Positioning method, device and positioning system

Abstract

The invention provides a positioning method and device and a positioning system, and relates to the technical field of positioning, and the method comprises the steps: measuring first position data of positioning equipment at a first position; the first position data comprises the distance between the positioning equipment and the target equipment; measuring second position data of the positioning device at a second position, the second position data including a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device moving from the first position to the second position; measuring third position data of the positioning device at a third position, the third position data including a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device moving from the second position to the third position; and determining the position of the target equipment according to the first position data, the second position data and the third position data. According to the technical scheme provided by the invention, the positioning cost during network-free positioning can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning field, and in particular to a positioning method, a positioning device and a positioning system. BACKGROUND

[0002] With the development of information technology, location-based services have become one of the basic capabilities of information revolution. The current positioning method is usually network positioning, which is widely used because it can provide continuous and real-time positioning services in a global range.

[0003] However, in environments such as forests, mountains, remote areas, etc., network positioning needs to deploy a special positioning network, including positioning beacons, base stations, etc., and the positioning cost is high. SUMMARY

[0004] Therefore, the embodiments of the present application provide a positioning method, a positioning device and a positioning system to reduce the positioning cost in network-free positioning.

[0005] To achieve the above-mentioned purpose, in a first aspect, the embodiments of the present application provide a positioning method applied to a positioning device for determining the position of a target device through network-free communication, and the method comprises:

[0006] measuring first position data of the positioning device at a first position; the first position data comprises the distance between the positioning device and the target device;

[0007] measuring second position data of the positioning device at a second position, the second position data comprising the distance between the positioning device and the target device, and the moving angle and moving distance of the positioning device from the first position to the second position;

[0008] measuring third position data of the positioning device at a third position, the third position data comprising the distance between the positioning device and the target device, and the moving angle and moving distance of the positioning device from the second position to the third position;

[0009] determining the position of the target device according to the first position data, the second position data and the third position data.

[0010] In a possible implementation of the first aspect, the determining the position of the target device according to the first position data, the second position data and the third position data comprises:

[0011] determining the coordinates of the second position according to the second position data with the first position as the coordinate system origin;

[0012] determining the coordinates of the third position according to the third position data.

[0013] determining the coordinates of the target device according to the coordinates of the first position, the coordinates of the second position and the coordinates of the third position; the coordinates of the target device indicating the position of the target device.

[0014] In a possible implementation manner of the first aspect, the distance between the positioning device and the target device is determined by using a wireless ranging technology.

[0015] In a possible implementation manner of the first aspect, the wireless ranging technology comprises one or more of long distance radio, LoRa, microwave, Bluetooth, ultra-wideband technology.

[0016] In a possible implementation manner of the first aspect, the moving angle is determined by using a gyroscope and / or geomagnetic sensor.

[0017] In a possible implementation manner of the first aspect, the moving distance is determined by using an acceleration sensor.

[0018] In a second aspect, an embodiment of the present application provides a positioning device, applied to a positioning device for determining a position of a target device by using a wireless network-free communication, the positioning device comprising: a measuring module and a positioning module.

[0019] The measuring module is configured to measure first position data of the positioning device at a first position; the first position data comprising a distance between the positioning device and a target device.

[0020] The measuring module is further configured to measure second position data of the positioning device at a second position; the second position data comprising a distance between the positioning device and the target device, a moving angle and a moving distance of the positioning device from the first position to the second position.

[0021] The measuring module is further configured to measure third position data of the positioning device at a third position; the third position data comprising a distance between the positioning device and the target device, a moving angle and a moving distance of the positioning device from the second position to the third position.

[0022] The positioning module is configured to determine the position of the target device according to the first position data, the second position data and the third position data.

[0023] In a possible implementation manner of the second aspect, the positioning module is specifically configured to:

[0024] determine coordinates of the second position according to the second position data, taking the first position as a coordinate system origin.

[0025] determining coordinates of the third position according to the third position data;

[0026] determining coordinates of the target device according to the coordinates of the first position, the coordinates of the second position and the coordinates of the third position; the coordinates of the target device indicate the position of the target device.

[0027] In a possible implementation of the second aspect, the distance between the positioning device and the target device is determined by using a wireless ranging technology.

[0028] In a possible implementation of the second aspect, the wireless ranging technology includes one or more of long-range radio, LoRa, microwave, Bluetooth, and ultra-wideband technology.

[0029] In a possible implementation of the second aspect, the moving angle is determined by using a gyroscope and / or a geomagnetic sensor.

[0030] In a possible implementation of the second aspect, the moving distance is determined by using an acceleration sensor.

