Positioning method, device and electronic equipment

Abstract

Embodiments of the present application disclose a positioning method, a device and electronic equipment. The method comprises: after obtaining first information and second information, if a vehicle position confidence and / or an electronic equipment position confidence at a current information collection time is lower than a corresponding preset value, obtaining target relative pose information based on first vehicle attitude information, first electronic equipment attitude information and a first relative distance at a previous information collection time, and second vehicle attitude information, second electronic equipment attitude information and a second relative distance at the current information collection time. Through the above manner, the target relative pose information can be obtained based on the vehicle attitude information, the electronic equipment attitude information, the first relative distance and the second relative distance at adjacent information collection times, so that the vehicle position information relative to the electronic equipment can be obtained when only one UWB module of the vehicle is normally working, and the deployment difficulty of the UWB module is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a positioning method, device, and electronic device. Background Art

[0002] To provide users with a better car-using experience, vehicles and electronic devices are becoming increasingly closely connected. For example, the vehicle's location information can be confirmed through electronic devices, helping users find their own vehicles more quickly. In a related method, when the GPS (Global Positioning System) signal is weak (such as in underground parking lots), the vehicle's position information relative to the electronic device can be obtained based on UWB (Ultra Wide Band) technology. However, the deployment requirements of the UWB module in this related method are relatively high. Summary of the Invention

[0003] In view of the above problems, the present application proposes a positioning method, device and electronic device to improve the above problems.

[0004] In the first aspect, the present application provides a positioning method, which includes: obtaining first information and second information, the first information including vehicle posture information, vehicle position confidence and information collection time, and the second information including electronic device posture information and electronic device position confidence at the corresponding information collection time; if the vehicle position confidence and / or electronic device position confidence at the current information collection time is lower than the corresponding preset value, based on the first vehicle posture information, first electronic device posture information and first relative distance at the previous information collection time, and the second vehicle posture information, second electronic device posture information and second relative distance at the current information collection time, the target relative posture information is obtained, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection time, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection time.

[0005] In the second aspect, the present application provides a positioning device, which includes: an information acquisition unit for acquiring first information and second information, the first information including vehicle posture information, vehicle position confidence and information collection time, and the second information including electronic device posture information and electronic device position confidence at the corresponding information collection time; a target relative posture information acquisition unit for obtaining target relative posture information based on the first vehicle posture information, first electronic device posture information and first relative distance at the previous information collection time, and the second vehicle posture information, second electronic device posture information and second relative distance at the current information collection time if the vehicle position confidence and / or electronic device position confidence at the current information collection time is lower than the corresponding preset value, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection time, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection time.

[0006] In a third aspect, the present application provides an electronic device comprising a UWB module, one or more processors and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above-mentioned method.

[0007] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores program code, wherein the above method is executed when the program code is run.

[0008] The present application provides a positioning method, device, vehicle and storage medium. After obtaining first information and second information, wherein the first information includes vehicle posture information, vehicle position confidence and information collection time, and the second information includes electronic device posture information and electronic device position confidence at the corresponding information collection time, if the vehicle position confidence and / or electronic device position confidence at the current information collection time is lower than the corresponding preset value, based on the first vehicle posture information, first electronic device posture information and first relative distance at the previous information collection time, and the second vehicle posture information, second electronic device posture information and second relative distance at the current information collection time, the target relative posture information is obtained, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection time, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection time. Through the above-mentioned method, when the vehicle position confidence and / or the electronic device position confidence are lower than the corresponding preset value, the first relative distance and the second relative distance can be obtained based on the UWB module in the vehicle and the UWB module in the electronic device, so as to obtain the target relative position information based on the first relative distance, the second relative distance, the first vehicle posture information, the first electronic device posture information, the second vehicle posture information, and the second electronic device posture information. Therefore, when only one UWB module on the vehicle is working normally (such as only one UWB module that can work normally is deployed on the vehicle; for example, multiple UWB modules are deployed on the vehicle, but because the other UWB modules have failed, only one UWB module that can work normally is left, etc.), the position information of the vehicle relative to the electronic device can also be obtained, thereby reducing the manufacturing cost of the vehicle and further reducing the difficulty of deploying the UWB module. For example, in the relevant method, multiple UWB modules need to be deployed on the vehicle, and the deployment of multiple UWB communication modules needs to meet the requirement that the projections of multiple UWB communication modules on the ground cannot all be on a straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A block diagram of a positioning system proposed in an embodiment of the present application is shown;

[0011] Figure 2 A flowchart of a positioning method proposed in an embodiment of the present application is shown;

[0012] Figure 3 A schematic diagram of relative pose information of a target at a current information collection moment of an embodiment of the present application is shown;

[0013] Figure 4 A flow chart of an implementation method proposed in S120 of the present application is shown; Figure 2

[0014] Figure 5 A flow chart of an implementation method proposed in S122 of the present application is shown; Figure 4

[0015] Figure 6 A schematic diagram of a fourth pose matrix in an embodiment of the present application is shown;

[0016] Figure 7 A flow chart of a positioning method proposed in another embodiment of the present application is shown;

[0017] Figure 8 A structural block diagram of a positioning device proposed in an embodiment of the present application is shown;

[0018] Figure 9 A structural block diagram of an electronic device proposed in the present application is shown. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments in the present application without any creative labor shall fall within the scope of protection of the present application.

