Terminal positioning method, computer readable storage medium and electronic device

Abstract

The embodiment of the invention provides a terminal positioning method, a computer readable storage medium and an electronic device, and the method is applied to an indoor scene, and comprises the steps that a target terminal receives a positioning instruction sent by an auxiliary terminal, and responds to the positioning instruction to emit millimeter waves to carry out the distance measurement of the surrounding environment of the target terminal, obtaining coordinate data of the target terminal; the target terminal compares the coordinate data with pre-stored positioning auxiliary data about the surrounding environment of the target terminal so as to determine the position information of the target terminal; and the target terminal sends the position information to the auxiliary terminal. According to the embodiment of the invention, the method solves a problem that the terminal in an indoor scene cannot be accurately positioned in the related technology, and achieves an effect that the target terminal determines the position of the target terminal in the indoor scene through transmitting millimeter waves and by means of the positioning auxiliary information.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communications, and more specifically, to a terminal positioning method, a computer-readable storage medium, and an electronic device. Background Art

[0002] In modern society, people are highly dependent on target terminals, such as mobile phones, and often set their phones to silent mode. In daily life, they often don’t know where their phones are placed and it takes a long time to find them, which brings great inconvenience to people’s lives.

[0003] In related technologies, most mobile terminals are designed with positioning capabilities. Positioning refers to technologies or services that use specific positioning technologies to obtain the terminal user's location information and plot the location of the located object on an electronic map. Positioning technologies primarily include GPS-based positioning and positioning based on mobile operator network base stations. These technologies are generally applied to large outdoor areas. There are few functions specifically designed for indoor terminal positioning, making it difficult to accurately locate terminals located indoors. Summary of the Invention

[0004] The embodiments of the present application provide a terminal positioning method, a computer-readable storage medium, and an electronic device to at least solve the problem in the related art that a terminal located in an indoor scene cannot be accurately positioned.

[0005] According to one embodiment of the present application, a terminal positioning method is provided, including: a target terminal receives a positioning indication sent by an auxiliary terminal, and the target terminal transmits millimeter waves in response to the positioning indication to measure the distance of the surrounding environment of the target terminal to obtain coordinate data of the target terminal; the target terminal compares the coordinate data with pre-stored positioning auxiliary data about the surrounding environment of the target terminal to determine the location information of the target terminal; and the target terminal sends the location information to the auxiliary terminal.

[0006] According to another embodiment of the present application, a terminal positioning method is provided, including: an auxiliary terminal sends a positioning indication to a target terminal, so that the target terminal transmits millimeter waves in response to the positioning indication to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal; the auxiliary terminal receives the position information of the target terminal determined by the target terminal based on the coordinate data and pre-stored positioning auxiliary data about the surrounding environment of the target terminal.

[0007] According to another embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when run.

[0008] According to another embodiment of the present application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments.

[0009] Through this application, after receiving the positioning instruction, the target terminal begins to locate itself, measures the distance to its surrounding environment by emitting millimeter waves, and obtains the coordinate data of the target terminal based on the reflected millimeter waves. At the same time, the target terminal pre-stores positioning auxiliary data about the surrounding environment, so the coordinate data can be compared with the auxiliary positioning data to ultimately determine the location information of the target terminal. In order to enable the user to find the target terminal, the target terminal sends the location information to the auxiliary terminal. Therefore, the problem in the related art that it is impossible to accurately locate the terminal located in the indoor scene can be solved, thereby achieving the effect of the target terminal in the indoor scene determining its own position by emitting millimeter waves and using positioning auxiliary information. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a hardware structure block diagram of a computer terminal according to a terminal positioning method according to an embodiment of the present application;

[0011] Figure 2 is a flowchart of a terminal positioning method according to an embodiment of the present application;

[0012] Figure 3 is an indoor plan dimension diagram according to an embodiment of the present application;

[0013] Figure 4 This is the data storage process according to the embodiment of the present application Figure 1 ;

[0014] Figure 5 This is the data storage process according to the embodiment of the present application Figure 2 ;

[0015] Figure 6 is a flowchart of a terminal positioning method according to yet another embodiment of the present application;

[0016] Figure 7 This is a schematic diagram of the azimuth calibration of the millimeter wave antenna transmission of the millimeter wave module;

[0017] Figure 8 A structural block diagram of a terminal positioning device according to an embodiment of the present application;

[0018] Figure 9 is a structural block diagram of a terminal positioning device according to yet another embodiment of the present application;

