Positioning method, lost item finding method, device, storage medium and electronic device

Abstract

Embodiments of the present application disclose a positioning method, a lost object searching method, a device, a storage medium and an electronic device. In the embodiments of the present application, an ultra-wideband signal sent by a positioning tag based on ultra-wideband communication is received, and a measured position of the positioning tag at a current time is calculated according to the ultra-wideband signal. Motion data of the electronic device collected by a motion sensor is obtained, and a predicted position of the positioning tag at the current time is calculated according to the motion data and a historical position of the positioning tag at a previous time. A target position of the positioning tag is determined according to the measured position and the predicted position. In the scheme, the assistance of VIO is not needed, and the operation of calling a camera to shoot an image is not needed. Only the ultra-wideband signal and the motion data detected by the sensor are needed to determine the position of the positioning tag, so that the power consumption of the electronic device when the electronic device is used to position a target object is reduced.

Description

Technical Field

[0001] This application relates to the field of device positioning technology, specifically to a positioning method, object finding method, device, storage medium, and electronic device. Background Technology

[0002] Positioning schemes based on Ultra-Wide Band (UWB) technology are spatial positioning solutions. These schemes rely on UWB for distance measurement and typically require the assistance of a Visual Inertial Odometry (VIO) device. The user device (which can be a UWB-enabled electronic device such as a mobile phone or watch) communicates with the target object via UWB to obtain the distance between the target object and the user device in real time. Simultaneously, the user device obtains its own coordinates in real time through the VIO. The location of the target object can be determined based on simple geometric principles. However, because this method relies on the assistance of the VIO device and requires the camera to be kept running for an extended period of time during the positioning process to perform image processing algorithms, the power consumption of this method of locating the target object using electronic devices is very high. Summary of the Invention

[0003] This application provides a positioning method, object finding method, device, storage medium, and electronic device that can reduce power consumption when using electronic devices to locate target objects.

[0004] In a first aspect, embodiments of this application provide a positioning method, including:

[0005] It receives the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal;

[0006] The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment.

[0007] The target location of the positioning tag is determined based on the measured location and the predicted location.

[0008] Secondly, embodiments of this application provide a method for locating objects, including:

[0009] It receives the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal;

[0010] The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment.

[0011] The target location of the positioning tag is determined based on the measured and predicted locations.

[0012] Provide location guidance based on the target location.

[0013] Thirdly, embodiments of this application also provide a positioning device, including:

[0014] The first detection module is used to receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal.

[0015] The first prediction module is used to acquire motion data of electronic devices collected by motion sensors, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment.

[0016] The positioning module is used to determine the target location of the positioning tag based on the measured location and the predicted location.

[0017] Fourthly, embodiments of this application also provide a locator, comprising:

[0018] The second detection module is used to receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and to calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal.

[0019] The second prediction module is used to acquire motion data of electronic devices collected by motion sensors, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment.

[0020] The fusion module is used to determine the target location of the positioning tag based on the measured location and the predicted location;

[0021] The indicator module is used to provide location-based object guidance.

[0022] Fifthly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when run on a computer, causes the computer to perform the object-finding method as provided in any embodiment of this application.

[0023] Sixthly, embodiments of this application also provide an electronic device, including a processor and a memory, the memory having a computer program, and the processor executing the object-finding method as provided in any embodiment of this application by calling the computer program.

[0024] In a seventh aspect, embodiments of this application also provide a positioning tag, including a controller, and an ultra-wideband module and a near-field communication module electrically connected to the controller.

[0025] The technical solution provided in this application, when determining the location of a positioning tag based on an electronic device, receives the ultra-wideband signal transmitted by the positioning tag via ultra-wideband communication, calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal, and can also calculate the predicted position of the positioning tag at the current moment based on the motion data of the electronic device and the historical position of the positioning tag at the previous moment. The target location is then determined based on the measured position and the predicted position. This solution does not require the assistance of VIO or the use of camera images for computation; it only needs to use the ultra-wideband signal and motion data detected by sensors to determine the position of the positioning tag, reducing the power consumption when using electronic devices to locate targets. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0027] Figure 1 This is a schematic flowchart of a positioning method provided in an embodiment of this application.

[0028] Figure 2 This is a schematic diagram illustrating an application scenario of the positioning method provided in the embodiments of this application.

[0029] Figure 3 This is a schematic diagram of the azimuth angle in the positioning method provided in the embodiments of this application.

[0030] Figure 4 This is a schematic diagram illustrating the azimuth prediction principle of the positioning tag in the positioning method provided in the embodiments of this application.

[0031] Figure 5 This is a flowchart illustrating a method for finding objects provided in an embodiment of this application.

[0032] Figure 6 This is a schematic diagram of a location indication in the object-finding method provided in the embodiments of this application.

[0033] Figure 7 This is a schematic diagram of a signal strength indication method for a positioning tag provided in an embodiment of this application.

[0034] Figure 8 This is a schematic diagram illustrating the relationship between PDOA and azimuth angle in an embodiment of this application.

[0035] Figure 9 This is a schematic diagram of the first angle interval and the second angle interval in an embodiment of this application.

[0036] Figure 10 This is a schematic diagram of a positioning device provided in an embodiment of this application.

[0037] Figure 11 This is a schematic diagram of a target locator provided in an embodiment of this application.

[0038] Figure 12 This is a schematic diagram of a first structure of an electronic device provided in an embodiment of this application.