[0020] ​​In an embodiment of the present application, the inventor proposes a positioning method, device and electronic device. After obtaining first information and second information, wherein the first information includes vehicle posture information, vehicle position confidence and information collection time, and the second information includes electronic device posture information and electronic device position confidence at the corresponding information collection time, if the vehicle position confidence and / or electronic device position confidence at the current information collection time is lower than the corresponding preset value, based on the first vehicle posture information, first electronic device posture information and first relative distance at the previous information collection time, and the second vehicle posture information, second electronic device posture information and second relative distance at the current information collection time, the target relative posture information is obtained, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection time, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection time. Through the above method, when the vehicle position confidence and / or the electronic device position confidence is lower than the corresponding preset value, the first relative distance and the second relative distance can be obtained based on the UWB module in the vehicle and the UWB module in the electronic device, so as to obtain the target relative posture information based on the first relative distance, the second relative distance, the first vehicle posture information, the first electronic device posture information, the second vehicle posture information, and the second electronic device posture information, so that when only one UWB module on the vehicle is working normally, the position information of the vehicle relative to the electronic device can also be obtained, thereby reducing the manufacturing cost of the vehicle and further reducing the difficulty of deploying the UWB module.

[0021] In order to better understand the solution of the embodiment of the present application, the hardware environment of a positioning system of the present application is introduced below.

[0022] See also Figure 1 The present application provides a positioning device that may include an electronic device 100, a vehicle 200, and a server 300. The electronic device may include an ultra-wideband (UWB) module 101, a global navigation satellite system (GNSS) module 103, an inertial measurement unit (IMU) 105, a data storage device 107, a mobile communication module 109, stored map information 111, and a vehicle position calculation and display module 113.

[0023] The ultra-wideband module 101 can be used to obtain the distance between the ultra-wideband module 101 of the electronic device and the ultra-wideband module 201 of the vehicle. The global navigation satellite system module 103 can be used to obtain the GPS position of the electronic device and the confidence level of the electronic device's position. The inertial measurement unit 105 can be used to obtain the electronic device's posture information. The data storage 107 can be used to store information about the electronic device and information obtained by the electronic device. The mobile communication module 109 can be used to implement data communication with the server 300 and the vehicle 200. The map information storage module 111 can be used to store map information. The vehicle position calculation and display module 113 can be used to calculate the relative position information of the vehicle 200 and the electronic device 100. The vehicle position calculation and display module 113 can be provided with a display screen, and the display screen of the vehicle position calculation and display module 113 can be used to display the relative position information of the vehicle 200 and the electronic device 100.

[0024] In the embodiment of the present application, the electronic device 100 may include a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA), a smart panel, etc., which is not limited here.

[0025] Vehicle 200 may include an ultra-wideband (UWB) module 201, a global navigation satellite system (GNSS) module 203, an inertial measurement unit (IMU) 205, and a wheel motion detection module 207. The UWB module 201 may be used to obtain the distance between the UWB module 101 of the electronic device and the UWB module 201 of the vehicle. The GNSS module 203 may be used to obtain the vehicle's GPS position and vehicle position confidence. The IMU 205 and the wheel motion detection module 207 may be used to obtain vehicle posture information.

[0026] The server 300 can be used to store basic information of the vehicle 200 and send the basic information of the vehicle 200 to the electronic device 100. The basic information may include vehicle color, vehicle type, installation location information of the ultra-wideband module 201 in the vehicle 200, identity information of the ultra-wideband module 201, and authentication information of the ultra-wideband module 201. The identity information of the ultra-wideband module 201 can be used to verify the legitimacy of the identity information, and the authentication information of the ultra-wideband module 201 can be used to verify authority.

[0027] See also Figure 2 , an embodiment of the present application provides a positioning method, the method comprising:

[0028] S110: Acquire first information and second information, wherein the first information includes vehicle posture information, vehicle position confidence, and information collection time, and the second information includes electronic device posture information and electronic device position confidence at the corresponding information collection time.

[0029] Among them, the vehicle posture information can be the steering angle of the vehicle in the world coordinate system. Exemplarily, the vehicle posture information can be represented by θ′. The first information can also include vehicle position information, and the vehicle position information can be the GPS position obtained by the vehicle GNSS module. The vehicle position confidence can characterize the accuracy of the vehicle position information; the vehicle position confidence can be related to the GNSS satellite signal strength. The stronger the satellite signal strength, the higher the vehicle position confidence. The electronic device posture information can be the steering angle of the electronic device in the world coordinate system. The electronic device posture information can be represented by θ. The second information can also include electronic device position information. The electronic device position information can be the GPS position obtained by the electronic device GNSS module. The electronic device position confidence can be the accuracy of the electronic device position; the electronic device position confidence can be related to the GNSS satellite signal strength. The stronger the satellite signal strength, the higher the electronic device position confidence.

[0030] As a method, the electronic device can obtain the first information through the server and obtain the second information through its own inertial measurement unit and GNSS module.

