Positioning method and device

Abstract

The invention discloses a positioning method and device, and relates to the technical field of Internet of Vehicles and communication, a central device can determine the position of a user based on energy information of each loudspeaker box device in a plurality of loudspeaker box devices deployed in an area where the user is located, which does not involve hardware devices adopted during positioning through image recognition. And hardware equipment involved in the positioning process is reduced. And meanwhile, the positioning complexity can be simplified.

Description

Positioning method and device Technical Field

[0001] The present application relates to the fields of vehicle networking and communication technology, and in particular to a positioning method and device. Background Art

[0002] An audio system generally consists of an audio source, an amplifier, and speakers. The audio source, for example, can include a video compact disc (VCD), digital video disc (DVD), compact disc (CD), television, or computer, providing the raw audio data. The amplifier generally performs functions such as power amplification and digital signal processing. The speakers receive the processed audio data via wired or wireless transmission and reproduce the sound.

[0003] Due to the propagation characteristics of sound waves, the space where the audio system is located creates a "perfect spot," the area with the best listening experience from the user's perspective. Therefore, when the user leaves this spot, the listening experience deteriorates, impairing the listening experience. To ensure that the user remains in this spot, image recognition or wearable smart devices are typically used to locate the user's position. However, this requires additional hardware, such as a camera.

[0004] Summary of the Invention

[0005] The present application provides a positioning method and apparatus, which reduces the hardware equipment involved in the positioning process and simplifies the positioning complexity.

[0006] In the first aspect, a positioning method is provided, including: a central device receives energy information from each of a plurality of speaker devices, the energy information being used to indicate the signal energy value obtained by the speaker device from measuring one or more other speaker devices in the plurality of speaker devices; the central device determines the position of a first user in a first area based on the energy information from each of the plurality of speaker devices, and the plurality of speaker devices are deployed in the first area. It can be seen that the central device determines the user's position based on the energy information from each of the plurality of speaker devices deployed in the area where the user is located. This does not involve the hardware equipment used for positioning through image recognition, and the user does not need to wear a smart wearable device, reducing the hardware equipment involved in the positioning process. At the same time, it can also simplify the complexity of positioning.

[0007] In combination with the first aspect, in one possible implementation, the central device receives energy information from each of the multiple speaker devices, including: the central device periodically receives energy information from each of the multiple speaker devices; or, the central device receives energy information from each of the multiple speaker devices at a preset time; or, the central device sends first information to each of the multiple speaker devices, and the first information is used to indicate the identification of one or more other speaker devices that each of the multiple speaker devices needs to measure. It can be seen that when the central device periodically receives energy information from each of the multiple speaker devices, this indicates that the central device does not need to repeatedly instruct each of the multiple speaker devices to measure the other one or more speaker devices, thereby saving signaling overhead; when the central device receives energy information from each of the multiple speaker devices at a preset time, this indicates that the central device does not need to instruct each of the multiple speaker devices to measure the other one or more speaker devices, thereby saving signaling overhead; when the central device sends the first information to each of the multiple speaker devices, this indicates that the central device can dynamically instruct each speaker device to dynamically indicate the identifiers of the other one or more speaker devices that need to be measured, thereby improving the flexibility of each speaker device in measuring the other one or more speaker devices.

[0008] In conjunction with the first aspect, in one possible implementation, the first information is further used to indicate a time for each of the multiple speaker devices to measure one or more other speaker devices. This time can be understood as, for example, a moment or a time period. This indicates that the hub device can dynamically indicate to each speaker device the time at which the other or more speaker devices need to be measured, thereby increasing the flexibility of each speaker device in measuring the other or more speaker devices.

[0009] In combination with the first aspect, in a possible implementation, the energy information is used to indicate the signal energy value obtained by the speaker device when measuring one or more other speaker devices among the multiple speaker devices, including: the energy information is used to indicate all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the maximum value of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the minimum value of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices. The energy information is used to indicate the average value of all signal energy values ​​measured by the speaker device; or, the energy information is used to indicate the index of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the median of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the average value of all signal energy values ​​measured by the speaker device for one or more other speaker devices. It can be seen that when energy information is used to indicate all signal energy values ​​or the index of all signal energy values ​​obtained by the speaker device for one or more other measurements, this makes the signal energy values ​​obtained by the central device sufficiently rich, so that the central device can determine the user's position more accurately based on the energy information from each of the multiple speaker devices deployed in the user's area, that is, the positioning accuracy can be improved. At the same time, when energy information is used to indicate the index of all signal energy values ​​obtained by the speaker device for one or more other measurements, the signaling overhead can be reduced; when energy information is used to indicate the maximum value, minimum value, median, average value, index of the maximum value, index of the minimum value, index of the median or index of the average value of all signal energy values ​​measured by the speaker device for one or more other speaker devices, the signaling overhead can be reduced.

[0010] In conjunction with the first aspect, in one possible implementation, a preset correspondence exists between the multiple energy information sent by the multiple speaker devices and the location of the first user. This allows the hub device to determine the user's location based on the energy information from each of the multiple speaker devices deployed in the user's area and the preset correspondence, simplifying positioning complexity.

[0011] In conjunction with the first aspect, in one possible implementation, the method further includes: the hub device obtaining the user's location; the hub device obtaining signal energy values ​​measured by multiple speaker devices corresponding to the user's location; wherein the preset correspondence is established by the hub device based on the user's location and the signal energy values ​​measured by the multiple speaker devices. This provides a way for the hub device to establish the preset correspondence, thereby enabling the hub device to determine the user's location based on energy information from each of the multiple speaker devices deployed in the user's area and the preset correspondence, simplifying positioning complexity.

[0012] In conjunction with the first aspect, in one possible implementation, the method further includes: the hub device acquiring first audio data; the hub device adjusting the spatial sound source position of the first audio data based on the position of the first user to obtain second audio data; and the hub device sending the second audio data to each of the multiple speaker devices. It can be seen that because the second audio data is the audio data obtained after the hub device adjusts the spatial sound source position of the first audio data based on the position of the first user, when each speaker device acquires the second audio data and plays the second audio data, the sound source in the audio can be reproduced in space, so that the user at the current position hears the sound as if it is coming from a virtual sound source, thereby improving the user experience.

[0013] In combination with the first aspect, in a possible embodiment, the method further includes: the central device obtains the third audio data and the user's historical movement trajectory; the central device adjusts the spatial sound source position of the third audio data according to the position of the first user and the user's historical movement trajectory to obtain the fourth audio data; the central device sends the fourth audio data to each speaker device in the multiple speaker devices. It can be seen that because the fourth audio data is the audio data obtained after the central device adjusts the spatial sound source position of the third audio data according to the position of the first user and the user's historical movement trajectory, each speaker device obtains the fourth audio data and plays the fourth audio data. The sound source in the audio can be reproduced in space, so that the user at the next position (the position is determined based on the user's current position and the user's historical movement trajectory) hears that the sound is emitted from a virtual sound source, thereby improving the user experience.

[0014] In combination with the first aspect, in a possible implementation, the user's historical movement trajectory includes at least one of the following: a historical movement trajectory of the user within a preset time, and a historical movement trajectory of the user with a walking number greater than or equal to a preset walking number.

[0015] On the second aspect, a positioning method is provided, including: a first speaker device located in a first area measures the signal energy value of one or more speaker devices among a plurality of speaker devices, and the plurality of speaker devices are deployed in the first area; the first speaker device sends energy information to a central device, and the energy information is used to indicate the signal energy value obtained by the first speaker device measuring the one or more speaker devices, and the energy information is also used to determine the position of the first user located in the first area. It can be seen that the speaker device can measure the signal energy value of one or more other speaker devices among the plurality of speaker devices deployed in the area where the user is located, so that the central device determines the user's position based on the energy information from each of the plurality of speaker devices deployed in the area where the user is located. This does not involve the hardware equipment used for positioning through image recognition, and the user does not need to wear a smart wearable device, which reduces the hardware equipment involved in the positioning process. At the same time, it can also simplify the complexity of positioning.

[0016] Optionally, the first speaker device located in the first area measures the signal energy value of one or more speaker devices among the multiple speaker devices. It can be understood that the first speaker device measures the signal energy value of one or more other speaker devices among the multiple speaker devices, that is, the first speaker device does not measure its own signal energy value by default.

[0017] In combination with the second aspect, in one possible embodiment, the first speaker device sends energy information to the central device, including: the first speaker device periodically sends energy information to the central device; or, the first speaker device sends energy information to the central device at a preset time; or, the first speaker device receives first information from the central device, and the first information is used to indicate the identifiers of one or more speaker devices that the first speaker device needs to measure. It can be seen that when the first speaker device periodically sends energy information to the central device, this indicates that the first speaker device does not need to repeatedly receive instructions from the central device to measure one or more other speaker devices, thereby saving signaling overhead; when the first speaker device sends energy information to the central device at a preset time, this indicates that the first speaker device does not need to receive instructions from the central device to measure one or more other speaker devices, thereby saving signaling overhead; when the first speaker device receives the first information from the central device, this indicates that the central device can dynamically indicate the identifiers of one or more other speaker devices that the first speaker device needs to measure, thereby improving the flexibility of the first speaker device in measuring one or more other speaker devices.

