Positioning method and device, equipment, storage medium and computer program product

Abstract

The embodiment of the invention provides a positioning method and device, equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring received signal strength indication values of at least two antennas; determining at least one received signal strength indication difference value based on the received signal strength indication values of the at least two antennas, the received signal strength indication difference value being a difference value between any two of the received signal strength indication values of the at least two antennas; and determining azimuth information of the positioned equipment based on the at least one received signal strength indication difference value. Therefore, the azimuth information of the positioned equipment (namely the signal source) is determined by measuring the difference of the signal receiving intensities of the multiple antennas based on the difference of the directionalities of the different antennas, the complexity requirements on hardware configuration and a positioning algorithm can be reduced, and the positioning precision of the azimuth information is improved.

Description

Technical Field

[0001] This application relates to positioning technology, and more particularly to a positioning method, apparatus, device, storage medium, and computer program product. Background Technology

[0002] Wireless positioning technology achieves precise spatial positioning of target devices by analyzing the characteristic parameters of received signals (such as received signal strength, signal arrival time, signal incident angle, etc.), and is now widely used in indoor navigation, Internet of Things (IoT) device management, mobile communication network optimization and other fields.

[0003] However, existing wireless positioning technologies have certain limitations in practical applications. For example, wireless signals are easily affected by environmental interference during propagation, which leads to distortion in the analysis of characteristic parameters of the received signal, thereby affecting the reliability of the positioning results. Summary of the Invention

[0004] This application provides a positioning method, apparatus, device, storage medium, and computer program product that can improve positioning efficiency and accuracy.

[0005] The technical solution of this application embodiment is implemented as follows: In a first aspect, embodiments of this application provide a positioning method, including: Obtain the received signal strength indication values ​​of at least two antennas; Based on the received signal strength indication values ​​of at least two antennas, at least one received signal strength indication difference is determined, wherein the received signal strength indication difference is the difference between any two of the received signal strength indication values ​​of at least two antennas; The location information of the device being located is determined based on at least one difference in received signal strength indication.

[0006] Secondly, embodiments of this application provide a positioning device, comprising: An acquisition unit is used to acquire the received signal strength indication values ​​of at least two antennas; The processing unit is configured to determine at least one received signal strength indication difference based on the received signal strength indication values ​​of at least two antennas, wherein the received signal strength indication difference is the difference between any two of the received signal strength indication values ​​of at least two antennas. The processing unit is also used to determine the orientation information of the located device based on at least one received signal strength indication difference.

[0007] Thirdly, embodiments of this application provide an electronic device, including: At least two antennas are used to receive positioning signals; Memory is used to store executable instructions or computer programs. When a processor executes computer-executable instructions or computer programs stored in memory, it implements the positioning method provided in the embodiments of this application.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program or computer-executable instructions for implementing the positioning method provided in embodiments of this application when executed by a processor.

[0009] Fifthly, embodiments of this application provide a computer program product, including a computer program or computer executable instructions, which, when executed by a processor, implement the positioning method provided in embodiments of this application.

[0010] This application provides a positioning method, apparatus, device, storage medium, and computer program product. The method includes: acquiring received signal strength indication values ​​from at least two antennas; determining at least one received signal strength indication difference based on the received signal strength indication values ​​from the at least two antennas, wherein the received signal strength indication difference is the difference between any two of the received signal strength indication values ​​from the at least two antennas; and determining the azimuth information of the device to be located based on the at least one received signal strength indication difference. Thus, by determining the azimuth information of the device to be located (i.e., the signal source) based on the differences in the directivity of different antennas and by measuring the differences in the signal received strength of multiple antennas, the complexity requirements for hardware configuration and positioning algorithms can be reduced, and the positioning accuracy and precision of the azimuth information can be improved. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of an application scenario provided in an embodiment of this application; Figure 2 This is a first flowchart illustrating the positioning method provided in an embodiment of this application; Figure 3 This is a second flowchart illustrating the positioning method provided in the embodiments of this application; Figure 4 This is a schematic diagram of the antenna direction of the three-antenna system provided in the embodiments of this application; Figure 5 This is a third flowchart illustrating the positioning method provided in the embodiments of this application; Figure 6 This is a schematic diagram of the composition structure of the positioning device provided in the embodiments of this application; Figure 7 This is a schematic diagram of the composition structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] Existing wireless positioning technologies have certain limitations in practical applications. For example, wireless signals are easily affected by environmental interference during propagation, which leads to distortion in the analysis of characteristic parameters of the received signal, thereby affecting the reliability of the positioning results.

[0014] Based on this, embodiments of this application provide a positioning method, apparatus, device, storage medium, and computer program product. Based on the differences in the directivity of different antennas, the location information of the device being located (i.e., the signal source) is determined by measuring the differences in the signal reception strength of multiple antennas. This can reduce the complexity requirements of hardware configuration and positioning algorithms, and improve the positioning accuracy and precision of the location information.

