Positioning methods, devices, and media

Abstract

The application discloses a positioning method, device and medium. The method comprises the following steps: acquiring a plurality of distance measurement values; screening the plurality of distance measurement values according to a line-of-sight measurement condition and a non-line-of-sight measurement condition, to obtain first measurement values satisfying the line-of-sight measurement condition and second measurement values not satisfying the line-of-sight measurement condition and the non-line-of-sight measurement condition; determining channel characteristics between a positioning device and an electronic device according to the second measurement values; performing correction processing on the second measurement values based on the channel characteristics, and determining a positioning result of the electronic device according to the processed second measurement values and the first measurement values. The method can improve the positioning result accuracy of the electronic device.

Description

Technical Field

[0001] This disclosure generally relates to the field of wireless communication technology, specifically to the field of distance measurement technology, and more particularly to a positioning method, device, and medium. Background Technology

[0002] Currently, when a car owner approaches a vehicle carrying an electronic device (e.g., a mobile phone), the vehicle's positioning device can locate the electronic device (e.g., determine the distance between the positioning device and the electronic device) without the owner's awareness.

[0003] In the existing technology, vehicle positioning devices can use UWB technology to locate electronic devices and unlock the vehicle based on the positioning results.

[0004] However, because UWB technology is greatly affected by obstacles in space (solid buildings in parking lots, such as solid columns or glass), if such obstacles are present, using UWB technology to determine the location between electronic devices will result in inaccurate positioning results. Summary of the Invention

[0005] Therefore, it is necessary to provide a positioning method, device, and medium to address the aforementioned technical problems. The method of this application can improve the accuracy of positioning results.

[0006] Firstly, a positioning method is provided, the method comprising:

[0007] Acquire multiple distance measurements; the distance measurements are the distances between the positioning device and the electronic device determined by the sensors of the positioning device.

[0008] Multiple distance measurement values ​​are filtered based on line-of-sight (LAS) and non-LAS measurement conditions to obtain a first measurement value that meets the LAS conditions and a second measurement value that does not meet the LAS and non-LAS conditions. The LAS conditions characterize the conditions that are met for attenuation-free ranging based on the wireless signal between the positioning device and the electronic device, while the non-LAS conditions characterize the conditions that are met for strong attenuation ranging based on the wireless signal between the positioning device and the electronic device.

[0009] The channel characteristics between the positioning device and the electronic device are determined based on the second measurement value; the channel characteristics are used to characterize the degree of channel interference between the positioning device and the electronic device.

[0010] The second measurement value is corrected based on channel characteristics, and the positioning result of the electronic device is determined based on the corrected second measurement value and the first measurement value.

[0011] Secondly, a positioning device is provided, the device comprising:

[0012] The acquisition unit is used to acquire multiple distance measurement values; the distance measurement values ​​are the distances between the positioning device and the electronic device determined by the sensors of the positioning device.

[0013] The filtering unit is used to filter multiple distance measurement values ​​according to line-of-sight measurement conditions and non-line-of-sight measurement conditions to obtain a first measurement value that meets the line-of-sight measurement conditions and a second measurement value that does not meet the line-of-sight measurement conditions and non-line-of-sight measurement conditions. The line-of-sight measurement conditions are used to characterize the conditions that are met by attenuation-free ranging based on the wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement conditions are used to characterize the conditions that are met by strong attenuation ranging based on the wireless signal between the positioning device and the electronic device.

[0014] The determining unit is used to determine the channel characteristics between the positioning device and the electronic device based on the second measurement value; the channel characteristics are used to characterize the degree of channel interference between the positioning device and the electronic device.

[0015] A correction unit is used to correct a second measurement value based on channel characteristics, and to determine the positioning result of the electronic device based on the corrected second measurement value and the first measurement value. In a third aspect, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the program, it implements the steps of the method described in the first aspect and any possible implementation thereof.

[0016] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect and any possible implementation thereof.

[0017] Fifthly, a computer program product is provided, the computer program product including instructions, which, when executed, implement the steps of the method described in the first aspect and any possible implementation of the first aspect.

[0018] In the existing technology, vehicle positioning devices can use UWB technology to locate electronic devices and unlock the vehicle based on the positioning results.

[0019] However, because UWB technology is greatly affected by obstacles in space (solid buildings in parking lots, such as solid columns or glass), if such obstacles are present, using UWB technology to determine the location between electronic devices will result in inaccurate positioning results.

[0020] The solution proposed in this application allows for accurate positioning of electronic devices.

[0021] Specifically, firstly, based on line-of-sight and non-line-of-sight measurement conditions, distance measurements that satisfy the requirements of attenuation-free ranging (i.e., the first measurement value) and distance measurements that do not satisfy either attenuation-free or strong attenuation ranging (i.e., the second measurement value) can be selected from multiple distance measurements. Furthermore, since the degree of channel interference between the positioning device and the electronic device is related to channel characteristics, the second measurement value can be corrected based on these channel characteristics. This addresses the interference of obstacles on the wireless signal transmission channel to some extent, thereby improving the accuracy of the positioning results.

[0022] Compared with the prior art, the solution in this application can use line-of-sight measurement conditions and non-line-of-sight measurement conditions to eliminate incorrect measurement results, then correct the measurement results that may have measurement errors (i.e., the second measurement value), and finally determine the positioning result of the electronic device based on the accurate measurement result (i.e., the first measurement value) and the corrected second measurement value.