[0019] Figure 10is a schematic diagram of the structure of a terminal positioning system according to an embodiment of the present application;

[0020] Figure 11 3 is a schematic diagram of the operation of the data processing module according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0023] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 This is a hardware structure block diagram of a computer terminal in a terminal positioning method according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data. The computer terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0024] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the terminal positioning method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0025] The transmission device 106 is used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by a computer terminal's communications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0026] Figure 2 is a flow chart of a terminal positioning method according to an embodiment of the present application, which is applied to indoor scenarios, such as Figure 2 As shown, the process includes the following steps:

[0027] Step S202: The target terminal receives a positioning instruction sent by the auxiliary terminal. In response to the positioning instruction, the target terminal transmits millimeter waves to measure the distance to the surrounding environment of the target terminal to obtain coordinate data of the target terminal.

[0028] In modern society, people are highly dependent on target terminals, such as mobile phones, and often set their phones to silent mode. In daily life, they often find themselves in situations where they don't know where their phones are placed and it takes a long time to find them, causing great inconvenience in their lives. However, current terminal positioning functions are generally applied to large outdoor areas, and there are few technologies specifically designed for positioning terminals in indoor scenarios. Therefore, in one embodiment, in response to a situation where a user is unable to determine the exact location of a target terminal indoors, the user sends a positioning instruction to the target terminal via an auxiliary terminal, so that the target terminal can determine its own location after receiving the positioning instruction. For example, the user sends a positioning instruction to a target mobile phone that is located indoors and whose specific location cannot be determined via a backup mobile phone, so that the target mobile phone can determine its own location after receiving the positioning instruction.

[0029] In one embodiment, the target terminal transmits millimeter waves. When the millimeter waves encounter obstacles or walls in the surrounding environment, part of the waves will be reflected back to the target terminal by the obstacles. The target terminal measures the time difference between the transmission and the reception of the echo. This time difference is multiplied by the propagation speed of electromagnetic waves in the air to determine the distance between the target terminal and the obstacle or wall. The coordinate data is determined based on the distance between the target terminal and the obstacle or wall, for example, combined with Figure 3 In the indoor plane dimension diagram shown in FIG, the distance d between the target terminal and the west longitudinal obstacle is determined by transmitting millimeter waves. Y (n), the distance from the east longitudinal direction Y1 is d Y1 (n), the distance from the north transverse direction X1 is d X1(n), the distance to the south lateral obstacle is d X (n), the coordinates of the target terminal are n(d Y (n),d X (n),d Y1 (n),d X1 In one embodiment, the target terminal can transmit millimeter waves via a millimeter wave module. The transmitted millimeter waves can measure and image the surrounding environment. Distance measurement can be used to obtain coordinate data for the target terminal, while imaging can be used to obtain feature information about surrounding objects. The millimeter wave module can rotate 360 ​​degrees. The terminal positioning methods disclosed in the embodiments of this application are all applicable to scenarios where the target terminal is horizontal.

[0030] Before the target terminal in step S202 of the embodiment of the present application receives the positioning indication sent by the auxiliary terminal, it also includes at least one of the following: the target terminal receives externally input spatial data and obstruction data of the surrounding environment of the target terminal to generate the positioning auxiliary data; the target terminal scans the space and obstructions of the surrounding environment of the target terminal by emitting millimeter waves to generate the positioning auxiliary data.

[0031] In one embodiment, the terminal positioning method can be applied to the positioning of the terminal in an indoor scenario. Before the target terminal is positioned, spatial data and obstruction data can be obtained in two ways: through external input or self-scanning. That is, the user measures the boundary size and obstruction data of the environment where the target terminal may be located in advance. Figure 4 The data storage process according to the embodiment of the present application is shown Figure 1 This corresponds to the method of obtaining spatial data and occlusion data through external input. Figure 5 The data storage process according to the embodiment of the present application is shown Figure 2 This corresponds to the method of acquiring spatial data and obstruction data through self-scanning. For example, the dimensional data of walls and furniture is measured and input into the target terminal. Alternatively, the target terminal transmits millimeter waves, which are reflected when they encounter obstructions (such as walls and furniture). The target terminal receives and records these reflected signals and processes them, including calculating information such as the intensity, distance, and direction of the reflected signals. After data processing is completed, the target terminal analyzes the surrounding environment and determines the dimensional data and positional relationships of surrounding obstructions.

[0032] Figure 4 The process of the embodiment shown includes the following steps:

[0033] Step S402, importing indoor and furniture size data;

[0034] Specifically, the room and furniture size data (ie, length, width, height) are imported into B1.