[0018] In conjunction with the second aspect, in one possible implementation, the first information is further used to instruct the first speaker device to measure the time of one or more speaker devices. This indicates that the hub device can dynamically instruct the first speaker device to measure the time of one or more other speaker devices, thereby increasing the flexibility of the first speaker device in measuring the other one or more speaker devices.

[0019] In combination with the second aspect, in a possible implementation, the energy information is used to indicate the signal energy value obtained by the first speaker device when measuring one or more speaker devices among the multiple speaker devices, including: the energy information is used to indicate all signal energy values ​​obtained by the first speaker device when measuring one or more speaker devices; or, the energy information is used to indicate the maximum value of all signal energy values ​​obtained by the first speaker device when measuring one or more speaker devices; or, the energy information is used to indicate the minimum value of all signal energy values ​​obtained by the first speaker device when measuring one or more speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the first speaker device when measuring one or more speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the first speaker device when measuring one or more speaker devices. The energy information is used to indicate the average value of all signal energy values ​​measured by multiple speaker devices; or, the energy information is used to indicate the index of all signal energy values ​​measured by the first speaker device on one or more speaker devices; or, the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the first speaker device on one or more speaker devices; or, the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the first speaker device on one or more speaker devices; or, the energy information is used to indicate the index of the median of all signal energy values ​​measured by the first speaker device on one or more speaker devices; or, the energy information is used to indicate the index of the average value of all signal energy values ​​measured by the first speaker device on one or more speaker devices. It can be seen that when the energy information is used to indicate all signal energy values ​​or the index of all signal energy values ​​measured by the first speaker device for one or more speaker devices, this makes the signal energy values ​​obtained by the central device sufficiently rich, so that the central device can determine the user's position more accurately based on the energy information from each speaker device in the multiple speaker devices deployed in the user's area, that is, the positioning accuracy can be improved. At the same time, when the energy information is used to indicate the index of all signal energy values ​​measured by the first speaker device for one or more speaker devices, the signaling overhead can be reduced; when the energy information is used to indicate the maximum value, minimum value, median, average value, index of the maximum value, index of the minimum value, index of the median or index of the average value of all signal energy values ​​measured by the first speaker device for one or more speaker devices, the signaling overhead can be reduced.

[0020] According to a third aspect, a control device is provided, which includes a transceiver unit and a processing unit. The transceiver unit is used to receive energy information from each speaker device among a plurality of speaker devices, where the energy information is used to indicate a signal energy value obtained by the speaker device by measuring one or more other speaker devices among the plurality of speaker devices; the processing unit is used to determine a position of a first user located in a first area based on the energy information from each speaker device among the plurality of speaker devices, where the plurality of speaker devices are deployed in the first area.

[0021] In combination with the third aspect, in one possible embodiment, when receiving energy information from each speaker device in a plurality of speaker devices, the transceiver unit is used to periodically receive energy information from each speaker device in a plurality of speaker devices; or, the transceiver unit is used to receive energy information from each speaker device in a plurality of speaker devices at a preset time; or, the transceiver unit is used to send first information to each speaker device in a plurality of speaker devices, the first information being used to indicate the identification of one or more other speaker devices that each speaker device in a plurality of speaker devices needs to measure.

[0022] In combination with the third aspect, in one possible implementation, the first information is further used to instruct each speaker device in the plurality of speaker devices to measure the time of one or more other speaker devices.

[0023] In combination with the third aspect, in a possible implementation, the energy information is used to indicate the signal energy value obtained by the speaker device when measuring one or more other speaker devices among the multiple speaker devices, including: the energy information is used to indicate all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the maximum value of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the minimum value of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the speaker device when measuring one or more other speaker devices. The energy information is used to indicate the average value of all signal energy values ​​measured by the speaker device; or, the energy information is used to indicate the index of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the median of all signal energy values ​​measured by the speaker device for one or more other speaker devices; or, the energy information is used to indicate the index of the average value of all signal energy values ​​measured by the speaker device for one or more other speaker devices.

[0024] In combination with the third aspect, in a possible implementation, there is a preset correspondence between the multiple pieces of energy information sent by the multiple speaker devices and the position of the first user.

[0025] In combination with the third aspect, in one possible embodiment, the transceiver unit is also used to obtain the user position; the transceiver unit is also used to obtain the signal energy values ​​measured by multiple speaker devices corresponding to the user position; the processing unit is also used to establish a preset correspondence based on the user position and the signal energy values ​​measured by multiple speaker devices.

[0026] In combination with the third aspect, in one possible implementation, the transceiver unit is also used to obtain first audio data; the processing unit is also used to adjust the spatial sound source position of the first audio data according to the position of the first user to obtain second audio data; the transceiver unit is also used to send the second audio data to each speaker device in the multiple speaker devices.

[0027] In combination with the third aspect, in one possible implementation, the transceiver unit is also used to obtain third audio data and the user's historical movement trajectory; the processing unit is also used to adjust the spatial sound source position of the third audio data according to the position of the first user and the user's historical movement trajectory to obtain fourth audio data; the transceiver unit is also used to send the fourth audio data to each speaker device in the multiple speaker devices.

[0028] In conjunction with the third aspect, in a possible implementation, the user's historical movement trajectory includes at least one of the following: a historical movement trajectory of the user within a preset time, and a historical movement trajectory of the user with a walking number greater than or equal to a preset walking number.

[0029] In a fourth aspect, a processing device is provided, which includes a processing unit and a transceiver unit. The processing unit is used to measure the signal energy value of one or more speaker devices among multiple speaker devices, and the multiple speaker devices are deployed in a first area; the transceiver unit is used to send energy information to a central device, and the energy information is used to indicate the signal energy value obtained by the first speaker device measuring the one or more speaker devices. The energy information is also used to determine the position of the first user in the first area.

[0030] In combination with the fourth aspect, in one possible embodiment, when sending energy information to the central device, the transceiver unit is used to: periodically send energy information to the central device; or, send energy information to the central device at a preset time; or, receive first information from the central device, the first information being used to indicate the identification of one or more speaker devices that the first speaker device needs to measure.

[0031] In combination with the fourth aspect, in one possible implementation, the first information is further used to instruct the first speaker device to measure time of one or more speaker devices.

[0032] In combination with the fourth aspect, in a possible implementation, the energy information is used to indicate the signal energy value obtained by the first speaker device measuring one or more speaker devices, including: the energy information is used to indicate all signal energy values ​​obtained by the first speaker device measuring one or more speaker devices; or, the energy information is used to indicate the maximum value of all signal energy values ​​obtained by the first speaker device measuring one or more speaker devices; or, the energy information is used to indicate the minimum value of all signal energy values ​​obtained by the first speaker device measuring one or more speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the first speaker device measuring one or more speaker devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the first speaker device measuring one or more speaker devices. The energy information is used to indicate the average value of all signal energy values ​​measured by the first speaker device for one or more speaker devices; or, the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the first speaker device for one or more speaker devices; or, the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the first speaker device for one or more speaker devices; or, the energy information is used to indicate the index of the median of all signal energy values ​​measured by the first speaker device for one or more speaker devices; or, the energy information is used to indicate the index of the average value of all signal energy values ​​measured by the first speaker device for one or more speaker devices.

[0033] In a fifth aspect, a vehicle is provided, comprising the hub device described in any one of the first aspect or the speaker device described in any one of the second aspect.

[0034] In a possible implementation, the vehicle may be a car, a truck, a bus, a ship, an airplane, a helicopter, a tram, a golf cart, etc., and the present application embodiment does not impose any particular limitation.

[0035] In the sixth aspect, a chip system is provided, which includes at least one processor, a memory and an interface circuit, wherein the interface circuit is used to provide information input / output for the at least one processor, and the memory stores a computer program. When the computer program runs on one or more processors, it implements any one of the methods in the first to second aspects.

[0036] In a seventh aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium. When the computer program runs on one or more processors, the method as described in any one of the first aspect or the second aspect is implemented.

[0037] In an eighth aspect, a computer program product is provided. When the computer program product runs on one or more processors, it implements the method as described in any one of the first aspect or the second aspect.

[0038] In a ninth aspect, a positioning system is provided, comprising a hub device and a speaker device, wherein the hub device is used to implement the method as described in any one of the first aspects, and the speaker device is used to implement the method as described in any one of the second aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following is a brief introduction to the drawings required for describing the embodiments.

