Position determination method, position determination device, computer-readable storage medium, and vehicle

Abstract

The present application relates to a positioning method, a positioning device, a computer-readable storage medium, and a vehicle. The above positioning method is applied to a lock end and includes the following content. The lock end transmits first information and records the first transmission time of the first information. The key end receives the first information, records the first reception time, and transmits second information to the lock end. The second information includes request information, the second transmission time of the request information, and the first reception time. The lock end receives the second information, records the second reception time, and calculates the difference between the second transmission time and the first reception time. The lock end calculates the distance between the lock end and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to achieve the positioning of the key end or the lock end. According to the positioning method according to the present application, the interaction accuracy is improved algorithmically, the time error is reduced, and the positioning accuracy is improved.

Description

Technical Field

[0001] Reference to Related Applications This application claims the priority of Chinese Patent Application No. 202210621423.X, filed on June 2, 2022, with the invention title "Positioning Method, Positioning Device, Computer-readable Storage Medium, and Vehicle", and all of its content is incorporated herein by reference. Further, this application claims the priority of Chinese Patent Application No. 202210621435.2, filed on June 2, 2022, with the invention title "Positioning Method, Positioning Device, Computer-readable Storage Medium, and Vehicle", and all of its content is incorporated herein by reference.

[0002] This application relates to the field of communication technologies, and specifically, to a positioning method, a positioning device, a computer-readable storage medium, and a vehicle.

Background Art

[0003] Existing Bluetooth keys are mainly mobile phones or wearable Bluetooth devices equipped with Bluetooth. With the continuous development of the trends of automotive intelligence, informatization, and electronization, and the diversification of application methods and scenarios, users' requirements for the positioning accuracy of vehicle keys are increasing. Ultra-wideband (UWB) technology is one of the carrier-free communication technologies. In recent years, the sub-nanosecond ultra-narrow pulses of UWB have been utilized for close-range precise positioning. A crystal oscillator is provided inside the UWB device, and the role of the crystal oscillator is to generate a clock frequency. The UWB device receives and transmits UWB signals under its clock frequency. In other words, each hardware device has its own internal clock, and since UWB devices operate according to their own time systems respectively, a time difference occurs for each UWB device. Also, even if the clocks of multiple UWB devices start at the same standard time, due to clock drift, long-term synchronization cannot be maintained. Factors affecting clock drift include the manufacturing process, temperature changes, environmental changes, and the degree of aging. Therefore, it is difficult to avoid the problem of time asynchronization. Moreover, for UWB-based distance calculation, it is necessary to multiply the speed of light by time, and even a small error in time leads to a large error in distance. Summary of the Invention

[0004] The present application provides a positioning method, a positioning device, a computer-readable storage medium, and a vehicle. According to the positioning method, the interaction precision is improved algorithmically, and during positioning, the UWB device can record and calculate time with the same timing system, improving the positioning accuracy.

[0005] The first idea of the present application is to provide a positioning method applied to a lock end. The positioning method is as follows: Transmit first information and record the first transmission time of the first information. The first information is used to cause the key end to receive the first information and record the first reception time of the first information, and to transmit second information to the lock end. The second information includes request information, the second transmission time of the request information, and the first reception time. Receive the second information, record the second reception time of the second information, and calculate the difference between the second transmission time and the first reception time. Based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, calculate the distance between the lock end and the key end to realize the positioning of the key end or the lock end.

[0006] Optionally, transmitting the first information and receiving the second information are repeated, the number of repetitions is m, the first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). Calculating the distance between the lock end and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time to realize the positioning of the key end or the lock end means: Calculating the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in air.

[0007] Optionally, before transmitting the first information, the positioning method further includes the following. Receive the third information from the key end and record the third reception time Ta0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. Calculating the distance between the lock end and the key end to achieve the positioning of the key end or the lock end is Based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2).

[0008] Optionally, the lock end is provided with P positioning modules, where P ≥ 3, and the positioning method further includes the following. Calculate the distance between each of the P positioning modules in the lock end and the key end respectively. Position the key end based on the distance between each of the P positioning modules and the key end.

[0009] The first idea of this application further provides a positioning method applied to the key end. The positioning method is Receive the first information from the lock end and record the first reception time of the first information. Transmit the second information to the lock end. The second information includes the request information, the second transmission time of the request information, and the first reception time. The second information is used to cause the lock end to receive the second information, record the second reception time of the second information, calculate the difference between the second transmission time and the first reception time, and calculate the distance between the lock end and the key end based on the first transmission time of the first information, the second reception time, and the difference between the second transmission time and the first reception time, so as to achieve the positioning of the key end or the lock end.

[0010] Optionally, receiving the first information from the lock end and transmitting the second information to the lock end is repeated, the number of repetitions being m, the first transmission time being Ta(2m - 1), the second reception time being Ta2m, the first reception time being Tb(2m - 1), the second transmission time being Tb2m, and the difference between the second transmission time and the first reception time being Tb(2m)(2m - 1). Based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, the lock end calculates the distance between the lock end and the key end so as to achieve the positioning of the key end or the lock end. This is including calculating the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in air.

[0011] Optionally, before receiving the first information from the lock end, the positioning method further includes the following content. Transmitting the third information and recording the third transmission time Tb0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. Based on the distance between the lock end and the key end, calculating the distance between the lock end and the key end so as to achieve the positioning of the key end or the lock end. This is including being based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2).

[0012] Optionally, the lock end is equipped with P positioning modules, where P ≥ 3, and the positioning method further includes the following content. Calculating the distance between each of the P positioning modules in the lock end and the key end respectively. Positioning the key end based on the distance between each of the P positioning modules and the key end.

[0013] The first idea of this application is to further provide a positioning method applied to the key end. The positioning method is to transmit the fourth information and record the fourth transmission time of the fourth information. The fourth information is used to cause the lock end to receive the fourth information, record the fourth reception time of the fourth information, transmit the fifth information including the request information to the key end, and record the fifth transmission time of the request information. Receive the fifth information, record the fifth reception time of the fifth information, package the fifth information, and record the current time after the packaging is completed as the sixth transmission time. Transmit the sixth information. The sixth information is used to cause the lock end to receive the sixth information and record the sixth reception time of the sixth information. The sixth information includes the request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the key end and the lock end so as to realize the positioning of the lock end or the key end.

[0014] Optionally, transmitting the fourth information, receiving the fifth information, and transmitting the sixth information are repeated. The number of repetitions is m. The fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1) is Ta2m(2m - 1), the difference between the sixth transmission time and the fifth reception time is Ta(2m + 1)2m, and the sixth reception time is Tb(2m + 1). Calculating the distance between the key end and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time so as to realize the positioning of the lock end or the key end is Calculating the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in air.

[0015] Optionally, before transmitting the fourth information, the positioning method further includes the following. Receiving the seventh information from the lock end and recording the seventh reception time Ta0 of the seventh information. The fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the lock end and the key end as follows to achieve the positioning of the key end or the lock end. S is based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4).

[0016] Optionally, the lock end is provided with P positioning modules, where P ≥ 3, and the positioning method further includes the following. Calculating the distances between the key end and each of the P positioning modules in the lock end respectively. Positioning the key end based on the distances between the key end and each of the P positioning modules in the lock end.

[0017] The first idea of this application is to further provide a positioning method applied to the lock end. The positioning method is Receiving the fourth information from the key end and recording the fourth reception time of the fourth information. Send the fifth information including the request information to the key end and record the fifth transmission time of the fifth information. The key end receives the fifth information, records the fifth reception time of the fifth information, packages the fifth information, and records the current time after packaging completion as the sixth transmission time, and calculates the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and sends the sixth information to the lock end, which is used to make it execute. Receive the sixth information from the key end and record the sixth reception time of the sixth information. The sixth information includes the request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the key end and the lock end to realize the positioning of the lock end or the key end.

[0018] Optionally, receiving the fourth information from the key end, sending the fifth information, and receiving the sixth information from the key end are repeated, the number of repetitions is m, the fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1) is Ta2m(2m - 1), the difference between the sixth transmission time and the fifth reception time is Ta(2m + 1)2m, and the sixth reception time is Tb(2m + 1). Calculating the distance between the key end and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time to realize the positioning of the lock end or the key end is Based on the formula \(S = \{T_{a21}-(T_{b2}-T_{b1})+(T_{b3}-T_{b2})-T_{a32}+\cdots+T_{a(2m)(2m - 1)}-[T_{b(2m)}-T_{b(2m - 1)}]+[T_{b(2m + 1)}-T_{b(2m)}]-T_{a(2m+1)(2m)}\}\times C\div(4m)\), calculate the distance \(S\) between the lock end and the key end, where \(C\) is the propagation speed of the signal in air.

[0019] Optionally, before receiving the fourth information from the key end, the positioning method further includes the following. Transmit the seventh information and record the seventh transmission time \(T_{b0}\) of the seventh information. The fifth information further includes the seventh transmission time \(T_{b0}\) and the seventh reception time \(T_{a0}\) of the seventh information. Based on the seventh transmission time \(T_{b0}\), the seventh reception time \(T_{a0}\), the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the lock end and the key end as follows to achieve the positioning of the key end or the lock end. It is based on the formula \(S=\{(T_{b1}-T_{b0})-(T_{a1}-T_{a0})+(T_{a2}-T_{a1})-(T_{b2}-T_{b1})+T_{a21}-(T_{b2}-T_{b1})+(T_{b3}-T_{b2})-T_{a32}+\cdots+T_{a(2m)(2m - 1)}-[T_{b(2m)}-T_{b(2m - 1)}]+[T_{b(2m + 1)}-T_{b(2m)}]-T_{a(2m+1)(2m)}\}\times C\div(4m + 4)\).

[0020] Optionally, the lock end is provided with \(P\) positioning modules, where \(P\geq3\), and the positioning method further includes the following. Calculate the distances between the key end and each of the \(P\) positioning modules in the lock end respectively. Position the key end based on the distances between the key end and each of the \(P\) positioning modules in the lock end.

[0021] The first idea of this application is to further provide a positioning device applied to the lock end. The positioning device includes a first transmission module, a first reception module, and a first calculation module. The first transmission module is configured to transmit the first information to the key end and record the first transmission time of the first information. The first information is used by the key end to receive the first information and record the first reception time of the first information, and to transmit the second information to the lock end. The second information includes the request information, the second transmission time of the request information, and the first reception time. The first reception module is configured to receive the second information from the key end and record the second reception time of the second information. The first calculation module is configured to calculate the difference between the second transmission time and the first reception time, and calculate the distance between the positioning device and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end.

[0022] Optionally, the first transmission module is configured to repeat transmitting the first information, and the first reception module is configured to synchronously repeat receiving the second information. The number of repetitions is m. The first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). The first calculation module configured to calculate the distance between the positioning device and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end, is configured to calculate the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in the air.

[0023] Optionally, before the first transmission module transmits the first information, the first reception module is further configured to receive third information from the key end and record the third reception time Ta0 of the third information, and the second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. A first calculation module configured to calculate the distance between the lock end and the key end to realize the positioning of the key end or the lock end Based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2), it is configured to calculate the distance S between the lock end and the key end, where C is the propagation speed of the signal in the air.

[0024] Optionally, the positioning device further includes P positioning modules, where P ≥ 3, and the first calculation module further Calculates the distance between each of the P positioning modules in the positioning device and the key end respectively Positions the key end based on the distance between each of the P positioning modules and the key end Is configured as such

[0025] The first idea of this application further provides a positioning device applied to the key end. The positioning device includes a second reception module and a second transmission module. The second reception module is configured to receive the first information from the lock end and record the first reception time of the first information. The second transmission module is configured to transmit second information to the lock end, where the second information includes request information, the second transmission time of the request information, and the first reception time. The lock end is caused to receive the second information, record the second reception time of the second information, calculate the difference between the second transmission time and the first reception time, and calculate the distance between the lock end and the positioning device based on the first transmission time of the first information, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end.

[0026] Optionally, in the positioning device, the second reception module is configured to repeatedly receive the first information from the lock end and synchronously and repeatedly transmit the second information to the lock end. The number of repetitions is m, the first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). The lock end configured to calculate the distance between the lock end and the positioning device based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end, is configured to calculate the distance S between the lock end and the positioning device based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in the air.

[0027] Optionally, before the positioning device receives the first information from the lock end, the second transmission module is further configured to transmit third information to the lock end and record the third transmission time Tb0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. A lock end configured to calculate the distance between the lock end and the positioning device to achieve positioning of the key end or the lock end, is configured based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2).

[0028] Optionally, the lock end further comprises P positioning modules, where P ≥ 3, and the lock end further, calculates the distances between each of the P positioning modules in the lock end and the positioning device respectively, and positions the key end based on the distances between each of the P positioning modules and the positioning device, and is configured as such.

[0029] A first idea of the present application further provides a positioning device applicable to the key end. The positioning device comprises a third transmission module, a third reception module, and a third calculation module. The third transmission module is configured to transmit fourth information to the lock end and record the fourth transmission time of the fourth information. The fourth information is used to cause the lock end to receive the fourth information, record the fourth reception time of the fourth information, transmit fifth information including request information to the key end, and record the fifth transmission time of the request information. The third reception module is configured to receive fifth information from the lock end, record the fifth reception time of the fifth information, package the fifth information, and record the current time after packaging completion as the sixth transmission time. The third transmission module is further configured to transmit sixth information to the lock end. The sixth information is used to cause the lock end to receive the sixth information and record the sixth reception time of the sixth information. The sixth information includes request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. The third calculation module is configured to calculate the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. The lock end is configured to calculate the distance between the positioning device and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end.

[0030] Optionally, the third transmission module is configured to repeatedly transmit the fourth information, the third reception module is configured to synchronously repeat receiving the fifth information, and the third transmission module is further configured to repeatedly transmit the sixth information. The number of repetitions is m, the fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), and the sixth reception time is Tb(2m + 1). The third calculation module is configured to calculate the difference Ta2m(2m - 1) between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1), and the difference Ta(2m + 1)2m between the sixth transmission time and the fifth reception time. The lock end configured to calculate the distance between the positioning device and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end is configured to calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in the air.

[0031] Optionally, before the third transmission module transmits the fourth information, the third reception module is further configured to receive the seventh information from the lock end and record the seventh reception time Ta0 of the seventh information, and the fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Based on the seventh transmission time Tb0, the seventh reception time Ta0, the fourth transmission time, the difference between the fifth transmission time and the fourth reception time, the difference between the sixth transmission time and the fifth reception time, and the sixth reception time, a lock end configured to calculate the distance between the lock end and the positioning device to realize the positioning of the key end or the lock end is configured to calculate the distance S between the lock end and the key end based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4), where C is the propagation speed of the signal in air.

[0032] Optionally, the lock end is provided with P positioning modules, where P ≥ 3, and the lock end further calculates the distances between the positioning device and each of the P positioning modules in the lock end respectively, and positions the key end based on the distances between the positioning device and each of the P positioning modules in the lock end. It is configured as such.

[0033] The first idea of this application is to further provide a positioning device applied to a lock end. The positioning device includes a fourth transmission module, a fourth reception module, and a fourth calculation module. The fourth reception module is configured to receive the fourth information from the key end and record the fourth reception time of the fourth information. The fourth transmission module is configured to transmit the fifth information including the request information to the key end and record the fifth transmission time of the fifth information. The key end receives the fifth information, records the fifth reception time of the fifth information, packages the fifth information, and records the current time after the packaging is completed as the sixth transmission time. It is used to calculate the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and transmit the sixth information to the positioning device. The fourth reception module is further configured to receive the sixth information from the key end and record the sixth reception time of the sixth information. The sixth information includes the request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. The fourth calculation module is configured to calculate the distance between the key end and the positioning device based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end.

