Positioning method and electronic equipment

Abstract

The invention provides a positioning method and electronic equipment, and relates to the technical field of terminals. According to the method and the device, the initial position of the positioned second electronic equipment can be quickly determined according to the auxiliary judgment signal transmitted between the pre-configured auxiliary judgment units in the first electronic equipment and the second electronic equipment, so that the positioning success rate is effectively improved, and meanwhile, the initial abnormal position positioning time can be greatly shortened. The method is applied to first electronic equipment, the first electronic equipment comprises a first wireless positioning module, auxiliary judgment units are arranged in M signal areas of the first wireless positioning module, the optical angles of the auxiliary judgment units are smaller than or equal to the signal coverage angles of the corresponding signal areas, and M is a positive integer. The method comprises the following steps: receiving an auxiliary judgment signal sent by second electronic equipment through a first auxiliary judgment unit; and judging the validity of target positioning data acquired by the first electronic equipment through the first wireless positioning module according to the auxiliary judgment signal.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of terminal technology, and in particular to a positioning method and electronic device. Background Art

[0002] With the development of terminal technology, wireless positioning technology is widely used in various scenarios. Currently, commonly used wireless positioning technologies include positioning technologies based on ultra wide band (UWB) / millimeter wave, electromagnetic field, optical tracking, etc. However, these positioning technologies are affected by the environment, design, etc., and generally have the problem of positioning signal blind spots.

[0003] For example, in the common azimuth measurement in the wireless positioning process, due to the limitations of antenna performance and environmental consistency, the azimuth data obtained by the electronic device in certain azimuth measurements cannot effectively correspond to the actual value. As a result, when the user starts measuring from these positions, there will be a problem of being unable to locate the effective position. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a positioning method and an electronic device. The technical solution provided by the present application quickly determines the initial position of the located second electronic device according to the auxiliary determination signal transmitted between the auxiliary determination unit pre-configured in the first electronic device and the second electronic device, thereby effectively improving the positioning success rate and significantly shortening the initial abnormal position positioning time.

[0005] In order to achieve the above technical objectives, this application provides the following technical solutions:

[0006] In a first aspect, a positioning method is provided, which is applied to a first electronic device. The first electronic device includes a first wireless positioning module, and an auxiliary determination unit is provided in M ​​signal areas of the first wireless positioning module, and the optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and M is a positive integer. The method includes: receiving an auxiliary determination signal sent by a second electronic device through the first auxiliary determination unit. According to the auxiliary determination signal, the validity of the target positioning data obtained by the first electronic device through the first wireless positioning module is determined.

[0007] In this way, by setting up a low-cost auxiliary determination unit in the signal area, fast and accurate positioning can be achieved during high-precision positioning tracking. This can solve the problem of abnormal positioning in the abnormal positioning signal area at a low cost, quickly determine the initial position of the located device, and improve the user experience.

[0008] In addition, when the starting position of the device to be located is an abnormal position, the auxiliary determination unit light constraint can be used to determine the effective positioning signal area, quickly determine the electronic device used to generate effective positioning data, and significantly shorten the positioning time of the starting abnormal position.

[0009] According to the first aspect, the auxiliary determination signal is a signal received by the first electronic device in the first signal area of ​​M signal areas, and a first auxiliary determination unit is provided in the first signal area; according to the auxiliary determination signal, the validity of the target positioning data acquired by the first electronic device through the first wireless positioning module is determined, including: according to the signal characteristics of the auxiliary determination signal, determining the second signal area for sending the auxiliary determination signal, the second signal area being the signal area of ​​the second wireless positioning module included in the second electronic device. According to the status information of the first signal area and the second signal area, the validity of the target positioning data is determined.

[0010] In some examples, the target positioning data acquired by the first electronic device may be positioning data determined locally by the first electronic device, or may be positioning data received and sent by the second electronic device.

[0011] In some examples, the validity of the positioning data is used to indicate whether the peer device is located in its own valid positioning signal area when the positioning data is obtained. If the peer device is located in the valid positioning signal area of ​​the device, the local positioning data obtained by the device is valid data. If the peer device is located in the abnormal positioning signal area of ​​the device, the local positioning data obtained by the device is invalid data. By receiving or sending the signal area where the auxiliary determination unit of the auxiliary determination signal is located, it can be determined whether the peer device is located in its own valid positioning signal area.

[0012] According to the first aspect, or any implementation method of the first aspect above, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; according to the status information of the first signal area and the second signal area, the validity of the target positioning data is determined, including: when the first signal area indicated by the status information includes the first valid positioning signal area and the second signal area includes the second valid positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the second positioning data sent by the second electronic device is received, and the valid target positioning data is the first positioning data or the second positioning data.

[0013] That is, the first electronic device is located in the effective positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the effective positioning signal area of ​​the first positioning module of the first electronic device. Therefore, both the first electronic device and the second electronic device can obtain effective positioning data. Then, the first electronic device can select any one of the positioning data as the final target positioning data.

[0014] According to the first aspect, or any implementation method of the first aspect above, the validity of the target positioning data is determined according to the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first valid positioning signal area, and the second signal area includes a second abnormal positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the valid target positioning data is the first positioning data.

[0015] That is, the first electronic device is located in the abnormal positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the effective positioning signal area of ​​the first positioning module of the first electronic device. Therefore, the first electronic device can obtain effective positioning data. Then, the first electronic device can use the first positioning data obtained locally as the final target positioning data.

[0016] According to the first aspect, or any implementation of the first aspect above, the validity of the target positioning data is determined according to the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second valid positioning signal area, receiving the second positioning data sent by the second electronic device, and the valid target positioning data is the second positioning data.

[0017] That is, the first electronic device is located in the valid positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the abnormal positioning signal area of ​​the first positioning module of the first electronic device. Therefore, the second electronic device can obtain valid positioning data. Then, the first electronic device can use the second positioning data sent by the second electronic device as the final target positioning data.

[0018] According to the first aspect, or any implementation of the first aspect above, the validity of the target positioning data is determined based on the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first abnormal positioning signal area, and the second signal area includes a second abnormal positioning signal area, a first indication is sent to the second electronic device, and the first indication is used to indicate that the auxiliary determination signal is sent again; wherein the target positioning data is invalid.

[0019] That is, the first electronic device is located in the abnormal positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the abnormal positioning signal area of ​​the first positioning module of the first electronic device. Therefore, neither the first electronic device nor the second electronic device can obtain valid positioning data. Then, the first electronic device can determine that this round of positioning has failed, so the first electronic device can instruct the second electronic device to send an auxiliary determination signal again to start the next round of positioning.

[0020] According to the first aspect, or any implementation of the first aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0021] According to the first aspect, or any implementation of the first aspect above, the first wireless positioning module includes N signal areas, and no auxiliary determination unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

[0022] Optionally, the first wireless positioning module includes N signal areas, wherein M of the N signal areas are provided with auxiliary determination units, and the other signal areas are not provided with auxiliary determination units. Alternatively, the N signal areas included in the first wireless positioning module are all provided with auxiliary determination units.

[0023] According to the first aspect, or any implementation of the first aspect above, the first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0024] According to the first aspect, or any implementation of the first aspect, the auxiliary determination signal is an optical signal.

[0025] Optionally, the optical signals sent by different auxiliary determination units are modulated optical signals. For example, the auxiliary determination unit can adjust the characteristics of the transmitted optical signal by frequency adjustment, amplitude modulation, etc. Alternatively, different optical signals can be distinguished by carrying different information in the optical signal. Thus, by judging the signal characteristics of the optical signal, the signal area where the auxiliary determination unit sending the optical signal is located can be determined.

[0026] In a second aspect, a positioning method is provided, which is applied to a second electronic device. The second electronic device includes a second wireless positioning module, and an auxiliary determination unit is provided in P signal areas of the second wireless positioning module, and the optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and P is a positive integer. The method includes: in response to a user operation, an auxiliary determination signal is sent to the first electronic device through the second auxiliary determination unit in the second signal area, and the second signal area is an area in the P signal areas; the auxiliary determination signal is used to determine the validity of the positioning data determined by the first electronic device or the second electronic device.

[0027] According to the second aspect, the method further includes: receiving status information of a second signal area and a first signal area sent by a first electronic device, wherein the first signal area is an area among the M signal areas of a first wireless positioning module in the first electronic device, where M is a positive integer, and a first auxiliary determination unit is provided in the first signal area, and the first auxiliary determination unit is an auxiliary determination unit that receives an auxiliary determination signal. In response to the status information, local second positioning data is acquired through the second wireless positioning module. The second positioning data is sent to the first electronic device, and the second positioning data is used by the first electronic device to determine target positioning data.

[0028] According to the second aspect, or any implementation method of the second aspect above, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; in response to the status information, the local second positioning data is obtained through the second wireless positioning module, including: when the second signal area indicated in the status information includes the second valid positioning signal area, the local second positioning data is obtained through the second wireless positioning module.

[0029] According to the second aspect, or any implementation of the second aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0030] According to the second aspect, or any implementation of the second aspect above, the second wireless positioning module includes O signal areas, and no auxiliary determination unit is set in other signal areas outside P signal areas, and O is a positive integer greater than P.

[0031] According to the second aspect, or any implementation of the second aspect above, the second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0032] According to the second aspect, or any implementation of the second aspect, the auxiliary determination signal is an optical signal.

[0033] In a third aspect, an electronic device is provided. The electronic device includes: a first wireless positioning module, an auxiliary determination unit is provided in M ​​signal areas of the first wireless positioning module, the optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, the auxiliary determination unit is used to determine the validity of the positioning data obtained by the first wireless positioning module, and M is a positive integer.

[0034] According to the third aspect, the auxiliary determination unit is at least one of a transmitting unit or a receiving unit.

[0035] According to the third aspect, or any implementation of the third aspect above, the first wireless positioning module includes N signal areas, and no auxiliary determination unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

[0036] According to the third aspect, or any implementation of the third aspect above, the first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0037] In a fourth aspect, an electronic device is provided. The electronic device includes: a second wireless positioning module, an auxiliary determination unit is provided in P signal areas of the second wireless positioning module, the optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, the auxiliary determination unit is used to determine the validity of the positioning data obtained by the first wireless positioning module, and P is a positive integer.

[0038] According to a fourth aspect, the auxiliary determination unit is at least one of a transmitting unit or a receiving unit.

[0039] According to the fourth aspect, or any implementation of the fourth aspect above, the second wireless positioning module includes O signal areas, and no auxiliary determination unit is set in other signal areas outside P signal areas, and O is a positive integer greater than P.

[0040] According to the fourth aspect, or any implementation of the fourth aspect above, the second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0041] In a fifth aspect, a positioning system is provided, which includes the first electronic device as described in the third aspect and the second electronic device as described in the fourth aspect.