[0040] FIG1 is a schematic diagram of a positioning system provided in an embodiment of the present application;

[0041] FIG2A is a schematic diagram of a smart home wireless communication scenario provided by an embodiment of the present application;

[0042] FIG2B is a schematic diagram of an in-vehicle communication scenario provided by an embodiment of the present application;

[0043] FIG3 is a flow chart of a positioning method provided in an embodiment of the present application;

[0044] FIG4 is a schematic diagram of a speaker device measuring signal energy value provided by an embodiment of the present application;

[0045] FIG5 is a schematic structural diagram of a device 50 provided in an embodiment of the present application;

[0046] FIG6 is a schematic structural diagram of a vehicle 60 provided in an embodiment of the present application;

[0047] FIG7 is a schematic structural diagram of a device 70 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] For ease of understanding, the following examples provide some explanations of concepts related to the embodiments of the present application for reference.

[0049] The head-related transfer function (HRTF) is a sound localization algorithm. The signal transmitted from any point in space to the human ear (in front of the eardrum) can be described by a filtering system. The sound source + filter produces the sound signal in front of both eardrums. Typically, we don't need to worry about how the sound is transmitted to the ears; we only need to focus on the difference between the sound source and the binaural signal. By obtaining the filter (transfer function) that describes this spatial information, or HRTF, we can reconstruct the sound signal originating from that spatial location. The spatial sound source position can be understood as the location of the virtual sound source.

[0050] The following describes the system architecture and business scenarios of the embodiments of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by this application are equally applicable to similar technical problems.

[0051] Refer to Figure 1, which is a schematic diagram of a positioning system provided in an embodiment of the present application. The positioning system may include a first device and a second device. Specifically:

[0052] The first device is an electronic device with data processing and data receiving and transmitting capabilities. For example, the first device can receive energy information from each of multiple second devices (energy information is used to indicate the signal energy value obtained by the speaker device measuring one or more other speaker devices in the multiple speaker devices), and determine the user's position based on the energy information from each of the multiple second devices. For example, the first device can process audio data, etc. Optionally, the first device can also be called a hub device.

[0053] The second device is an electronic device with data processing and data transceiving capabilities. For example, the second device can send energy information to the first device. Optionally, the second device can also be an electronic device with audio data playback capabilities. For example, the second device can also receive and play audio data from the first device. There can be multiple second devices (such as second device 1 to second device n in Figure 1, where n is an integer greater than or equal to 2). Multiple second devices can be deployed in the first area, such as multiple second devices can be deployed at different locations in the first area. In one possible embodiment, the first area can be, for example, one or more rooms. When the first area is multiple rooms, each of the multiple rooms can be deployed with one or more of the multiple second devices. In another possible embodiment, the first area can be, for example, within a vehicle. In other words, the multiple second devices can be deployed at different locations within the vehicle. It should be understood that in this application, the multiple second devices can be devices of the same type with data processing, data transceiving, and audio data playback capabilities, such as multiple second devices are all speaker devices; or, the multiple second devices can be devices of different types with data processing and data transceiving capabilities, but at least two of the multiple second devices also have audio data playback capabilities. Optionally, when the second device is an electronic device with data processing capabilities, data receiving and sending capabilities, and audio data playback capabilities, the first device can also control the orientation of the second device according to the user's position so that the audio data played by the second device is aimed at the user.

[0054] It should be noted that in the present application, the first device and the second device can be integrated into the same device, or can be independent devices, which is not limited here.

[0055] The communication link between the first device and the second device, etc., can be, for example, various types of media, specifically a wired link, a wireless link, or a combination of a wired link and a wireless link, etc. The communication link between multiple second devices can be, for example, a wireless link. The wired link can be, for example, an Ethernet-based bus, or one or more of a controller area network (CAN) bus, a local interconnect network (LIN), a media oriented system transport (MOST), a FlexRay bus, etc. The wireless link may be, for example, a short-range connection technology, including 802.11b / g, Bluetooth, Zigbee, in-vehicle short-range wireless communication technology, SparkLink Alliance communication technology, etc. Another example may be a long-range connection technology including the global system for mobile communications (GSM), the abbreviation of general packet radio service (GPRS), the universal mobile telecommunications system (UMTS), a communication technology based on long term evolution (LTE), the fifth generation mobile communication technology (5th generation mobile networks or 5th generation wireless systems, 5th-Generation, referred to as 5G or 5G technology), in-vehicle wireless communication technology, etc. Of course, it is not ruled out that other technologies can be used to support communication between the first device and the second device, etc.

[0056] Optionally, the system architecture shown in FIG1 can be applied to a smart home scenario. Referring to FIG2A , FIG2A is a schematic diagram of a smart home wireless communication scenario provided in an embodiment of the present application. In FIG2A , a large screen, a speaker device, a router, and a smart desk lamp are deployed in the room. The first device may be, for example, a router, or a gateway / customer premises equipment (CPE) not shown in FIG2A , a mobile phone, a large screen, a tablet computer, a PDA, a desktop computer, a wearable device, a virtual reality device, an augmented reality device, a whole-house smart host, an access point (AP) or a server, etc. The second device may be, for example, a speaker device, a large screen or a smart desk lamp, or a mobile phone, a tablet computer, a PDA, a desktop computer, a wearable device, a virtual reality device, an augmented reality device, a terminal in a smart home, or a station (ST) in a wireless local area network (WLAN), etc. not shown in FIG2A .

[0057] Optionally, the system architecture shown in Figure 1 can be applied to in-vehicle communication scenarios. Referring to Figure 2B, Figure 2B is a schematic diagram of an in-vehicle communication scenario provided in an embodiment of the present application. In 2-1 of Figure 2B, the first device can be, for example, a car machine or a large screen in a vehicle; the second device can be, for example, a speaker device or a positioning anchor point in a vehicle, and the positioning anchor point can be, for example, a wireless communication device for establishing a communication link with a car key, and the communication link can be, for example, ultra-wide band (UWB) communication technology, Bluetooth, ZigBee, in-vehicle short-range wireless communication technology, infrared communication, WiFi communication, near field communication (NFC), in-vehicle short-range wireless communication technology or, SparkLink Alliance communication technology, etc. It should be understood that the position of the speaker device and the position of the positioning anchor point in 2-1 of Figure 2B are examples. In the embodiment of the present application, the position of the speaker device and the position of the positioning anchor point are not specifically limited, such as the speaker device and the positioning anchor point can also be located near the door of the vehicle, near the central control screen, ceiling, floor, seat (for example, on the pillow of the seat), etc. In 2-2 of FIG. 2B , the first device may be, for example, a server, and the second device may be, for example, a speaker device or a positioning anchor point in a vehicle. The server may be a cloud, which may include a cloud server and / or a cloud virtual machine. The server may communicate with the vehicle to provide various services to the vehicle, such as receiving energy information from each of a plurality of second devices in the vehicle to determine the location of the first user in the vehicle based on the energy information from each of the plurality of second devices in the vehicle, or processing audio data.

[0058] It is understandable that this application does not limit the specific forms of the first device and the second device.

[0059] Referring to Figure 3, Figure 3 is a flow chart of a positioning method provided by an embodiment of the present application. This method does not involve the hardware equipment used for positioning through image recognition, and the user does not need to wear a smart wearable device, thus reducing the hardware equipment involved in the positioning process. At the same time, it can also simplify the positioning complexity. The method includes but is not limited to the following steps:

[0060] 301. A second device located in a first area measures signal energy values ​​of other second devices except the second device.

[0061] In the present application, the signal energy value is the result of measuring the signal quality or signal energy based on the wireless signal. The wireless signal can be, for example, a reference signal, which can be used for channel measurement or channel estimation, such as a channel state information reference signal (CSI-RS), a phase tracking reference signal (PTRS), a demodulation reference signal (DMRS), a sounding reference signal (SRS), a positioning reference signal (PRS) or a synchronization signal block (SSB). The signal energy value can, for example, include at least one of the following: reference signal received power (RSRP), reference signal received quality (RSRQ), and received signal strength indicator (RSSI). The meaning of the above terms can, for example, refer to the provisions of the protocol or standard of the communication technology adopted by the communication link.

[0062] Among them, step 301 can be understood as, for example, that the second device receives wireless signals from other second devices, and based on the wireless signals from the other second devices, measures the signal energy values ​​of the other second devices respectively. Optionally, the number of other second devices can be one or more. Exemplarily, refer to Figure 4, which is a schematic diagram of a speaker device measuring signal energy values ​​provided in an embodiment of the present application. As shown in Figure 4, speaker device 1 can receive wireless signals from speaker device 2, speaker device 3 and speaker device 4, and based on the wireless signals from speaker device 2, speaker device 3 and speaker device 4, measures the signal energy values ​​of speaker device 2, speaker device 3 and speaker device 4 respectively. Speaker device 2 can receive wireless signals from speaker device 1, speaker device 3 and speaker device 4, and based on the wireless signals from speaker device 1, speaker device 3 and speaker device 4, measures the signal energy values ​​of speaker device 1, speaker device 3 and speaker device 4 respectively. Speaker device 3 can receive wireless signals from speaker device 1, speaker device 2, and speaker device 4, and measure the signal energy values ​​of speaker device 1, speaker device 2, and speaker device 4 based on the wireless signals from speaker device 1, speaker device 2, and speaker device 4. Speaker device 4 can receive wireless signals from speaker device 1, speaker device 2, and speaker device 3, and measure the signal energy values ​​of speaker device 1, speaker device 2, and speaker device 3 based on the wireless signals from speaker device 1, speaker device 2, and speaker device 3.

