Position detection method and device cluster

Abstract

The invention discloses a position detection method and a device cluster, the method is applied to a first device, the device cluster where the first device is located at least comprises a second device and a third device, the first device is configured with a first signal transmitting module and a first signal receiving module, and the second device is configured with a signal transmitting module or a signal receiving module. The position detection method comprises the following steps: in response to a first signal transmitted by a first signal transmitting module, receiving feedback signals of a second device and a third device based on a first signal receiving module; based on the feedback signals of the second device and the third device, determining a relative angle between the devices in the device cluster; responding to different positions of the first equipment at different detection moments, and obtaining first positions of the first equipment at different detection moments; and determining target relative position information of the second device and the third device based on the first position at each detection moment and the relative angle between the corresponding devices.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and more specifically to a location detection method and a device cluster. Background Art

[0002] In the process of signal transmission, if the relative position relationship between electronic devices can be accurately obtained, the delay of signal transmission can be reduced. However, due to the limitation of device function modules, the detection result of relative position will be reduced and cannot meet the actual application requirements. Summary of the invention

[0003] In view of this, this application provides the following technical solutions:

[0004] A location detection method is applied to a first device, the device cluster where the first device is located includes at least a second device and a third device, the first device is configured with a first signal transmitting module and a first signal receiving module, and the second device is configured with a signal transmitting module or a signal receiving module, and the location detection method includes:

[0005] In response to the first signal transmitting module sending the first signal, receiving feedback signals from the second device and the third device based on the first signal receiving module;

[0006] Determine the relative angle between the devices in the device cluster based on the feedback signals of the second device and the third device;

[0007] In response to the first device being in different positions at different detection moments, obtaining first positions of the first device at different detection moments;

[0008] Based on the first positions at each detection moment and the relative angle between the corresponding devices, target relative position information of the second device and the third device is determined.

[0009] Optionally, the determining target relative position information of the second device and the third device based on the first position at each detection moment and the relative angle between the corresponding devices includes:

[0010] Determine a relative distance between the second device and the third device corresponding to each detection moment based on a first position of the first device corresponding to each detection moment and a relative angle of the first device relative to other devices in the device cluster;

[0011] Determine a target relative distance between the second device and the third device based on the relative distance between the second device and the third device corresponding to each detection moment;

[0012] Based on the relative angle between the second device and the third device and the target relative distance, target relative position information between the second device and the third device is determined.

[0013] Optionally, determining the relative distance between the second device and the third device corresponding to each detection moment based on the first position of the first device corresponding to each detection moment and the corresponding relative angle of the first device relative to other devices in the device cluster includes:

[0014] Determining a device characteristic of the first device based on the sensor configuration information of the first device;

[0015] determining a processing mode based on a device characteristic of the first device;

[0016] Processing the first position of the first device corresponding to each detection moment and the relative angle of the first device relative to other devices in the device cluster based on the processing mode to obtain the relative distance between the second device and the third device corresponding to each detection moment;

[0017] The processing mode includes a first processing mode and a second processing mode. The first processing mode represents a processing mode for determining the relative distance based on the signal transmission time difference at each detection moment, and the second processing mode represents a mode for determining the relative distance based on the posture change information of the first device.

[0018] Optionally, the processing mode is the first processing mode, and the first position of the first device corresponding to each detection moment and the corresponding relative angle of the first device relative to other devices in the device cluster are processed based on the processing mode to obtain the relative distance between the second device and the third device corresponding to each detection moment, including:

[0019] Determine a target pointing angle corresponding to the detection moment based on a first relative angle between the first device and the second device and a second relative angle between the first device and the third device at each detection moment;

[0020] In response to the first signal transmitting module sending the first signal, the first signal receiving module receives the first time and the second time in the feedback signals of the second device and the third device corresponding to each detection moment;

[0021] Calculate the relative distance between the second device and the third device corresponding to each detection moment based on the first time, the second time, and the target pointing angle corresponding to the current first position of the first device;

[0022] The first time is the time when the first device receives the feedback signal sent by the second device, and the second time is the time when the third device receives the first signal sent by the first device at the current first position.

[0023] Optionally, the processing mode is a second processing mode, wherein, based on the processing mode, the first position of the first device corresponding to each detection moment and the corresponding relative angle of the first device relative to other devices in the device cluster are processed to obtain the relative distance between the second device and the third device corresponding to each detection moment, including:

[0024] Obtaining a relative angle of the second device corresponding to the first position of the first device at each detection moment;

[0025] Based on the relative angle with the second device and the posture information of the first device, the relative distance between the second device and the third device corresponding to each detection moment is determined.

