Positioning method and apparatus, electronic device, chip, and storage medium

Abstract

The application provides a positioning method and device, electronic equipment, a chip and a storage medium, and relates to the technical field of positioning. The method comprises the following steps: acquiring positioning measurement information between a target time and an anchor point device; acquiring a candidate position of the target time of the to-be-positioned device based on the positioning measurement information; determining the reference position of the target time of the to-be-positioned device from the candidate position based on the correlation between the candidate position and the reference position of the to-be-positioned device at the first time, wherein the first time is located before the target time; and determining the target position of the to-be-positioned device according to the reference position of the target time of the to-be-positioned device. By comparing the correlation between the candidate position and the reference position at the first time, the candidate position that is more consistent with the moving track of the to-be-positioned device can be screened out, and the accuracy of positioning the to-be-positioned device according to the reference position at the target time is higher.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a positioning method, device, electronic device, chip, and storage medium. Background Technology

[0002] Precise positioning technology is a key technology in fields such as robot navigation, indoor tracking, and autonomous driving. Its core lies in accurately estimating the target's position in the environment based on data provided by sensing sensors, thereby enabling the target to interact correctly with its surroundings and sensors, and successfully perform various functions and tasks. However, while traditional anchor-based positioning methods have some effectiveness, their accuracy still needs improvement. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] To this end, this application proposes a positioning method, apparatus, electronic device, chip, and storage medium to determine the reference position of the device to be positioned at the target time from the candidate positions based on the correlation between the candidate positions of the device to be positioned at the target time and the reference position of the device to be positioned at the first time, and then to determine the target position of the device to be positioned based on the reference position at the target time, thereby improving the accuracy of positioning.

[0005] One embodiment of this application proposes a positioning method, including:

[0006] Obtain positioning measurement information between the device to be positioned and the anchor point device at the target time;

[0007] Based on the positioning measurement information, the candidate position of the device to be positioned at the target time is obtained;

[0008] Based on the correlation between the candidate locations and the reference location of the device to be located at the first time, the reference location of the device to be located at the target time is determined from the candidate locations, wherein the first time is before the target time;

[0009] The target position of the device to be located is determined based on the reference position of the device at the target time.

[0010] Another embodiment of this application proposes a positioning device, including:

[0011] The first acquisition module is used to acquire the positioning measurement information between the device to be positioned and the anchor point device at the target time.

[0012] The second acquisition module is used to acquire the candidate position of the device to be located at the target time based on the positioning measurement information.

[0013] A first determining module is configured to determine, based on the correlation between the candidate positions and the reference position of the device to be located at a first time, the reference position of the device to be located at the target time from the candidate positions, wherein the first time is prior to the target time;

[0014] The second determining module is used to determine the target position of the device to be located based on the reference position of the device to be located at the target time.

[0015] Another embodiment of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the foregoing aspect.

[0016] Another embodiment of this application proposes a chip including a processing circuit, which is used to implement the method described in the foregoing aspect when executed.

[0017] Another embodiment of this application proposes a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the foregoing aspect.

[0018] Another embodiment of this application proposes a computer program product having a computer program stored thereon, which, when executed by a processor, implements the method described in the foregoing aspect.

[0019] The positioning method, apparatus, electronic device, chip, and storage medium proposed in this application acquire positioning measurement information between the device to be positioned and the anchor point device at a target time; based on the positioning measurement information, candidate positions of the device to be positioned at the target time are obtained; based on the correlation between the candidate positions and the reference position of the device to be positioned at a first time, the reference position of the device to be positioned at the target time is determined from the candidate positions, wherein the first time is prior to the target time; and the target position of the device to be positioned is determined based on the reference position of the device to be positioned at the target time. By comparing the correlation between the candidate positions and the reference position at the first time, candidate positions that better match the movement trajectory of the device to be positioned can be selected, while obviously deviated or unreasonable positions can be eliminated, thus achieving higher accuracy in positioning the device to be positioned based on the reference position at the target time.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0022] Figure 1 A schematic flowchart illustrating a positioning method provided in an embodiment of this application;

[0023] Figure 2 A flowchart illustrating another positioning method provided in an embodiment of this application;

[0024] Figure 3 A flowchart illustrating another positioning method provided in an embodiment of this application;

[0025] Figure 4 A schematic diagram illustrating a candidate position provided in an embodiment of this application;

[0026] Figure 5 A schematic diagram illustrating another candidate position provided in an embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0028] Figure 7 This is a block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0030] The positioning method, apparatus, electronic device, chip, and storage medium of this application are described below with reference to the accompanying drawings. This application can be applied to single-anchor-point positioning scenarios, such as indoor positioning and robot navigation. For example, indoor positioning scenarios include finding a car in a complex underground parking garage using Bluetooth or Ultra Wide Band (UWB) on a mobile phone, and positioning and pointing in a large shopping mall using a Wireless Access Point (WIFIAP) or Bluetooth AP. Robot navigation scenarios include positioning between a robot vacuum cleaner and a base station, positioning between a drone and a drone remote controller, and drones autonomously flying in and out of designated locations.

