Positioning method, positioning 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 priority to Chinese Patent Application No. 202210621423.X, filed on June 2, 2022, with the title of the invention "Positioning Method, Positioning Device, Computer-Readable Storage Medium, and Vehicle," and all of its contents are incorporated into this application by reference. This application also claims priority to Chinese Patent Application No. 202210621435.2, filed on June 2, 2022, with the title of the invention "Positioning Method, Positioning Device, Computer-Readable Storage Medium, and Vehicle," and all of its contents are incorporated into this application by reference.

[0002] This application relates to the field of communications technology, and more specifically to positioning methods, positioning devices, computer-readable storage media, and vehicles. [Background technology]

[0003] Existing Bluetooth keys are primarily Bluetooth-enabled mobile phones or wearable Bluetooth devices. As the trend towards intelligent, information-based, and electronic vehicles continues to develop and application methods and scenarios diversify, user demands for precise vehicle key positioning are increasing. Ultra-wideband (UWB) technology is one of the carrier-free communication technologies, and in recent years, UWB's sub-nanosecond ultra-narrow pulses have been utilized for close-range precise positioning. A crystal oscillator is installed inside the UWB device, and its role is to generate a clock frequency. The UWB device receives and transmits UWB signals under that clock frequency. In other words, each hardware device has its own internal clock, and each UWB device operates according to its own time system, resulting in a time difference between UWB devices. Furthermore, even if multiple UWB devices start their clocks at the same standard time, they cannot maintain long-term synchronization due to clock drift. Factors that affect 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 asynchronous operation. In addition, UWB-based distance calculations require multiplying time by the speed of light, so even small time errors can lead to large distance errors. [Overview of the Initiative]

[0004] This application provides a positioning method, a positioning device, a computer-readable storage medium, and a vehicle. The positioning method improves interaction precision on an algorithm and allows the UWB device to record and calculate time in the same timing system during positioning, thereby improving positioning accuracy.

[0005] The first idea of ​​this application provides a positioning method applicable to a lock end. This positioning method is The first piece of information is transmitted, and the first transmission time of the first piece of information is recorded. 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 request information, the second transmission time of the request information, and the first reception time. The second piece of information is received, the second reception time of the second piece of information is recorded, and the difference between the second transmission time and the first reception time is calculated. Based on the first transmission time, 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 key end is calculated to achieve the positioning of the key end or the lock end.

[0006] Selectively, the first piece of information is transmitted and the second piece of information is received, and this process is repeated for m repetitions. 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). To 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, thereby achieving the positioning of the key end or the lock end, This involves 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] Selectively, prior to transmitting the first information, the positioning method further includes the following: The second information receives third information from the key end and records 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, The formula is S = [ (Tb1-Tb0)-(Ta1-Ta0)+Ta2-Ta1-Tb21+...+Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1)] × C ÷ (2m+2) This includes calculating the distance S between the lock end and the key end based on the formula, where C is the propagation speed of the signal in air.

[0008] Selectively, the lock end comprises 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. 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 applicable to key ends. This positioning method is The system receives the first piece of information from the lockend and records the time of the first receipt of that information. Second information is transmitted 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 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, second reception time of the first information, and the difference between the second transmission time and the first reception time, in order to position the key end or the lock end.

[0010] Selectively, the system repeatedly receives the first piece of information from the lock end and transmits the second piece of information to the lock end, with m being the number of repetitions. 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 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, thereby enabling the positioning of the key end or the lock end. This involves 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] Selectively, prior to receiving the first information from the lock end, the positioning method further includes the following: Third information is transmitted, and the third transmission time Tb0 of the third information is recorded. 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, The formula is S = [ (Tb1-Tb0)-(Ta1-Ta0)+Ta2-Ta1-Tb21+...+Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1)] × C ÷ (2m+2) This includes calculating the distance S between the lock end and the key end based on the formula, where C is the propagation speed of the signal in air.

