Method, device and system for acquiring azimuth information and storage medium

Abstract

The invention discloses a method, device and system for acquiring azimuth information and a storage medium, and belongs to the field of communication. The method comprises the following steps: acquiring first antenna data, wherein the first antenna data is data related to the position of first equipment relative to second equipment; on the basis of a first corresponding relation and the first antenna data, azimuth information of the first device relative to the second device is obtained, the first corresponding relation indicates the corresponding relation between the azimuth information and the antenna data, and the first corresponding relation is obtained on the basis of n positions and the antenna data related to the n positions, n is greater than or equal to 3, and the n positions are distributed on at least three sides of the second equipment. The method can improve the precision of obtaining the azimuth information.

Description

Method, device, system and storage medium for obtaining position information Technical Field

[0001] The present application relates to the field of communications, and in particular to a method, device, system, and storage medium for obtaining position information. Background Art

[0002] Currently, it is possible to obtain the position information between two devices, and use this position information to enable interaction between the two devices. For ease of explanation, the two devices will be referred to as the first device and the second device. Suppose that a user needs to send data from the second device to the first device. The user can swipe the second device in the direction of the first device. The second device finds that the direction of the swipe gesture corresponds to the position information of the first device relative to the second device, so the second device sends the data to the first device.

[0003] The second device is a multi-antenna device, and the antenna arrangement of the second device is a linear arrangement, a rectangular arrangement, or a circular arrangement. The process of obtaining the orientation information of the first device relative to the second device in the related technology can be as follows: each antenna in the second device sends in-phase and quadrature (IQ) data to the first device, and the first device receives the IQ data sent by each antenna of the second device, and receives a total of multiple IQ data. Then, based on the phase difference between any two IQ data among the multiple IQ data and the antenna arrangement of the second device, the orientation information of the first device relative to the second device is obtained.

[0004] The orientation information obtained by the related technology is the orientation information in an ideal environment, which may be very different from the orientation information of the first device relative to the second device in an actual environment. Therefore, the accuracy of the orientation information obtained by the related technology is low.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method, device, system, and storage medium for obtaining position information to improve the accuracy of obtaining position information.

[0007] In a first aspect, the present application provides a method for obtaining position information, wherein first antenna data is obtained, where the first antenna data is data related to the position of a first device relative to a second device. Based on a first correspondence and the first antenna data, the position information of the first device relative to the second device is obtained, where the first correspondence indicates a correspondence between the position information and the antenna data, and the first correspondence is obtained based on n positions and antenna data related to the n positions, where n is greater than or equal to 3, and the n positions are distributed on at least three sides of the second device.

[0008] Because the first correspondence is based on n locations and the antenna data associated with those locations, each record in the first correspondence includes relatively accurate position information and antenna data. The first antenna data is associated with the position of the first device relative to the second device. Therefore, based on the first antenna data and the first correspondence, the position information of the first device relative to the second device can be accurately obtained, improving the accuracy of the position information obtained.

[0009] Furthermore, since the orientation information of the first device relative to the second device is obtained based on the first antenna data and the first correspondence, the antenna arrangement of the second device may not be required when obtaining the orientation information. However, in actual production of the second device, it is difficult to produce a second device with an antenna arrangement that is a linear arrangement, a rectangular arrangement, or a circular arrangement. Therefore, even if the antenna arrangement of the second device is other than a linear arrangement, a rectangular arrangement, or a circular arrangement, the orientation information of the first device relative to the second device can still be successfully obtained.

[0010] In some embodiments, the first antenna data is obtained based on in-phase orthogonal IQ data sent by the second device and received by the first device, thereby ensuring that the first antenna data is correlated with the position of the first device relative to the second device.

[0011] In one possible implementation, the first device receives at least one IQ data item, and the first antenna data includes one or more of the following: at least one IQ data item received by the first device, a received signal strength indicator (RSSI) of at least one IQ data item, and a ratio between any two IQ data items in the at least one IQ data item. This enriches the content of the first antenna data and facilitates improving the accuracy of obtaining position information.

[0012] In another possible implementation, the direction information corresponding to the antenna data having the smallest difference with the first antenna data is obtained from the first correspondence, and the direction information of the first device relative to the second device is used as the obtained direction information. The closer the direction information corresponding to the antenna data having the smallest difference with the first antenna data is to the actual direction information of the first device relative to the second device, the obtained direction information is used as the direction information of the first device relative to the second device, thereby improving the accuracy of the obtained direction information.

[0013] In another possible implementation, the azimuth information of n positions relative to the second device and the antenna data associated with the n positions are obtained, and the antenna data associated with the n positions are obtained based on the IQ data sent by the second device and received by the first device at the n positions. Interpolation calculation is performed based on the n positions and the antenna data associated with the n positions to obtain the azimuth information of m positions around the second device relative to the second device and the antenna data associated with the m positions, where m is greater than 1 and the m positions are positions around the second device other than the n positions. Based on the azimuth information of n+m positions relative to the second device and the antenna data associated with the n+m positions, the first correspondence is obtained, where the n+m positions include the n positions and the m positions. In this way, since the azimuth information and antenna data of the m positions are obtained through interpolation calculation, the first correspondence can be quickly made to include the azimuth information and antenna data of a large number of positions around the second device.

[0014] In another possible implementation, coordinates of n positions are acquired; and orientation information of the n positions relative to the second device is acquired based on the coordinates of the n positions.

[0015] In another possible implementation, the n positions include an initial position, and the first device moves from the initial position to n-1 positions other than the initial position. The coordinates of the initial position are received. Inertial measurement unit (IMU) data measured by the first device at position n-1 is obtained. Based on the coordinates of the initial position and the IMU data measured by the first device at position n-1, the coordinates of the n-1 positions are obtained. In this way, the coordinates of the n-1 positions can be automatically obtained when the first device is moved.

[0016] In another possible implementation, antenna data related to n locations sent by the first device is received.

[0017] In another possible implementation, the n+m positions are distributed on at least one circle of tracks around the second device, and two adjacent circles of tracks are separated by a specified distance, so that the n+m positions are dispersed as much as possible at different positions around the second device.

[0018] In another possible implementation, a first correspondence relationship sent by a first device or a server is received, where the first correspondence relationship is obtained by the first device or the server based on n positions of the first device and IQ data sent by a second device received at the n positions.

[0019] In another possible implementation, at least one movement trajectory of the first device moving around the second device includes n positions.

[0020] In a second aspect, the present application provides a method for obtaining position information. In the method, a first device obtains first antenna data, where the first antenna data is related to the position of the first device relative to a second device. The first device sends the first antenna data to the second device. The second device obtains position information of the first device relative to the second device based on a first correspondence and the first antenna data. The first correspondence indicates a correspondence between the position information and the antenna data. The first correspondence is obtained based on n positions and antenna data associated with the n positions, where n is greater than or equal to 3, and the n positions are distributed on at least three sides of the second device.

[0021] Because the first correspondence is based on n locations and the antenna data associated with those locations, each record in the first correspondence includes relatively accurate position information and antenna data. The first antenna data is associated with the position of the first device relative to the second device. Therefore, based on the first antenna data and the first correspondence, the second device can accurately obtain the position information of the first device relative to the second device, thereby improving the accuracy of the position information obtained.

[0022] In one possible implementation, a first device receives in-phase and quadrature IQ data sent by a second device. The first device obtains first antenna data based on the IQ data, thereby ensuring that the first antenna data is correlated with the position of the first device relative to the second device.

[0023] In another possible implementation, the first device obtains the first correspondence relationship. The first device sends the first correspondence relationship to the second device. Since the first device can directly obtain n positions and antenna data related to the n positions, having the first device obtain the first correspondence relationship simplifies the algorithm complexity.

[0024] In another possible implementation, the first device receives IQ data sent by the second device at n positions. The first device obtains the azimuth information of the n positions relative to the second device, and obtains antenna data related to the n positions based on the IQ data sent by the second device received at the n positions. The first device performs interpolation calculation based on the n positions and the antenna data related to the n positions to obtain the azimuth information of m positions around the second device relative to the second device and the antenna data related to the m positions, where m is greater than 1 and the m positions are positions around the second device other than the n positions. The first device obtains a first correspondence based on the azimuth information of the n+m positions relative to the second device and the antenna data related to the n+m positions, where the n+m positions include the n positions and the m positions. In this way, since the azimuth information and antenna data of the m positions are obtained through interpolation calculation, the first correspondence can quickly include the azimuth information and antenna data of a large number of positions around the second device.