[0031] In related technologies, single-anchor-point positioning schemes acquire angle-of-arrival (AOA) and ranging information using an array antenna configured at the anchor point. The precise positioning of the device is achieved by combining this AOA and ranging information. However, this scheme requires an array antenna at the anchor point, resulting in high costs. Another single-anchor-point positioning scheme involves moving the device to three points sequentially to acquire ranging and velocity information. The position of the device is then determined by solving equations using a three-point positioning method. However, this scheme is prone to ill-conditioned equations when distance or velocity measurement errors are large, leading to poor positioning results.

[0032] Figure 1 This is a flowchart illustrating a positioning method provided in an embodiment of this application.

[0033] This application illustrates the example of the positioning method being configured in a positioning device. This positioning device can be applied to an electronic device to enable the electronic device to execute command processing functions. It should be noted that an electronic device refers to a device capable of acquiring positioning measurement information and performing positioning based on that information. For example, in a scenario where a car is located in a complex underground parking garage using Bluetooth or UWB, the electronic device refers to the mobile phone; in a positioning scenario between a robotic vacuum cleaner and a base station, the electronic device refers to the base station.

[0034] like Figure 1 As shown, the method may include the following steps:

[0035] Step 101: Obtain the positioning measurement information between the device to be positioned and the anchor point device at the target time.

[0036] The target time includes any time other than the initial positioning time; the device to be positioned is equipped with sensing sensors such as an inertial measurement unit (IMU); the anchor device refers to a node placed in an environment with a known global position, and the position of the anchor device can be known or unknown; the positioning measurement information at the target time is obtained by the sensing sensors at the target time, or it is estimated based on the positioning measurement information corresponding to the time before the target time.

[0037] In one implementation of this application, the positioning measurement information includes the distance measurement result between the device to be positioned and the anchor point device, and the speed measurement result of the device to be positioned relative to the anchor point device.

[0038] In another implementation of this application, the positioning measurement information includes the Angle of Arrival (AOA) and the Time of Arrival (TOA).

[0039] Step 102: Based on the positioning measurement information, obtain the candidate position of the device to be positioned at the target time.

[0040] Among them, the candidate location refers to the possible location of the device to be located at the target time.

[0041] In one implementation of this application, when the location of the anchor device is known, the positioning measurement information and the location of the anchor device are input into the candidate location prediction model to obtain the candidate location of the device to be located at the target time.

[0042] In another implementation of this application, when the location of the anchor point device is unknown, the location is solved based on positioning measurement information, such as velocity measurement results and distance measurement results, to obtain the candidate location of the device to be located at the target time.

[0043] Step 103: Based on the correlation between the candidate positions and the reference position of the device to be located at the first moment, determine the reference position of the device to be located at the target moment from the candidate positions, wherein the first moment is before the target moment.

[0044] Here, the first moment refers to any moment before the target moment; to ensure the accuracy of the positioning, as an example, the first moment refers to the moment before the target moment.

[0045] The correlation between positions indicates the probability that the device to be located will move from the reference position at the first moment to the candidate position. The higher the correlation, the greater the probability that the device to be located will move from the reference position at the first moment to the candidate position.

[0046] The reference position of the device to be located at the target time refers to at least one position that the device to be located is most likely to be at the target time after comprehensively considering the correlation between positions. This position is an important reference for locating the device.

[0047] Step 104: Determine the target position of the device to be located based on the reference position of the device to be located at the target time.

[0048] In one implementation of this application, the reference position of the device to be located at the target time is input into the positioning model to obtain the target position of the device to be located.

[0049] It should be noted that, given that the positioning measurement information includes both distance and velocity measurements, this application can achieve precise positioning of the device by combining the reference position of the device at the target time, without requiring an array antenna on the anchor point. Furthermore, this application does not require solving equations using the three-point positioning method, thus avoiding ill-conditioned equations.