[0042] In a sixth aspect, a first electronic device is provided. The first electronic device includes: a processor and a memory, the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor reads the computer instructions from the memory, the first electronic device executes: receiving the auxiliary determination signal sent by the second electronic device through the first auxiliary determination unit. According to the auxiliary determination signal, the validity of the target positioning data obtained by the first electronic device through the first wireless positioning module is determined. Among them, the first electronic device includes a first wireless positioning module, and auxiliary determination units are arranged in M ​​signal areas of the first wireless positioning module, and the optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and M is a positive integer.

[0043] According to the sixth aspect, the auxiliary determination signal is a signal received by the first electronic device in the first signal area of ​​M signal areas, and a first auxiliary determination unit is provided in the first signal area; according to the auxiliary determination signal, the validity of the target positioning data acquired by the first electronic device through the first wireless positioning module is determined, including: according to the signal characteristics of the auxiliary determination signal, the second signal area for sending the auxiliary determination signal is determined, and the second signal area is the signal area of ​​the second wireless positioning module included in the second electronic device. According to the status information of the first signal area and the second signal area, the validity of the target positioning data is determined.

[0044] According to the sixth aspect, or any implementation method of the sixth aspect above, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; according to the status information of the first signal area and the second signal area, the validity of the target positioning data is determined, including: when the first signal area indicated by the status information includes the first valid positioning signal area and the second signal area includes the second valid positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the second positioning data sent by the second electronic device is received, and the valid target positioning data is the first positioning data or the second positioning data.

[0045] According to the sixth aspect, or any one of the implementation methods of the sixth aspect above, the validity of the target positioning data is determined according to the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first valid positioning signal area, and the second signal area includes a second abnormal positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the valid target positioning data is the first positioning data.

[0046] According to the sixth aspect, or any implementation method of the sixth aspect above, the validity of the target positioning data is determined according to the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second valid positioning signal area, receiving the second positioning data sent by the second electronic device, and the valid target positioning data is the second positioning data.

[0047] According to the sixth aspect, or any implementation method of the sixth aspect above, the validity of the target positioning data is determined based on the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first abnormal positioning signal area, and the second signal area includes a second abnormal positioning signal area, a first indication is sent to the second electronic device, and the first indication is used to indicate that the auxiliary determination signal is sent again; wherein the target positioning data is invalid.

[0048] According to the sixth aspect, or any implementation of the sixth aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0049] According to the sixth aspect, or any implementation of the sixth aspect above, the first wireless positioning module includes N signal areas, and no auxiliary determination unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

[0050] According to the sixth aspect, or any implementation of the sixth aspect above, the first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0051] According to the sixth aspect, or any implementation of the sixth aspect, the auxiliary determination signal is an optical signal.

[0052] In the seventh aspect, a second electronic device is provided. The second electronic device includes: a processor and a memory, the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, when the processor reads the computer instructions from the memory, the second electronic device executes: in response to user operation, an auxiliary determination signal is sent to the first electronic device through a second auxiliary determination unit in a second signal area, the second signal area is an area in P signal areas; the auxiliary determination signal is used to determine the validity of the positioning data determined by the first electronic device or the second electronic device. Among them, the second electronic device includes a second wireless positioning module, and an auxiliary determination unit is provided in the P signal areas of the second wireless positioning module, the optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and P is a positive integer.

[0053] According to the seventh aspect, when the processor reads the computer instructions from the memory, the second electronic device is also caused to execute: receiving the status information of the second signal area and the first signal area sent by the first electronic device, the first signal area is an area in the M signal areas of the first wireless positioning module in the first electronic device, M is a positive integer, and a first auxiliary determination unit is provided in the first signal area, and the first auxiliary determination unit is an auxiliary determination unit that receives the auxiliary determination signal. In response to the status information, the local second positioning data is obtained through the second wireless positioning module. The second positioning data is sent to the first electronic device, and the second positioning data is used by the first electronic device to determine the target positioning data.

[0054] According to the seventh aspect, or any implementation method of the seventh aspect above, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; in response to the status information, the local second positioning data is obtained through the second wireless positioning module, including: when the second signal area indicated in the status information includes the second valid positioning signal area, the local second positioning data is obtained through the second wireless positioning module.

[0055] According to the seventh aspect, or any implementation of the seventh aspect, the auxiliary determination unit is at least one of a transmitting unit or a receiving unit.

[0056] According to the seventh aspect, or any implementation of the seventh aspect above, the second wireless positioning module includes O signal areas, and no auxiliary determination unit is set in other signal areas outside P signal areas, and O is a positive integer greater than P.

[0057] According to the seventh aspect, or any implementation of the seventh aspect above, the second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0058] According to the seventh aspect, or any implementation of the seventh aspect, the auxiliary determination signal is an optical signal.

[0059] In an eighth aspect, an electronic device is provided, which has the function of implementing the positioning method described in the first aspect and any possible implementation thereof; or, the electronic device has the function of implementing the positioning method described in the second aspect and any possible implementation thereof. The function can be implemented by hardware, or can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0060] In a ninth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program (also referred to as an instruction or code), and when the computer program is executed by an electronic device, the electronic device executes the method of the first aspect or any one of the implementations of the first aspect; or the electronic device executes the method of the second aspect or any one of the implementations of the second aspect.

[0061] In the tenth aspect, a computer program product is provided. When the computer program product runs on an electronic device, it enables the electronic device to execute the method of the first aspect or any one of the embodiments of the first aspect; or, it enables the electronic device to execute the method of the second aspect or any one of the embodiments of the second aspect.

[0062] In the eleventh aspect, a circuit system is provided, the circuit system includes a processing circuit, and the processing circuit is configured to execute the method of the first aspect or any one of the embodiments of the first aspect; or, the processing circuit is configured to execute the method of the second aspect or any one of the embodiments of the second aspect.

[0063] In the twelfth aspect, a chip system is provided, comprising at least one processor and at least one interface circuit, wherein the at least one interface circuit is used to perform transceiver functions and send instructions to the at least one processor, and when the at least one processor executes the instructions, the at least one processor executes the method of the first aspect or any one of the embodiments of the first aspect; or, the at least one processor executes the method of the second aspect or any one of the embodiments of the second aspect.

[0064] The technical effects of the aforementioned aspects can be referenced to each other and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A schematic diagram of the direction angle measurement results provided in an embodiment of the present application;

[0066] Figure 2 A schematic diagram of a positioning scenario based on an inertial navigation module provided in an embodiment of the present application;

[0067] Figure 3 A schematic diagram of a positioning scenario based on multiple wireless positioning modules provided in an embodiment of the present application;

[0068] Figure 4 A schematic diagram of a communication system for applying the positioning method provided in an embodiment of the present application;

[0069] Figure 5 Schematic diagram of the hardware structure of the first electronic device provided in the embodiment of the present application Figure 1 ;

[0070] Figure 6Schematic diagram of the hardware structure of the first electronic device provided in the embodiment of the present application Figure 2 ;

[0071] Figure 7 Schematic diagram of the hardware structure of the first electronic device provided in the embodiment of the present application Figure 3 ;

[0072] Figure 8 Schematic diagram of the positioning method provided in the embodiment of the present application Figure 1 ;

[0073] Fig. 9 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 1 ;

[0074] Fig.10 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 2 ;

[0075] Fig.11 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 3 ;

[0076] Fig.12 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 4 ;

[0077] Fig.13 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 5 ;

[0078] Fig.14 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 6 ;

[0079] Fig.15 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 7 ;

[0080] Fig.16 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 8 ;

[0081] Fig.17 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 9 ;

[0082] Fig.18 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 10 ;

[0083] Fig.19 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 10 one;

[0084] Fig. 20 Schematic diagram of the positioning scenario provided in the embodiment of the present application Figure 10 two;

[0085] Fig.21 Schematic diagram of the positioning method provided in the embodiment of the present application Figure 2 ;

[0086] Fig. 22 A schematic diagram of the structure of a first electronic device provided in an embodiment of the present application;

[0087] Fig.23 A schematic diagram of the structure of a second electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] The technical solutions in the embodiments of the present application are described below in conjunction with the accompanying drawings in the embodiments of the present application. Wherein, in the description of the embodiments of the present application, the terms used in the following embodiments are only for the purpose of describing specific embodiments, and are not intended to be used as limitations on the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to include expressions such as "one or more", unless there is a clear indication to the contrary in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one or more (including two).

[0089] References to "one embodiment" or "some embodiments" etc. described in this specification mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. The term "connection" includes direct connection and indirect connection, unless otherwise specified. "First" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0090] In the embodiments of the present application, the words "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0091] In some embodiments, wireless positioning technology is widely used in various scenarios, such as remote control positioning scenarios, device ranging scenarios, etc. Currently commonly used wireless positioning technologies include positioning technologies based on UWB / millimeter waves, electromagnetic fields, optical tracking, etc. However, these positioning technologies are affected by the environment, design, etc., and generally have the problem of positioning signal blind spots.

[0092] For example, according to the directivity of the antenna, the antenna configured in the electronic device may include a directional antenna or an omnidirectional antenna. Among them, directional antennas are widely used in the positioning process of electronic devices due to their signal propagation distance and anti-interference performance. However, due to the consistency of antenna performance and environment, in the angular measurement commonly used in the wireless positioning process, the angular data obtained by the electronic device in certain directions cannot effectively correspond to the actual value one by one. As a result, when the user starts measuring from these positions, there will be a problem of not being able to locate the effective position.

[0093] For example, Figure 1 As shown in the figure, the phase difference measurement value between the real angle of -70° and -90° easily overlaps with the phase difference measurement value between the real angle of -60° and -70°. Then, when the electronic device starts measuring with these real angles as the initial position, the obtained measurement value cannot correspond to the actual real angle one by one, resulting in positioning abnormality.

[0094] Optionally, the area where the electronic device can obtain accurate angular direction data is described as a valid positioning signal area, and the area where the electronic device cannot obtain accurate angular direction data is described as an abnormal positioning signal area.

[0095] For example, Figure 2 As shown, the electronic device is equipped with a wireless positioning module (such as wireless positioning module 1). Due to the performance of its wireless positioning module 1, the electronic device has one or more effective positioning signal areas and one or more abnormal positioning signal areas. During the positioning process, only when the positioned device is located in the effective signal positioning signal area of ​​the positioning device, the positioning device can accurately locate the position of the positioned device through the wireless positioning module.

[0096] In order to solve the above-mentioned problem of being unable to obtain effective positioning due to abnormal positioning signal areas, an inertial measurement unit (IMU) is usually configured in the electronic device, and the IMU is used to assist the electronic device in positioning and tracking. Alternatively, more wireless positioning modules are configured in the electronic device or multiple antenna groups are switched through switches to complete the coverage of the effective positioning signal area.

[0097] For example, Figure 2As shown, the wireless positioning module 2 of the positioned device is configured with a wireless positioning receiving module and an inertial navigation module (i.e., IMU). Among them, the inertial navigation module includes an accelerometer and a gyroscope. The accelerometer is used to detect the acceleration of the positioned device itself on the x-axis, y-axis, and z-axis, and can determine the short-term movement state of the positioned device by converting the collected acceleration into the displacement of the positioned device. The gyroscope is used to detect the angular velocity of the positioned device on the x-axis, y-axis, and z-axis, and can also determine the displacement state of the positioned device by converting the collected angular velocity into the displacement of the positioned device. The inertial navigation module in the positioned device tracks the position movement information of the device through the accelerometer and the gyroscope to achieve position tracking in the abnormal positioning signal area.

