Equipment positioning method and device

Abstract

The invention provides an equipment positioning method and device. The method is applied to first equipment and comprises the steps that a first plane angle and a first pitch angle of the first equipment relative to the horizontal plane are measured, the first plane angle is an included angle between the long side of the first equipment and a first straight line, and the first straight line is a connecting line between the first equipment and second equipment; after the first equipment rotates up and down, a second plane angle and a second pitch angle of the first equipment relative to the horizontal plane are measured, and the second plane angle is an included angle between the long side of the first equipment after the first equipment rotates up and down and the first straight line; based on the first pitch angle, the second pitch angle, the first plane angle, the second plane angle and the linear distance between the first device and the second device, a first prompt signal is output, and the first prompt signal is used for guiding a user to find the second device. Based on the method, the first device can guide the user to search for the second device in combination with various kinds of information, and the user can be guided to search for the second device more accurately.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a device positioning method and apparatus. Background Technology

[0002] In daily life, to facilitate users finding lost items, tags can be placed inside the items beforehand. After an item is lost, users can use other electronic devices (such as mobile phones, tablets, or computers) to locate the tag and thus find the lost item. In some embodiments, these other electronic devices can use ultrasonic positioning technology to locate the tag and find the item. For example, consider a mobile phone as an example. The tag's speaker can emit ultrasonic signals. Microphones at the top and bottom of the phone simultaneously receive the ultrasonic signals emitted by the tag's speaker. The phone measures the angle between the phone's long side and the line connecting the tag and the phone based on the time difference between the ultrasonic signals received by the different microphones. This angle guides the user to find the tag. However, this angle may have a large margin of error and cannot reflect the true direction of the tag, thus failing to accurately guide the user to find the tag. Summary of the Invention

[0003] This application provides a device positioning method and apparatus, which helps to accurately guide users to find devices.

[0004] In a first aspect, embodiments of this application provide a device positioning method. For example, this method can be applied to a first device. For example, it can be implemented by the first device or a communication module / processing module within the first device, or by a circuit or chip within the first device responsible for communication / processing functions. The method includes:

[0005] Measure the first plane angle and the first pitch angle of the first device relative to the horizontal plane. The first plane angle is the angle between the long side of the first device and the first straight line. The first straight line is the line connecting the first device and the second device. After the first device rotates up and down, measure the second plane angle and the second pitch angle of the first device relative to the horizontal plane. The second plane angle is the angle between the long side of the first device after rotation and the first straight line. Based on the first pitch angle, the second pitch angle, the first plane angle, the second plane angle, and the straight-line distance between the first device and the second device, output a first prompt signal. The first prompt signal is used to guide the user to find the second device.

[0006] Based on the method described in the first aspect, the first device can combine multiple pieces of information to guide the user to find the second device, which is beneficial for guiding the user to find the second device more accurately.

[0007] In one possible embodiment, the first prompt signal indicates one or more of the following information: the three-dimensional coordinates of the second device, the planar distance between the first device and the second device on the plane where the screen of the first device is located, the planar distance between the first device and the second device on the horizontal plane, a third planar angle, a fourth planar angle, a third pitch angle of the second device relative to the plane where the screen of the first device is located, a fourth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device; wherein, the third planar angle is the angle between the long side of the first device and the second straight line, and the second straight line is the straight line on the plane where the screen of the first device is projected, or, the third planar angle is the angle on the plane where the screen of the first device is projected; wherein, the fourth planar angle is the angle between the long side of the first device and the straight line on the horizontal plane where the first straight line is projected, or, the fourth planar angle is the angle on the horizontal plane where the second planar angle is projected.

[0008] By providing the three-dimensional coordinates of the second device, the planar distance between the first and second devices on the plane of the screen of the first device, the planar distance between the first and second devices on the horizontal plane, the third plane angle, the fourth plane angle, the third pitch angle of the second device relative to the plane of the screen of the first device, the fourth pitch angle of the second device relative to the horizontal plane, or the height of the second device relative to the first device, it is helpful for users to determine the true direction of the second device and to find the second device.

[0009] In one possible embodiment, the three-dimensional coordinates of the second device are its three-dimensional coordinates in a first coordinate system or a second coordinate system; the first coordinate system is a coordinate system with the longer side of the first device as the x-axis, and the second coordinate system is a coordinate system with the projection of the longer side of the first device onto the horizontal plane as the x-axis. Based on this possible embodiment, three-dimensional spatial positioning of the second device can be achieved, which helps the user determine the true orientation of the second device and makes it easier for the user to find the second device.

[0010] In one possible embodiment, after measuring the first plane angle and the first pitch angle of the first device relative to the horizontal plane, and before measuring the second plane angle and the second pitch angle of the first device relative to the horizontal plane, if no change in the pitch angle of the first device relative to the horizontal plane is detected, a second prompt signal is output. The second prompt signal is used to prompt the first device to rotate up and down. Based on this possible embodiment, it is advantageous for the first device to successfully measure the second plane angle and the second pitch angle after the first device has rotated up and down.

[0011] In one possible embodiment, measuring the first plane angle and the first pitch angle of the first device relative to the horizontal plane includes: measuring the first plane angle and the first pitch angle of the first device relative to the horizontal plane when the straight-line distance between the first device and the second device is less than or equal to a first threshold; or, measuring the first plane angle and the first pitch angle of the first device relative to the horizontal plane when the straight-line distance between the first device and the second device is less than or equal to the first threshold and greater than or equal to a second threshold for a continuous preset time period, wherein the first threshold is greater than the second threshold.

[0012] By combining the first pitch angle, the second pitch angle, the first plane angle, the second plane angle, and the straight-line distance between the first and second devices when the straight-line distance between the first and second devices is small, the user can be guided to find the second device more accurately.

[0013] By combining the first pitch angle, the second pitch angle, the first plane angle, the second plane angle, and the straight-line distance between the first and second devices within a continuously preset time period with the straight-line distance between the first and second devices to guide the user to find the second device, it is easier to guide the user to find the second device more accurately.

[0014] In one possible embodiment, a first prompt signal is output based on a first pitch angle, a second pitch angle, a first plane angle, a second plane angle, and a straight-line distance between the first device and the second device, including: determining a pitch angle difference, wherein the pitch angle difference is the difference between the first pitch angle and the second pitch angle; and outputting the first prompt signal based on the pitch angle difference, the first plane angle, the second plane angle, and the straight-line distance between the first device and the second device.

[0015] Based on this possible implementation, it is beneficial to accurately determine the information indicated by the first prompt signal.

[0016] In one possible embodiment, if the straight-line distance between the first device and the second device is less than a third threshold, based on the fifth pitch angle of the second device relative to the plane where the screen of the first device is located or the sixth pitch angle of the second device relative to the horizontal plane, it is determined whether to prompt one or more of the following information: the second device is located above or below the first device, the fifth pitch angle of the second device relative to the plane where the screen of the first device is located, the sixth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device.

[0017] Based on this possible implementation, it is beneficial to guide users to find the second device more accurately.

[0018] Secondly, this application provides a device positioning apparatus, which is included in a first device. This apparatus has the function of implementing the behavior of the first device described in the first aspect and in possible embodiments thereof. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-described function. For example, a determining module or unit, a transmission module or unit, etc.

[0019] Optionally, the device may be the first device described above.

[0020] Thirdly, this application provides a device positioning apparatus, the apparatus including a processor coupled to a memory for storing computer programs or instructions, and the processor for executing the computer programs or instructions stored in the memory, such that the methods described in the first aspect and in the possible embodiments of the first aspect are executed.

[0021] For example, a processor is used to execute a computer program or instructions stored in memory, causing the device to perform the methods described in the first aspect and in possible embodiments of the first aspect.

[0022] Optionally, the device may include one or more processors.

[0023] Optionally, the device may also include a memory coupled to the processor.

[0024] Optionally, the device may include one or more memories.

[0025] Alternatively, the memory can be integrated with the processor or set up separately.

[0026] Optionally, the device may also include a transceiver.

[0027] Optionally, the device may be the first device described above.

[0028] Fourthly, this application provides an electronic device, including: one or more processors; a memory; multiple application programs; and one or more computer programs. The one or more computer programs are stored in the memory, and each computer program includes instructions. When the instructions are executed by the electronic device, they cause the electronic device to perform the methods described in the first aspect or any possible embodiment of the first aspect, or the methods described in any embodiment of this application.

[0029] Fifthly, this application provides a computer-readable storage medium storing computer-readable instructions that, when executed by a device positioning device, implement the method described in the first aspect or any possible embodiment of the first aspect.