[0063] In a possible implementation, different second devices among the multiple second devices may measure signal energy values ​​of other second devices among the multiple second devices that are completely identical, partially identical, or completely identical. For example, speaker device 1 to speaker device 3 all measure the signal energy values ​​of speaker device 4, while speaker device 4 does not measure. That is to say, the speaker devices measured by speaker device 1 to speaker device 3 are exactly the same; for another example, speaker device 1 can measure the signal energy values ​​of speaker device 2 to speaker device 4, speaker device 2 can measure the signal energy values ​​of speaker device 1, speaker device 3 and speaker device 4, speaker device 3 can measure the signal energy values ​​of speaker device 1, speaker device 2 and speaker device 4, and speaker device 4 can measure the signal energy values ​​of speaker device 1 to speaker device 3. That is to say, the speaker devices measured by speaker device 1 to speaker device 4 are partially the same; for another example, speaker device 1 can measure the signal energy value of speaker device 2, speaker device 2 can measure the signal energy values ​​of speaker device 1, speaker device 3 and speaker device 4, while speaker device 3 and speaker device 4 do not measure. That is to say, the speaker devices measured by speaker device 1 and speaker device 2 are completely different.

[0064] Optionally, the method may further include step 302 .

[0065] 302. A first device receives energy information from multiple second devices. Accordingly, the multiple second devices send energy information to the first device, such as each of the multiple second devices sends energy information to the first device.

[0066] The first device receives energy information from multiple second devices in at least three ways:

[0067] Method 1.1: The first device periodically receives energy information from each of the multiple second devices. Accordingly, each of the multiple second devices periodically sends energy information to the first device. In one possible embodiment, each of the multiple second devices sends energy information to the first device according to a preset period. The preset period can be, for example, instructed by the first device to each of the multiple second devices or can be predefined. This means that the first device does not need to repeatedly instruct each of the multiple second devices to measure one or more other second devices, thus saving signaling overhead.

[0068] Method 1.2: The first device receives energy information from each of the multiple second devices at a preset time. In response, each of the multiple second devices sends the energy information to the first device at the preset time. In one possible implementation, the preset time can be, for example, instructed by the first device to each of the multiple second devices, or can be predefined. This means that the first device does not need to instruct each of the multiple second devices to measure one or more other second devices, thus reducing signaling overhead.

[0069] Method 1.3: The first device sends first information to each of the multiple second devices. Accordingly, each of the multiple second devices receives the first information from the first device. The first information is used to indicate the identifiers of the other one or more second devices that each of the multiple second devices needs to measure. Optionally, the first information can also be used to indicate the time when each of the multiple second devices measures the other one or more second devices. The time can be understood as a moment or a time period. When the time when each of the multiple second devices measures the other one or more second devices is understood as a time period, each of the multiple second devices can, for example, send a wireless signal at intervals within the time period and receive wireless signals from the other one or more second devices. Based on the wireless signals from the other one or more second devices, the signal energy values ​​of the other one or more second devices are further measured. This shows that the first device can dynamically indicate the identifiers of the other one or more second devices that each second device needs to measure, and can also dynamically indicate the time when each second device needs to measure the other one or more second devices, thereby improving the flexibility of each second device in measuring the other one or more second devices.

[0070] Optionally, the amount of energy information sent by the second device may be one. Specifically, when the amount of energy information sent by the second device is one, the energy information may be used to indicate the signal energy value obtained by the second device when measuring one or more other second devices. In one possible implementation, the energy information is used to indicate the signal energy value obtained by the second device when measuring one or more other second devices, which may be understood, for example, in any of the following ways:

[0071] Method 2.1: Energy information is used to indicate all signal energy values ​​measured by the second device on one or more other devices. For example, the energy information sent by speaker device 1 in Figure 4 can be used to indicate the signal energy value measured by speaker device 1 on speaker device 2, and the signal energy value measured by speaker device 1 on speaker device 3.

[0072] Mode 2.2: The energy information is used to indicate the maximum value, minimum value, median value, or average value of all signal energy values ​​obtained by the second device measuring one or more other second devices.

[0073] Mode 2.3: The energy information is used to indicate the indexes of all signal energy values ​​obtained by the second device through measurement of one or more other second devices.

[0074] Mode 2.4: The energy information is used to indicate the index of the maximum value of all signal energy values ​​obtained by the second device when measuring one or more other second devices.

[0075] Mode 2.5: The energy information is used to indicate the index of the minimum value of all signal energy values ​​obtained by the second device measuring one or more other second devices.

[0076] Mode 2.6: The energy information is used to indicate the index of the median of all signal energy values ​​obtained by the second device when measuring one or more other second devices.

[0077] Mode 2.7: The energy information is used to indicate an index of an average value of all signal energy values ​​obtained by the second device when measuring one or more other second devices.

[0078] As can be seen, with either Method 2.1 or Method 2.3, the signal energy values ​​obtained by the first device can be sufficiently rich, enabling the first device to more accurately determine the user's location based on the energy information from the second device deployed in the user's area, thereby improving positioning accuracy. With any of Methods 2.2 and 2.4 through 2.7, signaling overhead can be reduced.

[0079] Optionally, the index in methods 2.3 to 2.7 can be understood as, for example, the index of the signal energy value, or the index corresponding to the signal energy value range to which the signal energy value belongs. Specifically, when the energy information is used to indicate the index of all signal energy values ​​measured by the second device for one or more other second devices, the index of all signal energy values ​​can be understood as the index of each signal energy value among all signal energy values, or the index corresponding to the signal energy value range to which each signal energy value among all signal energy values ​​belongs. When the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the second device for one or more other second devices, the index of the maximum value of all signal energy values ​​can be understood as the index of the maximum value of all signal energy values, or the index corresponding to the signal energy value range to which the maximum value of all signal energy values ​​belongs. When the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the second device for one or more other second devices, the index of the minimum value of all signal energy values ​​can be understood as the index of the minimum value of all signal energy values, or the index corresponding to the signal energy value range to which the minimum value of all signal energy values ​​belongs. When the energy information is used to indicate the index of the median of all signal energy values ​​measured by the second device for one or more other second devices, the index of the median of all signal energy values ​​can be understood as: the index of the median of all signal energy values, or the index corresponding to the range of signal energy values ​​to which the median of all signal energy values ​​belongs. When the energy information is used to indicate the index of the average of all signal energy values ​​measured by the second device for one or more other second devices, the index of the average of all signal energy values ​​can be understood as: the index of the average of all signal energy values, or the index corresponding to the range of signal energy values ​​to which the average of all signal energy values ​​belongs.

[0080] In one possible embodiment, the correspondence between at least one signal energy value and at least one index of the signal energy value can be predefined in the first device and the second device, such as the correspondence is predefined in the first device and the second device in the order of the index of the signal energy value from small to large or from large to small; or, the correspondence can be indicated by the first device to the second device, etc. Optionally, the correspondence can be in a tabular form, for example. It should be understood that the following is only an example and is not limited to the tabular form, and can be any row and / or any column therein. For example, in Table 1, the signal energy value is 1dBm, its index is 0; the signal energy value is 2dBm, its index is 1; the signal energy value is 3dBm, its index is 2; the signal energy value is 4dBm, its index is 3.

[0081] Table 1

[0082] Signal energy value index 1dBm02dBm13dBm2

[0083] 4dBm3

[0084] In one possible embodiment, the correspondence between at least one signal energy value range and at least one index of the signal energy value range can be predefined in the first device and the second device, such as predefined in the first device and the second device according to the order of the signal energy value range index from small to large or from large to small; or, the correspondence can be indicated by the first device to the second device, etc. The signal energy value range to which the signal energy value belongs may include an interval determined by a maximum signal energy value and a minimum signal energy value. The signal energy value range may also include or exclude boundary points, such as the maximum signal energy value and / or the minimum signal energy value, without limitation herein. Optionally, the correspondence can be in tabular form, for example. It should be understood that the following is merely an example and is not limited to a tabular form; any row and / or column thereof can be used. For example, in Table 2, the signal energy value range is [1, 2], and its corresponding index is 0; the signal energy value range is [3, 4], and its corresponding index is 1. In other words, Table 2 contains the correspondence between the signal energy value range and the index of the signal energy value range. Optionally, the correspondence may further include at least one signal energy value belonging to each signal energy value range in at least one signal energy value range. For example, in Table 3, the signal energy value range to which 1dBm and 2dBm belong is [1,2], and the index corresponding to [1,2] is 0; the signal energy value range to which 3dBm and 4dBm belong is [3,4], and the index corresponding to [3,4] is 1. In other words, Table 3 contains the correspondence between the signal energy value, the signal energy value range to which the signal energy value belongs, and the index of the signal energy value range.