[0098] For example, Figure 2 As shown, the positioned device starts to enter the valid positioning signal area (such as starting from point A), and the positioning device locates the position change ΔS1 of the positioned device in real time. At the same time, the IMU in the positioned device can calculate its own movement trajectory ΔS2 during this period. The positioning device determines whether the wireless positioning signal is valid at this time by judging whether the error between ΔS1 and ΔS2 is within the preset range. After that, the positioning device can continue to track the position and posture of the positioned device through inertial navigation when the positioned device moves to the abnormal positioning signal area through continuous short-term tracking and judgment.

[0099] However, in the above IMU-based positioning process, the initial position of the positioned device needs to be in the effective positioning signal area to ensure the accuracy of positioning. If the initial position of the positioned device is in the abnormal positioning signal area, then before the positioned device moves into the effective positioning signal area, the positioning data obtained will be abnormal and accurate positioning cannot be achieved.

[0100] Moreover, in the effective positioning signal area, due to the interference of wireless positioning signals, in the actual positioning process, the positioning device also needs to accumulate a long period of filtering and analysis to determine the initial position of the positioned device. There are problems such as long initial positioning time and low success rate.

[0101] In addition, after the positioning device determines the initial position of the positioned device in the effective positioning signal area, the positioned device moves to the abnormal positioning signal area. If the positioned device stays in the abnormal positioning signal area for a short time, the positioning device can use the IMU to accurately position the positioned device. However, if the positioned device stays in the abnormal positioning signal area for a long time, as time accumulates, the position tracking based on the IMU will have the problem of excessive deviation in the accumulated positioning data and unable to obtain accurate and effective positioning data, resulting in positioning abnormalities.

[0102] For example, Figure 3As shown, the positioning device is configured with multiple wireless positioning modules to achieve the expansion of the coverage of the effective positioning signal area, thereby ensuring that the movement of the positioned device is still within the effective positioning signal area, meeting the demand for accurate positioning.

[0103] However, configuring multiple wireless positioning modules in electronic devices not only increases costs, but also significantly increases the overall stacking size of the electronic device. In addition, in a closed indoor environment, an overly large effective positioning signal area can easily cause the positioning device to determine the parsed positions of multiple located devices, affecting the final positioning effect.

[0104] Therefore, the present application provides a positioning method that can quickly determine the initial position of the located second electronic device based on the positioning signal of the auxiliary determination unit pre-configured in the first electronic device and / or the second electronic device, thereby effectively improving the positioning success rate and significantly shortening the initial abnormal position positioning time.

[0105] Figure 4 A schematic diagram of a communication system for use with the positioning method provided in an embodiment of the present application. Figure 4 As shown, the communication system includes a first electronic device 100 and a second electronic device 200 .

[0106] Optionally, the first electronic device 100 or the second electronic device 200 may be, for example, a mobile phone, a tablet computer, a laptop computer, a smart screen, a remote control handle, a wearable device, a vehicle terminal, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), an artificial intelligence (AI) device or other terminal device, and the operating system installed in the first electronic device 100 or the second electronic device 200 includes but is not limited to Or other operating systems. This application does not limit the specific types of the first electronic device 100 and the second electronic device 200, or the installed operating systems.

[0107] In some embodiments, a wireless communication connection is established between the first electronic device 100 and the second electronic device 200. The wireless communication technology for establishing the wireless communication connection includes but is not limited to at least one of the following: Bluetooth (BT) (e.g., traditional Bluetooth or Bluetooth low energy (BLE)), wireless local area networks (WLAN) (e.g., wireless fidelity (Wi-Fi) networks), near field communication (NFC), Zigbee, frequency modulation (FM), infrared (IR), etc.

[0108] Optionally, the first electronic device 100 and the second electronic device 200 may also establish a communication connection through a third-party device in the local area network, such as a router, a gateway, a smart device controller, a server, etc.

[0109] In other embodiments, a wired communication connection may also be established between the first electronic device 100 and the second electronic device 200. For example, the first electronic device 100 and the second electronic device 200 are connected via a universal serial bus (USB) interface.

[0110] Optionally, the first electronic device 100 is, for example, a positioning device, and the second electronic device 200 is, for example, a positioned device. Optionally, in a remote control scenario, the first electronic device 100 is, for example, a controlled display terminal (such as a smart screen), and the second electronic device 200 is, for example, a remote control terminal (such as a remote control handle). The first electronic device 100 determines whether it needs to respond to an indication signal sent by the second electronic device 200 by locating the position of the second electronic device 200.

[0111] Optionally, the first electronic device 100 and the second electronic device 200 in the embodiment of the present application may be implemented by different devices, and the different devices may have the same, similar or somewhat different hardware structures, such as Figure 5 The hardware structure shown.

[0112] For example, the first electronic device 100 has Figure 5 Take the hardware structure shown in the figure as an example. Figure 5 The hardware structure shown is described.

[0113] like Figure 5As shown, the first electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, a wireless positioning module 161, an auxiliary determination unit 162, an audio module 170, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc.

[0114] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the first electronic device 100. In other embodiments of the present application, the first electronic device 100 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0115] The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0116] The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of instruction fetching and execution.

[0117] The processor 110 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may store instructions or data that the processor 110 has just used or cyclically used. If the processor 110 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0118] In some embodiments, the processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0119] The MIPI interface can be used to connect the processor 110 with peripheral devices such as the display screen 194 and the camera 193. The MIPI interface includes a camera serial interface (CSI), a display serial interface (DSI), etc. In some embodiments, the processor 110 and the camera 193 communicate via the CSI interface to implement the shooting function of the first electronic device 100. The processor 110 and the display screen 194 communicate via the DSI interface to implement the display function of the first electronic device 100.

[0120] The USB interface 130 is an interface that complies with the USB standard specification, and specifically can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the first electronic device 100, and can also be used to transfer data between the first electronic device 100 and a peripheral device. It can also be used to connect headphones to play audio through the headphones. The interface can also be used to connect other electronic devices, such as AR devices, etc.

[0121] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present application is only a schematic illustration and does not constitute a structural limitation on the first electronic device 100. In other embodiments of the present application, the first electronic device 100 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0122] The charging management module 140 is used to receive charging input from a charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from a wired charger through the USB interface 130. In some wireless charging embodiments, the charging management module 140 may receive wireless charging input through a wireless charging coil of the first electronic device 100. While the charging management module 140 is charging the battery 142, it may also power the electronic device through the power management module 141.

[0123] The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and supplies power to the processor 110, the internal memory 121, the display screen 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0124] The wireless communication function of the first electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0125] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in the first electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve the utilization of the antennas. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0126] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied to the first electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0127] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After the low-frequency baseband signal is processed by the baseband processor, it is passed to the application processor. The application processor outputs a sound signal through an audio device, or displays an image or video through a display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0128] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., applied on the first electronic device 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, modulates the frequency of the electromagnetic wave signal and filters it, and sends the processed signal to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, modulate the frequency of it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0129] In some embodiments, the antenna 1 of the first electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the first electronic device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0130] The wireless positioning module 161 is used to realize the positioning function of the first electronic device 100. For example, the second electronic device 200 is positioned by positioning technologies such as UWB / millimeter wave, electromagnetic field, optical tracking, etc. For example, the wireless positioning module 161 is any one of the following: an electromagnetic positioning module, a UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0131] The signal coverage range of the wireless positioning module 161 is 360 degrees, one part of which is the effective positioning signal area, and the other part is the abnormal positioning signal area.

[0132] The auxiliary determination unit 162 is an optical transceiver unit, and the light transceiver angle of the auxiliary determination unit 162 is constrained by the structure to match the coverage angle of the effective positioning signal area / abnormal positioning signal area of ​​the wireless positioning module 161. Thus, a clear and distinct area determination is achieved within the determined effective positioning signal area / abnormal positioning signal area.

[0133] Optionally, the auxiliary determination unit 162 is a module such as an invisible light emitting diode, an invisible light receiving diode, a camera, etc. for emitting or receiving optical signals.

[0134] Optionally, the light receiving and transmitting angle of the auxiliary determination unit 162 deployed in the signal area (such as the effective positioning signal area or the abnormal positioning signal area) is less than or equal to the signal coverage angle of the signal area. Thus, after the auxiliary determination unit 162 receives or sends an optical signal, it can determine that the opposite device is located within the corresponding signal area. Optionally, in the case where the light receiving and transmitting angle of the auxiliary determination unit 162 is less than the signal coverage angle of the corresponding signal area, the angle less than is greater than or equal to a preset angle threshold. For example, the light receiving and transmitting angle of the auxiliary determination unit 162 is less than the signal coverage angle of the corresponding signal area by no more than 5 degrees. In this way, the effective signal positioning area is avoided from being wasted, and the accuracy of positioning is improved.

[0135] Optionally, one or more auxiliary determination units 162 are arranged in at least one area of ​​different effective positioning signal areas or abnormal positioning signal areas; different auxiliary determination units 162 are arranged in different effective positioning signal areas or abnormal positioning signal areas. Optionally, different auxiliary determination units 162 are used to indicate that the optical signal characteristics of the auxiliary determination units 162 are different.

[0136] For example, Figure 6 As shown, the signal coverage range of the wireless positioning module includes two effective positioning signal areas, such as the effective positioning signal area B1 and the effective positioning signal area B2; and two abnormal positioning signal areas, such as the abnormal positioning signal area A1 and the abnormal positioning signal area A2. Among them, an auxiliary determination unit is deployed in the effective positioning signal area B2. The auxiliary determination unit is a light receiving unit, which can be used to receive optical signals emitted to the effective positioning signal area B2, and will not receive optical signals emitted to other effective positioning signal areas and abnormal positioning signal areas. In this way, through the light receiving angle of the auxiliary determination unit, a clear and clear judgment of the coverage range of the effective positioning signal area B2 is achieved. Subsequently, the first electronic device 100 first determines whether the second electronic device 200 is located in the effective positioning signal area B2 through the optical signal reception of the auxiliary determination unit, and then performs further positioning, thereby improving the judgment speed of the initial position of the second electronic device 200.

[0137] In some examples, the second electronic device 200 is also configured with a wireless positioning module and an auxiliary determination unit, and the location of the second electronic device 200 is determined by cooperating with the auxiliary determination unit in the first electronic device 100.

[0138] Optionally, the auxiliary determination units arranged in different signal areas can emit optical signals with characteristics adjusted when light emission is possible. In this way, after receiving the emitted light, the auxiliary determination unit configured in the electronic device can determine the signal area where the opposite device emits the optical signal according to the characteristics of the received optical signal, thereby determining the positional relationship between itself and the opposite device. For example, determine in which signal area of ​​the opposite device the electronic device is located.