[0031] Optionally, when acquiring the vehicle posture information in the first information, it can be measured based on the vehicle inertial measurement unit and the wheel motion detection module. When acquiring the vehicle position information and vehicle position confidence in the first information, the vehicle GNSS module can acquire the vehicle position information (GPS position) while acquiring the vehicle position confidence when receiving the GNSS satellite signal, and after the vehicle obtains its own first information, the first information can be sent to the electronic device through the server. When acquiring the electronic device posture information in the second information, it can be measured based on the electronic device inertial measurement unit. When acquiring the electronic device position information and electronic device position confidence in the second information, the electronic device GNSS module can acquire the electronic device position information (GPS position) while acquiring the electronic device position confidence when receiving the GNSS satellite signal.

[0032] Optionally, the vehicle may periodically send the first information to the electronic device through the server, and the electronic device may obtain the second information in the same period, thereby obtaining multiple sets of first information and second information at the same information collection time.

[0033] S120: If the vehicle position confidence and / or electronic device position confidence at the current information collection moment are lower than the corresponding preset value, the target relative posture information is obtained based on the first vehicle posture information, the first electronic device posture information and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information and the second relative distance at the current information collection moment, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection moments, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection moment.

[0034] Among them, the target relative posture information may include target relative posture information and target relative position information. The target relative posture information may be the posture information of the vehicle relative to the electronic device at the current information collection moment. The target relative position information may be the position information of the vehicle relative to the electronic device at the current information collection moment in the world coordinate system. The first vehicle posture information may represent the vehicle posture information at the previous information collection moment, the second vehicle posture information may represent the vehicle posture information at the current information collection moment, the first electronic device posture information may represent the electronic device posture information at the previous information collection moment, and the second electronic device posture information may represent the electronic device posture information at the current information collection moment. The first relative distance may represent the distance between the UWB module of the electronic device and the UWB module of the vehicle at the previous information collection moment, and the second relative distance may represent the distance between the UWB module of the electronic device and the UWB module of the vehicle at the current collection moment.

[0035] As a way, the current information collection time can be represented by time N, and the previous information collection time can be represented by time N-1. Then, at time N-1, the first vehicle posture information can be represented by θ′ N-1 Indicates that the first electronic device posture information can be represented by θ N-1 Indicates that the first relative distance can be represented by d N-1 Indicates that at time N, the second vehicle posture information can be expressed by θ′ N Indicates that the second electronic device posture information can be represented by θ N Indicates that the second relative distance can be expressed by d N express.

[0036] For example, Figure 3 As shown, it can be represented by O′ N Indicates the vehicle's position information at the current information collection moment, which can be represented by O N Indicates the current position information of the electronic device.

[0037] As a method, the first relative distance between the UWB module of the electronic device and the UWB module of the vehicle at the last information collection moment and the second relative distance between the UWB module of the electronic device and the UWB module of the vehicle at the current moment can be measured based on the UWB module of the electronic device.

[0038] Optionally, the UWB module of the electronic device can send nanosecond pulses to the UWB module of the vehicle. At this time, the UWB module of the vehicle will mark the tag and return another nanosecond pulse to the UWB module of the electronic device. The UWB module of the electronic device can then calculate the distance between the UWB module of the electronic device and the UWB module of the vehicle based on the time of the nanosecond pulse.

[0039] In an embodiment of the present application, the vehicle position confidence and / or electronic device position confidence at the current information collection moment are lower than the corresponding preset value, which can be used to indicate that at the current information collection moment, the GNSS satellite signal strength is weak, and the GPS position obtained by the vehicle and / or the GPS position obtained by the electronic device is uncertain, resulting in poor accuracy of the position information of the vehicle and / or the electronic device. If the target relative posture information is obtained directly based on the GPS position obtained by the vehicle and the GPS position obtained by the electronic device, the accuracy of the target relative posture information will be reduced. Therefore, it is necessary to calculate the posture information of the vehicle relative to the electronic device based on the vehicle posture information, the electronic device posture information, the first relative distance, and the second relative distance at adjacent information collection moments, so that the user can find the vehicle faster.

[0040] The preset value of the vehicle position confidence level can be adjusted by referring to the results of multiple vehicle tests and statistical analysis. The preset value of the electronic device position confidence level can be adjusted by referring to the results of multiple tests and statistical analysis.

[0041] For example, if the preset value of the vehicle's position confidence is 80%, and the vehicle's position confidence at the current information collection moment is 20%, then it can be indicated that the vehicle's GNSS satellite signal at the current information collection moment is weak, and the GPS position obtained by the vehicle is inaccurate. If the preset value of the electronic device's position confidence is 85%, and the electronic device's position confidence at the current information collection moment is 45%, then it can be indicated that the electronic device's GNSS satellite signal at the current information collection moment is weak, and the GPS position obtained by the electronic device is inaccurate.

[0042] As a way, such as Figure 4As shown, if the vehicle position confidence and / or the electronic device position confidence at the current information collection moment is lower than the corresponding preset value, the target relative posture information can be obtained based on the first vehicle posture information, the first electronic device posture information and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information and the second relative distance at the current information collection moment, including:

[0043] S121: Obtaining target relative posture information based on the second vehicle posture information and the second electronic device posture information.

[0044] As a method, the second vehicle posture information and the second electronic device posture information can be subtracted to obtain the target relative posture information. The target relative posture information can be obtained by In other words,

[0045] S122: Obtain target relative position information based on the target relative posture information, the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information and the second relative distance.