[0026] Optionally, the processing mode includes the first processing mode and the second processing mode, and obtaining the relative distance between the second device and the third device corresponding to each detection moment includes:

[0027] Determining a first weight parameter of the first processing mode and a second weight parameter of the second processing mode based on characteristics of the current application scenario;

[0028] The relative distance between the second device and the third device is determined based on the first weight parameter, the second weight parameter, the first relative distance between the second device and the third device corresponding to the first processing mode, and the second relative distance between the second device and the third device corresponding to the second processing mode.

[0029] Optionally, the determining a target relative distance between the second device and the third device based on the relative distance between the second device and the third device corresponding to each detection moment includes:

[0030] Based on the time decay parameter, determining a weight sub-parameter corresponding to each detection moment;

[0031] Determine a target relative distance between the second device and the third device based on the weight sub-parameter corresponding to each detection moment and the corresponding relative distance between the second device and the third device;

[0032] The time attenuation parameter represents the attenuation degree of the signal between devices during the transmission process.

[0033] Optionally, it also includes:

[0034] Determining a target device subgroup based on a relationship degree parameter between devices in the device cluster;

[0035] Based on the first positions at each detection moment and the relative angle between the corresponding devices, target position information of the devices corresponding to the target device subgroup is determined.

[0036] Optionally, the first signal receiving module includes a first receiving submodule and a second receiving submodule, and determines the relative angle between the devices in the device cluster based on the feedback signals of the second device and the third device, including:

[0037] Determine a first time difference between the first receiving submodule and the second receiving submodule in receiving a feedback signal of the second device;

[0038] Obtaining a spacing distance between the first receiving submodule and the second receiving submodule;

[0039] Determine a relative angle between the first device and the second device based on the first time difference, the interval distance, and a signal propagation speed;

[0040] Determine a second time difference between the first receiving submodule and the second receiving submodule in receiving a feedback signal from the third device;

[0041] Based on the second time difference, the interval distance, and the signal propagation speed, a relative angle between the first device and the third device is determined.

[0042] A device cluster comprises a first device, a second device and a third device, wherein the first device is configured with a first signal transmitting module and a first signal receiving module, and the second device is configured with a signal transmitting module or a signal receiving module;

[0043] The first device is used to execute any one of the position detection methods described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0045] Figure 1 A flow chart of a position detection method provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of the relative relationship between a first device and a second device provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a device cluster corresponding to an application scenario provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of relative angles between devices provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a time-series positioning scenario provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a scenario for determining relative distance based on posture information provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] The terms "first" and "second" and the like in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but includes steps or units that are not listed.

[0053] An embodiment of the present application provides a position detection method, which can be used to determine the relative position information between at least two devices in a device cluster. The method is robust to the positioning of the devices in different environments, and can improve the accuracy of determining the relative position relationship between devices, and solve problems such as information delay caused by inaccurate relative position relationship between devices.

[0054] The position detection method is applied to the first device in the device cluster, and the first device is a movable device with complete sensors, such as a portable intelligent electronic device with a first signal transmitting module and a first signal receiving module, which can be a mobile phone, a notebook, a smart watch or an intelligent wearable device (such as virtual reality VR glasses, etc.). The relative distance between other devices with incomplete receiving functions can be determined by transmitting or receiving signals by the first device. For example, the first device can be used to determine the relative position information between the second device and the third device, wherein the second device is configured with a signal transmitting module or a signal receiving module, that is, the second device and the first device with complete transmitting and receiving functions cannot determine the accurate relative angle and distance between the two through the "dual-transmit-dual-receive" processing mode. Correspondingly, the third device can be a complete device with transmitting and receiving functions, or a device configured with a signal transmitting module or a signal receiving module. See. Figure 1 , is a flow chart of a position detection method provided in an embodiment of the present application, the method may include the following steps:

[0055] S101. In response to a first signal transmitting module sending a first signal, a first signal receiving module receives feedback signals from a second device and a third device.

[0056] S102: Determine relative angles between devices in the device cluster based on feedback signals from the second device and the third device.

[0057] S103: In response to the first device being in different positions at different detection moments, obtain the first positions of the first device at different detection moments.

[0058] S104: Determine target relative position information of the second device and the third device based on the first position at each detection moment and the relative angle between the corresponding devices.