[0025] In a third aspect, the present application provides a device for acquiring position information, configured to execute the method in the first aspect or any possible implementation of the first aspect. Specifically, the device includes a unit for executing the method in the first aspect or any possible implementation of the first aspect.

[0026] In a fourth aspect, the present application provides a device for obtaining orientation information, comprising at least one processor and a memory, wherein the at least one processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method in the first aspect or any possible implementation of the first aspect.

[0027] In a fifth aspect, the present application provides a computer program product, which includes a computer program stored in a computer-readable storage medium, and the computer program is loaded by a processor to implement the method of the above-mentioned first aspect or any possible implementation method of the first aspect.

[0028] In a sixth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program is loaded by a processor to execute the method of the first aspect or any possible implementation of the first aspect.

[0029] In the seventh aspect, the present application provides a chip comprising a memory and a processor, wherein the memory is used to store computer instructions, and the processor is used to call and run the computer instructions from the memory to execute the method of the above-mentioned first aspect or any possible implementation of the first aspect.

[0030] In an eighth aspect, the present application provides a system for acquiring position information, the system comprising a first device and a second device.

[0031] The first device is configured to obtain first antenna data, where the first antenna data is related to a position of the first device relative to the second device. The first device sends the first antenna data to the second device.

[0032] The second device is used to obtain the orientation information of the first device relative to the second device based on the first correspondence and the first antenna data. The first correspondence indicates the correspondence between the orientation information and the antenna data. The first correspondence is obtained based on n positions and antenna data related to the n positions, n is greater than or equal to 3, and the n positions are distributed on at least three sides of the second device.

[0033] Because the first correspondence is based on n locations and the antenna data associated with those locations, each record in the first correspondence includes relatively accurate position information and antenna data. The first antenna data is associated with the position of the first device relative to the second device. Therefore, based on the first antenna data and the first correspondence, the second device can accurately obtain the position information of the first device relative to the second device, thereby improving the accuracy of the position information obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a schematic diagram of a network architecture provided by an embodiment of the present application;

[0035] FIG2 is a schematic diagram of another network architecture provided in an embodiment of the present application;

[0036] FIG3 is a schematic diagram of sending a picture using a sliding gesture according to an embodiment of the present application;

[0037] FIG4 is a schematic diagram of another network architecture provided in an embodiment of the present application;

[0038] FIG5 is a flow chart of a method for obtaining position information provided in an embodiment of the present application;

[0039] FIG6 is a schematic diagram of positions on a trajectory around a second device provided by an embodiment of the present application;

[0040] FIG7 is a flow chart of a method for obtaining a first correspondence relationship provided in an embodiment of the present application;

[0041] FIG8 is a schematic diagram of an interface provided by an embodiment of the present application;

[0042] FIG9 is a schematic diagram of a first correspondence relationship provided in an embodiment of the present application;

[0043] FIG10 is a schematic diagram of the structure of a device for obtaining position information provided in an embodiment of the present application;

[0044] FIG11 is a schematic diagram of a device structure provided in an embodiment of the present application;

[0045] FIG12 is a schematic diagram of a system structure for obtaining position information provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0047] For the position information between any two devices, various application scenarios can be derived from the position information between the two devices.

[0048] For example, this position information can be used to enable interaction between two devices, namely a first device and a second device. If a user needs to send data on the second device to the first device, the user can drag the data on the second device in the direction of the first device. The second device obtains the direction of the sliding, determines that the sliding direction points to the first device based on the position information of the first device relative to the second device, and thus determines that the data needs to be sent to the first device, and sends the data to the first device.

[0049] For another example, the location information can be used to find objects. If the user has a second device and needs to find the first device, the second device can obtain the location information of the first device relative to the second device, and then the user can find the first device based on the location information, which will narrow the scope the user needs to search.

[0050] The above are two examples of application scenarios using position information. Of course, position information can also have other application scenarios, which will not be listed here. Regardless of the application scenario in which position information is applied, before using the position information, it is necessary to obtain the position information between the two devices. The detailed process of obtaining the position information can be implemented by any of the following embodiments.

[0051] Referring to Figure 1, an embodiment of the present application provides a network architecture 100, which includes a first device 101 and a second device 102. The first device 101 can communicate with the second device 102.

[0052] The first device 101 is located around the second device 102, and the second device 102 can obtain the position information of the first device 101 relative to the second device 102. There may be other devices around the second device 102, and the second device 102 can also obtain the position information of other devices relative to the second device 102.

[0053] For example, referring to Figure 2, the second device 102 is surrounded by a third device 103, and the second device 102 can also obtain the position information of the third device 103 relative to the second device 102. Optionally, the first device 101 and the third device 102 are devices of the same type, for example, the first device 101 and the third device 102 are both mobile phones or tablet computers.

[0054] In some embodiments, the position information of devices surrounding the second device 102 relative to the second device 102 can be used to facilitate interaction between the second device 102 and the devices surrounding the second device 102. Alternatively, if a user needs to send data from the second device 102 to the first device 101, the user can perform a sliding gesture on the second device 102 toward the location of the first device 101. The second device 102 obtains the sliding direction of the gesture, locates the first device 101 based on the position information of the devices surrounding the second device 102 relative to the second device 102 and the sliding direction of the gesture, and sends the data to the first device 101.

[0055] For example, referring to Figure 3, assuming that the right direction of the second device 102 is taken as the 0-degree direction of the second device 102, and the first device 101 is located in the left direction of the second device 102, the orientation information of the first device 101 relative to the second device 102 is: the first device 101 is located in the 180-degree direction of the second device 102 (which can also be called the first device 101 is located in the left direction of the second device 102).

[0056] The user wants the second device 102 to send an image to the first device 101. The user clicks the image on the second device 102 and drags the image to the left with a sliding gesture. The sliding direction of the gesture received by the second device 102 is 180 degrees from the second device 102, and the 180-degree direction of the second device 102 is the left direction of the second device 102.

[0057] The first device 101 is located 180 degrees from the second device 102 and has the smallest difference from the sliding direction of the gesture, so the second device 102 determines the first device 101 based on the sliding direction of the gesture and sends the picture to the first device 101. The first device 101 receives the picture and displays it.

[0058] In some embodiments, the first device 101 or the third device 103 obtains position information of devices surrounding the second device 102 relative to the second device 102, and sends the position information of the devices surrounding the second device 102 relative to the second device 102 to the second device 102. The second device 102 receives the position information of the devices surrounding the second device 102 relative to the second device 102.

[0059] In some embodiments, referring to FIG4 , the network architecture 100 further includes a server 104, and the first device 101, the second device 102, and / or the third device 103 communicate with the server 104. The server 104 obtains position information of devices surrounding the second device 102 relative to the second device 102, and sends the position information of the devices surrounding the second device 102 relative to the second device 102 to the second device 102. The second device 102 receives the position information of the devices surrounding the second device 102 relative to the second device 102.

[0060] 5 , an embodiment of the present application provides a method 500 for acquiring position information, which is applied to the network architecture 100 shown in FIG1 , FIG2 , or FIG4 . The method 500 includes the following process from step 501 to step 504 .

[0061] Step 501: The second device sends IQ data.

[0062] In step 501, the second device broadcasts IQ data, where the IQ data is designated IQ data.

[0063] In some embodiments, the second device may be a single-antenna device, including one antenna, and the one antenna of the second device transmits the IQ data. Alternatively, the second device may be a multi-antenna device, including x antennas, where x is an integer greater than 1, and each antenna of the second device transmits the IQ data.

[0064] For example, assuming that x=3, that is, the second device includes three antennas, and each of the three antennas of the second device transmits the IQ data.