[0015] Figure 1 This is a schematic diagram illustrating an application scenario of an embodiment of this application. For example... Figure 1 As shown, the positioning system 100 may include a first device 110 and a second device 120, wherein the first device 110 corresponds to the positioning device in the embodiments of this application, and the second device 120 corresponds to the device being positioned in the embodiments of this application.

[0016] The first device 110 is equipped with at least two antennas for receiving positioning signals sent by the second device 120. The orientation information of the second device 120 is determined by analyzing the received signal strength indication difference (RSSI difference) between the antennas.

[0017] The interaction of positioning signals between the first device 110 and the second device 120 can be achieved based on wireless communication protocols such as Wi-Fi, Bluetooth, and Ultra-Wideband (UWB). The specific protocol selection can be flexibly adapted according to the positioning accuracy requirements and application scenarios (such as indoor obstructed environments and open areas).

[0018] The first device 110 can be any type of mobile terminal or fixed terminal. For example, mobile terminals include, but are not limited to, smartphones, tablets, IoT terminals, vehicle terminals, wearable devices, drones, etc.; and fixed devices include personal computers, IoT gateways in home / industrial scenarios, indoor / outdoor device positioning beacons, base station nodes for auxiliary positioning, etc.

[0019] The second device 120 can also be any type of mobile terminal or fixed terminal, and the terminal types of the second device 120 and the first device 110 can be the same or different.

[0020] Figure 2This is a flowchart illustrating the positioning method provided in an embodiment of this application, as shown below. Figure 2 As shown, the method may specifically include: Step S201: Obtain the received signal strength indication values ​​of at least two antennas; The number of antennas on a positioning device can be flexibly configured according to actual needs. Common solutions include dual-antenna, triple-antenna, and quad-antenna configurations. In terms of hardware layout, different antennas need to be installed at different physical locations on the device. By increasing the difference in received signal strength between the antennas, more significant differentiation can be provided for subsequent location feature extraction, which is beneficial to improving positioning accuracy.

[0021] The Received Signal Strength Indicator (RSSI) is a quantified value of the strength of the received wireless signal, usually measured in dBm. It serves as a reference indicator for assessing signal quality and helping to determine the distance between the transmitting and receiving ends. Ideally, the closer the RSSI value is to 0 (dBm), the stronger the signal, and the closer the transmitting and receiving ends are likely to be; the more negative the value (dBm), the weaker the signal, and the farther the transmitting and receiving ends may be.

[0022] In this embodiment, the positioning device measures the RSSI values ​​of the positioning signals from each antenna. For example, in a two-antenna system, the positioning signals from ANT0 and ANT1 are analyzed to obtain RSSI0 and RSSI1 corresponding to antennas ANT0, ANT1, and ANT2, respectively.

[0023] For example, in a 3-antenna system, the positioning signals from ANT0, ANT1 and ANT2 are analyzed respectively to obtain RSSI0, RSSI1 and RSSI2 corresponding to antennas ANT0, ANT1 and ANT2 respectively.

[0024] In some embodiments, such as Figure 3 As shown, step S201 can be implemented through the method steps S301 to S303, as detailed below: Step S301: Obtain one or more received signal strength indication values ​​for the first antenna; Step S302: Switch at least a portion of one or more of the first antennas to the second antenna; Step S303: Obtain the received signal strength indication value of the second antenna; wherein, at least two antennas include a first antenna and a second antenna.

[0025] In this embodiment of the application, for devices that do not support simultaneous reception by multiple antennas, the RSSI values ​​of each antenna are collected sequentially through an antenna switching mechanism, which effectively overcomes hardware limitations and significantly improves the applicability of the positioning method.

[0026] For example, in Wi-Fi positioning technology, if simultaneous RSSI measurement of multiple antennas cannot be achieved due to hardware or protocol limitations, antenna switching technology can be used to achieve an equivalent measurement effect. Taking a 2×2 MIMO system as an example, when positioning using three antennas, the RSSI values ​​of the two antennas under the default configuration are first measured and obtained; then, through an antenna switching mechanism, the measurement channel is switched to the third antenna, and its RSSI value is collected and recorded; finally, the location information of the device being positioned is determined by comparing and analyzing the RSSI differences among the three antennas. As another example, when positioning using four antennas, the RSSI values ​​of the two antennas under the default configuration are first measured and obtained; then, through an antenna switching mechanism, the measurement channel is switched to the third and fourth antennas, and the RSSI values ​​of the other two antennas are collected and recorded; finally, the location information of the device being positioned is determined by comparing and analyzing the RSSI differences among the four antennas.

[0027] In some embodiments, obtaining the received signal strength indication values ​​of at least two antennas includes: in response to a positioning operation for the device to be positioned, obtaining identification information of the device to be positioned; based on the identification information of the device to be positioned, filtering and obtaining the positioning signal of the device to be positioned from the received signals of the at least two antennas; and parsing the positioning signals received by the at least two antennas to obtain the received signal strength indication value of each antenna. Thus, the device to be positioned is determined through the user's selection operation, and the unique identification information of the device to be positioned is obtained based on this interaction process, so as to accurately identify the positioning signal of the device to be positioned, thereby realizing the positioning operation of the device.