[0139] Optionally, the auxiliary determination unit may adjust the characteristics of the emitted optical signal by means of frequency adjustment, amplitude modulation, etc.

[0140] For example, Figure 7 As shown, the first electronic device 100 and the second electronic device 200 are respectively configured with a processor, a wireless positioning module, and an auxiliary determination unit. The auxiliary determination unit includes one or more optical units, and the optical unit is used to transmit or receive at least one of an optical signal.

[0141] For example, the auxiliary determination unit in the first electronic device 100 is a light receiving unit, and the auxiliary determination unit in the second electronic device 200 is a light emitting unit. In this way, the first electronic device 100 cooperates with the second electronic device 200, and after the first electronic device 100 receives the optical signal emitted by the second electronic device 200 through the auxiliary determination unit, it can determine through the processor which signal area of ​​the auxiliary determination unit of the second electronic device 200 emitted the optical signal, and which signal area of ​​the auxiliary determination unit of the first electronic device 100 received the optical signal.

[0142] Among them, when the optical signal emitted by the auxiliary determination unit located in the effective positioning signal area is received by the opposite device, or when the auxiliary determination unit located in the effective positioning signal area receives the optical signal (that is, when there is effective positioning data at either end of the first electronic device 100 or the second electronic device 200), positioning can be performed through the first electronic device 100 or the second electronic device 200 to which the effective positioning signal area belongs.

[0143] For example, the processor of the first electronic device 100 determines that the auxiliary determination unit located in the effective positioning signal area receives an optical signal, and can determine that the second electronic device 200 is located in the effective positioning signal area of ​​the first electronic device. Then, the first electronic device 100 can determine the location of the second electronic device 200 through the wireless positioning module.

[0144] In some embodiments, the wireless positioning module 161 and the auxiliary determination unit 162 may be independent modules; or, the wireless positioning module 161 includes the auxiliary determination unit 162 .

[0145] The first electronic device 100 implements a display function through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

[0146] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be manufactured using a liquid crystal display (LCD), such as an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Mini-led, Micro-led, Micro-oled, quantum dot light emitting diodes (QLED), etc. In some embodiments, the first electronic device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

[0147] The camera 193 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then passes the electrical signal to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the first electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0148] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the first electronic device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function, such as storing music, video and other files in the external memory card.

[0149] The internal memory 121 can be used to store computer executable program codes, which include instructions. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the first electronic device 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 110 executes various functional applications and data processing of the first electronic device 100 by running instructions stored in the internal memory 121, and / or instructions stored in a memory provided in the processor.

[0150] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signal. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be arranged in the processor 110, or some functional modules of the audio module 170 can be arranged in the processor 110. The first electronic device 100 can use the audio module 170, such as music playing, recording, etc. The audio module 170 can include a speaker, a receiver, a microphone, a headphone interface, and an application processor to implement audio functions.

[0151] The sensor module 180 may include a pressure sensor, a gyro sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a distance sensor, a proximity light sensor, a fingerprint sensor, a temperature sensor, a touch sensor, an ambient light sensor, a bone conduction sensor, and the like.

[0152] The key 190 includes a power key, a volume key, etc. The key 190 may be a mechanical key or a touch key. The first electronic device 100 may receive key input and generate key signal input related to user settings and function control of the first electronic device 100.

[0153] Motor 191 can generate vibration prompts. Motor 191 can be used for incoming call vibration prompts, and can also be used for touch vibration feedback. Motor 191 can also correspond to different vibration feedback effects for touch operations on different areas of display screen 194. Different application scenarios (for example: time reminder, receiving information, alarm clock, game, etc.) can also correspond to different vibration feedback effects.

[0154] Indicator 192 may be an indicator light, which may be used to indicate charging status, power changes, messages, missed calls, notifications, etc.

[0155] The SIM card interface 195 is used to connect a SIM card. The SIM card can be connected to or disconnected from the first electronic device 100 by inserting or removing the SIM card interface 195. The first electronic device 100 can support 1 or N SIM card interfaces, where N is a positive integer greater than 1.

[0156] In the following text, the first electronic device is used as a positioning device, and the auxiliary determination unit arranged in the wireless receiving module is used to receive the optical signal; the second electronic device is used as a positioned device, and the auxiliary determination unit arranged in the wireless receiving module is used to transmit the optical signal; the first electronic device and the second electronic device both include Figure 6 Taking the two valid positioning signal areas and the two abnormal positioning signal areas shown as examples, the positioning method provided in the embodiment of the present application is described in detail.

[0157] It should be understood that the auxiliary determination unit arranged in the wireless receiving module of the first electronic device can also be used to transmit optical signals, and the auxiliary determination unit arranged in the wireless receiving module of the second electronic device is used to receive optical signals. In this case, the positioning method between the first electronic device and the second electronic device can refer to the positioning method described in the following embodiments, and the embodiments of this application will not be repeated here.

[0158] In addition, the first electronic device and the second electronic device may have more or fewer valid positioning signal areas and abnormal positioning signal areas depending on the wireless positioning modules configured therein, and the embodiments of the present application do not limit this.

[0159] Figure 8 The flowchart of a positioning method provided in the embodiment of the present application is shown in FIG. Figure 8 The specific order described below is a limitation, and it should be understood that in other embodiments, the order of some steps in the method can be interchanged according to actual needs, or some steps can be omitted or deleted. The method includes the following steps:

[0160] S801. The wireless positioning module sends an auxiliary determination signal through an auxiliary determination unit.

[0161] In some embodiments, the auxiliary determination unit disposed in the wireless receiving module of the second electronic device is used to transmit the auxiliary determination signal. In response to the user operation, the second electronic device transmits the auxiliary determination signal through the auxiliary determination unit.

[0162] Optionally, the auxiliary determination signal is an optical signal. The auxiliary determination unit can adjust the characteristics of the transmitted optical signal by means of frequency debugging, amplitude modulation, etc. Alternatively, the auxiliary determination signal carries different information for distinguishing the signal area where the auxiliary determination unit that sends the auxiliary determination signal is located. For example, different signal areas of the wireless positioning module are preset with different identifiers, and the auxiliary determination signal sent by the auxiliary determination unit carries the identifier of the signal area where it is located.

[0163] The following uses the auxiliary determination signal being an optical signal as an example to introduce the positioning method provided in the embodiment of the present application in detail.

[0164] Optionally, the optical signal emitted by the second electronic device is an adjusted optical signal, and the first electronic device has been configured with the characteristics of the optical signal emitted by the second electronic device. In this way, after receiving the optical signal, the first electronic device can determine whether the received optical signal is an optical signal emitted by the second electronic device according to the preset characteristics of the optical signal, and determine in which signal area of ​​the second electronic device the optical signal is emitted by the auxiliary determination unit.

[0165] For example, Fig. 9 As shown, the first electronic device is equipped with a wireless positioning module 1, and an auxiliary determination unit is arranged in the effective positioning signal area Bn of the wireless positioning module 1. The auxiliary determination unit is a light receiving unit, and the light receiving angle is less than or equal to the signal coverage angle of the effective positioning signal area Bn. Therefore, by constraining the structure of the auxiliary determination unit, the optical signals received by the auxiliary determination unit are all optical signals emitted to the effective positioning signal area Bn. That is, the device that emits the optical signal is located in the effective positioning signal area Bn of the first electronic device, and the first electronic device can obtain effective positioning data.

[0166] The second electronic device is equipped with a wireless positioning module 2, and an auxiliary determination unit is arranged in the effective positioning signal area C1 of the wireless positioning module 2. The auxiliary determination unit is a light emitting unit, and the light emission angle is less than or equal to the signal coverage angle of the effective positioning signal area C1. Therefore, by constraining the structure of the auxiliary determination unit, the optical signals emitted by the auxiliary determination unit are all optical signals within the coverage range of the effective positioning signal area C1. That is, the device that receives the optical signal is located in the effective positioning signal area C1 of the second electronic device, and the second electronic device can obtain effective positioning data.

[0167] For example, the first electronic device is a smart screen, and the second electronic device is a remote control handle. Fig. 9 As shown, the smart screen is configured with a wireless positioning module 1, and the forward direction of the smart screen corresponds to the effective positioning signal area Bn. The user is within the signal coverage of the effective positioning signal area Bn, and can control the smart screen through the remote control handle, and the smart screen can accurately locate the remote control handle. However, if the user is within the signal coverage of the abnormal positioning signal area A1 or the abnormal signal positioning signal area An, the smart screen cannot accurately locate the remote control handle, and the user cannot control the smart screen through the remote control handle. The remote control handle is configured with a wireless positioning module 2, and the forward direction of the remote control handle corresponds to the effective positioning signal area C1, and a light emitting unit is arranged in the effective positioning signal area C1. In response to the user's operation of the button, the remote control handle sends an optical signal through the light emitting unit.

[0168] S802, the light receiving unit obtains the auxiliary determination signal and determines the corresponding state information. If yes, execute step S803; if not, execute step S801.

[0169] Among them, light receiving units with different signal characteristics are arranged in the effective positioning signal area and the abnormal positioning signal area of ​​the wireless positioning module of the first electronic device. Similarly, light emitting units with different signal characteristics are arranged in the effective positioning signal area and the abnormal positioning signal area of ​​the wireless positioning module of the second electronic device. In this way, after receiving the optical signal, the first electronic device can determine the corresponding status information according to the characteristics of the received optical signal and the characteristics of the light receiving unit receiving the optical signal.

[0170] Table 1

[0171]

[0172] For example, as shown in Table 1 above, the signal area of ​​the wireless positioning module 1 in the first electronic device includes an effective positioning signal area and an abnormal positioning signal area, wherein a light receiving unit 3 is arranged in the effective signal positioning area, and a light receiving unit 4 is arranged in the abnormal positioning signal area. The signal area of ​​the wireless positioning module 2 in the second electronic device includes an effective positioning signal area and an abnormal positioning signal area, wherein a light transmitting unit 1 is arranged in the effective signal positioning area, and a light transmitting unit 2 is arranged in the abnormal positioning signal area. Then, after the wireless positioning module 1 in the first electronic device receives the auxiliary determination signal sent by the light transmitting unit in different signal areas of the second electronic device through the light receiving unit in different signal areas, it can determine the state information of the signal area where the light transmitting unit that sends the auxiliary determination signal is located, and determine the state information of the signal area where the light receiving unit that receives the auxiliary determination signal is located.

[0173] For example, the first electronic device receives the auxiliary determination signal sent by the second electronic device through the light emitting unit 1 in the effective positioning signal area through the light receiving unit 3 in the effective positioning signal area, and the first electronic device can determine the status information of the light emitting unit 1 and the light receiving unit 3.

[0174] In some examples, the state information is used to indicate a valid positioning signal area or an abnormal positioning signal area. The order of determining the state information is not limited in the embodiment of the present application.

[0175] For example, the first electronic device first determines that the status information of the light emitting unit 1 indicates that the signal area where the light emitting unit 1 that sends the auxiliary judgment signal is located is a valid positioning signal area, and then determines that the status information of the light receiving unit 3 indicates that the signal area where the light receiving unit 3 that receives the auxiliary judgment signal is located is a valid positioning signal area.