[0034] Optionally, the fourth reception module is configured to repeatedly receive the fourth information from the key end, the fourth transmission module is configured to synchronously and repeatedly transmit the fifth information to the key end, and the fourth reception module is further configured to repeatedly receive the sixth information from the key end. The number of repetitions is m, the fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), and the sixth reception time is Tb(2m + 1). The fourth calculation module is configured to calculate the difference Ta2m(2m - 1) between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1), and the difference Ta(2m + 1)2m between the sixth transmission time and the fifth reception time. Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, a fourth calculation module configured to calculate the distance between the key end and the positioning device so as to realize the positioning of the lock end or the key end, It is configured to calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in the air.

[0035] Optionally, before the fourth receiving module receives the fourth information from the key end, the fourth transmitting module is configured to transmit the seventh information to the key end and record the seventh transmission time Tb0 of the seventh information, and the fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, a fourth calculation module configured to calculate the distance between the positioning device and the key end so as to realize the positioning of the key end or the lock end, It is configured to be based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4).

[0036] Optionally, the positioning device includes P positioning modules, where P ≥ 3, and the fourth calculation module further calculates the distances between the key end and each of the P positioning modules in the positioning device respectively, Position the key end based on the distances between the key end and each of the P positioning modules within the positioning device. It is configured as follows.

[0037] A first idea of this application further provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable program code, and the computer-executable program code is used to cause a computer to execute the positioning method described in the first idea of this application.

[0038] A first idea of this application further provides a vehicle. The vehicle includes a memory and a processor electrically connected to the memory. The memory stores program code executable by the processor. When the program code is called and executed by the processor, the positioning method described in the first idea of this application is executed.

[0039] Thus, according to the positioning method according to the first idea of this application, the interaction accuracy is improved algorithmically. In the process of information transmission and reception, during positioning, the time is recorded and calculated using the same timing system to eliminate the transmission time within the same device of the information, and obtain the accurate time of information propagation between the lock end and the key end. Next, the average time is obtained by repeating the measurement multiple times, and the time error is further reduced. The positioning accuracy is improved by performing calculations using the multi-pass average ranging algorithm.

[0040] A second idea of this application provides a positioning method applied to a lock end. The lock end includes a plurality of antenna modules, and the above method includes the following content. Receive request information from the key end, and calculate the reception time when each of the plurality of antenna modules receives the request information. The request information includes positioning information. Based on the coordinates of a plurality of antenna modules in a preset coordinate system and the reception time of each antenna module, calculate the coordinates of the key end so as to realize the positioning of the key end.

[0041] Optionally, the lock end includes a first antenna module, a second antenna module, and a third antenna module. Calculating the reception time when each of the plurality of antenna modules receives the request information includes calculating the first reception time Ta of the first antenna module, the second reception time Tb of the second antenna module, and the third reception time Tc of the third antenna module, respectively. Based on the coordinates of a plurality of antenna modules in a preset coordinate system and the reception time of each antenna module, calculating the coordinates of the key end includes the following. Taking one point inside the lock end as the origin, setting the coordinates of the first antenna module as (Xa, Ya, Za), the coordinates of the second antenna module as (Xb, Yb, Zb), and the coordinates of the third antenna module as (Xc, Yc, Zc).

Equation

[0042] Optionally, the lock end further includes a control module, and the control module is communicably connected to a plurality of antenna modules via a cable. Calculating the reception time when each of the plurality of antenna modules receives the request information includes the following. Record the acquisition time when the control module acquires that each antenna module has received the request information. Based on the cable length L between the control module and the antenna module and the acquisition time T', calculate the reception time T of each antenna module according to T = T' - L÷V0. V0 is the propagation speed of the positioning information in the cable.

[0043] Optionally, the lock end is a vehicle, each antenna module includes an internal antenna module and an external antenna module, the internal antenna module is located inside the vehicle, the external antenna module is located outside the vehicle, and the positioning method includes the following content. Based on the coordinates of the key end, it is determined whether the key end is inside or outside the vehicle. When the key end is outside the vehicle, the external antenna module is used to be communicably connected to the key end, and when the key end is inside the vehicle, the internal antenna module is used to be communicably connected to the key end. When the key end is outside the vehicle and the distance between the key end and the vehicle is within a preset range, based on the coordinates of the key end, it is possible to open the door closest to the key end on the vehicle. When the key end is inside the vehicle and it is determined that the key end is in the driver's seat, the vehicle engine is started.

[0044] Optionally, when the key end is outside the vehicle and the distance between the key end and the vehicle is outside a preset range, the positioning method further includes detecting a living body inside the vehicle. Detecting a living body inside the vehicle includes the following content. Each internal antenna module transmits first ultra-wideband information. Receive second ultra-wideband information. The second ultra-wideband information is ultra-wideband information reflected by an object in the lock end. Based on the second ultra-wideband information, it is determined whether there is a living body in the lock end.

[0045] The second idea of this application further provides a positioning device applied to the lock end. The device includes a receiving module and an analysis and calculation module. The receiving module includes a plurality of antenna modules and is configured to receive request information from the key end, and the request information includes positioning information. The analysis and calculation module is configured to calculate the reception time when each of the plurality of antenna modules receives the request information. The analysis and calculation module is further configured to calculate the coordinates of the key end based on the coordinates of the plurality of antenna modules in the coordinate system and the reception time of each antenna module, so as to realize the positioning of the key end.

[0046] Optionally, the reception module includes a first antenna module, a second antenna module, and a third antenna module. The analysis and calculation module is configured to calculate the first reception time Ta of the first antenna module, the second reception time Tb of the second antenna module, and the third reception time Tc of the third antenna module, respectively. The analysis and calculation module further Taking one point within the lock end as the origin, the coordinates of the first antenna module as (Xa, Ya, Za), the coordinates of the second antenna module as (Xb, Yb, Zb), the coordinates of the third antenna module as (Xc, Yc, Zc), and the coordinates of the key end as (Xk, Yk, Zk),

Equation

[0047] Optionally, the analysis and calculation module further records the acquisition time when it is acquired that each antenna module has received the request information, Based on the length L of the cable between the analysis and calculation module and the antenna module and the acquisition time T', the reception time T of each antenna module is calculated according to T = T' - L ÷ V0, where V0 is the propagation speed of the positioning information at the lock end.

[0048] Optionally, the lock end is a vehicle, each antenna module includes an internal antenna module and an external antenna module, the internal antenna module is located inside the vehicle, and the external antenna module is located outside the vehicle. The positioning device is further configured to determine whether the key end is inside or outside the vehicle based on the coordinates of the key end. When the key end is outside the vehicle, the external antenna module is used to be communicably connected to the key end. When the key end is inside the vehicle, the internal antenna module is used to be communicably connected to the key end. The positioning device is When the key end is outside the vehicle and the distance between the key end and the vehicle is within a preset range, based on the coordinates of the key end, it is possible to open the door closest to the key end on the vehicle. When the key end is inside the vehicle and is determined to be in the driver's seat, the vehicle engine is started. configured as such.

[0049] Optionally, when the key end is outside the vehicle and the distance between the key end and the vehicle is outside a preset range, the positioning device is further configured to detect a living body inside the vehicle. Regarding detecting a living body inside the vehicle, the internal antenna module is configured to transmit first ultra-wideband information. The internal antenna module is further configured to receive second ultra-wideband information. The second ultra-wideband information is ultra-wideband information reflected by an object inside the lock end. The analysis and calculation module is further configured to determine whether there is a living body inside the lock end based on the second ultra-wideband information.

[0050] The second idea of this application further provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable program code, and the computer-executable program code is used to cause a computer to execute the positioning method described in the second idea.

[0051] The second idea of this application further provides a vehicle. The vehicle includes a memory and a processor electrically connected to the memory. The memory stores program code executable by the processor, and when the program code is called and executed by the processor, the positioning method described in the second idea is executed.

[0052] Thus, according to the positioning method according to the second idea of this application, by calibrating the signal transmission time based on the cable length, accuracy compensation is performed for the signal transmission inside the lock end, and the time when information is transmitted from the key end and the moment when the information arrives at the lock end are obtained. Thereby, the time calculation error caused by the time asynchrony between the control module and the antenna module due to the time loss during signal transmission through the cable is avoided. As a result, a more accurate time for information propagation between the lock end and the key end can be obtained, and the positioning accuracy can be improved.

Brief Description of the Drawings

[0053] To more clearly explain the technical solutions of the embodiments of this application, the drawings required for the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and those skilled in the art can obtain other drawings from these drawings without creative efforts.

Figure 1

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Figure 19

Embodiments for Carrying Out the Invention

[0054] Hereinafter, the technical solutions in the embodiments of the present application will be clearly and comprehensively described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments that can be obtained by those skilled in the art without creative efforts based on the embodiments of the present application belong to the protection scope of the present application.

[0055] Terms such as "first" and "second" in the specification, claims, and drawings of the present application are not for the purpose of describing a specific sequence, but are used to distinguish different objects. Also, terms such as "including", "comprising", or any other variants do not exclude including other components and are intended to cover. For example, a process, method, system, product, or device including a series of steps or units is not limited to the listed steps or units, and optionally, may further include other steps or units not listed, or optionally, may further include other steps or units specific to these processes, methods, products, or devices.

[0056] As used herein, "example" or "embodiment" means that a particular feature, structure, or characteristic described in connection with the example or embodiment can be included in at least one embodiment of the present application. The term appearing anywhere in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art can explicitly or implicitly understand that the embodiments described in this specification can be combined with other embodiments.

[0057] The present application provides a method and apparatus for positioning two ideas (a first idea and a second idea), a computer-readable storage medium, and a vehicle. The following embodiments of FIGS. 1 to 10 of the present application are different embodiments under the first idea. The same components under the first idea are represented by the same reference numerals, and different reference numerals represent different components. The following embodiments of FIGS. 11 to 19 of the present application are different embodiments under the second idea. The same components under the second idea are represented by the same reference numerals, and different reference numerals represent different components. Under different ideas, the same reference numeral may represent different components, or components with the same name may be represented by different reference numerals. When the sequential numbers of the flowcharts are the same under different ideas, under each idea, each step executes the corresponding function in each embodiment.

[0058] First, the positioning method, positioning apparatus, computer-readable storage medium, and vehicle of the embodiment of the first idea of the present application will be described below. The positioning method of the first idea of the present application can be applied to positioning in environments such as automobiles, buildings, and access control.

[0059] Referring to FIG. 1, the positioning method of the embodiment of the first aspect of the present application is applied to the lock end and includes the following content.

[0060] S101: Transmit the first piece of information and record the first transmission time of the first piece of information. The first piece of information is used to cause the key end to receive the first piece of information, record the first reception time of the first piece of information, and transmit the second piece of information to the lock end. The second piece of information includes the request information, the second transmission time of the request information, and the first reception time.

[0061] Optionally, the lock end may be a lock such as an automobile door lock, a smart door lock, or a lock of other transportation means, but is not limited thereto.

[0062] Optionally, the key end may be an electronic device with a communication function such as a mobile phone, a tablet, a bracelet, a smart watch, smart glasses, a car key, etc., but is not limited thereto.

[0063] Optionally, the lock end transmits a positioning request message, that is, transmits the first piece of information Pa1 to the key end, records the current time after transmission, that is, obtains the first transmission time Ta1 of the first piece of information Pa1. The key end performs the following operations. The key end receives the first piece of information Pa1 and records the received time as the first reception time Tb1 of the first piece of information Pa1. Next, the key end packages the reply information of the first piece of information Pa1 and records the time when the packaging is completed as the second transmission time Tb2. Subsequently, the key end packages both the first reception time Tb1 and the second transmission time Tb2 into the reply information to obtain the second piece of information Pb1, and then transmits the second piece of information Pb1 to the lock end.

[0064] S102: Receive the second piece of information, record the second reception time of the second piece of information, and calculate the difference between the second transmission time and the first reception time.

[0065] Optionally, the lock end receives the second piece of information Pb1, records the current time, that is, obtains the second reception time Ta2 of the second piece of information Pb1, and obtains the first reception time Tb1 and the second transmission time Tb2 from the second piece of information Pb1. The lock end calculates the difference Tb21 between the second transmission time Tb2 and the first reception time Tb1.

[0066] S103: Calculate the distance between the lock end and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end.

[0067] Optionally, the lock end substitutes the first transmission time Ta1, the second reception time Ta2, and the difference Tb21 between the second transmission time and the first reception time into the formula S = (Ta2 - Ta1 - Tb21) × C ÷ 2 to calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in the air.

[0068] In the above algorithm, Ta1, Ta2, and Tb21 are all timed, recorded, and calculated in the same system. Thereby, the time calculation error due to the time asynchrony between the lock end and the key end is avoided, and the positioning accuracy of the UWB key is improved.

[0069] According to the positioning method according to the first idea of the present application, the interaction accuracy is improved algorithmically. In the process of information transmission and reception, during positioning, since the time is recorded and calculated in the same timing system, the transmission time within the same device of the information is eliminated to obtain the accurate time of information propagation between the lock end and the key end. Next, the average time is obtained by repeating the measurement multiple times, and the time error is further reduced. The positioning accuracy is improved by performing calculations using the multipath average ranging algorithm.

[0070] Referring to FIG. 2, in one possible embodiment, the positioning method of the embodiment of the first aspect of the present application further includes the following content.

[0071] S201: Repeatedly transmit the first information and receive the second information. The number of repetitions is m. The first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1).

[0072] S202: Based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, calculate the distance between the lock end and the key end as follows to achieve the positioning of the key end or the lock end. Calculate the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m). C is the propagation speed of the signal in the air.

[0073] Specifically, each repetition includes the time for information to be transmitted from the lock end to the key end, the time for information to be executed inside the key end, and the time for information to be transmitted from the key end to the lock end. In the first repetition, Tb21 is the time for information to be executed inside the key end, and Ta2 - Ta1 - Tb21 is the sum of the time for information to be transmitted from the lock end to the key end and the time for information to be transmitted from the key end to the lock end. Dividing the sum of the above times by 2 gives the time for information to be transmitted once between the lock end and the key end. In the m-th repetition, Tb(2m)(2m - 1) is the time for information to be executed inside the key end, and Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1) is the sum of the time for information to be transmitted from the lock end to the key end and the time for information to be transmitted from the key end to the lock end. Dividing the sum of the above times by 2m gives the average time for information to be transmitted once between the lock end and the key end.

[0074] In the above algorithm, Ta1, Ta2…Ta(2m), Tb1, Tb2…Tb(2m), and Tb21…Tb(2m)(2m - 1) are all recorded and calculated in the same timing system, thereby avoiding the time calculation error caused by the time asynchrony between the lock end and the key end. In addition, since the multi-pass averaging method is used, the larger the value of m, the higher the accuracy, and the positioning accuracy of the positioning technology described in this application is greatly improved. Optionally, when the number of repetitions m is 3, the positioning accuracy reaches 10 cm.

[0075] Referring to FIG. 3, in one possible embodiment, in the positioning method of the embodiment of the first aspect of this application, before transmitting the first information, the positioning method further includes the following content.

[0076] S301: Receive the third information from the key end and record the third reception time Ta0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information.

[0077] S302: Calculate the distance between the lock end and the key end as follows to realize the positioning of the key end or the lock end. It is based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2).