[0050] In the positioning method of this application embodiment, positioning measurement information between the device to be positioned and the anchor point device at a target time is obtained; based on the positioning measurement information, candidate positions of the device to be positioned at the target time are obtained; based on the correlation between the candidate positions and the reference position of the device to be positioned at a first time, the reference position of the device to be positioned at the target time is determined from the candidate positions, wherein the first time is before the target time; and the target position of the device to be positioned is determined according to the reference position of the device to be positioned at the target time. By comparing the correlation between the candidate positions and the reference position at the first time, candidate positions that better match the movement trajectory of the device to be positioned can be filtered out, and positions that are obviously deviated or unreasonable can be excluded. Therefore, the accuracy of positioning the device to be positioned based on the reference position at the target time is relatively high.

[0051] Based on the above embodiments, Figure 2 A flowchart illustrating another positioning method provided in this application embodiment is shown below. Figure 2 As shown, the method includes the following steps:

[0052] Step 201: Obtain the positioning measurement information between the device to be positioned and the anchor point device at the target time. The positioning measurement information includes the velocity measurement results of the device to be positioned relative to the anchor point device at the target time.

[0053] Among them, the velocity measurement result refers to the two-dimensional velocity (v) in the plane. x ,v y ) or three-dimensional velocity (v) within space x ,v y ,v z ), where v x v represents the velocity component along the X-axis in the coordinate system. y v represents the velocity component along the Y-axis in the coordinate system. z This represents the velocity component along the Z-axis in the coordinate system.

[0054] In this embodiment of the application, the velocity measurement result at the target time t is denoted as v. r (t), then:

[0055] or

[0056] Taking a two-dimensional plane as an example, (x(t), y(t)) represents the position of the device to be located relative to the anchor point at the target time t. The derivative of x(t) is... Let y(t) be the derivative.

[0057] Step 202: Based on the positioning measurement information, obtain the candidate position of the device to be positioned at the target time.

[0058] The explanations and descriptions in the aforementioned embodiments also apply to step 102, and the principle is the same, so they will not be repeated here.

[0059] Step 203: For any reference position at the first time, determine the position vector between it and the candidate position at the target time; determine the velocity vector based on the velocity measurement results; calculate the similarity between the position vector and the velocity vector to obtain the correlation degree; and determine the reference position from the candidate positions based on the correlation degree.

[0060] In this embodiment of the application, taking a two-dimensional space as an example, assuming the position of the anchor point is the origin (0,0), and the position of the device to be located at the target time is (x(t), y(t)), then the candidate position of the device to be located relative to the anchor point at the target time is represented by p(t). The reference position at the first moment is denoted by p(t-1), and the position vector is d(t) = p(t) - p(t-1). Furthermore, in this embodiment, the velocity vector is v. r (t).

[0061] In one implementation of this application, the similarity between the position vector and the velocity vector is calculated using the following formula:

[0062]

[0063] Where corr represents the degree of correlation, |d(t)| represents the magnitude of the position vector, and |v r (t)| represents the magnitude of the velocity vector, v r (t) T Represents the velocity vector v r The transpose of (t).

[0064] It should be noted that the degree of correlation can also be determined in other ways, such as determining the Pearson correlation coefficient between the position vector and the velocity vector, and then determining the degree of correlation based on the Pearson correlation coefficient.

[0065] In one implementation of this application, candidate positions with a correlation greater than a set correlation threshold can be used as the reference position of the device to be located at the target time. Alternatively, the candidate positions at the target time can be sorted based on the correlation, and the reference position of the device to be located at the target time can be determined from the candidate positions according to the sorting result.

[0066] In this embodiment of the application, a reference position at a target time is stored, wherein the reference position at the target time is used to locate the device to be located at a second time, and the second time is after the target time.

[0067] Here, the second moment refers to any moment after the target moment; for example, the second moment refers to the moment after the target moment. The stored reference position of the target moment is used to determine the reference position of the device to be located at the second moment.

[0068] In this embodiment of the application, the reference position of the device to be located at the first moment is read; wherein, the reference position at the first moment is obtained by filtering the candidate positions of the device to be located at the first moment based on the correlation between the candidate positions of the device to be located at the first moment and the reference positions of the device to be located before the first moment, or the reference position at the first moment is obtained by storing the reference position of the device to be located at the first moment.

[0069] Specifically, when the first moment is the initial positioning moment, the reference position at the first moment is obtained by storing the reference position of the device to be positioned at the first moment; when the first moment is not the initial positioning moment, the reference position at the first moment is obtained by filtering the candidate positions at the first moment based on the correlation between the candidate positions of the device to be positioned at the first moment and the reference positions of the device to be positioned before the first moment.