[0176] Alternatively, the first electronic device first determines that the status information of the light receiving unit 3 indicates that the signal area where the light receiving unit 3 receiving the auxiliary judgment signal is located is a valid positioning signal area, and then determines that the status information of the light emitting unit 1 indicates that the signal area where the light emitting unit 1 sending the auxiliary judgment signal is located is a valid positioning signal area.

[0177] Alternatively, the first electronic device first generates a characteristic combination for the light emitting unit 1 and the light receiving unit 3, and then the first electronic device determines the state information of the characteristic combination, such as a characteristic combination of a valid positioning signal area and a valid positioning signal area.

[0178] It should be understood that the first electronic device and the second electronic device may choose to place at least one of the light emitting unit or the light receiving unit in a partial area of ​​the effective positioning signal area and the abnormal positioning signal area. Therefore, the acquired status information is part or all of the status information in the example in Table 1 above. In addition, if the first electronic device and the second electronic device have more or fewer effective positioning signal areas and abnormal positioning signal areas, more status information may be generated, which will not be exemplified one by one here.

[0179] For example, Fig. 9 In the scenario shown, a light emitting unit 1 is arranged in the effective positioning signal area C1 of the second electronic device, which is used to emit an optical signal of a frequency f1. A light receiving unit 3 is arranged in the effective positioning signal area Bn of the first electronic device. When the light receiving unit 3 receives the optical signal of a frequency f1 emitted by the light emitting unit 1, the first electronic device can determine that the status information (light emitting unit 1, light receiving unit 3) is received. Then, after obtaining the status information, the first electronic device can determine whether there is valid positioning data (i.e., execute the following step S803). When the first electronic device does not obtain the status information, it can return to step S801.

[0180] In some embodiments, after acquiring the status information, the first electronic device may synchronize the status information to the second electronic device to facilitate the subsequent acquisition of effective positioning data. In addition, the first electronic device may send the status information to inform the second electronic device of the optical signal sent by the second electronic device that it has received.

[0181] For example, Fig.10 As shown, the second electronic device responds to the user operation and sends an optical signal through the auxiliary determination unit arranged in the effective positioning signal area C1. Since the second electronic device is located in the abnormal signal area An of the first electronic device, and the auxiliary determination unit is not arranged in the abnormal signal area An of the first electronic device, the optical signal sent by the second electronic device cannot be received. Therefore, the first electronic device cannot obtain the status information within the preset time after the second electronic device sends the optical signal, and cannot feedback the status information to the second electronic device. Therefore, if the second electronic device does not receive the status information fed back by the first electronic device within the preset time after transmitting the optical signal, it can return to execute the above step S801. For example, the second electronic device prompts the user to move the position and re-operate to trigger the control of the first electronic device. Alternatively, if the first electronic device has not been controlled for a long time, the user can re-operate the second electronic device to control the first electronic device.

[0182] As another example, Fig.11 As shown, the second electronic device responds to the user operation and sends an optical signal through the auxiliary determination unit arranged in the effective positioning signal area C1. The sending direction of the optical signal is neither located in the effective positioning signal area of ​​the first electronic device nor in the abnormal positioning signal area of ​​the first electronic device. Then, in the current scenario, the user may control other electronic devices through the second electronic device, and the first electronic device will not trigger positioning because it cannot obtain status information, that is, it will not respond to the control of the second electronic device.

[0183] S803: If there is valid positioning data, execute step S804; if not, execute step S801.

[0184] In some embodiments, when the peer device is located within its own valid positioning signal area, the electronic device can accurately locate the position of the peer device, that is, it can obtain valid positioning data. When the peer device is located within its own abnormal positioning signal area, the electronic device cannot accurately locate the position of the peer device, that is, it cannot obtain valid positioning data. Therefore, after synchronizing the status information, the first electronic device and the second electronic device can determine whether the peer device is located within their own valid positioning signal area, thereby determining whether they can obtain valid positioning data. After any electronic device of the first electronic device and the second electronic device determines that valid positioning data can be obtained, it can output the valid positioning data, that is, execute the following step S804; when both the first electronic device and the second electronic device cannot obtain valid positioning data, it means that the positioning process is abnormal, and the user needs to re-operate the second electronic device to re-trigger control of the first electronic device, that is, return to execute the above step S801.

[0185] Exemplarily, corresponding to the state information shown in Table 1 above, as shown in Table 2 below, different state information may correspond to different valid positioning data existence results.

[0186] Table 2

[0187]

[0188]

[0189] For example, the light emitting unit 1 and the light receiving unit 3 are auxiliary determination units placed in the effective positioning signal area of ​​the corresponding device. Therefore, when the state information (light emitting unit 1, light receiving unit 3) is obtained, the first electronic device and the second electronic device are mutually located in the effective positioning signal area of ​​the opposite device. Then, the positioning data of the two electronic devices locating the opposite device are both valid positioning data.

[0190] For another example, the light emitting unit 1 is an auxiliary determination unit placed in the effective positioning signal area of ​​the second electronic device, and the light receiving unit 4 is an auxiliary determination unit placed in the abnormal positioning signal area of ​​the first electronic device. Therefore, when the status information (light emitting unit 1, light receiving unit 4) is obtained, the first electronic device is located in the effective positioning signal area of ​​the second electronic device, and the second electronic device is located in the abnormal positioning signal area of ​​the first electronic device. Then, the positioning data of the second electronic device locating the first electronic device is valid positioning data.

[0191] For another example, the light emitting unit 2 is an auxiliary determination unit placed in the abnormal positioning signal area of ​​the second electronic device, and the light receiving unit 3 is an auxiliary determination unit placed in the effective positioning signal area of ​​the first electronic device. Therefore, when the status information (light emitting unit 2, light receiving unit 3) is obtained, the first electronic device is located in the abnormal positioning signal area of ​​the second electronic device, and the second electronic device is located in the effective positioning signal area of ​​the first electronic device. Then, the positioning data of the first electronic device locating the second electronic device is valid positioning data.

[0192] For another example, the light emitting unit 2 and the light receiving unit 4 are auxiliary determination units deployed in the abnormal positioning signal area of ​​the corresponding device. Therefore, when the state information (light emitting unit 2, light receiving unit 4) is obtained, the first electronic device and the second electronic device are mutually located in the abnormal positioning signal area of ​​the opposite device. Then, the positioning data of the two electronic devices locating the opposite device are both abnormal positioning data.

[0193] S804: The positioning device obtains valid positioning data.

[0194] In some embodiments, after the electronic device determines that it can obtain valid positioning data based on the status information, it can locate the opposite device through the wireless positioning module to obtain valid positioning data. Alternatively, the electronic device has already obtained positioning data in the process of obtaining the status information. Afterwards, if the electronic device determines that it can obtain valid positioning data based on the status information, then the valid positioning data that has been determined is retained. If the electronic device determines that it cannot obtain valid positioning data based on the status information, then the positioning data that has been determined is discarded.

[0195] Optionally, the wireless positioning module obtains positioning data based on electromagnetic waves (such as wireless frequency bands such as Bluetooth / Wi-Fi / UWB / millimeter waves), electromagnetic fields (distribution of electric magnetic field sources and electromagnetic sensors), etc. It should be noted that the method for obtaining wireless positioning data can refer to the prior art, and the embodiments of the present application do not limit this.

[0196] In some embodiments, the second electronic device, as the positioned device, sends the valid positioning data to the positioning device, namely, the first electronic device, after acquiring the valid positioning data.

[0197] In some embodiments, after acquiring a set of valid positioning data determined by the first electronic device or the second electronic device, the first electronic device may determine the location of the second electronic device based on the valid positioning data.

[0198] Alternatively, the first electronic device determines valid positioning data and receives valid positioning data sent by the second electronic device. Then, the first electronic device can select any set of valid positioning data to determine the location of the second electronic device. Or, according to a preset rule, determine the retained valid positioning data. For example, Fig. 9 In the scenario shown, if the first electronic device is a smart screen, and the back of the smart screen is the effective positioning signal area B1, if the second electronic device is located in the effective positioning signal area B1, the effective positioning data obtained by the smart screen may not be used because the user is not controlling the smart screen. Therefore, a rule can be preset in the smart screen to determine the effective positioning data corresponding to the effective positioning signal area B1 as the positioning data that needs to be discarded.

[0199] In some embodiments, after acquiring valid positioning data, the first electronic device may display a corresponding logo to facilitate the user to determine that the control process is valid.

[0200] In this way, by deploying low-cost auxiliary determination units in the signal area (such as the effective positioning signal area or the abnormal positioning signal area), fast and accurate positioning can be achieved during high-precision positioning tracking. This can solve the problem of abnormal positioning in the abnormal positioning signal area at a low cost, quickly determine the initial position of the located device, and improve the user experience.

[0201] In addition, when the starting position of the device to be located is an abnormal position, the auxiliary determination unit light constraint can be used to determine the effective positioning signal area, quickly determine the electronic device used to generate effective positioning data, and significantly shorten the positioning time of the starting abnormal position.

[0202] The above embodiment takes the example of deploying an auxiliary determination unit in the effective positioning signal area of ​​the first electronic device and the second electronic device respectively to introduce the positioning process. Figure 8 The positioning process principle shown in the figure is combined with different positioning scenarios to provide a detailed introduction to different implementations of the positioning process.

[0203] In some embodiments, an auxiliary determination unit for sending optical signals is placed in the effective positioning signal area of ​​the wireless positioning module 2 in the second electronic device, and auxiliary determination units for receiving optical signals are placed in the effective positioning signal area and abnormal signal positioning signal area of ​​the wireless positioning module 1 in the first electronic device, respectively. In this way, the first electronic device can determine whether the second electronic device is located in its own effective positioning signal area or abnormal positioning signal area through the auxiliary determination unit that receives the optical signal, thereby achieving more accurate positioning.

[0204] For example, Fig.12As shown, the second electronic device responds to the user operation, and transmits an optical signal after adjusting the optical signal characteristics through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1, such as the optical signal frequency f1. After that, after the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn of the first electronic device receives the optical signal, the first electronic device can generate corresponding status information. And, the first electronic device sends the status information to the second electronic device, that is, the synchronous positioning state. The first electronic device determines that the second electronic device is located in the effective positioning signal area of ​​the first electronic device based on the status information, and can generate valid positioning data. And, the second electronic device determines that the first electronic device is located in the effective positioning signal area of ​​the second electronic device based on the status information, and can generate valid positioning data and send the valid positioning data to the first electronic device. After that, the first electronic device can determine the position of the second electronic device based on the two sets of valid positioning data obtained. For example, the first electronic device discards the valid positioning data sent by the second electronic device, and completes the positioning of the second electronic device through the valid positioning data determined by itself.