[0085] Table 2

[0086] Signal energy value range index [1,2]0[3,4]1

[0087] Table 3

[0088]

[0089] Optionally, the number of energy information sent by the second device can be multiple. Specifically, when the number of energy information sent by the second device is multiple, in one possible embodiment, each energy information in the multiple energy information can be used to indicate the signal energy value obtained by the second device measuring another second device among the multiple second devices, and the signal energy values ​​indicated by different energy information in the multiple energy information are the signal energy values ​​obtained by the second device measuring different second devices among the multiple second devices. For example, the energy information 1 sent by the speaker device 1 in Figure 4 is used to indicate the signal energy value measured by the speaker device 1 for the speaker device 2, the energy information 2 sent by the speaker device 1 is used to indicate the signal energy value measured by the speaker device 1 for the speaker device 3, and the energy information 3 sent by the speaker device 1 is used to indicate the signal energy value measured by the speaker device 1 for the speaker device 4. In another possible embodiment, one energy information among the multiple energy information can be used to indicate the signal energy value obtained by the second device when measuring another second device among the multiple second devices, and another energy information among the multiple energy information can be used to indicate the signal energy value obtained by the second device when measuring the remaining second devices among the multiple second devices, such as the energy information 3 sent by the speaker device 1 in Figure 4 is used to indicate the signal energy value obtained by the speaker device 1 when measuring the speaker device 2, and the energy information 4 sent by the speaker device 1 is used to indicate the signal energy value obtained by the speaker device 1 when measuring the speaker device 3 and the speaker device 4. The above are just some examples, and can also be a combination of the above-mentioned various implementation methods, which are not given one by one here. It should be noted that when the number of energy information sent by the second device is multiple, the signal energy value indicated by each energy information in the multiple energy information can, for example, refer to any one of the methods 2.1 to 2.7, which will not be repeated here.

[0090] In a possible implementation, the amount of energy information sent by different second devices among the multiple second devices may be the same or different, which is not limited here.

[0091] Optionally, the method may further include step 303 .

[0092] 303. The first device determines a location of a first user located in the first area based on energy information from multiple second devices.

[0093] Optionally, a preset correspondence exists between the multiple energy information sent by the multiple speaker devices and the first user's location. That is, the first device can determine the first user's location within the first area based on the preset correspondence and the energy information from the multiple second devices. This allows the hub device to determine the user's location based on the energy information from each of the multiple speaker devices deployed in the user's area and the preset correspondence, simplifying positioning complexity.

[0094] Optionally, the method may further include: obtaining, by the first device, the user's location; obtaining, by the first device, signal energy values ​​measured by multiple second devices corresponding to the user's location; wherein the preset correspondence is established by the first device based on the user's location and the signal energy values ​​measured by the multiple second devices. This provides a way for the first device to establish the preset correspondence, thereby enabling the first device to determine the user's location based on energy information from each of the multiple second devices deployed in the user's area and the preset correspondence, thereby simplifying positioning complexity.

[0095] The first device obtains the user location in at least two ways:

[0096] Method 3.1. The first device receives a user location from a terminal device deployed in a first area. The terminal device may be, for example, a handheld device, a vehicle-mounted device, a mobile phone, a tablet computer, a computer with wireless transceiver function (such as a laptop, a PDA, etc.), a mobile Internet device (MID), a virtual reality (VR) device, an augmented reality (AR) device, a terminal device in an Internet of Things (IoT) system, a wearable device (such as wireless headphones, watches, bracelets, smart glasses, etc.), a terminal in a smart grid, a terminal in transportation safety, a terminal in a smart city, a terminal in a smart home, a terminal device in a 5G network, or a terminal device in a future evolved public land mobile communication network (PLMN), etc.

[0097] Method 3.2: The first device receives image information from a sensor deployed in the first area and determines the user's location based on the image information. The sensor may be a camera, for example.

[0098] In one possible embodiment, the method may further include: the first device obtains first audio data; the first device adjusts the spatial sound source position of the first audio data according to the position of the first user to obtain second audio data; when multiple second devices are all speaker devices, the first device sends the second audio data to each of the multiple second devices; when at least two of the multiple second devices are speaker devices, the first device sends the second audio data to each of the at least two second devices. It should be noted that when the speaker device obtains the second audio data, it can also play the second audio data. It can be seen that because the second audio data is the audio data obtained after the first device adjusts the spatial sound source position of the first audio data according to the position of the first user, when each second device obtains the second audio data and plays the second audio data, the sound source in the audio can be reproduced in space, so that the user at the current position hears the sound as if it is coming from a virtual sound source, thereby improving the user experience.

[0099] Optionally, the first device adjusts the spatial sound source position of the first audio data based on the position of the first user to obtain the second audio data. For example, the first device processes the spatial sound source position of the first audio data and the position of the first user based on the HRTF to determine the positional relationship between the spatial sound source of the first audio data and the first user, and adjusts the spatial sound source position of the first audio data or the volume of the first audio data based on the positional relationship between the spatial sound source position of the first audio data and the first user to obtain the second audio data. In one possible embodiment, when the multiple second devices are all speaker devices, the first device may further send the time when the second audio data is played to each of the multiple second devices; when at least two of the multiple second devices are speaker devices, the first device may further send the time when the second audio data is played to each of the at least two second devices. In another possible embodiment, when the multiple second devices are all speaker devices, the first device may further send a delay time for playing the second audio data to each of the multiple second devices; when at least two of the multiple second devices are speaker devices, the first device may further send a delay time for playing the second audio data to each of the at least two second devices. That is to say, the moment when the speaker device plays the second audio data can be determined according to the delay time of the speaker device playing the second audio data.

[0100] In another possible embodiment, the method further includes: the first device obtaining third audio data and a user's historical movement trajectory; the first device adjusting the spatial sound source position of the third audio data based on the first user's location and the user's historical movement trajectory to obtain fourth audio data; when the plurality of second devices are all speaker devices, the first device sending the fourth audio data to each of the plurality of second devices; when at least two of the plurality of second devices are speaker devices, the first device sending the fourth audio data to each of the at least two second devices. It should be noted that when the speaker device obtains the fourth audio data, it may also play the fourth audio data.

[0101] Among them, the user's historical movement trajectory includes at least one of the following: the user's historical movement trajectory within a preset time, and the user's historical movement trajectory with a walking number greater than or equal to the preset walking number. The preset time can be, for example, the morning of a certain day, month or year, or the afternoon of a certain day, month or year, or the evening of a certain day, month or year, etc. It can be seen that because the fourth audio data is the audio data obtained by the first device after adjusting the spatial sound source position of the third audio data according to the position of the first user and the user's historical movement trajectory, each second device obtains the fourth audio data and plays the fourth audio data. The sound source in the audio can be reproduced in space, so that the user at the next position (the position is determined based on the user's current position and the user's historical movement trajectory) hears that the sound is emitted from a virtual sound source, thereby improving the user experience.

[0102] Optionally, the first device adjusts the spatial sound source position of the third audio data based on the first user's location and the user's historical movement trajectory to obtain fourth audio data. This can be understood as: the first device predicts the first user's future location based on the first user's location and the user's historical movement trajectory, and adjusts the spatial sound source position of the third audio data based on the first user's future location to obtain fourth audio data. The first device adjusts the spatial sound source position of the third audio data based on the first user's future location to obtain fourth audio data. For example, the first device processes the spatial sound source position of the third audio data and the first user's future location based on the HRTF to determine the positional relationship between the spatial sound source of the third audio data and the first user, and adjusts the spatial sound source position or volume of the third audio data based on the positional relationship between the spatial sound source of the third audio data and the first user to obtain fourth audio data. In one possible embodiment, when all of the multiple second devices are speaker devices, the first device may further transmit the time at which the fourth audio data is played to each of the multiple second devices. When at least two of the multiple second devices are speaker devices, the first device may further transmit the time at which the fourth audio data is played to each of the at least two second devices. In another possible implementation, when all of the multiple second devices are speaker devices, the first device may further send a delay time for playing the fourth audio data to each of the multiple second devices; and when at least two of the multiple second devices are speaker devices, the first device may further send a delay time for playing the fourth audio data to each of the at least two second devices. In other words, the time at which the speaker device plays the fourth audio data may be based on the delay time for playing the fourth audio data by the speaker device.

[0103] The above describes in detail the method of the embodiment of the present application, and the following provides an apparatus of the embodiment of the present application.

[0104] The embodiments of the present application also provide an apparatus for implementing any of the above methods, for example, providing a control apparatus including units (or means) for implementing each step performed by the first device in any of the above methods. For another example, a processing apparatus is also provided, including units (or means) for implementing each step performed by the second device in any of the above methods.