[0030] In a sixth aspect, this application provides a computer program product, including a computer program or instructions, which, when executed by a device positioning device, implement the method described in the first aspect or any possible embodiment of the first aspect.

[0031] In a seventh aspect, this application provides a device positioning apparatus, comprising units for performing the methods described in any embodiment of this application. Attached Figure Description

[0032] Figure 1 A schematic diagram of a planar angle β provided for an embodiment of this application;

[0033] Figure 2 A schematic diagram illustrating the principle of determining a planar angle β, provided for an embodiment of this application;

[0034] Figure 3 A schematic diagram illustrating the principle of determining a planar angle β, provided for an embodiment of this application;

[0035] Figure 4 A schematic diagram of a planar angle β provided for an embodiment of this application;

[0036] Figure 5 A possible, non-limiting system schematic diagram provided for an embodiment of this application;

[0037] Figure 6 This is a schematic diagram of the structure of an electronic device 100 provided in an embodiment of this application;

[0038] Figure 7 This is a software structure block diagram of an electronic device 100 provided in an embodiment of this application;

[0039] Figure 8 A flowchart illustrating a device positioning method provided in an embodiment of this application;

[0040] Figure 9 A schematic diagram of the first plane angle and the first pitch angle provided for embodiments of this application;

[0041] Figure 10 This is a schematic diagram of a first device that rotates up and down, provided in an embodiment of this application.

[0042] Figure 11 A schematic diagram of the second plane angle and the second pitch angle provided for embodiments of this application;

[0043] Figure 12A schematic diagram showing the three-dimensional coordinates of the second device, the planar distance between the first device and the second device on the plane where the screen of the first device is located, the third planar angle, and the third pitch angle of the second device relative to the plane where the screen of the first device is located, provided for embodiments of this application.

[0044] Figure 13 A schematic diagram showing the three-dimensional coordinates of the second device, the planar distance between the first device and the second device on the horizontal plane, the fourth plane angle, the fourth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device, provided for embodiments of this application.

[0045] Figure 14 This is a schematic diagram of the structure of a device positioning device 1400 provided in an embodiment of this application. Detailed Implementation

[0046] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0047] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0048] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0049] In this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0050] In daily life, to help users find lost items, tags can be placed inside them beforehand. After an item is lost, the user can use other electronic devices (such as a mobile phone, tablet, or computer) to locate the tag and thus find the lost item. In some embodiments, the other electronic devices can use ultrasonic positioning technology to locate the tag, thereby finding the item. For example, a mobile phone can be used as an example. The tag device has a speaker. Microphones are located at the top and bottom of the phone. Figure 1 As shown, A represents the speaker of the tag device. B represents the microphone at the top of the phone, and C represents the microphone at the bottom of the phone. The distance between the two microphones of the phone is D, and the distances from the speaker of the tag device to the two microphones of the phone are D1 and D2, respectively. The speaker of the tag device can transmit ultrasonic signals. The microphones at the top and bottom of the phone simultaneously receive the ultrasonic signals transmitted by the speaker of the tag device. The phone measures a plane angle β based on the time difference between the ultrasonic signals received by the different microphones. This plane angle β is the angle between the long side of the phone and the line connecting the tag device and the phone. For example, the plane angle β is the angle between the long side of the phone and either line AB or line AC. Figure 1 Taking the plane angle β as the angle between the long side of the phone and line AB as an example, the phone guides the user to find the tag device based on this plane angle β. The following describes one implementation principle of the phone determining the plane angle β based on the time difference of ultrasonic signals received by different microphones:

[0051] like Figure 1As shown, the tag device can send ultrasonic signals through the speaker of the tag device. The two microphones of the mobile phone can receive the ultrasonic signals sent by the speaker of the tag device. The mobile phone can measure the planar angle β using the time difference of the signals received by the two microphones. For example, the number of sampling points corresponding to the time difference of the signals received by the two microphones f s is the sampling rate of the tag device, and v is the speed of sound. The speed of sound v can be a fixed value. For example, the speed of sound at 15°C is 340 m / s, and this fixed value can be stored in the mobile phone. Or, the speed of sound v can also be determined according to the temperature of the current environment. For example: v = 331 + 0.607c m / s, where c is the temperature. The temperature c can be obtained by the mobile phone itself, such as measured by the temperature sensor on the mobile phone; or, the temperature c can be obtained by the mobile phone from other devices. For example, after the tag device measures the temperature, it can send it to the mobile phone. For example, the tag device can notify the mobile phone after measuring the temperature through its own temperature sensor, or the tag device can notify the mobile phone after obtaining the temperature from other channels. The mobile phone can obtain τ * ,f s and v. Therefore, the mobile phone can determine the planar angle β according to .

[0052] Next, in combination with Figure 2 introduce the implementation principle of determining the planar angle β according to . As Figure 2 shown, D1 > D2, AC = D1, AB = D2, EC = D1 - D2, AE = D2, that is, triangle ABE is an isosceles triangle. Therefore, ∠AEB = ∠ABE = δ. When D1 and D2 are much larger than D, that is, ω ≈ 0. Therefore, ∠AEB = ∠ABE = δ = 90°, then β + γ ≈ 90°. According to the relationship of the three sides of a triangle, we know that So That is to say, if the speaker of the tag device and the two microphones of the mobile phone are on the same straight line, and the speaker of the tag device is in front of the two microphones of the mobile phone, then D1 - D2 = D, β = 0.

[0053] Next, in combination with Figure 3 introduce the implementation principle of determining the planar angle β according to . As Figure 3 shown, D1 < D2, AC = D1, AB = D2, EB = D2 - D1, AE = D1. That is, triangle ACE is an isosceles triangle. Therefore, ∠AEC = ∠ACE = δ. When D1 and D2 are much larger than D, that is, ω ≈ 0. Therefore, ∠AEC = ∠ACE = δ = 90°, then β = γ + 90°. According to the relationship of the three sides of a triangle, we know that so In other words, if the speaker of the tag device is on the same straight line as the two microphones of the phone, and the speaker of the tag device is behind the two microphones of the phone, then D1-D2=-D, β=180°.

[0054] However, this planar angle β is the angle between the two microphones of the tag device and the phone on the plane, not the horizontal angle in the Earth coordinate system. When the height difference between the tag device and the phone is large, or when the tag device and the phone are close together, the angle error will be significant, affecting the user's experience in finding the tag device. For example, as... Figure 4 As shown, the tag device is 2 meters taller than the phone. The tag device is directly in front of the phone. When the tag device is 2 meters taller than the phone, the plane angle β measured by the phone is 45°. However, for a user holding the phone to locate the device, the tag device should be directly in front of them horizontally, not at a 45° angle. When the user is near the bottom of the tag device, the plane angle β also fails to reflect the tag device's true orientation.

[0055] To accurately guide users in locating devices, embodiments of this application provide a device positioning method and apparatus. To better understand these embodiments, the system architecture involved is first described below:

[0056] The embodiments of this application can be applied to long-term evolution (LTE) systems, 5th generation mobile communication (5G) systems, 6th generation mobile communication (6G) systems, and other communication systems evolving after 5G, as well as satellite communication and short-range wireless communication systems. The wireless communication systems mentioned in the embodiments of this application include, but are not limited to: the three major application scenarios of 5G / 6G mobile communication systems: enhanced mobile broadband (eMBB), ultra-reliable low latency communication (URLLC), and massive machine-type communication (mMTC), long-range (LoRa) systems, or vehicle-to-everything (V2X) systems.

[0057] Figure 5 A possible, non-limiting system schematic diagram is shown. For example... Figure 5As shown, the communication system includes a first device and a second device. The second device can be a tag device, and the first device can be a device that locates the tag device, such as a mobile phone, tablet, or computer. The first and second devices can be the same type of device or different types of devices. In daily life, to facilitate users in finding lost items, the second device can be placed in the item beforehand. After the item is lost, the user can use the first device to locate the second device, thereby finding the lost item.

[0058] The hardware structure of the device involved in the embodiments of this application is described below:

[0059] For example, Figure 6 This is a schematic diagram of the structure of an electronic device 100 provided in an embodiment of this application. The electronic device 100 can be the first device or the second device described above. The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, a headphone jack 170D, a sensor module 180, buttons 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an accelerometer sensor 180E, a distance sensor 180F, a proximity sensor 180G, a fingerprint sensor 180H, a temperature sensor 180I, a touch sensor 180J, an ambient light sensor 180K, a bone conduction sensor 180L, etc.