[0028] A location operation refers to a location request initiated by a user or system to determine the spatial location of a device. Location operations can be triggered manually by the user or automatically through scheduled tasks or specific events.

[0029] Identification information is data used to uniquely identify the device being located. For example, identification information includes, but is not limited to, the MAC address, serial number, IMEI code, or other unique identifier of the device being located. Identification information enables the positioning device to accurately filter out the location signal sent by the device being located from multiple received signals.

[0030] Step S202: Based on the received signal strength indication values ​​of at least two antennas, determine at least one received signal strength indication difference, wherein the received signal strength indication difference is the difference between any two of the received signal strength indication values ​​of at least two antennas; The Received Signal Strength Indication Difference (RSSI Difference) refers to the difference between the received signal strength indication values ​​of any two antennas when a multi-antenna system receives the same signal source. For example, the RSSI value of antenna 0 is represented as RSSI0, and the RSSI value of antenna 1 is represented as RSSI1. The RSSI difference between the two can be expressed as (RSSI0 - RSSI1), or (RSSI1 - RSSI0). This difference essentially reflects the difference in the receiving characteristics of a signal source in a specific direction on different antennas, and is the core basis for subsequently determining the location of the signal source through signal characteristics.

[0031] In some embodiments, determining at least one received signal strength indication (RSSI) difference based on the received signal strength indication values ​​of at least two antennas includes: obtaining a subtraction formula for each antenna group in at least one group of antennas; and determining at least one RSSI difference based on the subtraction formula for each antenna group in at least one group of antennas and the received signal strength indication values. Thus, depending on the antenna layout and directionality of the positioning device, the antennas are divided into one or more groups, each group containing any two antennas. By measuring the RSSI difference of each group of antennas, a feature space of RSSI differences under different orientations is constructed, improving the resolution and accuracy of orientation identification.

[0032] In one example, the positioning device includes two antennas, namely antenna 0 (ANT0) and antenna 1 (ANT1), which form a set of antennas. For example, the difference formula for this set of antennas can be R10 = RSSI0 - RSSI1, where RSSI0 is the RSSI value of antenna 0 and RSSI1 is the RSSI value of antenna 1. Alternatively, the difference formula for this set of antennas can also be R10 = RSSI1 - RSSI0.

[0033] In another example, the positioning device includes three antennas: antenna 0 (ANT0), antenna 1 (ANT1), and antenna 2 (ANT2). ANT0 and ANT1 form the first antenna group, antennas ANT0 and ANT2 form the second antenna group, and antennas ANT1 and ANT2 form the third antenna group. For example, the difference formula for the first antenna group can be R10 = RSSI0 - RSSI1, the difference formula for the second antenna group can be R20 = RSSI0 - RSSI2, and the difference formula for the third antenna group can be R30 = RSSI1 - RSSI2; where RSSI0 is the RSSI value of antenna 0, RSSI1 is the RSSI value of antenna 1, and RSSI2 is the RSSI value of antenna 2.

[0034] For example, antenna 0 has an RSSI of -65 dBm, antenna 1 has an RSSI of -72 dBm, and antenna 2 has an RSSI of -68 dBm. The RSSI difference between antenna 0 and antenna 1 is R10 = (-65) - (-72) = 7 dBm, indicating that the received signal strength of antenna 0 is 7 dBm stronger than that of antenna 1. The RSSI difference between antenna 2 and antenna 1 is R20 = (-68) - (-72) = 4 dBm, indicating that the received signal strength of antenna 2 is 4 dBm stronger than that of antenna 1.

[0035] In some embodiments, determining at least one received signal strength indication (RSSI) difference based on the received signal strength indication values ​​of at least two antennas includes: obtaining a subtraction formula for at least one group of antennas corresponding to a first azimuth information from a plurality of azimuth information; and determining at least one RSSI difference corresponding to the first azimuth information based on the subtraction formula of each group of antennas in the at least one group of antennas corresponding to the first azimuth information and the received signal strength indication value. Thus, according to the differences in antenna layout and directionality of the positioning device, each azimuth information corresponds to a different antenna grouping method and subtraction formula. Each group of antennas contains any two antennas. By measuring the received signal strength indication (RSSI) difference of each group of antennas, a feature space of RSSI differences under different azimuths is constructed, further improving the resolution and accuracy of azimuth identification.

[0036] In a multi-antenna system, each antenna possesses unique directional characteristics. For the same cross-section in space, the receiving efficiency of each antenna varies depending on its orientation. It is precisely because of these directional differences that different antennas ultimately acquire different signal strengths when receiving signals from the same source. Based on this, this application provides a method for azimuth positioning based on the signal strength difference between multiple antennas.