[0039] Figure 13 This is a schematic diagram of a second structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] This application provides a positioning method. The subject executing the positioning method can be the positioning device provided in this application, or an electronic device integrating the positioning device. The positioning device can be implemented in hardware or software.

[0043] Please see Figure 1 , Figure 1 This is a schematic flowchart of a positioning method provided in an embodiment of this application. The specific flow of the positioning method provided in an embodiment of this application can be as follows:

[0044] 101. Receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal.

[0045] Ultra-Wide Broadband (UWB) is a wireless carrier communication technology capable of centimeter-level positioning. In conventional technologies, UWB-based positioning schemes can be divided into two categories based on their underlying principles. Besides spatial positioning schemes, there is another type based on UWB: azimuth positioning, which obtains orientation information through angle measurement. Unlike the first type of spatial positioning scheme, the UWB-based azimuth positioning scheme can, in principle, directly obtain the relative orientation of the target object with respect to the user terminal without relying on the input of other sensors. Its principle is based on the phase difference of arrival (PDOA) of the received signal. For example... Figure 2 As shown, Figure 2 This is a schematic diagram illustrating an application scenario of the positioning method provided in this application embodiment. When the UWB signal emitted by the target object reaches the user terminal device, the two antennas at the user terminal will generate a phase difference due to receiving the same signal sequentially. For example, when the target object is directly in front, both antennas can simultaneously receive the signal emitted by the target object, resulting in a phase difference of 0. When the target object is on the right, the right antenna receives the signal emitted by the target object first, at which point there will be a phase difference between the signals received by the left and right antennas. This phase difference is related to the azimuth angle of the target object relative to the user terminal. Therefore, by reading the phase difference between the two antenna ports, the azimuth of the target object at the user terminal can be calculated, thereby determining the position of the target object. Based on the above principle, the electronic device in this application embodiment is equipped with at least two UWB antennas. The positioning tag includes at least one UWB antenna.

[0046] The application scenario of this application embodiment is to use electronic devices to locate target objects. These electronic devices can be smartphones, smartwatches, tablets, etc. The location tag being searched can be a UWB tag or other electronic devices that support UWB technology. If the location tag is a UWB tag, the user can install it on the target object as needed, such as a remote control, tablet, game console, etc. Locating the target object essentially involves locating the location tag on that target object.

[0047] When the distance between the positioning tag and the electronic device is within the PDOA (Plan-Do-Check-Act) range, the electronic device can receive the ultra-wideband (UWB) signal transmitted by the positioning tag. Assume the electronic device has two UWB antennas: a first UWB antenna and a second UWB antenna. The electronic device acquires the first UWB signal received by the first UWB antenna and the second UWB signal received by the second UWB antenna; based on the first and second UWB signals, it calculates the measured position of the positioning tag at the current moment using the PDOA algorithm.

[0048] It should be noted that when the distance between the positioning tag and the electronic device is within the PDOA (Plan-Do-Check-Act) range, the positioning tag will periodically and continuously transmit UWB signals; in other words, the electronic device will periodically detect UWB signals. During the process of using the electronic device to locate the positioning tag, the user may move or rotate the electronic device to quickly obtain the location of the target object. Therefore, the strength of the UWB signal detected by the electronic device will change, and consequently, the relative position between the positioning tag and the electronic device may also change. Based on this principle, the electronic device calculates and outputs the relative position between the positioning tag and the electronic device at a certain frequency based on the received UWB signals, denoted here as the measured position A. t The current time refers to the time t when the UWB signal was most recently received. The previous time is denoted as t-1, and the measured position calculated at the previous time is denoted as A. t-1 .

[0049] 102. Acquire motion data of electronic devices collected by motion sensors, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment.

[0050] In one embodiment, the position is represented by azimuth angle. The measured position is the measured azimuth angle, the historical position is the historical measured azimuth angle, and the predicted position is the predicted azimuth angle. Specifically, a coordinate system is established on a plane parallel to the horizontal plane, with the center of the electronic device as the center. The azimuth angle of the positioning tag in this coordinate system is the position of the positioning tag. Figure 3 As shown, Figure 3 This is a schematic diagram of the azimuth angle in the positioning method provided in the embodiments of this application.

[0051] Calculate the measured position A according to the PDOA algorithm t Simultaneously, the electronic device collects motion data, and based on this data, the rotation angle of the electronic device from time t-1 to time t can be calculated. To accurately locate the positioning tag, the user is typically instructed to keep the electronic device's display screen roughly parallel to the horizontal plane. Therefore, the calculated rotation angle is generally the rotation angle of the electronic device on the plane of the display screen. Since the positioning tag's position remains unchanged while the electronic device rotates, the predicted position of the positioning tag at the current moment can be inferred from the tag's historical position at the previous moment and this rotation angle.

[0052] For example, in one embodiment, acquiring motion data of an electronic device collected by a motion sensor, and calculating the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment, includes: acquiring motion data of the electronic device collected by the motion sensor from the previous moment to the current moment; determining the rotation angle of the electronic device based on the motion data; acquiring the historical measured azimuth angle of the positioning tag relative to the electronic device at the previous moment; and determining the predicted azimuth angle of the positioning tag relative to the electronic device at the current moment based on the historical measured azimuth angle and the rotation angle.