[0031] In a third aspect, an embodiment of the present application provides a positioning device, including a memory and a processor, the memory is configured to store a computer program, and the processor is configured to execute the method in the first aspect or any implementation of the first aspect when the computer program is invoked.

[0032] In a fourth aspect, an embodiment of the present application provides a positioning system, including a positioning device and a target device, and the positioning device is configured to execute the method in the first aspect or any implementation of the first aspect.

[0033] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is configured to be executed by a processor to implement the method in the first aspect or any implementation of the first aspect.

[0034] In a sixth aspect, an embodiment of the present application provides a computer program product, and the computer program product is configured to make a positioning device execute the positioning method in any one of the first aspect when the computer program product is run on the positioning device.

[0035] The technical scheme provided by the embodiment of the application is characterized in that: first position data of a positioning device at a first position is measured, second position data of the positioning device at a second position is measured, and third position data of the positioning device at a third position is measured, so as to obtain coordinates of the positioning device relative to a target device, wherein the first position data comprises a distance between the positioning device and the target device; the second position data comprises a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the first position to the second position; and the third position data comprises a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the second position to the third position; then, the position of the target device can be determined according to the first position data, the second position data and the third position data. That is, the scheme can reduce the positioning cost in a network-free environment. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A flowchart of a positioning method provided by the embodiment of the application is shown in the figure.

[0037] Figure 2 A position diagram of the positioning method provided by the embodiment of the application is shown in the figure.

[0038] Figure 3 A flowchart of determining a target position according to position data provided by the embodiment of the application is shown in the figure.

[0039] Figure 4 A structural diagram of a positioning device provided by the embodiment of the application is shown in the figure.

[0040] Figure 5 A structural diagram of a positioning device provided by the embodiment of the application is shown in the figure.

[0041] Figure 6 A structural diagram of a positioning system provided by the embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0042] The embodiments of the application are described below with reference to the accompanying drawings. The terms used in the embodiment part of the application are only used to explain the specific embodiments of the application, and are not intended to limit the application. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments.

[0043] In grasslands, forests, mountains, remote areas and other environments, for example, when herdsmen manage livestock on grasslands, it is necessary to determine the positions of pets, sheep and cattle. The deployment cost of positioning beacons and base stations is high, and the coverage range of the positioning beacons and base stations is limited. In a network-free environment without network coverage, it is difficult to perform positioning.

[0044] In view of this, embodiments of this application provide a positioning method that can be applied to positioning devices that determine the location of target devices through network-free communication, so as to achieve low-cost positioning under network-free conditions.

[0045] Figure 1 A flowchart illustrating the positioning method provided in the embodiments of this application is shown below. Figure 1 As shown, the method includes the following steps:

[0046] Step S110: Measure the first position data of the positioning device when it is in the first position.

[0047] Figure 2 A schematic diagram illustrating the location method provided in this application embodiment. (See attached diagram.) Figure 2 Taking a positioning device at point A as an example, when the positioning device determines the position of the target device, it can measure the first position data of the positioning device relative to the target device at point A (i.e., the first position). The first position data can, for example, include the distance between the positioning device and the target device, referred to as the first distance, denoted as d1.

[0048] In some embodiments, the distance between a positioning device and a target device can be determined using wireless ranging technology. Wireless ranging technology may include, but is not limited to, long-range radio, Long Range Radio (LoRa) technology, microwave, Bluetooth, and ultra-wideband technology. When performing ranging, the wireless ranging technology used by the positioning device and the target device may be one or more of the examples described above.

[0049] The positioning device and the target device can communicate without a network. For example, both the positioning device and the target device can be equipped with a LoRa module that enables network-free communication. For instance, if a person carrying the target device encounters danger while working in the field, they can send a distress message to the person carrying the positioning device through the LoRa module. This not only determines the distance between the positioning device and the target device but also improves the safety of the person carrying the positioning device.

[0050] When measuring distances via Bluetooth, the Long Range mode of Bluetooth Low Energy (BLE) can be used to achieve long-distance communication.

[0051] Step S120: Measure the second position data of the positioning device when it is in the second position.

[0052] After determining the first distance d1 between the positioning device and the target device, the positioning device can move to point B (i.e., the second position) and measure second position data of the positioning device relative to the target device at point B. The second position data can include a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the first position to the second position.

[0053] Referring to Figure 2 , the distance between the positioning device and the target device can be referred to as a second distance, denoted as d2, and the moving angle can be denoted as θ1, and the moving distance can be denoted as L AB .