[0059] In step S101, the first signal sent by the first signal transmitting module of the first device may be a signal directly used to measure the angle or distance, such as an ultrasonic signal, an electromagnetic wave signal, an infrared signal, an ultra-wideband (UWB) signal, an audio signal, etc. When the first device sends the first signal to the second device and / or the third device through the first signal transmitting module, the second device and the third device, when they have a signal receiving module, can generate a corresponding feedback signal based on the first signal received by their corresponding signal receiving modules and send it to the first device. The first feedback signal includes not only a response signal, but also relevant time information of the first signal received.

[0060] Correspondingly, the first signal can also be used to trigger the trigger signal of the second device and the third device to send the corresponding signal. For example, when the second device does not have a signal receiving module, if the first device directly sends a signal for determining the relative angle or distance, the second device cannot receive the corresponding signal. For example, when the second device does not have a microphone, if the first device sends an audio signal to the second device, the second device cannot receive the audio signal. At this time, the first device can send a request signal to the second device. After the second device receives the request signal, it will send an audio signal to the first device through its signal transmitting module (such as a speaker). The first device receives the first audio signal through its first signal receiving module, and records the corresponding signal receiving time, as well as the signal sending time sent by the second device. Based on these time differences, the relative angle is calculated. Therefore, in the embodiment of the present application, the type of signal sent by the first device can be determined according to the device characteristics of the second device and the third device, so that the first device can receive or send a signal for determining the angle between devices, thereby improving the applicability and accuracy of the relative angle determination between devices.

[0061] Specifically, the signal transmission between other devices in the device cluster can also refer to the signal transmission process between the first device and the second device or the third device. The relevant recorded information when the signal is transmitted between other devices can be sent to the first device, and the first device analyzes and processes each recorded information to determine the relative angle between each device. For example, the second device can send an audio signal to the third device, and the second device records the time when the audio signal is sent. When the third device receives the audio signal sent by the second device, it will also record the time when the signal is received. Then the second device can send the time when the audio signal is sent, and the third device can send the time when the audio signal is received to the first device. The first device determines the relative angle between the second device and the third device by analyzing and processing these times.

[0062] The following takes the first device determining the relative angle between the first device and the second device and the third device as an example to illustrate the process of determining the relative angle between each device in the device cluster. The first signal receiving module of the first device includes a first receiving submodule and a second receiving submodule, wherein the relative angle between each device in the device cluster is determined based on the feedback signal of the second device and the third device, including:

[0063] Determine a first time difference between the first receiving submodule and the second receiving submodule in receiving a feedback signal of the second device; obtain the spacing distance between the first receiving submodule and the second receiving submodule, and determine the relative angle between the first device and the second device based on the first time difference, the spacing distance and the signal propagation speed.

[0064] Determine a second time difference between the first receiving submodule and the second receiving submodule in receiving a feedback signal of the third device; and determine a relative distance between the first device and the third device based on the second time difference, the interval distance, and the signal propagation speed.

[0065] Taking the transmission based on audio signals as an example, the signal receiving module of the first device is a microphone array, wherein the first receiving submodule may be the first microphone of the first device, and the second receiving submodule may be the second microphone of the first device. When the second device outputs the audio signal through its speaker, there will be a certain time difference between the first microphone and the second microphone of the first device when receiving the audio. Figure 2 , which shows a schematic diagram of the relative relationship between the first device and the second device. Figure 2 In the embodiment, the first device 201 includes a first microphone M1 and a second microphone M2. The second device 202 sends an audio signal to the first device 201 through a speaker. The time when the first microphone M1 of the first device 201 receives the audio signal is t1, and the time when the second microphone M2 receives the audio signal is t2. The distance difference d between the audio signals received by the first microphone and the second microphone can be determined by using a signal correlation algorithm as d=(t1-t2)*c, where t1-t2 is the time difference between the two microphones receiving the signals, and c is the propagation speed of sound in the corresponding medium. Figure 2 The angle α in the equation is an auxiliary angle for calculating the relative angle β between the first device and the second device, then α=arcsin(d / D), where D is the spacing distance between the first microphone and the second microphone, and the corresponding angle is Figure 2 , the relative angle between the first device and the second device β=π / 2-α.