[0053] The motion sensor can be a gyroscope, IMU (Inertial Measurement Unit), accelerometer, or other sensor capable of detecting the rotation of the electronic device. Motion data collected by the motion sensor from time t-1 to time t is acquired, and the rotation angle of the electronic device is calculated based on this data. Then, the azimuth angle of the positioning tag at time t-1 is obtained, such as... Figure 4 As shown, Figure 4 This diagram illustrates the principle of azimuth angle prediction for the positioning tag in the positioning method provided in this application. The azimuth angle of the positioning tag at the previous moment was 30°, and the angle calculated from the motion data is 60°, equivalent to a 60° rotation of both the vertical and horizontal axes of the coordinate system. Therefore, the positioning angle of the positioning tag at the current moment is 90°. The position of the positioning tag at the current moment, inferred from the motion sensor, is denoted as the predicted position B. t The historical location of the positioning tag at the previous moment can be either the target location of the positioning tag at the previous moment or the actual measured location of the positioning tag at the previous moment.

[0054] 103. Determine the target location of the positioning tag based on the measured location and the predicted location.

[0055] The measured location A of the positioning tag at the current moment is calculated. t and predicted location B t Then, based on these two locations, the target location of the positioning tag at the current moment is determined.

[0056] For example, in one embodiment, the measured position A is calculated. t and predicted location B t The average value is used as the target position C. t .

[0057] For example, in another embodiment, determining the target position of the positioning tag based on the measured position and the predicted position includes: obtaining the Kalman gain; and based on the Kalman gain, performing fusion processing on the measured azimuth angle and the predicted azimuth angle according to the Kalman fusion algorithm to obtain the target azimuth angle of the positioning tag relative to the electronic device.

[0058] In this embodiment, the measured location A t and predicted location B t The fusion is achieved through one-dimensional Kalman fusion. The formula for one-dimensional Kalman fusion can be expressed as follows:

[0059] C t =B t +K(A t -B t )

[0060] Where K is the Kalman gain, which is a preset fixed value. Generally, before leaving the factory, the electronic equipment is tested to obtain the measurement error R of the UWB azimuth measurement algorithm and the variance P of the azimuth prediction. Then, the Kalman gain K is calculated based on R and P according to the following formula.

[0061]

[0062] When the UWB azimuth measurement algorithm has high measurement accuracy, the R value will be very small, even approaching 0, and the K value will approach 1. At this time, C t =A t Conversely, when the azimuth angle predicted based on motion data has high accuracy, the value of P approaches 0, and K approaches 0. At this point, C... t =B t The two scenarios described above represent two extreme cases. In practical applications, both scenarios will have some degree of error. The values ​​of K and P are neither equal to 0 nor 1; they are generally values ​​between 0 and 1, influenced by hardware and algorithm accuracy. Therefore, to obtain a more accurate azimuth angle, the two are fused according to the aforementioned one-dimensional Kalman fusion formula to obtain the target azimuth angle C. t .

[0063] Compared to existing spatial positioning solutions, this application's embodiment calculates the location tag's position by fusing actual detected values ​​and predicted values. This eliminates the need for VIO assistance and prolonged camera operation for image processing algorithms. Instead, it uses a low-power motion sensor for prediction, significantly reducing the reliance on electronic devices. Furthermore, unlike existing spatial positioning solutions, this approach eliminates the need for users to travel a distance in space to obtain the target object's azimuth, improving the convenience of the positioning operation.

[0064] Furthermore, existing positioning methods that solely rely on UWB angle measurement to obtain azimuth information are susceptible to environmental interference, particularly regarding PDOA (Position Direct Aspect Ratio). Even when the device remains relatively stationary during practical use, abnormally fluctuating PDOA values ​​can still be collected, leading to unstable azimuth indications. In contrast, the proposed solution not only utilizes UWB-based detection values ​​but also performs azimuth prediction based on motion data. By combining the errors from both methods, the final azimuth is obtained. This significantly improves positioning accuracy compared to methods solely based on UWB angle measurement. Moreover, Kalman fusion is used to smooth the UWB measurements, resulting in a consistent and smooth positioning experience.

[0065] In practice, this application is not limited by the execution order of the described steps. Without causing conflicts, some steps may be performed in other orders or simultaneously.

[0066] As can be seen from the above, the positioning method provided in this application, when determining the position of a positioning tag based on an electronic device, receives the ultra-wideband signal transmitted by the positioning tag via ultra-wideband communication, calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal, and can also calculate the predicted position of the positioning tag at the current moment based on the motion data of the electronic device and the historical position of the positioning tag at the previous moment. The target position is then determined based on the measured position and the predicted position. This solution does not require the assistance of VIO, nor does it require using images captured by a camera for computation; it only needs to use the ultra-wideband signal and the motion data detected by the sensor to determine the position of the positioning tag, reducing the power consumption when using electronic devices to locate the target object.

[0067] In some embodiments, the positioning method further includes:

[0068] If no ultra-wideband signal is received from the positioning tag at the current moment, the motion data of the electronic device collected by the motion sensor is acquired; the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment; and the predicted position is determined as the target position of the positioning tag at the current moment.

[0069] In existing technologies that rely solely on UWB angle measurement for azimuth positioning, the azimuth angle is entirely dependent on UWB's PDOA angle measurement technology. Therefore, continuous azimuth angle display requires a persistent, uninterrupted UWB signal. However, UWB signals have limited penetration, and severe obstruction inevitably leads to signal drops, resulting in an intermittent user experience. To address this issue, this solution, after establishing UWB communication with the positioning tag, if the electronic device does not receive the UWB signal from the tag at the current moment and cannot obtain the measured azimuth angle, will use a predicted position calculated based on motion data and the historical position from the previous moment as the target position of the positioning tag at the current moment, achieving smooth and uninterrupted azimuth indication.