[0046] Among them, the target relative position information can be obtained by (x N ,y N )express.

[0047] As a way, such as Figure 5 As shown, the target relative position information can be obtained based on the target relative posture information, the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information, and the second relative distance, including:

[0048] S1221: Based on the first vehicle posture information and the second vehicle posture information, obtain a first posture matrix, where the first posture matrix represents a posture change of the vehicle at a current information collection moment relative to a previous information collection moment.

[0049] Among them, the vehicle posture information at the last information collection moment can be represented by O′ N-1 Indicates that the first pose matrix can be obtained by express.

[0050] As a method, first posture change information can be obtained based on the first vehicle posture information and the second vehicle posture information; a first posture matrix can be obtained based on the first posture change information and the first position change information, the first position change information represents the position change of the vehicle at the current information collection moment and the previous information collection moment, and the first position change information is obtained based on the vehicle's inertial measurement unit and wheel motion detection module.

[0051] The first posture change information may be a difference between the first vehicle posture information and the second vehicle posture information.

[0052] Optionally, the position information of the vehicle at the last information collection moment (N-1 moment) can be obtained based on the vehicle's inertial measurement unit and wheel motion detection module, the position information of the vehicle at the current information collection moment (N moment) can be obtained based on the vehicle's inertial measurement unit and wheel motion detection module, and the first position change information can be obtained based on the difference between the position change of the vehicle at the current information collection moment and the last information collection moment.

[0053] Optionally, a first posture matrix may be obtained based on the first posture change information and the first position change information. The first posture matrix may be expressed as:

[0054]

[0055] Where Δθ′ N Can be used to represent the first posture change information, and Δθ′ N =θ′ N -θ′ N-1 Δx′ N and Δy′ N Can be used to indicate first position change information.

[0056] S1222: Based on the first electronic device posture information and the first vehicle posture information, obtain a second posture matrix, where the second posture matrix represents the posture information of the vehicle relative to the electronic device at the last information collection moment.

[0057] Among them, the electronic device posture information at the last information collection moment can be obtained by O N-1 Indicates that the second pose matrix can be expressed as express.

[0058] As one approach, the second posture change information may be obtained based on the first electronic device posture information and the first vehicle posture information; and the second posture matrix may be obtained based on the second posture change information.

[0059] The second posture change information may be a difference between the first electronic device posture information and the first vehicle posture information.

[0060] Optionally, a second posture matrix may be obtained based on the second posture change information and the displacement information, wherein the displacement information may be unknown information and may be used to represent the position information of the vehicle relative to the electronic device at the last information collection moment.

[0061] Optionally, a second posture matrix can be obtained based on the second posture change information and the displacement information. The second posture matrix can be expressed as:

[0062]

[0063] in, It can be used to indicate the vehicle's posture information relative to the electronic device at the last information collection moment. N-1 and y N-1 It can be used to represent displacement information, that is, the position information of the vehicle relative to the electronic device at the last information collection moment. N-1 and y N-1 is an unknown quantity.

[0064] S1223: Based on the first electronic device posture information and the second electronic device posture information, obtain a third posture matrix, where the third posture matrix represents a posture change of the electronic device at the current information collection moment relative to the previous information collection moment.

[0065] Among them, the third pose matrix can be obtained by express.

[0066] As a method, third posture change information can be obtained based on the posture information of the first electronic device and the posture information of the second electronic device; a third posture matrix can be obtained based on the third posture change information and the second position change information, wherein the second position change information represents the position change of the electronic device at the current information collection moment and the previous information collection moment, and the second position change information is obtained based on the inertial measurement unit of the electronic device.

[0067] The third posture change information may be the difference between the first electronic device posture information and the second electronic device posture information.

[0068] Optionally, the position information of the electronic device at the last information collection moment (moment N-1) can be obtained based on the inertial measurement unit of the electronic device, the position information of the electronic device at the current information collection moment (moment N) can be obtained based on the inertial measurement unit of the electronic device, and the second position change information can be obtained based on the difference between the position change of the electronic device at the current information collection moment and the last information collection moment.

[0069] Optionally, a third posture matrix may be obtained based on the third posture change information and the second position change information. The third posture matrix may be expressed as:

[0070]

[0071] Where Δθ N Can be used to represent the third posture change information, and Δθ N =θN -θ N-1 Δx N and Δy N Can be used to represent second position change information.

[0072] S1224: Based on the target relative posture information, obtain a fourth posture matrix, where the fourth posture matrix represents the target relative position information.

[0073] Among them, the fourth pose matrix can be obtained by express.

[0074] For example, Figure 6 As shown, based on the vehicle posture information O' at the current moment N and the electronic device posture information O at the current information collection moment N , and obtain the target relative pose information.

[0075] As a way, the fourth pose matrix can be obtained based on the target relative pose information. The fourth pose matrix can be expressed as:

[0076]

[0077] in, Can represent the target relative posture information, x N and y N It can represent the relative position information of the target, that is, the position information of the vehicle relative to the electronic device at the current information collection moment. And, x N and y N is an unknown quantity.

[0078] S1225: Obtain the target relative position information based on the first pose matrix, the second pose matrix, the third pose matrix, the fourth pose matrix, the first relative distance and the second relative distance.