[0023] Therefore, by adopting the solution of this application, the accuracy of the positioning results of the positioning device for electronic devices can be greatly improved. Attached Figure Description

[0024] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 This is an application scenario diagram of the positioning method provided in the embodiments of this application;

[0026] Figure 2 A flowchart of the positioning method provided in the embodiments of this application;

[0027] Figure 3 Another flowchart of the positioning method provided in the embodiments of this application;

[0028] Figure 4 Another flowchart of the positioning method provided in the embodiments of this application;

[0029] Figure 5 Another flowchart of the positioning method provided in the embodiments of this application;

[0030] Figure 6 A schematic diagram illustrating the calculation principle for the distance between the mobile terminal and the vehicle, provided for an embodiment of this application;

[0031] Figure 7 A schematic diagram illustrating the determination of whether an electronic device is in the welcome area and unlocking area, provided in an embodiment of this application.

[0032] Figure 8 This is a schematic diagram illustrating the determination of whether an electronic device is inside a vehicle, provided in an embodiment of this application.

[0033] Figure 9 This is a schematic diagram illustrating the effect of side detection provided in an embodiment of this application;

[0034] Figure 10 This is a schematic diagram of the positioning device provided in the embodiments of this application;

[0035] Figure 11 A structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0036] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0037] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] In the existing technology, vehicle positioning devices can use UWB technology to locate electronic devices and unlock the vehicle based on the positioning results.

[0039] However, because UWB technology is greatly affected by obstacles in space (solid buildings in parking lots, such as solid columns or glass), if such obstacles are present, using UWB technology to locate electronic devices will result in inaccurate positioning results.

[0040] The positioning method provided in this application can be applied to, for example... Figure 1 The system shown. Reference Figure 1 The system may include a positioning device 10 and an electronic device 20. The positioning device 10 is used to locate the electronic device 20, for example, to determine the distance, orientation, and location of the electronic device 20.

[0041] The positioning device 10 can be an in-vehicle device such as a sensor installed inside the vehicle. This in-vehicle device can locate the electronic device 20, for example, determining the distance between the in-vehicle device and the electronic device 20. It is understood that the aforementioned sensor can be equipped with a UWB functional module. The positioning device 10 can also be other devices with positioning functions, and such devices can be equipped with a UWB functional module.

[0042] The electronic device 20 can be a mobile terminal such as a smartphone, smart bracelet, or tablet computer. This mobile terminal can send ranging information to the positioning device 10, such as the measured distance between the mobile terminal and the positioning device 10.

[0043] Previous text Figure 1 The application scenario diagram of this application is introduced. In another embodiment of this application, a positioning method is also provided, which can be applied to... Figure 1 In the application scenario shown, and performed by the positioning device 10. Figure 2 This is a flowchart of the method (i.e., the localization method). For details, please refer to... Figure 2 The method includes the following steps:

[0044] Step 201: Obtain multiple distance measurement values; the distance measurement values ​​are the distances between the positioning device and the electronic device determined by the sensors of the positioning device.

[0045] Understandably, when the positioning device 10 locates the electronic device 20, the electronic device 20 first needs to receive a ranging signal sent by the positioning device 10. For example, this could be a UWB ranging signal. The electronic device 20 can determine the distance value based on the ranging signal. For instance, a bilateral, bidirectional ranging algorithm can be used to determine the distance value (i.e., multiple distance measurements) based on the transmission time of the ranging signal, and this value is then sent to the positioning device 10. The positioning device 10 can then locate the electronic device 20 based on the measured distance values.

[0046] The distance measurement value is determined by the electronic device 20 after receiving the wireless signal sent by the positioning device 10, based on the reception of the wireless signal. For example, the distance measurement value can be the distance value obtained by different sensors of the positioning device 10 at different times, the distance value obtained by different sensors of the positioning device 10 at the same time, the distance value obtained by the same sensor of the positioning device 10 at different times, or even the distance value obtained by the same sensor of the positioning device 10 at any given time.

[0047] For example, if the above distance refers to the distance values ​​obtained by different sensors of the positioning device 10 at different times, it can be the distance values ​​d1 obtained by the four sensors of the positioning device 10. t＝1 d2 t＝2 d3 t＝3 d4 t＝4 If the above distances are the distance values ​​obtained at the same moment by different sensors of the positioning device 10, then it can be d1. t＝1 d2 t＝1 d3 t＝1 d4 t＝1 If the above distance refers to the distance values ​​obtained by the same sensor of the positioning device 10 at different times, then it can be d1. t＝1 d1 t＝2 , ..., d1 t＝60If the above distance is the distance value determined by the same sensor of positioning device 10 at any given moment, then it can be d1. t＝1 , or d2 t＝2 , or d4 t＝3 It should be noted that this application embodiment does not limit the number of sensors in the positioning device 10; that is, the number of sensors can be determined according to the actual situation. For example, the number of sensors can be 5.

[0048] In one possible implementation, the positioning device 10 can acquire multiple distance measurements. For example, the four sensors of the positioning device 10 can acquire 60 sets of distance measurements {d1} taken every second within one minute. t＝1 d2 t＝1 d3 t＝1 d4 t＝1}~{d1 t＝60 d2 t＝60 d3 t＝60 d4 t＝60 Taking the first set of distance measurements as an example, the various distance measurements are explained, where d1 t＝1 d2 t＝1 d3 t＝1 d4 t＝1 These represent the distances measured by the first sensor of the positioning device 10 at the 1st second, the distances measured by the second sensor of the positioning device 10 at the 2nd second, the distances measured by the third sensor of the positioning device 10 at the 3rd second, and the distances measured by the fourth sensor of the positioning device 10 at the 4th second, respectively.