[0070] Furthermore, embodiments of this application also provide a method for locating objects, applied to electronic devices. Please refer to [link / reference]. Figure 5 As shown, Figure 5 This is a schematic flowchart illustrating a method for finding objects provided in an embodiment of this application. The method includes:

[0071] 201. Receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal.

[0072] 202. Acquire motion data of electronic devices collected by motion sensors, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment.

[0073] 203. Determine the target location of the positioning tag based on the measured location and the predicted location.

[0074] For details on the specific implementation of the above steps, please refer to the embodiment of the above positioning method, which will not be repeated here.

[0075] 204. Provide item location guidance based on the target location.

[0076] After determining the target location of the positioning tag at the current moment, this target location is used as output data for the item finding instruction and displayed on the display interface of the electronic device to indicate the current location of the positioning tag to the user. For example, in one embodiment, after obtaining the target azimuth angle, the orientation of the positioning tag is indicated on the display interface based on the target azimuth angle. Figure 6 As shown, Figure 6 This is a schematic diagram illustrating the location indication in the object-finding method provided in this application embodiment. Alternatively, in other embodiments, location indication can also be provided via voice.

[0077] The object-finding scheme provided in this application, when searching for a location tag using an electronic device, receives the ultra-wideband (UWB) signal transmitted by the location tag via UWB communication, calculates the measured position of the location tag at the current moment based on the UWB signal, and can also calculate the predicted position of the location tag at the current moment based on the motion data of the electronic device and the historical position of the location tag at the previous moment. The target position is determined based on the measured position and the predicted position, and then the object-finding instruction is given based on the target position. This scheme does not require the assistance of VIO (Virtual I / O) or the use of camera images for computation; it only needs to use the UWB signal and motion data detected by sensors to achieve the object-finding instruction for the location tag, reducing the power consumption of the electronic device during object-finding.

[0078] In one embodiment, before receiving the ultra-wideband signal transmitted by the positioning tag based on ultra-wideband communication, and calculating the measured position of the positioning tag at the current moment based on the ultra-wideband signal, the object-finding method further includes:

[0079] In response to a search command, determine the location tag corresponding to the search command and send an ultra-wideband connection request to the location tag;

[0080] If the UWB connection request fails to establish UWB communication with the location tag, then establish a near-field communication connection with the location tag.

[0081] Display the item finding indicator interface and show the signal strength information of the near-field communication connection on the item finding indicator interface. The indicator information is used to indicate the distance to the positioning tag.

[0082] The system updates the prompts based on changes in signal strength until it successfully establishes ultra-wideband communication with the positioning tag.

[0083] In this embodiment, to address the short communication range issue of UWB technology, near-field communication modules, such as Bluetooth or Wi-Fi modules, are incorporated into both the positioning tag and the electronic device. The Bluetooth module can be BLE (Bluetooth Low Energy). The following explanation uses Bluetooth connection as an example of near-field communication. When a user first uses the positioning tag, they need to bind the electronic device to it. After powering on, the positioning tag broadcasts at a fixed frequency. The electronic device scans for the tag's broadcast via Bluetooth and connects. A dialog box appears on the electronic device asking whether to bind. After the user selects to bind, the electronic device stores the tag's Bluetooth address information. For easy identification, the user can also customize the name of the positioning tag. After binding, a search operation can be performed.

[0084] When a location tag is lost and a user needs to find it, the user needs to open a location tracking app on their electronic device, tap the location tag's entry, and trigger a search command. The electronic device identifies the location tag corresponding to the search command and sends an UWB (Ultra-Wideband) connection request to it. If the location tag is within UWB range, a successful UWB communication connection can be established. Conversely, if the location tag is outside UWB range, a successful UWB communication connection cannot be established. If the electronic device detects that a successful UWB communication connection has not been established, it will establish a Near Field Communication (NFC) connection, such as a Bluetooth connection, to reconnect to the lost location tag. If the location tag is within Bluetooth range, the connection will be successful; otherwise, the electronic device will output the location where it last connected with the location tag via Bluetooth and prompt the user to try connecting near that location. For example, the electronic device's display may show the location where it last connected with the location tag via Bluetooth. The electronic device updates the location tag's location in the background after each successful Bluetooth connection. Once the connection is successful, a location tracking interface will be displayed, showing the signal strength of the near-field communication connection, such as the RSSI (Received Signal Strength Indication) of the location tag. The farther the electronic device is from the location tag, the weaker the RSSI; the closer the distance, the stronger the RSSI. Figure 7 As shown, Figure 7 This is a schematic diagram illustrating a signal strength indication method for a positioning tag provided in this application embodiment. It shows an RSSI indication method, allowing the user to visually observe the RSSI strength through the displayed information. The larger the area of ​​the gray portion within the circular region, the stronger the Bluetooth signal and the closer the user is to the positioning tag. Based on this indication, the electronic device guides the user to walk in the direction of increased Bluetooth RSSI, ensuring the positioning tag remains within the UWB connection range. Once the user enters the UWB connection range, PDOA angle measurement is initiated.

[0085] As can be seen from the above, the solution of this embodiment makes up for the problem of short communication distance of UWB technology. Outside the UWB connection area, it guides users to the tag by means of Bluetooth signal strength indication, which expands the scope of application of the item finding application. Even outside the UWB connection area, Bluetooth RSSI coarse positioning can play an effective guiding role.