[0205] As another example, Fig.13 As shown, the second electronic device responds to the user operation, and transmits an optical signal after adjusting the optical signal characteristics through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1. Afterwards, the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn in the first electronic device, and the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An, all receive the optical signal. Then, the first electronic device can generate two corresponding sets of status information and send the two sets of status information to the second electronic device. Based on the two sets of status information, the first electronic device determines that the second electronic device is located at the junction of its effective positioning signal area and the abnormal positioning signal area, and there is a risk of abnormal positioning. Based on the two sets of status information, the second electronic device determines that the first electronic device is located in its effective signal positioning signal area, so it can generate effective positioning data and send the effective positioning data to the first electronic device. Afterwards, the first electronic device can determine the positioning of the second electronic device based on the effective positioning data sent by the second electronic device.

[0206] As another example, Fig.14As shown, the second electronic device, in response to the user operation, transmits an optical signal after adjusting the optical signal characteristics through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1. Afterwards, the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An in the first electronic device receives the optical signal. Then, the first electronic device can generate corresponding status information and send the status information to the second electronic device. Based on the status information, the first electronic device determines that the second electronic device is located in its abnormal positioning signal area and cannot generate valid positioning data. Based on the received status information, the second electronic device determines that the first electronic device is located in its effective signal positioning signal area, so it can generate effective positioning data and send the effective positioning data to the first electronic device. Afterwards, the first electronic device can determine the positioning of the second electronic device based on the effective positioning data sent by the second electronic device.

[0207] Optionally, if the first electronic device cannot generate valid positioning data and fails to receive valid positioning data sent by the second electronic device within a preset time, it can be determined that the positioning has failed. Then, the user needs to re-operate the second electronic device to re-trigger the control of the first electronic device.

[0208] As another example, Fig.15 As shown, the second electronic device responds to the user operation, and transmits an optical signal with adjusted optical signal characteristics through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1. Afterwards, the first electronic device cannot receive the optical signal, and cannot feedback status information to the second electronic device within the preset time. Then, the second electronic device can determine that the positioning has failed, and the user needs to re-operate the second electronic device to re-trigger the control of the first electronic device.

[0209] In some embodiments, auxiliary determination units for sending optical signals are respectively arranged in the effective positioning signal area and the abnormal signal positioning signal area of ​​the wireless positioning module 2 in the second electronic device, and auxiliary determination units for receiving optical signals are respectively arranged in the effective positioning signal area and the abnormal signal positioning signal area of ​​the wireless positioning module 1 in the first electronic device. In addition, the optical signal characteristics of the optical signal sent by the auxiliary determination units in the effective positioning signal area and the abnormal signal positioning signal area of ​​the second electronic device are different. For example, the frequency of the optical signal sent by the auxiliary determination unit in the effective positioning signal area of ​​the second electronic device is f1, and the frequency of the optical signal sent by the auxiliary determination unit in the abnormal signal positioning signal area is f2.

[0210] In this way, after receiving the optical signal, the first electronic device can not only determine which signal area the auxiliary determination unit in which receives the optical signal. And the first electronic device can determine that the signal area sending the optical signal is the effective positioning signal area or abnormal signal positioning signal area of ​​the second electronic device according to the frequency of the received optical signal, and generate corresponding status information. Then, while the first electronic device determines that the second electronic device is located in its effective positioning signal area or abnormal positioning signal area, it can also determine that it is located in the effective positioning signal area or abnormal positioning signal area of ​​the second electronic device, thereby achieving more accurate positioning.

[0211] Optionally, when there are multiple valid positioning signal areas in the wireless positioning module 2 of the second electronic device, the optical signal characteristics of the optical signals emitted by the multiple valid positioning signal areas are the same or different. When there are multiple abnormal positioning signal areas in the wireless positioning module 2 of the second electronic device, the optical signal characteristics of the optical signals emitted by the multiple abnormal positioning signal areas are the same or different.

[0212] For example, Fig.16 As shown, in response to the user operation, the second electronic device transmits the optical signal after adjusting the optical signal characteristics according to the preset emission rules through the auxiliary determination unit (light emission unit) located in the effective positioning signal area C1, the auxiliary determination unit (light emission unit) located in the abnormal positioning signal area D1, and the auxiliary determination unit (light emission unit) in the abnormal positioning signal area Dn. Optionally, the preset emission rules include, for example, simultaneous emission, sequential emission in chronological order, etc.

[0213] Afterwards, the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn in the first electronic device, after receiving the optical signal, determines that the auxiliary determination unit sending the optical signal is an auxiliary determination unit located in the effective positioning signal area of ​​the second electronic device according to the optical signal characteristics of the optical signal. In addition, the first electronic device can generate corresponding status information. Afterwards, the first electronic device sends the status information to the second electronic device. The first electronic device determines that the second electronic device is located in the effective positioning signal area of ​​the first electronic device based on the status information, and can generate valid positioning data. In addition, the second electronic device determines that the first electronic device is located in the effective positioning signal area of ​​the second electronic device based on the status information, and can generate valid positioning data and send the valid positioning data to the first electronic device. Afterwards, the first electronic device can determine the position of the second electronic device based on the two sets of valid positioning data obtained. For example, the first electronic device discards the valid positioning data sent by the second electronic device, and completes the positioning of the second electronic device through the valid positioning data determined by itself.

[0214] As another example, Fig.17As shown, the second electronic device responds to the user operation, and transmits the optical signal after adjusting the optical signal characteristics according to the preset emission rules through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1, the auxiliary determination unit (light emitting unit) located in the abnormal positioning signal area D1, and the abnormal positioning signal area Dn. After that, the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An of the first electronic device, after receiving the optical signal, determines that the auxiliary determination unit that sends the optical signal is the auxiliary determination unit located in the effective positioning signal area of ​​the second electronic device according to the optical signal characteristics of the optical signal. In addition, the first electronic device can generate corresponding status information. After that, the first electronic device sends the status information to the second electronic device. The first electronic device determines that the second electronic device is located in the abnormal positioning signal area of ​​the first electronic device based on the status information, and cannot generate effective positioning data. In addition, the second electronic device determines that the first electronic device is located in the effective positioning signal area of ​​the second electronic device based on the status information, and can generate effective positioning data and send the effective positioning data to the first electronic device. After that, the first electronic device can determine the location of the second electronic device based on the effective positioning data sent by the second electronic device.

[0215] As another example, Fig.18 As shown, the second electronic device responds to the user operation, and transmits the optical signal after adjusting the optical signal characteristics according to the preset emission rules through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1, the auxiliary determination unit (light emitting unit) located in the abnormal positioning signal area D1, and the abnormal positioning signal area Dn. After that, the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn of the first electronic device, after receiving the optical signal, determines that the auxiliary determination unit that sends the optical signal is the auxiliary determination unit located in the abnormal positioning signal area of ​​the second electronic device according to the optical signal characteristics of the optical signal (or, determines that the auxiliary determination unit that sends the optical signal is the auxiliary determination unit located in the abnormal positioning signal area D1 of the second electronic device). In addition, the first electronic device can generate corresponding status information. After that, the first electronic device sends the status information to the second electronic device. The first electronic device determines that the second electronic device is located in the effective positioning signal area of ​​the first electronic device according to the status information, and can generate effective positioning data. In addition, the second electronic device determines that the first electronic device is located in the abnormal positioning signal area of ​​the second electronic device according to the status information, and cannot generate effective positioning data. After that, the first electronic device can determine the location of the second electronic device according to the effective positioning data determined by itself.

[0216] For example, Fig.19As shown, the second electronic device responds to the user operation, through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1, the auxiliary determination unit (light emitting unit) located in the abnormal positioning signal area D1, and the auxiliary determination unit (light emitting unit) in the abnormal positioning signal area Dn, and transmits the optical signal after adjusting the optical signal characteristics according to the preset emission rules. After that, the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An of the first electronic device, after receiving the optical signal, determines that the auxiliary determination unit sending the optical signal is the auxiliary determination unit located in the abnormal positioning signal area of ​​the second electronic device according to the optical signal characteristics of the optical signal. In addition, the first electronic device can generate corresponding status information. After that, the first electronic device sends the status information to the second electronic device. The first electronic device determines that the second electronic device is located in the abnormal positioning signal area of ​​the first electronic device based on the status information, and cannot generate effective positioning data. And, the second electronic device determines that the first electronic device is located in the abnormal positioning signal area of ​​the second electronic device based on the status information, and cannot generate effective positioning data. After that, the first electronic device does not receive the effective positioning data sent by the second electronic device within the preset time, and it also fails to generate effective positioning data. Then, the first electronic device may determine that the positioning has failed and the user needs to re-operate the second electronic device to re-trigger the control of the first electronic device.

[0217] In other embodiments, the electronic device is located in a smaller enclosed space, and objects in the enclosed space may produce optical effects such as reflection on the optical signal, thereby affecting the electronic device's ability to match the edge position of the signal area according to the receiving and transmitting angles of the optical signal.

[0218] For example, Fig. 20 As shown, based on the performance of the wireless positioning module 1 in the first electronic device, the edge position of the effective positioning signal area Bn of the wireless positioning module 1 should be the edge position shown by the reference numeral 201. However, due to the problem of optical signal reflection, the signal coverage range of the effective positioning signal area Bn is affected. For example, the signal coverage range of the effective positioning signal area Bn is reduced, and the edge position of the effective positioning signal area Bn is changed to the edge position shown by the reference numeral 202; correspondingly, the signal coverage range of the abnormal positioning signal area An adjacent to the effective positioning signal area Bn is expanded. Then, in the configuration process of the auxiliary determination unit, the auxiliary determination unit with the corresponding optical signal angle should be deployed according to the actual signal coverage range of the effective positioning signal area Bn and the abnormal positioning signal area An, so as to ensure that the optical transmission and reception angle of the auxiliary determination unit after deployment matches the edge position of the actual signal coverage range of the signal area.

[0219] For example, in the scenario where the display screen is controlled by a remote control handle in the car, the space inside the car is small, and multiple objects such as the inner wall of the door and the car seat may reflect the optical signal emitted by the remote control handle. Therefore, the corresponding auxiliary determination units can be deployed according to the actual signal coverage range of the signal area of ​​the wireless positioning module of the remote control handle and / or the display screen. Through structural constraints, the light receiving and transmitting angle of an auxiliary determination unit in the signal area can be less than or equal to the signal coverage angle of the corresponding signal area. This ensures the accuracy of judging the coverage angle of the signal area by the receiving and transmitting angle of the optical signal.

[0220] It should be understood that in the scenario where the optical signal receiving and transmitting angle of the deployed auxiliary determination unit is determined according to the corrected signal coverage range, the positioning process of the first electronic device or the second electronic device can still refer to the implementation methods of the above-mentioned embodiments, which will not be repeated here.

[0221] In addition, the above text introduces the positioning process by taking the auxiliary determination unit as an optical transmitting unit or an optical receiving unit as an example. In some scenarios, the auxiliary determination unit may also be an optical transceiver unit. That is, the auxiliary determination unit can both transmit and receive optical signals. When the auxiliary determination unit is an optical transceiver unit, the process of the first electronic device locating the second electronic device can refer to the implementation methods of the above-mentioned various embodiments, which will not be repeated here.