[0105] For example, please refer to Figure 5, which is a structural diagram of a device 50 provided in an embodiment of the present application. The device 50 includes a processing unit 501 and a transceiver unit 502, such as the method of the embodiment shown in Figure 3.

[0106] It should be understood that the division of the various units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into a physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the various units of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units by designing the logical relationship of the components in the circuit. For another example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units. All units of the above devices can be implemented in the form of software called by the processor, or in the form of hardware circuits, or in part by software called by the processor, and the rest by hardware circuits.

[0107] In an embodiment of the present application, a processor is a circuit with a signal processing capability. In one implementation, the processor can be a circuit with instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit. The logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the processor loads a configuration document to implement the process of hardware circuit configuration, which can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0108] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0109] In addition, the various units in the above devices can be fully or partially integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the device. The type of the at least one processor can be different, for example, including a CPU and FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0110] Regardless of whether these functional modules are subdivided or combined, the general process executed by the device 50 in the positioning process is the same. For example, the transceiver unit 502 in the above-mentioned device 50 can be divided into a receiving unit and a sending unit. Of course, the transceiver unit can also be called a communication unit. Generally, each unit corresponds to its own program code (or program instruction). When the program code corresponding to each of these units is executed on the processor, the unit executes the corresponding process to achieve the corresponding function. It should be noted that the implementation of each of the following units can correspond to the corresponding description of the embodiment shown in Figure 3.

[0111] In one possible implementation, the apparatus 50 may be the first device in the embodiment shown in FIG3 , or a module in the first device, such as a chip or an integrated circuit. The apparatus includes a processing unit 501 and a transceiver unit 502 , wherein each unit is described as follows:

[0112] The transceiver unit 502 is used to receive energy information from each second device among multiple second devices, where the energy information is used to indicate the signal energy value obtained by the second device measuring one or more other second devices among the multiple second devices; the processing unit 501 is used to determine the position of the first user located in the first area based on the energy information from each second device among the multiple second devices, where the multiple second devices are deployed in the first area.

[0113] In one possible embodiment, when receiving energy information from each second device in a plurality of second devices, the transceiver unit 502 is used to periodically receive energy information from each second device in a plurality of second devices; or, the transceiver unit 502 is used to receive energy information from each second device in a plurality of second devices at a preset time; or, the transceiver unit 502 is used to send first information to each second device in a plurality of second devices, and the first information is used to indicate the identification of one or more other second devices that each second device in the plurality of second devices needs to measure.

[0114] In a possible implementation manner, the first information is further used to instruct each second device among the plurality of second devices to measure the time of one or more other second devices.

[0115] In a possible implementation, the energy information is used to indicate the signal energy value obtained by the second device for measuring one or more other second devices among the multiple second devices, including: the energy information is used to indicate all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the maximum value of all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the minimum value of all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the second device for measuring one or more other second devices. The energy information is used to indicate the average value of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the median of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the average value of all signal energy values ​​measured by the second device for one or more other second devices.

[0116] In a possible implementation, there is a preset correspondence between the multiple pieces of energy information sent by the multiple second devices and the location of the first user.

[0117] In one possible embodiment, the transceiver unit 502 is also used to obtain the user location; the transceiver unit 502 is also used to obtain the signal energy values ​​measured by multiple second devices corresponding to the user location; wherein the preset corresponding relationship is established based on the user location and the signal energy values ​​measured by multiple second devices.

[0118] In one possible embodiment, the transceiver unit 502 is further used to obtain first audio data; the processing unit 501 is further used to adjust the spatial sound source position of the first audio data according to the position of the first user to obtain second audio data; when the multiple second devices are all speaker devices, the transceiver unit 502 is further used to send the second audio data to each second device in the multiple second devices; when at least two second devices in the multiple second devices are speaker devices, the transceiver unit 502 is further used to send the second audio data to each second device in the at least two second devices.

[0119] In one possible embodiment, the transceiver unit 502 is further used to obtain third audio data and the user's historical movement trajectory; the processing unit 501 is further used to adjust the spatial sound source position of the third audio data according to the position of the first user and the user's historical movement trajectory to obtain fourth audio data; when the multiple second devices are all speaker devices, the transceiver unit 502 is further used to send the fourth audio data to each second device in the multiple second devices; when at least two second devices in the multiple second devices are speaker devices, the transceiver unit 502 is further used to send the fourth audio data to each second device in the at least two second devices.

[0120] In a possible implementation, the user's historical movement trajectory includes at least one of the following: a historical movement trajectory of the user within a preset time, and a historical movement trajectory of the user with a walking number greater than or equal to a preset walking number.

[0121] In another possible implementation, the apparatus 50 may be the second device in the embodiment shown in FIG3 , or a module in the second device, such as a chip or an integrated circuit. The apparatus includes a processing unit 501 and a transceiver unit 502 , wherein each unit is described as follows:

[0122] The processing unit 501 is used to measure the signal energy value of one or more second devices among multiple second devices, and the multiple second devices are deployed in the first area; the transceiver unit 502 is used to send energy information to the first device, and the energy information is used to indicate the signal energy value obtained by the third device measuring the one or more second devices, and the energy information is also used to determine the position of the first user located in the first area.

[0123] In one possible embodiment, when sending energy information to the first device, the transceiver unit 502 is used to: periodically send energy information to the first device; or, send energy information to the first device at a preset time; or, receive first information from the first device, where the first information is used to indicate the identifiers of one or more second devices that the third device needs to measure.

[0124] In a possible implementation manner, the first information is further used to instruct the third device to measure the time of one or more second devices.

[0125] In one possible embodiment, the energy information is used to indicate the signal energy value obtained by the third device when measuring one or more second devices, including: energy information is used to indicate all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the maximum value of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the minimum value of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the median of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the average value of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate an index of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the index of the maximum value of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the index of the minimum value of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the index of the median of all signal energy values ​​obtained by the third device when measuring one or more second devices; or, energy information is used to indicate the index of the average value of all signal energy values ​​obtained by the third device when measuring one or more second devices.

[0126] 6 , which is a schematic structural diagram of a vehicle 60 provided in an embodiment of the present application. The vehicle 60 includes a first device 601 and a second device 602 . The number of the second device 602 may be multiple, wherein:

[0127] Multiple second devices 602 in the vehicle 601 measure signal energy values ​​of one or more second devices among the multiple second devices 602; the first device 601 in the vehicle 601 receives energy information from each second device among the multiple second devices 602, and the energy information is used to indicate the signal energy value obtained by the second device in the vehicle 601 measuring the other one or more second devices among the multiple second devices; the first device 601 in the vehicle 60 determines the position of the first user in the vehicle 60 based on the energy information from each second device among the multiple second devices 602.

[0128] In one possible embodiment, the first device 601 in the vehicle 60 receives energy information from each of the multiple second devices 602 in the vehicle 60, including: the first device 601 in the vehicle 60 periodically receives energy information from each of the multiple second devices 602 in the vehicle 60; or, the first device 601 in the vehicle 60 receives energy information from each of the multiple second devices 602 in the vehicle 60 at a preset time; or, the first device 601 in the vehicle 60 sends first information to each of the multiple second devices 602 in the vehicle 60, and the first information is used to indicate the identification of one or more other second devices that each of the multiple second devices 602 in the vehicle 60 needs to measure.

[0129] In a possible implementation, the first information is further used to instruct each of the plurality of second devices 602 in the vehicle 60 to measure the time of one or more other second devices.

[0130] In one possible embodiment, the energy information is used to indicate the signal energy value obtained by the second device in the vehicle 60 for measuring one or more other second devices among the multiple second devices, including: the energy information is used to indicate all signal energy values ​​obtained by the second device in the vehicle 60 for measuring one or more other second devices; or, the energy information is used to indicate the maximum value of all signal energy values ​​obtained by the second device in the vehicle 60 for measuring one or more other second devices; or, the energy information is used to indicate the minimum value of all signal energy values ​​obtained by the second device in the vehicle 60 for measuring one or more other second devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the second device in the vehicle 60 for measuring one or more other second devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the second device in the vehicle 60 for measuring one or more other second devices. The energy information is used to indicate the average value of all signal energy values ​​measured by the second device in multiple vehicles 60 for one or more other second devices; or, the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the second device in the vehicle 60 for one or more other second devices; or, the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the second device in the vehicle 60 for one or more other second devices; or, the energy information is used to indicate the index of the median of all signal energy values ​​measured by the second device in the vehicle 60 for one or more other second devices; or, the energy information is used to indicate the index of the average value of all signal energy values ​​measured by the second device in the vehicle 60 for one or more other second devices.

[0131] In a possible implementation, there is a preset correspondence between the multiple energy information sent by the multiple second devices 602 in the vehicle 60 and the location of the first user.

[0132] In a possible embodiment, the method further includes: the first device 601 in the vehicle 60 obtains the user location; the first device 601 in the vehicle 60 obtains the signal energy values ​​measured by multiple second devices 602 in the vehicle 60 corresponding to the user location; wherein the preset correspondence is established based on the user location and the signal energy values ​​measured by the multiple second devices.