[0065] Devices located at different locations around the second device can receive the IQ data sent by the second device. The IQ data received by devices at different locations may differ. Because the IQ data sent by the second device propagates in space, it may be obstructed by obstacles and / or attenuated during spatial transmission, resulting in the IQ data received by devices located around the second device differing from the IQ data sent by the second device.

[0066] Step 502: The first device receives IQ data sent by the second device, and obtains first antenna data based on the received IQ data.

[0067] The IQ data received by the first device at different locations is different, and the first antenna data obtained based on the different IQ data is different, so the first antenna data is related to the position of the first device relative to the second device.

[0068] In some embodiments, the first device may be a single-antenna device, comprising one antenna, and the one antenna of the first device receives IQ data transmitted by each antenna of the second device. Or,

[0069] The first device is a multi-antenna device and includes y antennas, where y is an integer greater than 1. For each of the y antennas of the first device, the antenna of the first device receives IQ data sent by each antenna of the second device.

[0070] In some embodiments, the number of IQ data received by the first device is at least one, that is, the first device receives at least one IQ data.

[0071] If the second device is a single-antenna device and the first device is also a single-antenna device, the second device includes one antenna and the first device also includes one antenna. The one antenna of the second device transmits IQ data, and the one antenna of the first device receives the IQ data transmitted by the second device. In other words, the first device receives one IQ data.

[0072] If the second device is a multi-antenna device and the first device is a single-antenna device, the second device includes x antennas and the first device includes one antenna. Each antenna of the second device transmits IQ data, and one antenna of the first device receives IQ data transmitted by each antenna of the second device. In other words, the first device receives x IQ data.

[0073] If the second device is a single-antenna device and the first device is a multi-antenna device, the second device includes one antenna and the first device includes y antennas. One antenna of the second device transmits IQ data, and each antenna of the first device receives IQ data transmitted by the second device. In other words, the first device receives y IQ data.

[0074] If the second device is a multi-antenna device and the first device is a multi-antenna device, the second device includes x antennas and the first device includes y antennas. Each antenna of the second device transmits IQ data, and for each antenna of the first device, that antenna receives the IQ data transmitted by each antenna of the second device. In other words, the first device receives x*y IQ data.

[0075] The first antenna data includes one or more of the following: the at least one IQ data, a received signal strength index (RSSI) of the at least one IQ data, or a ratio between any two IQ data in the at least one IQ data.

[0076] In some embodiments, the RSSI of the at least one IQ data may include the RSSI of each IQ data in the at least one IQ data. For example, assuming that the at least one IQ data includes three IQ data, the RSSI of the at least one IQ data may include the RSSI of each IQ data in the three IQ data.

[0077] In some embodiments, it is assumed that the at least one IQ data includes z IQ data, and z may be 1, x, y, or x*y. If z is greater than 1, the first antenna data includes the ratio between any two IQ data among the z IQ data. Optionally, the first antenna data may include C 2z A ratio.

[0078] Step 503: The first device sends first antenna data to the second device.

[0079] In some embodiments, a Bluetooth connection, a wireless fidelity (Wifi) connection, or a cellular communication connection may be established between the first device and the second device, and the first device sends the first antenna data to the second device through the established connection.

[0080] Step 504: The second device receives the first antenna data, and obtains the orientation information of the first device relative to the second device based on the first corresponding relationship and the first antenna data.

[0081] The first correspondence is used to store the correspondence between the orientation information and the antenna data. The first correspondence is based on n locations and the antenna data associated with the n locations. n is greater than or equal to 3, and the n locations are distributed on at least three sides of the second device. The IQ data sent by the second device is also designated IQ data.

[0082] In some embodiments, the antenna data associated with the n positions is obtained based on IQ data sent by the second device and received by the first device at the n positions.

[0083] The first correspondence stores orientation information of each of multiple locations around the second device relative to the second device and antenna data associated with each location. For any of the multiple locations, the antenna data associated with the location is obtained based on IQ data sent by the second device and received at the location.

[0084] The multiple positions include the n positions, and the multiple positions are distributed on at least one track around the second device.

[0085] For example, referring to Figure 6, the first correspondence includes the position information of each of 24 positions relative to the second device and the antenna data associated with each position. The 24 positions are distributed on three circles around the second device.

[0086] In step 504, the second device receives the first antenna data and obtains a difference between the first antenna data and each antenna data in the first correspondence. The antenna data with the smallest difference with the first antenna data is obtained from the first correspondence. The first correspondence is used to query the orientation information corresponding to the obtained antenna data, and the orientation information is used as the orientation information of the first device relative to the second device.

[0087] The first antenna data includes at least one first data, and the at least one first data includes at least one IQ data in the first antenna data, an RSSI of at least one IQ data, and / or a ratio between any two IQ data in the at least one IQ data.

[0088] Similarly, for ease of explanation, for each antenna data in the first correspondence, the antenna data is referred to as second antenna data. The second antenna data includes at least one second data. The at least two first data include at least one IQ data in the second antenna data, the RSSI of at least one IQ data, and / or a ratio between any two IQ data in the at least one IQ data. The at least one first data corresponds one-to-one to the at least one second data.

[0089] In some embodiments, the second device may obtain the difference between the first antenna data and the second antenna data by: for each first data in the first antenna data, determining the second data corresponding to the first data in the second antenna data, calculating the difference between the first data and the second data corresponding to the first data, and obtaining the difference corresponding to the first data. The difference corresponding to each first data in the first antenna data is obtained in the above manner, and a cumulative value or average value of the difference corresponding to each first data is calculated, and the cumulative value or average value is used as the difference between the first antenna data and the second antenna data.

[0090] For example, assume that the second device includes three antennas: antenna 1, antenna 2, and antenna 3. Referring to Table 1 below, first antenna data includes IQ data 11, IQ data 12, IQ data 13, RSSI 11 of IQ data 11, RSSI 12 of IQ data 12, and RSSI 13 of IQ data 13. IQ data 11 is sent by antenna 1 of the second device, IQ data 12 is sent by antenna 2 of the second device, and IQ data 13 is sent by antenna 3 of the second device.

[0091] Table 1

[0092] Referring to Table 2 below, the second antenna data includes IQ data 21, IQ data 22, IQ data 23, RSSI 21 of IQ data 21, RSSI 22 of IQ data 22, and RSSI 23 of IQ data 23. IQ data 21 is sent by antenna 1 of the second device, IQ data 22 is sent by antenna 2 of the second device, and IQ data 23 is sent by antenna 3 of the second device.

[0093] Table 2

[0094] The second device obtains the difference between the first antenna data shown in Table 1 and the second antenna data shown in Table 2: the second device calculates the difference 11 between IQ data 11 and IQ data 21, the difference 12 between IQ data 12 and IQ data 22, the difference 13 between IQ data 13 and IQ data 23, the difference 21 between RSSI11 and RSSI21, the difference 22 between RSSI12 and RSSI22, and the difference 23 between RSSI13 and RSSI23.

[0095] The second device calculates the cumulative value of the difference 11, the difference 12, the difference 13, the difference 21, the difference 22, and the difference 23, and uses the cumulative value as the difference between the first antenna data shown in Table 1 and the second antenna data shown in Table 2. Alternatively, the second device calculates the average value of the difference 11, the difference 12, the difference 13, the difference 21, the difference 22, and the difference 23, and uses the average value as the difference between the first antenna data shown in Table 1 and the second antenna data shown in Table 2.

[0096] In some embodiments, for a third device, which is a device other than the first device and located in the vicinity of the second device, and is of the same type as the first device, the process of method 500 can also be used to obtain the position information of the third device relative to the second device. Specifically, in step 502, the third device receives IQ data from the second device, obtains first antenna data based on the received IQ data, and transmits the first antenna data to the second device. The second device obtains the position information of the third device relative to the second device based on the first antenna data and the first correspondence.

[0097] In some embodiments, the second device can use the position information to interact with the first device. For example, during implementation, after the second device obtains the position information of the first device relative to the second device, it saves the device identifier of the first device and the position information in a second correspondence. In this way, when the user requires the second device to send data to the first device, the user slides a gesture on the second device in the direction of the first device. The second device obtains the sliding direction of the gesture, obtains the position information with the smallest difference from the sliding direction from the second correspondence, determines the first device located on the obtained position information, and sends data to the first device.