[0060] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device 100. In other embodiments of this application, the electronic device 100 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0061] Processor 110 may include one or more processing units, such as: application processor (AP), modem processor, graphics processing unit (GPU), image signal processor (ISP), controller, memory, video codec, digital signal processor (DSP), baseband processor, and / or neural network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0062] The controller can serve as the central nervous system and command center of the electronic device 100. The controller can generate operation control signals based on the instruction opcode and timing signals to control instruction fetching and execution. The processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. This memory can store instructions or data that the processor 110 has just used or that is being used repeatedly. If the processor 110 needs to reuse the instruction or data, it can directly retrieve it from the memory. This avoids repeated accesses, reduces the processor 110's waiting time, and thus improves system efficiency.

[0063] In some embodiments, the processor 110 may include one or more interfaces. Interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0064] The I2C interface is a bidirectional synchronous serial bus, including a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may include multiple I2C buses. The processor 110 can couple to the touch sensor 180J, charger, flash, camera 193, etc., through different I2C bus interfaces. For example, the processor 110 can couple to the touch sensor 180J through the I2C interface, enabling the processor 110 and the touch sensor 180J to communicate through the I2C bus interface, thereby realizing the touch function of the electronic device 100.

[0065] The I2S interface can be used for audio communication. In some embodiments, the processor 110 may include multiple I2S buses. The processor 110 can be coupled to the audio module 170 via the I2S bus to enable communication between the processor 110 and the audio module 170. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 via the I2S interface to enable the function of answering phone calls through a Bluetooth headset.

[0066] The PCM interface can also be used for audio communication, sampling, quantizing, and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 can be coupled via the PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 via the PCM interface, enabling the function of answering phone calls through a Bluetooth headset. Both the I2S interface and the PCM interface can be used for audio communication.

[0067] The UART interface is a universal serial data bus used for asynchronous communication. This bus can be a bidirectional communication bus. It converts the data to be transmitted between serial and parallel communication. In some embodiments, the UART interface is typically used to connect the processor 110 and the wireless communication module 160. For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 via the UART interface to implement Bluetooth functionality. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 via the UART interface to enable music playback through Bluetooth headphones.

[0068] The MIPI interface can be used to connect the processor 110 to peripheral devices such as the display screen 194 and the camera 193. The MIPI interface includes a camera serial interface (CSI) and a display serial interface (DSI). In some embodiments, the processor 110 and the camera 193 communicate via the CSI interface to enable the electronic device 100 to capture images. The processor 110 and the display screen 194 communicate via the DSI interface to enable the electronic device 100 to display images.

[0069] The GPIO interface can be configured via software. It can be configured as a control signal or a data signal. In some embodiments, the GPIO interface can be used to connect the processor 110 to a camera 193, a display screen 194, a wireless communication module 160, an audio module 170, a sensor module 180, etc. The GPIO interface can also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, etc.

[0070] USB port 130 is a USB standard compliant interface, specifically a Mini USB port, Micro USB port, USB Type-C port, etc. USB port 130 can be used to connect a charger to charge electronic device 100, and can also be used for data transfer between electronic device 100 and peripheral devices. It can also be used to connect headphones for audio playback. This interface can also be used to connect other electronic devices, such as augmented reality (AR) devices.

[0071] It is understood that the interface connection relationships between the modules illustrated in the embodiments of this application are merely illustrative and do not constitute a structural limitation on the electronic device 100. In other embodiments of this application, the electronic device 100 may also employ different interface connection methods or combinations of multiple interface connection methods as described in the above embodiments.

[0072] The charging management module 140 receives charging input from a charger. The charger can be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 receives charging input from the wired charger via a USB interface 130. In some wireless charging embodiments, the charging management module 140 receives wireless charging input via the wireless charging coil of the electronic device 100. While charging the battery 142, the charging management module 140 can also supply power to the electronic device 100 via the power management module 141.

[0073] The power management module 141 connects the battery 142, the charging management module 140, and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and supplies power to the processor 110, internal memory 121, external memory, display screen 194, camera 193, and wireless communication module 160, etc. The power management module 141 can also monitor parameters such as battery capacity, battery cycle count, and battery health status (leakage current, impedance). In some other embodiments, the power management module 141 may also be located within the processor 110. In other embodiments, the power management module 141 and the charging management module 140 may be located in the same device.

[0074] The wireless communication function of electronic device 100 can be realized through antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, modem processor and baseband processor, etc.

[0075] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 can be used to cover one or more communication frequency bands. Different antennas can also be multiplexed to improve antenna utilization. For example, antenna 1 can be multiplexed as a diversity antenna for a wireless local area network. In some other embodiments, the antennas can be used in conjunction with tuning switches.

[0076] The mobile communication module 150 can provide solutions for wireless communication, including 2G / 3G / 4G / 5G or later, applied to the electronic device 100. The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves via antenna 1, and perform filtering, amplification, and other processing on the received electromagnetic waves before transmitting them to a modem processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modem processor and convert it into electromagnetic waves for radiation via antenna 1. In some embodiments, at least some functional modules of the mobile communication module 150 may be housed in the processor 110. In some embodiments, at least some functional modules of the mobile communication module 150 and at least some modules of the processor 110 may be housed in the same device.

[0077] The modem processor may include a modulator and a demodulator. The modulator modulates the low-frequency baseband signal to be transmitted into a mid-to-high frequency signal. The demodulator demodulates the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After processing by the baseband processor, the low-frequency baseband signal is transmitted to the application processor. The application processor outputs sound signals through an audio device (not limited to speaker 170A, receiver 170B, etc.) or displays images or videos through the display screen 194. In some embodiments, the modem processor may be a separate device. In other embodiments, the modem processor may be independent of the processor 110 and may be housed in the same device as the mobile communication module 150 or other functional modules.

[0078] The wireless communication module 160 can provide solutions for wireless communication applications on the electronic device 100, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via antenna 2, performs frequency modulation and filtering of the electromagnetic wave signals, and sends the processed signal to processor 110. The wireless communication module 160 can also receive signals to be transmitted from processor 110, perform frequency modulation and amplification, and convert them into electromagnetic waves for radiation via antenna 2.

[0079] In some embodiments, antenna 1 of electronic device 100 is coupled to mobile communication module 150, and antenna 2 is coupled to wireless communication module 160, enabling electronic device 100 to communicate with networks and other devices via wireless communication technology. The wireless communication technology may include Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division Code Division Multiple Access (TDSCDMA), Long Term Evolution (LTE), and 5G. th Generation of wireless communication systems, including BT, GNSS, WLAN, NFC, FM, and / or IR technologies. The GNSS may include the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the BeiDou Navigation Satellite System (BDS), the Quasi-Zenith Satellite System (QZSS), and / or satellite-based augmentation systems (SBAS).

[0080] Electronic device 100 implements display functions through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, connected to the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations and for graphics rendering. Processor 110 may include one or more GPUs, which execute program instructions to generate or modify display information.

[0081] Display screen 194 is used to display images, videos, etc. Display screen 194 includes a display panel. The display panel may be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a miniature LED, a microLED, a quantum dot light-emitting diode (QLED), etc. In some embodiments, electronic device 100 may include one or N displays 194, where N is a positive integer greater than 1.

[0082] Electronic device 100 can perform shooting functions through ISP, camera 193, video codec, GPU, display 194 and application processor.

[0083] The ISP (Image Signal Processor) is used to process data fed back from the camera 193. For example, when taking a picture, the shutter is opened, and light is transmitted through the lens to the camera's photosensitive element. The light signal is converted into an electrical signal, and the camera's photosensitive element transmits the electrical signal to the ISP for processing, converting it into an image visible to the naked eye. The ISP can also perform algorithmic optimization on image noise and brightness. The ISP can also optimize parameters such as exposure and color temperature of the shooting scene. In some embodiments, the ISP can be set in the camera 193.

[0084] Camera 193 is used to capture still images or videos. An object is projected onto a photosensitive element by generating an optical image through the lens. The photosensitive element can be a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal, which is then passed to an ISP for conversion into a digital image signal. The ISP outputs the digital image signal to a DSP for processing. The DSP converts the digital image signal into image signals in standard RGB, YUV, or other formats. In some embodiments, the electronic device 100 may include one or N cameras 193, where N is a positive integer greater than 1.

[0085] Digital signal processors (DSPs) are used to process digital signals. Besides digital image signals, they can also process other digital signals. For example, when electronic device 100 selects a frequency, the DSP can perform Fourier transforms on the frequency energy.