[0133] In a possible embodiment, the method also includes: the first device 601 in the vehicle 60 obtains first audio data; the first device 601 in the vehicle 60 adjusts the spatial sound source position of the first audio data according to the position of the first user to obtain second audio data; when the multiple second devices 602 are all speaker devices, the first device 601 in the vehicle 60 sends the second audio data to each of the multiple second devices 602 in the vehicle 60; when at least two of the multiple second devices 602 are speaker devices, the first device 601 in the vehicle 60 sends the second audio data to each of the at least two second devices.

[0134] In a possible embodiment, the method also includes: the first device 601 in the vehicle 60 obtains third audio data and the user's historical movement trajectory; the first device 601 in the vehicle 60 adjusts the spatial sound source position of the third audio data according to the position of the first user and the user's historical movement trajectory to obtain fourth audio data; when the multiple second devices 602 are all speaker devices, the first device 601 in the vehicle 60 sends the fourth audio data to each of the multiple second devices 602 in the vehicle 60; when at least two of the multiple second devices 602 are speaker devices, the first device 601 in the vehicle 60 sends the fourth audio data to each of the at least two second devices.

[0135] In a possible implementation, the user's historical movement trajectory includes at least one of the following: a historical movement trajectory of the user within a preset time, and a historical movement trajectory of the user with a walking number greater than or equal to a preset walking number.

[0136] Referring to Figure 7 , Figure 7 is a schematic diagram of the structure of an apparatus 70 provided in an embodiment of the present application. The apparatus 70 may include at least one memory 701 and at least one processor 702. Optionally, the apparatus 70 may also include a bus 703. Further optionally, the apparatus 70 may also include a communication interface 704, wherein the memory 701, the processor 702, and the communication interface 704 are connected via the bus 703.

[0137] Memory 701 is used to provide storage space for storing data such as an operating system and computer programs. Memory 701 can be one or a combination of random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0138] The processor 702 is a module that performs arithmetic operations and / or logical operations, and can specifically be one or a combination of processing modules such as a CPU, a GPU, a microprocessor unit (MPU), an ASIC, an FPGA, and a complex programmable logic device (CPLD).

[0139] The communication interface 704 is used to receive data sent externally and / or send data externally. It can be a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, etc.). Optionally, the communication interface 704 can also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0140] The processor 702 in the apparatus 70 is configured to read the computer program stored in the memory 701 to execute the aforementioned method, such as the method described in any one of the embodiments of FIG. 3 .

[0141] In some possible implementations, the apparatus 70 may be the first device in the embodiment shown in FIG. 3 , or a module in the first device, such as a chip or an integrated circuit. The processor 702 in the apparatus 70 is configured to read the computer program stored in the memory 701 to perform the following operations:

[0142] Energy information is received from each of the multiple second devices through the communication interface 704, and the energy information is used to indicate the signal energy value obtained by the second device measuring one or more other second devices among the multiple second devices; the position of the first user located in the first area is determined based on the energy information from each of the multiple second devices, and the multiple second devices are deployed in the first area.

[0143] In one possible embodiment, when receiving energy information from each second device in a plurality of second devices through the communication interface 704, the processor 702 is specifically used to perform the following operations: periodically receiving energy information from each second device in a plurality of second devices through the communication interface 704; or, receiving energy information from each second device in a plurality of second devices at a preset time through the communication interface 704; or, sending first information to each second device in a plurality of second devices through the communication interface 704, the first information being used to indicate the identification of one or more other second devices that each second device in the plurality of second devices needs to measure.

[0144] In a possible implementation manner, the first information is further used to instruct each second device among the plurality of second devices to measure the time of one or more other second devices.

[0145] In a possible implementation, the energy information is used to indicate the signal energy value obtained by the second device for measuring one or more other second devices among the multiple second devices, including: the energy information is used to indicate all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the maximum value of all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the minimum value of all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the second device for measuring one or more other second devices; or, the energy information is used to indicate the median of all signal energy values ​​obtained by the second device for measuring one or more other second devices. The energy information is used to indicate the average value of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the median of all signal energy values ​​measured by the second device for one or more other second devices; or, the energy information is used to indicate the index of the average value of all signal energy values ​​measured by the second device for one or more other second devices.

[0146] In a possible implementation, there is a preset correspondence between the multiple pieces of energy information sent by the multiple second devices and the location of the first user.

[0147] In one possible embodiment, the processor 702 is also used to perform the following operations: obtaining the user location through the communication interface 704; obtaining the signal energy values ​​measured by multiple second devices corresponding to the user location through the communication interface 704; wherein the preset correspondence is established based on the user location and the signal energy values ​​measured by the multiple second devices.

[0148] In one possible embodiment, the processor 702 is also used to perform the following operations: obtain first audio data through the communication interface 704; adjust the spatial sound source position of the first audio data according to the position of the first user to obtain second audio data; when multiple second devices are all speaker devices, send second audio data to each second device in the multiple second devices through the communication interface 704; when at least two second devices in the multiple second devices are speaker devices, send second audio data to each second device in the at least two second devices through the communication interface 704.

[0149] In one possible embodiment, the processor 702 is also used to perform the following operations: obtain third audio data and the user's historical movement trajectory through the communication interface 704; adjust the spatial sound source position of the third audio data according to the position of the first user and the user's historical movement trajectory to obtain fourth audio data; and send the fourth audio data to each second device in the multiple second devices through the communication interface 704.

[0150] In a possible implementation, the user's historical movement trajectory includes at least one of the following: a historical movement trajectory of the user within a preset time, and a historical movement trajectory of the user with a walking number greater than or equal to a preset walking number.

[0151] In some possible implementations, the apparatus 70 may be the third device in the embodiment shown in FIG. 3 , or a module in the third device, such as a chip or an integrated circuit. The processor 702 in the apparatus 70 is configured to read the computer program stored in the memory 701 to perform the following operations:

[0152] Measure the signal energy value of one or more second devices among multiple second devices, and the multiple second devices are deployed in the first area; send energy information to the first device through the communication interface 704, and the energy information is used to indicate the signal energy value measured by the third device for the one or more second devices. The energy information is also used to determine the position of the first user in the first area.

[0153] In one possible embodiment, when the third device sends energy information to the first device, the processor 702 is specifically used to perform the following operations: periodically sending energy information to the first device through the communication interface 704; or, sending energy information to the first device at a preset time through the communication interface 704; or, receiving first information from the first device through the communication interface 704, the first information being used to indicate the identification of one or more second devices that the third device needs to measure.

[0154] In a possible implementation manner, the first information is further used to instruct the third device to measure the time of one or more second devices.

[0155] In a possible embodiment, the energy information is used to indicate the signal energy value measured by the third device for one or more second devices among the multiple second devices, including: energy information is used to indicate all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the maximum value of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the minimum value of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the median of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the average value of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate an index of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the index of the median of all signal energy values ​​measured by the third device for the one or more second devices; or, energy information is used to indicate the index of the average value of all signal energy values ​​measured by the third device for the one or more second devices.

[0156] An embodiment of the present application provides a chip system, which includes at least one processor, a memory and an interface circuit. The interface circuit is used to provide information input / output for the above-mentioned at least one processor. The memory stores a computer program. When the computer program runs on one or more processors, it implements any method described in the embodiment of Figure 3.

[0157] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on one or more processors, the method described in any one of the embodiments in FIG. 3 is implemented.

[0158] An embodiment of the present application provides a computer program product. When the computer program product is run on one or more processors, it implements any one of the methods described in the embodiment of FIG. 3 .

[0159] An embodiment of the present application provides a positioning system, including a first device and a second device. The first device is used to implement the method described in any one of the embodiments shown in FIG3 , and the second device is used to implement the method described in any one of the embodiments shown in FIG3 .

[0160] In the embodiments of the present application, " / " indicates that the objects associated with each other are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, in the description of the present application, unless otherwise specified, "multiple" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be one or more. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with basically the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0161] References to "one embodiment" or "some embodiments" in the embodiments of the present application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "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. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0162] The above-mentioned specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-mentioned are only specific implementation methods of the present application and are not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the present application should be included in the scope of protection of the present application.

[0163] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0164] When the computer instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application can be realized in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instruction can be stored in a computer-readable storage medium or transmitted by a computer-readable storage medium. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. Available media can be magnetic media, (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD) or a semiconductor medium (for example, a solid-state drive (SSD)).

[0165] The steps in the method embodiments of the present application can be adjusted in sequence, combined, or deleted according to actual needs.

[0166] The modules in the embodiment of the device of the present application can be merged, divided and deleted according to actual needs.

Claims

1. A positioning method, It is characterized in that include: The hub device receives energy information from each speaker device among the plurality of speaker devices, wherein the energy information is used to indicate a signal energy value obtained by the speaker device by measuring one or more other speaker devices among the plurality of speaker devices; The hub device determines a position of a first user in a first area based on energy information from each of the plurality of speaker devices, and the plurality of speaker devices are deployed in the first area.