[0098] In some embodiments, the second device can use this location information to help the user find the first device. For example, after the second device obtains the location information of the first device relative to the second device, it can display this location information. The user then searches for the first device based on the location information displayed by the second device.

[0099] In some embodiments, the first device includes a first correspondence. After acquiring the first antenna data, the first device obtains position information of the first device relative to the second device based on the first correspondence and the first antenna data, and then sends the position information to the second device. The second device receives the position information and stores it, i.e., stores the device identifier of the first device and the position information in a second correspondence. When interaction with the first device is required, the second device uses the stored position information to interact with the first device.

[0100] In some embodiments, the server includes a first correspondence relationship. After obtaining the first antenna data, the first device sends the first antenna data to the server. The server receives the first antenna data, obtains the orientation information of the first device relative to the second device based on the first correspondence relationship and the first antenna data, and then sends the device identifier of the first device and the orientation information to the second device. The second device receives the device identifier of the first device and the orientation information and saves the orientation information, that is, saves the device identifier of the first device and the orientation information in the second correspondence relationship. In this way, when interaction with the first device is required, the saved orientation information is used to interact with the first device.

[0101] In the embodiment of the present application, since the first correspondence is obtained based on n locations and IQ data transmitted by the second device and received by the first device at n locations, where n is greater than or equal to 3 and the n locations are distributed on at least three sides of the second device, the first correspondence is based on the IQ data transmitted by the second device and received by the first device at n locations in the real environment where the second device is located, and the orientation information and antenna data for each location in the first correspondence obtained based on the IQ data transmitted by the second device and received by the first device at n locations are relatively accurate. Thus, when obtaining the orientation information of the first device, the second device transmits the IQ data, the first device receives the IQ data transmitted by the second device, and the first antenna data is obtained based on the IQ data received by the first device. Based on the first antenna data and the first correspondence, the orientation information of the first device relative to the second device can be accurately obtained. In addition, when obtaining the orientation information of the first device relative to the second device, the antenna arrangement of the second device is not required. Therefore, regardless of the antenna arrangement adopted by the second device, the accuracy of obtaining the orientation information of the first device relative to the second device is not affected.

[0102] 7 , an embodiment of the present application provides a method 700 for obtaining a first correspondence relationship, which is used to obtain the first correspondence relationship used in method 500 shown in FIG5 . The execution subject of method 700 can be a first device, a second device, or a server, and includes the following process from step 701 to step 703.

[0103] Step 701: Acquire antenna data associated with n positions, where the antenna data associated with the n positions is obtained based on IQ data received by a first device at the n positions.

[0104] The second device sends IQ data in real time. The IQ data is specified. The user moves the first device to n different locations, and the first device receives the IQ data sent by the second device at each of the n locations. Based on the IQ data received by the first device at the n locations, antenna data associated with each of the n locations is obtained.

[0105] For example, the second device can be placed flat in a certain location (such as a desktop), and the user moves the first device around the second device. The first device periodically receives IQ data sent by the second device. The n positions include the position where the first device is located each time it receives IQ data.

[0106] The n positions are distributed around the second device, and the n positions are distributed on at least three sides of the second device. That is, a portion of the n positions are distributed on the first side of the second device, a portion of the n positions are distributed on the second side of the second device, and a portion of the n positions are distributed on the third side of the second device. Optionally, a portion of the n positions may also be distributed on the fourth side of the second device, that is, the n positions are distributed around the second device.

[0107] In some embodiments, the first device includes an inertial measurement unit (IMU).

[0108] In step 701 , antenna data related to n positions may be acquired through the following operations 7011 to 7013 .

[0109] 7011: The second device sends IQ data, where the IQ data is designated IQ data.

[0110] In 7011, the second device sends IQ data in real time.

[0111] The first device is located around the second device. The first device starts to move from an initial position and can periodically receive IQ data sent by the second device during the movement.

[0112] In some embodiments, before starting to execute step 7011, the first device may guide the user to move the first device around the second device, and the positions passed by the first device during the movement include the n positions.

[0113] In some embodiments, the first device may display an interface including an icon of the second device and at least one track centered on the icon of the second device. The first device, through the content displayed on the interface, guides the user to move the first device along the at least one track centered around the second device, where the n positions are distributed along the at least one track, thereby causing the first device to pass through the n positions.

[0114] For example, referring to Figure 8(a), a first device displays a first interface, which displays an icon for a second device and a first trajectory centered on the icon for the second device, with n locations distributed along the first trajectory. The content displayed on the first interface guides the user to carry the first device along the first trajectory around the second device, thereby causing the first device to pass through the n locations.

[0115] Next, a specific example is given. Assuming that the radius of the first track is one meter, the first device guides the user to carry the first device and walk along the first circular track with a radius of 1 meter and the second device as the center through the first interface.

[0116] For example, referring to Figure 8(b), the first device displays a second interface, which displays the icon of the second device and a second track centered on the icon of the second device. The radius of the second track is smaller than the radius of the first track, and the n positions are distributed along the second track. The content displayed on the first interface is used to guide the user to hold the first device and move it around the second device along the second track, so that the first device passes through the n positions.

[0117] Next, a specific example is given. Assuming that the radius of the second track is 30 cm, the first device guides the user through the second interface to hold the first device and make the first device rotate along the circular second track with a radius of 30 cm and the second device as the center.

[0118] In some embodiments, the first device displays a third interface, which displays an icon of the second device and n positions distributed around the second device. The content displayed on the third interface is used to guide the first device to be moved to each of the n positions.

[0119] In some embodiments, when n=3, the three positions can be evenly distributed around the periphery of the second device, that is, the angle between any two adjacent positions and the line connecting the second device is 120 degrees or approximately equal to 120 degrees. Alternatively, the three positions can be distributed on three sides of the second device, and the angle between any two adjacent positions and the line connecting the second device is 90 degrees or approximately equal to 90 degrees (as shown in Figure 8(c) at position 1, position 2, and position 3). When n=4, the four positions can be evenly distributed around the periphery of the second device, that is, the angle between any two adjacent positions and the line connecting the second device is 90 degrees or approximately equal to 90 degrees (as shown in Figure 8(d) at position 1, position 2, position 3, and position 4).

[0120] After the first device instructs the user, the user begins moving the first device from an initial position. Optionally, the interface displayed on the first device includes a start button. After placing the first device at the initial position, the user clicks the start button to notify the first device to begin moving the first device from the initial position. The first device then begins receiving IQ data sent by the second device.

[0121] In some embodiments, the user inputs the coordinates of the initial position to the first device, and the first device receives the coordinates of the initial position input by the user. Optionally, the coordinates are coordinates in a global coordinate system, or the coordinates are coordinates in a coordinate system with the second device as the coordinate origin.

[0122] In some embodiments, the first device may not require guidance from the user; the user may start moving the first device from an initial position so that the first device moves around the second device. Optionally, the IMU in the first device acquires IMU data in real time, acquires the current position of the first device based on the acquired IMU data, and displays a fourth interface based on the acquired current position, the fourth interface including the movement trajectory of the first device.

[0123] In some embodiments, the operation of obtaining the current position of the first device may be as follows: when the IMU data is obtained for the first time after the first device is moved from the initial position, the coordinates of the current position of the first device are obtained based on the coordinates of the initial position and the IMU data obtained for the first time. When the IMU data is obtained for the second time, the coordinates of the current position of the first device are obtained based on the coordinates of the position obtained last time and the IMU data obtained for the second time. When the IMU data is obtained for the third time, the coordinates of the current position of the first device are obtained based on the coordinates of the position obtained last time and the IMU data obtained for the third time. By repeating the above process, the position of the first device each time it moves can be obtained.

[0124] 7012: The first device receives IQ data sent by the second device, and obtains the location of the first device when receiving the IQ data.

[0125] In some embodiments, while the first device is moving along the first or second trajectory, the first device periodically receives IQ data. Each time the first device receives IQ data, it uses the IMU to obtain current IMU data and, based on the IMU data and the coordinates of the previously obtained location, obtains the coordinates of the current location. The first device then performs operation 7013.