[0086] Video codecs are used to compress or decompress digital video. Electronic device 100 may support one or more video codecs. Thus, electronic device 100 can play or record videos in various encoding formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, etc.

[0087] An NPU (Neural Processing Unit) is a computational processor for neural networks (NNs). By borrowing the structure of biological neural networks, such as the transmission patterns between neurons in the human brain, it can rapidly process input information and continuously learn on its own. NPUs enable intelligent cognitive applications in electronic devices, such as image recognition, facial recognition, speech recognition, and text understanding.

[0088] The external storage interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 100. The external memory card communicates with the processor 110 through the external storage interface 120 to perform data storage functions. For example, music, video, and other files can be saved on the external memory card.

[0089] Internal memory 121 can be used to store computer executable program code, which includes instructions. Processor 110 executes various functional applications and data processing of electronic device 100 by running the instructions stored in internal memory 121. Internal memory 121 may include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback, image playback, etc.), etc. The data storage area may store data created during the use of electronic device 100 (such as audio data, phonebook, etc.). Furthermore, internal memory 121 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0090] Electronic device 100 can implement audio functions, such as music playback and recording, through audio module 170, speaker 170A, receiver 170B, microphone 170C, headphone jack 170D, and application processor.

[0091] The audio module 170 is used to convert digital audio information into analog audio signals for output, and also to convert analog audio input into digital audio signals. The audio module 170 can also be used for encoding and decoding audio signals. In some embodiments, the audio module 170 may be located in the processor 110, or some functional modules of the audio module 170 may be located in the processor 110.

[0092] The speaker 170A, also known as a "loudspeaker," is used to convert audio electrical signals into sound signals. The electronic device 100 can listen to music or make hands-free calls through the speaker 170A. In some embodiments, the speaker 170A is used to transmit ultrasonic signals.

[0093] The receiver 170B, also known as the "earpiece," is used to convert audio electrical signals into sound signals. When the electronic device 100 answers a telephone call or voice message, the receiver 170B can be brought close to the ear to listen to the voice.

[0094] Microphone 170C, also known as a "microphone" or "voice transducer," is used to convert sound signals into electrical signals. When making a phone call or sending a voice message, the user can speak by bringing their mouth close to microphone 170C, inputting the sound signal into microphone 170C. Electronic device 100 may have at least one microphone 170C. In some embodiments, electronic device 100 may have two microphones 170C, which, in addition to collecting sound signals, can also perform noise reduction. In other embodiments, electronic device 100 may have three, four, or more microphones 170C, which can collect sound signals, reduce noise, identify the sound source, and perform directional recording, etc. In some embodiments, the two microphones 170C of electronic device 100 can receive ultrasonic signals transmitted by the speaker of another electronic device. Optionally, the distance between the two microphones 170C of electronic device 100 is greater than a preset distance, such as 2cm, 4cm, 6cm, 8cm, or 10cm.

[0095] The 170D headphone jack is used to connect wired headphones. The 170D headphone jack can be a USB 130 interface or a 3.5mm Open Mobile Terminal Platform (OMTP) standard interface, a CTIA (Cellular Telecommunications Industry Association of the USA) standard interface.

[0096] Pressure sensor 180A is used to sense pressure signals and convert them into electrical signals. In some embodiments, pressure sensor 180A may be disposed on display screen 194. There are many types of pressure sensors 180A, such as resistive pressure sensors, inductive pressure sensors, and capacitive pressure sensors. A capacitive pressure sensor may include at least two parallel plates with conductive material. When a force is applied to pressure sensor 180A, the capacitance between the electrodes changes. Electronic device 100 determines the pressure intensity based on the change in capacitance. When a touch operation is applied to display screen 194, electronic device 100 detects the intensity of the touch operation based on pressure sensor 180A. Electronic device 100 may also calculate the touch position based on the detection signal from pressure sensor 180A.

[0097] The gyroscope sensor 180B can be used to determine the motion attitude of the electronic device 100. In some embodiments, the gyroscope sensor 180B can detect the angle of rotation of the electronic device 100. In some embodiments, the gyroscope sensor 180B can determine the angular velocity of the electronic device 100 about three axes (i.e., the x, y, and z axes). The gyroscope sensor 180B can be used for image stabilization. For example, when the shutter is pressed, the gyroscope sensor 180B detects the angle of shake of the electronic device 100, calculates the distance that the lens module needs to compensate based on the angle, and allows the lens to counteract the shake of the electronic device 100 by moving in the opposite direction, thus achieving image stabilization. The gyroscope sensor 180B can also be used in navigation and motion-sensing game scenarios.

[0098] The barometric pressure sensor 180C is used to measure air pressure. In some embodiments, the electronic device 100 calculates altitude using the air pressure value measured by the barometric pressure sensor 180C to assist in positioning and navigation.

[0099] The magnetic sensor 180D includes a Hall sensor. The electronic device 100 can use the magnetic sensor 180D to detect the opening and closing of the flip cover. In some embodiments, when the electronic device 100 is a flip phone, the electronic device 100 can detect the opening and closing of the flip cover using the magnetic sensor 180D. Then, based on the detected opening and closing state of the cover or the flip cover, features such as automatic flip unlocking can be set.

[0100] The 180E accelerometer can detect the magnitude of acceleration of electronic device 100 in various directions (typically three axes). When electronic device 100 is stationary, it can detect the magnitude and direction of gravity. It can also be used to identify the posture of electronic devices and applied to applications such as screen orientation switching and pedometers.

[0101] A distance sensor 180F is used to measure distance. Electronic device 100 can measure distance via infrared or laser. In some embodiments, during a shooting scene, electronic device 100 can utilize the distance sensor 180F to measure distance for rapid focusing.

[0102] The proximity sensor 180G may include, for example, a light-emitting diode (LED) and a light detector, such as a photodiode. The LED may be an infrared LED. The electronic device 100 emits infrared light outward through the LED. The electronic device 100 uses the photodiode to detect infrared reflected light from nearby objects. When sufficient reflected light is detected, it can be determined that there is an object near the electronic device 100. When insufficient reflected light is detected, the electronic device 100 can determine that there is no object near the electronic device 100. The electronic device 100 may use the proximity sensor 180G to detect when a user holds the electronic device 100 close to their ear for a call, so as to automatically turn off the screen to save power. The proximity sensor 180G can also be used in holster mode and pocket mode for automatic unlocking and locking of the screen.

[0103] The ambient light sensor 180K is used to sense the brightness of ambient light. The electronic device 100 can adaptively adjust the brightness of the display screen 194 based on the sensed ambient light brightness. The ambient light sensor 180K can also be used to automatically adjust the white balance when taking pictures. The ambient light sensor 180K can also work with the proximity sensor 180G to detect whether the electronic device 100 is in a pocket to prevent accidental touches.

[0104] The fingerprint sensor 180H is used to collect fingerprints. The electronic device 100 can utilize the characteristics of the collected fingerprints to achieve fingerprint unlocking, accessing application locks, taking photos with fingerprints, answering calls with fingerprints, etc.

[0105] Temperature sensor 180I is used to detect temperature. In some embodiments, electronic device 100 uses the temperature detected by temperature sensor 180I to execute a temperature handling strategy. For example, when the temperature reported by temperature sensor 180I exceeds a threshold, electronic device 100 performs thermal protection by reducing the performance of a processor located near temperature sensor 180I to reduce power consumption. In other embodiments, when the temperature is below another threshold, electronic device 100 heats battery 142 to prevent abnormal shutdown of electronic device 100 due to low temperature. In still other embodiments, when the temperature is below yet another threshold, electronic device 100 boosts the output voltage of battery 142 to prevent abnormal shutdown due to low temperature.

[0106] Touch sensor 180J, also known as a "touch panel," can be located on display screen 194. The touch sensor 180J and display screen 194 together form a touchscreen, also known as a "touch screen." Touch sensor 180J detects touch operations applied to or near it. The touch sensor can transmit the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through display screen 194. In other embodiments, touch sensor 180J may also be located on the surface of electronic device 100, in a different position than display screen 194.

[0107] The bone conduction sensor 180L can acquire vibration signals. In some embodiments, the bone conduction sensor 180L can acquire vibration signals from the vibrating bone segments of the human vocal cords. The bone conduction sensor 180L can also contact the human pulse to receive blood pressure signals. In some embodiments, the bone conduction sensor 180L can also be incorporated into headphones to form bone conduction headphones. The audio module 170 can parse the voice signals from the vibrating bone segments of the vocal cords acquired by the bone conduction sensor 180L to realize voice functionality. The application processor can parse heart rate information from the blood pressure signals acquired by the bone conduction sensor 180L to realize heart rate detection functionality.

