positioning results: Because there may be some abnormal combinations in the combination selection, which can lead to extremely large errors in the DWLS spatial positioning results, such outliers need to be removed.

[0085] Combined mean output module: Calculates the mean of all combined data to obtain the result after each buffer update.

[0086] Location result update statistics module: Statistically analyzes the average location results input to achieve a smooth, step-by-step update effect and avoid drastic changes in results.

[0087] The orientation angle calculation module combines the position and attitude information (quaternions and real-time coordinates) of the search terminal with the IrisCamera technology. Combined with the results obtained from the spatial positioning above, the attitude of the search terminal can be calculated, and the real-time orientation angle can be given.

[0088] Final navigation arrow pointing module: processes the final navigation arrow and outputs it to the UI interface for display.

[0089] It should be noted that, regarding the above Figure 8 The descriptions of each module can be found in the relevant descriptions in the above embodiments, and their effects are similar, so they will not be repeated here.

[0090] It should be understood that, although Figures 2-8 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order in which these steps are executed, and they can be performed in other orders. Furthermore, Figures 2-8At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0091] Figure 9 This is a structural block diagram of a device positioning apparatus according to one embodiment. Figure 9 As shown, the device positioning apparatus includes: a first acquisition module, a first positioning module, and a second positioning module, wherein:

[0092] The first acquisition module is used to acquire the location information of the search terminal and the relative distance between the search terminal and the target device during the item retrieval process.

[0093] The first positioning module is used to obtain the location information of the target device based on the location information of the search terminal and the relative distance;

[0094] The second positioning module is used to obtain the angle information of the target device based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal.

[0095] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0096] Based on the above embodiments, optionally, the first acquisition module includes: a first acquisition unit, wherein:

[0097] The first acquisition unit is used to acquire the location information of the search terminal using visual positioning technology during the object retrieval process, and to acquire the relative distance between the search terminal and the target device using ultra-wideband (UWB) positioning technology.

[0098] Optional, visual positioning technologies include visual inertial odometry (VIO) visual positioning technology or ARcore positioning technology.

[0099] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0100] Based on the above embodiments, optionally, the first positioning module includes: a second acquisition unit, wherein:

[0101] The second acquisition unit is used to establish a set of spatial positioning equations based on the location information and relative distance of the search terminal, solve the set of spatial positioning equations, and obtain the location information of the target device.

[0102] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0103] Based on the above embodiments, optionally, the second acquisition unit is used to solve the spatial positioning equations using the Time of Arrival Model-based Double Weighted Least Squares (DWLS) positioning algorithm or the Taylor series method to obtain the location information of the target device.

[0104] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0105] Based on the above embodiments, optionally, the second acquisition unit is used to establish a set of spatial positioning equations based on the location information and relative distance of the search terminal using a weighted least squares method twice.

[0106] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0107] Based on the above embodiments, optionally, the first acquisition module includes: a third acquisition unit and a fourth acquisition unit, wherein:

[0108] The third acquisition unit is used to acquire the initial location information of the search terminal at multiple moments during the object search process, as well as the initial relative distance between the search terminal and the target device.

[0109] The fourth acquisition unit is used to align each initial position information and each initial relative distance in time to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device.

[0110] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0111] Based on the above embodiments, optionally, the fourth acquisition unit is used to align each initial position information and each initial relative distance in time using an interpolation algorithm to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device.

[0112] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0113] Based on the above embodiments, optionally, the above apparatus further includes: a processing module, wherein:

[0114] The processing module is used to perform noise filtering on the initial relative distances at multiple times to obtain the filtered relative distances.

[0115] The aforementioned fourth acquisition unit is used to align the initial position information and the filtered relative distance in time.

[0116] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0117] Based on the above embodiments, optionally, the above apparatus further includes: a first determining module, wherein:

[0118] The first determining module is used to determine the target location information and the target relative distance from multiple location information of the search terminal and multiple relative distances between the search terminal and the target device based on the spatial distribution of the initial location information at multiple times and the horizontal component precision factor HDOP value.