[0037] by Figure 4Taking a 3-antenna system as an example, where the positioning device includes antenna 0 (ANT0), antenna 1 (ANT1), and antenna 2 (ANT2), when the signal source is located in direction 1, the signal strength RSSI0 received by ANT0 will be greater than the signal strength RSSI1 received by ANT1, with a difference of R10, i.e., RSSI0 - RSSI1 = R10. The signal strength received by ANT2 is also greater than that of ANT1, with a difference of R11, i.e., RSSI2 - RSSI1 = R11. In other words, the difference formulas for the two antennas corresponding to direction 1 can include RSSI0 - RSSI1 = R10 and RSSI2 - RSSI1 = R11. Similarly, when the signal source is located in direction 3, the difference formulas for the two antennas corresponding to direction 3 can include RSSI1 - RSSI0 = R30 and RSSI2 - RSSI0 = R31. When the signal source is located in direction 5, the difference formulas for the two antennas corresponding to direction 5 can include RSSI1 - RSSI2 = R51 and RSSI0 - RSSI2 = R50. Other characteristic parameters can be the RSSI difference corresponding to the signal strength received by different antennas in other directions.

[0038] Step S203: Determine the orientation information of the located device based on at least one received signal strength indication difference.

[0039] Orientation information refers to the spatial orientation of the device being located relative to the positioning device. Its core parameters include one or more parameters such as azimuth and pitch angle. By obtaining these parameters, the specific orientation of the device being located relative to the positioning device can be directly determined, providing a crucial basis for determining the orientation of the positioning scenario.

[0040] In some embodiments, such as Figure 5 As shown, step S203 can be implemented through the method steps S501 to S502, as detailed below: Step S501: Based on the mapping relationship between azimuth information and received signal strength indication difference, determine the target azimuth information corresponding to at least one received signal strength indication difference; Step S502: Determine the orientation information of the device being located based on the target orientation information.

[0041] The mapping relationship is a pre-constructed mapping relationship model between each of the at least two azimuth information and the RSSI difference feature.

[0042] In some embodiments, the mapping relationship is represented in the form of a lookup table. Based on the currently measured RSSI difference, the azimuth information matching the currently measured RSSI difference is found by looking up the mapping relationship table. Determining the target positioning information by looking up the table based on the currently measured RSSI difference avoids complex algorithm calculations and improves positioning efficiency.

[0043] For example, the mapping relationship can include a mapping relationship between each of at least two azimuth information and one or more received signal strength indication (RSSI) differences. Taking a 3-antenna system as an example, the mapping relationship records the values ​​of RSSI differences corresponding to 18 azimuths, {Di, (R10i, R20i)}, (i=0,1,2,…,17). During positioning, if the currently measured RSSI difference combination is (R10, R20), and the absolute value of the difference between R10 and R10i is less than the error threshold TH1i corresponding to azimuth Di, and the absolute value of the difference between R20 and R20i is less than the error threshold TH2i corresponding to azimuth Di, then Di is determined to be the azimuth information that matches the currently measured RSSI difference combination. TH1i and TH2i can be equal or unequal, and the error thresholds corresponding to different azimuth information can be uniformly set or configured differently.

[0044] For example, the mapping relationship can include a mapping relationship between each azimuth information in at least two azimuth information sets and the value range of one or more received signal strength indication (RSSI) difference values. Taking a 3-antenna system as an example, each azimuth information set corresponds to two sets of RSSI difference value ranges (R10 value range, R20 value range). The mapping relationship pre-stores the relevant configurations for 24 azimuths, namely {Di, [(R10i_min, R10i_max), (R20i_min, R20i_max)]}, (i=0,1,2,…,23). During positioning, if the currently measured RSSI difference value combination is (R10, R20), and R10 falls within the R10 value range corresponding to azimuth D5, while R20 also falls within the R10 value range corresponding to azimuth D5, then the azimuth information D5 is determined to match the currently measured RSSI difference value. The value ranges corresponding to different azimuths can be set differently according to the actual scenario, and the value ranges of different RSSI difference values ​​under the same azimuth can also be configured independently. In other embodiments, the mapping relationship is represented by a functional relationship, with the currently measured RSSI difference used as an input variable, and the target azimuth information is obtained after function operation.

[0045] In this embodiment, a mapping relationship between RSSI difference and azimuth information is pre-established. During the actual positioning phase, the azimuth information of the device being positioned is quickly determined based on the currently measured RSSI difference and the mapping relationship. This simplifies the positioning calculation process and significantly improves the positioning response speed and accuracy.

[0046] For example, in order to correlate RSSI differences with spatial azimuth, the positioning device first needs to be calibrated, that is, the received signal strength (i.e., RSSI value) of each antenna of the positioning device in each azimuth needs to be tested; secondly, based on the directional differences of each antenna, the difference in received signal strength between antennas in each azimuth (i.e., RSSI difference) is calculated, and a mapping relationship between RSSI difference and azimuth information is constructed. In subsequent use, the azimuth information corresponding to the currently measured set of RSSI differences is determined directly based on the RSSI differences between multiple antennas and the preset mapping relationship, thus obtaining the azimuth information of the current signal source.