[0108] Buttons 190 include a power button, volume buttons, etc. Buttons 190 can be mechanical buttons or touch-sensitive buttons. Electronic device 100 can receive button input and generate key signal inputs related to user settings and function control of electronic device 100.

[0109] Motor 191 can generate vibration alerts. Motor 191 can be used for incoming call vibration alerts or for touch vibration feedback. For example, different vibration feedback effects can correspond to touch operations performed on different applications (such as taking photos, playing audio, etc.). Motor 191 can also correspond to different vibration feedback effects for touch operations performed on different areas of the display screen 194. Different application scenarios (such as time reminders, receiving messages, alarm clocks, games, etc.) can also correspond to different vibration feedback effects. The touch vibration feedback effect can also be customized.

[0110] Indicator 192 can be an indicator light, used to indicate charging status, power changes, or to indicate messages, missed calls, notifications, etc.

[0111] The SIM card interface 195 is used to connect a SIM card. The SIM card can be inserted into or removed from the SIM card interface 195 to make contact with and separate from the electronic device 100. The electronic device 100 can support one or N SIM card interfaces, where N is a positive integer greater than 1. The SIM card interface 195 can support Nano SIM cards, Micro SIM cards, SIM cards, etc. Multiple cards can be inserted into the same SIM card interface 195 simultaneously. The multiple cards can be of the same or different types. The SIM card interface 195 is also compatible with different types of SIM cards. The SIM card interface 195 is also compatible with external memory cards. The electronic device 100 interacts with the network through the SIM card to realize functions such as calls and data communication. In some embodiments, the electronic device 100 uses an eSIM, i.e., an embedded SIM card. The eSIM card can be embedded in the electronic device 100 and cannot be separated from the electronic device 100.

[0112] It should be noted that the first device or the second device mentioned in the embodiments of this application may also include more or fewer modules in the electronic device 100.

[0113] The software system of electronic device 100 can adopt a layered architecture, event-driven architecture, microkernel architecture, microservice architecture, or cloud architecture. This application embodiment uses the layered architecture Android system as an example to exemplify the software structure of electronic device 100.

[0114] The software structure of the device involved in the embodiments of this application is described below:

[0115] Figure 7 This is a software architecture block diagram of an electronic device 100 provided in an embodiment of this application. The layered architecture divides the software into several layers, each with a clear role and function. Layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, from top to bottom: the application layer, the application framework layer, the Android runtime and system libraries, and the kernel layer. The application layer may include a series of application packages.

[0116] For example, such as Figure 7 As shown, the application package may include, but is not limited to, one or more of the following applications: camera, gallery, calendar, call, map, navigation, WLAN, find, music, video, and SMS.

[0117] The application framework layer provides application programming interfaces (APIs) and a programming framework for applications in the application layer. The application framework layer includes some predefined functions.

[0118] like Figure 7 As shown, the application framework layer may include, but is not limited to, one or more of the following: window manager, content provider, view system, phone manager, resource manager, notification manager, etc.

[0119] The window manager is used to manage windowed applications. For example, the window manager can obtain the screen size, determine whether there is a status bar, lock the screen, and capture the screen.

[0120] Content providers are used to store and retrieve data, making that data accessible to applications. For example, the data may include videos, images, audio, phone calls made and received, browsing history and bookmarks, phone books, etc.

[0121] A view system includes visual controls, such as controls for displaying text and controls for displaying images. View systems can be used to build applications. A display interface can consist of one or more views. For example, a display interface including a text notification icon could include views for displaying text and views for displaying images.

[0122] The phone manager is used to provide communication functions for electronic device 100. For example, it manages call status (including connection and disconnection).

[0123] The file explorer provides applications with various resources, such as localized strings, icons, images, layout files, video files, and more.

[0124] The notification manager allows applications to display notifications in the status bar. These notifications can be used to deliver informational messages and can disappear automatically after a short pause, requiring no user interaction. For example, the notification manager can be used to notify users of completed downloads or message alerts. The notification manager can also display notifications as icons or scrolling text in the top status bar, such as notifications from background applications, or as dialog boxes on the screen. Examples include displaying text messages in the status bar, emitting sounds, vibrating electronic devices, and flashing indicator lights.

[0125] The Android Runtime consists of core libraries and a virtual machine. The Android runtime is responsible for the scheduling and management of the Android system.

[0126] The core library consists of two parts: one part is the functionalities that need to be called by the Java language, and the other part is the Android core library.

[0127] The application layer and application framework layer run in a virtual machine. The virtual machine executes the Java files of the application layer and application framework layer as binary files. For example, the virtual machine is used to perform functions such as object lifecycle management, stack management, thread management, security and exception management, and garbage collection.

[0128] The system library may include multiple functional modules. For example, it may include, but is not limited to, one or more of the following: surface manager, media libraries, 3D graphics processing library (e.g., OpenGL ES), 2D graphics engine (e.g., SGL), etc.

[0129] The Surface Manager is used to manage the display subsystem and provides the blending of 2D and 3D layers for multiple applications.

[0130] The media library supports playback and recording of various common audio and video formats, as well as still image files. It supports multiple audio and video encoding formats, such as MPEG4, H.264, MP3, AAC, AMR, JPG, and PNG.

[0131] The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, compositing, and layer processing.

[0132] A 2D graphics engine is a graphics engine for 2D drawing.

[0133] The kernel layer is the layer between hardware and software. For example, the kernel layer may include, but is not limited to, one or more of the following: display driver, camera driver, audio driver, and sensor driver.

[0134] The device positioning method and apparatus will be further described below with reference to the accompanying drawings. It is understood that this application uses a first device as the executor of the interactive illustration, but this application does not limit the executor of the interactive illustration. For example, the method executed by the first device in this application can also be implemented by a communication / processing module in the first device, a circuit or chip in the first device responsible for communication / processing functions, or a logic node, logic module, or software capable of implementing all or part of the functions of the first device.

[0135] Please see Figure 8 , Figure 8 This is a flowchart illustrating a device positioning method provided in an embodiment of this application, wherein:

[0136] 801. The first device measures a first plane angle and a first pitch angle of the first device relative to the horizontal plane. The first plane angle is the angle between the long side of the first device and a first straight line. The first straight line is the line connecting the first device and the second device.

[0137] In this embodiment, the first device can measure its first pitch angle relative to the horizontal plane using its own sensors. Alternatively, the first device can measure its first pitch angle relative to the horizontal plane using other methods, which are not limited in this embodiment.

[0138] In this embodiment, the first plane angle is the angle between the long side of the first device and the first straight line, which is the line connecting the first device and the second device. For example, the first straight line can be the line connecting the top microphone of the first device and the speaker of the second device. Alternatively, the first straight line can be the line connecting the bottom microphone of the first device and the speaker of the second device. Or, the first straight line can be the line connecting any point on the first device and any point on the second device.

[0139] Optionally, the second device may periodically transmit ultrasonic signals. The first device can measure the first plane angle by measuring the ultrasonic signals transmitted by the second device. For example, after the user activates the function for finding the second device on the first device, the first device can notify the second device to periodically transmit ultrasonic signals. The first device receives the ultrasonic signals through two microphones and measures the first plane angle based on the ultrasonic signals received by these two microphones. The implementation principle of the first device measuring the first plane angle can refer to the implementation principle of the mobile phone determining the plane angle β mentioned above, and will not be repeated here. Alternatively, the first device may also measure the first plane angle in other ways, which are not limited in the embodiments of this application.

[0140] For example, such as Figure 9 As shown, assuming the origin (0,0,0) of the first device's coordinates is taken as the origin, and the longer side of the first device (the line connecting the bottom and top of the first device) is taken as the X-axis, a three-dimensional coordinate system is established. The coordinates of the second device in the current coordinate system are (x1, y1, z1). Figure 9 As shown, the first device measures the first plane angle as β1, and the first pitch angle of the first device relative to the horizontal plane as α1. The first device can record the measured first plane angle and first pitch angle for later use.

[0141] In one possible embodiment, the implementation of the first device measuring the first plane angle and the first pitch angle of the first device relative to the horizontal plane may include the following two methods:

[0142] 1) When the straight-line distance between the first device and the second device is less than or equal to the first threshold, measure the first plane angle and the first pitch angle of the first device relative to the horizontal plane.

[0143] Here, the straight-line distance between the first device and the second device refers to the length of the line connecting the first device and the second device. For example, as...Figure 9 As shown, the straight-line distance between the first device and the second device is d1.