[0079] As a method, a matrix equation can be obtained based on the first pose matrix, the second pose matrix, the third pose matrix, and the fourth pose matrix; a first distance equation can be obtained based on the first relative distance; a second distance equation can be obtained based on the second relative distance; and the target relative position information can be obtained based on the matrix equation, the first distance equation, and the second distance equation.

[0080] Optionally, a first distance equation may be obtained based on the first relative distance at the last information collection moment and the unknown displacement information. The first distance equation may be expressed as:

[0081]

[0082] Optionally, a second distance equation may be obtained based on the second relative distance at the current information collection moment and the unknown target relative position information. The second distance equation may be expressed as:

[0083]

[0084] Optionally, a matrix equation can be obtained based on the first pose matrix, the second pose matrix, the third pose matrix, and the fourth pose matrix. The matrix equation can be:

[0085]

[0086] Optionally, the matrix equation can be specifically expressed as:

[0087]

[0088] In an embodiment of the present application, if the vehicle position confidence and / or the electronic device position confidence at the current information collection moment is lower than the corresponding preset value, and when only one UWB module on the vehicle is working normally, the target relative position information can be obtained based on the matrix equation, the first distance equation and the second distance equation; wherein, (x N ,y N ) and (x N-1 ,y N-1 ) is an unknown quantity, which can be solved by the matrix equation, the first distance equation and the second distance equation to form a quadratic equation system of two variables (x N ,y N ) to obtain the target relative position information, and then based on the target relative position information and the target relative attitude information, finally obtain the target posture information, so that when only one UWB module on the vehicle is working normally, the position information of the vehicle relative to the electronic device can also be obtained, thereby reducing the manufacturing cost of the vehicle and further reducing the deployment difficulty of the UWB module.

[0089] S123: Obtain the target relative posture information based on the target relative posture information and the target relative position information.

[0090] As a method, after obtaining the target relative posture information, the electronic device and the vehicle can be displayed on the display screen of the electronic device based on the target relative posture information to instruct the user to find the vehicle according to the target relative posture information.

[0091] Optionally, after obtaining the target relative position information, the vehicle position in the electronic device and the display screen of the display module can display a path from the current position of the electronic device to the current position of the vehicle based on the target relative position information, or a trajectory guiding the user to move to a specific position, thereby instructing the user to find the vehicle.

[0092] Optionally, the electronic device and the vehicle are displayed on the display screen of the electronic device based on the vehicle model, color and target relative pose information, to instruct the user to find the vehicle according to the target relative pose information.

[0093] Optionally, the electronic device can establish a communication connection with the server, and send the target relative pose information to the server. After receiving the target relative pose information, the server can query a database or call other data sources to obtain the vehicle model and color information. Then, the server can feed back the vehicle model and color information to the electronic device. After receiving the information, the electronic device can generate more accurate guidance or prompts by using the vehicle model and color information.

[0094] Optionally, after receiving the vehicle model and color information, the electronic device can display the vehicle in the display screen of the electronic device as the same model and color, so as to facilitate the user to find the vehicle. For example, if the vehicle owner cannot drive himself due to drunkenness and finds a driver, the driver can find the vehicle and drive more quickly based on the vehicle color and model displayed by the electronic device of the vehicle owner.

[0095] The positioning method provided in the embodiment includes the following steps: obtaining first information and second information, wherein the first information includes vehicle pose information, vehicle position confidence and information collection time, and the second information includes electronic device pose information and electronic device position confidence corresponding to the information collection time; if the vehicle position confidence and / or the electronic device position confidence at the current information collection time is lower than the corresponding preset value, target relative pose information is obtained based on the first vehicle pose information, the first electronic device pose information and the first relative distance at the last information collection time, and the second vehicle pose information, the second electronic device pose information and the second relative distance at the current information collection time, wherein the first relative distance and the second relative distance are the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection time, and the target relative pose information is the pose information of the vehicle relative to the electronic device at the current information collection time. In this way, when the vehicle position confidence and / or the electronic device position confidence is lower than the corresponding preset value, the first relative distance and the second relative distance can be obtained based on the UWB module in the vehicle and the UWB module in the electronic device, so that the target relative pose information is obtained based on the first relative distance, the second relative distance, the first vehicle pose information, the first electronic device pose information, the second vehicle pose information and the second electronic device pose information, so that the position information of the vehicle relative to the electronic device can be obtained when only one UWB module in the vehicle works normally, thereby reducing the manufacturing cost of the vehicle and further reducing the deployment difficulty of the UWB module.

[0096] Please refer to Figure 7 , an embodiment of the present application provides a positioning method, the method comprising:

[0097] S210: Acquire first information and second information, wherein the first information includes vehicle posture information, vehicle position confidence, and information collection time, and the second information includes electronic device posture information and electronic device position confidence at the corresponding information collection time.

[0098] S220: Based on the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information and the second relative distance, obtain reference relative posture information, where the reference relative posture information is the posture information of the UWB module of the vehicle relative to the electronic device at the current information collection moment.