[0126] In some embodiments, n positions are displayed in the third interface of the first device, and whenever the first device moves any one of the n positions, the first device receives IQ data.

[0127] In the case where n locations are displayed on the third interface of the first device, the user moves the first device, and the first device obtains the current IMU data in real time through the IMU. Based on the IMU data and the coordinates of the last acquired location, the first device obtains the coordinates of the current location of the first device, and displays the current location of the first device on the third interface based on the coordinates of the current location. This allows the user to refer to the current location of the first device displayed on the third interface to move the first device to each of the n locations. When the first device detects that its current location is one of the n locations, it receives the IQ data sent by the second device.

[0128] In some embodiments, the IMU data includes three-axis linear acceleration and / or three-axis angular acceleration, etc., where the three axes are the three axes of the IMU coordinate system.

[0129] Optionally, the first device obtains the coordinates of the current position based on the IMU data and the coordinates of the last position obtained using an algorithm for obtaining a position. Optionally, the algorithm may be a pedestrian dead reckoning (PDR) algorithm, etc.

[0130] In some embodiments, during the movement of the first device, whenever the first device receives IQ data and obtains the coordinates of the current location at which the IQ data is received, step 7013 is not performed. Instead, the coordinates of the current location and the IQ data are stored in a corresponding relationship between location coordinates and IQ data. The first device then continues to move and receive IQ data until the first device stops moving, at which point step 7013 is performed.

[0131] For example, the first device is moved from the initial position, and the first device starts to receive IQ data 1 at the initial position, obtains the coordinate 1 of the initial position, and saves the coordinate 1 of the initial position and the IQ data 1 in correspondence with the coordinates of the position and the IQ data as shown in Table 3 below.

[0132] During the movement, the first device receives IQ data 2 for the second time, obtains the current IMU data through the IMU, and obtains coordinate 2 of the current position 2 based on the IMU data and the coordinate 1 of the initial position obtained last time. The coordinate 2 of the current position 2 and the IQ data 2 are correspondingly saved in the corresponding relationship between position coordinates and IQ data shown in Table 3 below.

[0133] The first device receives IQ data 3 for the third time, obtains the current IMU data through the IMU, and obtains coordinate 3 of the current position 3 based on the IMU data and coordinate 2 of the previously obtained position 2. The coordinate 3 of the current position 3 and the IQ data 3 are stored in the corresponding relationship between position coordinates and IQ data shown in Table 3 below. ...,

[0134] The first device receives IQ data n for the nth time, obtains the current IMU data through the IMU, obtains the coordinate n of the current position n based on the IMU data and the coordinate n-1 of the position n-1 obtained last time, and saves the coordinate n of the current position n and the IQ data n in the correspondence between the coordinates of the position and the IQ data shown in Table 3 below.

[0135] Table 3

[0136] In some embodiments, the first device displays the actual movement trajectory of the first device on a displayed interface (the first interface or the second interface) based on the coordinates of the current location obtained. In this way, when the user moves the first device, they can observe in real time from the displayed interface whether the actual movement trajectory of the first device matches the trajectory guided by the first device (the first trajectory or the second trajectory, etc.). If they do not match, the user can make adjustments.

[0137] When moving the first device, the user should move it naturally, avoiding moving it too quickly or making unnatural movements such as sharp turns. The locations through which the user moves the first device should, as much as possible, cover the area in which the user actually uses the first device. The user can move the first device along multiple trajectories surrounding the second device, with a specified threshold between adjacent trajectories. This helps improve the accuracy of the first correspondence.

[0138] 7013: The first device obtains antenna data related to the location based on the received IQ data.

[0139] In some embodiments, if the first device does not store a correspondence between the coordinates of a location and IQ data, the first device obtains antenna data associated with the location based on the received IQ data. The first device then continues to move and receive IQ data until the first device stops moving. In this manner, n locations and antenna data associated with each of the n locations can be obtained.

[0140] In some embodiments, if the first device saves the correspondence between the coordinates of the positions and the IQ data, when the first device stops moving, the first device obtains the coordinates of n-1 positions and the antenna data related to each of the n positions, and the n-1 positions are the positions of the n positions other than the initial position.

[0141] During implementation, the first device obtains IQ data 1 corresponding to the initial position from the correspondence between the position coordinates and IQ data shown in Table 3, and obtains antenna data associated with the initial position based on IQ data 1. The first device obtains IQ data 2 corresponding to position 2 from the correspondence between the position coordinates and IQ data shown in Table 3, and obtains antenna data associated with position 2 based on IQ data 2. The first device obtains IQ data 3 corresponding to position 3 from the correspondence between the position coordinates and IQ data shown in Table 3, and obtains antenna data associated with position 3 based on IQ data 3. ..., the first device obtains IQ data n corresponding to position n from the correspondence between the position coordinates and IQ data shown in Table 3, and obtains antenna data associated with position n based on IQ data n.

[0142] The antenna data obtained based on the IQ data received by the first device varies depending on the orientation of the first device relative to the second device. Assume, in Figure 9 , that the second device includes three antennas and the first device includes one antenna. Therefore, the first device receives IQ data sent by the three antennas each time, meaning it receives three IQ data sets each time.

[0143] Assume that the first device moves along a circular trajectory with a radius R centered at the second device. The first device receives three IQ data at each orientation relative to the second device. The three antenna data obtained based on the three received IQ data are different at each orientation relative to the second device. R is greater than 0, for example, R is equal to 1 meter, 2 meters, or 3 meters.

[0144] For example, referring to Figure 9 , the direction due right of the second device is the 0-degree direction of the second device, and the second device includes antenna 1, antenna 2, and antenna 3. At different orientations relative to the second device, the first device obtains antenna data based on the IQ data received from antenna 1, as shown in Figure 9 , corresponding to antenna 1. At different orientations relative to the second device, the first device obtains antenna data based on the IQ data received from antenna 2, as shown in Figure 9 , corresponding to antenna 2. At different orientations relative to the second device, the first device obtains antenna data based on the IQ data received from antenna 3, as shown in Figure 9 , corresponding to antenna 3.

[0145] 9 , the three antenna data obtained when the first device is located 10 degrees from the second device is different from the three antenna data obtained when the first device is located 20 degrees from the second device. For another example, the three antenna data obtained when the first device is located 20 degrees from the second device is different from the three antenna data obtained when the first device is located 30 degrees from the second device.

[0146] In some embodiments, if the execution entity of method 700 is a second device or a server, the first device may send the coordinates of the n locations and the antenna data associated with the n locations to the second device or server. The second device or server receives the coordinates of the n locations and the antenna data associated with the n locations and then performs the operations of steps 702 and 703 below.

[0147] In some embodiments, if the execution subject of the method 700 is a first device, after obtaining the coordinates of the n positions and the antenna data related to the n positions, the first device performs the following operations of step 702 and step 703.

[0148] Step 702: Perform interpolation calculation based on the n positions and the antenna data related to the n positions to obtain antenna data related to m positions around the second device, where m is greater than 1, and the m positions are positions around the second device other than the n positions.

[0149] In step 702, based on the n positions and the antenna data related to the n positions, interpolation calculation is performed using a Gaussian interpolation algorithm to obtain antenna data related to m positions around the second device.

[0150] In some embodiments, for any two adjacent positions among the n positions, at least one position can be evenly inserted between the two adjacent positions, the coordinates of each position in the at least one position can be obtained based on the coordinates of the two adjacent positions, and the antenna data related to each position can be calculated based on the antenna data related to the two adjacent positions and the coordinates of each position.

[0151] Step 703: Acquire a first corresponding relationship based on n+m positions and antenna data related to the n+m positions, where the n+m positions include the n position and the m position.

[0152] For each of the n+m positions, for the sake of convenience, the position is called the first position. Based on the coordinates of the first position, the orientation information of the first position relative to the second device is obtained, and the orientation information of the first position relative to the second device and the antenna data related to the first position are saved in a first correspondence relationship.

[0153] In some embodiments, if the coordinates of the first position are coordinates in a world coordinate system, the orientation information of the first position relative to the second device is acquired based on the coordinates of the first position and the coordinates of the second device.