[0047] In two-dimensional orientation measurement, an equally spaced angle sampling strategy can be adopted. For example, within a 360-degree plane, 12 orientations can be divided at 30-degree intervals, and the RSSI difference value or range corresponding to each orientation can be recorded. This establishes a mapping relationship between orientation and RSSI difference features, suitable for scenarios with low computational resource requirements and effectively covering common environmental features. Alternatively, by reducing the sampling interval to 20 degrees, the RSSI difference value or range corresponding to 18 orientations can be recorded, meeting the requirements for high-precision positioning.

[0048] In three-dimensional orientation measurement, a spherical layered sampling strategy can be adopted. For example, setting the azimuth sampling interval to 30° (12 directions) and the elevation sampling interval to 30° (covering -90° to +90°, 6 levels) allows for the recording of RSSI differences or their ranges for 72 spherical orientations, providing characteristic parameters to support three-dimensional orientation identification. Alternatively, setting the azimuth sampling interval to 20° (18 directions) and the elevation sampling interval to 20° (covering -90° to +90°, 9 levels) allows for the recording of RSSI differences or their ranges for 162 spherical orientations, providing characteristic parameters to support three-dimensional orientation identification.

[0049] It should be noted that during the measurement and calibration phase, the number of sampling azimuths can be increased to obtain more RSSI difference values ​​or ranges under different azimuths. This can optimize the mapping model between azimuth and RSSI difference features, thereby improving positioning accuracy. In some possible embodiments, the azimuth information of the device being located is determined based on the target azimuth information, including: in response to the uniqueness of the target azimuth information, using the target azimuth information as the azimuth information of the device being located.

[0050] In some possible embodiments, determining the orientation information of the device being located based on the target orientation information includes: in response to the fact that the target orientation information is not unique, outputting a pose adjustment prompt message for the positioning device to prompt the user to adjust the pose of the positioning device.

[0051] Due to constraints such as antenna array spatial layout and azimuth sampling interval, the RSSI difference characteristics of adjacent azimuths are relatively small in actual positioning environments. For example, the RSSI difference combination at 0° azimuth is (5dB, 8dB), and the RSSI difference combination at 20° azimuth is (4.8dB, 7.9dB). When the matching error threshold is set to ±1dB, the measured RSSI difference combination (5dB, 8dB) will simultaneously satisfy the matching conditions of two azimuths, making the target azimuth information corresponding to the measured RSSI difference combination not unique. Based on this, in this embodiment, when the azimuth information corresponding to at least one received signal strength indication difference obtained by the current measurement is not unique, a prompt message is output to prompt the user to adjust the orientation of the positioning device (such as rotating or translating the positioning device), so that the positioning device can obtain a new RSSI difference value and use the new RSSI difference value for repositioning, thereby improving the robustness of positioning and user experience.

[0052] In some possible embodiments, the orientation information of the device being located is determined based on the target orientation information, including: or, in response to the target orientation information being empty, outputting a pose adjustment prompt for the positioning device to prompt the user to adjust the pose of the positioning device.

[0053] When the target orientation information is empty, it means that the currently measured RSSI difference does not match any preset orientation in the mapping relationship (e.g., exceeding the error threshold or value range of all orientations), and the orientation of the located device cannot be determined. In this case, a positioning device pose adjustment prompt is output because orientation deviations such as angle and orientation of the positioning device may cause abnormal RSSI measurement values. The user needs to adjust the device's pose (e.g., rotate or translate the positioning device) so that the positioning device can obtain a new RSSI difference. This new RSSI difference can then be used for repositioning, improving the robustness of the positioning and the user experience.

[0054] Position adjustment prompts can be in various forms, including text, voice, and graphical interfaces. The purpose of these prompts is to guide users in adjusting the spatial position and attitude of the positioning device, including parameters such as three-dimensional coordinates and rotation angles. When the positioning device moves or rotates, the signal strength received by different antennas also changes, allowing for further filtering of target azimuth information based on the newly measured RSSI difference.

[0055] For example, if the positioning device still cannot determine the target location information after adjusting its pose, the system will prompt the user to adjust the device pose again until the target location of the positioned device is successfully obtained.

[0056] For example, the number of pose adjustment reminders is counted in real time. When the number of reminders exceeds a preset threshold, a positioning failure prompt will be automatically output to avoid users getting stuck in an ineffective adjustment loop and improve interaction efficiency.

[0057] In some embodiments, after outputting the pose adjustment prompt information of the positioning device, the method further includes: reacquiring the received signal strength indication values ​​of at least two antennas to update at least one received signal strength indication difference; and determining the orientation information of the positioned device based on the updated at least one received signal strength indication difference and the mapping relationship. Thus, when multiple solutions exist in the initial positioning, by adjusting the orientation of the positioning device, a new RSSI difference is obtained, which is then used to filter multiple positioning information to determine the target positioning information, improving the accuracy and robustness of the positioning.