[0099] As a method, a first posture matrix can be obtained based on the first vehicle posture information and the second vehicle posture information, a second posture matrix can be obtained based on the first electronic device posture information and the first vehicle posture information, a third posture matrix can be obtained based on the first electronic device posture information and the second electronic device posture information, and a fourth posture matrix can be obtained based on the reference relative posture information, so that a matrix equation can be obtained based on the first posture matrix, the second posture matrix, the third posture matrix, and the fourth posture matrix; thereafter, a first distance equation can be obtained based on the first relative distance, and a second distance equation can be obtained based on the second relative distance, so that the reference relative posture information of the vehicle's UWB module relative to the electronic device at the current information collection moment can be obtained based on the matrix equation, the first distance equation, and the second distance equation.

[0100] S230: Obtaining the target relative pose information based on the reference relative pose information and the installation position information, wherein the installation position information represents the relative position between the vehicle center and the UWB module of the vehicle.

[0101] The vehicle center may refer to the intersection of the center of the vehicle's front axle and the direction of travel.

[0102] In the embodiment of the present application, because the vehicle is large, the distance between the UWB module in the vehicle and the center of the vehicle will be relatively far, and there is a deviation between the position of the UWB module in the vehicle and the actual position of the center of the vehicle. The electronic device is very small, and the position of the UWB module in the electronic device can represent the position of the electronic device. Therefore, based on the reference relative posture information of the UWB module of the vehicle relative to the electronic device at the current information collection moment and the relative position of the vehicle center and the UWB module of the vehicle, the target relative posture information can be obtained, so that the posture information of the vehicle relative to the electronic device can be made more accurate, thereby allowing users to find the vehicle they want to take faster and more accurately.

[0103] A positioning method provided by this embodiment, through the above-mentioned method, can obtain a first relative distance and a second relative distance based on the UWB module in the vehicle and the UWB module in the electronic device when the vehicle position confidence and / or the electronic device position confidence are lower than the corresponding preset value, so as to obtain the target relative position information based on the first relative distance, the second relative distance, the first vehicle posture information, the first electronic device posture information, the second vehicle posture information, and the second electronic device posture information, so that when only one UWB module on the vehicle is working normally, the position information of the vehicle relative to the electronic device can also be obtained, thereby reducing the manufacturing cost of the vehicle and further reducing the difficulty of deploying the UWB module. In addition, in the present application, the target relative position information can be obtained based on the reference relative position information of the vehicle's UWB module relative to the electronic device at the current information collection moment and the relative position of the vehicle center and the vehicle's UWB module, so that the position information of the vehicle relative to the electronic device can be made more accurate, thereby allowing users to find the vehicle they want to take faster and more accurately.

[0104] See also Figure 8 The present application provides a positioning device 800, the device 800 comprising:

[0105] The information acquisition unit 810 is used to acquire first information and second information, wherein the first information includes vehicle posture information, vehicle position confidence and information collection time, and the second information includes electronic device posture information and electronic device position confidence at the corresponding information collection time.

[0106] The target relative posture information acquisition unit 820 is used to obtain the target relative posture information based on the first vehicle posture information, the first electronic device posture information and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information and the second relative distance at the current information collection moment if the vehicle position confidence and / or the electronic device position confidence at the current information collection moment are lower than the corresponding preset value, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection moments, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection moment.

[0107] As a manner, the target relative position and posture information acquisition unit 820 is specifically configured to obtain target relative posture information based on the second vehicle posture information and the second electronic device posture information; obtain target relative position information based on the target relative posture information, the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information and the second relative distance; and obtain the target relative position and posture information based on the target relative posture information and the target relative position information.

[0108] Optionally, the target relative position and posture information acquisition unit 820 is specifically configured to obtain a first posture matrix based on the first vehicle posture information and the second vehicle posture information, the first posture matrix representing a posture change of the vehicle relative to a previous information collection time at a current information collection time; obtain a second posture matrix based on the first electronic device posture information and the first vehicle posture information, the second posture matrix representing a posture information of the vehicle relative to the electronic device at the previous information collection time; obtain a third posture matrix based on the first electronic device posture information and the second electronic device posture information, the third posture matrix representing a posture change of the electronic device relative to the previous information collection time at the current information collection time; obtain a fourth posture matrix based on the target relative posture information, the fourth posture matrix representing the target relative position information; and obtain the target relative position information based on the first posture matrix, the second posture matrix, the third posture matrix, the fourth posture matrix, the first relative distance and the second relative distance.

[0109] Optionally, the target relative position and posture information acquisition unit 820 is specifically configured to obtain first posture change information based on the first vehicle posture information and the second vehicle posture information; and obtain the first posture matrix based on the first posture change information and first position change information, the first position change information representing a position change of the vehicle at the current information collection time and the previous information collection time, and the first position change information being obtained based on an inertial measurement unit and a wheel motion detection module of the vehicle.

[0110] Optionally, the target relative position and posture information acquisition unit 820 is specifically configured to obtain second posture change information based on the first electronic device posture information and the first vehicle posture information; and obtain the second posture matrix based on the second posture change information.

[0111] Optionally, the target relative pose information acquisition unit 820 is specifically configured to obtain third pose change information based on the first electronic device pose information and the second electronic device pose information; and obtain the third pose matrix based on the third pose change information and second position change information, wherein the second position change information represents a position change of the electronic device between a current information collection time and a previous information collection time, and the second position change information is obtained based on an inertial measurement unit of the electronic device.