[0070] Step 204: Determine the target position of the device to be located based on the reference position of the device to be located at the target time.

[0071] In one implementation of this application, a target reference position is determined from the reference positions of the device to be located at a target time based on the correlation degree; and the target position of the device to be located is determined based on the target reference position. Here, the target reference position refers to the reference position corresponding to the maximum correlation degree among the reference positions at the target time.

[0072] In the positioning method of this application embodiment, positioning measurement information between the device to be positioned and the anchor point device at a target time is obtained. The positioning measurement information includes the velocity measurement result of the device to be positioned relative to the anchor point device at the target time. Based on the positioning measurement information, candidate positions of the device to be positioned at the target time are obtained. For any reference position at a first time, a position vector between the reference position and the candidate position at the target time is determined. Based on the velocity measurement result, a velocity vector is determined. The similarity between the position vector and the velocity vector is calculated to obtain the correlation degree. Based on the correlation degree, a reference position is determined from the candidate positions. Based on the reference position of the device to be positioned at the target time, the target position of the device to be positioned is determined. The position vector reflects the spatial relationship between the reference position and the candidate position, and the velocity vector reflects the direction and speed of movement of the device to be positioned over a period of time. Obtaining the correlation degree between the positions based on these two vectors not only considers the proximity of the spatial positions but also the continuity and consistency of the movement of the device to be positioned. Therefore, based on the correlation degree, a suitable reference position can be selected from the candidate positions, thereby providing a reliable basis for the positioning task, improving the accuracy of positioning, and reducing positioning errors.

[0073] Based on the above embodiments, Figure 3 A flowchart illustrating another positioning method provided in this application embodiment is shown below. Figure 3 As shown, the method includes the following steps:

[0074] Step 301: Obtain the positioning measurement information between the device to be positioned and the anchor point device at the target time. The measurement information includes the speed measurement result of the device to be positioned and the distance measurement result between the device to be positioned and the anchor point device.

[0075] The distance measurement result indicates the distance between the device to be positioned and the anchor point device. Taking two-dimensional space as an example, the distance measurement result at target time t...

[0076] Step 302: Obtain positioning statistics and positioning error at the first moment. The positioning statistics are used to indicate at least one of the number of times the device to be positioned has been located and the duration of continuous positioning.

[0077] In one implementation of this application, the location statistics include the number of times the device to be located has been located and the duration of continuous location.

[0078] In another implementation of this application, the location statistics include the number of times the device to be located has been located or the duration of continuous location.

[0079] In this embodiment of the application, the positioning error at the first moment refers to the error between the target position and the target reference position of the device to be positioned at the first moment.

[0080] Step 303: If the positioning statistics and positioning error meet the first set conditions, based on the distance measurement results and the position of the anchor point device, obtain N candidate positions of the device to be positioned at the target time.

[0081] The first set condition includes at least one of the following: the positioning statistics data is less than a set data threshold and the positioning error is greater than a set error threshold. The distance between the candidate location and the anchor point device matches the distance measurement result. N is a positive integer.

[0082] It should be noted that the N value can be a set value or determined according to the magnitude of the positioning error. The larger the positioning error, the larger the N value.

[0083] As an example, when the location statistics are less than a set data threshold and the location error is greater than a set error threshold, N candidate locations of the device to be located at the target time are obtained.

[0084] In this embodiment, if the positioning statistics and positioning error meet the first set condition, it indicates that the positioning task is in its initial stage, and / or the positioning device is in a complex environment or far from the anchor point device, resulting in a weak anchor point signal. In this case, the positioning error based on the anchor point signal is relatively large. However, this application provides multiple candidate locations, offering more references and choices for subsequent positioning optimization and error correction, which helps to improve the probability and accuracy of successful positioning.

[0085] As an example, N candidate locations are selected on a rectangle or triangle centered on the location of the anchor point device.

[0086] As another example, on a circle centered at the location of the anchor point and with the distance measurement result as the radius, N candidate locations are obtained according to a set location selection rule. The set location selection rule is either to select N candidate locations evenly on the circle, or to select N candidate locations on the circle at specific angular intervals.

[0087] like Figure 4 As shown, Figure 4 This is a schematic diagram of the candidate positions provided in the embodiments of this application. In the figure, Anchor represents the position of the anchor point device, Target on the outer circle represents N candidate positions of the device to be positioned at the target time t, and Target on the inner circle represents one of the reference positions of the device to be positioned at the first time, i.e., time t-1.