[0086] In one embodiment, after receiving the ultra-wideband signal transmitted by the positioning tag based on ultra-wideband communication and calculating the measured position of the positioning tag at the current moment based on the ultra-wideband signal, the object-finding method further includes:

[0087] Retrieve the historical location of the location tag at the previous moment;

[0088] Obtain the first phase difference corresponding to the historical position and the second phase difference corresponding to the measured position;

[0089] Based on historical location, measured location, and the first and second phase differences, determine the trend of phase difference change relative to location;

[0090] Determine the angle range where the positioning tag is located based on the changing trend;

[0091] When the positioning tag is located in the first angle range of the electronic device, a first prompt message is output. The first prompt message is used to instruct the electronic device to rotate along a plane parallel to the display screen by a first preset angle so that the positioning tag is located in the second angle range of the electronic device. The plane centered on the electronic device includes the first angle range and the second angle range.

[0092] In existing technologies, PDOA (Programmable Optimization and Orientation Analysis) relies solely on UWB (Ultra-Wideband) angle measurement to obtain azimuth information for object location. However, within the object's azimuth angle range of -180° to 180° (i.e., from the left rear to the right rear), the angle measurement results are not monotonous. Figure 8 As shown, Figure 8 This is a schematic diagram illustrating the relationship between PDOA and azimuth angle in an embodiment of this application. The same PDOA corresponds to two azimuth angles, which are monotonically usable only within the range of -90° to 90° (i.e., the area from left to right clockwise). This results in the angle measurement result being monotonically usable only in the range of -90° to 90°, that is, usable in the area in front of the user. Consequently, the phase difference output by the PDOA algorithm cannot accurately determine the azimuth.

[0093] To address this technical problem, this embodiment divides a plane centered on the electronic device and parallel to the display screen into a first angular interval and a second angular interval. For example... Figure 9 As shown, the first angular interval is the interval formed by [90°, 180°] and [-180°, -90°], and the second angular interval is the interval [-90°, 90°]. Both intervals have a range of 180 degrees.

[0094] based on Figure 8The characteristics of PDOA are shown. The historical position of the positioning tag at the previous moment is obtained. This historical position is the measured position of the positioning tag at the previous moment, i.e., the azimuth angle A1 calculated based on PDOA at the previous moment is obtained. Based on the azimuth angle A1 at the previous moment and the azimuth angle A2 calculated based on PDOA at the current moment, the azimuth angle change is obtained. The first phase difference at the previous moment and the second phase difference at the current moment are obtained. Then, based on the azimuth angles A1 and A2, and the first and second phase differences, the trend of the phase difference relative to the position change is determined. If the phase difference increases with the increase of the azimuth angle, the positioning tag can be determined to be located in the [90°, 180°] or [-180°, -90°] interval, i.e., the first angular interval. Conversely, if the phase difference decreases with the increase of the azimuth angle, the positioning tag can be determined to be located in the [-90°, 90°] interval, i.e., the second angular interval.

[0095] If the positioning tag is detected to be within a first angular range of the electronic device, a first prompt message is output. The first prompt message instructs the electronic device to rotate along a plane parallel to the display screen by a first preset angle, which can range from 90° to 180°. This is done so that the positioning tag is located within a second angular range of the electronic device, allowing the output azimuth angle to accurately indicate the orientation of the positioning tag.

[0096] As can be seen from the above, in response to the problem that PDOA angle measurement technology can only be used from the front, this solution can determine the angle range of the positioning tag and output prompt information even if there is a short period of time when the tag is facing away from it after capturing a measurement value.

[0097] In some embodiments, the object locating method further includes:

[0098] Once the electronic device establishes ultra-wideband communication with the positioning tag, if it does not receive an ultra-wideband signal from the positioning tag at the current moment, it acquires the motion data of the electronic device collected by the motion sensor, calculates the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment, and provides object-finding instructions based on the predicted position.

[0099] In existing technologies, azimuth positioning schemes that rely solely on UWB angle measurement to obtain azimuth information depend entirely on UWB's PDOA angle measurement technology. Therefore, continuous azimuth display requires a persistent, uninterrupted UWB signal. However, UWB signals have limited penetration, and severe obstruction inevitably leads to signal drops, resulting in an intermittent user experience. To address this issue, this solution, after establishing UWB communication with the positioning tag, if the electronic device does not receive the UWB signal from the tag at the current moment and cannot obtain the measured azimuth, outputs a predicted position calculated based on motion data and the historical position from the previous moment. This compensates for UWB signal drops in directional indication, achieving smooth and uninterrupted azimuth feedback.

[0100] In one embodiment, a positioning device is also provided. See also... Figure 10 , Figure 10 This is a schematic diagram of a positioning device provided in an embodiment of this application. The positioning device 300 is applied to an electronic device and includes:

[0101] The first detection module 301 is used to receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal.

[0102] The first prediction module 302 is used to acquire motion data of electronic devices collected by motion sensors, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment.

[0103] The positioning module 303 is used to determine the target location of the positioning tag based on the measured location and the predicted location.

[0104] It should be noted that the positioning device provided in this application embodiment belongs to the same concept as the positioning method in the above embodiment. The positioning device can implement any of the methods provided in the positioning method embodiment. For details of its implementation process, please refer to the positioning method embodiment, which will not be repeated here.