[0112] Optionally, the target relative pose information acquisition unit 820 is specifically configured to obtain a matrix equation based on the first pose matrix, the second pose matrix, the third pose matrix, and the fourth pose matrix, wherein the matrix equation is:

[0113]

[0114] wherein, represents the first pose matrix; represents the second pose matrix; represents the third pose matrix; represents the fourth pose matrix;

[0115] based on the first relative distance, a first distance equation is obtained; based on the second relative distance, a second distance equation is obtained; and based on the matrix equation, the first distance equation, and the second distance equation, the target relative position information is obtained.

[0116] As one way, the target relative pose information acquisition unit 820 is specifically configured to display the electronic device and the vehicle on a display screen of the electronic device based on the target relative pose information, so as to instruct a user to find the vehicle according to the target relative pose information.

[0117] Optionally, the target relative pose information acquisition unit 820 is specifically configured to display the electronic device and the vehicle on a display screen of the electronic device based on the vehicle model, the color, and the target relative pose information, so as to instruct a user to find the vehicle according to the target relative pose information.

[0118] As a method, the target relative posture information acquisition unit 820 is specifically used to obtain reference relative posture information based on the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information and the second relative distance, where the reference relative posture information is the posture information of the UWB module of the vehicle relative to the electronic device at the current information collection moment; based on the reference relative posture information and the installation position information, the target relative posture information is obtained, where the installation position information represents the relative position of the vehicle center of the vehicle and the UWB module of the vehicle.

[0119] The following will be combined Figure 9 An electronic device provided by this application is described.

[0120] See also Figure 9 Based on the above positioning method and apparatus, the present invention also provides another electronic device 100 that can perform the above positioning method. The electronic device 100 includes an ultra-wideband module 101, a processor 102, and a memory 104. The memory 104 stores a program that can perform the content of the above embodiments, and the processor 102 can execute the program stored in the memory 104.

[0121] The ultra-wideband module 101 can be used to implement information exchange between the electronic device 100 and other devices, such as transmitting device control instructions, operation request instructions, and status information acquisition instructions. When the other devices are different devices, the corresponding ultra-wideband modules 101 may be different.

[0122] The processor 102 may include one or more processing cores. The processor 102 utilizes various interfaces and circuits to connect the various components within the entire electronic device 100. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 104, and calling data stored in the memory 104, the processor 102 performs various functions of the electronic device 100 and processes data. Optionally, the processor 102 may be implemented in the form of at least one hardware component selected from the group consisting of a network processor (NPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 102 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; the NPU is responsible for processing multimedia data such as video and images; and the modem is used to handle wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 102, but may be implemented separately through a communication chip.

[0123] The memory 104 may include a random access memory (RAM), and may also include a read-only memory (READ-ONLY Memory) and a double data rate synchronous dynamic random access memory (DDR). The memory 104 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 104 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the electronic device 100 during use (such as a phone book, audio and video data, chat history data), etc.

[0124] An embodiment of the present application provides a computer-readable storage medium having program code stored therein, wherein the program code can be invoked by a processor to execute the method described in the above method embodiment.

[0125] The computer-readable storage medium can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program codes can be compressed, for example, in an appropriate form.

[0126] In summary, the present application provides a positioning method, device and electronic device. After obtaining the first information and the second information, wherein the first information includes vehicle posture information, vehicle position confidence and information collection time, and the second information includes the electronic device posture information and electronic device position confidence at the corresponding information collection time, if the vehicle position confidence and / or electronic device position confidence at the current information collection time is lower than the corresponding preset value, based on the first vehicle posture information, the first electronic device posture information and the first relative distance at the previous information collection time, and the second vehicle posture information, the second electronic device posture information and the second relative distance at the current information collection time, the target relative posture information is obtained, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection time, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection time. Through the above method, when the vehicle position confidence and / or the electronic device position confidence is lower than the corresponding preset value, the first relative distance and the second relative distance can be obtained based on the UWB module in the vehicle and the UWB module in the electronic device, so as to obtain the target relative posture information based on the first relative distance, the second relative distance, the first vehicle posture information, the first electronic device posture information, the second vehicle posture information, and the second electronic device posture information, so that when only one UWB module on the vehicle is working normally, the position information of the vehicle relative to the electronic device can also be obtained, thereby reducing the manufacturing cost of the vehicle and further reducing the difficulty of deploying the UWB module.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method, characterized in that: The method comprises: Acquire first information and second information, wherein the first information includes vehicle posture information, vehicle position confidence, and information collection time, and the second information includes electronic device posture information and electronic device position confidence at the corresponding information collection time; If the vehicle position confidence and / or electronic device position confidence at the current information collection moment is lower than the corresponding preset value, the target relative posture information is obtained based on the first vehicle posture information, the first electronic device posture information and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information and the second relative distance at the current information collection moment, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection moments, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection moment.

2. The method according to claim 1, characterized in that If the vehicle position confidence level and / or the electronic device position confidence level at the current information collection moment are lower than corresponding preset values, obtaining target relative position information based on the first vehicle posture information, the first electronic device posture information, and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information, and the second relative distance at the current information collection moment, including: Obtaining target relative posture information based on the second vehicle posture information and the second electronic device posture information; Obtaining target relative position information based on the target relative posture information, the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information, and the second relative distance; The target relative posture information is obtained based on the target relative posture information and the target relative position information.