[0035] Step S404, calibrating the millimeter wave transmission azimuth;

[0036] Specifically, the millimeter wave transmission direction of the millimeter wave module is calibrated to specify a reference direction.

[0037] Step S406, imaging and scanning the environment near the furniture;

[0038] Specifically, a millimeter wave module is used to scan and image the environment near the furniture.

[0039] Step S408: input positioning assistance data.

[0040] Specifically, the data obtained in steps S402-S406 are entered into the storage module as positioning auxiliary data for standby use.

[0041] Figure 5 The process of the embodiment shown includes the following steps:

[0042] Step S502, calibrating the millimeter wave transmission azimuth;

[0043] Specifically, the millimeter wave transmission direction of the millimeter wave module is calibrated to specify a reference direction.

[0044] Step S504, measuring the origin coordinates;

[0045] Specifically, the origin coordinates are measured at a distance less than a certain distance from the wall facing away from the reference direction.

[0046] Step S506, moving along the reference direction for scanning measurement;

[0047] Specifically, the millimeter wave module moves and scans along the reference direction, and uses the origin in step S504 as the reference point to obtain indoor boundary size data.

[0048] Step S508, imaging and scanning the environment near the furniture;

[0049] Specifically, a millimeter wave module is used to scan and image the environment near the furniture.

[0050] Step S510: input positioning assistance data.

[0051] Specifically, the data obtained in steps S502-S508 are entered into the storage module as positioning auxiliary data for standby use.

[0052] It should be noted that obtaining spatial data and occlusion data through external input to generate auxiliary data is mostly used in scenes with few indoor walls and furniture, and is relatively accurate; obtaining spatial data and occlusion data through self-scanning to generate auxiliary data is mostly used in scenes with many indoor walls and furniture, and is relatively convenient.

[0053] The spatial data of the surrounding environment received or scanned by the target terminal includes indoor size data, and the obstruction data of the surrounding environment includes furniture size data and the positional relationship between furniture. The spatial data and the obstruction data are used together as positioning auxiliary data.

[0054] In step S202, the target terminal transmits millimeter waves to measure the distance to the surrounding environment of the target terminal, including: the target terminal sends the millimeter waves in the horizontal direction and the vertical direction respectively based on the spatial orientation of the surrounding environment of the target terminal to measure the distance to the surrounding environment of the target terminal.

[0055] It should be noted that the target terminal transmits millimeter waves horizontally via a millimeter wave module equipped with a geomagnetic sensor and capable of identifying direction. The millimeter wave module's millimeter wave transmission direction is bound to a geomagnetic sensor's identification direction, thus providing the module with a direction identification function. The millimeter wave module can select a transmission direction based on the specific orientation of the house. That is, the millimeter wave transmission direction is related to spatial data. Millimeter wave modules transmitting horizontally have ranging, imaging, and direction identification capabilities. Millimeter wave modules transmitting vertically have ranging and imaging capabilities.

[0056] In one embodiment, the target terminal sends millimeter waves in a vertical direction, and the distance between the target terminal and a preset top, such as a ceiling, is determined based on the reflection distance of the millimeter waves. The distance between the target terminal and the ground can also be further determined based on the distance between the preset top and the ground.

[0057] Step S204: the target terminal compares the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal;

[0058] It should be noted that since only knowing the coordinate data is still not enough to quickly and accurately determine the location of the target terminal, it is necessary to combine positioning auxiliary data to further determine the environment where the target terminal is located, so that the user can quickly find the target terminal.

[0059] Step S204 includes: the target terminal determines whether the target terminal is blocked based on the quantitative relationship between the sum of the millimeter wave reflection distances corresponding to the coordinate data and the size of the corresponding boundary, wherein the corresponding boundary is a boundary in the surrounding environment of the target terminal that is parallel to the reflection line of the millimeter wave; and determines the location information of the target terminal based on the blockage judgment result.

[0060] It should be noted that the millimeter wave reflection distance refers to the distance that the millimeter wave emitted by the target terminal is reflected back after encountering an obstacle, that is, the distance between the target terminal and the wall or obstacle. Since the millimeter wave reflection distance has been obtained when determining the target data, it can be used directly.

[0061] In one embodiment, after obtaining the coordinate data, the sum of the reflection distances of the lateral millimeter waves is determined based on the sum of the absolute values ​​of the lateral coordinates, and the sum of the reflection distances is compared with the length of the lateral wall, where the length of the lateral wall is the size of the corresponding boundary of the lateral coordinate data, and the same applies to the longitudinal direction.