[0088] Circles have continuity and smoothness. Selecting candidate positions on a circle can significantly improve the ability to capture the continuity and consistency of the movement trajectory of the device to be positioned during the positioning process. This ensures that the selected candidate positions not only meet the constraints of spatial distance, but also reflect the movement trend and speed changes of the device to be positioned to a certain extent, thereby avoiding sudden changes in the positioning results of the device to be positioned.

[0089] Step 304: If the positioning statistics and positioning error meet the second set conditions, the position is solved based on the velocity measurement results and distance measurement results to obtain the candidate position of the device to be positioned at the target time.

[0090] The second setting condition includes at least one of the following: the positioning statistics data is greater than or equal to a set data threshold and the positioning error is less than or equal to a set error threshold.

[0091] As an example, if the positioning statistics are greater than or equal to a set data threshold, or if the positioning error is less than or equal to a set error threshold, the position is solved based on the velocity measurement results and distance measurement results to obtain the candidate position of the device to be positioned at the target time.

[0092] If the positioning statistics and positioning error meet the second set condition, it means that the positioning task has progressed to a certain stage, that is, it is no longer in the initial stage, and / or the anchor point signal sensed by the device to be positioned is strong. At this time, the candidate position of the device to be positioned at the target time can be solved by combining the speed measurement results and the distance measurement results.

[0093] When the positioning statistics and positioning error meet the second set conditions, the anchor point signal sensed by the device to be positioned is strong. At this time, based on the sensed speed measurement results and distance measurement results, a relatively accurate candidate position can be obtained.

[0094] In one implementation of this application, the angle of arrival of the device to be located is determined based on the speed measurement results and the distance measurement results; the angle between the movement direction of the device to be located and the set direction is determined based on the speed measurement results; and the position is solved by trigonometric functions based on the distance measurement results, the angle of arrival, and the angle to be located to obtain the candidate position of the device to be located at the target time.

[0095] As an example, the arrival angle θ(t), the included angle α(t), and the candidate position p(t) are determined using the following formulas:

[0096]

[0097] like Figure 5 As shown, Figure 5 This is a schematic diagram of the candidate positions passed in the embodiments of this application. Figure 5It can be seen that by solving the position based on the velocity measurement results and the distance measurement results, two candidate positions of the device to be located at the target time can be obtained.

[0098] Step 305: Based on the correlation between the candidate positions and the reference position of the device to be located at the first moment, determine the reference position of the device to be located at the target moment from the candidate positions.

[0099] In this embodiment of the application, when the positioning statistics and positioning error meet the first set condition, M reference positions can be selected from N candidate positions based on the degree of correlation, where M is a positive integer less than N; when the positioning statistics and positioning error meet the second set condition, one reference position can be selected from two candidate positions obtained by solving based on the degree of correlation, or the two candidate positions obtained by solving can be used as reference positions.

[0100] Step 306: Determine the target position of the device to be located based on the reference position of the device to be located at the target time.

[0101] In one implementation of this application, a target reference position is obtained from the reference position at the target time based on the degree of correlation; the target position of the device to be located at the first time is obtained; and the target position of the device to be located is determined by setting a filtering algorithm based on the positioning measurement information, the target reference position, and the target position at the first time.

[0102] In this embodiment, on the one hand, using positioning measurement information, target reference position, and target position at the first moment as positioning basis helps to improve positioning accuracy; on the other hand, by setting a filtering algorithm, noise and errors can be effectively filtered out, thereby achieving accurate tracking and positioning of the device to be positioned.

[0103] The process involves inputting positioning measurement information, the target reference position, and the target position at the first moment into the Kalman filter equation. The corresponding filtering algorithm then determines the target position of the device to be positioned. It should be noted that the Kalman filter equation can also output the positioning error at the target moment.

[0104] In the positioning method of this application embodiment, positioning statistics and positioning error at a first moment are obtained. The positioning statistics are used to indicate at least one of the number of times the device to be positioned has been located and the duration of continuous positioning. When the positioning statistics and positioning error meet a first set condition, N candidate positions of the device to be positioned at a target time are obtained based on the distance measurement results and the position of the anchor point device. When the positioning statistics and positioning error meet a second set condition, the position is solved based on the velocity measurement results and the distance measurement results to obtain the candidate positions of the device to be positioned at the target time. Based on the correlation between the candidate positions and the reference position of the device to be positioned at the first moment, the reference position of the device to be positioned at the target time is determined from the candidate positions. Based on the reference position of the device to be positioned at the target time, the target position of the device to be positioned is determined. Obtaining N candidate positions and filtering the reference position from the N candidate positions based on the correlation requires a large computational overhead. This application provides two strategies for obtaining candidate positions. In actual positioning, an appropriate strategy can be selected based on the positioning statistics and positioning error, which can improve positioning accuracy while avoiding unnecessary computational overhead.