[0078] Optionally, before the lock end transmits the first information, the key end packages the request information for positioning, records the time when the packaging is completed as the third transmission time Tb0, and then packages the third transmission time Tb0 into the request information for positioning to obtain the third information Pb0, and then transmits the third information Pb0 to the lock end. The key end packages the third transmission time Tb0, the first reception time Tb1, and the second transmission time Tb2 together to obtain the second information Pb1', and then transmits the second information Pb1' to the lock end. Specifically, (Tb1 - Tb0) is the sum of the time when the third information Pb0 is transmitted from the key end to the lock end, the time when the third information Pb0 is executed inside the lock end, and the time when the third information Pb0 is transmitted from the lock end to the key end. (Ta1 - Ta0) is the time when the third information Pb0 is executed inside the lock end. Dividing (Tb1 - Tb0) - (Ta1 - Ta0) by 2 gives the time when the third information Pb0 is transmitted once between the lock end and the key end. In this embodiment, the positioning method has steps added that are initiated by the key end, and based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), repeated paths (Tb1 - Tb0) - (Ta1 - Ta0) are added. Finally, the number of repetitions also becomes (m + 1), and the number of round trips of the divided signal also changes from 2m to 2(m + 1), that is, (2m + 2).

[0079] In this embodiment, the positioning method applied to the lock end is initiated from the key end, and the distance between the lock end and the key end can be calculated according to the formula.

[0080] In a possible embodiment, in the positioning method of the embodiment of the first aspect of the present application, the lock end includes P positioning modules, where P ≥ 3, and the positioning method further includes the following. Calculate the distance between each of the P positioning modules in the lock end and the key end respectively. Position the key end based on the distance between each of the P positioning modules and the key end.

[0081] Specifically, according to the algorithm according to the embodiment of the first aspect of the present application, for calculating the distances between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the obtained distances between each of the positioning modules and the key end are different from each other. Based on the differences in the distances between each of the positioning modules and the key end, the key end is positioned.

[0082] Optionally, for the P positioning modules, 3 ≤ P ≤ 8. Optionally, the positioning modules are electrically connected via a local interconnect network (LIN).

[0083] In a possible embodiment, the positioning method according to the embodiment of the second aspect of the present application is applied to the key end and includes the following. Receive the first information from the lock end and record the first reception time of the first information. Transmit the second information to the lock end. The second information includes the request information, the second transmission time of the request information, and the first reception time. The second information is used to cause the lock end to receive the second information, record the second reception time of the second information, calculate the difference between the second transmission time and the first reception time, and calculate the distance between the lock end and the key end based on the first transmission time of the first information, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end.

[0084] In a possible embodiment, in the positioning method according to the embodiment of the second aspect of the present application, receiving the first information from the lock end and transmitting the second information to the lock end are repeated. The number of repetitions is m, the first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). Based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, the lock end calculates the distance between the lock end and the key end as follows to achieve the positioning of the key end or the lock end. Calculate the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m). C is the propagation speed of the signal in air.

[0085] In a possible embodiment, in the positioning method of the embodiment of the second aspect of the present application, before receiving the first information from the lock end, the positioning method further includes the following. Transmit the third information and record the third transmission time Tb0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. Calculate the distance between the lock end and the key end as follows to achieve the positioning of the key end or the lock end. It is based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2).

[0086] In a possible embodiment, in the positioning method of the embodiment of the second aspect of the present application, the lock end is provided with P positioning modules, where P ≥ 3, and the positioning method further includes the following. Calculate the distance between each of the P positioning modules in the lock end and the key end respectively. Position the key end based on the distance between each of the P positioning modules and the key end.

[0087] Specifically, according to the algorithm of the embodiment of the second aspect of the present application, regarding calculating the distance between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the obtained distances between each of the positioning modules and the key end are different from each other. The key end is positioned based on the difference in the distances between each of the positioning modules and the key end.

[0088] Optionally, for P positioning modules, 3 ≤ P ≤ 8. Optionally, the positioning modules are electrically connected via LIN.

[0089] For detailed descriptions, reference may be made to the above embodiments of this application, which will not be repeated here.

[0090] Referring to FIG. 4, the positioning method of the embodiment of the third aspect of this application is applied to the key end and includes the following content.

[0091] S401: Transmit the fourth information and record the fourth transmission time of the fourth information. The fourth information is used to cause the lock end to receive the fourth information and record the fourth reception time of the fourth information, and to transmit the fifth information including the request information to the key end and record the fifth transmission time of the request information.

[0092] Optionally, the key end may be an electronic device with a communication function such as a mobile phone, tablet, bracelet, smartwatch, smart glasses, etc., but is not limited thereto.

[0093] Optionally, the lock end may be a lock such as an automobile door lock, a smart door lock, or a lock of other transportation means, but is not limited thereto.

[0094] Optionally, the key end transmits a positioning request message, that is, transmits the fourth information Pa1 to the lock end, records the current time after transmission, that is, obtains the fourth transmission time Ta1. The lock end performs the following operations. The lock end receives the fourth information Pa1 and records the reception time, that is, obtains the fourth reception time Tb1 of the fourth information Pa1. The lock end transmits the fifth information to the key end, and the fifth information includes the request information. The lock end records the fifth transmission time Tb2 of the request information.

[0095] S402: Receive the fifth piece of information, record the fifth reception time of the fifth piece of information, package the fifth piece of information, and record the current time after packaging is completed as the sixth transmission time.

[0096] Optionally, the key end receives the fifth piece of information Pa2 from the lock end and records the fifth reception time Ta2 of the fifth piece of information Pa2. The key end packages the fifth piece of information Pa2, records the current time Ta3 after packaging is completed, calculates the value Ta21 of Ta2 - Ta1, starts calculating the value Ta32 of Ta3 - Ta2, packages both the values of Ta32 and Ta21 into the fifth piece of information Pa2, and sends it to the lock end.

[0097] S403: Transmit the sixth piece of information. The sixth piece of information is used to cause the lock end to receive the sixth piece of information and record the sixth reception time of the sixth piece of information. The sixth piece of information includes the request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time.

[0098] Optionally, the key end transmits the sixth piece of information Pa3 and the sixth reception time Tb3 of the sixth piece of information to the lock end. The sixth piece of information Pa3 further includes the sixth transmission time Ta3, the difference Ta21 between the fifth reception time Ta2 and the fourth transmission time Ta1, and the difference Ta32 between the sixth transmission time and the fifth reception time.

[0099] S404: Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the key end and the lock end so as to achieve the positioning of the lock end or the key end.

[0100] Optionally, after receiving the sixth piece of information Pa3, the lock end calculates the distance S between the lock end and the key end by substituting the difference Ta21 between the fifth reception time Ta2 and the fourth transmission time Ta1, the difference Ta32 between the sixth transmission time and the fifth reception time, and the fourth reception time Tb1, the fifth transmission time Tb2, and the sixth reception time Tb3 obtained from the sixth piece of information Pa3 into the formula S = [Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32] × C ÷ 4. C is the propagation speed of the signal in the air.

[0101] In the above algorithm, Ta1, Ta2, and Tb21 are all timed, recorded, and calculated in the same system. Thereby, the time calculation error due to the time asynchronization between the lock end and the key end is avoided, and the positioning accuracy of the UWB key is improved.

[0102] Referring to FIG. 5, in one possible embodiment, the positioning method of the embodiment of the third aspect of the present application further includes the following content.

[0103] S501: Transmitting the fourth piece of information, receiving the fifth piece of information, and transmitting the sixth piece of information are repeated. The number of repetitions is m, the fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1) is Ta2m(2m - 1), the difference between the sixth transmission time and the fifth reception time is Ta(2m + 1)2m, and the sixth reception time is Tb(2m + 1).

[0104] S502: Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the key end and the lock end as follows to achieve the positioning of the lock end or the key end. Calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m). C is the propagation speed of the signal in the air.

[0105] Specifically, each repetition includes the time for the fourth information to be transmitted from the key end to the lock end, the time for the fourth information to be executed inside the lock end, the time for the fifth information to be transmitted from the lock end to the key end, the time for the fifth information to be executed inside the key end, and the time for the sixth information to be transmitted from the key end to the lock end.

[0106] In the first iteration, (Tb2 - Tb1) is the time during which the fourth piece of information is executed inside the lock end, and Ta21 - (Tb2 - Tb1) is the sum of the time during which the fourth piece of information is transmitted from the key end to the lock end and the time during which the fifth piece of information is transmitted from the lock end to the key end. Ta32 is the time during which the fifth piece of information is executed inside the key end, and (Tb3 - Tb2) - Ta32 is the sum of the time during which the fifth piece of information is transmitted from the lock end to the key end and the time during which the sixth piece of information is transmitted from the key end to the lock end. Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 is the time for one iteration, and dividing it by 4 gives the time for one transmission of information between the lock end and the key end. In the m-th iteration, [Tb(2m) - Tb(2m - 1)] is the time during which the fourth piece of information is executed inside the lock end, and Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] is the sum of the time during which the fourth piece of information is transmitted from the key end to the lock end and the time during which the fifth piece of information is transmitted from the lock end to the key end. Ta(2m + 1)(2m) is the time during which the fifth piece of information is executed inside the key end, and [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m) is the sum of the time during which the fifth piece of information is transmitted from the lock end to the key end and the time during which the sixth piece of information is transmitted from the key end to the lock end. Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m) is the time for one iteration, and dividing it by 4m gives the time for one transmission of information between the lock end and the key end.

[0107] In the above algorithm, Ta1, Ta2…Ta(2m+1), Tb1, Tb2…Tb(2m+1), and Tb21…Tb(2m+1)(2m) are all recorded and calculated in the same timing system. Thereby, the time calculation error due to the time asynchronization between the lock end and the key end is avoided. Also, since the multi-path averaging method is used, the larger the value of m, the higher the accuracy, and the positioning accuracy of the positioning technology described in this application is greatly improved. Optionally, when the number of repetitions m is 2, the positioning accuracy reaches 10 cm.

[0108] Referring to FIG. 6, in one possible embodiment, in the positioning method according to the embodiment of the third aspect of this application, before transmitting the fourth piece of information, the positioning method further includes the following.

[0109] S601: Receive the seventh piece of information from the lock end and record the seventh reception time Ta0 of the seventh piece of information. The fifth piece of information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh piece of information.

[0110] S602: Based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the lock end and the key end as follows to achieve the positioning of the key end or the lock end. It is based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4).

[0111] Optionally, before the key end transmits the fourth piece of information, the lock end packages the request information for positioning, records the time when the packaging is completed as the seventh transmission time Tb0, and then packages the seventh transmission time Tb0 into the request information for positioning to obtain the fourth piece of information Pb0. After that, the fourth piece of information Pb0 is transmitted to the key end. Specifically, (Ta1 - Ta0) is the time when the seventh piece of information Pb0 is executed inside the lock end, and (Tb1 - Tb0) - (Ta1 - Ta0) is the sum of the time when the seventh piece of information Pb0 is transmitted from the key end to the lock end and the time when the seventh piece of information Pb0 is transmitted from the lock end to the key end. (Tb2 - Tb1) is the time when the information is executed inside the lock end, and (Ta2 - Ta1) - (Tb2 - Tb1) is the sum of the time when the information is transmitted from the key end to the lock end and the time when the information is transmitted from the lock end to the key end. In this way, dividing (Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) by 4 gives the time when the information is transmitted once between the lock end and the key end. In this embodiment, the positioning method has steps added that are started by the lock end, and based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), the repeated path (Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) is added. Finally, the number of repetitions also becomes (m + 1), and the number of round trips of the divided signal also changes from 4m to 4(m + 1), that is, (4m + 4).

[0112] In this embodiment, the positioning method applied to the key end starts from the lock end, and the distance between the lock end and the key end can be calculated according to the formula.

[0113] In a possible embodiment, in the positioning method of the embodiment of the third aspect of the present application, the lock end includes P positioning modules, where P ≥ 3, and the positioning method further includes the following. Calculate the distances between the key end and each of the P positioning modules in the lock end respectively. Position the key end based on the distances between the key end and each of the P positioning modules in the lock end.

[0114] Optionally, for the P positioning modules, 3 ≤ P ≤ 8. Optionally, the positioning modules are electrically connected via LIN.

[0115] Specifically, according to the algorithm according to the embodiment of the third aspect of the present application, for calculating the distances between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the obtained distances between each of the positioning modules and the key end are different from each other. The key end is positioned based on the differences in the distances between each of the positioning modules and the key end.

[0116] The positioning method of the embodiment of the fourth aspect of the present application is applied to the lock end and includes the following. Receive the fourth information from the key end and record the fourth reception time of the fourth information. Send the fifth information including the request information to the key end and record the fifth transmission time of the fifth information. The fifth information causes the key end to receive the fifth information, record the fifth reception time of the fifth information, package the fifth information, record the current time after the packaging is completed as the sixth transmission time, calculate the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and send the sixth information to the lock end. Receive the sixth information from the key end and record the sixth reception time of the sixth information. The sixth information includes the request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the key end and the lock end so as to realize the positioning of the lock end or the key end.

[0117] In a possible embodiment, in the positioning method of the embodiment of the fourth aspect of the present application, receiving the fourth information from the key end, transmitting the fifth information, and receiving the sixth information from the key end are repeated. The number of repetitions is m, the fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1) is Ta2m(2m - 1), the difference between the sixth transmission time and the fifth reception time is Ta(2m + 1)2m, and the sixth reception time is Tb(2m + 1). Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the key end and the lock end as follows so as to realize the positioning of the lock end or the key end. Calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m). C is the propagation speed of the signal in the air.

[0118] In a possible embodiment, in the positioning method of the embodiment of the fourth aspect of the present application, before receiving the fourth information from the key end, the positioning method further includes the following. Transmit the seventh information and record the seventh transmission time Tb0 of the seventh information. The fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the lock end and the key end as follows to realize the positioning of the key end or the lock end. It is based on the formula S = { (Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4).

[0119] In a possible embodiment, in the positioning method of the embodiment of the fourth aspect of the present application, the lock end is provided with P positioning modules, where P ≥ 3, and the positioning method further includes the following. Calculate the distances between the key end and each of the P positioning modules in the lock end respectively. Position the key end based on the distances between the key end and each of the P positioning modules in the lock end.

[0120] Optionally, for the P positioning modules, 3 ≤ P ≤ 8. Optionally, the positioning modules are electrically connected via LIN.

[0121] Specifically, according to the algorithm according to the embodiment of the fourth aspect of the present application, regarding calculating the distances between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the distances between each of the obtained positioning modules and the key end are different from each other. Based on the differences in the distances between each of the positioning modules and the key end, the key end is positioned.

[0122] For detailed descriptions, reference may be made to the above embodiments of the present application, which will not be repeated here.

[0123] In a possible embodiment, in the present application, based on the distances between each of the positioning modules in the lock end and the key end, the coordinates of the key end are positioned. The specific steps are as follows.

[0124] S701: First, select a point from the carrier of the lock end and calibrate this point as the origin O with coordinates (0, 0, 0).

[0125] S702: Denote each of the positioning modules in the lock end as the first positioning module, the second positioning module, and the third positioning module respectively. The position of the first positioning module is calibrated as A, and its coordinates are (X1, Y1, Z1). The position of the second positioning module is calibrated as B, and its coordinates are (X2, Y2, Z2). The position of the third positioning module is calibrated as C, and its coordinates are (X3, Y3, Z3). The position of the fourth positioning module is calibrated as D, and its coordinates are (X4, Y4, Z4).

[0126] Specifically, after the point O, which is the origin, is calibrated, the coordinate positions of points A, B, C, and D are all known.

[0127] Optionally, the lock end is provided with P positioning modules, where P ≥ 3. The positioning modules within the lock end are respectively denoted as the first positioning module, the second positioning module, ..., and the P-th positioning module. The coordinates of the P-th positioning module are (Xp, Yp, Zp). The larger the value of P, the higher the accuracy of the calculated position. Optionally, when P = 4, a positioning accuracy of 10 cm can be achieved.