[0058] In one example, at least one received signal strength indication difference currently measured is matched with the range of values ​​of at least one received signal strength indication difference corresponding to each azimuth information in the mapping relationship; one or more candidate azimuth information matching at least one received signal strength indication difference is determined; and the target azimuth information is determined from the one or more candidate azimuth information.

[0059] In other words, if the RSSI difference corresponding to multiple azimuth information uses the same calculation method, then the currently measured one or more RSSI differences are matched with the range of values ​​of the RSSI difference corresponding to each azimuth information. Through comparison and filtering, the target azimuth information is determined.

[0060] In another example, at least one received signal strength indication difference corresponding to the currently measured first azimuth information is matched with the value range of at least one received signal strength indication difference corresponding to the first azimuth information in the mapping relationship; if a match is found, the first azimuth information is determined as candidate azimuth information; the mapping relationship traversal ends, and one or more matched candidate azimuth information are obtained; the target azimuth information is determined from one or more candidate azimuth information.

[0061] In other words, if the calculation methods for RSSI differences corresponding to multiple azimuth information differ, it is necessary to first calculate one or more RSSI differences for each azimuth information according to the calculation formula for RSSI differences for each azimuth information. Then, the currently measured RSSI difference is matched with the preset range of RSSI difference values ​​for that azimuth. Through comparison and filtering, it is determined whether the signal source is located in that azimuth. After the omnidirectional traversal is completed, the target azimuth information is finally determined based on the filtering results.

[0062] For example, if the currently measured RSSI difference is within the preset range of RSSI difference values, it is determined that the two are a match; otherwise, it is determined that they are not a match.

[0063] For example, the method further includes: determining a target azimuth model that matches at least one received signal strength indication difference from multiple azimuth models based on at least one received signal strength indication difference; and selecting the azimuth information corresponding to the target azimuth model as the azimuth information of the device being located.

[0064] For example, the method further includes: determining a target azimuth model that matches at least one received signal strength indication difference from multiple azimuth models based on at least one received signal strength indication difference; outputting a pose adjustment prompt message for the positioning device in response to the target azimuth model not being unique, so as to prompt the user to adjust the pose of the positioning device; and selecting the azimuth information corresponding to the target azimuth model as the azimuth information of the positioning device in response to the target azimuth model being unique.

[0065] An azimuth model is a set of characteristic parameters constructed based on the RSSI differences of one or more antenna pairs when a positioning device receives signals at a specific azimuth. This model improves the directional resolution and recognition accuracy of the positioning system by analyzing the signal strength differences between different antenna pairs and extracting azimuth-related characteristic parameters.

[0066] It's important to note that in a multi-antenna system, the probability of identical signal strength differences between multiple antennas at different azimuths is extremely low. This probability decreases further as the number of antennas increases. The more antennas there are, the less likely the signal strength differences will overlap at different azimuths, thus reducing the risk of positioning errors due to difference confusion and ultimately achieving higher positioning accuracy. In short, the probability of a multi-antenna system locating multiple different azimuths using RSSI differences is inherently low, and this probability decreases significantly with the increase in the number of antennas.

[0067] In some embodiments, the method further includes: outputting directional prompt information for the located device based on the directional information of the located device. Exemplarily, the presentation forms of the directional prompt information include, but are not limited to, visual prompts (such as prompt icons and prompt lights) and audible prompts (such as prompt voice). Through diverse presentation forms, it can adapt to different usage scenarios such as quiet, bright light, and noisy environments, fully meeting the user's directional perception needs in various environments.

[0068] By adopting the above technical solution, based on the differences in the directivity of different antennas, the location information of the device being located (i.e., the signal source) can be determined by measuring the differences in the signal reception strength of multiple antennas. This can reduce the complexity requirements of hardware configuration and positioning algorithm, and improve positioning efficiency and accuracy.

[0069] To better illustrate the purpose of this application, examples of positioning scenarios are provided based on the above embodiments.

[0070] For example, in a store-finding scenario, the positioning method may include: the user clicks on the target merchant on the map interface to obtain the unique identification information (such as device ID, MAC address) of the merchant's terminal (such as a cashier positioning device, a store smart terminal); based on the identification information, identifying and capturing the positioning signals (such as Wi-Fi signals, Bluetooth signals, UWB signals, etc.) emitted by the terminal in the surrounding environment; determining the RSSI difference between antennas through the positioning signals; determining the merchant's location information based on the RSSI difference; and marking the merchant's location on the map to guide the user to quickly find the target merchant.

[0071] For example, in a car-finding scenario, the positioning method may include: the user initiating a car-finding request via mobile phone; obtaining the unique identifier (such as device ID or Bluetooth MAC address) of the positioning terminal (such as an in-vehicle positioning module or parking space sensor terminal) associated with the vehicle; based on the identifier, scanning and capturing the wireless positioning signal emitted by the corresponding positioning terminal within the signal coverage area of ​​the parking lot; determining the RSSI difference between antennas through the positioning signal, and calculating the vehicle's orientation information by combining a preset RSSI difference feature-orientation information mapping model; and finally converting the orientation information into a visual map path guide or voice navigation prompt to guide the user to the vehicle's location efficiently.