[0105] As can be seen from the above, the positioning device proposed in this application, when determining the position of a positioning tag based on an electronic device, receives the ultra-wideband signal transmitted by the positioning tag via ultra-wideband communication, calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal, and can also calculate the predicted position of the positioning tag at the current moment based on the motion data of the electronic device and the historical position of the positioning tag at the previous moment. The target position is then determined based on the measured position and the predicted position. This solution does not require the assistance of VIO, nor does it require using images captured by a camera for computation; it only needs to use the ultra-wideband signal and the motion data detected by the sensor to determine the position of the positioning tag, reducing the power consumption when using electronic devices to locate the target object.

[0106] In one embodiment, a locator is also provided. See also... Figure 11 , Figure 11 This is a schematic diagram of a locator provided in an embodiment of this application. The locator 400 is applied to an electronic device and includes:

[0107] The second detection module 401 is used to receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal.

[0108] The second prediction module 402 is used to acquire motion data of electronic devices collected by motion sensors, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment.

[0109] The fusion module 403 is used to determine the target location of the positioning tag based on the measured location and the predicted location;

[0110] Indication module 404 is used to provide object finding instructions based on the target location.

[0111] It should be noted that the object finding device provided in this application embodiment belongs to the same concept as the object finding method in the above embodiment. The object finding device can realize any of the methods provided in the object finding method embodiment. For details of its implementation process, please refer to the object finding method embodiment, which will not be repeated here.

[0112] As can be seen from the above, the object-finding device proposed in this application, when searching for a positioning tag based on an electronic device, receives the ultra-wideband signal transmitted by the positioning tag via ultra-wideband communication, calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal, and can also calculate the predicted position of the positioning tag at the current moment based on the motion data of the electronic device and the historical position of the positioning tag at the previous moment. The target position is determined based on the measured position and the predicted position, and then the object-finding instruction is given based on the target position. This solution does not require the assistance of VIO, nor does it require using images captured by a camera for computation; it only needs to use the ultra-wideband signal and motion data detected by the sensor to achieve the object-finding instruction for the positioning tag, reducing the power consumption of the electronic device when searching for objects.

[0113] This application also provides an electronic device. The electronic device can be a smartphone, tablet computer, or similar device. Please refer to... Figure 12 , Figure 12 This is a schematic diagram of a first structure of an electronic device provided in an embodiment of this application. The electronic device 500 includes a processor 501 and a memory 502. The processor 501 and the memory 502 are electrically connected.

[0114] The processor 501 is the control center of the electronic device 500. It connects various parts of the electronic device through various interfaces and lines. By running or calling computer programs stored in the memory 502 and calling data stored in the memory 502, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole.

[0115] Memory 502 can be used to store computer programs and data. The computer programs stored in memory 502 contain instructions that can be executed in the processor. The computer programs can be composed of various functional modules. The processor 501 executes various functional applications and data processing by calling the computer programs stored in memory 502.

[0116] The electronic device 500 also includes a UWB module 503. The UWB module 503 includes at least two UWB antennas, and the electronic device 500 establishes UWB communication with the positioning tag and receives UWB signals based on the at least two UWB antennas.

[0117] In one embodiment, the processor 501 in the electronic device 500 loads the instructions corresponding to the processes of one or more computer programs into the memory 502 according to the following steps, and the processor 501 runs the computer programs stored in the memory 502 to realize various functions:

[0118] It receives the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal;

[0119] The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment.

[0120] The target location of the positioning tag is determined based on the measured and predicted locations.

[0121] Provide location guidance based on the target location.

[0122] Alternatively, in another embodiment, the processor 501 in the electronic device 500 loads the instructions corresponding to the processes of one or more computer programs into the memory 502 according to the following steps, and the processor 501 runs the computer programs stored in the memory 502 to achieve various functions:

[0123] It receives the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal;

[0124] The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment.

[0125] The target location of the positioning tag is determined based on the measured location and the predicted location.

[0126] In some embodiments, please refer to Figure 13 , Figure 13 This is a second structural schematic diagram of the electronic device provided in an embodiment of this application. The electronic device 500 further includes: a display screen 504, a control circuit 505, an input unit 506, an audio circuit 507, a sensor 508, and a power supply 509. The processor 501 is electrically connected to the radio frequency circuit 503, the display screen 504, the control circuit 505, the input unit 506, the audio circuit 507, the sensor 508, and the power supply 509.

[0127] Display screen 504 can be used to display information input by the user or provided to the user, as well as various graphical user interfaces of electronic devices. These graphical user interfaces can be composed of images, text, icons, videos, and any combination thereof. For example, display screen 504 can display a locator interface to visually indicate the location of a tag.

[0128] The control circuit 505 is electrically connected to the display screen 504 and is used to control the display screen 504 to display information.

[0129] The input unit 506 can be used to receive input numeric, character information, or user characteristic information (such as fingerprints), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control. The input unit 506 may include a fingerprint recognition module.

[0130] Audio circuit 507 provides an audio interface between the user and electronic device via a speaker and microphone. Audio circuit 507 includes a microphone. The microphone is electrically connected to processor 501. The microphone is used to receive voice information input by the user.

[0131] Sensor 508 is used to collect information about the external environment. Sensor 508 may include one or more sensors such as an ambient light sensor, an accelerometer, and a gyroscope.

[0132] The power supply 509 is used to supply power to the various components of the electronic device 500. In some embodiments, the power supply 509 can be logically connected to the processor 501 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system.