[0105] Figure 6 This is a schematic diagram of a positioning device provided in an embodiment of this application.

[0106] like Figure 6 As shown, the device may include:

[0107] The first acquisition module 61 is used to acquire the positioning measurement information between the device to be positioned and the anchor point device at the target time.

[0108] The second acquisition module 62 is used to acquire the candidate position of the device to be located at the target time based on the positioning measurement information;

[0109] The first determining module 63 is used to determine the reference position of the device to be located at the target time from the candidate positions based on the degree of correlation between the candidate positions and the reference position of the device to be located at the first time, wherein the first time is before the target time;

[0110] The second determining module 64 is used to determine the target position of the device to be located based on the reference position of the device to be located at the target time.

[0111] Furthermore, in one implementation of this application embodiment, the positioning measurement information includes the velocity measurement result of the device to be positioned relative to the anchor point device at the target time, and the first determining module 63 is further used for:

[0112] For any reference position at the first time step, determine the position vector between it and the candidate position at the target time step;

[0113] Based on the velocity measurement results, determine the velocity vector;

[0114] The similarity between the position vector and the velocity vector is calculated to obtain the degree of correlation.

[0115] Reference positions are determined from candidate positions based on their relevance.

[0116] In one implementation of this application, the apparatus further includes:

[0117] The storage model is used to store the reference position at the target time, where the reference position at the target time is used to locate the device to be located at the second time, which is after the target time.

[0118] In one implementation of this application, the apparatus further includes:

[0119] The reading module is used to read the reference position of the device to be located at the first moment;

[0120] The reference position at the first moment is obtained by filtering the candidate positions of the device to be located at the first moment based on the correlation between the candidate positions of the device to be located at the first moment and the reference positions of the device to be located before the first moment. Alternatively, the reference position at the first moment is obtained by storing the reference positions of the device to be located at the first moment.

[0121] In one implementation of this application embodiment, the measurement information includes the distance measurement result between the device to be positioned and the anchor point device, and the second acquisition module 62 is further used for:

[0122] Obtain positioning statistics and positioning error at the first moment. The positioning statistics are used to indicate at least one of the number of times the device to be located has been located and the duration of continuous positioning.

[0123] If the positioning statistics and positioning error meet the first set conditions, based on the distance measurement results and the position of the anchor point device, obtain N candidate positions of the device to be positioned at the target time;

[0124] The first set condition includes at least one of the following: the positioning statistics data is less than a set data threshold and the positioning error is greater than a set error threshold. The distance between the candidate location and the anchor point device matches the distance measurement result. N is a positive integer.

[0125] In one implementation of this application embodiment, the second acquisition module 62 is further configured to:

[0126] On a circle centered on the location of the anchor point and with the distance measurement result as the radius, N candidate locations are obtained according to the set location selection rules.

[0127] In one implementation of this application embodiment, the measurement information includes the speed measurement result of the device to be positioned and the distance measurement result between the device to be positioned and the anchor point device. The second acquisition module 62 is further used for:

[0128] Obtain positioning statistics and positioning error at the first moment. The positioning statistics are used to indicate at least one of the number of times the device to be located has been located and the duration of continuous positioning.

[0129] If the positioning statistics and positioning error meet the second set conditions, the position is solved based on the velocity measurement results and distance measurement results to obtain the candidate position of the device to be positioned at the target time.

[0130] The second setting condition includes at least one of the following: the positioning statistics data is greater than or equal to a set data threshold and the positioning error is less than or equal to a set error threshold.

[0131] In one implementation of this application embodiment, the second acquisition module 62 is further configured to:

[0132] Based on the speed measurement results and distance measurement results, determine the angle of arrival corresponding to the device to be located;

[0133] Based on the velocity measurement results, determine the angle between the motion direction of the device to be positioned and the set direction;

[0134] Based on the distance measurement results, angle of arrival, and included angle, the position is solved using trigonometric functions to obtain the candidate position of the device to be located at the target time.

[0135] In one implementation of this application embodiment, the second determining module 64 is further configured to:

[0136] Based on the degree of relevance, the target reference position is obtained from the reference position at the target time;

[0137] Obtain the target location of the device to be located at the first moment;

[0138] Based on positioning measurement information, target reference position, and target position at the first moment, the target position of the device to be positioned is determined by setting a filtering algorithm.