[0128] S703: Set the position of the key end as point K, and set its coordinates as (Xk, Yk, Zk). The distance between point K of the key end and point A of the first positioning module is |KA|, the distance between point K of the key end and point B of the second positioning module is |KB|, the distance between point K of the key end and point C of the third positioning module is |KC|, and the distance between point K of the key end and point D of the fourth positioning module is |KD|. Calculate Xk, Yk, and Zk based on the following equations. |KA| 2 =(Xk - X1) 2 +(Yk - Y1) 2 +(Zk - Z1) 2 、 |KB| 2 =(Xk - X2) 2 +(Yk - Y2) 2 +(Zk - Z2) 2 、 |KC| 2 =(Xk - X3) 2 +(Yk - Y3) 2 +(Zk - Z3) 2 、 |KD| 2 =(Xk - X4) 2 +(Yk - Y4) 2 +(Zk - Z4) 2 。

[0129] Specifically, |KA|, |KB|, |KC|, and |KD| are calculated by the positioning method in the embodiment of the first aspect according to this application or by the positioning method in the embodiment of the second aspect according to this application.

[0130] An embodiment of the fifth aspect of the present application provides a positioning device applied to a lock end. The positioning device includes a first transmission module, a first reception module, and a first calculation module. The first transmission module is configured to transmit first information to the key end and record the first transmission time of the first information. The first information is used to cause the key end to receive the first information and record the first reception time of the first information, and to transmit second information to the lock end. The second information includes request information, a second transmission time of the request information, and the first reception time. The first reception module is configured to receive second information from the key end and record the second reception time of the second information. The first calculation module is configured to calculate the difference between the second transmission time and the first reception time, and based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, calculate the distance between the positioning device and the key end to realize the positioning of the key end or the lock end.

[0131] Optionally, the lock end transmits a positioning request message, that is, transmits first information Pa1 to the key end, and records the current time after transmission, that is, obtains the first transmission time Ta1 of the first information Pa1. The key end performs the following operations. The key end receives the first information Pa1 and records the received time as the first reception time Tb1 of the first information Pa1. Next, the key end packages the reply information of the first information Pa1 and records the time when the packaging is completed as the second transmission time Tb2. Subsequently, the key end packages both the first reception time Tb1 and the second transmission time Tb2 into the reply information to obtain second information Pb1, and then transmits the second information Pb1 to the lock end. The lock end receives the second information Pb1, records the current time, that is, obtains the second reception time Ta2 of the second information Pb1, and obtains the first reception time Tb1 and the second transmission time Tb2 from the second information Pb1. The lock end calculates the difference Tb21 between the second transmission time Tb2 and the first reception time Tb1.

[0132] The locking end substitutes the first transmission time Ta1, the second reception time Ta2, and the difference Tb21 between the second transmission time and the first reception time into the formula S = (Ta2 - Ta1 - Tb21) × C ÷ 2 to calculate the distance S between the locking end and the key end. C is the propagation speed of the signal in the air. The first transmission time is denoted as Ta1, the second reception time is denoted as Ta2, and the difference between the second transmission time and the first reception time is denoted as Tb21.

[0133] In a possible embodiment, in the positioning device described in the embodiment of the fifth aspect of the present application, The first transmission module is configured to repeatedly transmit the first information, and the first reception module is configured to synchronously repeat receiving the second information. The number of repetitions is m. The first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). The first calculation module configured to calculate the distance between the positioning device and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the locking end, is configured to calculate the distance S between the locking end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in the air.

[0134] Specifically, each iteration includes the time for information to be transmitted from the transmission module to the key end, the time for the information to be executed inside the key end, and the time for the information to be transmitted from the key end to the reception module. In the first iteration, Tb21 is the time for the information to be executed inside the key end, and Ta2 - Ta1 - Tb21 is the sum of the time for the information to be transmitted from the lock end to the key end and the time for the information to be transmitted from the key end to the lock end. Dividing the sum of the above times by 2 gives the time for the information to be transmitted once between the lock end and the key end. In the m-th iteration, Tb(2m)(2m - 1) is the time for the information to be executed inside the key end, and Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1) is the sum of the time for the information to be transmitted from the lock end to the key end and the time for the information to be transmitted from the key end to the lock end. Dividing the sum of the above times by 2m gives the average time for the information to be transmitted once between the lock end and the key end.

[0135] In the above algorithm, Ta1, Ta2…Ta(2m), Tb1, Tb2…Tb(2m), and Tb21…Tb(2m)(2m - 1) are all recorded and calculated in the same timing system, thereby avoiding timing calculation errors due to time asynchrony between the lock end and the key end. Also, since the multipath averaging method is used, the larger the value of m, the higher the accuracy, and the positioning accuracy of the positioning technology described in this application is greatly improved. Optionally, when the number of iterations m is 3, the positioning accuracy reaches 10 cm.

[0136] In a possible embodiment, in the positioning device described in the embodiment of the fifth aspect of this application, before the first transmission module transmits the first information, the first reception module is further configured to receive the third information from the key end and record the third reception time Ta0 of the third information, and the second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. The first calculation module configured to calculate the distance between the lock end and the key end to realize the positioning of the key end or the lock end is Based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2), it is configured to calculate the distance S between the lock end and the key end, where C is the propagation speed of the signal in the air.

[0137] Optionally, before the transmission module transmits the first information, the key end packages the request information for positioning, records the time when the packaging is completed as the third transmission time Tb0, then packages the third transmission time Tb0 into the request information for positioning to obtain the third information Pb0, and then transmits the third information Pb0 to the receiving module. The key end packages the third transmission time Tb0, the first reception time Tb1, and the second transmission time Tb2 together to obtain the second information Pb1´, and then transmits the second information Pb1´ to the receiving module. Specifically, (Tb1 - Tb0) is the sum of the time when the third information Pb0 is transmitted from the key end to the receiving module, the time when the third information Pb0 is executed inside the positioning device, and the time when the third information Pb0 is transmitted from the transmission module to the key end. (Ta1 - Ta0) is the time when the third information Pb0 is executed inside the lock end. Dividing (Tb1 - Tb0) - (Ta1 - Ta0) by 2 gives the time when the third information Pb0 is transmitted once between the lock end and the key end. In this embodiment, the positioning device is added with a feature started by the key end, and based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), a repeated path (Tb1 - Tb0) - (Ta1 - Ta0) is added. Finally, the number of repetitions also becomes (m + 1), and the number of round trips of the divided signal also changes from 2m to 2(m + 1), that is, (2m + 2).

[0138] In a possible embodiment, in the positioning device described in the embodiment of the fifth aspect of the present application, the positioning device further includes P positioning modules, where P ≥ 3, and the first calculation module is further configured to calculate the distances between each of the P positioning modules in the positioning device and the key end respectively, and position the key end based on the distances between each of the P positioning modules and the key end.

[0139] Optionally, for the P positioning modules, 3 ≤ P ≤ 8. Optionally, the positioning modules are electrically connected via LIN.

[0140] Optionally, the positioning modules are electrically connected via LIN.

[0141] Specifically, according to the algorithm according to the embodiment of the fifth aspect of the present application, for calculating the distances between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the obtained distances between each of the positioning modules and the key end are different from each other. The key end is positioned based on the differences in the distances between each of the positioning modules and the key end.

[0142] Optionally, the power-consumption current of the lock end is less than 0.1 mA, and the power-consumption current of the positioning module is less than 0.05 mA.

[0143] The embodiment of the sixth aspect of the present application provides a positioning device applied to a key end. The positioning device includes a second receiving module and a second transmitting module. The second receiving module is configured to receive the first information from the lock end and record the first reception time of the first information. The second transmission module is configured to transmit second information to the lock end, where the second information includes request information, the second transmission time of the request information, and the first reception time. The second information causes the lock end to receive the second information, record the second reception time of the second information, calculate the difference between the second transmission time and the first reception time, and calculate the distance between the lock end and the positioning device based on the first transmission time of the first information, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end. It is used to cause the execution of the above.

[0144] In a possible embodiment, in the positioning device described in the embodiment of the sixth aspect of the present application, The second reception module is configured to repeatedly receive the first information from the lock end and synchronously and repeatedly transmit the second information to the lock end. The number of repetitions is m. The first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). The lock end configured to calculate the distance between the lock end and the positioning device based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end, is configured to calculate the distance S between the lock end and the positioning device based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in the air.

[0145] In a possible embodiment, in the positioning device described in the embodiment of the sixth aspect of the present application, before the positioning device receives the first information from the lock end, the second transmission module is further configured to transmit third information to the lock end and record the third transmission time Tb0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. A lock end configured to calculate the distance between the lock end and the positioning device to achieve positioning of the key end or the lock end It is configured based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2).

[0146] In a possible embodiment, in the positioning device described in the embodiment of the sixth aspect of the present application, the lock end further includes P positioning modules, where P ≧ 3, and the lock end further calculates the distance between each of the P positioning modules in the lock end and the positioning device respectively, and is configured to position the key end based on the distance between each of the P positioning modules and the positioning device.

[0147] Optionally, for the P positioning modules, 3 ≦ P ≦ 8. Optionally, the positioning modules are electrically connected via LIN.

[0148] Optionally, the positioning modules are electrically connected via LIN.

[0149] Specifically, according to the algorithm according to the embodiment of the sixth aspect of the present application, regarding calculating the distance between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the obtained distances between each of the positioning modules and the key end are different from each other. Based on the difference in the distances between each of the positioning modules and the key end, the key end is positioned.

[0150] Optionally, the current consumption of the lock end is less than 0.1 mA, and the current consumption of the positioning module is less than 0.05 mA.

[0151] For detailed description, reference can be made to the above embodiments of the present application, which will not be repeated here.

[0152] An embodiment of the seventh aspect of the present application provides a positioning device applied to a key end. The positioning device includes a third transmission module, a third reception module, and a third calculation module. The third transmission module is configured to transmit fourth information to a lock end and record a fourth transmission time of the fourth information. The fourth information is used to cause the lock end to receive the fourth information, record a fourth reception time of the fourth information, transmit fifth information including request information to the key end, and record a fifth transmission time of the request information. The third reception module is configured to receive fifth information from the lock end, record a fifth reception time of the fifth information, package the fifth information, and record the current time after packaging is completed as a sixth transmission time. The third transmission module is further configured to transmit sixth information to the lock end. The sixth information is used to cause the lock end to receive the sixth information and record a sixth reception time of the sixth information. The sixth information includes request information, a difference between the fifth reception time and the fourth transmission time, and a difference between the sixth transmission time and the fifth reception time. The third calculation module is configured to calculate a difference between the fifth reception time and the fourth transmission time and a difference between the sixth transmission time and the fifth reception time. The lock end is configured to calculate a distance between the positioning device and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize positioning of the lock end or the key end.

[0153] Specifically, the transmission module transmits the fourth information and records the fourth transmission time Ta1 of the fourth information. The fourth information is used to cause the lock end to receive the fourth information, record the fourth reception time Tb1 of the fourth information, transmit the fifth information including the request information to the reception module, and record the fifth transmission time Tb2 of the request information. The reception module receives the fifth information, records the fifth reception time Ta2 of the fifth information, packages the fifth information, and records the current time after the packaging is completed as the sixth transmission time Ta3. The transmission module transmits the sixth information. The sixth information includes the request information, the difference Ta21 between the fifth reception time Ta2 and the fourth transmission time Ta1 calculated by the calculation module, and the difference Ta32 between the sixth transmission time and the fifth reception time. The lock end receives the sixth information and records the sixth reception time Tb3 of the sixth information. The lock end calculates the distance between the positioning device and the lock end based on the difference Ta21 between the fifth reception time Ta2 and the fourth transmission time Ta1, the fourth reception time Tb1, the fifth transmission time Tb2, the sixth reception time Tb3, and the difference Ta32 between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end.

[0154] Optionally, after receiving the sixth information Pa3, the lock end substitutes the difference Ta21 between the fifth reception time Ta2 and the fourth transmission time Ta1, the difference Ta32 between the sixth transmission time and the fifth reception time, and the fourth reception time Tb1, the fifth transmission time Tb2, and the sixth reception time Tb3 obtained from the sixth information Pa3 into the formula S = [Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32] × C ÷ 4 to calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in the air.

[0155] In the above algorithm, Ta1, Ta2, and Tb21 are all timed, recorded, and calculated in the same system. Thereby, the time calculation error due to the time asynchrony between the lock end and the key end is avoided, and the positioning accuracy of the UWB key is improved.

[0156] In a possible embodiment, in the positioning device according to the embodiment of the seventh aspect of the present application, the third transmission module is configured to repeatedly transmit the fourth information, the third reception module is configured to synchronously repeat receiving the fifth information, the third transmission module is further configured to repeatedly transmit the sixth information, the number of repetitions is m, the fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), and the sixth reception time is Tb(2m + 1). The third calculation module is configured to calculate the difference Ta2m(2m - 1) between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1), and the difference Ta(2m + 1)2m between the sixth transmission time and the fifth reception time. Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, a lock end configured to calculate the distance between the positioning device and the lock end to realize the positioning of the lock end or the key end is configured to calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in the air.

[0157] Specifically, each repetition includes the time for the fourth information to be transmitted from the positioning device to the lock end, the time for the fourth information to be executed inside the lock end, the time for the fifth information to be transmitted from the lock end to the positioning device, the time for the fifth information to be executed inside the positioning device, and the time for the sixth information to be transmitted from the positioning device to the lock end.

[0158] In the first iteration, (Tb2 - Tb1) is the time during which the fourth information is executed inside the lock end, and Ta21 - (Tb2 - Tb1) is the sum of the time during which the fourth information is transmitted from the transmission module to the lock end and the time during which the fifth information is transmitted from the lock end to the receiving module. Ta32 is the time during which the fifth information is executed inside the key end, and (Tb3 - Tb2) - Ta32 is the sum of the time during which the fifth information is transmitted from the lock end to the positioning device and the time during which the sixth information is transmitted from the positioning device to the lock end. Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 is the time for one iteration, and dividing it by 4 gives the time for one transmission of information between the lock end and the key end. In the m-th iteration, [Tb(2m) - Tb(2m - 1)] is the time during which the fourth information is executed inside the lock end, and Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] is the sum of the time during which the fourth information is transmitted from the key end to the lock end and the time during which the fifth information is transmitted from the lock end to the key end. Ta(2m + 1)(2m) is the time during which the fifth information is executed inside the key end, and [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m) is the sum of the time during which the fifth information is transmitted from the lock end to the key end and the time during which the sixth information is transmitted from the key end to the lock end. Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m) is the time for one iteration, and dividing it by 4m gives the time for one transmission of information between the lock end and the key end.

[0159] In the above algorithm, Ta1, Ta2…Ta(2m + 1), Tb1, Tb2…Tb(2m + 1), and Tb21…Tb(2m + 1)(2m) are all recorded and calculated in the same timing system. Thereby, the time calculation error due to the time asynchronization between the lock end and the key end is avoided. Also, since the multi - path averaging method is used, the larger the value of m, the higher the accuracy, and the positioning accuracy of the positioning technology described in this application is greatly improved. Optionally, when the number of repetitions m is 2, the positioning accuracy reaches 10 cm.