[0133] Although not shown in the figure, the electronic device 500 may also include a camera, Bluetooth module, etc., which will not be described in detail here.

[0134] In one embodiment, the processor 501 in the electronic device 500 loads the instructions corresponding to the processes of one or more computer programs into the memory 502 according to the following steps, and the processor 501 runs the computer programs stored in the memory 502 to realize various functions:

[0135] It receives the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal;

[0136] The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment.

[0137] The target location of the positioning tag is determined based on the measured and predicted locations.

[0138] Provide location guidance based on the target location.

[0139] Alternatively, in another embodiment, the processor 501 in the electronic device 500 loads the instructions corresponding to the processes of one or more computer programs into the memory 502 according to the following steps, and the processor 501 runs the computer programs stored in the memory 502 to achieve various functions:

[0140] It receives the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculates the measured position of the positioning tag at the current moment based on the ultra-wideband signal;

[0141] The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment.

[0142] The target location of the positioning tag is determined based on the measured location and the predicted location.

[0143] As can be seen from the above, this application provides an electronic device that receives an ultra-wideband (UWB) signal transmitted by the positioning tag based on UWB communication, calculates the measured position of the positioning tag at the current moment based on the UWB signal, and can also calculate the predicted position of the positioning tag at the current moment based on the motion data of the electronic device and the historical position of the positioning tag at the previous moment. The target position is determined based on the measured position and the predicted position, and then the device provides a locator indication based on the target position. This solution does not require the assistance of VIO (Virtual I / O) or the use of a camera to capture images for computation; it only needs to use the UWB signal and motion data detected by the sensor to achieve the locator indication, thus reducing the power consumption of the electronic device during object locating.

[0144] This application also provides a location tag, which includes a controller, a UWB module, and a near-field communication module electrically connected to the controller. The controller can be an MCU (Microcontroller Unit), etc.; the UWB module includes at least one UWB antenna; and the near-field communication module can be a BLE module. The location tag establishes UWB communication with the electronic device through at least one UWB antenna and transmits UWB signals. The location tag establishes near-field communication with the electronic device through the BLE module to expand the object-finding range.

[0145] In one embodiment, the positioning tag is also equipped with a prompting module, such as a buzzer, which controls the buzzer to emit a prompting sound when the positioning tag is close enough to the electronic device, helping the user to quickly find the target object.

[0146] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run on a computer, the computer executes the object-finding method of any of the above embodiments.

[0147] It should be noted that those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, which may include, but is not limited to, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc.

[0148] Furthermore, the terms "first," "second," and "third," etc., used in this application are used to distinguish different objects, not to describe a specific order. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but some embodiments may also include steps or modules not listed, or some embodiments may include other steps or modules inherent to these processes, methods, products, or devices.

[0149] The positioning method, object finding method, device, storage medium, and electronic device provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application; at the same time, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A positioning method, characterized in that, Applied to electronic devices, the method includes: Receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal; The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment. The target location of the positioning tag is determined based on the measured location and the predicted location; The measured position is the measured azimuth angle, the historical position is the historical measured azimuth angle, and the predicted position is the predicted azimuth angle; the step of acquiring motion data of the electronic device collected by the motion sensor, and calculating the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment, includes: Acquire motion data of the electronic device from the previous moment to the current moment, collected by the motion sensor; The rotation angle of the electronic device is determined based on the motion data; Obtain the historical measured azimuth angle of the positioning tag relative to the electronic device at the previous moment; Based on the historical measured azimuth angle and the rotation angle, the predicted azimuth angle of the positioning tag relative to the electronic device at the current moment is determined; The target location is the target azimuth angle; determining the target location of the positioning tag based on the measured location and the predicted location includes: Obtain Kalman gain; Based on the Kalman gain, the measured azimuth angle and the predicted azimuth angle are fused according to the Kalman fusion algorithm to obtain the target azimuth angle of the positioning tag relative to the electronic device.

2. The method as described in claim 1, characterized in that, The method further includes: If the ultra-wideband signal sent by the positioning tag is not received at the current moment, the motion data of the electronic device collected by the motion sensor is acquired. The predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment; The predicted location is determined as the target location of the positioning tag at the current moment.

3. A method for finding objects, characterized in that, Applied to electronic devices, the method includes: Receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal; The motion data of the electronic device collected by the motion sensor is acquired, and the predicted position of the positioning tag at the current moment is calculated based on the motion data and the historical position of the positioning tag at the previous moment. The target location of the positioning tag is determined based on the measured location and the predicted location; The measured position is the measured azimuth angle, the historical position is the historical measured azimuth angle, and the predicted position is the predicted azimuth angle; the step of acquiring motion data of the electronic device collected by the motion sensor, and calculating the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment, includes: Acquire motion data of the electronic device from the previous moment to the current moment, collected by the motion sensor; The rotation angle of the electronic device is determined based on the motion data; Obtain the historical measured azimuth angle of the positioning tag relative to the electronic device at the previous moment; Based on the historical measured azimuth angle and the rotation angle, the predicted azimuth angle of the positioning tag relative to the electronic device at the current moment is determined; The target location is the target azimuth angle; determining the target location of the positioning tag based on the measured location and the predicted location includes: Obtain Kalman gain; Based on the Kalman gain, the measured azimuth angle and the predicted azimuth angle are fused according to the Kalman fusion algorithm to obtain the target azimuth angle of the positioning tag relative to the electronic device; The target location is used to provide a location tracking instruction.