[0054] The moving distance of the positioning device from point A to point B can be determined by an acceleration sensor. The moving angle θ1 can be determined by a gyroscope and / or a geomagnetic sensor, which can be exemplarily a compass. Existing communication devices are generally provided with an acceleration sensor, a gyroscope, and a compass, so that no additional setting is required, which can further reduce the positioning cost. The moving manner of the positioning device from point A to point B can include but is not limited to walking, riding, taking a flying vehicle, and the like.

[0055] It can be understood that determining the moving distance by the acceleration sensor and determining the moving angle by the gyroscope and / or the geomagnetic sensor are only a preferred scheme provided by the present application, and are not a limitation on the implementation of the application. In specific implementation, the moving distance and the moving angle can also be determined by other technical means.

[0056] It should be noted that any modification, equivalent replacement, and improvement within the spirit and principle of the present application should be included in the protection scope of the claims of the present application.

[0057] Exemplarily, the positioning device can move from point A to point B along a straight line, so as to reduce the moving distance and the moving time.

[0058] In some scenarios, due to the terrain conditions or the like, the positioning device cannot move from point A to point B in a straight line. In some embodiments, the positioning device can utilize the gyroscope and the compass to perform path fitting on the moving path of the positioning device, so as to synthesize a straight line path of the positioning device from point A to point B. For example, the direction data of the gyroscope and the compass can be continuously acquired to form a sequence of discrete path points in the process of moving from point A to point B, and the least square method is adopted to perform least square fitting on the path points, so as to acquire the straight line path.

[0059] In some embodiments, a start-end method can also be adopted to directly connect the start point (point A) and the end point (point B) of the path to form a straight line, so as to acquire the straight line path.

[0060] Step S130, measuring third position data of the positioning device at the third position.

[0061] After measuring the second position data, the positioning device can move to point C (i.e., the third position) and measure the third position data. The third position data can include the distance between the positioning device and the target device, and the moving angle and moving distance of the positioning device from the second position to the third position. The distance between the positioning device and the target device is referred to as the third distance, denoted as d3, the moving angle can be denoted as θ2, and the moving distance can be denoted as L BC .

[0062] The positioning device can move from point B to point C in a straight line to improve positioning efficiency. Similar to measuring the second position data, the moving angle θ2 can also be determined by the gyroscope and the compass, and the moving distance L BC can also be determined by the acceleration sensor.

[0063] Step S140, determining the position of the target device according to the first position data, the second position data, and the third position data.

[0064] In the process of moving the positioning device from point A to point B and then to point C, the position of the target device can remain unchanged. For example, when a person carrying the positioning device is looking for a target person carrying the target device, the person looking for the target device can send a message to the target device to instruct the target person not to move, which can improve the positioning efficiency.

[0065] Figure 3 The flowchart provided by the embodiments of the present application for determining the target position according to the position data is shown in FIG. 2. As shown in FIG. 2, step S140 can include steps S210-S230. Figure 3

[0066] Step S210, taking the first position as the coordinate system origin, determining the coordinates of the second position according to the second position data.

[0067] In some embodiments, a coordinate system can be established with any one of point A, point B, or point C as the origin, and the positive direction of the X-axis of the coordinate system can be eastward, and the positive direction of the Y-axis can be northward.

[0068] For ease of understanding, the following will be described by taking point A as the coordinate system origin as an example.

[0069] Specifically, continuing to refer to Figure 2 , the coordinates of point A can be represented as (x1, y1). According to the moving angle θ1 and the moving distance L AB from point A to point B, the coordinates (x2, y2) of point B can be determined.

[0070] ​In step S220, the coordinates of the third position are determined according to the third position data.

[0071] According to the moving angle θ2, the moving distance L BC and the coordinates (x2, y2) of the B point, the coordinates (x3, y3) of the C point can be determined.

[0072] In some embodiments, the coordinates of the third position can also be determined according to the second position data and the third position data with the first position coordinates as the origin, so as to improve the accuracy of the determined coordinates of the third position.

[0073] In step S230, the coordinates of the target device are determined according to the coordinates of the first position, the coordinates of the second position and the coordinates of the third position.

[0074] After the coordinates (x1, y1) of the A point, the coordinates (x2, y2) of the B point and the coordinates (x3, y3) of the C point are obtained, a first circle with a radius of the first distance d1 can be constructed with the coordinates (x1, y1) of the A point as the center, a second circle with a radius of the second distance d2 can be constructed with the coordinates (x2, y2) of the B point as the center, and a third circle with a radius of the third distance d3 can be constructed with the coordinates (x3, y3) of the C point as the center. The coordinates (x, y) of the target device can satisfy the following formula:

[0075] (x-x1) 2 +(y-y1) 2 =d1 2

[0076] (x-x2) 2 +(y-y2) 2 =d2 2

[0077] (x-x3) 2 +(y-y3) 2 =d3 2

[0078] After the coordinates of the target device are determined, the position of the target device can be determined according to the coordinates of the target device.