[0160] In a possible embodiment, in the positioning device described in the embodiment of the seventh aspect of this application, Before the third transmission module transmits the fourth information, the third reception module is further configured to receive the seventh information from the lock end and record the seventh reception time Ta0 of the seventh information, and the fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Based on the seventh transmission time Tb0, the seventh reception time Ta0, the fourth transmission time, the difference between the fifth transmission time and the fourth reception time, the difference between the sixth transmission time and the fifth reception time, and the sixth reception time, the lock end is configured to calculate the distance between the lock end and the positioning device so as to realize the positioning of the key end or the lock end. It is configured to calculate the distance S between the lock end and the key end based on the formula S = {(Tb1 - Tb0)-(Ta1 - Ta0)+(Ta2 - Ta1)-(Tb2 - Tb1)+Ta21-(Tb2 - Tb1)+(Tb3 - Tb2)-Ta32 + ….+Ta(2m)(2m - 1)-[Tb(2m)-Tb(2m - 1)]+ [Tb(2m + 1)-Tb(2m)]-Ta(2m + 1)(2m)}×C÷(4m + 4), where C is the propagation speed of the signal in the air.

[0161] Optionally, before the transmission module transmits the fourth piece of information, the lock end packages the request information for positioning, records the time when the packaging is completed as the seventh transmission time Tb0, then packages the seventh transmission time Tb0 into the request information for positioning to obtain the fourth piece of information Pb0, and then transmits the fourth piece of information Pb0 to the key end. Specifically, (Ta1 - Ta0) is the time when the seventh piece of information Pb0 is executed inside the lock end, and (Tb1 - Tb0) - (Ta1 - Ta0) is the sum of the time when the seventh piece of information Pb0 is transmitted from the key end to the lock end and the time when the seventh piece of information Pb0 is transmitted from the lock end to the key end. (Tb2 - Tb1) is the time when the information is executed inside the lock end, and (Ta2 - Ta1) - (Tb2 - Tb1) is the sum of the time when the information is transmitted from the key end to the lock end and the time when the information is transmitted from the lock end to the key end. Thus, dividing (Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) by 4 gives the time when the information is transmitted once between the lock end and the key end. In this embodiment, the positioning method adds steps started by the lock end, and based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), the repeated path (Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) is added. Finally, the number of repetitions also becomes (m + 1), and the number of round trips of the divided signal also changes from 4m to 4(m + 1), that is, (4m + 4).

[0162] In this embodiment, the positioning device applied to the key end starts from the lock end, and the distance between the lock end and the key end can be calculated according to the formula.

[0163] In a possible embodiment, in the embodiment of the seventh aspect of the present application, the lock end includes P positioning modules, where P ≥ 3. The lock end is further configured to calculate the distances between the positioning device and each of the P positioning modules in the lock end respectively, and position the key end based on the distances between the positioning device and each of the P positioning modules in the lock end.

[0164] Optionally, for the P positioning modules, 3 ≤ P ≤ 8. Optionally, the positioning modules are electrically connected via LIN.

[0165] Specifically, according to the algorithm related to the embodiment of the seventh aspect of the present application, for calculating the distances between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the obtained distances between each of the positioning modules and the key end are different from each other. The key end is positioned based on the differences in the distances between each of the positioning modules and the key end.

[0166] Optionally, the current consumption of the lock end is less than 0.1 mA, and the current consumption of the positioning module is less than 0.05 mA.

[0167] The embodiment of the eighth aspect of the present application further provides a positioning device applied to the lock end. The positioning device includes a fourth transmission module, a fourth reception module, and a fourth calculation module. The fourth reception module is configured to receive fourth information from the key end and record the fourth reception time of the fourth information. The fourth transmission module is configured to transmit the fifth information including the request information to the key end and record the fifth transmission time of the fifth information. The fifth information is received by the key end, the fifth reception time of the fifth information is recorded, the fifth information is packaged, and the current time after the packaging is completed is recorded as the sixth transmission time. The difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information are calculated, and the sixth information is transmitted to the positioning device. It is used to cause the execution. The fourth receiving module is further configured to receive the sixth information from the key end and record the sixth reception time of the sixth information. The sixth information includes the request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. The fourth calculation module is configured to calculate the distance between the key end and the positioning device based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end.

[0168] In a possible embodiment, in the positioning device described in the embodiment of the eighth aspect of the present application, The fourth receiving module is configured to repeatedly receive the fourth information from the key end. The fourth transmission module is configured to synchronously and repeatedly transmit the fifth information to the key end. The fourth receiving module is further configured to repeatedly receive the sixth information from the key end. The number of repetitions is m. The fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), and the sixth reception time is Tb(2m + 1). The fourth calculation module is configured to calculate the difference Ta2m(2m - 1) between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1), and the difference Ta(2m + 1)2m between the sixth transmission time and the fifth reception time. Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, a fourth calculation module configured to calculate the distance between the key end and the positioning device so as to realize the positioning of the lock end or the key end is configured to calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in the air.

[0169] In a possible embodiment, in the positioning device described in the embodiment of the eighth aspect of the present application, before the fourth receiving module receives the fourth information from the key end, the fourth transmitting module is configured to transmit the seventh information to the key end and record the seventh transmission time Tb0 of the seventh information, and the fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, a fourth calculation module configured to calculate the distance between the positioning device and the key end so as to realize the positioning of the key end or the lock end is configured to be based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4).

[0170] In a possible embodiment, in the positioning device described in the embodiment of the eighth aspect of the present application, the positioning device includes P positioning modules, where P≥3, and the fourth calculation module is further configured to calculate the distances between the key end and each of the P positioning modules in the positioning device respectively, and position the key end based on the distances between the key end and each of the P positioning modules in the positioning device.

[0171] Optionally, for the P positioning modules, 3≤P≤8. Optionally, the positioning modules are electrically connected via LIN.

[0172] Optionally, the positioning modules are electrically connected via LIN.

[0173] Specifically, according to the algorithm according to the embodiment of the eighth aspect of the present application, for calculating the distances between each of the positioning modules in the lock end and the key end respectively, the positions of each positioning module are fixed, and the obtained distances between each of the positioning modules and the key end are different from each other. The key end is positioned based on the differences in the distances between each of the positioning modules and the key end.

[0174] Optionally, the current consumption of the lock end is less than 0.1 mA, and the current consumption of the positioning module is less than 0.05 mA.

[0175] For detailed description, reference can be made to the above embodiments of the present application, which will not be repeated here.

[0176] Specifically, referring to FIG. 7, an embodiment of the present application further provides an electronic device 100 applied to a lock end. The electronic device 100 includes a communication assembly 9, and the communication assembly 9 includes a Bluetooth component and a broadband component electrically connected to the Bluetooth component. The Bluetooth component is used to periodically detect Bluetooth connection requests. The broadband component is used for wireless communication with a key end. As soon as the Bluetooth component detects and recognizes the key end, the Bluetooth component stops detecting and sends a signal to activate the broadband component. The broadband component is connected to the key end for wireless communication and obtains the position of the key end relative to the electronic device 100 by calculation.

[0177] Optionally, the broadband component is an ultra-wideband (UWB) device, and the Bluetooth component is a Bluetooth low-energy (BLE) device. Before the BLE device detects and recognizes the key end, the BLE device is in a low-energy sleep mode, and the UWB device is in an off mode. Therefore, when the electronic device 100 is not activated, it is in a low-energy mode.

[0178] Optionally, the electronic device 100 further includes a near-field communication (NFC) device, and the NFC device is used to control the electronic device 100 when the key end has insufficient power.

[0179] Optionally, the electronic device 100 further includes a photographing device 6, an infrared emitter 5, and a proximity sensor 8. The photographing device 6 and the infrared emitter 5 are each electrically connected to the proximity sensor 8, and the photographing device 6 is electrically connected to the infrared emitter 5. When a living body approaches the electronic device 100, the proximity sensor 8 senses the living body and sends a signal to activate the infrared emitter 5 and the photographing device 6. The infrared emitter 5 emits infrared rays to the living body, and the photographing device 6 receives and models the infrared rays from the living body.

[0180] Optionally, the infrared emitter 5 emits infrared light with a wavelength band of 780 nm to 2500 nm.

[0181] Optionally, the imaging device 6 includes an imaging lens. The imaging lens is a prime lens or a zoom lens. The number of imaging lenses is monocular, binocular, or multiocular.

[0182] Optionally, the imaging lens is a time-of-flight (TOF) 3D imaging camera (TOF camera), enabling the identification of a human face or eyes within a distance range of 20 cm to 2500 cm.

[0183] Optionally, when the proximity sensor 8 does not recognize a living body approaching the electronic device 100, the imaging device 6 enters a low-power mode. Optionally, the proximity sensor 8 may be a fingerprint module, a button, a capacitance sensor for detecting a human, an infrared sensor, etc., but is not limited thereto.

[0184] Optionally, the display device 7 is electrically connected to the imaging device 6 and is used to display a modeling image, prompt information, and alarm information of the imaging device 6. Optionally, the display device 7 includes an ultraviolet-resistant coating.

[0185] Optionally, the positioning device further includes a bracket 2, a trim glass 1, and a pin 4. The bracket 2 is disposed around at least one side of the trim glass 1. The pin 4 is used to fix the circuit board assembly to the bracket 2. The bracket 2 is further provided with a mounting point 3. The mounting point 3 is used to connect the bracket 2 to the outside. The trim glass 1 has a transmittance greater than 90% in the near-infrared wavelength band of 780 nm to 2500 nm. The trim glass 1 has good curving formability and can be formed by hot bending.

[0186] The electronic device 100 further includes P positioning modules, where P≥3. The electronic device 100 further calculates the distances between the key end and each of the P positioning modules in the electronic device 100, respectively, and is used to position the key end based on the distances between the key end and each of the P positioning modules in the electronic device 100.

[0187] Optionally, for the P positioning modules, 3≤P≤8. Optionally, the positioning modules are electrically connected via LIN.

[0188] Optionally, referring to FIG. 8, the process by which the electronic device 100 calculates the position of the key end with respect to the lock end specifically includes the following.

[0189] S801: The Bluetooth device is in a low-energy sleep mode and periodically detects Bluetooth connection requests. The broadband device is in an off state.

[0190] S802: If the Bluetooth device does not detect a Bluetooth connection request, the Bluetooth device is in a low-energy sleep mode and continues to periodically detect Bluetooth connection requests.

[0191] Once the Bluetooth device detects a Bluetooth connection request from the key end, the Bluetooth device stops periodically detecting the Bluetooth connection request. At the same time, the Bluetooth device authenticates the key end. After passing the authentication, the Bluetooth device activates the broadband device.

[0192] S804: The key end transmits signals to each of the P positioning modules in the electronic device 100. The electronic device 100 calculates the distances between the electronic device 100 and each of the activity modules respectively by using a multipath ranging algorithm. The electronic device 100 calculates the position of the activity module by using a distance algorithm based on the distances between the electronic device 100 and each of the activity modules and the distances between the communication module and the activity modules.

[0193] In a possible embodiment, the embodiment of the ninth aspect of the present application provides a computer-readable storage medium. Computer-executable program code is stored in the computer-readable storage medium, and the computer-executable program code is used to cause a computer to execute the positioning method described in the present application.

[0194] Referring to FIGS. 9 and 10, in a possible embodiment, the embodiment of the tenth aspect of the present application provides a vehicle 200. The vehicle 200 includes a memory 220 and a processor 210 electrically connected to the memory 220. Program code executable by the processor 210 is stored in the memory 220. When the program code is called and executed by the processor 210, the positioning method described in the present application is executed.

[0195] Optionally, referring to FIG. 9, the vehicle 200 receives a signal from the electronic key 300 and positions the electronic key 300 by executing the positioning method described in the present application.

[0196] Specifically, referring to FIG. 10, the memory 220 can be used as a non-volatile computer-readable storage medium to store non-volatile software programs, non-volatile computer-executable programs and modules, for example, program instructions / modules corresponding to the positioning method in the embodiments of the present invention. By executing the non-volatile software programs, instructions, and modules stored in the memory 220, the processor 210 executes various functional applications and data processing of the server, that is, realizes the positioning method of the above method embodiment.

[0197] The memory 220 can include a random access memory (RAM) 220, a read-only memory (ROM) 220, an electrically erasable programmable ROM (EEPROM) 220, a compact disk ROM (CD-ROM), or other optical disk storage media, magnetic disk storage media, or other magnetic storage devices, or any other medium that can carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer. Also, any connection can be appropriately referred to as a computer-readable medium.

[0198] Specifically, according to the positioning device described in the present application, the interaction accuracy is improved algorithmically. In the process of information transmission and reception, during positioning, the time is recorded and calculated using the same timing system, so as to eliminate the transmission time within the same device of the information and obtain the accurate time of information propagation between the lock end and the key end. Next, the average time is obtained by repeating the measurement multiple times, and the time error is further reduced. By performing calculations using the multi-path average ranging algorithm, the positioning accuracy is improved. The positioning device described in the present application can be mounted on the vehicle 200 to obtain more accurate positioning information and achieve accurate positioning at the 10 cm level of the key end. The vehicle 200 in the present application can be a passenger car, a multi-purpose vehicle (MPV), a sport / suburban utility vehicle (SUV), an off-road vehicle (ORV), a pickup truck, a one-box car, a passenger bus, a truck, etc., but is not limited thereto.

[0199] In the following embodiments, the positioning method, positioning device, computer-readable storage medium, and vehicle of the second inventive embodiment of the present application will be described. The positioning method of the second inventive embodiment of the present application can be applied to positioning in environments such as vehicles, buildings, and access control.

[0200] Referring to FIG. 11, the present application provides a positioning method applied to a lock end. The lock end includes a plurality of antenna modules. The method includes the following content.

[0201] S101: Receive request information from the key end and calculate the reception time when each of the plurality of antenna modules receives the request information. The request information includes positioning information.

[0202] Specifically, the key end transmits request information to the lock end. The lock end receives the request information from the key end and calculates the reception time when each of the plurality of antenna modules receives the request information. That is, the lock end calculates the time when the request information reaches each antenna module. Since each antenna module has a different position and the distance to the key end is also different, the time when the request information reaches each antenna module may be different.

[0203] Optionally, the lock end may be a lock such as a car door lock, a smart door lock, or a lock of other transportation means, but is not limited thereto.

[0204] Optionally, the key end may be an electronic device with a communication function such as a mobile phone, a tablet, a bracelet, a smart watch, smart glasses, a car key, etc., but is not limited thereto.

[0205] Optionally, the number of antenna modules is 3 to 7. Specifically, the number of antenna modules may be 3, 4, 5, 6, or 7, but is not limited thereto. The larger the number of antenna modules, the higher the positioning accuracy of the key end, and accurate positioning and unlocking become easier.

[0206] Optionally, when the number of the plurality of antenna modules is 4, a positioning accuracy of 10 cm can be achieved.

[0207] S102: Based on the coordinates of the plurality of antenna modules in a preset coordinate system and the reception time of each antenna module, calculate the coordinates of the key end so as to realize the positioning of the key end.

[0208] Optionally, when the lock end receives positioning request information from the key end, in response to the request information, based on a preset coordinate system, the origin O point is determined at the lock end. In this case, the coordinate positions of each antenna module are determined, and based on the reception times of each antenna module, the distances between each antenna module and the key end are determined. Based on those distances, the coordinates of the key end are calculated, and the positioning of the key end can be achieved.

[0209] Specifically, the coordinate system has already been calibrated and input before being used at the lock end. Optionally, the coordinate system is established after the application scenario is confirmed.

[0210] In some embodiments, the lock end is a vehicle, and the vehicle has four doors. The number of antenna modules is four, and each antenna module is installed corresponding to one door. The four antenna modules are installed in a square and located at the four corners of the square. The length of the side of the square is 2m. The position of one of the four antenna modules is taken as the origin, and the coordinates of the antenna module are (0, 0, 0), and the coordinates of the other three antenna modules are (2, 0, 0), (0, 2, 0), and (2, 2, 0) respectively.