[0144] Optionally, the straight-line distance between the first device and the second device can be determined by measuring the ultrasonic signal sent by the second device, or by other means, which is not limited in the embodiments of this application.

[0145] For example, the first plane angle and the first pitch angle of the first device relative to the horizontal plane are measured only when the straight-line distance between the first device and the second device is less than or equal to 5 meters. In other words, steps 801 to 803 of this application are executed to guide the user to find the second device only when the straight-line distance between the first device and the second device is less than or equal to a first threshold. If the straight-line distance between the first device and the second device is greater than the first threshold, other methods can be used to guide the user to find the second device, such as using only the angle between the long side of the first device and the line connecting the devices (the line connecting the first device and the second device) to guide the user to find the second device.

[0146] When the straight-line distance between the first and second devices is small, simply using the angle between the long side of the first device and the line connecting the two devices to guide the user to find the second device is insufficient. By combining the first and second pitch angles, the first and second plane angles, and the straight-line distance between the two devices to guide the user to find the second device, the user can be guided to locate the second device more accurately.

[0147] 2) When the straight-line distance between the first device and the second device is less than or equal to the first threshold and greater than or equal to the second threshold during a continuously preset time period, measure the first plane angle and the first pitch angle of the first device relative to the horizontal plane, where the first threshold is greater than the second threshold.

[0148] For example, if the straight-line distance between the first and second devices is less than or equal to 5 meters and greater than or equal to 3 meters for a continuous 5-minute period, the first plane angle and the first pitch angle of the first device relative to the horizontal plane are measured. This means that the user might linger at a distance of less than or equal to 5 meters and greater than or equal to 3 meters from the second device for an extended period. This lingering might be due to the user's inability to find the second device. Therefore, by using the condition that the straight-line distance between the first and second devices is less than or equal to a first threshold and greater than or equal to a second threshold for a continuous preset time period, combined with the first pitch angle, second pitch angle, first plane angle, second plane angle, and the straight-line distance between the first and second devices, to guide the user in locating the second device, it is beneficial to provide more accurate guidance.

[0149] In another possible embodiment, the first device may also, by default, guide the user to find the second device by executing steps 801 to 803 of this application. That is, it is not necessary to determine whether the straight-line distance between the first device and the second device is less than or equal to a first threshold or whether the straight-line distance between the first device and the second device is less than or equal to the first threshold and greater than or equal to the second threshold over a continuous preset time period. The first device can directly execute steps 801 to 803 of this application.

[0150] 802. After the first device rotates up and down, the first device measures the second plane angle and the second pitch angle of the first device relative to the horizontal plane. The second plane angle is the angle between the long side of the first device after it has rotated up and down and the first straight line.

[0151] In this embodiment, the user can rotate the first device up and down. For example, taking a mobile phone as the first device. Figure 10 As shown, users can rotate the phone around a line perpendicular to its long side, causing the top and bottom of the phone to swing up and down.

[0152] For example, such as Figure 9 As shown, assuming the origin (0,0,0) of the first device's coordinates is taken as the origin, and the longer side of the first device (the line connecting the bottom and top of the first device) is taken as the X-axis, a three-dimensional coordinate system is established. The coordinates of the second device in the current coordinate system are (x1, y1, z1). Figure 9 As shown, the first device measures a first plane angle of β1, and the first device's first pitch angle relative to the horizontal plane is α1. Figure 11 As shown, after the first device rotates up and down, the first device measures the angle of the second plane as β2 and the second pitch angle of the first device relative to the horizontal plane as α2. The coordinates of the second device in the new coordinate system become (x2, y2, z2). The straight-line distance between the first and second devices is d1.

[0153] In one possible embodiment, if no change in the pitch angle of the first device relative to the horizontal plane is detected, a second prompt signal is output to prompt the user to rotate the first device vertically. The absence of a detected change in the pitch angle of the first device relative to the horizontal plane indicates that the user has not rotated the first device vertically, thus prompting the user to rotate the first device vertically. Based on this possible embodiment, it is advantageous for the first device to successfully measure the second plane angle and the second pitch angle after vertical rotation.

[0154] In another possible embodiment, after measuring the first plane angle and the second pitch angle, the first device can directly output a second prompt signal so that the user can rotate the first device up and down.

[0155] 803. The first device outputs a first prompt signal based on the first pitch angle, the second pitch angle, the first plane angle, the second plane angle, and the straight-line distance between the first device and the second device. The first prompt signal is used to guide the user to find the second device.

[0156] In one possible embodiment, the first prompt signal prompts one or more of the following information: the three-dimensional coordinates of the second device, the planar distance between the first device and the second device on the plane where the screen of the first device is located, the planar distance between the first device and the second device on the horizontal plane, the third planar angle, the fourth planar angle, the third pitch angle of the second device relative to the plane where the screen of the first device is located, the fourth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device.

[0157] For example, the first device may display one or more of the following information on its screen: the three-dimensional coordinates of the second device, the planar distance between the first and second devices on the plane of the first device's screen, the planar distance between the first and second devices on the horizontal plane, a third planar angle, a fourth planar angle, a third pitch angle of the second device relative to the plane of the first device's screen, a fourth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device. Alternatively, the first device may announce one or more of the following information via voice: the three-dimensional coordinates of the second device, the planar distance between the first and second devices on the plane of the first device's screen, the planar distance between the first and second devices on the horizontal plane, a third planar angle, a fourth planar angle, a third pitch angle of the second device relative to the plane of the first device's screen, a fourth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device.

[0158] 1. Three-dimensional coordinates of the second device

[0159] In one possible embodiment, the three-dimensional coordinates of the second device are the three-dimensional coordinates of the second device in a first coordinate system or a second coordinate system; the first coordinate system is a coordinate system with the long side of the first device as the X-axis, and the second coordinate system is a coordinate system with the projection of the long side of the first device onto the horizontal plane as the X-axis.

[0160] For example, Figure 11 and Figure 12 A coordinate system is established with the longer side of the first device as the X-axis. The three-dimensional coordinates of the second device in this coordinate system are (x2, y2, z2).

[0161] For example, Figure 13 A coordinate system is established with the projection of the longer side of the first device onto the horizontal plane as the X-axis. The three-dimensional coordinates of the second device in this coordinate system are (x3, y3, z3).

[0162] 2. The planar distance between the first device and the second device on the plane where the screen of the first device is located.

[0163] For example, such as Figure 12 As shown, Figure 12 A coordinate system is established with the longer side of the first device as the X-axis. Point A is the projection of the second device onto the plane containing the screen of the first device. The planar distance between the first and second devices on the plane containing the screen of the first device is the distance of the line connecting the first device and point A, i.e., d².

[0164] 3. The horizontal distance between the first device and the second device.

[0165] For example, such as Figure 13 As shown, Figure 13 The coordinate system is defined by the projection of the longer side of the first device onto the horizontal plane, with the X-axis as the coordinate axis. Point A is the projection of the second device onto the horizontal plane. The planar distance between the first and second devices on the horizontal plane is the distance of the line connecting the first device and point A, i.e., d3.

[0166] 4. Angle of the third plane

[0167] Wherein, the third plane angle is the angle between the long side of the first device and the second straight line, and the second straight line is the straight line on the plane where the screen of the first device is projected onto the first straight line, or the third plane angle is the angle on the plane where the screen of the first device is projected onto the second plane angle.

[0168] For example, such as Figure 12 As shown, Figure 12A coordinate system is established with the longer side of the first device as the X-axis. Point A is the projection of the second device onto the plane containing the screen of the first device. The first straight line projected onto the plane containing the screen of the first device is the line connecting the first device and point A; that is, the second straight line is the line connecting the first device and point A. The third plane angle is the angle between the longer side of the first device and the second straight line; that is, the third plane angle is...

[0169] 5. Angle of the fourth plane

[0170] Wherein, the fourth plane angle is the angle between the straight line projected onto the horizontal plane by the long side of the first device and the straight line projected onto the horizontal plane by the first straight line, or the fourth plane angle is the angle projected onto the horizontal plane by the second plane angle.

[0171] For example, such as Figure 13 As shown, Figure 13 A coordinate system is established with the projection of the longer side of the first device onto the horizontal plane as the X-axis. Point A is the projection of the second device onto the horizontal plane. The line projected onto the horizontal plane by the first straight line is the line connecting the first device and point A, i.e., the angle of the fourth plane is...

[0172] 6. The third pitch angle of the second device relative to the plane where the screen of the first device is located.