[0079] It can be understood that the target device can also be in a moving state. When the target device is in a moving state, for example, the target device is arranged on a sheep, and the sheep can move in the process of foraging, which can reduce the positioning accuracy. For open scenes, the moving distance of the sheep in foraging will not be very far, and therefore the sheep can also be found by using the method. Of course, for non-open scenes, the position of the sheep can also be determined by using the above method multiple times, so as to improve the accuracy of the determined position of the sheep. That is, whether the target device is in a moving state or a stationary state, the position of the target device can be determined by using the method.

[0080] The above is described by taking the positioning device determining the position of the target device through networkless communication in an outdoor environment as an example. It should be noted that the positioning method provided by the application can be applied to both outdoor and indoor environments, and the specific scene can be determined according to actual needs.

[0081] measuring first position data of the positioning device at a first position, the first position data comprising a distance between the positioning device and the target device; measuring second position data of the positioning device at a second position, the second position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the first position to the second position; measuring third position data of the positioning device at a third position, the third position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the second position to the third position; and determining the position of the target device according to the first position data, the second position data and the third position data. The technical solution provided by the application does not need a global navigation satellite system and a large-size angle of arrival / angle of departure antenna array, only needs two devices, and only needs to move the positioning device, so that the position information of the target device can be determined according to the moving track of the positioning device by using a geometric algorithm, thereby realizing positioning in a networkless condition, and thus the positioning cost in the networkless condition can be reduced.

[0082] Those skilled in the art can understand that the above embodiments are exemplary and are not intended to limit the application. In the case of possibility, the execution order of one or more steps in the above steps can be adjusted, and selective combination can be performed to obtain one or more other embodiments. Those skilled in the art can select and combine any of the above steps as needed, and any method that does not deviate from the spirit of the application falls within the protection scope of the application.

[0083] Based on the same inventive concept, as an implementation of the above method, an embodiment of the application provides a positioning device, the device embodiment corresponds to the foregoing method embodiment, for the convenience of reading, the details of the foregoing method embodiment will not be described one by one, but it should be clear that the device in the embodiment can correspondingly implement all the contents in the foregoing method embodiment.

[0084] Figure 4 The structural schematic diagram of the positioning device provided by the embodiment of the application is shown in FIG. 1, the device provided by the embodiment of the application comprises a measurement module 110 and a positioning module 120. Figure 4

[0085] The measurement module 110 is configured to measure first position data of the positioning device at a first position, the first position data comprising a distance between the positioning device and the target device. ​

[0086] The measurement module 110 is further configured to measure second position data of the positioning device at a second position, the second position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the first position to the second position;

[0087] The measurement module 110 is further configured to measure third position data of the positioning device at a third position, the third position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the second position to the third position;

[0088] The positioning module 120 is configured to determine the position of the target device according to the first position data, the second position data and the third position data.

[0089] In a possible implementation, the positioning module 120 is specifically configured to:

[0090] determine coordinates of the second position according to the second position data, taking the first position as a coordinate system origin;

[0091] determine coordinates of the third position according to the third position data;

[0092] determine coordinates of the target device according to the coordinates of the first position, the coordinates of the second position and the coordinates of the third position; the coordinates of the target device indicate the position of the target device.

[0093] In a possible implementation, the distance between the positioning device and the target device is determined by using a wireless ranging technology.

[0094] In a possible implementation, the wireless ranging technology comprises one or more of long distance radio, LoRa, microwave, Bluetooth, and ultra-wideband technology.

[0095] In a possible implementation, the moving angle is determined by using a gyroscope and / or a geomagnetic sensor.

[0096] In a possible implementation, the moving distance is determined by using an acceleration sensor.

[0097] The positioning apparatus provided in this embodiment can execute the method embodiments described above, and has similar implementation principles and technical effects, which will not be described herein again.

[0098] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above described functions. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific names of the functional units and modules are only for convenient distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0099] Based on the same inventive concept, the embodiment of the present application further provides a positioning device. Figure 5 The structural schematic diagram of the positioning device provided by the embodiment of the present application is shown in Figure 5 The positioning device provided by the embodiment of the present application includes a memory 210 and a processor 220, the memory 210 is used to store a computer program, and the processor 220 is used to execute the method described in the above method embodiments when the computer program is called.