[0119] The first positioning module mentioned above includes a positioning unit, wherein:

[0120] The positioning unit is used to obtain the location information of the target device based on the target location information and the relative distance to the target.

[0121] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0122] Based on the above embodiments, optionally, the second positioning module includes: a fifth acquisition unit and a sixth acquisition unit, wherein:

[0123] The fifth acquisition unit is used to obtain multiple candidate location information of the target device based on multiple location information and multiple relative distances of the search terminal.

[0124] The sixth acquisition unit is used to average multiple candidate location information to obtain the location information of the target device.

[0125] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0126] Based on the above embodiments, optionally, the above apparatus further includes: a rejection module, wherein:

[0127] The elimination module is used to eliminate abnormal information from multiple candidate location information;

[0128] The sixth acquisition unit mentioned above is used to average the candidate location information after elimination to obtain the location information of the target device.

[0129] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0130] Based on the above embodiments, optionally, the above apparatus further includes: a second acquisition module, wherein:

[0131] The second acquisition module is used to acquire the pose information of the search terminal based on the inertial navigation data of the search terminal.

[0132] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0133] Based on the above embodiments, optionally, the above apparatus further includes: a second determining module, wherein:

[0134] The second determining module is used to determine the target path for finding the target device based on the location and angle information of the target device.

[0135] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0136] Based on the above embodiments, optionally, the second determining module includes: a planning unit and a determining unit, wherein:

[0137] The planning unit is used to plan multiple candidate paths to find the target device based on the location information and angle information of the target device.

[0138] The determining unit is used to determine the candidate path with the shortest time as the target path.

[0139] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0140] Optionally, based on the above embodiments, the device further includes: a display module, wherein:

[0141] The display module is used to generate and display navigation information based on the target path.

[0142] The device positioning device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0143] The division of the various modules in the above-described device positioning device is only for illustrative purposes. In other embodiments, the device positioning device can be divided into different modules as needed to complete all or part of the functions of the above-described device positioning device.

[0144] For specific limitations regarding the device positioning device, please refer to the limitations on the device positioning method above, which will not be repeated here. Each module in the aforementioned device positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the computer device, or stored in software in the memory of the computer device, so that the processor can call and execute the corresponding operations of each module.

[0145] The various modules in the device positioning apparatus provided in this application embodiment can be implemented in the form of a computer program. This computer program can run on a terminal or server. The program modules constituted by this computer program can be stored in the memory of an electronic device. When the computer program is executed by a processor, it implements the steps of the method described in the embodiments of this application.

[0146] Figure 10 This is a schematic diagram of the internal structure of an electronic device in one embodiment. The electronic device can be any terminal device such as a mobile phone, tablet computer, laptop computer, desktop computer, PDA (Personal Digital Assistant), POS (Point of Sales), in-vehicle computer, wearable device, etc. The electronic device includes a processor and a memory connected via a system bus. The processor may include one or more processing units. The processor may be a CPU (Central Processing Unit) or DSP (Digital Signal Processor), etc. The memory may include a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The computer programs can be executed by the processor to implement a device positioning method provided in the following embodiments. The internal memory provides a cached runtime environment for the operating system computer programs in the non-volatile storage medium.

[0147] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the steps of a device positioning method.

[0148] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform a device positioning method.

[0149] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), or flash memory. Volatile memory may include RAM (Random Access Memory), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), SDRAM (Synchronous Dynamic Random Access Memory), Double Data Rate DDR SDRAM (Double Data Rate Synchronous Dynamic Random Access Memory), ESDRAM (Enhanced Synchronous Dynamic Random Access Memory), SLDRAM (Sync Link Dynamic Random Access Memory), RDRAM (Rambus Dynamic Random Access Memory), and DRDRAM (Direct Rambus Dynamic Random Access Memory).

[0150] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for positioning equipment, characterized in that, include: During the object retrieval process, the initial position information of the search terminal at multiple moments and the initial relative distance between the search terminal and the target device are obtained. The initial relative distances at multiple moments are subjected to noise filtering to obtain the filtered relative distances. The initial position information and the filtered relative distances are aligned in time to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device. The location information of the target device is obtained based on multiple location information of the search terminal and multiple relative distances; The angle information of the target device is obtained based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal.