[0049] Step 202: Filter multiple distance measurement values ​​according to line-of-sight (LAS) measurement conditions and non-LAS measurement conditions to obtain a first measurement value that meets the LAS measurement conditions and a second measurement value that does not meet the LAS measurement conditions and non-LAS measurement conditions. The LAS measurement conditions are used to characterize the conditions satisfied by attenuation-free ranging based on the wireless signal between the positioning device and the electronic device, while the non-LAS measurement conditions characterize the conditions satisfied by strong attenuation ranging based on the wireless signal between the positioning device and the electronic device.

[0050] In this context, attenuation-free ranging refers to the straight-line transmission of wireless signals between two communication points (e.g., transmission under conditions where there are no building obstructions, such as air). This means that when the wireless signal experiences no attenuation, the distance measurement is accurate. For example, when the wireless signal experiences no attenuation, its signal strength can be between -30 dBm and -40 dBm. It should be noted that the signal quality corresponding to -30 dBm is better than that corresponding to -40 dBm.

[0051] Strong attenuation ranging refers to multipath transmission of wireless signals between two communication points (e.g., transmission under conditions of strong obstruction such as solid pillars). In other words, when the wireless signal is strongly attenuated, the distance measurement value obtained is inaccurate. For example, when the wireless signal is strongly attenuated, its signal strength can be less than -90 dBm.

[0052] Understandably, when the ranging conditions do not meet the requirements for line-of-sight and non-line-of-sight measurements—that is, when the wireless signal is neither attenuated nor strongly attenuated—it can be considered that the wireless signal is undergoing weak attenuation ranging. Weak attenuation ranging refers to multipath transmission of the wireless signal between two communication points (e.g., transmission under conditions of weak obstruction such as glass buildings). In other words, when the wireless signal is weakly attenuated, the distance measurement value obtained is relatively accurate. For example, when the wireless signal is weakly attenuated, its signal strength can be between -40 dBm and -90 dBm.

[0053] The first measurement value is used to characterize the measurement value that satisfies the line-of-sight measurement conditions. For example, the line-of-sight measurement conditions can be the signal strength range corresponding to a wireless signal that satisfies attenuation-free ranging. For instance, the signal strength range can be -30 dBm to -40 dBm. For example, the distance measurement value corresponding to the signal strength satisfying the above range can be determined as the first measurement value. For example, the distance measurement value corresponding to the signal strength satisfying the above range can be the distance values ​​acquired by the same sensor of the positioning device 10 at different times, which could be d1. t＝1 d1 t＝2 , ..., d1 t＝58 .

[0054] The second measurement value is used to characterize measurement values ​​that do not meet the line-of-sight (LAS) and non-LAS measurement conditions. The LAS and non-LAS measurement conditions can be signal strength ranges corresponding to wireless signals that meet weak attenuation ranging requirements. For example, the signal strength range could be -40 dBm to -90 dBm. Exemplarily, the distance measurement value corresponding to the signal strength within the above range can be determined as the second measurement value. For instance, the distance measurement value corresponding to the signal strength within the above range could be the distance values ​​acquired by the same sensor of the positioning device 10 at different times, which could be d1. t＝59 .

[0055] In one possible implementation, the positioning device 10 can filter multiple distance measurements based on the strength of the wireless signal.

[0056] In one possible implementation, the positioning device 10 can determine the distance measurement value corresponding to the signal strength in the range of -30 dBm to -40 dBm as the first measurement value. For example, the distance measurement value d1 corresponding to the signal strength in the aforementioned range can be used. t＝1 d1 t＝2 , ..., d1t＝58 As the first measurement value. Similarly, the positioning device 10 can determine the distance measurement value corresponding to the signal strength in the range of -40 dBm to -90 dBm as the second measurement value. For example, the distance measurement value d1 corresponding to the signal strength in the above range can be used. t＝59 As the second measurement value.

[0057] Step 203: Determine the channel characteristics between the positioning device and the electronic device based on the second measurement value; the channel characteristics are used to characterize the degree of channel interference between the positioning device and the electronic device.

[0058] Specifically, if the channel between positioning device 10 and electronic device 20 is subject to strong interference, the channel characteristics will be more prominent. Conversely, the channel characteristics will be less pronounced. For example, the degree of channel interference can be measured by kurtosis k. The more severe the interference, the larger the kurtosis k. Conversely, the smaller the kurtosis k.

[0059] In one possible implementation, the positioning device 10 can be based on d1 t＝59 Determine the kurtosis k1.

[0060] Step 204: Correct the second measurement value based on channel characteristics, and determine the positioning result of the electronic device based on the processed second measurement value and the first measurement value.

[0061] The positioning result includes either the area where the electronic device 20 is located or the distance d between the electronic device 20 and the positioning device 10. Specifically, the area where the electronic device 20 is located is the position of the electronic device 20 relative to the positioning device 10, and the distance d between the electronic device 20 and the positioning device 10 is the distance d between these two points, treated as point masses. For example, the electronic device 20 can be located in front of or behind the positioning device 10, etc. The distance d between the electronic device 20 and the positioning device 10 can be 7m.

[0062] In one possible implementation, if the corresponding d1 is determined based on kurtosis k1... t＝59 This is the result obtained from weak attenuation ranging, i.e., the measured distance value d1. t＝59 The actual distance value d1 t＝59 If the difference is not significant, the positioning device 10 can use an adaptive Kalman filter model to position d1. t＝59 Make corrections so that the distance measurement value is d1 t＝59 '.