[0066] Based on the above calculation method, the relative angles between the devices in the device cluster can be calculated, as shown in Figure 3 , is a schematic diagram of a device cluster corresponding to an application scenario provided in an embodiment of the present application, in which a laptop, a display screen and a mobile phone are included, wherein the laptop is represented by NB, the display screen is represented by MN, the mobile phone is represented by P, SPK represents a speaker on the device for transmitting audio signals, and MIC represents a microphone for receiving audio signals. Figure 2 The calculation method can be calculated as follows Figure 4 As shown, the relative angle between the laptop and the display screen is β, the relative angle between the laptop and the mobile phone is α, and the relative angle between the mobile phone and the display screen is γ. In this way, the relative distance between the devices can be calculated based on these relative angles.

[0067] After obtaining the relative angles between the various devices in the device cluster, the relative distances between other devices that do not have complete receiving or transmitting modules can be determined by the first device at different positions according to the movable characteristics of the first device. It should be noted that if the device only has a signal receiving module or a signal transmitting module, if its relative distance with other devices is calculated, due to the attenuation and reflection of the signal during the transmission process, if the second device does not have a signal receiving module, there will be only one direction of signal transmission, such as the signal of the second device can only be transmitted to the first device, and the signal fed back by the first device cannot be received by the second device, it is difficult to calibrate and verify the distance measurement, therefore, the relative distance information calculated in this mode will be inaccurate, therefore, in the embodiment of the present application, the positioning data of the movable first device at different times and the sensor of the mobile device itself are used for positioning, and the calculation method has less overhead and low application delay.

[0068] Specifically, after obtaining the relative angles between the devices in the device cluster, you can execute Figure 1 The step S103 shown, that is, the first device can obtain the position information at each detection moment through its own positioning sensor, such as GPS (Global Positioning System), and the first device will move to different positions at different detection moments, and its corresponding movable range can be determined according to the actual application scenario, and then the relative distance between each device is calculated based on the first position of the first device at each detection moment and the relative angle between the devices at the current detection moment. Further, by averaging or weighted calculation of the relative distance between each device at different detection moments of the first device, the accurate relative position information between the devices can be calculated. In this way, the signal receiving module and the signal transmitting module of the first device and the movable characteristics of the first device can be used to determine the relative angle and distance between other devices, without configuring multiple positioning sensors (such as multiple ultrasonic sensors) for other devices. For example, when the device is configured with multiple ultrasonic sensors, the ability of the device to be tracked in real time by continuously measuring the distance between the sensor and the device, because the number of ultrasonic sensors (such as microphones during audio measurement) simultaneously existing in the environment is large, it will affect the system performance. If the device is equipped with multiple microphones, the sound will collide with each other, causing interference and affecting the calculation, reducing the accuracy of the calculation. Therefore, in the embodiment of the present application, even if the device does not have a signal transmitting module or a signal receiving module, there is no need to configure multiple positioning sensors for the device separately. The relative position information of each device in the device cluster can be obtained only through the first device, thereby solving the problem of large errors caused by signal interference.

[0069] In one implementation of an embodiment of the present application, target relative position information of the second device and the third device is determined based on the first position at each detection moment and the relative angle between the corresponding devices, including: determining the relative distance between the second device and the third device corresponding to each detection moment based on the first position of the first device corresponding to each detection moment and the relative angle of the corresponding first device relative to other devices in the device cluster; determining the target relative distance between the second device and the third device based on the relative distance between the second device and the third device corresponding to each detection moment; determining the target relative position information of the second device and the third device based on the relative angle between the second device and the third device and the target relative distance.

[0070] In the embodiment of the present application, the first device is a movable device, and the second device and the third device may be devices with fixed positions. The first device assists in obtaining target relative position information of the second device and the third device, so that the first device can transmit the calculated target relative position information to the second device and the third device, so that the second device and the third device can accurately transmit signals based on the target relative position information, avoiding problems such as screen freezes caused by signal delays. Specifically, the target relative position information includes relative angles and relative distances. In the embodiment of the present application, the relative angle of the second device and the third device can be determined based on the signal receiving module and the signal transmitting module between the second device and the third device. The relative angle calculation process has been described in the previous embodiment and will not be described in detail here. Figure 4 As shown, the third device may be Figure 4 The second device can be a laptop Figure 4 Therefore, the relative angle between the second device and the third device is β. Then, the relative distance between the second device and the third device is determined by the first position of the first device at each detection moment, and the angles between the first device and the second device and the first device and the third device corresponding to the detection moment, and the relative distances at different detection moments can be averaged to obtain the target relative distance between the second device and the third device, thereby obtaining the relative position information of the two.