4. The method as described in claim 3, characterized in that, Before receiving the ultra-wideband signal transmitted by the positioning tag based on ultra-wideband communication, and calculating the measured position of the positioning tag at the current moment based on the ultra-wideband signal, the method further includes: In response to a locator command, determine the location tag corresponding to the locator command and send an ultra-wideband connection request to the location tag; If it is not successful to establish ultra-wideband communication with the positioning tag based on the ultra-wideband connection request, then establish a near-field communication connection with the positioning tag. Based on the signal strength of the near-field communication connection, a prompt message is output until ultra-wideband communication is successfully established with the positioning tag. The prompt message is used to indicate the distance between the electronic device and the positioning tag.

5. The method as described in claim 4, characterized in that, The signal strength output prompt information based on the near-field communication connection, until a successful ultra-wideband communication is established with the positioning tag, includes: Display the object finding indicator interface, and display the signal strength prompt information of the near-field communication connection on the object finding indicator interface; The prompt information is updated based on the changes in signal strength until ultra-wideband communication is successfully established with the positioning tag.

6. The method as described in claim 3, characterized in that, After receiving the ultra-wideband signal transmitted by the positioning tag based on the ultra-wideband communication and calculating the measured position of the positioning tag at the current moment based on the ultra-wideband signal, the method further includes: Obtain the historical location of the location tag at the previous moment; Obtain the first phase difference corresponding to the historical position and the second phase difference corresponding to the measured position; Based on the historical position, the measured position, and the first phase difference and the second phase difference, determine the trend of phase difference change relative to position; The angle range in which the positioning tag is located is determined based on the changing trend; When the positioning tag is located in the first angle range of the electronic device, a first prompt message is output. The first prompt message is used to instruct the electronic device to rotate along a plane parallel to the display screen by a first preset angle so that the positioning tag is located in the second angle range of the electronic device. The plane centered on the electronic device includes the first angle range and the second angle range.

7. The method as described in claim 3, characterized in that, The method of providing object location guidance based on the target location includes: The device displays a location indicator interface, showing the azimuth angle of the location tag relative to the target on the electronic device.

8. The method as described in claim 4, characterized in that, The method further includes: Once the electronic device establishes ultra-wideband communication with the positioning tag, if it does not receive an ultra-wideband signal from the positioning tag at the current moment, it acquires motion data of the electronic device collected by the motion sensor, calculates the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment, and provides a locator instruction based on the predicted position.

9. A positioning device, characterized in that, include: The first detection module is used to receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal. The first prediction module is used to acquire motion data of the electronic device collected by the motion sensor, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment. The positioning module is used to determine the target location of the positioning tag based on the measured location and the predicted location; The measured position is the measured azimuth angle, the historical position is the historical measured azimuth angle, and the predicted position is the predicted azimuth angle; the step of acquiring motion data of the electronic device collected by the motion sensor, and calculating the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment, includes: Acquire motion data of the electronic device from the previous moment to the current moment, collected by the motion sensor; The rotation angle of the electronic device is determined based on the motion data; Obtain the historical measured azimuth angle of the positioning tag relative to the electronic device at the previous moment; Based on the historical measured azimuth angle and the rotation angle, the predicted azimuth angle of the positioning tag relative to the electronic device at the current moment is determined; The target location is the target azimuth angle; determining the target location of the positioning tag based on the measured location and the predicted location includes: Obtain Kalman gain; Based on the Kalman gain, the measured azimuth angle and the predicted azimuth angle are fused according to the Kalman fusion algorithm to obtain the target azimuth angle of the positioning tag relative to the electronic device.

10. A locator, characterized in that, include: The second detection module is used to receive the ultra-wideband signal sent by the positioning tag based on ultra-wideband communication, and calculate the measured position of the positioning tag at the current moment based on the ultra-wideband signal. The second prediction module is used to acquire motion data of the electronic device collected by the motion sensor, and calculate the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment. The fusion module is used to determine the target location of the positioning tag based on the measured location and the predicted location; The measured position is the measured azimuth angle, the historical position is the historical measured azimuth angle, and the predicted position is the predicted azimuth angle; the step of acquiring motion data of the electronic device collected by the motion sensor, and calculating the predicted position of the positioning tag at the current moment based on the motion data and the historical position of the positioning tag at the previous moment, includes: Acquire motion data of the electronic device from the previous moment to the current moment, collected by the motion sensor; The rotation angle of the electronic device is determined based on the motion data; Obtain the historical measured azimuth angle of the positioning tag relative to the electronic device at the previous moment; Based on the historical measured azimuth angle and the rotation angle, the predicted azimuth angle of the positioning tag relative to the electronic device at the current moment is determined; The target location is the target azimuth angle; determining the target location of the positioning tag based on the measured location and the predicted location includes: Obtain Kalman gain; Based on the Kalman gain, the measured azimuth angle and the predicted azimuth angle are fused according to the Kalman fusion algorithm to obtain the target azimuth angle of the positioning tag relative to the electronic device; The indicator module is used to provide object-finding guidance based on the target location.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run on a computer, it causes the computer to perform the positioning method as described in any one of claims 1 to 2, or the object finding method as described in any one of claims 3 to 8.

12. An electronic device comprising a processor and a memory, the memory storing a computer program, characterized in that, The processor invokes the computer program to execute the positioning method as described in any one of claims 1 to 2, or the object locating method as described in any one of claims 3 to 8.

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