[0063] In one possible implementation, the positioning device 10 first obtains the distance measurement value d1. t＝1 d1 t＝2 , ..., d1 t＝58 , and d1 t＝59', and so on, we can get d2 t＝1 d2 t＝2 , ..., d2 t＝58 , and d2 t＝59 '~d4 t＝1 d4 t＝2 , ..., d4 t＝58 , and d4 t＝59 Second, after sorting, 59 sets of distance measurement values ​​{d1} can be obtained. t＝1 d2 t＝1 d3 t＝1 d4 t＝1}~{d1 t＝59 '、d2 t＝59 d3 t＝59 d4 t＝59}. It is understandable that d1 t＝59 'For d1 t＝59 The corrected distance measurement values. Third, the above 59 sets of distance measurement values ​​can be used to determine 59 positioning results. Taking a set of distance measurement values ​​{d1}... t＝59 '、d2 t＝59 d3 t＝59 d4 t＝59 For example, the corresponding positioning result could be that the electronic device 20 is located in front of the positioning device 10, and that the electronic device and the positioning device are taken as point masses, with a distance d between the two points being 1m.

[0064] The solution proposed in this application can accurately locate electronic devices.

[0065] Specifically, firstly, based on line-of-sight and non-line-of-sight measurement conditions, distance measurements that satisfy the requirements of attenuation-free ranging (i.e., the first measurement value) and distance measurements that do not satisfy either attenuation-free or strong attenuation ranging (i.e., the second measurement value) can be selected from multiple distance measurements. Furthermore, since the degree of channel interference between the positioning device and the electronic device is related to channel characteristics, the second measurement value can be corrected based on these channel characteristics. This addresses the interference of obstacles on the wireless signal transmission channel to some extent, thereby improving the accuracy of the positioning results.

[0066] Compared with the prior art, the solution in this application can use line-of-sight measurement conditions and non-line-of-sight measurement conditions to eliminate incorrect measurement results, then correct the measurement results that may have measurement errors (i.e., the second measurement value), and finally determine the positioning result of the electronic device based on the accurate measurement result (i.e., the first measurement value) and the corrected second measurement value.

[0067] Therefore, by adopting the solution of this application, the accuracy of the positioning results of the positioning device for electronic devices can be greatly improved.

[0068] The embodiments described above illustrate how to locate the electronic device 20. Another embodiment of this application describes how to specifically determine the first and second measurement values. For example, the specific implementation of the step described above, "filtering multiple distance measurement values ​​according to line-of-sight measurement conditions and non-line-of-sight measurement conditions to obtain a first measurement value that meets the line-of-sight measurement conditions and a second measurement value that does not meet the line-of-sight measurement conditions and non-line-of-sight measurement conditions," includes:

[0069] Multiple distance measurements are filtered based on a first threshold and a second threshold to obtain a first measurement value that is less than the first threshold, and a second measurement value that is greater than the first threshold and less than the second threshold.

[0070] The first threshold is used to characterize the critical value for distance measurements without attenuation. For example, when performing attenuation-free ranging, i.e., when the wireless signal strength is in the range of -30 dBm to -40 dBm, the range of the obtained distance measurement value can be 1 m to 7 m. If the measured distance is 7 m when the signal strength is -40 dBm, then 7 m is the critical value (i.e., the first threshold) for distance measurements without attenuation. In other words, when the distance exceeds 7 m, the obtained distance measurement value may be inaccurate.

[0071] The second threshold is used to characterize the critical value for distance measurements in strong attenuation ranging. For example, in strong attenuation ranging, where the wireless signal strength is less than -90 dBm, the range of the obtained distance measurement value can be 11m to 13m. If the measured distance is 11m when the signal strength is -90 dBm, then 11m is the critical value (i.e., the second threshold) for distance measurements in strong attenuation ranging. In other words, when the distance exceeds 11m, the obtained distance measurement value is inaccurate.

[0072] In one possible implementation, the positioning device 10 can filter out a first measurement value d1 that is less than 7m from multiple distance measurements based on a first threshold of 7m and a second threshold of 11m. t＝1 ~d1 t＝58 And the second measured value d1, which is greater than 7m and less than 11m. t＝59 .

[0073] The embodiments described above illustrate how to determine the first and second measurement values. In another embodiment of this application, the method for determining the channel characteristics between the positioning device 10 and the electronic device 20 is described. For example, the specific implementation of the step described above, "determining the channel characteristics between the positioning device and the electronic device based on the second measurement value," includes... Figure 3 Steps:

[0074] Step 301: Determine the channel response strength between the positioning device and the electronic device based on the second measurement value.

[0075] Here, the channel response strength is the signal energy value of the wireless signal reaching the electronic device 20 after multipath transmission (e.g., obstruction). For example, it could be h(t). It is understood that a second measurement has a channel response strength.

[0076] In one possible implementation, the positioning device 10 can be based on the second measurement value d1. t＝59 Determine the signal response intensity h(t) 59 ).

[0077] Step 302: Determine the channel characteristics based on the channel response strength.

[0078] In one possible implementation, the positioning device 10 can be based on the signal response strength h(t). 59 Determine the kurtosis k 59 .

[0079] The embodiments described above illustrate how to determine the channel characteristics between the positioning device 10 and the electronic device 20. In another embodiment of this application, the method for correcting the second measurement value is described. For example, the specific implementation of the "correction processing of the second measurement value based on channel characteristics" involved in the preceding steps includes... Figure 4 Steps:

[0080] Step 401: Determine whether the second measurement value is a line-of-sight measurement result based on the channel characteristics and the channel characteristic threshold; the channel characteristic threshold is used to characterize the channel characteristics under line-of-sight measurement conditions.