3. The method according to claim 2, characterized in that The obtaining target relative position information based on the target relative posture information, the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information, and the second relative distance includes: Obtaining a first posture matrix based on the first vehicle posture information and the second vehicle posture information, wherein the first posture matrix represents a posture change of the vehicle at a current information collection moment relative to a previous information collection moment; Obtaining a second posture matrix based on the first electronic device posture information and the first vehicle posture information, wherein the second posture matrix represents the posture information of the vehicle relative to the electronic device at the last information collection moment; Obtaining a third posture matrix based on the first electronic device posture information and the second electronic device posture information, wherein the third posture matrix represents a posture change of the electronic device at a current information collection moment relative to a previous information collection moment; Based on the target relative posture information, a fourth posture matrix is ​​obtained, where the fourth posture matrix represents the target relative position information; The target relative position information is obtained based on the first pose matrix, the second pose matrix, the third pose matrix, the fourth pose matrix, the first relative distance, and the second relative distance.

4. The method according to claim 3, characterized in that The obtaining a first pose matrix based on the first vehicle pose information and the second vehicle pose information includes: obtaining first posture change information based on the first vehicle posture information and the second vehicle posture information; The first posture matrix is ​​obtained based on the first posture change information and the first position change information. The first position change information represents the position change of the vehicle between the current information collection moment and the previous information collection moment, and the first position change information is obtained based on the inertial measurement unit and the wheel motion detection module of the vehicle.

5. The method according to claim 3, characterized in that The obtaining a second posture matrix based on the first electronic device posture information and the first vehicle posture information includes: obtaining second posture change information based on the first electronic device posture information and the first vehicle posture information; Based on the second posture change information, the second posture matrix is ​​obtained.

6. The method according to claim 3, characterized in that The obtaining a third posture matrix based on the first electronic device posture information and the second electronic device posture information includes: Obtaining third posture change information based on the first electronic device posture information and the second electronic device posture information; The third posture matrix is ​​obtained based on the third posture change information and the second position change information, wherein the second position change information represents the position change of the electronic device at the current information collection moment and the previous information collection moment, and the second position change information is obtained based on the inertial measurement unit of the electronic device.

7. The method according to claim 3, characterized in that The obtaining the target relative position information based on the first pose matrix, the second pose matrix, the third pose matrix, the fourth pose matrix, the first relative distance, and the second relative distance includes: Based on the first pose matrix, the second pose matrix, the third pose matrix, and the fourth pose matrix, a matrix equation is obtained, which is: in, represents the first pose matrix; represents the second pose matrix; represents the third pose matrix; represents the fourth pose matrix; Based on the first relative distance, obtaining a first distance equation; Based on the second relative distance, obtaining a second distance equation; The target relative position information is obtained based on the matrix equation, the first distance equation and the second distance equation.

8. The method according to claim 1, characterized in that If the vehicle position confidence level and / or the electronic device position confidence level at the current information collection moment are lower than corresponding preset values, target relative position information is obtained based on the first vehicle posture information, the first electronic device posture information, and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information, and the second relative distance at the current information collection moment, and thereafter, the method further includes: The electronic device and the vehicle are displayed on a display screen of the electronic device based on the target relative position information, so as to instruct a user to find the vehicle according to the target relative position information.

9. The method according to claim 8, characterized in that The step of displaying the electronic device and the vehicle on a display screen of the electronic device based on the target relative posture information includes: The electronic device and the vehicle are displayed on a display screen of the electronic device based on the vehicle model, color and the target relative position information, so as to instruct a user to find the vehicle according to the target relative position information.

10. The method according to claim 1, characterized in that If the vehicle position confidence level and / or the electronic device position confidence level at the current information collection moment are lower than corresponding preset values, obtaining target relative position information based on the first vehicle posture information, the first electronic device posture information, and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information, and the second relative distance at the current information collection moment, including: Obtaining reference relative posture information based on the first vehicle posture information, the first electronic device posture information, the first relative distance, the second vehicle posture information, the second electronic device posture information, and the second relative distance, where the reference relative posture information is the posture information of the UWB module of the vehicle relative to the electronic device at the current information collection moment; The target relative pose information is obtained based on the reference relative pose information and the installation position information, wherein the installation position information represents the relative position between the vehicle center and the UWB module of the vehicle.

11. A positioning device, characterized in that: The device comprises: An information acquisition unit, configured to acquire first information and second information, wherein the first information includes vehicle posture information, vehicle position confidence, and information collection time, and the second information includes electronic device posture information and electronic device position confidence at the corresponding information collection time; A target relative posture information acquisition unit is used to obtain target relative posture information if the vehicle position confidence and / or electronic device position confidence at the current information collection moment is lower than the corresponding preset value based on the first vehicle posture information, the first electronic device posture information and the first relative distance at the previous information collection moment, and the second vehicle posture information, the second electronic device posture information and the second relative distance at the current information collection moment, wherein the first relative distance and the second relative distance are respectively the distances between the UWB module of the electronic device and the UWB module of the vehicle at the corresponding information collection moments, and the target relative posture information is the posture information of the vehicle relative to the electronic device at the current information collection moment.

12. An electronic device, characterized in that: including a UWB module, one or more processors, and a memory; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores program code, wherein when the program code is run, the method according to any one of claims 1 to 10 is executed.

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