[0071] In an embodiment of the present application, when calculating the relative distance between the second device and the third device by the first device, different processing modes can be used, such as determining by the signal transmission time difference, or determining by the posture information of the first device. This ensures that the relative distance determination process can be applied to a variety of different scenarios, and improves the applicability and accuracy of the processing. Specifically, in one embodiment, based on the first position of the first device corresponding to each detection moment and the relative angle of the corresponding first device relative to other devices in the device cluster, the relative distance between the second device and the third device corresponding to each detection moment is determined, including: determining the device characteristics of the first device based on the sensor configuration information of the first device; determining the processing mode based on the device characteristics of the first device; processing the first position of the first device corresponding to each detection moment and the relative angle of the corresponding first device relative to other devices in the device cluster based on the processing mode, and obtaining the relative distance between the second device and the third device corresponding to each detection moment. Among them, the processing mode includes a first processing mode and a second processing mode, the first processing mode represents a processing mode for determining the relative distance based on the signal transmission time difference at each detection moment; the second processing mode represents a mode for determining the relative distance based on the posture change information of the first device.

[0072] In one implementation of the embodiment of the present application, when the processing mode is the first processing mode, the first position of the first device corresponding to each detection moment and the relative angle of the corresponding first device relative to other devices in the device cluster are processed based on the processing mode to obtain the relative distance of the second device and the third device corresponding to each detection moment, including: determining the target pointing angle corresponding to the detection moment based on the first relative angle between the first device and the second device and the second relative angle between the first device and the second device at each detection moment; responding to the first signal transmitting module sending the first signal, based on the first signal receiving module receiving the first time and the second time in the feedback signal of the second device and the third device corresponding to each detection moment; based on the first time, the second time and the target pointing angle corresponding to the current first position of the first device, calculating the relative distance of the second device and the third device corresponding to each detection moment. Wherein, the first time is the time when the first device receives the feedback signal sent by the second device, and the second time is the time when the third device receives the first signal sent by the first device at the current first position.

[0073] At each detection moment, the first device has a first position corresponding to it, that is, at different detection moments, the position of the first device is different. The second device and the third device may be fixed and immovable, so the relative angle and relative distance between the second device and the third device are unchanged, while the relative angle and relative distance between the first device and the second device, and between the first device and the third device change according to the different positions of the first device. Figure 4 , the first device is a mobile phone, the second device is a display, the third device is a laptop, the first device and the target pointing angle is represented by θ, the first relative angle between the first device and the second device is γ, the second relative angle between the first device and the third device is α, then the target pointing angle θ = π-α-β. Figure 5 , which is a schematic diagram of a scenario of time-series positioning provided in an embodiment of the present application. The first device (i.e., a mobile phone) is located at P1 at the first detection moment. It can emit ultrasonic waves through the first signal transmitting module, which arrive at the third device (i.e., a laptop computer) after time t1. At this time, the second time is the time when the third device receives the first signal sent by the first device at the current first position P1, that is, the second time is represented by t1. When the third device (i.e., a laptop computer) receives the first signal sent by the first device, it can send a trigger signal to the second device (i.e., a display), and the display sends a feedback signal to the first device, which is received by the first device (i.e., a mobile phone) after the first time. At this time, the first time is the time when the first device receives the feedback signal sent by the second device. Figure 5 In this process, the second device (display) does not have a microphone or other signal receiving module, so it cannot directly receive the first signal (i.e., audio signal) sent by the first device. The laptop computer notifies the display to send a feedback signal to the mobile phone in the form of other communication trigger signals. The feedback signal can also be an audio signal. Similarly, the relevant time information of the first device at the corresponding position at other detection moments can be obtained. For example, when the first device (mobile phone) moves to position P2 at the next detection moment, similarly, see Figure 5 , the time parameters t3 and t4 can be obtained. Figure 5 In the example, when the first device (mobile phone) is at position P1, the target pointing angle is represented by θ1, and when the first device is at position P2, the target execution angle is represented by θ2. At different times, the position of the first device is different, and the corresponding time parameters are different. However, since the distance between the second device (display) and the third device (laptop) is fixed (the distance is represented by d), the more data sets are obtained by continuously moving the position of the first device, the smaller the error of the calculated d will be. The formula for calculating d is as follows:

[0074] get

[0075] get

[0076] …

[0077] but

[0078] Wherein, k represents the current position of the first device, n represents the total number of positions moved by the first device, d represents the relative distance between the second device and the third device, and v represents the propagation speed of the signal. For example, if the signal is an audio signal, v may represent the speed of sound.