[0062] In one embodiment, the target terminal determines whether the target terminal is blocked based on the quantitative relationship between the sum of the reflection distances corresponding to the coordinate data and the size of the corresponding boundary, including: when the sum of the millimeter wave reflection distances is less than the size of the corresponding boundary, determining that the target terminal is blocked; when the sum of the millimeter wave reflection distances is equal to the size of the corresponding boundary, determining that the target terminal is not blocked.

[0063] Combine Figure 3 As shown in the indoor plane size diagram, when the coordinates of the target terminal n are n(d Y (n),d X (n),d Y1 (n),d X1 (n)),, will |d Y (n)|+|d Y1 The value of (n)| is related to the length D of the transverse wall x In comparison, |d X (n)|+|d X1 The value of (n)| is related to the length D of the longitudinal wall Y Compared. If |d Y (n)|+|d Y1 (n)| <D x , or |d X (n)|+|d X1 (n)| <D Y , indicating that the target terminal is blocked; if |d Y (n)|+|d Y1 (n)|=D x and|d X(n)|+|d X1 (n)|=D Y , indicating that the target terminal is not blocked. The length of the horizontal wall D x and the length of the longitudinal wall D Y All of them belong to positioning assistance data.

[0064] It should be noted that Figure 3 There are two coordinate systems in the system, namely X / Y and X1 / Y1. You can manually switch X / Y or X1 / Y1 as the main coordinate system as an auxiliary means. For example, Figure 3 n(d Y (n),d X (n),d Y1 (n),d X1 When the X / Y direction of (n)) is blocked by obstacle O, if X1 / Y1 is used as the coordinate system, the coordinates obtained are (d Y1 (n),d X1 (n)), so the calibrated position is accurate; if X / Y is used as the coordinate system, the coordinate obtained is d ′ Y (n),d ′ X (n)), the position marked in this way is a misjudgment (where d ′ Y (n) = d Y (n),d ′ X (n) = d X (n))).

[0065] In one embodiment, determining the location information of the target terminal based on the occlusion judgment result includes: when the target terminal is blocked, the target terminal scans and images the surrounding environment of the target terminal, and determines the location information of the target terminal based on the scanning and imaging results and the auxiliary positioning data; when the target terminal is not blocked, the target terminal determines the location information of the target terminal based on the coordinate data.

[0066] It should be noted that if the target terminal is obscured, it is difficult for the user to find the target terminal based solely on the coordinate data. Therefore, the target terminal needs to scan and image the surrounding environment to obtain data on surrounding obstructions, and then use the auxiliary positioning data to determine the target terminal's location information. If the target terminal is not obscured, it means that the target terminal is exposed to the spatial environment, and the user can find the target terminal based on the location information determined by the coordinate data.

[0067] In one embodiment, determining the target terminal's location information based on the obstruction determination result includes: if the target terminal is obstructed, the target terminal scanning and imaging its surroundings, and determining the target terminal's location information based on the target terminal's distance from a preset top, the scanning and imaging result, and the auxiliary positioning data; and if the target terminal is not obstructed, the target terminal determining the target terminal's location information based on the target terminal's distance from the preset top, the coordinate data, and the target terminal's surroundings.

[0068] It should be noted that in addition to scanning and imaging the surrounding environment and determining coordinate data by emitting millimeter waves to determine the position of the target terminal, the target terminal can also determine the height of the target terminal based on the distance between the target terminal and a preset top, such as the ceiling, to more accurately locate the target terminal.

[0069] In one embodiment, the target terminal transmits millimeter waves in a vertical direction to determine the distance from the target terminal to the ceiling, and the height of the target terminal can be obtained by combining the indoor height.

[0070] Step S206: The target terminal sends the location information to the auxiliary terminal.

[0071] Since the target terminal has an interactive function, the target terminal sends location information to the auxiliary terminal after determining its own location, so that the user can determine the location of the target terminal based on the location information of the target terminal displayed by the auxiliary terminal and find the target terminal.