[0072] The user initiates a vehicle location request via their mobile phone; the system obtains the identifier of the location terminal (such as an in-vehicle terminal or parking space terminal) of the user's bound vehicle; then, based on this identifier, it scans and identifies the location signal of the location terminal within the parking lot coverage area; by analyzing the RSSI difference of the location signal, it calculates and determines the vehicle's location information; finally, it converts the vehicle's location information into a visual map path guide or voice navigation prompt to guide the user to quickly find the vehicle.

[0073] To implement the method of the embodiments of this application, based on the same inventive concept, the embodiments of this application also provide a positioning device, such as... Figure 6 As shown, the positioning device 60 includes: Acquisition unit 601 is used to acquire the received signal strength indication values ​​of at least two antennas; The processing unit 602 is configured to determine at least one received signal strength indication difference based on the received signal strength indication values ​​of at least two antennas, wherein the received signal strength indication difference is the difference between any two of the received signal strength indication values ​​of at least two antennas. The processing unit 602 is also configured to determine the orientation information of the located device based on at least one received signal strength indication difference.

[0074] In some embodiments, the processing unit 602 is configured to determine target azimuth information corresponding to at least one received signal strength indication difference based on the mapping relationship between azimuth information and received signal strength indication difference; and to determine the azimuth information of the located device based on the target azimuth information.

[0075] In some embodiments, the processing unit 602 is specifically configured to: output a pose adjustment prompt message for the positioning device in response to the non-uniqueness of the target orientation information, so as to prompt the user to adjust the pose of the positioning device; or output a pose adjustment prompt message for the positioning device in response to the emptiness of the target orientation information, so as to prompt the user to adjust the pose of the positioning device; or use the target orientation information as the orientation information of the positioning device in response to the uniqueness of the target orientation information.

[0076] In some embodiments, the processing unit 602 is further configured to reacquire the received signal strength indication values ​​of at least two antennas to update at least one received signal strength indication difference; and determine the orientation information of the located device based on the updated at least one received signal strength indication difference and the mapping relationship.

[0077] In some embodiments, the acquisition unit 601 is configured to acquire identification information of the device being located in response to a positioning operation for the device being located; based on the identification information of the device being located, filter and acquire the positioning signal of the device being located from the received signals of at least two antennas; and parse the positioning signals received by at least two antennas to obtain the received signal strength indication value of each antenna.

[0078] In some embodiments, the acquisition unit 601 is configured to acquire received signal strength indication values ​​of one or more first antennas; switch at least a portion of one or more first antennas to a second antenna; and acquire received signal strength indication values ​​of the second antenna; wherein at least two antennas include a first antenna and a second antenna.

[0079] In some embodiments, the processing unit 602 is configured to obtain the subtraction formula for each group of antennas in at least one group of antennas; and determine at least one received signal strength indication difference value based on the subtraction formula for each group of antennas in at least one group of antennas and the received signal strength indication value.

[0080] In some embodiments, the processing unit 602 is configured to obtain the subtraction formula of at least one group of antennas corresponding to the first azimuth information among a plurality of azimuth information; and determine at least one received signal strength indication difference value corresponding to the first azimuth information based on the subtraction formula of each group of antennas in the at least one group of antennas corresponding to the first azimuth information and the received signal strength indication value.

[0081] In some embodiments, the positioning device further includes an interaction unit for outputting location prompt information of the positioned device based on the location information of the positioned device.

[0082] In practical applications, the aforementioned device can be a terminal device or a chip applied to a terminal device. In this application, the device can implement the functions of multiple units through software, hardware, or a combination of both, enabling the device to execute the positioning method provided in any of the above embodiments. Furthermore, the technical effects of each technical solution of the device can be referenced to the technical effects of the corresponding technical solutions in the positioning method, and will not be elaborated upon further in this application.

[0083] This application also provides an electronic device, such as... Figure 7 As shown, the electronic device 70 includes: At least two antennas 701 are used to receive positioning signals; Processor 702 and memory 703 configured to store computer programs capable of running on the processor; The processor 702 is configured to execute the method steps in the foregoing embodiments when running a computer program.

[0084] Of course, in practical applications, such as Figure 7 As shown, the various components in the electronic device 70 are coupled together via a bus system 704. It is understood that the bus system 704 is used to enable communication between these components. In addition to a data bus, the bus system 704 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus system 704 in the figure.

[0085] In practical applications, the aforementioned processor can be at least one of the following: Application-Specific Integrated Circuit (ASIC), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), controller, microcontroller, and microprocessor. It is understood that, for different devices, the electronic device used to implement the above processor function can also be other types, and the embodiments of this application do not specifically limit it.

[0086] The aforementioned memory can be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and provides instructions and data to the processor.

[0087] Alternatively, the memory can be a separate device independent of the processor, or it can be integrated into the processor.