[0211] Referring to FIG. 12, in one possible embodiment, the lock end includes a first antenna module, a second antenna module, and a third antenna module. The above method includes the following content.

[0212] S201: Receive request information from the key end, and calculate the first reception time Ta of the first antenna module, the second reception time Tb of the second antenna module, and the third reception time Tc of the third antenna module respectively.

[0213] In other words, calculating the reception time when each of the plurality of antenna modules receives the request information includes calculating the first reception time Ta of the first antenna module, the second reception time Tb of the second antenna module, and the third reception time Tc of the third antenna module, respectively.

[0214] S202: Set one point within the lock end as the origin, the coordinates of the first antenna module as (Xa, Ya, Za), the coordinates of the second antenna module as (Xb, Yb, Zb), and the coordinates of the third antenna module as (Xc, Yc, Zc).

[0215] In other words, set one point within the lock end as the origin (0, 0, 0), and based on the origin, in the preset coordinate system, record the coordinates of the first antenna module as (Xa, Ya, Za), the coordinates of the second antenna module as (Xb, Yb, Zb), and the coordinates of the third antenna module as (Xc, Yc, Zc) in the coordinate system. Optionally, the coordinates of any component within the lock end can be shown in the coordinate system and are used to reflect the spatial position of the corresponding component within the lock end.

[0216] S203:

Equation

[0217] Optionally, the key end transmits the request information. Denote the reception time corresponding to the antenna module that first received the request information among the plurality of antenna modules as Ta, the reception time corresponding to the antenna module that second received the request information as Tb, the reception time corresponding to the antenna module that third received the request information as Tc, and similarly, denote the reception time corresponding to the antenna module that nth received the request information as Tn. The lock end receives the request information from each antenna module and obtains, through calculation, the different reception times of each antenna module, i.e., Ta, Tb, Tc... Tn. Based on the reception time of each antenna module, calculate the coordinates of the key end to achieve the positioning of the key end.

[0218] Specifically, the coordinate position of the key end is (Xk, Yk, Zk), the distance between point K and point A is KA, the distance between point K and point B is KB, and the distance between point K and point C is KC. It can be obtained that |KA - KB| = |Ta - Tb| × C, |KB - KC| = |Tb - Tc| × C, and |KC - KA| = |Tc - Ta| × C. Thereby, the accurate coordinate position (Xk, Yk, Zk) of the key end can be calculated.

[0219] Referring to FIG. 13, in one possible embodiment, the lock end includes a control module and a plurality of antenna modules. The control module is communicably connected to the plurality of antenna modules via a cable.

[0220] S301: Request information is received from the key end, and the acquisition time when each antenna module received the request information is recorded.

[0221] Specifically, a plurality of antenna modules within the lock end receive request information from the key end. When each antenna module receives the request information, the control module records the acquisition time. The acquisition time includes the request time when the plurality of antenna modules receive the request information from the key end and the consumption time for the request information to reach the control module from the antenna module at the lock end.

[0222] S302: Based on the cable length L between the control module and the antenna module and the acquisition time T', calculate the reception time T of each antenna module according to T = T' - L÷V0. V0 is the propagation speed of the positioning information in the cable.

[0223] Specifically, based on the cable length L between the control module and the antenna module and the propagation speed V0 of the positioning information in the cable, the consumption time for the request information to reach the antenna module from the control module at the lock end can be obtained by L÷V0. By subtracting the consumption time of the request information in the cable from the acquisition time T', the reception time T of each antenna module can be obtained.

[0224] Optionally, the first acquisition time of the first antenna module is Ta', the second acquisition time of the second antenna module is Tb', and the third acquisition time of the second antenna module is Tc'. The cable length between the first antenna module and the control module is La, the cable length between the second antenna module and the control module is Lb, and the cable length between the third antenna module and the control module is Lc. According to the formula, the following is obtained. Denote the first reception time of the first antenna module as Ta, then Ta = Ta' - La÷V0. Denote the second reception time of the second antenna module as Tb, then Tb = Tb' - Lb÷V0. Denote the third reception time of the third antenna module as Tc, then Tc = Tc' - Lc÷V0.

[0225] In the positioning method described in this application, Ta, Tb, Tc…Tn and Ta', Tb', Tc'… are all recorded and calculated in the same timing system. Thereby, the time calculation error due to the time asynchronization between the lock end and the key end is avoided. Also, the length of the cable between the control module and the antenna module is calibrated (i.e., adjusted), so as to further improve the positioning accuracy. It is possible to achieve a positioning accuracy at the 10 cm level with four antenna modules, which is sufficient to meet the current accuracy requirements. Furthermore, by increasing the number of antenna modules, higher accuracy can be obtained. Optionally, the lengths La, Lb, Lc of the cables are equal, and the software algorithm can be simplified.

[0226] S303: Based on the coordinates of a plurality of antenna modules in a preset coordinate system and the reception time of each antenna module, calculate the coordinates of the key end so as to realize the positioning of the key end.

[0227] Referring to FIG. 14, in one possible embodiment, the lock end is a vehicle, and each antenna module includes an internal antenna module and an external antenna module. The internal antenna module is located inside the vehicle, and the external antenna module is located outside the vehicle. The positioning method further includes the following content.

[0228] S401: The vehicle receives request information from the key end, calculates the reception time when each antenna module receives the request information, calculates the coordinates of the key end based on the coordinates of each antenna module in a preset coordinate system and the reception time of each antenna module, and determines whether the key end is inside or outside the vehicle based on the coordinates of the key end. When the key end is outside the vehicle, the external antenna module is used to be communicably connected to the key end. When the key end is inside the vehicle, the internal antenna module is used to be communicably connected to the key end. S402: When the key end is outside the vehicle and the distance between the key end and the vehicle is within a preset range, it is possible to open the door closest to the key end on the vehicle based on the coordinates of the key end. When the key end is inside the vehicle and it is determined that the key end is in the driver's seat, the vehicle engine is started.

[0229] Specifically, when the material of the lock end itself is metal or other materials that interfere with information transmission, in order to ensure smooth information transmission, each antenna module includes an internal antenna module and an external antenna module. The internal antenna module is located inside the lock end, and the external antenna module is located outside the lock end. When the key end is outside the lock end, the external antenna module of each antenna module is wirelessly communicatively connected to the key end and receives signals from the key end. When the key end enters from outside the lock end into the lock end, the signal transmission line between the key end and the external antenna module is blocked by the lock end. In this case, instead of the external antenna module, the internal antenna module is wirelessly communicatively connected to the key end to maintain a smooth signal transmission line between the key end and the antenna module and complete continuous positioning for the key end inside and outside the lock end.

[0230] Specifically, when the lock end is a vehicle, the outer shell of the vehicle is generally made of materials such as sheet metal that may interfere with information transmission. To maintain smooth wireless transmission of information between the key end and the vehicle, when the key end is outside the vehicle, the external antenna module of each antenna module of the vehicle is wirelessly communicably connected to the key end and receives signals from the key end. When the key end enters the vehicle from outside the vehicle, the signal transmission line between the key end and the external antenna module is blocked by the outer shell of the vehicle body. In this case, instead of the external antenna module, the internal antenna module is wirelessly communicably connected to the key end to maintain a smooth signal transmission line between the key end and the antenna module and complete continuous positioning of the key end inside and outside the vehicle. Furthermore, the vehicle itself positions the key end by constructing a coordinate system, and the vehicle can more accurately determine the positional relationship between the key end and each component of the vehicle itself based on the positions of each component of the vehicle itself in the coordinate system, facilitating the realization of other functions. Optionally, when the key end is outside the vehicle and in a position close to the vehicle, based on the coordinates of the key end, it is possible to open the door closest to the key end on the vehicle. When the key end is inside the vehicle, the vehicle determines whether the coordinates of the key end are in the driver's seat. If it is in the driver's seat, the engine of the vehicle can be automatically started.

[0231] Referring to FIG. 15, in a possible embodiment, when the key end is outside the vehicle and the distance between the key end and the vehicle is outside a preset range, the positioning method further includes the following. Detect a living body inside the vehicle. Detecting a living body inside the vehicle further includes the following.

[0232] S501: Each internal antenna module transmits first ultra-wideband information.

[0233] S502: Receive second ultra-wideband information. The second ultra-wideband information is ultra-wideband information reflected by an object inside the lock end.

[0234] S503: Determine whether there is a living body inside the lock end based on the second ultra-wideband information.

[0235] Specifically, the internal antenna module transmits the first ultra-wideband information. After the first ultra-wideband information reaches the surface of the living body, a part of the first ultra-wideband information is reflected by the living body, and the first ultra-wideband information reflected by the living body carries the vital sign information of the living body, that is, the second ultra-wideband information. After the second ultra-wideband information is received by the internal antenna module, vital sign information of the living body such as heartbeat and respiration can be obtained by an appropriate signal processing method. Thereby, the detection of the living body inside the lock end is completed. The equipment required for this detection method is simple and the cost is low. When the lock end is a vehicle, the vital information of living bodies such as children and pets inside the vehicle can be monitored in real time, and the use safety of the vehicle can be improved.

[0236] In a possible embodiment, the present application further provides a positioning device applied to the lock end. The device includes a receiving module and an analysis and calculation module. The receiving module includes a plurality of antenna modules and is configured to receive request information from the key end, and the request information includes positioning information. The analysis and calculation module is configured to calculate the reception time when each of the plurality of antenna modules receives the request information. The analysis and calculation module is further configured to calculate the coordinates of the key end based on the coordinates of the plurality of antenna modules in a preset coordinate system and the reception time of each antenna module, so as to realize the positioning of the key end.

[0237] Optionally, the lock end may be a lock such as an automobile door lock, a smart door lock, or a lock of other transportation means, but is not limited thereto.

[0238] Optionally, the key end may be an electronic device with communication functions such as a mobile phone, a tablet, a bracelet, a smart watch, smart glasses, a car key, etc., but is not limited thereto.

[0239] Optionally, the receiving module includes a plurality of antenna modules. The number of antenna modules is 3 to 7.

[0240] Optionally, when the number of the plurality of antenna modules is 4, a positioning accuracy of 10 cm can be achieved.

[0241] Optionally, based on a preset coordinate system, the origin O point is first determined at the lock end. The coordinate positions of each antenna module are determined, and based on the reception time of each antenna module, the distance between each antenna module and the key end is determined. Based on that distance, the coordinates of the key end can be calculated, and the positioning of the key end can be realized.

[0242] In a possible embodiment, the receiving module includes a first antenna module, a second antenna module, and a third antenna module. The analysis and calculation module is configured to calculate the first reception time Ta of the first antenna module, the second reception time Tb of the second antenna module, and the third reception time Tc of the third antenna module, respectively. The analysis and calculation module further uses a point inside the lock end as the origin, the coordinates of the first antenna module as (Xa, Ya, Za), the coordinates of the second antenna module as (Xb, Yb, Zb), the coordinates of the third antenna module as (Xc, Yc, Zc), and the coordinates of the key end as (Xk, Yk, Zk),

Equation

[0243] Optionally, the key end transmits request information. Denote the reception time corresponding to the antenna module that first received the request information among the plurality of antenna modules as Ta, the reception time corresponding to the antenna module that second received the request information as Tb, the reception time corresponding to the antenna module that third received the request information as Tc, and similarly, denote the reception time corresponding to the antenna module that nth received the request information as Tn. The analysis and calculation module receives the request information from each antenna module and obtains the different reception times of each antenna module, namely, Ta, Tb, Tc... Tn, through calculation. The analysis and calculation module calculates the coordinates of the key end based on the reception times of each antenna module so as to realize the positioning of the key end.

[0244] Specifically, the coordinate position of the key end is (Xk, Yk, Zk), the distance between point K and point A is KA, the distance between point K and point B is KB, and the distance between point K and point C is KC. It can be obtained that |KA - KB| = |Ta - Tb| × C, |KB - KC| = |Tb - Tc| × C, and |KC - KA| = |Tc - Ta| × C. Thereby, the accurate coordinate position (Xk, Yk, Zk) of the key end can be calculated.

[0245] In a possible embodiment, the analysis and calculation module further records the acquisition time when it is acquired that each antenna module has received the request information, and based on the length L of the cable between the analysis and calculation module and the antenna module and the acquisition time T', calculates the reception time T of each antenna module according to T = T' - L÷V0. V0 is the propagation speed of the positioning information at the lock end.

[0246] Optionally, the first acquisition time of the first antenna module is Ta', the second acquisition time of the second antenna module is Tb', and the third acquisition time of the second antenna module is Tc'. The length of the cable between the first antenna module and the analysis and calculation module is La, the length of the cable between the second antenna module and the analysis and calculation module is Lb, and the length of the cable between the third antenna module and the analysis and calculation module is Lc. According to the formula, the following is obtained. Denote the first reception time of the first antenna module as Ta, then Ta = Ta' - La÷V0. Denote the second reception time of the second antenna module as Tb, then Tb = Tb' - Lb÷V0. Denote the third reception time of the third antenna module as Tc, then Tc = Tc' - Lc÷V0.

[0247] In the positioning device described in the present application, Ta, Tb, Tc... Tn and Ta', Tb', Tc'... are all recorded and calculated in the analysis and calculation module of the positioning device described in the present application. Thereby, the time calculation error due to the time asynchrony between the lock end and the key end is avoided. Also, the lengths of the cables between the analysis and calculation module and the antenna modules are calibrated to further improve the positioning accuracy. The positioning accuracy of 10 cm level can be achieved with four antenna modules, which is sufficient to meet the current accuracy requirements. Furthermore, the number of antenna modules can be increased to obtain higher accuracy. Optionally, the cable lengths La, Lb, Lc are equal, and the software algorithm can be simplified.

[0248] In a possible embodiment, the positioning device described in the present application further includes a Bluetooth module, and the Bluetooth module is electrically connected to the receiving module and the analysis and calculation module. Optionally, the Bluetooth module is a Bluetooth Low Energy (BLE) device, the analysis and calculation module is an Ultra-Wideband (UWB) device, and the receiving module is an Ultra-Wideband device antenna (UWB antenna). Before the BLE device detects and recognizes the key end, the BLE device is in a low-energy sleep mode, the UWB device is in an off mode, and the UWB antenna does not receive external information. Therefore, when the positioning device is not activated, it is in a low-energy mode.

[0249] Specifically, referring to FIG. 16, the process by which the positioning device calculates the position of the key end relative to the lock end specifically includes the following content.

[0250] S601: The Bluetooth device is in a low-energy sleep mode and periodically detects Bluetooth connection requests. The receiving module and the analysis and calculation module are in an off state.

[0251] S602: If the Bluetooth device does not detect a Bluetooth connection request, the Bluetooth device is in a low-energy sleep mode and continues to periodically detect Bluetooth connection requests.

[0252] S603: As soon as the Bluetooth device detects a Bluetooth connection request from the key end, the Bluetooth device stops periodically detecting Bluetooth connection requests. At the same time, the Bluetooth device authenticates the key end. After passing the authentication, the receiving module and the analysis and calculation module are activated.

[0253] S604: The multiple antenna modules within the receiving module receive the request information from the key end. The analysis and calculation module calculates the reception time when each of the multiple antenna modules receives the request information by means of a length calibration algorithm for the lengths of the cables between the analysis and calculation module itself and each antenna module, and calculates the coordinates of the key end based on a preset coordinate system so as to realize the positioning of the key end.