2. The method according to claim 1, It is characterized in that The hub device receives energy information from each speaker device in the plurality of speaker devices, including: The hub device periodically receives energy information from each of the multiple speaker devices; or, The hub device receives energy information from each of the multiple speaker devices at a preset time; or, The hub device sends first information to each of the multiple speaker devices, where the first information is used to indicate identifiers of the other one or more speaker devices that each of the multiple speaker devices needs to measure.

3. The method according to claim 2, It is characterized in that The first information is further used to instruct each speaker device in the plurality of speaker devices to measure the time of the other one or more speaker devices.

4. The method according to any one of claims 1 to 3, It is characterized in that The energy information is used to indicate the signal energy value obtained by the speaker device measuring one or more other speaker devices among the multiple speaker devices, including: The energy information is used to indicate all signal energy values ​​obtained by the speaker device measuring the other one or more signals; or, The energy information is used to indicate the maximum value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the minimum value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the median of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the average value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the indexes of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the median of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the average value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices.

5. The method according to any one of claims 1 to 4, It is characterized in that There is a preset corresponding relationship between the multiple energy information sent by the multiple speaker devices and the position of the first user.

6. The method according to claim 5, It is characterized in that The method further comprises: The central device obtains the user's location; The central device obtains the signal energy values ​​measured by the multiple speaker devices corresponding to the user position; The preset corresponding relationship is established by the central device according to the user position and the signal energy values ​​measured by the multiple speaker devices.

7. The method according to any one of claims 1 to 6, It is characterized in that The method further comprises: The central device acquires first audio data; The hub device adjusts the spatial sound source position of the first audio data according to the position of the first user to obtain second audio data; The hub device sends the second audio data to each of the multiple speaker devices.

8. The method according to any one of claims 1 to 6, It is characterized in that The method further comprises: The central device obtains the third audio data and the user's historical movement trajectory; The central device adjusts the spatial sound source position of the third audio data according to the position of the first user and the historical movement trajectory of the user to obtain fourth audio data; The hub device sends the fourth audio data to each of the multiple speaker devices.

9. The method according to claim 8, It is characterized in that The user's historical movement trajectory includes at least one of the following: the user's historical movement trajectory within a preset time, and the user's historical movement trajectory with a walking number greater than or equal to a preset walking number.

10. A positioning method, It is characterized in that include: A first speaker device located in a first area measures a signal energy value of one or more speaker devices among a plurality of speaker devices, wherein the plurality of speaker devices are deployed in the first area; The first speaker device sends energy information to the central device, where the energy information is used to indicate a signal energy value measured by the first speaker device on the one or more speaker devices, and the energy information is also used to determine a position of a first user in the first area.

11. The method according to claim 10, It is characterized in that The first speaker device sends energy information to the central device, including: The first speaker device periodically sends the energy information to the hub device; or, The first speaker device sends the energy information to the central device at a preset time; or, The first speaker device receives first information from the hub device, where the first information is used to indicate identifiers of the one or more speaker devices that the first speaker device needs to measure.

12. The method according to claim 11, It is characterized in that The first information is further used to instruct the first speaker device to measure the time of the one or more speaker devices.

13. The method according to any one of claims 10 to 12, It is characterized in that The energy information is used to indicate a signal energy value obtained by measuring the first speaker device on one or more speaker devices among the multiple speaker devices, including: The energy information is used to indicate all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the maximum value of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the minimum value of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the median of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate an average value of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the indexes of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of the median of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of an average value of all signal energy values ​​measured by the first speaker device on the one or more speaker devices.

14. A control device, It is characterized in that The control device includes a transceiver unit and a processing unit. The transceiver unit is used to receive energy information from each speaker device among the multiple speaker devices, where the energy information is used to indicate a signal energy value obtained by the speaker device measuring one or more other speaker devices among the multiple speaker devices; The processing unit is used to determine the position of a first user in a first area based on energy information from each of the multiple speaker devices, and the multiple speaker devices are deployed in the first area.

15. The device according to claim 14, It is characterized in that When receiving energy information from each of the plurality of speaker devices, The transceiver unit is used to periodically receive energy information from each speaker device in the multiple speaker devices; or, The transceiver unit is used to receive energy information from each of the multiple speaker devices at a preset time; or, The transceiver unit is used to send first information to each of the multiple speaker devices, where the first information is used to indicate the identifiers of the other one or more speaker devices that each of the multiple speaker devices needs to measure.

16. The device according to claim 15, It is characterized in that The first information is further used to instruct each speaker device in the plurality of speaker devices to measure the time of the other one or more speaker devices.

17. The device according to any one of claims 14 to 16, It is characterized in that The energy information is used to indicate the signal energy value obtained by the speaker device measuring one or more other speaker devices among the multiple speaker devices, including: The energy information is used to indicate all signal energy values ​​obtained by the speaker device measuring the other one or more signals; or, The energy information is used to indicate the maximum value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the minimum value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the median of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the average value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices; or, The energy information is used to indicate the indexes of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the median of all signal energy values ​​measured by the speaker device on the other one or more speaker devices; or, The energy information is used to indicate the index of the average value of all signal energy values ​​obtained by the speaker device measuring the other one or more speaker devices.

18. The device according to any one of claims 14 to 17, It is characterized in that There is a preset corresponding relationship between the multiple energy information sent by the multiple speaker devices and the position of the first user.

19. The device according to claim 18, It is characterized in that The transceiver unit is also used to obtain the user's location; The transceiver unit is further used to obtain signal energy values ​​measured by the multiple speaker devices corresponding to the user position; The preset corresponding relationship is established by the central device according to the user position and the signal energy values ​​measured by the multiple speaker devices.

20. The device according to any one of claims 14 to 19, It is characterized in that The transceiver unit is further used to obtain first audio data; The processing unit is further configured to adjust the spatial sound source position of the first audio data according to the position of the first user to obtain second audio data; The transceiver unit is further configured to send the second audio data to each speaker device in the plurality of speaker devices.

21. The device according to any one of claims 14 to 19, It is characterized in that The transceiver unit is further used to obtain third audio data and a user's historical movement trajectory; The processing unit is further configured to adjust the spatial sound source position of the third audio data according to the position of the first user and the historical movement trajectory of the user to obtain fourth audio data; The transceiver unit is further configured to send the fourth audio data to each speaker device in the plurality of speaker devices.

22. The device according to claim 21, It is characterized in that The user's historical movement trajectory includes at least one of the following: the user's historical movement trajectory within a preset time, and the user's historical movement trajectory with a walking number greater than or equal to a preset walking number.

23. A processing device, It is characterized in that The processing device comprises a processing unit and a transceiver unit. The processing unit is used to measure the signal energy value of one or more speaker devices among a plurality of speaker devices, wherein the plurality of speaker devices are deployed in a first area; The transceiver unit is used to send energy information to the central device, and the energy information is used to indicate the signal energy value obtained by the first speaker device measuring the one or more speaker devices. The energy information is also used to determine the position of the first user in the first area.

24. The device according to claim 23, It is characterized in that When sending energy information to the central device, the transceiver unit is used to: Periodically sending the energy information to the central device; or, Sending the energy information to the central device at a preset time; or, Receive first information from the hub device, where the first information is used to indicate the identifiers of the one or more speaker devices that the first speaker device needs to measure.

25. The device according to claim 24, It is characterized in that The first information is further used to instruct the first speaker device to measure the time of the one or more speaker devices.

26. The device according to any one of claims 23 to 25, It is characterized in that The energy information is used to indicate the signal energy value obtained by measuring the one or more speaker devices by the first speaker device, including: The energy information is used to indicate all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the maximum value of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the minimum value of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the median of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate an average value of all signal energy values ​​obtained by measuring the one or more speaker devices by the first speaker device; or, The energy information is used to indicate the indexes of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of the maximum value of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of the minimum value of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of the median of all signal energy values ​​measured by the first speaker device on the one or more speaker devices; or, The energy information is used to indicate the index of an average value of all signal energy values ​​measured by the first speaker device on the one or more speaker devices.

27. A vehicle, It is characterized in that The vehicle includes the hub device described in any one of claims 1-9 or the speaker device described in any one of claims 10-13.

28. A chip system, It is characterized in that The chip system includes at least one processor, a memory and an interface circuit, wherein the interface circuit is used to provide information input / output for the at least one processor, and a computer program is stored in the memory. When the computer program runs on one or more processors, the method described in any one of claims 1-13 is implemented.

29. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed on one or more processors, the method according to any one of claims 1 to 13 is implemented.

30. A computer program product, It is characterized in that When the computer program product is executed on one or more processors, the method according to any one of claims 1 to 13 is implemented.

31. A positioning system, It is characterized in that It comprises a central device and a speaker device, wherein the central device is used to implement the method described in any one of claims 1-9, and the speaker device is used to implement the method described in any one of claims 10-13.

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