[0154] In some embodiments, the orientation information of the first location relative to the second device can be expressed in degrees. For example, assuming the right direction of the second device is 0 degrees, and the orientation information is 50 degrees, it means that the first location is 50 degrees away from the second device. Assuming the orientation information is 100 degrees, it means that the first location is 100 degrees away from the second device.

[0155] In some embodiments, if the first device or server obtains the first correspondence, the first device or server may send the first correspondence to the second device. The second device receives the first correspondence and saves the first correspondence, so that when the second device executes the steps of method 500 shown in FIG. 5 , it can obtain the position information of the first device relative to the second device based on the saved first correspondence.

[0156] In an embodiment of the present application, the first device is moved so that the first device passes through n positions around the second device, and the IQ data received by the first device at each of the n positions is obtained. Based on the IQ data corresponding to each position, the antenna data related to each position is respectively obtained. Interpolation calculation is performed based on each position and the antenna data related to each position to obtain multiple positions around the second device and antenna data related to each of the multiple positions. The orientation information of each position relative to the second device and the antenna data related to each position are correspondingly saved in the first correspondence relationship, so that the orientation information and antenna data corresponding to each position in the first correspondence relationship are based on measurements of the second device in the real environment. Therefore, when the first correspondence relationship is used to obtain the orientation information of the devices around the second device relative to the second device, the accuracy of obtaining the orientation information can be improved.

[0157] Referring to Figure 10, an embodiment of the present application provides an apparatus 1000 for obtaining position information, wherein the apparatus 1000 is deployed on the first device or the second device of the network architecture 100 shown in Figure 1 or Figure 2, or the apparatus 1000 is deployed on the first device, the second device, or the server of the network architecture 100 shown in Figure 4, or the apparatus 1000 is deployed on the first device, the second device, or the server of the method 500 shown in Figure 5, or the apparatus 1000 is deployed on the first device, the second device, or the server of the method 700 shown in Figure 7. The apparatus 1000 includes:

[0158] The data acquisition unit 1001 is configured to acquire first antenna data, where the first antenna data is data related to a position of the first device relative to the second device.

[0159] The orientation acquisition unit 1002 is used to obtain the orientation information of the first device relative to the second device based on a first correspondence and first antenna data. The first correspondence indicates the correspondence between the orientation information and the antenna data. The first correspondence is obtained based on n positions and antenna data related to the n positions, n is greater than or equal to 3, and the n positions are distributed on at least three sides of the second device.

[0160] Optionally, the detailed implementation process of the data acquisition unit 1001 acquiring the first antenna data refers to the relevant contents of step 503 and step 504 of the method 500 shown in FIG5 , which will not be described in detail here.

[0161] Optionally, the detailed implementation process of the position acquisition unit 1002 acquiring the position information of the first device relative to the second device can be found in the relevant content of step 504 of the method 500 shown in FIG5 , which will not be described in detail here.

[0162] Optionally, the first antenna data is obtained based on in-phase orthogonal IQ data sent by the second device and received by the first device.

[0163] Optionally, the number of IQ data received by the first device is at least one, and the first antenna data includes one or more of the following: at least one IQ data received by the first device, a received signal strength indication RSSI of at least one IQ data, and a ratio between any two IQ data in the at least one IQ data.

[0164] Optionally, the position acquisition unit 1002 is configured to:

[0165] From the first corresponding relationship, the azimuth information corresponding to the antenna data having the smallest difference with the first antenna data is obtained, and the azimuth information of the first device relative to the second device is the obtained azimuth information.

[0166] Optionally, the detailed implementation process of the azimuth acquisition unit 1002 acquiring the azimuth information corresponding to the antenna data having the smallest difference with the first antenna data can be found in the relevant content of step 504 of the method 500 shown in FIG5 , which will not be described in detail here.

[0167] Optionally, the data acquisition unit 1001 is further configured to:

[0168] Obtaining position information of n locations relative to the second device and antenna data associated with the n locations, where the antenna data associated with the n locations is obtained based on IQ data sent by the second device and received by the first device at the n locations;

[0169] Performing an interpolation calculation based on the n positions and the antenna data associated with the n positions to obtain position information of m positions around the second device relative to the second device and the antenna data associated with the m positions, where m is greater than 1 and the m positions are positions around the second device other than the n positions;

[0170] A first corresponding relationship is acquired based on the orientation information of n+m positions relative to the second device and the antenna data related to the n+m positions, where the n+m positions include the n positions and the m positions.

[0171] Optionally, the detailed implementation process of the data acquisition unit 1001 acquiring the orientation information of n positions relative to the second device and the antenna data related to the n positions can be found in the relevant content of step 701 of the method 700 shown in FIG7 , which will not be described in detail here.

[0172] Optionally, the detailed implementation process of the data acquisition unit 1001 performing interpolation calculation based on n positions and antenna data related to the n positions can be found in the relevant content of step 702 of the method 700 shown in FIG7 , which will not be described in detail here.

[0173] Optionally, the data acquisition unit 1001 obtains the detailed implementation process of the first corresponding relationship based on the orientation information of the n+m positions relative to the second device and the antenna data related to the n+m positions. Please refer to the relevant content of step 703 of method 700 shown in Figure 7, and will not be described in detail here.

[0174] Optionally, the data acquisition unit 1001 is configured to:

[0175] Get the coordinates of the n positions;

[0176] Based on the coordinates of the n positions, position information of the n positions relative to the second device is obtained.

[0177] Optionally, the detailed implementation process of the data acquisition unit 1001 acquiring the coordinates of the n positions can be found in the relevant content of step 701 of the method 700 shown in FIG7 , and will not be described in detail here.

[0178] Optionally, the detailed implementation process of the data acquisition unit 1001 acquiring the orientation information of the n positions relative to the second device based on the coordinates of the n positions can be found in the relevant content of step 701 of the method 700 shown in FIG7 , which will not be described in detail here.

[0179] Optionally, the n positions include an initial position, and the first device moves from the initial position to n-1 positions among the n positions excluding the initial position, and the apparatus 1000 further includes a first receiving unit 1003;

[0180] A first receiving unit 1003 is configured to receive the coordinates of the initial position;

[0181] The data acquisition unit 1001 is configured to acquire inertial measurement unit (IMU) data measured by the first device at the n-1 position;

[0182] The data acquisition unit 1001 is further configured to acquire the coordinates of the n-1 positions based on the coordinates of the initial position and the IMU data measured by the first device at the n-1 position.

[0183] Optionally, the detailed implementation process of the first receiving unit 1003 receiving the coordinates of the initial position can be found in the relevant content of step 7011 of the method 700 shown in FIG7 , which will not be described in detail here.

[0184] Optionally, the detailed implementation process of the data acquisition unit 1001 acquiring the inertial measurement unit IMU data measured by the first device at the n-1 position can be found in the relevant content of step 7012 of the method 700 shown in Figure 7, which will not be described in detail here.

[0185] Optionally, the detailed implementation process of the data acquisition unit 1001 acquiring the coordinates of the n-1 positions can be found in the relevant content of step 7012 of the method 700 shown in FIG7 , which will not be described in detail here.

[0186] Optionally, the apparatus 1000 further includes a second receiving unit 1004;

[0187] The second receiving unit 1004 is configured to receive antenna data related to n positions sent by the first device.

[0188] Optionally, the detailed implementation process of the second receiving unit 1004 receiving the antenna data related to n positions sent by the first device can be found in the relevant content of step 7013 of the method 700 shown in Figure 7, which will not be described in detail here.

[0189] Optionally, the n+m positions are distributed on at least one track around the second device, and two adjacent tracks are spaced a specified distance apart.

[0190] Optionally, the apparatus 1000 further includes a third receiving unit 1005;

[0191] The third receiving unit 1005 is configured to receive a first correspondence sent by a third device or server, where the first correspondence is obtained by the first device or server based on the n positions and the IQ data sent by the second device and received by the first device at the n positions.

[0192] Optionally, the detailed implementation process of the third receiving unit 1005 receiving the first correspondence sent by the first device or the server can be found in the relevant content of step 703 of the method 700 shown in FIG7 , which will not be described in detail here.

[0193] Optionally, at least one movement trajectory of the first device moving around the second device includes the n positions.