[0222] In some scenarios, the communication system may include multiple first electronic devices and / or multiple second electronic devices. Then, during the positioning process, each electronic device may be positioned separately.

[0223] For example, in a multi-speaker networking scenario, the communication system includes multiple speakers (i.e., multiple first electronic devices) and a remote control handle (i.e., a second electronic device). Among them, the signal coverage angles of the effective positioning signal areas of the wireless positioning modules of the multiple speakers overlap, thereby achieving unified control of multiple speakers through a remote control handle. Therefore, when auxiliary determination units are respectively deployed in the effective positioning signal areas of the wireless positioning modules of different speakers, the optical signal receiving and transmitting directions of different auxiliary determination units are the same to ensure that the effective positioning signal areas finally determined are the same, and to ensure unified control of multiple speakers by the remote control handle.

[0224] For example, Fig.21 The flowchart of the positioning method provided in the embodiment of the present application is shown in FIG. Fig.21 As shown, the method includes the following steps.

[0225] S2101. In response to a user operation, the second electronic device sends an auxiliary determination signal through a second auxiliary determination unit in a second signal area.

[0226] Among them, the first electronic device includes a first wireless positioning module, and an auxiliary determination unit is arranged in M ​​signal areas of the first wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and M is a positive integer.

[0227] Optionally, the first wireless positioning module includes N signal areas, wherein no auxiliary determination unit is set in other signal areas other than M signal areas, and N is a positive integer greater than M. Alternatively, auxiliary determination units are set in all N signal areas included in the first wireless positioning module.

[0228] Among them, the second electronic device includes a second wireless positioning module, and an auxiliary determination unit is arranged in P signal areas of the second wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and P is a positive integer.

[0229] Optionally, the second wireless positioning module includes O signal areas, and no auxiliary determination unit is set in other signal areas other than P signal areas, and O is a positive integer greater than P. Alternatively, auxiliary determination units are set in all O signal areas included in the second wireless positioning module.

[0230] In this way, an auxiliary determination unit is set in a partial signal area of ​​the wireless positioning module, which saves costs while meeting the positioning requirements.

[0231] Optionally, the first wireless positioning module or the second wireless positioning module is any one of the following: an electromagnetic positioning module, a UWB positioning module, a millimeter wave positioning module, or an optical tracking positioning module.

[0232] For example, when the wireless positioning module is an electromagnetic positioning module, the wireless positioning module includes a positioning circuit and three coils. For another example, when the wireless positioning module is a UWB positioning module, the wireless positioning module includes a positioning circuit and three antennas.

[0233] Optionally, the auxiliary determination unit is at least one of a transmitting unit or a receiving unit. For example, the auxiliary determination unit is an optical transceiver unit, and the auxiliary determination unit in the second electronic device sends an auxiliary determination signal to the first electronic device while also receiving the auxiliary determination signal sent by the auxiliary determination unit in the first electronic device. In other words, the first electronic device and the second electronic device can both be used for positioning during the interaction process. Among them, the positioning process of the second electronic device can refer to the positioning process of the first electronic device, and the embodiments of the present application will not be repeated here. For another example, the auxiliary determination unit in the first electronic device is a light receiving unit, and the auxiliary determination unit in the second electronic device is a light transmitting unit. The first electronic device is a positioning device, and the second electronic device is a positioned device.

[0234] Optionally, the auxiliary determination signal is an optical signal. The optical signals sent by different auxiliary determination units are modulated optical signals. For example, the auxiliary determination unit can adjust the characteristics of the transmitted optical signal by frequency adjustment, amplitude modulation, etc. Alternatively, different optical signals can be distinguished by carrying different information in the optical signal. Therefore, by judging the signal characteristics of the optical signal, the signal area where the auxiliary determination unit sending the optical signal is located can be determined.

[0235] In some embodiments, in response to a user operation, the second electronic device sends an auxiliary determination signal to the first electronic device through a second auxiliary determination unit in a second signal area, where the second signal area is an area in the P signal areas. The auxiliary determination signal is used to determine the validity of the positioning data determined by the first electronic device or the second electronic device.

[0236] Optionally, the validity of the positioning data is used to indicate whether the peer device is located in its own valid positioning signal area when the positioning data is acquired. If the peer device is located in the valid positioning signal area of ​​the device, the local positioning data acquired by the device is valid data. If the peer device is located in the abnormal positioning signal area of ​​the device, the local positioning data acquired by the device is invalid data. By receiving or sending the signal area where the auxiliary determination unit of the auxiliary determination signal is located, it can be determined whether the peer device is located in its own valid positioning signal area. Among them, the specific process of determining the validity of the positioning data can refer to the content described in step S2103 below, which will not be repeated here.

[0237] S2102: The first electronic device receives an auxiliary determination signal through a first auxiliary determination unit in a first signal area.

[0238] Optionally, the auxiliary determination signal is a signal received by the first electronic device in a first signal area among the M signal areas, and a first auxiliary determination unit is provided in the first signal area.

[0239] For example, Fig. 9 As shown, in response to the user operation, the second electronic device sends an auxiliary determination signal through the auxiliary determination unit in the effective positioning signal area C1 of the wireless positioning module 2. Correspondingly, the first electronic device receives the auxiliary determination signal through the auxiliary determination unit in the effective positioning signal area Bn of the wireless positioning module 1.

[0240] S2103. The first electronic device determines the validity of the target positioning data acquired by the first electronic device through the first wireless positioning module according to the auxiliary determination signal.

[0241] In some embodiments, the first electronic device determines a second signal area for sending the auxiliary determination signal based on the signal characteristics of the auxiliary determination signal, where the second signal area is a signal area of ​​a second wireless positioning module included in the second electronic device. The validity of the target positioning data is determined based on the status information of the first signal area and the second signal area.

[0242] In some embodiments, the signal characteristics of the auxiliary determination units sent by the auxiliary determination units in different signal areas are different. Therefore, by judging the signal characteristics of the auxiliary determination unit, the signal area where the auxiliary determination unit sending the auxiliary determination unit is located can be determined.

[0243] Optionally, the signal characteristics include, for example, frequency characteristics, amplitude characteristics, carried information, etc.

[0244] In some embodiments, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area.

[0245] For example, the second wireless positioning module of the second electronic device includes four signal areas, including two effective positioning signal areas and two abnormal signal positioning areas.

[0246] For example, the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units arranged in the four signal areas are all different.

[0247] Alternatively, the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in two valid positioning signal areas among the four signal areas are the same, the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in two abnormal positioning signal areas are the same, and the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in the valid positioning signal area are different from the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in the abnormal positioning signal area.

[0248] Alternatively, auxiliary determination units are respectively provided in two effective positioning signal areas and one abnormal positioning signal area among the four signal areas, and the signal characteristics of the auxiliary determination signals sent by the three auxiliary determination units are different.

[0249] In some examples, when the first signal area indicated by the status information includes a first valid positioning signal area and the second signal area includes a second valid positioning signal area, the first electronic device obtains local first positioning data through the first wireless positioning module and receives second positioning data sent by the second electronic device, and the valid target positioning data is the first positioning data or the second positioning data.

[0250] That is, the first electronic device is located in the effective positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the effective positioning signal area of ​​the first positioning module of the first electronic device. Therefore, both the first electronic device and the second electronic device can obtain effective positioning data. Then, the first electronic device can select any one of the positioning data as the final target positioning data.

[0251] Optionally, after determining the status information, the first electronic device also sends the status information to the second electronic device, so that the second electronic device can determine whether it needs to obtain positioning data based on the status information.

[0252] For example, the second electronic device receives the status information of the second signal area and the first signal area sent by the first electronic device, the first signal area is an area in the M signal areas of the first wireless positioning module in the first electronic device, the first signal area is provided with a first auxiliary determination unit, and the first auxiliary determination unit is an auxiliary determination unit that receives the auxiliary determination signal. In response to the status information, the second electronic device obtains the local second positioning data through the second wireless positioning module, and then the second electronic device sends the second positioning data to the first electronic device, and the second positioning data is used by the first electronic device to determine the target positioning data.

[0253] Optionally, when the second signal area indicated in the status information includes a second valid positioning signal area, the second wireless positioning module obtains the local second positioning data. That is, when the second electronic device determines that the first electronic device is located in the valid positioning signal area of ​​the second positioning module of the second electronic device, it obtains the local second positioning data and sends the second positioning data to the first electronic device. In the current scenario, the second positioning data is valid positioning data.

[0254] In other examples, when the first signal area indicated by the status information includes a first valid positioning signal area and the second signal area includes a second abnormal positioning signal area, the first electronic device obtains local first positioning data through the first wireless positioning module, and the valid target positioning data is the first positioning data.

[0255] That is, the first electronic device is located in the abnormal positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the effective positioning signal area of ​​the first positioning module of the first electronic device. Therefore, the first electronic device can obtain effective positioning data. Then, the first electronic device can use the first positioning data obtained locally as the final target positioning data.

[0256] In other examples, when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second valid positioning signal area, the first electronic device receives second positioning data sent by the second electronic device, and the valid target positioning data is the second positioning data.

[0257] That is, the first electronic device is located in the valid positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the abnormal positioning signal area of ​​the first positioning module of the first electronic device. Therefore, the second electronic device can obtain valid positioning data. Then, the first electronic device can use the second positioning data sent by the second electronic device as the final target positioning data.

[0258] In some other examples, when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second abnormal positioning signal area, the first electronic device sends a first indication to the second electronic device, and the first indication is used to instruct to send the auxiliary determination signal again. The target positioning data is invalid.

[0259] That is, the first electronic device is located in the abnormal positioning signal area of ​​the second positioning module of the second electronic device, and the second electronic device is located in the abnormal positioning signal area of ​​the first positioning module of the first electronic device. Therefore, neither the first electronic device nor the second electronic device can obtain valid positioning data. Then, the first electronic device can determine that this round of positioning has failed, so the first electronic device can instruct the second electronic device to send an auxiliary determination signal again to start the next round of positioning.

[0260] In this way, by deploying low-cost auxiliary determination units in the signal area (such as the effective positioning signal area or the abnormal positioning signal area), fast and accurate positioning can be achieved during high-precision positioning tracking. This can solve the problem of abnormal positioning in the abnormal positioning signal area at a low cost, quickly determine the initial position of the located device, and improve the user experience.

[0261] In addition, when the starting position of the device to be located is an abnormal position, the auxiliary determination unit light constraint can be used to determine the effective positioning signal area, quickly determine the electronic device used to generate effective positioning data, and significantly shorten the positioning time of the starting abnormal position.

[0262] Combination of the above Figure 6-Figure 21 The positioning method provided by the embodiment of the present application is described in detail. Fig. 22 and Fig.23 The first electronic device and the second electronic device provided in the embodiments of the present application are described in detail.

[0263] In one possible design, Fig. 22 This is a schematic diagram of the structure of a first electronic device provided in an embodiment of the present application. Fig. 22 As shown, the first electronic device 2200 may include: a transceiver unit 2201 and a processing unit 2202. The first electronic device 2200 may be used to implement the functions of the first electronic device or positioning device involved in the above method embodiments.