2. The method according to claim 1, characterized in that, The process of acquiring the initial location information of the search terminal at multiple moments during the item retrieval process, as well as the initial relative distance between the search terminal and the target device, includes: During the locating process, visual positioning technology is used to obtain the initial location information of the search terminal at multiple times, and ultra-wideband (UWB) positioning technology is used to obtain the initial relative distance between the search terminal and the target device.

3. The method according to claim 1 or 2, characterized in that, The step of obtaining the location information of the target device based on multiple location information of the search terminal and multiple relative distances includes: A set of spatial positioning equations is established based on the location information of the search terminal and the relative distance. The spatial positioning equations are solved to obtain the location information of the target device.

4. The method according to claim 3, characterized in that, Solving the spatial positioning equations to obtain the location information of the target device includes: The spatial positioning equations are solved using a time-of-arrival model-based double-weighted least squares (DWLS) positioning algorithm or a Taylor series method to obtain the location information of the target device.

5. The method according to claim 3, characterized in that, The step of establishing a set of spatial positioning equations based on the location information of the search terminal and the relative distance includes: The spatial positioning equations are established by using two weighted least squares methods based on the location information of the search terminal and the relative distance.

6. The method according to claim 1, characterized in that, The step of aligning the initial position information and the filtered relative distances in time to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device includes: An interpolation algorithm is used to align the initial position information and the filtered relative distance in time to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device.

7. The method according to claim 1, characterized in that, The method further includes: Based on the spatial distribution of the initial position information at the multiple times and the horizontal component precision factor HDOP value, the target position information and the target relative distance are determined from the multiple position information of the search terminal and the multiple relative distances between the search terminal and the target device. Based on multiple location information of the search terminal and the multiple relative distances, the location information of the target device is obtained, including: The location information of the target device is obtained based on the target location information and the relative distance to the target.

8. The method according to claim 1, characterized in that, The step of obtaining the location information of the target device based on multiple location information of the search terminal and multiple relative distances includes: Based on the multiple location information of the search terminal and the multiple relative distances, multiple candidate location information of the target device is obtained; The location information of the target device is obtained by averaging the multiple candidate location information.

9. The method according to claim 8, characterized in that, The method further includes: Remove abnormal information from the multiple candidate location information; The location information of the target device is obtained by averaging the multiple candidate location information, including: The location information of the target device is obtained by averaging the candidate location information after elimination.

10. The method according to claim 1, characterized in that, The method further includes: The pose information of the search terminal is obtained based on the inertial navigation data of the search terminal.

11. The method according to claim 1, characterized in that, The method further includes: Based on the location information and angle information of the target device, a target path for finding the target device is determined.

12. The method according to claim 11, characterized in that, The step of determining the target path for finding the target device based on the location information and the angle information includes: Based on the location information and angle information of the target device, multiple candidate paths for finding the target device are planned. The candidate path with the shortest execution time is determined as the target path.

13. The method according to claim 11 or 12, characterized in that, The method further includes: Navigation information is generated based on the target path, and the navigation information is displayed.

14. The method according to claim 2, characterized in that, The visual positioning technology includes visual inertial odometry (VIO) visual positioning technology or ARcore positioning technology.

15. A device positioning apparatus, characterized in that, include: The first acquisition module is used to acquire the initial position information of the search terminal at multiple times and the initial relative distance between the search terminal and the target device during the object search process, perform noise filtering on the initial relative distances at multiple times to obtain the filtered relative distances, and align each of the initial position information and the filtered relative distances in time to obtain multiple position information of the search terminal and multiple relative distances between the search terminal and the target device. The first positioning module is used to obtain the location information of the target device based on multiple location information of the search terminal and the multiple relative distances; The second positioning module is used to obtain the angle information of the target device based on the location information of the target device, the location information of the search terminal, and the attitude information of the search terminal.

16. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, it causes the processor to perform the steps of the device positioning method as described in any one of claims 1 to 14.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 14.

18. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 14.

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