[0081] Here, the channel characteristics under line-of-sight measurement conditions refer to the properties of wireless signals propagating in the air. For example, the aforementioned properties can be the kurtosis standard value k0.

[0082] The stadia measurement results are used to characterize the accuracy of the second measurement. For example, based on kurtosis k... 59 Determine its corresponding second measurement value d1 t59 precise.

[0083] In one possible implementation, the positioning device 10 can be based on the kurtosis standard value k0 and the kurtosis k. 59 The second measured value d1 was determined. t59 precise.

[0084] In one possible implementation, if the positioning device 10 determines the second measurement value d1 t59 If accurate, then there is no need for the second measurement value d1. t59 Corrections will be made.

[0085] Step 402: If the second measurement value is a non-line-of-sight measurement result, then the second measurement value is corrected to obtain a corrected second measurement value.

[0086] In this context, non-line-of-sight measurement results are used to characterize the inaccuracy of the second measurement value. For example, based on kurtosis k... 59 Determine its corresponding second measurement value d1 t59 Inaccurate.

[0087] In one possible implementation, if the positioning device 10 determines the second measurement value d1 t59 If it is inaccurate, then the second measured value d1 can be used. t59 Corrections will be made.

[0088] In one possible implementation, the positioning device 10 can base the second measurement value d1 on an adaptive Kalman filter model. t59 After correction processing, the corrected second measurement value d1 is obtained. t59 '.

[0089] The embodiments described above illustrate how to correct the second measurement value. Another embodiment of this application describes how to obtain the corrected second measurement value. For example, the steps described above involving correcting the second measurement value to obtain the corrected second measurement value include:

[0090] The corrected second measurement value is determined based on the distance measurement value at the previous moment before the second measurement value and the error value of the second measurement value; the error value of the second measurement value is the difference between the second measurement value and the predicted value corresponding to the second measurement value.

[0091] Among them, the distance measurement value at the previous moment before the second measurement value can be d1. t58 .

[0092] The predicted value corresponding to the second measured value is the value predicted by the sensor of the positioning device 10 based on the distance measurement value at the previous moment for the distance measurement value at the next moment. For example, it could be d1. t59预测 .

[0093] In one possible implementation, the positioning device 10 can use the distance measurement value at the previous moment before the second measurement value as d1. t58 Error value d1 of the second measurement t59 -d1 t59预测 (i.e., the second measured value d1) t59 The predicted value d1 corresponding to the second measured value t59预测 The difference d1 between them t59 -d1 t59预测 Summing these values ​​yields the corrected second measurement value d1. t59 '.

[0094] The embodiments described above illustrate how to obtain the corrected second measurement value. In another embodiment of this application, a method for determining the distance between a positioning device and an electronic device is described when multiple distance measurements are distance values ​​collected simultaneously by different sensors of the positioning device. Exemplarily, the method includes:

[0095] The distance between the positioning device and the electronic device is determined based on the corrected second measurement value and any two distance measurements from the first measurement value.

[0096] A measurement value can be the distance measurement value d1 determined by the same sensor at different times. t＝1 d1 t＝2 , ..., d1 t＝58 The preceding text only used the distance measurement values ​​of one sensor at different times as an example. It can be understood that the same processing should be performed on the other three sensors to obtain the corresponding first measurement values. Similarly, based on the previous description of correcting the second measurement values, the same processing should be performed on the other three sensors to obtain the corresponding corrected second measurement values.

[0097] For example, for four sensors, the first measurement could be d1. t＝1 d2 t＝1 d3 t＝1 d4 t＝1 ~d1 t＝58 d2 t＝58 d3 t＝58 d4 t＝58 and d2 t＝59 d3 t＝59 d4 t＝59 The correction to the second measurement value can be d1. t＝59 Therefore, any two distance measurements can be distance measurements d1 determined by any two different sensors at the same time. t＝59 'and d2 t＝59 .

[0098] In one possible implementation, the positioning device 10 can be based on any two distance measurements d1. t＝59 'and d2 t＝59 When the positioning device 10 and the electronic device 20 are determined as point masses, the distance d between the two point masses is determined.

[0099] In one possible implementation, the positioning device 10 can use the electronic device 20 and the sensors (e.g., sensor 1 and sensor 2) corresponding to the distance measurements of any two points as point masses to form a triangle. The distance d is then determined based on the type of triangle and the relationship between its three sides.

[0100] Preferably, in one possible implementation, the positioning device 10 can be based on the two most recent distance measurements d1 at the same time. t＝58 and d2 t＝58 When the positioning device 10 and the electronic device 20 are determined as point masses, the distance d between the two point masses is determined.

[0101] The embodiments described above illustrate how to determine the distance between the positioning device and the electronic device. In another embodiment of this application, a method for operating the electronic device is described when the positioning result includes the area where the electronic device is located and the distance between the electronic device and the vehicle. For example, the method includes:

[0102] The vehicle performs contactless response operations based on the area; contactless response operations include at least one of automatic unlocking, automatic greeting, and automatic start.

[0103] The region is used to characterize the specific location of the electronic device 20 within the positioning device 10. For example, it can be located in front of, to the left of, to the right of, or behind the positioning device 10.

[0104] In one possible implementation, if the positioning device 10 determines that the positioning result of the electronic device 20 is that the electronic device 20 is located behind the positioning device and the distance d between the electronic device 20 and the positioning device is 0.1m, then the facility behind the positioning device (e.g., a door behind the positioning device 10) can be unlocked (e.g., the door is opened).