[0194] In this embodiment of the present application, because the first correspondence is obtained based on n locations and IQ data transmitted by the second device and received by the first device at the n locations, the position information and antenna data included in each record of the first correspondence are relatively accurate. The first antenna data obtained by the data acquisition unit is obtained based on the IQ data transmitted by the second device and received by the first device. In this way, the data acquisition unit can accurately obtain the position information of the first device relative to the second device based on the first antenna data and the first correspondence, thereby improving the accuracy of the acquired position information.

[0195] Referring to Figure 11 , an embodiment of the present application provides a schematic diagram of a device 1100. The device 1100 may be the first device or the second device of the network architecture 100 shown in Figure 1 or Figure 2 , or the first device, the second device, or the server of the network architecture 100 shown in Figure 4 , or the first device, the second device, or the server of the method 500 shown in Figure 5 , or the first device, the second device, the third device, or the server of the method 700 shown in Figure 7 . The device 1100 includes at least one processor 1101, an internal connection 1102, a memory 1103, and at least one transceiver 1104.

[0196] The device 1100 is a hardware-structured device that can be used to implement the functional modules in the device 1000 shown in FIG10 . For example, those skilled in the art will appreciate that the data acquisition unit 1001 and the position acquisition unit 1002 in the device 1000 shown in FIG10 can be implemented by the at least one processor 1101 calling the code in the memory 1103 , and the first receiving unit 1003 , the second receiving unit 1004 , and the third receiving unit 1005 in the device 1000 shown in FIG10 can be implemented by the at least one transceiver 1104 .

[0197] The device 1100 may also be used to implement the functions of the first device, the second device, the third device or the server in any of the above embodiments.

[0198] The processor 1101 may be a general-purpose central processing unit (CPU), a network processor (NP), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0199] The internal connection 1102 may include a path for transmitting information between the components, and may be a single board or a bus.

[0200] The at least one transceiver 1104 is configured to communicate with other devices or a communication network.

[0201] The memory 1103 may be a read-only memory (ROM) or other static storage device capable of storing static information and instructions, a random access memory (RAM) or other dynamic storage device capable of storing information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but not limited thereto. The memory may be independent and connected to the processor via a bus. The memory may also be integrated with the processor.

[0202] Among them, the memory 1103 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 1101. The processor 1101 is used to execute the application code stored in the memory 1103 and cooperate with at least one transceiver 1104, so that the device 1100 can implement the functions of the patent method.

[0203] In a specific implementation, as an embodiment, the processor 1101 may include one or more CPUs, such as CPU0 and CPU1 in FIG11 .

[0204] In a specific implementation, as an embodiment, the device 1100 may include multiple processors, such as the processor 1101 and the processor 1107 in FIG11 . Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0205] 12 , an embodiment of the present application provides a system 1200 for acquiring position information. The system 1200 includes:

[0206] The first device 1201 is configured to obtain first antenna data related to a position of the first device 1201 relative to the second device 1202 and send the first antenna data to the second device 1202.

[0207] The second device 1202 is used to obtain the orientation information of the first device 1201 relative to the second device 1202 based on the first correspondence and the first antenna data. The first correspondence indicates the correspondence between the orientation information and the antenna data. The first correspondence is obtained based on n positions and antenna data related to the n positions, n is greater than or equal to 3, and the n positions are distributed on at least three sides of the second device 1202.

[0208] Optionally, for the detailed implementation process of the first device 1201 acquiring the first antenna data, please refer to the relevant content of step 502 of the method 500 shown in Figure 5, which will not be described in detail here.

[0209] Optionally, the detailed implementation process of the second device 1202 obtaining the position information of the first device 1201 relative to the second device 1202 can be found in the relevant content of step 504 of the method 500 shown in FIG5 , which will not be described in detail here.

[0210] Optionally, the first device 1201 is configured to receive in-phase and quadrature IQ data sent by the second device 1202; and obtain first antenna data based on the IQ data.

[0211] Optionally, the first device 1201 receives in-phase orthogonal IQ data sent by the second device 1202; for a detailed implementation process of obtaining first antenna data based on the IQ data, please refer to the relevant content of step 502 of the method 500 shown in Figure 5, which will not be described in detail here.

[0212] Optionally, the first device 1201 is further configured to obtain a first corresponding relationship; and send the first corresponding relationship to the second device 1202.

[0213] Optionally, the first device 1201 obtains the first corresponding relationship; for a detailed implementation process of sending the first corresponding relationship to the second device 1202, please refer to the relevant content of steps 701-703 of the method 700 shown in Figure 7, which will not be described in detail here.

[0214] Optionally, the first device 1201 is configured to:

[0215] receiving, at the n locations, IQ data sent by the second device 1202;

[0216] Obtaining position information of the n positions relative to the second device 1202, and obtaining antenna data related to the n positions based on IQ data sent by the second device 1202 and received at the n positions;

[0217] Performing an interpolation calculation based on the n positions and the antenna data associated with the n positions to obtain position information of m positions around the second device 1202 relative to the second device 1202 and the antenna data associated with the m positions, where m is greater than 1, and the m positions are positions around the second device 1202 excluding the n positions;

[0218] A first corresponding relationship is acquired based on the orientation information of n+m positions relative to the second device 1202 and the antenna data related to the n+m positions, where the n+m positions include the n position and the m position.

[0219] Optionally, for a detailed implementation process of the first device 1201 receiving the IQ data sent by the second device 1202 at the n positions, refer to the relevant content of step 7012 of the method 700 shown in FIG7 , which will not be described in detail here.

[0220] Optionally, the detailed implementation process of the first device 1201 obtaining the orientation information of the n positions relative to the second device 1202 and obtaining the antenna data related to the n positions can be found in the relevant content of step 7013 of method 700 shown in Figure 7, which will not be described in detail here.

[0221] Optionally, the detailed implementation process of the first device 1201 performing interpolation calculation based on the n positions and antenna data related to the n positions can be found in the relevant content of step 702 of method 700 shown in FIG7 , which will not be described in detail here.

[0222] Optionally, the detailed implementation process of the first device 1201 acquiring the first corresponding relationship refers to the relevant content of step 703 of the method 700 shown in Figure 7, and will not be described in detail here.

[0223] In this embodiment of the present application, because the first correspondence is derived based on n locations and antenna data associated with those n locations, the position information and antenna data included in each record of the first correspondence are relatively accurate. Since the first antenna data is associated with the position of the first device relative to the second device, the second device can accurately obtain the position information of the first device relative to the second device based on the first antenna data and the first correspondence, thereby improving the accuracy of the acquired position information.

[0224] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0225] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for obtaining position information, characterized in that: The method comprises: Acquire first antenna data, where the first antenna data is data related to a position of the first device relative to the second device; Based on a first correspondence relationship and the first antenna data, the orientation information of the first device relative to the second device is obtained, the first correspondence relationship indicating the correspondence between the orientation information and the antenna data, the first correspondence relationship being obtained based on n positions and the antenna data related to the n positions, n being greater than or equal to 3, and the n positions being distributed on at least three sides of the second device.

2. The method according to claim 1, characterized in that The first antenna data is obtained based on the in-phase orthogonal IQ data sent by the second device and received by the first device.

3. The method according to claim 2, characterized in that The number of IQ data received by the first device is at least one, and the first antenna data includes one or more of the following: at least one IQ data received by the first device, a received signal strength indication RSSI of the at least one IQ data, and a ratio between any two IQ data in the at least one IQ data.

4. The method according to any one of claims 1 to 3, characterized in that: The acquiring, based on the first corresponding relationship and the first antenna data, the position information of the first device relative to the second device includes: From the first corresponding relationship, the azimuth information corresponding to the antenna data having the smallest difference with the first antenna data is obtained, and the azimuth information of the first device relative to the second device is the obtained azimuth information.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Acquire the azimuth information of the n positions relative to the second device and antenna data related to the n positions, where the antenna data related to the n positions is obtained based on IQ data sent by the second device and received by the first device at the n positions; Performing interpolation calculation based on the n positions and the antenna data related to the n positions to obtain the orientation information of m positions around the second device relative to the second device and the antenna data related to the m positions, where m is greater than 1, and the m positions are positions around the second device other than the n positions; The first corresponding relationship is acquired based on the azimuth information of n+m positions relative to the second device and the antenna data related to the n+m positions, where the n+m positions include the n positions and the m positions.