[0072] Figure 6 is a flow chart of a terminal positioning method according to another embodiment of the present application, which is applied to an auxiliary terminal, such as Figure 6 As shown, the process includes the following steps:

[0073] Step S602: The auxiliary terminal sends a positioning instruction to the target terminal, so that the target terminal transmits millimeter waves in response to the positioning instruction to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal;

[0074] In one embodiment, when the user is unable to determine the location of the target terminal, the auxiliary terminal is operated to send a positioning instruction to the target terminal. After receiving the positioning instruction, the target terminal transmits millimeter waves to measure the distance of the surrounding environment of the target terminal. When the millimeter waves encounter obstacles or walls in the surrounding environment, a portion of the waves will be reflected back to the target terminal by the obstacles. The target terminal measures the time difference from transmission to reception of the echo. This time difference is multiplied by the propagation speed of electromagnetic waves in the air to determine the distance between the target terminal and the obstacle or wall. The coordinate data is determined based on the distance between the target terminal and the obstacle or wall, for example, combined with Figure 3 In the indoor plane dimension diagram shown in FIG, the distance d between the target terminal and the west longitudinal obstacle is determined by transmitting millimeter waves. Y (n), the distance from the east longitudinal direction Y1 is d Y1 (n), the distance from the north transverse direction X1 is d X1 (n), the distance to the south lateral obstacle is d X (n), the coordinates of the target terminal are n(d Y (n),d X (n),d Y1 (n),d X1 (n)).

[0075] After the auxiliary terminal sends a positioning indication to the target terminal in step S602 of the embodiment of the present application, it also includes: the auxiliary terminal binds the transmission direction of the millimeter wave emitted by the target terminal in the horizontal direction with the identification direction of the geomagnetic sensor set in the target terminal to set a reference direction.

[0076] In one embodiment, the auxiliary terminal cooperates with the target terminal to calibrate the millimeter wave transmission direction. The target terminal uses a millimeter wave module that can rotate 360 ​​degrees, such as Figure 7 The diagram below shows the azimuth calibration of the millimeter-wave antenna transmission of a millimeter-wave module. This millimeter-wave module is equipped with a geomagnetic sensor. The millimeter-wave transmission azimuth is bound to a specific direction identified by the geomagnetic sensor through a specific calibration technique. Leveraging the geomagnetic sensor's ability to identify direction, the auxiliary terminal sends a positioning indication to the target terminal. The auxiliary terminal's visual interface then manually determines whether the millimeter-wave transmission direction aligns with the reference direction. If so, calibration ends; otherwise, calibration continues. The reference direction can be set manually, and any direction (east, south, west, or north) can be used as the reference direction.

[0077] Step S604: the auxiliary terminal receives the location information of the target terminal determined by the target terminal according to the coordinate data and pre-stored positioning assistance data about the surrounding environment of the target terminal.

[0078] In one embodiment, after the target terminal determines its own location information, it sends the location information to the auxiliary terminal. The user can determine not only the coordinates of the target terminal but also relevant information about the target terminal's surrounding environment based on the location information displayed by the auxiliary terminal, and thus find the target terminal.

[0079] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a terminal, computer, server, or network device, etc.) to execute the method described in each embodiment of the present application.

[0080] This embodiment also provides a terminal positioning device for implementing the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0081] Figure 8 is a structural block diagram of a terminal positioning device according to an embodiment of the present application, such as Figure 8 As shown, the device includes:

[0082] The transmitting module 10 is configured to receive a positioning instruction sent by the auxiliary terminal, and the target terminal transmits millimeter waves in response to the positioning instruction to measure the distance of the surrounding environment of the target terminal to obtain coordinate data of the target terminal;

[0083] a comparison module 20, configured to compare the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal;

[0084] The first sending module 30 is configured to send the location information to the auxiliary terminal.

[0085] Figure 9 is a structural block diagram of a terminal positioning device according to another embodiment of the present application. Figure 9 As shown, the device includes:

[0086] The second sending module 40 is configured to send a positioning instruction to a target terminal, so that the target terminal transmits a millimeter wave in response to the positioning instruction to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal;

[0087] The receiving module 50 is configured to receive the location information of the target terminal determined by the target terminal according to the coordinate data and pre-stored positioning assistance data about the surrounding environment of the target terminal.

[0088] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0089] Figure 10 is a schematic diagram of the terminal positioning system structure according to an embodiment of the present application, such as Figure 10 As shown, the system includes a data storage module B1, a data processing module B2, a display module B3, a positioning data entry module B4 and an interaction module B5.

[0090] B1 records auxiliary positioning input data, B2 is used to process data from B1 and B4, B3 visualizes the data from B2, B4 records its positioning-related data when the target terminal is lost, B5 is a human-computer interaction module, and B5 can share all positioning-related data of the target terminal with the auxiliary terminal.