[0173] For example, such as Figure 12 As shown, Figure 12 A coordinate system is established with the longer side of the first device as the X-axis. Point A is the projection of the second device onto the plane containing the screen of the first device. The third pitch angle of the second device relative to the plane containing the screen of the first device is α3.

[0174] 7. The fourth pitch angle of the second device relative to the horizontal plane

[0175] For example, such as Figure 13 As shown, Figure 13 A coordinate system is established with the projection of the longer side of the first device onto the horizontal plane as the X-axis. Point A is the projection of the second device onto the horizontal plane. The fourth pitch angle of the second device relative to the horizontal plane is α4.

[0176] 8. Height of the second device relative to the first device

[0177] For example, such as Figure 13 As shown, Figure 13 A coordinate system is established with the projection of the longer side of the first device onto the horizontal plane as the X-axis. Point A is the projection of the second device onto the horizontal plane. The height of the second device relative to the first device is h, where h = z³.

[0178] By providing the three-dimensional coordinates of the second device, the planar distance between the first and second devices on the plane of the screen of the first device, the planar distance between the first and second devices on the horizontal plane, the third plane angle, the fourth plane angle, the third pitch angle of the second device relative to the plane of the screen of the first device, the fourth pitch angle of the second device relative to the horizontal plane, or the height of the second device relative to the first device, it is helpful for users to determine the true direction of the second device and to find the second device.

[0179] In another possible embodiment, the first prompt signal may not directly prompt one or more of the above eight pieces of information (i.e., the three-dimensional coordinates of the second device, the planar distance between the first device and the second device on the plane where the screen of the first device is located, the planar distance between the first device and the second device on the horizontal plane, the third plane angle, the fourth plane angle, the third pitch angle of the second device relative to the plane where the screen of the first device is located, the fourth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device). For example, after the first device determines one or more of the above eight pieces of information based on the first pitch angle, the second pitch angle, the first plane angle, the second plane angle, and the straight-line distance between the first device and the second device, it can display a navigation map including the position of the second device, the position of the second device in the navigation map being displayed based on one or more of the above eight pieces of information.

[0180] In one possible embodiment, a first prompt signal is output based on a first pitch angle, a second pitch angle, a first plane angle, a second plane angle, and a straight-line distance between the first device and the second device, including: determining a pitch angle difference, wherein the pitch angle difference is the difference between the first pitch angle and the second pitch angle; and outputting the first prompt signal based on the pitch angle difference, the first plane angle, the second plane angle, and the straight-line distance between the first device and the second device.

[0181] For example, with Figure 12 For example, the following explains how to determine the three-dimensional coordinates of the second device in this coordinate system as (x2, y2, z2), the planar distance d2 between the first and second devices on the plane where the screen of the first device is located, and the angle of the third plane. The principle behind the implementation of the third tilt angle α3 of the second device relative to the plane of the screen of the first device is introduced:

[0182] like Figure 9 As shown, Figure 9 A coordinate system is established with the longer side of the first device as the X-axis. The first device measures the straight-line distance d1 between itself and the second device, and measures the first plane angle β1 and the first pitch angle α1. The coordinates of the second device in the current coordinate system are (x1, y1, z1). Where x1 = d1 * cosβ1, y1 = α1. 2+z1 2 =d1 2 *sin 2 β1.

[0183] After the first device rotates up and down, as Figure 12 As shown, the first plane angle β2 and the first pitch angle α2 are measured. The coordinates of the second device in the current coordinate system are (x2, y2, z2). Assuming the pitch angle difference between the first pitch angle and the second pitch angle is θ, then θ = α2 - α1. The rotation matrix is...

[0184] exist Figure 12 In the coordinate system shown, Therefore, we can obtain x2 = x1cosθ + z1sinθ = d1cosβ2. y2 2 +z2 2 =d1 2 sin 2 β2. z1=(d1cosβ2-d1cosβ1cosθ) / sinθ. z2=-x1sinθ+z1cosθ.

[0185] in,

[0186] The planar distance between the first device and the second device on the plane where the screen of the first device is located.

[0187] Third plane angle in,

[0188] Third pitch angle α3 = tan -1 (z2 / d2).

[0189] For example, with Figure 13 For example, the following explains how to determine the three-dimensional coordinates of the second device in this coordinate system as (x3, y3, z3), the planar distance d3 between the first and second devices on the horizontal plane, and the angle of the fourth plane. The implementation principles of the fourth pitch angle α4 of the second device relative to the horizontal plane and the height h of the second device relative to the first device are introduced:

[0190] like Figure 9 As shown, the coordinates of the second device in the coordinate system with the longer side of the first device as the X-axis are (x1, y1, z1). The first device's first pitch angle is α1. Therefore, rotating the first device by -α1 yields the coordinates of the second device in the second coordinate system (x3, y3, z3), which is the coordinate system with the projection of the longer side of the first device onto the horizontal plane as the X-axis. Therefore, Therefore, x3 = x1cos-α1 + z1sin-α1, y3 = y1, z3 = -x1sin-a1 + z1cos-α1. Where x1 = d1*cosβ1; z1 = (d1cosβ2 - d1cosβ1cosθ) / sinθ.

[0191] The horizontal distance between the first device and the second device

[0192] Fourth plane angle in,

[0193] Fourth pitch angle α4 = tan -1 (z3 / d3).

[0194] The height of the second device relative to the first device is h, where h = z3.

[0195] It is evident that the pitch angle difference, the first plane angle, the second plane angle, and the straight-line distance between the first and second devices are all helpful in accurately determining the information indicated by the first prompt signal.

[0196] In one possible embodiment, if the straight-line distance between the first device and the second device is less than a third threshold, the first device determines whether to prompt one or more of the following information based on the fifth pitch angle of the second device relative to the plane where the screen of the first device is located or the sixth pitch angle of the second device relative to the horizontal plane: the second device is located above or below the first device, the fifth pitch angle of the second device relative to the plane where the screen of the first device is located, the sixth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device.

[0197] The aforementioned up-and-down rotation of the first device to measure the pitch angle of the second device relative to the plane where the screen of the first device is located, or the pitch angle of the second device relative to the horizontal plane, can be performed periodically. Therefore, the pitch angle of the first device relative to the horizontal plane can be measured by rotating the first device up and down. Alternatively, it can be obtained based on the latest straight-line distance between the first and second devices and the latest height of the second device relative to the first device. The first device can calculate its own height change based on its own sensors to determine the latest height of the second device relative to the first device.

[0198] For example, when the straight-line distance between the first and second devices is less than 2 meters, if the fifth pitch angle of the second device relative to the plane of the screen of the first device, or the sixth pitch angle of the second device relative to the horizontal plane, is greater than 45°, then it indicates that the second device is above the first device. If the fifth pitch angle of the second device relative to the plane of the screen of the first device, or the sixth pitch angle of the second device relative to the horizontal plane, is less than -45°, then it indicates that the second device is below the first device.

[0199] For example, when the straight-line distance between the first device and the second device is less than 2m, if the fifth pitch angle of the second device relative to the plane where the screen of the first device is located, or the sixth pitch angle of the second device relative to the horizontal plane, is greater than 45° or less than 45°, then the system will display the fifth pitch angle of the second device relative to the plane where the screen of the first device is located, the sixth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device.

[0200] When the user is very close to the second device, prompts can help the user accurately locate the second device by indicating whether the second device is above or below the first device, the fifth tilt angle of the second device relative to the plane of the screen of the first device, the sixth tilt angle of the second device relative to the horizontal plane, or the height of the second device relative to the first device.

[0201] It can be seen that, based on Figure 8 The described method allows the first device to combine various information to guide the user in finding the second device, which helps to guide the user to find the second device more accurately.

[0202] This application provides a device positioning apparatus that can be used to implement the functions of the first device described above. The device positioning apparatus can be the first device itself. The device positioning apparatus includes modules or units corresponding one-to-one with the methods / operations / steps / actions performed by the first device in the above method embodiments. These units can be hardware circuits, software, or a combination of hardware circuits and software. Please refer to [link to previous application]. Figure 14 , Figure 14 This is a schematic diagram of the structure of a device positioning device 1400 provided in an embodiment of this application. The device positioning device 1400 may include a measuring unit 1401 and an output unit 1402. Wherein:

[0203] The measuring unit 1401 is used to measure the first plane angle and the first pitch angle of the first device relative to the horizontal plane. The first plane angle is the angle between the long side of the first device and the first straight line. The first straight line is the line connecting the first device and the second device.