[0079] Correspondingly, if the processing mode is the second processing mode, the relative distance between the second device and the third device can be determined by using the positioning method of the gyroscope of the first device. Specifically, based on the processing mode, the first position of the first device corresponding to each detection moment and the relative angle of the corresponding first device relative to other devices in the device cluster are processed to obtain the relative distance between the second device and the third device corresponding to each detection moment, including: obtaining the relative angle of the second device corresponding to the first position of the first device at each detection moment; determining the relative distance between the second device and the third device corresponding to each detection moment based on the relative angle with the second device and the posture information of the first device.

[0080] See also Figure 6 , is a schematic diagram of a scenario for determining a relative distance based on posture information provided by an embodiment of the present application, wherein the posture information of the first device (such as a mobile phone) is obtained by using a gyroscope (or other acceleration sensor) in the first device (such as a mobile phone), and the displacement change of the first device can be obtained by integration in a short period of time, that is, the displacement change of the first device from the current detection moment to the position at the next detection moment. Figure 6 In this scheme, the middle distance d between the second device (display) and the third device (laptop) can be calculated without the help of the above time difference. The relative distance and angle between the three devices can be obtained based on d. Figure 6 In the figure, the first relative angle between the first device and the second device is γ. When the first device is located at position P1, the relative angle between the first device (mobile phone) and the second device (display) is γ1; when the first device is located at position P2, the relative angle between the first device and the second device is γ2. At different detection times, the relative position of the terminal can be obtained based on the gyroscope integration data, and then a statistically more accurate positioning can be obtained based on multiple detection times or the relative relationship between multiple devices. The specific calculation process is as follows:

[0081]

[0082] Wherein, D is the distance between the first device and the second device, θ is the target pointing angle calculated by the first processing method, that is, each time the first device moves, the relative distance between the second device and the third device can be calculated according to its posture information. By taking the average value through multiple calculations, the final target relative distance between the second device and the third device can be obtained, and then the target relative position information of the second device and the third device can be finally determined according to the relative angle between the second device and the third device.

[0083] In order to further improve the accuracy of relative position information, the relative distance can be calculated by the above two processing methods, and then the final relative distance is determined by weighted calculation. In one embodiment, the processing mode includes a first processing mode and a second processing mode, and the relative distance between the second device and the third device corresponding to each detection moment is obtained, including: determining the first weight parameter of the first processing mode and the second weight parameter of the second processing mode based on the current application scenario characteristics; determining the relative distance between the second device and the third device based on the first weight parameter, the second weight parameter, the first relative distance between the second device and the third device corresponding to the first processing mode, and the second relative distance between the second device and the third device corresponding to the second processing mode. For example, by performing positioning processing through ultrasound, the relative distance obtained according to the timing processing method corresponding to the above-mentioned first processing mode and the gyroscope processing method corresponding to the second processing mode can be weighted by multiple calculation results to obtain accurate distance information to obtain accurate positioning results.

[0084] In the process of positioning by signal, the signal will be attenuated during transmission, so the calculation result can be adjusted by the time decay parameter. In one embodiment, based on the relative distance between the second device and the third device corresponding to each detection moment, the target relative distance between the second device and the third device is determined, including: based on the time decay parameter, determining the weight sub-parameter corresponding to each detection moment, and based on the weight sub-parameter at each detection moment and the corresponding relative distance between the second device and the third device, determining the target relative distance between the second device and the third device. Among them, the time decay parameter characterizes the degree of attenuation of the signal between devices during the transmission process.

[0085] For example, for the relative distances between devices corresponding to multiple detection moments, the time decay parameter w is used to act on the relative distances corresponding to the past detection moments. Different weights can also be used for the relative distances calculated by different processing modes, where the weight a depends on the results of the precision measurement for different processing modes in the experimental data. In the processing scheme with a front-to-back relationship, a method similar to the extended Kalman filter can also be used to pre-process the calculated relative distance to avoid large fluctuations in the distance values ​​measured before and after, so as to ensure the accuracy of the calculated relative distance. It should be noted that the weight sub-parameter corresponding to each detection moment can be determined separately based on the time decay parameter. For example, when the detection is t times, the weight sub-parameter of the relative distance obtained can be w, and when the detection is t-1 times, the weight sub-parameter of the relative distance obtained can be 1-w. It can also be based on the time decay parameter and the weights of different processing modes. Comprehensive processing is performed to obtain a more accurate relative distance, such as referring to the following formula:

[0086] d t =(1-w)d t-1 +w(a1d t 1 +a2d t 2 )

[0087] Among them, d t represents the relative distance between two devices calculated at the tth time, (1-w) represents the time decay parameter at the t-1th detection, and d t-1 represents the relative distance between the two devices obtained by the t-1th calculation, w represents the time decay parameter of the tth time, a1 represents the weight parameter corresponding to the first processing mode, d t 1 represents the relative distance between two devices calculated by the first processing mode at t times, a2 a1 represents the weight parameter corresponding to the second processing mode, and d t 2 Represents the relative distance between two devices calculated using the second processing mode at the tth time.

[0088] When the current device cluster completes a processing, the relative position relationship between the devices can be obtained. In order to facilitate subsequent application and processing, only a part of the relative position relationship can be output, thereby reducing the storage resource usage and the computing cost. In one embodiment, the method also includes: determining the target device subgroup based on the relationship degree parameter between the devices in the device cluster; determining the target position information of the device corresponding to the target device subgroup based on the first position at each detection moment and the relative angle between the corresponding devices.

[0089] Among them, the relationship degree parameter characterizes the importance between devices. For example, in the device cluster corresponding to the screen projection scenario, the importance of the position relationship between the mobile phone and the laptop computer is greater than the importance of the position relationship between the mobile phone and the display screen. Therefore, in this scenario, the relative position information of the laptop computer and the display screen is determined, and the content in the laptop computer can be accurately projected to the display screen to avoid problems such as screen delay and freeze. In addition, the relative position relationship between the mobile phone and the laptop computer can be maintained to facilitate subsequent calculations. Furthermore, based on the actual scenario requirements, the relative position information between each device can be recalculated after a fixed time period, so as to be able to obtain accurate relative information between devices in real time, which is convenient for information transmission and interaction of each device in the device cluster.

[0090] In an embodiment of the present application, positioning is performed using positioning data of a movable first device at different times and sensors that the first device itself may carry. This has low computational and optimization overheads and low application latency. It can also avoid the problem of signal interference caused by sending signals between devices when multiple sensors are deployed for the device.

[0091] In another embodiment of the present application, a device cluster is provided, including a first device, a second device and a third device, wherein the first device is configured with a first signal transmitting module and a second signal receiving module, and the second device is configured with a signal transmitting module or a signal receiving module. The first device is used to perform the above-mentioned location detection method.

[0092] It should be noted that the third device may have a signal transmitting module and a signal receiving module. If the relative angle between the third device and the second device is to be calculated, if the second device has a signal transmitting module, the third device needs to have a signal receiving module, so that the transmission of the ranging signal can be completed; correspondingly, if the second device has a signal receiving module, the second device needs to have a signal transmitting module.

[0093] The location detection method performed by the first device in this embodiment can refer to the specific process described in the above embodiments, which will not be described in detail here.

[0094] In an embodiment of the present application, a first device is further provided, comprising a first signal transmitting module, a first signal receiving module, a memory and a processor; wherein:

[0095] A memory, used to store applications and data generated by the operation of the applications;

[0096] The processor is used to execute the application program to implement the position detection method as described in any one of the above.

[0097] It should be noted that the specific implementation of the processor in this embodiment can refer to the corresponding content in the previous text and will not be described in detail here.

[0098] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0099] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0100] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0101] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A location detection method, the method is applied to a first device, the device cluster where the first device is located includes at least a second device and a third device, the first device is configured with a first signal transmitting module and a first signal receiving module, and the second device is configured with a signal transmitting module or a signal receiving module, the location detection method comprising: In response to the first signal transmitting module sending the first signal, receiving feedback signals from the second device and the third device based on the first signal receiving module; Determine the relative angle between the devices in the device cluster based on the feedback signals of the second device and the third device; In response to the first device being in different positions at different detection moments, obtaining first positions of the first device at different detection moments; Based on the first positions at each detection moment and the relative angle between the corresponding devices, target relative position information of the second device and the third device is determined.

2. The method according to claim 1, wherein determining the target relative position information of the second device and the third device based on the first position at each detection moment and the relative angle between the corresponding devices comprises: Determine a relative distance between the second device and the third device corresponding to each detection moment based on a first position of the first device corresponding to each detection moment and a relative angle of the first device relative to other devices in the device cluster; Determine a target relative distance between the second device and the third device based on the relative distance between the second device and the third device corresponding to each detection moment; Based on the relative angle between the second device and the third device and the target relative distance, target relative position information between the second device and the third device is determined.