[0100] The positioning device provided by the embodiment of the present application can execute the above method embodiments, and the implementation principle and technical effects are similar, which will not be repeated here.

[0101] The embodiment of the present application further provides a positioning system. Figure 6 The structural schematic diagram of the positioning system provided by the embodiment of the present application is shown in Figure 6 The positioning system provided by the embodiment of the present application includes a positioning device 310 and a target device 320, and the positioning device 310 is used to execute the method described in the above method embodiments.

[0102] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the method described in the above method embodiments.

[0103] The embodiment of the present application further provides a computer program product, when the computer program product runs on the positioning device, so that the positioning device executes to realize the method described in the above method embodiments.

[0104] In the above embodiments, all or part of the methods can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted by the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available media can be magnetic media (such as floppy disk, hard disk or magnetic tape), optical media (such as DVD), or semiconductor media (such as solid state disk (SSD)), etc.

[0105] Those of ordinary skill in the art understand that all or part of the processes in the above embodiments can be implemented by a computer program to instruct the relevant hardware, which can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The aforementioned storage medium can include ROM or random access memory (RAM), magnetic disk or optical disk, and various media that can store program codes.

[0106] The naming or numbering of the steps in the present application does not mean that the steps in the method process must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0107] In the above embodiments, the description of each embodiment has its own emphasis. The parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0108] In the embodiments of the present disclosure, it should be understood that the disclosed apparatuses / devices and methods can be implemented in other manners. For example, the described apparatus / device embodiments are merely schematic. Taking the division of the modules or units as an example, the division can be changed in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0109] It should be understood that the term "comprising" as used in the specification and the appended claims indicates the presence of the recited features, integers, steps, operations, elements, and / or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0110] In the description of the present application, unless otherwise specified, " / " represents that the objects associated in front and back are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0111] Also, in the description of the present application, unless otherwise specified, "multiple" means two or more than two. "At least one of the following" or the like means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0112] As used in the specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [the described condition or event] is detected" can be interpreted as meaning "upon determining" or "in response to determining" or "upon detecting [the described condition or event]" or "in response to detecting [the described condition or event]" depending on the context.

[0113] In addition, in the description and drawings of the present application, the terms "first", "second", "third", etc. are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0114] In the present application, the reference to "one embodiment" or "some embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in further some embodiments" and the like appearing in the present description are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized.

[0115] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method, characterized by, A positioning device for determining a target device position through network-free communication, the method comprising: measuring first position data of the positioning device at a first position; the first position data comprising a distance between the positioning device and the target device; measuring second position data of the positioning device at a second position, the second position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the first position to the second position; measuring third position data of the positioning device at a third position, the third position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the second position to the third position; determining the position of the target device according to the first position data, the second position data and the third position data.

2. The method of claim 1, wherein, The determining the position of the target device according to the first position data, the second position data and the third position data comprises: determining a coordinate of the second position according to the second position data, with the first position as a coordinate system origin; determining a coordinate of the third position according to the third position data; determining a coordinate of the target device according to the coordinate of the first position, the coordinate of the second position and the coordinate of the third position; the coordinate of the target device indicating the position of the target device.

3. The method of claim 1, wherein, The distance between the positioning device and the target device is determined by a wireless ranging technology.

4. The method of claim 3, wherein, The wireless ranging technology comprises one or more of long distance radio, LoRa, microwave, Bluetooth, and ultra-wideband technology.

5. The method of claim 1, wherein, The moving angle is determined by a gyroscope and / or a geomagnetic sensor.

6. The method according to any one of claims 1 to 5, characterized in that, The moving distance is determined by an acceleration sensor.

7. A positioning device, characterized in that A positioning device for determining a target device position through network-free communication, the positioning device comprising a measuring module and a positioning module; The measuring module is configured to measure first position data of the positioning device at a first position; the first position data comprising a distance between the positioning device and the target device. The measuring module is further configured to measure second position data of the positioning device at a second position, the second position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the first position to the second position. The measuring module is further configured to measure third position data of the positioning device at a third position, the third position data comprising a distance between the positioning device and the target device, and a moving angle and a moving distance of the positioning device from the second position to the third position. The positioning module is configured to determine the position of the target device according to the first position data, the second position data and the third position data.

8. A positioning device, characterized by comprising: a memory and a processor, the memory being configured to store a computer program; the processor being configured to execute the computer program to perform the method of any one of claims 1-6 when the computer program is invoked.

9. A positioning system, characterized by comprising: - a positioning device and a target device, the positioning device being configured to perform the method according to any one of claims 1-6.

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