[0088] In practical applications, the aforementioned electronic device can be the positioning device described in the embodiments of this application.

[0089] In practical applications, the aforementioned electronic device can also be used as a positioning module in a positioning device.

[0090] In an exemplary embodiment, this application also provides a computer-readable storage medium, such as a memory including a computer program, which can be executed by the processor of a positioning device to perform the steps of the aforementioned method.

[0091] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the embodiments of this application.

[0092] Optionally, the computer program product can be applied to the positioning device in the embodiments of this application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the positioning device in the various methods of the embodiments of this application. For the sake of brevity, they will not be described in detail here.

[0093] This application also provides a computer program.

[0094] Optionally, the computer program can be applied to the positioning device in the embodiments of this application. When the computer program is run on a computer, it causes the computer to execute the corresponding processes implemented by the positioning device in the various methods of the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0095] It should be understood that in the embodiments of this application, data such as user information are involved. When the embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0096] It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items. The expressions “having,” “may have,” “comprising,” and “including,” or “may include” and “may contain” used herein may be used to indicate the presence of a corresponding feature (e.g., an element such as a number, function, operation, or component), but do not exclude the presence of additional features.

[0097] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and are not necessarily used to describe a specific order or sequence. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information.

[0098] The technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatus, and devices can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0100] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0101] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0102] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A positioning method, characterized in that, The method includes: Obtain the received signal strength indication values ​​of at least two antennas; Based on the received signal strength indication values ​​of the at least two antennas, at least one received signal strength indication difference is determined, wherein the received signal strength indication difference is the difference between any two of the received signal strength indication values ​​of the at least two antennas; The location information of the device being located is determined based on at least one difference in received signal strength indication.

2. The method according to claim 1, characterized in that, The determination of the location information of the device being located based on at least one received signal strength indication difference includes: Based on the mapping relationship between azimuth information and received signal strength indication difference, determine at least one target azimuth information corresponding to the received signal strength indication difference; Based on the target location information, the location information of the device being located is determined.

3. The method according to claim 2, characterized in that, Determining the location information of the device being located based on the target location information includes: In response to the fact that the target orientation information is not unique, the positioning device pose adjustment prompt information is output to prompt the user to adjust the positioning device pose; Alternatively, in response to the target orientation information being empty, a position adjustment prompt message for the positioning device is output to prompt the user to adjust the position of the positioning device; Alternatively, in response to the uniqueness of the target orientation information, the target orientation information may be used as the orientation information of the located device.

4. The method according to claim 3, characterized in that, After outputting the pose adjustment prompt information for the positioning device, it also includes: Reacquire the received signal strength indication values ​​of at least two antennas to update at least one of the received signal strength indication differences; The location information of the located device is determined based on at least one of the updated received signal strength indication differences and the mapping relationship.

5. The method according to claim 1, characterized in that, The acquisition of received signal strength indication values ​​from at least two antennas includes: In response to a positioning operation on the positioned device, the identification information of the positioned device is obtained; Based on the identification information of the device being located, the positioning signal of the device being located is filtered and obtained from the received signals of at least two antennas; The positioning signals received by the at least two antennas are analyzed to obtain the received signal strength indication value for each antenna.

6. The method according to claim 1, characterized in that, The acquisition of received signal strength indication values ​​from at least two antennas includes: Acquire the received signal strength indication values ​​of one or more first antennas; Switch at least a portion of the one or more first antennas to the second antenna; Obtain the received signal strength indication value of the second antenna; The at least two antennas include the first antenna and the second antenna.

7. The method according to any one of claims 1-5, characterized in that, Determining at least one received signal strength indication difference based on the received signal strength indication values ​​of the at least two antennas includes: Obtain the difference formula for each antenna in at least one group of antennas; Based on the difference formula for each group of antennas in at least one group of antennas and the received signal strength indication value, at least one received signal strength indication difference value is determined.

8. The method according to any one of claims 1-5, characterized in that, Determining at least one received signal strength indication difference based on the received signal strength indication values ​​of the at least two antennas includes: Obtain the subtraction formula for at least one set of antennas corresponding to the first azimuth information among multiple azimuth information; Based on the difference formula of each antenna in at least one group of antennas corresponding to the first azimuth information and the received signal strength indication value, at least one received signal strength indication difference value corresponding to the first azimuth information is determined.

9. A positioning device, characterized in that, The device includes: An acquisition unit is used to acquire the received signal strength indication values ​​of at least two antennas; The processing unit is configured to determine at least one received signal strength indication difference based on the received signal strength indication values ​​of the at least two antennas, wherein the received signal strength indication difference is the difference between any two of the received signal strength indication values ​​of the at least two antennas; The processing unit is also used to determine the orientation information of the located device based on at least one received signal strength indication difference.

10. An electronic device, characterized in that, The electronic device includes: At least two antennas are used to receive positioning signals; Memory is used to store executable instructions or computer programs. A processor, when executing computer-executable instructions or computer programs stored in the memory, implements the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

Images