[0264] Optionally, the transceiver unit 2201 is used to support the first electronic device 2200 to execute Figure 8 S802 in; or, for supporting the first electronic device 2200 to execute Fig.21 S2102 in.

[0265] Optionally, the processing unit 2202 is used to support the first electronic device 2200 to execute Figure 8 S802, S803 and S804 in; or, for supporting the first electronic device 2200 to execute Fig.21 S2103 in.

[0266] Among them, the transceiver unit may include a receiving unit and a sending unit, which may be implemented by a transceiver or a transceiver-related circuit component, and may be a transceiver or a transceiver module. The operations and / or functions of each unit in the first electronic device 2200 are respectively to implement the corresponding process of the positioning method described in the above method embodiment. All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional unit, and for the sake of brevity, they will not be repeated here.

[0267] Optionally, Fig. 22 The first electronic device 2200 shown may also include a storage unit ( Fig. 22 (not shown), the storage unit stores a program or instruction. When the transceiver unit 2201 and the processing unit 2202 execute the program or instruction, Fig. 22 The first electronic device 2200 shown can execute the positioning method described in the above method embodiment.

[0268] Fig. 22 The technical effects of the first electronic device 2200 shown can refer to the technical effects of the positioning method described in the above method embodiment, and will not be repeated here.

[0269] In addition to being in the form of the first electronic device 2200, the technical solution provided in the present application may also be a functional unit or chip in the first electronic device, or a device used in conjunction with the first electronic device.

[0270] In one possible design, Fig.23 This is a schematic diagram of the structure of a second electronic device provided in an embodiment of the present application. Fig.23As shown, the second electronic device 2300 may include: a transceiver unit 2301 and a processing unit 2302. The second electronic device 2300 may be used to implement the functions of the second electronic device or the located device involved in the above method embodiments.

[0271] Optionally, the transceiver unit 2301 is used to support the second electronic device 2300 to execute Figure 8 S801 in; or, for supporting the second electronic device 2300 to execute Fig.21 S2101 in.

[0272] Optionally, the processing unit 2302 is used to support the second electronic device 2300 to execute Fig.21 S2101 in.

[0273] Among them, the transceiver unit may include a receiving unit and a sending unit, which may be implemented by a transceiver or a transceiver-related circuit component, and may be a transceiver or a transceiver module. The operations and / or functions of each unit in the second electronic device 2300 are respectively to implement the corresponding process of the positioning method described in the above method embodiment. All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional unit, and for the sake of brevity, they will not be repeated here.

[0274] Optionally, Fig.23 The second electronic device 2300 shown may also include a storage unit ( Fig.23 (not shown), the storage unit stores a program or instruction. When the transceiver unit 2301 and the processing unit 2302 execute the program or instruction, Fig.23 The second electronic device 2300 shown can execute the positioning method described in the above method embodiment.

[0275] Fig.23 The technical effects of the second electronic device 2300 shown can refer to the technical effects of the positioning method described in the above method embodiment, and will not be repeated here.

[0276] In addition to being in the form of the second electronic device 2300, the technical solution provided in the present application may also be a functional unit or chip in the second electronic device, or a device used in conjunction with the second electronic device.

[0277] An embodiment of the present application also provides a chip system, including: a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the chip system implements the method in any of the above method embodiments.

[0278] Optionally, the processor in the chip system may be one or more. The processor may be implemented by hardware or by software. When implemented by hardware, the processor may be a logic circuit, an integrated circuit, etc. When implemented by software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.

[0279] Optionally, the memory in the chip system may also be one or more. The memory may be integrated with the processor or may be separately arranged with the processor, which is not limited in the embodiments of the present application. Exemplarily, the memory may be a non-transient processor, such as a read-only memory ROM, which may be integrated with the processor on the same chip or may be arranged on different chips respectively. The embodiments of the present application do not specifically limit the type of memory and the arrangement of the memory and the processor.

[0280] Exemplarily, the chip system can be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD) or other integrated chips.

[0281] It should be understood that each step in the above method embodiment can be completed by an integrated logic circuit of hardware in a processor or by instructions in the form of software. The method steps disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware processor, or by a combination of hardware and software modules in a processor.

[0282] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is run on a computer, the computer executes the above-mentioned related steps to implement the positioning method in the above-mentioned embodiment.

[0283] The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement the positioning method in the above-mentioned embodiment.

[0284] In addition, an embodiment of the present application further provides a device. The device may be a component or a module, and the device may include one or more processors and a memory connected to each other. The memory is used to store a computer program. When the computer program is executed by one or more processors, the device performs the positioning method in the above-mentioned method embodiments.

[0285] Among them, the device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0286] The steps of the method or algorithm described in conjunction with the disclosure of the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC).

[0287] Through the description of the above implementation methods, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed; that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0288] In the several embodiments provided in the present application, it should be understood that the disclosed method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of modules or units, which can be electrical, mechanical or other forms.

[0289] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0290] Computer-readable storage media include, but are not limited to, any of the following: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media that can store program codes.

[0291] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning method, characterized in that: Applied to a first electronic device, the first electronic device includes a first wireless positioning module, an auxiliary determination unit is provided in M ​​signal areas of the first wireless positioning module, an optical angle of the auxiliary determination unit is less than or equal to a signal coverage angle of the corresponding signal area, M is a positive integer, and the method includes: receiving, by the first auxiliary determination unit, an auxiliary determination signal sent by the second electronic device; The validity of the target positioning data acquired by the first electronic device through the first wireless positioning module is determined according to the auxiliary determination signal.

2. The method according to claim 1, characterized in that The auxiliary determination signal is a signal received by the first electronic device in a first signal area of ​​the M signal areas, and the first auxiliary determination unit is provided in the first signal area; The determining, according to the auxiliary determination signal, the validity of the target positioning data acquired by the first electronic device through the first wireless positioning module comprises: Determine, according to the signal characteristics of the auxiliary determination signal, a second signal area for sending the auxiliary determination signal, where the second signal area is a signal area of ​​a second wireless positioning module included in the second electronic device; The validity of the target positioning data is determined according to the status information of the first signal area and the second signal area.

3. The method according to claim 2, characterized in that The signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; and determining the validity of the target positioning data according to the status information of the first signal area and the second signal area includes: When the first signal area indicated by the status information includes the first valid positioning signal area, and the second signal area includes the second valid positioning signal area, the local first positioning data is acquired through the first wireless positioning module, and the second positioning data sent by the second electronic device is received, and the valid target positioning data is the first positioning data or the second positioning data.

4. The method according to claim 2 or 3, characterized in that: The determining, according to the status information of the first signal area and the second signal area, the validity of the target positioning data includes: When the first signal area indicated by the status information includes the first valid positioning signal area, and the second signal area includes the second abnormal positioning signal area, the local first positioning data is acquired through the first wireless positioning module, and the valid target positioning data is the first positioning data.

5. The method according to any one of claims 2 to 4, characterized in that: The determining, according to the status information of the first signal area and the second signal area, the validity of the target positioning data includes: When the first signal area indicated by the status information includes the first abnormal positioning signal area and the second signal area includes the second valid positioning signal area, the second positioning data sent by the second electronic device is received, and the valid target positioning data is the second positioning data.

6. The method according to any one of claims 2 to 5, characterized in that: The determining, according to the status information of the first signal area and the second signal area, the validity of the target positioning data includes: When the first signal area indicated by the status information includes the first abnormal positioning signal area, and the second signal area includes the second abnormal positioning signal area, a first indication is sent to the second electronic device, wherein the first indication is used to instruct to send an auxiliary determination signal again; wherein the target positioning data is invalid.

7. The method according to any one of claims 1 to 6, characterized in that: The auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

8. The method according to any one of claims 1 to 7, characterized in that: The first wireless positioning module includes N signal areas, and no auxiliary determination unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

9. The method according to any one of claims 1 to 8, characterized in that: The first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

10. The method according to any one of claims 1 to 9, characterized in that: The auxiliary determination signal is an optical signal.

11. A positioning method, characterized in that: Applied to a second electronic device, the second electronic device includes a second wireless positioning module, an auxiliary determination unit is provided in P signal areas of the second wireless positioning module, an optical angle of the auxiliary determination unit is less than or equal to a signal coverage angle of the corresponding signal area, P is a positive integer, and the method includes: In response to a user operation, an auxiliary determination signal is sent to the first electronic device through a second auxiliary determination unit in a second signal area, where the second signal area is an area among the P signal areas; the auxiliary determination signal is used to determine the validity of the positioning data determined by the first electronic device or the second electronic device.

12. The method according to claim 11, characterized in that The method further comprises: Receive status information of the second signal area and the first signal area sent by the first electronic device, where the first signal area is an area among M signal areas of the first wireless positioning module in the first electronic device, where M is a positive integer, and a first auxiliary determination unit is provided in the first signal area, and the first auxiliary determination unit is an auxiliary determination unit that receives the auxiliary determination signal; In response to the state information, acquiring local second positioning data through the second wireless positioning module; The second positioning data is sent to the first electronic device, where the second positioning data is used by the first electronic device to determine target positioning data.

13. The method according to claim 12, characterized in that The signal area of ​​the first wireless positioning module includes a first effective positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second effective positioning signal area and a second abnormal positioning signal area; The step of acquiring local second positioning data by the second wireless positioning module in response to the state information includes: When the second signal area indicated in the status information includes a second valid positioning signal area, local second positioning data is acquired through the second wireless positioning module.

14. The method according to any one of claims 11 to 13, characterized in that: The auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

15. The method according to any one of claims 11 to 14, characterized in that: The second wireless positioning module includes O signal areas, and no auxiliary determination unit is set in other signal areas outside the P signal areas, and O is a positive integer greater than P.

16. The method according to any one of claims 11 to 15, characterized in that: The second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

17. The method according to any one of claims 11 to 16, characterized in that: The auxiliary determination signal is an optical signal.

18. An electronic device, characterized in that: The electronic device includes a first wireless positioning module, and an auxiliary determination unit is arranged in M ​​signal areas of the first wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area. The auxiliary determination unit is used to determine the validity of the positioning data obtained by the first wireless positioning module, and M is a positive integer.

19. The electronic device according to claim 18, characterized in that: The auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

20. The electronic device according to claim 18 or 19, characterized in that: The first wireless positioning module includes N signal areas, and no auxiliary determination unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

21. The electronic device according to any one of claims 18 to 20, characterized in that: The first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

22. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor reads the computer instructions from the memory, the electronic device executes the method as described in any one of claims 1-10; or, the electronic device executes the method as described in any one of claims 11-17.

23. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a computer program, which, when executed on an electronic device, enables the electronic device to execute the method as described in any one of claims 1 to 10; or enables the electronic device to execute the method as described in any one of claims 11 to 17.

24. A computer program product, characterized in that When the computer program product is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 10; or the computer is enabled to execute the method according to any one of claims 11 to 17.

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