3. The method according to claim 2, wherein determining the relative distance between the second device and the third device corresponding to each detection moment based on the first position of the first device corresponding to each detection moment and the relative angle of the first device relative to other devices in the device cluster comprises: Determining a device characteristic of the first device based on the sensor configuration information of the first device; determining a processing mode based on a device characteristic of the first device; Processing the first position of the first device corresponding to each detection moment and the corresponding relative angle of the first device relative to other devices in the device cluster based on the processing mode to obtain the relative distance between the second device and the third device corresponding to each detection moment; The processing mode includes a first processing mode and a second processing mode. The first processing mode represents a processing mode for determining the relative distance based on the signal transmission time difference at each detection moment, and the second processing mode represents a mode for determining the relative distance based on the posture change information of the first device.

4. The method according to claim 1, wherein the processing mode is the first processing mode, and the first position of the first device corresponding to each detection moment and the relative angle of the first device relative to other devices in the device cluster are processed based on the processing mode to obtain the relative distance between the second device and the third device corresponding to each detection moment, comprising: Determine a target pointing angle corresponding to the detection moment based on a first relative angle between the first device and the second device and a second relative angle between the first device and the third device at each detection moment; In response to the first signal transmitting module sending the first signal, the first signal receiving module receives the first time and the second time in the feedback signals of the second device and the third device corresponding to each detection moment; Calculate the relative distance between the second device and the third device corresponding to each detection moment based on the first time, the second time, and the target pointing angle corresponding to the current first position of the first device; The first time is the time when the first device receives the feedback signal sent by the second device, and the second time is the time when the third device receives the first signal sent by the first device at the current first position.

5. The method according to claim 3, wherein the processing mode is a second processing mode, wherein: The processing of the first position of the first device corresponding to each detection moment and the relative angle of the first device relative to other devices in the device cluster based on the processing mode to obtain the relative distance between the second device and the third device corresponding to each detection moment includes: Obtaining a relative angle of the second device corresponding to the first position of the first device at each detection moment; Based on the relative angle with the second device and the posture information of the first device, the relative distance between the second device and the third device corresponding to each detection moment is determined.

6. The method according to claim 3, wherein the processing mode includes the first processing mode and the second processing mode, and the obtaining the relative distance between the second device and the third device corresponding to each detection moment includes: Determining a first weight parameter of the first processing mode and a second weight parameter of the second processing mode based on characteristics of the current application scenario; The relative distance between the second device and the third device is determined based on the first weight parameter, the second weight parameter, the first relative distance between the second device and the third device corresponding to the first processing mode, and the second relative distance between the second device and the third device corresponding to the second processing mode.

7. The method according to claim 2, wherein determining the target relative distance between the second device and the third device based on the relative distance between the second device and the third device corresponding to each detection moment comprises: Based on the time decay parameter, determining a weight sub-parameter corresponding to each detection moment; Determine a target relative distance between the second device and the third device based on the weight sub-parameter corresponding to each detection moment and the corresponding relative distance between the second device and the third device; The time attenuation parameter represents the attenuation degree of the signal between devices during the transmission process.

8. The method according to claim 1, further comprising: Determining a target device subgroup based on a relationship degree parameter between devices in the device cluster; Based on the first positions at each detection moment and the relative angle between the corresponding devices, target position information of the devices corresponding to the target device subgroup is determined.

9. The method according to claim 1, wherein the first signal receiving module comprises a first receiving submodule and a second receiving submodule, and determining the relative angle between the devices in the device cluster based on the feedback signals of the second device and the third device comprises: Determine a first time difference between the first receiving submodule and the second receiving submodule in receiving a feedback signal of the second device; Obtaining a spacing distance between the first receiving submodule and the second receiving submodule; Determine a relative angle between the first device and the second device based on the first time difference, the interval distance, and a signal propagation speed; Determine a second time difference between the first receiving submodule and the second receiving submodule in receiving a feedback signal from the third device; Based on the second time difference, the interval distance, and the signal propagation speed, a relative angle between the first device and the third device is determined.

10. A device cluster, comprising a first device, a second device and a third device, wherein: The first device is configured with a first signal transmitting module and a first signal receiving module, and the second device is configured with a signal transmitting module or a signal receiving module; The first device is used to execute the position detection method as described in any one of claims 1 to 9.

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