[0139] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and will not be repeated here.

[0140] The positioning device proposed in this application acquires positioning measurement information between the device to be positioned and the anchor point device at a target time; based on the positioning measurement information, it acquires candidate positions of the device to be positioned at the target time; based on the correlation between the candidate positions and the reference position of the device to be positioned at a first time, it determines the reference position of the device to be positioned at the target time from the candidate positions, wherein the first time is prior to the target time; and based on the reference position of the device to be positioned at the target time, it determines the target position of the device to be positioned. By comparing the correlation between the candidate positions and the reference position at the first time, candidate positions that better match the movement trajectory of the device to be positioned can be filtered out, and positions that are obviously deviated or unreasonable can be excluded. Therefore, the positioning accuracy of the device to be positioned based on the reference position at the target time is relatively high.

[0141] To implement the above embodiments, this application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the foregoing method embodiments.

[0142] To implement the above embodiments, this application also provides a chip including a processing circuit, which is used to implement the method described in the foregoing method embodiments when executed.

[0143] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in the foregoing method embodiments.

[0144] To implement the above embodiments, this application also proposes a computer program product having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in the foregoing method embodiments.

[0145] Figure 7 This is a block diagram of an electronic device provided in an embodiment of this application. For example, the electronic device 700 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0146] Reference Figure 7 The electronic device 700 may include one or more of the following components: processing component 702, memory 704, power component 706, multimedia component 708, audio component 710, input / output (I / O) interface 712, sensor component 714, and communication component 716.

[0147] Processing component 702 typically controls the overall operation of electronic device 700, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 702 may include one or more modules to facilitate interaction between processing component 702 and other components. For example, processing component 702 may include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702.

[0148] Memory 704 is configured to store various types of data to support the operation of electronic device 700. Examples of this data include instructions for any application or method operating on electronic device 700, contact data, phonebook data, messages, pictures, videos, etc. Memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0149] Power component 706 provides power to various components of electronic device 700. Power component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 700.

[0150] Multimedia component 708 includes a screen that provides an output interface between the electronic device 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 708 includes a front-facing camera and / or a rear-facing camera. When the electronic device 700 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0151] Audio component 710 is configured to output and / or input audio signals. For example, audio component 710 includes a microphone (MIC) configured to receive external audio signals when electronic device 700 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 704 or transmitted via communication component 716. In some embodiments, audio component 710 also includes a speaker for outputting audio signals.

[0152] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0153] Sensor assembly 714 includes one or more sensors for providing state assessments of various aspects of electronic device 700. For example, sensor assembly 714 can detect the on / off state of electronic device 700, the relative positioning of components such as the display and keypad of electronic device 700, changes in position of electronic device 700 or a component of electronic device 700, the presence or absence of user contact with electronic device 700, orientation or acceleration / deceleration of electronic device 700, and temperature changes of electronic device 700. Sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 714 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 714 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0154] Communication component 716 is configured to facilitate wired or wireless communication between electronic device 700 and other devices. Electronic device 700 can access wireless networks based on communication standards, such as WiFi, 4G, or 5G, or combinations thereof. In one exemplary embodiment, communication component 716 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 716 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0155] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0156] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, which can be executed by a processor 720 of an electronic device 700 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0157] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0158] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0159] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0160] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0161] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0162] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0163] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0164] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A positioning method, characterized in that, include: Obtain positioning measurement information between the device to be positioned and the anchor point device at the target time; Based on the positioning measurement information, the candidate position of the device to be positioned at the target time is obtained; Based on the correlation between the candidate locations and the reference location of the device to be located at the first time, the reference location of the device to be located at the target time is determined from the candidate locations, wherein the first time is before the target time; The target position of the device to be located is determined based on the reference position of the device to be located at the target time. The positioning measurement information includes the velocity measurement results of the device to be positioned relative to the anchor point device at the target time. The step of determining the reference position of the device to be positioned at the target time from the candidate positions based on the correlation between the candidate positions and the reference position of the device to be positioned at the first time includes: For any reference position at the first time point, determine the position vector between it and the candidate position at the target time point; Based on the speed measurement results, the speed vector is determined; The similarity between the position vector and the velocity vector is calculated to obtain the degree of correlation. Based on the degree of relevance, the reference position is determined from the candidate positions.