[0254] In a possible embodiment, the lock end is a vehicle, each antenna module includes an internal antenna module and an external antenna module, the internal antenna module is located inside the vehicle, and the external antenna module is located outside the vehicle. The positioning device is further configured to determine whether the key end is inside or outside the vehicle based on the coordinates of the key end. When the key end is outside the vehicle, the external antenna module is used to be communicably connected to the key end. When the key end is inside the vehicle, the internal antenna module is used to be communicably connected to the key end. The positioning device is configured such that when the key end is outside the vehicle and the distance between the key end and the vehicle is within a preset range, it is possible to open the door of the vehicle closest to the key end based on the coordinates of the key end, and when the key end is inside the vehicle and is determined to be in the driver's seat, to start the engine of the vehicle. Specifically, when the material of the lock end itself is metal or other materials that interfere with information transmission, in order to ensure smooth information transmission, each antenna module includes an internal antenna module and an external antenna module. The internal antenna module is located inside the lock end, and the external antenna module is located outside the lock end. When the key end is outside the lock end, the external antenna module of each antenna module is wirelessly communicably connected to the key end and receives signals from the key end. When the key end enters from outside the lock end into the inside of the lock end, the signal transmission line between the key end and the external antenna module is blocked by the lock end. In this case, instead of the external antenna module, the internal antenna module is wirelessly communicably connected to the key end to maintain a smooth signal transmission line between the key end and the antenna module and complete continuous positioning for the key end inside and outside the lock end.

[0255] Specifically, when the lock end is a vehicle, the outer shell of the vehicle is generally made of materials such as sheet metal that may interfere with information transmission. To maintain smooth wireless transmission of information between the key end and the vehicle, that is, to ensure a stable wireless connection between the key end and the positioning device, when the key end is outside the vehicle, the external antenna module of each antenna module of the positioning device is wirelessly communicably connected to the key end and receives signals from the key end. When the key end enters the vehicle from outside the vehicle, the signal transmission line between the key end and the external antenna module is blocked by the outer shell of the vehicle body. In this case, the internal antenna module is wirelessly communicably connected to the key end instead of the external antenna module to maintain a smooth signal transmission line between the key end and the antenna module, and the positioning device completes continuous positioning of the key end inside and outside the vehicle. Furthermore, the positioning device itself positions the key end by constructing a coordinate system, and the vehicle can more accurately determine the positional relationship between the key end and each component of the vehicle itself based on the positions of each component of the vehicle itself in the coordinate system, facilitating the realization of other functions.

[0256] Optionally, when it is determined that the key end is outside the vehicle, the vehicle determines the door closest to the key end according to the coordinate position of the key end. When the coordinates of the key end of the vehicle are within the unlocking coordinate range of the vehicle, the door closest to the key end can be opened for the vehicle to facilitate the driver or passenger to enter the vehicle. When the key end is inside the vehicle, the vehicle determines the position of the key end according to the coordinate position of the key end. When the key end is located at the driver's seat of the vehicle, the engine of the vehicle is automatically started to facilitate the driver to drive the vehicle. When the key end is outside the vehicle, based on the coordinate position of the key end, when the vehicle determines that the coordinates of the key end of the vehicle are away from the unlocking coordinate range of the vehicle, it is determined that the driver has left the vehicle, and then the doors of the vehicle are automatically locked. Specifically, referring to FIG. 17, the positioning device detects a connection request from the key end and calculates the accurate coordinates of the key end in the coordinate system after passing the authentication. When the key end is not located near the driver's seat door of the vehicle, the driver's seat door is not opened. When the key end is located near the driver's seat door of the vehicle, the driver's seat door is opened. Then, it is detected whether the key end is located within the range of the driver's seat inside the vehicle. When the key end is located within the range of the driver's seat inside the vehicle, the engine of the vehicle is started and the driver's seat door is locked. When the key end leaves the vehicle, the vehicle automatically locks the doors.

[0257] In a possible embodiment, when the key end is outside the vehicle and the distance between the key end and the vehicle is outside a preset range, the positioning device is further configured to detect a living body inside the vehicle. Regarding detecting a living body inside the vehicle, The internal antenna module is configured to transmit first ultra-wideband information. The internal antenna module is further configured to receive second ultra-wideband information, and the second ultra-wideband information is ultra-wideband information reflected by an object inside the lock end. The analysis and calculation module is further configured to determine whether there is a living body inside the lock end based on the second ultra-wideband information.

[0258] Specifically, the internal antenna module transmits first ultra-wideband information. After the first ultra-wideband information reaches the surface of the living body, a part of the first ultra-wideband information is reflected by the living body, and the first ultra-wideband information reflected by the living body carries vital sign information of the living body, that is, second ultra-wideband information. After the second ultra-wideband information is received by the internal antenna module, vital sign information of the living body such as heartbeat and respiration can be obtained by an appropriate signal processing method. Thereby, the detection of the living body inside the lock end is completed. The equipment required for this detection method is simple and the cost is low. When the lock end is a vehicle, it is possible to monitor in real time the vital information of living bodies such as children and pets inside the vehicle, avoid the situation where children and pets are confined inside the vehicle for a long time, and improve the safety of vehicle use.

[0259] In a possible embodiment, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable program code, and the computer-executable program code is used to cause a computer to execute the positioning method described in the present application.

[0260] Referring to FIGS. 18 and 19, in a possible embodiment, the present application further provides a vehicle 200. The vehicle 200 includes a memory 220 and a processor 210 electrically connected to the memory 220. The memory 220 stores program code executable by the processor 210. When the program code is called and executed by the processor 210, the positioning method described in the present application is executed.

[0261] Optionally, referring to FIG. 18, the vehicle 200 receives a signal from the electronic key 100 and positions the electronic key 100 by executing the positioning method described in the present application.

[0262] Specifically, referring to FIG. 19, the memory 220 can be used as a non-volatile computer-readable storage medium to store non-volatile software programs, non-volatile computer-executable programs and modules, for example, program instructions / modules corresponding to the positioning method in the embodiments of the present invention. The processor 210 executes the non-volatile software programs, instructions, and modules stored in the memory 220 to execute various functional applications and data processing of the server, that is, to implement the positioning method in the above method embodiments.

[0263] The memory 220 can include a random access memory (RAM) 220, a read-only memory (ROM) 220, an electrically erasable programmable read-only memory (EEPROM) 220, a compact disc read-only memory (CD-ROM), or other optical disk storage media, magnetic disk storage media, or other magnetic storage devices, or any other medium that can carry or store desired program code in the form of instructions or data structures and can be accessed by a computer. Also, any connection can be appropriately referred to as a computer-readable medium.

[0264] Specifically, according to the positioning device described in the present application, by calibrating the signal transmission time based on the length of the cable, accuracy compensation is performed for the signal transmission inside the lock end, and the time when information is transmitted from the key end and the time when the information arrives at the antenna module are obtained. Thereby, the time calculation error due to the time asynchrony between the lock end and the key end is avoided. As a result, a more accurate time for information propagation between the lock end and the key end can be obtained, and the positioning accuracy can be improved. The positioning device described in the present application can be mounted on the vehicle 200 to obtain more accurate positioning information and achieve accurate positioning at the 10 cm level of the key end. The vehicle 200 in the present application can be a passenger car, a multi-purpose vehicle (MPV), a sports multi-purpose vehicle (SUV), an off-road vehicle (ORV), a pickup truck, a one-box car, a passenger bus, a truck, etc., but is not limited thereto.

[0265] As described above, the embodiments of the present application have been shown and described. However, the above embodiments are illustrative and should not be understood as limiting the present application. A person skilled in the art can make changes, modifications, substitutions, and deformations to the above embodiments within the scope of the present application. These improvements and refinements should also belong to the protection scope of the present application.

Description of Reference Numerals

[0266] Description of Reference Numerals in the Drawings in the Embodiment of the First Idea: 100... Electronic device, 1... Trim glass, 2... Bracket, 3... Mounting point, 4... Pin, 5... Infrared emitter, 6... Imaging device, 7... Display device, 8... Proximity sensor, 9... Communication assembly, 200... Vehicle, 210... Processor, 220... Memory, 300... Electronic key. Description of Reference Numerals in the Drawings in the Embodiment of the Second Idea: 100... Electronic key, 200... Vehicle, 210... Processor, 220... Memory.

Claims

1. A positioning method applied to a lock end, comprising: transmitting first information and recording the first transmission time of the first information, wherein the first information is transmitted to a key end, the first information is received, and the first reception time of the first information is recorded; and transmitting second information to the lock end, wherein the second information includes a request information, a second transmission time of the request information, and the first reception time, and recording the second information; receiving the second information, recording the second reception time of the second information, and calculating a difference between the second transmission time and the first reception time; calculating a distance between the lock end and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize positioning of the key end or the lock end; including; characterized by the positioning method.

2. The transmitting of the first information and the receiving of the second information are repeated, the number of repetitions is m, the first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). Calculating the distance between the lock end and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize positioning of the key end or the lock end, includes: calculating the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in air. characterized by the positioning method according to Claim 1.

3. Before transmitting the first information, the positioning method further includes: receiving third information from the key end and recording the third reception time Ta0 of the third information; the second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information; calculating the distance between the lock end and the key end so as to realize positioning of the key end or the lock end, includes: including being based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2), The positioning method according to claim 1, characterized in that.

4. The lock end includes P positioning modules, where P ≥ 3, and the positioning method includes calculating the distance between each of the P positioning modules in the lock end and the key end respectively, positioning the key end based on the distance between each of the P positioning modules and the key end, further including The positioning method according to any one of claims 1 to 3, characterized in that.

5. A positioning method applied to a key end, including receiving first information from the lock end and recording the first reception time of the first information, transmitting second information to the lock end, and the second information includes request information, the second transmission time of the request information, and the first reception time. The second information causes the lock end to receive the second information, record the second reception time of the second information, calculate the difference between the second transmission time and the first reception time, and calculate the distance between the lock end and the key end based on the first transmission time of the first information, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end, and is used to cause the above to be executed The positioning method, characterized in that.

6. Receiving the first information from the lock end and transmitting the second information to the lock end is repeated, and the number of repetitions is m. The first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). The lock end calculating the distance between the lock end and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time so as to realize the positioning of the key end or the lock end is Calculating the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in air. The positioning method according to claim 5, characterized in that.

7. Before receiving the first information from the lock end, the positioning method further includes: Transmitting third information and recording the third transmission time Tb0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. Calculating the distance between the lock end and the key end to realize the positioning of the key end or the lock end means: Including being based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2). The positioning method according to claim 5, characterized in that.

8. The lock end is provided with P positioning modules, where P ≥ 3, and the positioning method includes: Calculating the distance between each of the P positioning modules in the lock end and the key end respectively; Positioning the key end based on the distance between each of the P positioning modules and the key end. Further including. The positioning method according to any one of claims 5 to 7, characterized in that.

9. A positioning method applied to a key end, including: Transmitting fourth information and recording the fourth transmission time of the fourth information, where the fourth information is used to cause the lock end to receive the fourth information and record the fourth reception time of the fourth information, and to transmit fifth information including request information to the key end and record the fifth transmission time of the request information. Receiving the fifth information, recording the fifth reception time of the fifth information, packaging the fifth information, and recording the current time after packaging is completed as the sixth transmission time. To transmit the sixth information, where the sixth information is used to cause the lock end to receive the sixth information and record the seventh reception time of the sixth information, and the sixth information includes claim information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time, and to transmit the information, Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculate the distance between the key end and the lock end so as to realize the positioning of the lock end or the key end, including A positioning method characterized by the above.

10. The transmission of the fourth information, the reception of the fifth information, and the transmission of the sixth information are repeated, and the number of repetitions is m. The fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1) is Ta2m(2m - 1), the difference between the sixth transmission time and the fifth reception time is Ta(2m + 1)2m, and the sixth reception time is Tb(2m + 1). Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, calculating the distance between the key end and the lock end so as to realize the positioning of the lock end or the key end is To calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in the air, The positioning method according to claim 9, characterized by the above.

11. Before transmitting the fourth information, the positioning method further includes Receiving the seventh information from the lock end and recording the seventh reception time Ta0 of the seventh information. The fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Calculating the distance between the lock end and the key end based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the key end or the lock end, includes being based on the formula S={(Tb1 - Tb0)-(Ta1 - Ta0)+(Ta2 - Ta1)-(Tb2 - Tb1)+Ta21-(Tb2 - Tb1)+(Tb3 - Tb2)-Ta32+….+Ta(2m)(2m - 1)-[Tb(2m)-Tb(2m - 1)]+ [Tb(2m + 1)-Tb (2m) ]-Ta(2m + 1)(2m)}×C÷(4m + 4). The positioning method according to claim 9, characterized in that.

12. The lock end is provided with P positioning modules, P≧3, and the positioning method is calculating the distances between the key end and each of the P positioning modules in the lock end respectively; positioning the key end based on the distances between the key end and each of the P positioning modules in the lock end; further includes The positioning method according to any one of claims 9 to 11, characterized in that.

13. A positioning method applied to a lock end, receiving fourth information from the key end and recording the fourth reception time of the fourth information; transmitting fifth information including request information to the key end and recording the fifth transmission time of the fifth information, where the fifth information is received by the key end, the fifth reception time of the fifth information is recorded, the fifth information is packaged, and the current time after packaging is recorded as the sixth transmission time; calculating the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and transmitting sixth information to the lock end, which is used for execution of recording. Receiving sixth information from the key end and recording the sixth reception time of the sixth information, where the sixth information includes request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time, and performing the recording; Calculating the distance between the key end and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end; including; A positioning method characterized by the above.

14. Receiving fourth information from the key end, transmitting fifth information, and repeatedly receiving sixth information from the key end. The number of repetitions is m. The fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1) is Ta2m(2m - 1), the difference between the sixth transmission time and the fifth reception time is Ta(2m + 1)2m, and the sixth reception time is Tb(2m + 1); Calculating the distance between the key end and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end, includes; Calculating the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in the air; The positioning method according to claim 13, characterized by the above.

15. Before receiving the fourth information from the key end, the positioning method further includes; Transmitting seventh information and recording the seventh transmission time Tb0 of the seventh information; The fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information; Calculating the distance between the lock end and the key end based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, and realizing the positioning of the key end or the lock end is including being based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4). The positioning method according to claim 13, characterized in that.

16. The lock end is provided with P positioning modules, where P ≥ 3, and the positioning method is calculating the distances between the key end and each of the P positioning modules in the lock end respectively positioning the key end based on the distances between the key end and each of the P positioning modules in the lock end further including The positioning method according to any one of claims 13 to 15, characterized in that.

17. A positioning device applied to a lock end, comprising a first transmission module, a first reception module, and a first calculation module. The first transmission module is configured to transmit first information to the key end and record the first transmission time of the first information. The first information is used to cause the key end to receive the first information and record the first reception time of the first information, and transmit second information to the lock end. The second information includes request information, the second transmission time of the request information, and the first reception time. The first reception module is configured to receive the second information from the key end and record the second reception time of the second information. The first calculation module calculates the difference between the second transmission time and the first reception time, and calculates the distance between the positioning device and the key end based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, so as to realize the positioning of the key end or the lock end. It is configured as such. A positioning device characterized by the above.

18. The first transmission module is configured to repeatedly transmit the first information, and the first reception module is configured to synchronously and repeatedly receive the second information. The number of repetitions is m. The first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). Based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, the first calculation module configured to calculate the distance between the positioning device and the key end so as to realize the positioning of the key end or the lock end is as follows: It is configured to calculate the distance S between the lock end and the key end based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in the air. The positioning device according to claim 17, characterized by the above.