[0105] The embodiments described above illustrate how to operate the electronic device. In another embodiment of this application, specific types of distance measurement values ​​are described. These types include at least one of the following:

[0106] Distance values ​​collected by the same sensor at different times, distance values ​​collected by different sensors at the same time, and distance values ​​collected by different sensors at different times.

[0107] The above terms have been explained in the previous text, and you can refer to the previous description for details. They will not be repeated here.

[0108] The foregoing embodiments have described specific types of distance measurements. In another embodiment of this application, a flowchart of a positioning method is provided as a complete embodiment. The flowchart of this embodiment can be referenced. Figure 5 The specific execution steps in the flowchart are as follows:

[0109] P1, UWB ranging.

[0110] It should be noted that the UWB ranging here is equivalent to the multiple distance measurement values ​​obtained in the previous embodiments of this application.

[0111] P2, Non-visual initial screening.

[0112] It should be noted that the non-line-of-sight initial screening here is equivalent to obtaining the first and second measurement values ​​based on the line-of-sight and non-line-of-sight measurement conditions in the previous embodiments of this application. That is, the distance measurement values ​​that belong to non-line-of-sight are eliminated.

[0113] P3. Determine whether it is in the unjudged area.

[0114] If so, then execute P4;

[0115] If not, then proceed to P5.

[0116] It should be noted that the unjudged area here is equivalent to the second measurement value obtained in the previous embodiments of this application that does not meet the non-line-of-sight measurement conditions, and is also equivalent to the second measurement value in the previous embodiments of this application that is greater than the first threshold and less than the second threshold.

[0117] P4, Non-visual distance screening.

[0118] It should be noted that the non-line-of-sight second screening here is equivalent to determining whether the second measurement value is a non-line-of-sight measurement result in the previous embodiments of this application.

[0119] P5, Adaptive Kalman filtering.

[0120] It should be noted that the adaptive Kalman filtering process here is equivalent to the correction process in the previous embodiment.

[0121] P6. Calculate the distance between the mobile device and the vehicle.

[0122] It should be noted that the distance between the mobile device and the vehicle calculated here is equivalent to the distance between the electronic device and the positioning device in the positioning results of the previous embodiments of this application. The mobile device here is equivalent to the electronic device in the previous embodiments of this application.

[0123] P7. Determine the trend.

[0124] It should be noted that judging the running trend here can be understood as judging whether the mobile device is close to the vehicle. See the following steps for specific determination.

[0125] P8. Determine if you are in the reception area.

[0126] If so, then execute P9;

[0127] If not, then proceed to P11.

[0128] P9. Determine if the area is in the unlocked zone.

[0129] If so, then execute P10;

[0130] If not, then proceed to P11.

[0131] P10. Determine if the person is inside the vehicle.

[0132] If so, then execute P11;

[0133] If not, then proceed to P12.

[0134] It should be noted that the corresponding response here is equivalent to the contactless response operation in the previous embodiments of this application.

[0135] P11. Respond accordingly based on the region where the mobile device is located.

[0136] P12. Perform side inspection.

[0137] It should be noted that the side detection here is equivalent to determining the area where the electronic device is located in the positioning result in the previous embodiments of this application.

[0138] Understandably, the calculation principle diagram for determining the distance between the mobile device and the vehicle in P6 can be referenced. Figure 6 First, refer to Figure 6 (a) When the triangle formed by the mobile terminal P and the two nearest anchor points A1 and A2 of the vehicle is an acute triangle, or when the three sides satisfy the following conditions:

[0139]

[0140]

[0141] The formula for calculating distance d can be: Or,

[0142] Secondly, refer to Figure 6 (b) When the triangle formed by the mobile terminal P and the two nearest anchor points A1 and A2 of the vehicle is an obtuse triangle, or when the three sides satisfy the following conditions:

[0143]

[0144]

[0145] The formula for calculating distance d can be d = min(d2, d3). That is, take the anchor distance closest to the mobile terminal P as the distance d between the mobile terminal P and the vehicle.

[0146] It is understandable that the diagrams illustrating the criteria for determining whether someone is in the welcome area in P8 and whether someone is in the unlocking area in P9 are provided in detail. Figure 7 The judgment criteria are detailed in Table 1.

[0147] Table 1. Criteria for Determining the Unlocking Zone of the Welcome Area

[0148]

[0149] Understandably, the criteria for determining whether someone is inside the vehicle are detailed in section P11. Figure 8 First, refer to Figure 8 (a) When the mobile terminal P is inside the small circle, that is, inside the circle with radius r1, it is determined that the mobile terminal P is inside the vehicle. When the mobile terminal P is inside the ring, that is, outside the circle with radius r1 and inside the circle with radius r2, and when it is in the lower half-fan area enclosed by anchor points A1 and A4 and the circle with radius r2, or in the upper half-fan area enclosed by anchor points A2 and A3 and the circle with radius r2, it is determined that the mobile terminal P is outside the vehicle.

[0150] Secondly, for Figure 8 (b) can be found in the description. Figure 8 (a) will not be elaborated further here.

[0151] Understandably, the schematic diagram of the side detection effect in P12 can be used as a reference. Figure 9 The area of ​​the mobile terminal relative to the vehicle can be determined based on the two nearest anchor distance values. The correspondence between the two nearest anchor distance values ​​and the area is shown in set A below:

[0152]

[0153] Where, d min d is the anchor distance value closest to the mobile device. sec This is the second closest anchor distance value to the mobile terminal.