2. The method as described in claim 1, characterized in that, The method further includes: The reference position of the target time is stored, wherein the reference position of the target time is used to locate the device to be located at a second time, the second time being after the target time.

3. The method as described in claim 1, characterized in that, The method further includes: The reference position of the device to be located at the first moment is obtained; The reference position at the first moment is obtained by filtering the candidate positions at the first moment based on the correlation between the candidate positions of the device to be located at the first moment and the reference positions of the device to be located before the first moment. Alternatively, the reference position at the first moment is obtained by storing the reference positions of the device to be located at the first moment.

4. The method as described in claim 1, characterized in that, The measurement information includes the distance measurement results between the device to be located and the anchor point device. Based on the positioning measurement information, obtaining the candidate position of the device to be located at the target time includes: The positioning statistics and the positioning error at the first moment are obtained, wherein the positioning statistics are used to indicate at least one of the number of times the device to be positioned has been located and the duration of continuous positioning; When the positioning statistics and the positioning error meet the first set condition, based on the distance measurement results and the position of the anchor point device, N candidate positions of the device to be positioned at the target time are obtained; The first set condition includes at least one of the following: the positioning statistics data is less than a set data threshold and the positioning error is greater than a set error threshold. The distance between the candidate location and the anchor point device matches the distance measurement result. N is a positive integer.

5. The method as described in claim 4, characterized in that, Based on the distance measurement results and the position of the anchor point device, the N candidate positions of the device to be located at the target time are obtained, including: On a circle centered at the location of the anchor point device and with the distance measurement result as the radius, N candidate locations are obtained according to the set location selection rules.

6. The method as described in claim 1, characterized in that, The measurement information includes the velocity measurement results of the device to be positioned and the distance measurement results between the device to be positioned and the anchor point device. Based on the positioning measurement information, obtaining the candidate position of the device to be positioned at the target time includes: The positioning statistics and the positioning error at the first moment are obtained, wherein the positioning statistics are used to indicate at least one of the number of times the device to be positioned has been located and the duration of continuous positioning; If the positioning statistics and the positioning error meet the second set condition, the position is solved based on the speed measurement result and the distance measurement result to obtain the candidate position of the device to be positioned at the target time. The second setting condition includes at least one of the following: the positioning statistics data is greater than or equal to a set data threshold and the positioning error is less than or equal to a set error threshold.

7. The method as described in claim 6, characterized in that, The step of calculating the position based on the velocity measurement results and the distance measurement results to obtain the candidate position of the device to be located at the target time includes: Based on the speed measurement results and the distance measurement results, the angle of arrival corresponding to the device to be located is determined; Based on the speed measurement results, the angle between the motion direction of the device to be positioned and the set direction is determined; Based on the distance measurement results, the angle of arrival, and the included angle, the position is solved using trigonometric functions to obtain the candidate position of the device to be located at the target time.

8. The method according to any one of claims 1-7, characterized in that, Determining the target location of the device to be located based on its reference location at the target time includes: Based on the degree of correlation, the target reference position is obtained from the reference position at the target time; Obtain the target position of the device to be located at the first moment; Based on the positioning measurement information, the target reference position, and the target position at the first moment, the target position of the device to be located is determined by setting a filtering algorithm.

9. A positioning device, characterized in that, include: The first acquisition module is used to acquire the positioning measurement information between the device to be positioned and the anchor point device at the target time. The second acquisition module is used to acquire the candidate position of the device to be located at the target time based on the positioning measurement information. A first determining module is configured to determine, based on the correlation between the candidate positions and the reference position of the device to be located at a first time, the reference position of the device to be located at the target time from the candidate positions, wherein the first time is prior to the target time; The second determining module is used to determine the target position of the device to be located based on the reference position of the device to be located at the target time. The positioning measurement information includes the velocity measurement results of the device to be positioned relative to the anchor point device at the target time. The first determining module is specifically used for: For any reference position at the first time point, determine the position vector between it and the candidate position at the target time point; Based on the speed measurement results, the speed vector is determined; The similarity between the position vector and the velocity vector is calculated to obtain the degree of correlation. Based on the degree of relevance, the reference position is determined from the candidate positions.

10. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: The steps of implementing the method according to any one of claims 1 to 8.

11. A chip, characterized in that, It includes a processing circuit, which is used to implement the method of any one of claims 1-8 when executed.

12. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a mobile terminal, enable an electronic device to perform the steps of the method of any one of claims 1 to 8.

13. A computer program product, characterized in that, It includes a computer program, which, when executed by a processor, implements the method of any one of claims 1 to 8.

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