6. The method according to claim 5, characterized in that The obtaining the position information of the n positions relative to the second device includes: Obtaining the coordinates of the n positions; Based on the coordinates of the n positions, position information of the n positions relative to the second device is acquired.

7. The method according to claim 6, characterized in that The n positions include an initial position, the first device moves from the initial position to n-1 positions among the n positions except the initial position, and acquiring the coordinates of the n positions includes: Receiving coordinates of the initial position; Acquire inertial measurement unit IMU data measured by the first device at the n-1 position; Based on the coordinates of the initial position and the IMU data measured by the first device at the n-1 position, the coordinates of the n-1 positions are acquired.

8. The method according to any one of claims 5 to 7, characterized in that: The acquiring antenna data related to the n positions includes: Receive antenna data related to the n positions sent by the first device.

9. The method according to any one of claims 5 to 8, characterized in that: The n+m positions are distributed on at least one circle of tracks around the second device, and two adjacent circles of tracks are spaced a specified distance apart.

10. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The first corresponding relationship is received and sent by the first device or the server, where the first corresponding relationship is obtained by the first device or the server based on the n positions and IQ data sent by the second device and received by the first device at the n positions.

11. The method according to any one of claims 1 to 10, characterized in that: At least one movement trajectory of the first device moving around the second device includes the n positions.

12. A method for obtaining position information, characterized in that: The method comprises: The first device acquires first antenna data, where the first antenna data is related to a position of the first device relative to the second device; The first device sends the first antenna data to the second device; The second device obtains the orientation information of the first device relative to the second device based on the first correspondence relationship and the first antenna data, the first correspondence relationship indicating the correspondence between the orientation information and the antenna data, the first correspondence relationship being obtained based on n positions and the antenna data related to the n positions, n being greater than or equal to 3, and the n positions being distributed on at least three sides of the second device.

13. The method according to claim 12, characterized in that The first device obtains first antenna data, including: The first device receives in-phase and quadrature IQ data sent by the second device; The first device acquires the first antenna data based on the IQ data.

14. The method according to claim 12 or 13, characterized in that The method further comprises: The first device acquires the first corresponding relationship; The first device sends the first corresponding relationship to the second device.

15. The method according to claim 14, characterized in that The first device acquires the first corresponding relationship, including: The first device receives, at the n locations, IQ data sent by the second device; The first device obtains the azimuth information of the n positions relative to the second device, and obtains antenna data related to the n positions based on IQ data sent by the second device and received at the n positions; The first device performs interpolation calculation based on the n positions and the antenna data related to the n positions to obtain the orientation information of m positions around the second device relative to the second device and the antenna data related to the m positions, where m is greater than 1, and the m positions are positions around the second device except the n positions; The first device obtains the first corresponding relationship based on the orientation information of n+m positions relative to the second device and the antenna data related to the n+m positions, where the n+m positions include the n position and the m position.

16. A device for obtaining position information, characterized in that: The device comprises: a data acquisition unit, configured to acquire first antenna data, wherein the first antenna data is data related to a position of the first device relative to the second device; An orientation acquisition unit is used to acquire the orientation information of the first device relative to the second device based on a first corresponding relationship and the first antenna data, wherein the first corresponding relationship indicates the corresponding relationship between the orientation information and the antenna data, and the first corresponding relationship is obtained based on n positions and the antenna data related to the n positions, n is greater than or equal to 3, and the n positions are distributed on at least three sides of the second device.

17. The device according to claim 16, characterized in that The first antenna data is obtained based on the in-phase orthogonal IQ data sent by the second device and received by the first device.

18. The device according to claim 17, characterized in that The number of IQ data received by the first device is at least one, and the first antenna data includes one or more of the following: at least one IQ data received by the first device, a received signal strength indication RSSI of the at least one IQ data, and a ratio between any two IQ data in the at least one IQ data.

19. The device according to any one of claims 16 to 18, characterized in that: The position acquisition unit is used to: From the first corresponding relationship, the azimuth information corresponding to the antenna data having the smallest difference with the first antenna data is obtained, and the azimuth information of the first device relative to the second device is the obtained azimuth information.

20. The device according to any one of claims 16 to 19, characterized in that The data acquisition unit is further used for: Acquire the azimuth information of the n positions relative to the second device and antenna data related to the n positions, where the antenna data related to the n positions is obtained based on the IQ data sent by the second device and received by the first device at the n positions; Performing interpolation calculation based on the n positions and the antenna data related to the n positions to obtain the orientation information of m positions around the second device relative to the second device and the antenna data related to the m positions, where m is greater than 1, and the m positions are positions around the second device other than the n positions; The first corresponding relationship is acquired based on the azimuth information of n+m positions relative to the second device and the antenna data related to the n+m positions, where the n+m positions include the n positions and the m positions.

21. The device according to claim 20, characterized in that The data acquisition unit is used to: Obtaining the coordinates of the n positions; Based on the coordinates of the n positions, position information of the n positions relative to the second device is acquired.

22. The device according to claim 21, characterized in that The n positions include an initial position, the first device moves from the initial position to n-1 positions among the n positions except the initial position, and the apparatus further includes a first receiving unit; The first receiving unit is used to receive the coordinates of the initial position; The data acquisition unit is used to acquire the inertial measurement unit IMU data measured by the first device at the n-1 position; The data acquisition unit is further used to acquire the coordinates of the n-1 positions based on the coordinates of the initial position and the IMU data measured by the first device at the n-1 position.

23. The device according to any one of claims 20 to 22, characterized in that The device also includes a second receiving unit; The second receiving unit is used to receive antenna data related to the n positions sent by the first device.

24. The device according to any one of claims 20 to 23, characterized in that The n+m positions are distributed on at least one circle of tracks around the second device, and two adjacent circles of tracks are spaced a specified distance apart.

25. The device according to any one of claims 16 to 19, characterized in that The device also includes a third receiving unit; The third receiving unit is used to receive the first corresponding relationship sent by the first device or the server, where the first corresponding relationship is obtained by the first device or the server based on the n positions and the IQ data sent by the second device and received by the first device at the n positions.

26. The device according to any one of claims 16 to 25, characterized in that At least one movement trajectory of the first device moving around the second device includes the n positions.

27. A system for obtaining position information, characterized in that: The system comprises: a first device, configured to obtain first antenna data, the first antenna data being related to a position of the first device relative to the second device; and send the first antenna data to the second device; The second device is used to obtain the orientation information of the first device relative to the second device based on a first corresponding relationship and the first antenna data, the first corresponding relationship indicating the correspondence between the orientation information and the antenna data, the first corresponding relationship being obtained based on n positions and the antenna data related to the n positions, n being greater than or equal to 3, and the n positions being distributed on at least three sides of the second device.

28. The system of claim 27, wherein: The first device is used to receive in-phase and orthogonal IQ data sent by the second device; and obtain the first antenna data based on the IQ data.

29. The system according to claim 27 or 28, characterized in that The first device is further used to obtain the first corresponding relationship; and send the first corresponding relationship to the second device.

30. The system of claim 29, wherein: The first device is used for: receiving, at the n locations, IQ data sent by the second device; Acquire the azimuth information of the n positions relative to the second device, and acquire antenna data related to the n positions based on IQ data sent by the second device and received at the n positions; Performing interpolation calculation based on the n positions and the antenna data related to the n positions to obtain the orientation information of m positions around the second device relative to the second device and the antenna data related to the m positions, where m is greater than 1, and the m positions are positions around the second device other than the n positions; The first corresponding relationship is acquired based on the azimuth information of n+m positions relative to the second device and the antenna data related to the n+m positions, where the n+m positions include the n positions and the m positions.

31. A device for obtaining position information, characterized in that: The system comprises at least one processor, wherein the at least one processor is used to be coupled to a memory, read and execute instructions in the memory, so as to implement the method according to any one of claims 1 to 11.

32. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a computer, the method according to any one of claims 1 to 11 is implemented.

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