[0154] Understandably, the relevant parameters of the adaptive Kalman filter model in P5 are as follows:

[0155] State variable: X k|k-1 =F k X k-1|k-1 +B k U k

[0156] Covariance matrix:

[0157] Among them, F k Let B be the state transition matrix. k For the control matrix, U k To control the gain, Qk This represents process error.

[0158] State variable: X k|k =X k|k-1 +K k (Z k -H k X k|k-1 )

[0159] Covariance matrix: P k|k =(IK k H k )P k|k-1

[0160] Among them, R k For measurement error, H k For the measurement matrix, Z k This is the actual measured value. K k This is the Kalman gain, which is adjusted accordingly based on line-of-sight and non-line-of-sight ranging values. If a non-line-of-sight ranging value exists, the Kalman gain is 0; otherwise, the Kalman gain is calculated normally.

[0161] Kalman gain:

[0162] It should be noted that the state variable X k|k =X k|k-1 +K k (Z k -H k X k|k-1 In ), X k|k Equivalent to the corrected second measurement value in the preceding embodiments of this application, X k|k-1 K is equivalent to the distance measurement value at the previous moment of the second measurement value in the previous embodiment of this application. k (Z k -H k X k|k-1 Z is equivalent to the error value of the second measurement value in the preceding embodiments of this application. k H is equivalent to the second measurement value in the preceding embodiments of this application. k X k|k-1 This is equivalent to the predicted value corresponding to the second measurement value in the previous implementation of this application.

[0163] Understandably, after standardizing multiple distance measurements, as well as the first and second thresholds, the following steps are performed:

[0164] The standardization process is as follows:

[0165] New information vector: r k =Z k -H k Xk|k-1

[0166] New covariance:

[0167] Inspection information:

[0168] Z k This is equivalent to the second measurement value in the preceding embodiments of this application.

[0169] Then compare according to the following evaluation criteria:

[0170]

[0171] A first measurement value and a second measurement value are determined from a plurality of distance measurements. Wherein, C1 corresponds to the first threshold value in the preceding embodiments of this application, and C2 corresponds to the second threshold value in the preceding embodiments of this application.

[0172] It is understandable that the channel characteristics mentioned above could be kurtosis k or average excess delay τ. med It can also be τ rms Root mean square delay spread. The formula for calculating kurtosis k is: μ |h| and δ |h| Let represent the mean and standard deviation of |h(t)|, respectively. The average excess delay τ med The calculation formula is τ rms The formula for calculating the root mean square delay spread is as follows:

[0173] The preceding embodiments provided a flowchart of a positioning method. In another embodiment of this application, a schematic diagram of a positioning device is provided, which includes: an acquisition unit 1001, a filtering unit 1002, a determination unit 1003, and a correction unit 1004. Wherein:

[0174] The acquisition unit 1001 is used to acquire multiple distance measurement values; the distance measurement values ​​are the distance between the positioning device and the electronic device determined by the sensor of the positioning device; the multiple distance measurement values ​​include at least one of the following: distance values ​​collected by the same sensor at different times, distance values ​​collected by different sensors at the same time, and distance values ​​collected by different sensors at different times.

[0175] The filtering unit 1002 is used to filter multiple distance measurement values ​​according to line-of-sight measurement conditions and non-line-of-sight measurement conditions to obtain a first measurement value that meets the line-of-sight measurement conditions and a second measurement value that does not meet the line-of-sight measurement conditions and non-line-of-sight measurement conditions; the line-of-sight measurement conditions are used to characterize the conditions satisfied by attenuation-free ranging based on the wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement conditions are used to characterize the conditions satisfied by strong attenuation ranging based on the wireless signal between the positioning device and the electronic device.

[0176] The determining unit 1003 is used to determine the channel characteristics between the positioning device and the electronic device based on the second measurement value; the channel characteristics are used to characterize the degree of channel interference between the positioning device and the electronic device.

[0177] The correction unit 1004 is used to correct the second measurement value based on channel characteristics, and to determine the positioning result of the electronic device based on the corrected second measurement value and the first measurement value.

[0178] In one embodiment, the filtering unit 1002 is specifically used to filter multiple distance measurement values ​​according to a first threshold and a second threshold to obtain a first measurement value that is less than the first threshold and a second measurement value that is greater than the first threshold and less than the second threshold.

[0179] In one embodiment, the determining unit 1003 is specifically configured to determine the channel response strength between the positioning device and the electronic device based on the second measurement value; and to determine the channel characteristics based on the channel response strength.

[0180] In one embodiment, the correction unit 1004 is specifically used to determine whether the second measurement value is a line-of-sight measurement result based on channel characteristics and a channel characteristic threshold; the channel characteristic threshold is used to characterize the channel characteristics under line-of-sight measurement conditions; if the second measurement value is a non-line-of-sight measurement result, the second measurement value is corrected to obtain a corrected second measurement value.

[0181] In one embodiment, the correction unit 1004 is used to determine a corrected second measurement value based on the distance measurement value at the previous moment of the second measurement value and the error value of the second measurement value; the error value of the second measurement value is the difference between the second measurement value and the predicted value corresponding to the second measurement value.

[0182] In one embodiment, the correction unit 1004 is used to determine the distance between the positioning device and the electronic device based on the corrected second measurement value and any two distance measurement values ​​among the first measurement value.

[0183] In one embodiment, the correction unit 1004 is configured to perform contactless response operations on the vehicle based on the region; the contactless response operations include at least one of automatic unlocking, automatic greeting, and automatic start.