[0204] The measuring unit 1401 is also used to measure the second plane angle and the second pitch angle of the first device relative to the horizontal plane after the first device is rotated up and down. The second plane angle is the angle between the long side of the first device after it is rotated up and down and the first straight line.

[0205] The output unit 1402 is used to output a first prompt signal based on a first pitch angle, a second pitch angle, a first plane angle, a second plane angle, and a straight-line distance between the first device and the second device. The first prompt signal is used to guide the user to find the second device.

[0206] In one possible embodiment, the first prompt signal prompts one or more of the following information: the three-dimensional coordinates of the second device, the planar distance between the first device and the second device on the plane where the screen of the first device is located, the planar distance between the first device and the second device on the horizontal plane, the third planar angle, the fourth planar angle, the third pitch angle of the second device relative to the plane where the screen of the first device is located, the fourth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device.

[0207] Wherein, the third plane angle is the angle between the long side of the first device and the second straight line, and the second straight line is the straight line on the plane where the screen of the first device is projected onto the first straight line; or, the third plane angle is the angle on the plane where the screen of the first device is projected onto the second plane angle.

[0208] Wherein, the fourth plane angle is the angle between the straight line projected onto the horizontal plane by the long side of the first device and the straight line projected onto the horizontal plane by the first straight line, or the fourth plane angle is the angle projected onto the horizontal plane by the second plane angle.

[0209] In one possible embodiment, the three-dimensional coordinates of the second device are the three-dimensional coordinates of the second device in a first coordinate system or a second coordinate system; the first coordinate system is a coordinate system with the long side of the first device as the X-axis, and the second coordinate system is a coordinate system with the projection of the long side of the first device onto the horizontal plane as the X-axis.

[0210] In one possible embodiment, the output unit 1402 is configured to output a second prompt signal if no change in the pitch angle of the first device relative to the horizontal plane is detected after measuring the first plane angle and the first pitch angle of the first device relative to the horizontal plane and before measuring the second plane angle and the second pitch angle of the first device relative to the horizontal plane. The second prompt signal is used to prompt the first device to be rotated up and down.

[0211] In one possible embodiment, the measuring unit 1401 measures a first plane angle and a first pitch angle of the first device relative to a horizontal plane, including:

[0212] If the straight-line distance between the first device and the second device is less than or equal to a first threshold, measure the first plane angle and the first pitch angle of the first device relative to the horizontal plane; or...

[0213] If the straight-line distance between the first device and the second device is less than or equal to a first threshold and greater than or equal to a second threshold for a continuous preset time period, the first plane angle and the first pitch angle of the first device relative to the horizontal plane are measured, and the first threshold is greater than the second threshold.

[0214] In one possible embodiment, the output unit 1402 outputs a first prompt signal based on a first pitch angle, a second pitch angle, a first plane angle, a second plane angle, and the straight-line distance between the first device and the second device, including:

[0215] Determine the pitch angle difference, which is the difference between the first pitch angle and the second pitch angle;

[0216] The first prompt signal is output based on the pitch angle difference, the first plane angle, the second plane angle, and the straight-line distance between the first and second devices.

[0217] In one possible embodiment, the output unit 1402 is further configured to, when the straight-line distance between the first device and the second device is less than a third threshold, determine whether to prompt one or more of the following information based on the fifth pitch angle of the second device relative to the plane where the screen of the first device is located or the sixth pitch angle of the second device relative to the horizontal plane: the second device is located above or below the first device, the fifth pitch angle of the second device relative to the plane where the screen of the first device is located, the sixth pitch angle of the second device relative to the horizontal plane, and the height of the second device relative to the first device.

[0218] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0219] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0220] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, cause the method executed by the first device in the above method embodiments to be implemented.

[0221] This application also provides a computer program product, which includes a computer program that, when executed, causes the method executed by the first device in the above method embodiments to be implemented.

[0222] This application also provides a communication system, which includes a first device or a second device. The first device is used to execute the method described in the above method embodiments.

[0223] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0224] The descriptions of the various embodiments provided in this application can be referenced mutually. Each embodiment has its own emphasis, and parts not described in detail in a certain embodiment can be referred to the relevant descriptions of other embodiments. For the sake of convenience and brevity, for example, the functions and execution steps of the various devices and equipment provided in the embodiments of this application can be referred to the relevant descriptions of the method embodiments of this application. The method embodiments and the device embodiments can also be referenced, combined or cited from each other.

[0225] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A device positioning method applied to a first device, comprising: The method comprises: measuring a first plane angle between a long side of the first device and a first straight line and a first tilt angle of the first device relative to a horizontal plane; after rotating the first device up and down, measuring a second plane angle between the long side of the first device after rotating up and down and the first straight line and a second tilt angle of the first device relative to the horizontal plane; based on the first tilt angle, the second tilt angle, the first plane angle, the second plane angle, and a straight-line distance between the first device and the second device, outputting a first prompt signal for guiding a user to find the second device.

2. The method of claim 1, wherein, The first prompt signal prompts one or more of the following information: three-dimensional coordinates of the second device, a plane distance between the first device and the second device in a plane of a screen of the first device, a plane distance between the first device and the second device in a horizontal plane, a third plane angle, a fourth plane angle, a third tilt angle of the second device relative to the plane of the screen of the first device, a fourth tilt angle of the second device relative to the horizontal plane, and a height of the second device relative to the first device; wherein the third plane angle is an angle between the long side of the first device and a second straight line, the second straight line being a straight line of the first straight line projected on the plane of the screen of the first device, or the third plane angle is an angle of the second plane angle projected on the plane of the screen of the first device; wherein the fourth plane angle is an angle between a straight line of the long side of the first device projected on the horizontal plane and a straight line of the first straight line projected on the horizontal plane, or the fourth plane angle is an angle of the second plane angle projected on the horizontal plane.

3. The method of claim 2, wherein, The three-dimensional coordinates of the second device are three-dimensional coordinates of the second device in a first coordinate system or a second coordinate system; the first coordinate system is a coordinate system with the long side of the first device as the X-axis, and the second coordinate system is a coordinate system with a projection of the long side of the first device on the horizontal plane as the X-axis.

4. The method according to any one of claims 1 to 3, characterized in that, After the measurement of the first plane angle and the first tilt angle of the first device relative to the horizontal plane, and before the measurement of the second plane angle and the second tilt angle of the first device relative to the horizontal plane, the method further comprises: if no change in the tilt angle of the first device relative to the horizontal plane is detected, outputting a second prompt signal for prompting the first device to be rotated up and down.

5. The method according to any one of claims 1 to 4, characterized in that, The measurement of the first plane angle and the first tilt angle of the first device relative to the horizontal plane comprises: in a case where the straight-line distance between the first device and the second device is less than or equal to a first threshold, measuring the first plane angle and the first tilt angle of the first device relative to the horizontal plane; or In a case where a straight-line distance between the first device and the second device is less than or equal to a first threshold value and greater than or equal to a second threshold value for a preset time period, a first plane angle and a first pitch angle of the first device relative to a horizontal plane are measured, the first threshold value being greater than the second threshold value.

6. The method according to any one of claims 1 to 5, characterized in that, The first prompt signal is output based on the first pitch angle, the second pitch angle, the first plane angle, the second plane angle, and the straight-line distance between the first device and the second device, including: A pitch angle difference is determined, the pitch angle difference being a difference between the first pitch angle and the second pitch angle; The first prompt signal is output based on the pitch angle difference, the first plane angle, the second plane angle, and the straight-line distance between the first device and the second device.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: In a case where the straight-line distance between the first device and the second device is less than a third threshold value, whether to prompt the first item or more of the following information is determined based on a fifth pitch angle of the second device relative to a plane on which a screen of the first device is located or a sixth pitch angle of the second device relative to a horizontal plane: whether the second device is above or below the first device, the fifth pitch angle of the second device relative to the plane on which the screen of the first device is located, the sixth pitch angle of the second device relative to the horizontal plane, or a height of the second device relative to the first device.

8. A device positioning apparatus, characterized by, A device for performing the method of any one of claims 1 to 7.

9. An electronic device, comprising: A processor coupled with a memory, the processor configured to execute computer programs or instructions stored in the memory to cause the electronic device to implement the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium has stored therein computer programs or instructions that, when executed by a device positioning apparatus, implement the method of any one of claims 1 to 7.

11. A computer program product comprising computer programs or instructions, characterized in that, The computer programs or instructions, when executed by a device positioning apparatus, implement the method of any one of claims 1 to 7. The computer programs or instructions, when executed by a device positioning apparatus, implement the method of any one of claims 1 to 7.

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