[0091] Figure 11 is a schematic diagram of the operation of the data processing module according to an embodiment of the present application, such as Figure 11 As shown, after the data processing module B2 obtains the data of the target terminal from the positioning data entry module B4, it first compares the sum of its parallel reverse coordinates with the corresponding parallel maximum boundary size. When the sum of the parallel reverse coordinates is less than the corresponding parallel maximum boundary size, the millimeter wave scanning ranging module and imaging obtain the furniture size, height and surrounding environment image, and compare them with the data in the data storage module B1 to determine the current position; when the sum of the parallel reverse coordinates is equal to the corresponding parallel maximum boundary size, the coordinate data and the boundary data in the data storage module B1 are compared to determine the current position.

[0092] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any of the above method embodiments when run.

[0093] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0094] An embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0095] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0096] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail here.

[0097] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices, they can be implemented using program code executable by the computing device, and thus, they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be performed in a different order than herein, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0098] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A terminal positioning method, applied to indoor scenarios, characterized in that: include: The target terminal receives a positioning instruction sent by the auxiliary terminal, and in response to the positioning instruction, the target terminal transmits a millimeter wave to measure the distance of the surrounding environment of the target terminal to obtain coordinate data of the target terminal; The target terminal compares the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal; The target terminal sends the location information to the auxiliary terminal.

2. The method according to claim 1, characterized in that Before the target terminal receives the positioning instruction sent by the auxiliary terminal, the method further includes at least one of the following: The target terminal receives externally input spatial data and obstruction data of the surrounding environment of the target terminal to generate the positioning assistance data; The target terminal scans the space and obstructions in the surrounding environment of the target terminal by transmitting millimeter waves to generate the positioning assistance data.

3. The method according to claim 1, characterized in that The target terminal transmits a millimeter wave in response to the positioning indication to measure the distance of the surrounding environment of the target terminal, including: The target terminal sends the millimeter wave in a horizontal direction and a vertical direction based on the spatial orientation of the surrounding environment of the target terminal to measure the distance of the surrounding environment of the target terminal.

4. The method according to claim 1, wherein The target terminal compares the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal, including: The target terminal determines whether the target terminal is blocked based on a quantitative relationship between a sum of millimeter wave reflection distances corresponding to the coordinate data and a size of a corresponding boundary, wherein the corresponding boundary is a boundary in the surrounding environment of the target terminal that is parallel to the reflection path of the millimeter wave; The location information of the target terminal is determined according to the occlusion judgment result.

5. The method according to claim 4, characterized in that The target terminal determines whether the target terminal is blocked according to a quantitative relationship between a sum of millimeter wave reflection distances corresponding to the coordinate data and a size of a corresponding boundary, including: When the sum of the millimeter wave reflection distances is smaller than the size of the corresponding boundary, determining that the target terminal is blocked; When the sum of the millimeter wave reflection distances is equal to the size of the corresponding boundary, it is determined that the target terminal is not blocked.

6. The method according to claim 4, characterized in that The determining the location information of the target terminal according to the occlusion judgment result includes: When the target terminal is blocked, the target terminal scans and images the surrounding environment of the target terminal, and determines the location information of the target terminal according to the scanning and imaging results and the auxiliary positioning data; In a case where the target terminal is not blocked, the target terminal determines the location information of the target terminal according to the coordinate data.

7. The method according to claim 4, characterized in that The determining the location information of the target terminal according to the occlusion judgment result includes: When the target terminal is blocked, the target terminal scans and images the surrounding environment of the target terminal, and determines the location information of the target terminal according to the distance between the target terminal and the preset top, the scanning imaging result, and the auxiliary positioning data; In a case where the target terminal is not blocked, the target terminal determines the location information of the target terminal according to the distance between the target terminal and a preset top, the coordinate data, and the surrounding environment of the target terminal.

8. A terminal positioning method, characterized in that: include: The auxiliary terminal sends a positioning instruction to the target terminal, so that the target terminal transmits millimeter waves in response to the positioning instruction to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal; The auxiliary terminal receives the location information of the target terminal determined by the target terminal according to the coordinate data and pre-stored positioning assistance data about the surrounding environment of the target terminal.

9. The method according to claim 8, characterized in that After the auxiliary terminal sends the positioning instruction to the target terminal, the method further includes: The auxiliary terminal binds the transmission direction of the millimeter wave transmitted by the target terminal in the horizontal direction with the identification direction of the geomagnetic sensor provided in the target terminal to set a reference direction.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented, or the steps of the method described in any one of claims 8-9 are implemented.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the processor implements the steps of the method described in any one of claims 1 to 7, or implements the steps of the method described in any one of claims 8-9.

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