[0184] For specific limitations regarding the positioning device, please refer to the limitations on the positioning method above, which will not be repeated here. Each module of the aforementioned positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0185] In one embodiment, an electronic device is provided. Figure 11 This is a structural block diagram of the electronic device provided in the embodiments of this application, with reference to... Figure 11 The electronic device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned positioning method embodiment.

[0186] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned positioning method embodiment.

[0187] This application provides a computer program product including instructions that, when executed, cause the method described in this application to be performed. For example, it can execute... Figure 2 The steps of the positioning method shown.

[0188] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0189] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0190] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A positioning method, characterized in that, The method includes: Multiple distance measurements are acquired; the distance measurements are the distances between the positioning device and the electronic device determined by the sensors of the positioning device. The plurality of distance measurement values ​​are filtered according to line-of-sight (LOS) measurement conditions and non-LOS measurement conditions to obtain a first measurement value that meets the LOS measurement conditions and a second measurement value that does not meet the LOS measurement conditions and the non-LOS measurement conditions; the LOS measurement conditions are used to characterize the conditions satisfied by attenuation-free ranging based on the wireless signal between the positioning device and the electronic device, and the non-LOS measurement conditions are used to characterize the conditions satisfied by strong attenuation ranging based on the wireless signal between the positioning device and the electronic device; The channel characteristics between the positioning device and the electronic device are determined based on the second measurement value; the channel characteristics are used to characterize the degree of channel interference between the positioning device and the electronic device. The second measurement value is corrected based on the channel characteristics, and the positioning result of the electronic device is determined based on the corrected second measurement value and the first measurement value. The correction process for the second measurement value based on the channel characteristics includes: Whether the second measurement value is a line-of-sight measurement result is determined based on the channel characteristics and the channel characteristic threshold; the channel characteristic threshold is used to characterize the channel characteristics under line-of-sight measurement conditions; If the second measurement value is a non-line-of-sight measurement result, then the second measurement value is corrected to obtain a corrected second measurement value; The step of correcting the second measurement value to obtain a corrected second measurement value includes: The corrected second measurement value is determined based on the distance measurement value at the previous moment before the second measurement value and the error value of the second measurement value; the error value of the second measurement value is the difference between the second measurement value and the predicted value corresponding to the second measurement value.

2. The method according to claim 1, characterized in that, The line-of-sight measurement condition includes the distance between the positioning device and the electronic device being less than a first threshold, and the non-line-of-sight measurement condition includes the distance between the positioning device and the electronic device being greater than a second threshold, wherein the first threshold is less than the second threshold. The step of filtering the plurality of distance measurement values ​​according to line-of-sight measurement conditions and non-line-of-sight measurement conditions to obtain a first measurement value that meets the line-of-sight measurement conditions and a second measurement value that does not meet the line-of-sight measurement conditions and the non-line-of-sight measurement conditions includes: The plurality of distance measurements are filtered according to the first threshold and the second threshold to obtain the first measurement value that is less than the first threshold and the second measurement value that is greater than the first threshold and less than the second threshold.

3. The method according to claim 1, characterized in that, Determining the channel characteristics between the positioning device and the electronic device based on the second measurement value includes: The channel response strength between the positioning device and the electronic device is determined based on the second measurement value; The channel characteristics are determined based on the channel response strength.

4. The method according to claim 1, characterized in that, The multiple distance measurement values ​​are distance values ​​collected by different sensors of the positioning device at the same time; The distance between the positioning device and the electronic device is determined based on the corrected second measurement value and any two distance measurements from the first measurement value.

5. The method according to claim 1, characterized in that, The positioning device is installed in the vehicle, and the positioning result includes the area where the electronic device is located and the distance between the electronic device and the vehicle. The method further includes: The vehicle performs contactless response operations based on the area; the contactless response operations include at least one of automatic unlocking, automatic greeting, and automatic start.

6. The method according to claim 1, characterized in that, The plurality of distance measurements include at least one of the following: distance values ​​collected by the same sensor at different times, distance values ​​collected by different sensors at the same time, and distance values ​​collected by different sensors at different times.

7. A positioning device, characterized in that, The positioning device is used to implement the positioning method as described in any one of claims 1-6, and the device includes: An acquisition unit is used to acquire multiple distance measurement values; the distance measurement values ​​are the distances between the positioning device and the electronic device determined by the sensors of the positioning device. A filtering unit is configured to filter the plurality of distance measurement values ​​according to line-of-sight (LOS) measurement conditions and non-LOS measurement conditions to obtain a first measurement value that satisfies the LOS measurement conditions and a second measurement value that does not satisfy the LOS measurement conditions and the non-LOS measurement conditions; the LOS measurement conditions characterize the conditions satisfied by attenuation-free ranging based on the wireless signal between the positioning device and the electronic device, and the non-LOS measurement conditions characterize the conditions satisfied by strong attenuation ranging based on the wireless signal between the positioning device and the electronic device; The determining unit is configured to determine the channel characteristics between the positioning device and the electronic device based on the second measurement value; the channel characteristics are used to characterize the degree of channel interference between the positioning device and the electronic device; The correction unit is used to correct the second measurement value based on the channel characteristics, and to determine the positioning result of the electronic device based on the corrected second measurement value and the first measurement value.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the positioning method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the positioning method as described in any one of claims 1-6.

10. A computer program product, comprising instructions, characterized in that, When the instruction is executed, it implements the positioning method as described in any one of claims 1-6.

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