19. Before the first transmission module transmits the first information, the first reception module is further configured to receive third information from the key end and record the third reception time Ta0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. Based on the above, the first calculation module configured to calculate the distance between the lock end and the key end so as to realize the positioning of the key end or the lock end is as follows: Based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2), it is configured to calculate the distance S between the lock end and the key end, where C is the propagation speed of the signal in air. The positioning device according to claim 17, characterized in that.

20. The positioning device further includes P positioning modules, where P ≧ 3, and the first calculation module further Calculates the distance between each of the P positioning modules in the positioning device and the key end respectively. Positions the key end based on the distance between each of the P positioning modules and the key end. Is configured as follows. The positioning device according to any one of claims 17 to 19, characterized in that.

21. A positioning device applied to a key end, comprising A second receiving module and a second transmitting module. The second receiving module is configured to receive first information from the lock end and record the first reception time of the first information. The second transmitting module is configured to transmit second information to the lock end. The second information includes request information, the second transmission time of the request information, and the first reception time. The second information is received by the lock end, the second reception time of the second information is recorded, the difference between the second transmission time and the first reception time is calculated, and based on the first transmission time of the first information, the second reception time, and the difference between the second transmission time and the first reception time, the distance between the lock end and the positioning device is calculated to realize the positioning of the key end or the lock end. It is used to cause the above to be executed. The positioning device, characterized in that.

22. In the positioning device, the second receiving module is configured to repeatedly receive first information from the lock end and synchronously and repeatedly transmit second information to the lock end. The number of repetitions is m. The first transmission time is Ta(2m - 1), the second reception time is Ta2m, the first reception time is Tb(2m - 1), the second transmission time is Tb2m, and the difference between the second transmission time and the first reception time is Tb(2m)(2m - 1). Based on the first transmission time, the second reception time, and the difference between the second transmission time and the first reception time, the lock end is configured to calculate the distance between the lock end and the positioning device so as to realize the positioning of the key end or the lock end. The lock end is configured to calculate the distance S between the lock end and the positioning device based on the formula S = [Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m), where C is the propagation speed of the signal in air. The positioning device according to claim 21, characterized in that.

23. Before the positioning device receives the first information from the lock end, the second transmitting module is further configured to transmit third information to the lock end and record the third transmission time Tb0 of the third information. The second information further includes the third transmission time Tb0 and the third reception time Ta0 of the third information. Based on the calculated distance between the lock end and the positioning device, the lock end is configured to realize the positioning of the key end or the lock end. The lock end is configured to be based on the formula S = [(Tb1 - Tb0) - (Ta1 - Ta0) + Ta2 - Ta1 - Tb21 + … + Ta(2m) - Ta(2m - 1) - Tb(2m)(2m - 1)] × C ÷ (2m + 2). The positioning device according to claim 21, characterized in that.

24. The lock end further includes P positioning modules, where P ≥ 3. The lock end further calculates the distance between each of the P positioning modules in the lock end and the positioning device respectively. Based on the distance between each of the P positioning modules and the positioning device, the key end is positioned. configured as follows, The positioning device according to any one of claims 21 to 23, characterized in that.

25. A positioning device applied to a key end, comprising a third transmission module, a third reception module, and a third calculation module, The third transmission module is configured to transmit fourth information to a lock end and record a fourth transmission time of the fourth information. The fourth information is used to cause the lock end to receive the fourth information, record a fourth reception time of the fourth information, transmit fifth information including request information to the key end, and record a fifth transmission time of the request information. The third reception module is configured to receive the fifth information from the lock end, record a fifth reception time of the fifth information, package the fifth information, and record a current time after completion of packaging as a sixth transmission time. The third transmission module is further configured to transmit sixth information to the lock end. The sixth information is used to cause the lock end to receive the sixth information and record a sixth reception time of the sixth information. The sixth information includes request information, a difference between the fifth reception time and the fourth transmission time, and a difference between the sixth transmission time and the fifth reception time. The third calculation module is configured to calculate a difference between the fifth reception time and the fourth transmission time and a difference between the sixth transmission time and the fifth reception time. The lock end is configured to calculate a distance between the positioning device and the lock end based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize positioning of the lock end or the key end. The positioning device, characterized in that.

26. The third transmitting module is configured to repeatedly transmit the fourth information, the third receiving module is configured to synchronously and repeatedly receive the fifth information, and the third transmitting module is further configured to repeatedly transmit the sixth information. The number of repetitions is m. The fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), and the sixth reception time is Tb(2m + 1). The third calculation module is configured to calculate the difference Ta2m(2m - 1) between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1), and the difference Ta(2m + 1)2m between the sixth transmission time and the fifth reception time. Based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, the lock end is configured to calculate the distance between the positioning device and the lock end to realize the positioning of the lock end or the key end. The lock end is configured to calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in the air. The positioning device according to claim 25, characterized in that.

27. Before the third transmitting module transmits the fourth information, the third receiving module is further configured to receive the seventh information from the lock end and record the seventh reception time Ta0 of the seventh information. The fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. Based on the seventh transmission time Tb0, the seventh reception time Ta0, the fourth transmission time, the difference between the fifth transmission time and the fourth reception time, the difference between the sixth transmission time and the fifth reception time, and the sixth reception time, the distance between the lock end and the positioning device is calculated to realize the positioning of the key end or the lock end. The lock end configured as such is configured to calculate the distance S between the lock end and the key end based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4), where C is the propagation speed of the signal in air. The positioning device according to claim 25, characterized in that.

28. The lock end includes P positioning modules, where P ≥ 3, and the lock end further calculates the distances between the positioning device and each of the P positioning modules in the lock end respectively, and positions the key end based on the distances between the positioning device and each of the P positioning modules in the lock end. It is configured as such. The positioning device according to any one of claims 25 to 27, characterized in that.

29. A positioning device applied to a lock end, comprising a fourth transmission module, a fourth reception module, and a fourth calculation module, wherein the fourth reception module is configured to receive fourth information from a key end and record the fourth reception time of the fourth information. The fourth transmission module is configured to transmit fifth information including request information to the key end and record the fifth transmission time of the fifth information. The fifth information causes the key end to receive the fifth information, record the fifth reception time of the fifth information, package the fifth information, and record the current time after packaging completion as the sixth transmission time. The fourth transmission module is further configured to calculate the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and transmit sixth information to the positioning device, and is used to execute the above operations. The fourth reception module is further configured to receive sixth information from the key end and record the sixth reception time of the sixth information. The sixth information includes request information, the difference between the fifth reception time and the fourth transmission time, and the difference between the sixth transmission time and the fifth reception time. The fourth calculation module is configured to calculate the distance between the key end and the positioning device based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end. A positioning device characterized by the above.

30. The fourth reception module is configured to repeatedly receive fourth information from the key end. The fourth transmission module is configured to synchronously and repeatedly transmit fifth information to the key end. The fourth reception module is further configured to repeatedly receive sixth information from the key end. The number of repetitions is m. The fourth transmission time is Ta(2m - 1), the fourth reception time is Tb(2m - 1), the fifth transmission time is Tb2m, the fifth reception time is Ta2m, the sixth transmission time is Ta(2m + 1), and the sixth reception time is Tb(2m + 1). The fourth calculation module is configured to calculate the difference Ta2m(2m - 1) between the fifth reception time Ta2m and the fourth transmission time Ta(2m - 1), and the difference Ta(2m + 1)2m between the sixth transmission time and the fifth reception time. The fourth calculation module configured to calculate the distance between the key end and the positioning device based on the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the lock end or the key end, is configured to calculate the distance S between the lock end and the key end based on the formula S = {Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + … + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m), where C is the propagation speed of the signal in air. The positioning device according to claim 29, characterized in that.

31. Before the fourth receiving module receives the fourth information from the key end, the fourth transmitting module is configured to transmit the seventh information to the key end and record the seventh transmission time Tb0 of the seventh information. The fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. The fourth calculation module configured to calculate the distance between the positioning device and the key end based on the seventh transmission time Tb0, the seventh reception time Ta0, the difference between the fifth reception time and the fourth transmission time, the fourth reception time, the fifth transmission time, the sixth reception time, and the difference between the sixth transmission time and the fifth reception time, so as to realize the positioning of the key end or the lock end, is configured to be based on the formula S = {(Tb1 - Tb0) - (Ta1 - Ta0) + (Ta2 - Ta1) - (Tb2 - Tb1) + Ta21 - (Tb2 - Tb1) + (Tb3 - Tb2) - Ta32 + …. + Ta(2m)(2m - 1) - [Tb(2m) - Tb(2m - 1)] + [Tb(2m + 1) - Tb(2m)] - Ta(2m + 1)(2m)} × C ÷ (4m + 4). The positioning device according to claim 29, characterized in that.

32. The positioning device includes P positioning modules, where P ≧ 3, and the fourth calculation module further calculates the distances between the key end and each of the P positioning modules in the positioning device respectively. Positioning the key end based on the distances between the key end and each of the P positioning modules within the positioning device. It is configured as follows. The positioning device according to any one of claims 29 to 31, characterized in that.

33. A computer-readable storage medium, Computer-executable program code is stored in the computer-readable storage medium, and the computer-executable program code is used to cause a computer to execute the positioning method according to any one of claims 1 to 16. A computer-readable storage medium, characterized in that.

34. A vehicle, The vehicle includes a memory and a processor electrically connected to the memory. Program code executable by the processor is stored in the memory. When the program code is called and executed by the processor, the positioning method according to any one of claims 1 to 16 is executed. A vehicle, characterized in that.

35. A positioning method applied to a lock end, The lock end includes a plurality of antenna modules, The method includes: Receiving request information from a key end and calculating the reception time when each of the plurality of antenna modules receives the request information, where the request information includes positioning information; Calculating the coordinates of the key end based on the coordinates of the plurality of antenna modules in a preset coordinate system and the reception time of each antenna module to achieve positioning of the key end. Including, A positioning method, characterized in that.

36. The lock end includes a first antenna module, a second antenna module, and a third antenna module. Calculating the reception time when each of the plurality of antenna modules receives the request information includes calculating a first reception time Ta of the first antenna module, a second reception time Tb of the second antenna module, and a third reception time Tc of the third antenna module. Calculating the coordinates of the key end based on the coordinates of the plurality of antenna modules in a preset coordinate system and the reception time of each antenna module is Taking one point within the lock end as the origin, setting the coordinates of the first antenna module as (Xa, Ya, Za), setting the coordinates of the second antenna module as (Xb, Yb, Zb), and setting the coordinates of the third antenna module as (Xc, Yc, Zc), 【Number 1】 calculating the coordinates (Xk, Yk, Zk) of the key end in the coordinate system based on the formula, where C is the propagation speed of the signal in air, The positioning method according to claim 35, characterized in that.

37. The lock end further comprises a control module, and the control module is communicably connected to the plurality of antenna modules via a cable, Calculating the reception time when each of the plurality of antenna modules receives the request information, Recording the acquisition time when each of the antenna modules receives the request information, which is acquired by the control module, Based on the length L of the cable between the control module and the antenna module, and the acquisition time T', T = T' - L÷V 0 calculating the reception time T of each of the antenna modules according to this, and V 0 is the propagation speed in the cable of the positioning information The positioning method according to claim 35, characterized in that.

38. The lock end is a vehicle, each of the antenna modules comprises an internal antenna module and an external antenna module, the internal antenna module is located inside the vehicle, the external antenna module is located outside the vehicle, and the positioning method is Judging whether the key end is inside or outside the vehicle based on the coordinates of the key end. When the key end is outside the vehicle, the external antenna module is used to be communicably connected to the key end. When the key end is inside the vehicle, the internal antenna module is used to be communicably connected to the key end. When the key end is outside the vehicle and the distance between the key end and the vehicle is within a preset range, enabling the vehicle to open the door closest to the key end based on the coordinates of the key end. When the key end is inside the vehicle and is determined to be in the driver's seat, starting the engine of the vehicle. Further including The positioning method according to claim 35, characterized in that.

39. When the key end is outside the vehicle and the distance between the key end and the vehicle is outside a preset range, the positioning method further includes detecting a living body inside the vehicle. Detecting a living body inside the vehicle includes: each of the internal antenna modules transmitting first ultra-wideband information; receiving second ultra-wideband information, where the second ultra-wideband information is ultra-wideband information reflected by an object inside the lock end; determining whether a living body exists inside the lock end based on the second ultra-wideband information; and The positioning method according to claim 38, characterized in that.

40. A positioning device applied to a lock end, the device includes a receiving module and an analysis and calculation module, the receiving module includes a plurality of antenna modules and is configured to receive request information from a key end, and the request information includes positioning information, the analysis and calculation module is configured to calculate the reception time when each of the plurality of antenna modules receives the request information, and the analysis and calculation module is further configured to calculate the coordinates of the key end based on the coordinates of the plurality of antenna modules in a preset coordinate system and the reception time of each antenna module, so as to realize the positioning of the key end. The positioning device, characterized in that.

41. The receiving module includes a first antenna module, a second antenna module and a third antenna module, the analysis and calculation module is configured to calculate the first reception time Ta of the first antenna module, the second reception time Tb of the second antenna module, and the third reception time Tc of the third antenna module respectively, and the analysis and calculation module further uses a point inside the lock end as the origin, sets the coordinates of the first antenna module as (Xa, Ya, Za), the coordinates of the second antenna module as (Xb, Yb, Zb), the coordinates of the third antenna module as (Xc, Yc, Zc), and the coordinates of the key end as (Xk, Yk, Zk), 【Number 1】 and is configured to calculate the coordinates of the key end based on the formula, where C is the propagation speed of the signal in air. The positioning device according to claim 40, characterized in that...

42. The analysis and calculation module further... records the acquisition time when each of the obtained antenna modules receives the claim information, Based on the length L of the cable between the analysis calculation module and the antenna module, and the acquisition time T', T = T' - L÷V 0 configured to calculate the reception time T of each of the antenna modules according to V 0 is the propagation speed of the positioning information at the lock end The positioning device according to claim 40, characterized in that...

43. The lock end is a vehicle, and each of the antenna modules includes an internal antenna module and an external antenna module. The internal antenna module is located inside the vehicle, and the external antenna module is located outside the vehicle. The positioning device is further configured to determine whether the key end is inside or outside the vehicle based on the coordinates of the key end. When the key end is outside the vehicle, the external antenna module is used to be communicably connected to the key end. When the key end is inside the vehicle, the internal antenna module is used to be communicably connected to the key end. The positioning device... When the key end is outside the vehicle and the distance between the key end and the vehicle is within a preset range, it is possible to open the door of the vehicle closest to the key end based on the coordinates of the key end. When the key end is inside the vehicle and is determined to be in the driver's seat, the engine of the vehicle is started. is configured as such. The positioning device according to claim 40, characterized in that...

44. When the key end is outside the vehicle and the distance between the key end and the vehicle is outside a preset range, the positioning device is further configured to detect a living body inside the vehicle. Regarding detecting a living body inside the vehicle... The internal antenna module is configured to transmit first ultra-wideband information. The internal antenna module is further configured to receive second ultra-wideband information. The second ultra-wideband information is ultra-wideband information reflected by an object inside the lock end. The analysis and calculation module is further configured to determine whether there is a living body inside the lock end based on the second ultra-wideband information. The positioning device according to claim 43, characterized in that...

45. A computer-readable storage medium, wherein computer-executable program code is stored in the computer-readable storage medium, and the computer-executable program code is used to cause a computer to execute the positioning method according to any one of claims 35 to 39. A computer-readable storage medium characterized by the above. **Claim 46** A vehicle, wherein the vehicle includes a memory and a processor electrically connected to the memory, and program code executable by the processor is stored in the memory, and when the program code is called and executed by the processor, the positioning method according to any one of claims 35 to 39 is executed. A vehicle characterized by the above.

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