[0012] Selectively, the lock end comprises 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. Position 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 further provides a positioning method applicable to key ends. This positioning method is The fourth piece of information is transmitted, and the fourth transmission time of the fourth piece of information is recorded. The fourth piece of information is used to instruct the lock end to receive the fourth piece of information, record the fourth reception time of the fourth piece of information, transmit the fifth piece of information containing the request information to the key end, and record the fifth transmission time of the request information. The fifth piece of information is received, the fifth reception time of the fifth piece of information is recorded, the fifth piece of information is packaged, and the current time after packaging is completed is recorded as the sixth transmission time. The sixth piece of information is transmitted. The sixth piece of information is used to instruct the lockend 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 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 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the key end and the lock end is calculated to achieve the positioning of the lock end or key end.

[0014] Selectively, the fourth piece of information is transmitted, the fifth piece of information is received, and the sixth piece of information is transmitted, and this process is repeated for a number of repetitions of m. The time of the fourth transmission is Ta(2m-1), the time of the fourth reception is Tb(2m-1), the time of the fifth transmission is Tb2m, the time of the fifth reception is Ta2m, the time of the sixth transmission 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 time of the sixth reception is Tb(2m+1). To calculate the distance between the key end and the lock end based on the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, thereby achieving the positioning of the lock end or 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), 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. 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 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. 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) Based on this, calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in air.

[0016] Optionally, 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.

[0017] The first idea of this application is to further provide a positioning method applied to the lock end. The positioning method is Receive the fourth information from the key end and record the fourth reception time of the fourth information. The fifth piece of information, including the request information, is sent to the key end, and the fifth transmission time of the fifth piece of information is recorded. The fifth piece of information is received by the key end, the fifth reception time of the fifth piece of information is recorded, the fifth piece of information is packaged, and the current time after packaging is completed is recorded as the sixth transmission time, as well as the difference between the fifth reception time of the fifth piece of information and the fourth transmission time of the fourth piece of information, and 6th transmission time and Fifth reception time of the fifth piece of information. to It is used to calculate the difference and send the sixth piece of information to the lockend. The system receives the sixth piece of information from the key end and records 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. Based on the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the key end and the lock end is calculated to achieve the positioning of the lock end or key end.

[0018] Selectively, the process of receiving the fourth piece of information from the key end, transmitting the fifth piece of information, and receiving the sixth piece of information from the key end is repeated, with m being the number of repetitions. 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). To calculate the distance between the key end and the lock end based on the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, thereby achieving the positioning of the lock end or key end, This involves 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.

[0019] Selectively, prior to receiving the fourth piece of information from the key end, the positioning method further includes: transmitting the seventh piece of information and recording the seventh transmission time Tb0 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. Based on the 7th transmission time Tb0, the 7th reception time Ta0, the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the lock end and the key end is calculated as follows to achieve the positioning of the key end or the lock end. 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) Based on this, calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in air.

[0020] Selectively, the lock end comprises P positioning modules, where P ≥ 3, and the positioning method further includes the following: Calculate the distance between each of the P positioning modules within the key end and the lock end. The key end is positioned based on the distance between the key end and each of the P positioning modules within the lock end.

[0021] The first concept of this application further provides a positioning device to be applied to a lock end. The positioning device comprises a first transmitting module, a first receiving module, and a first calculating module. The first transmitting module is configured to transmit first information to the key end and record the first transmission time of the first information, which is used to cause the key end to receive the first information, record the first reception time of the first information, and transmit second information to the lock end, which includes request information, the second transmission time of the request information, and the first reception time. The first receiving module is configured to receive second information from the key end and to 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 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, thereby enabling the positioning of the key end or lock end.

[0022] Selectively, the first transmitting module is configured to repeatedly transmit first information, and the first receiving module is configured to repeatedly receive second information synchronously, with 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). A 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, in order to achieve positioning of the key end or lock end, The system 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 air.

[0023] Selectively, prior to the first transmitting module transmitting the first information, the first receiving 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 computing module configured to calculate the distance between a lock end and a key end to achieve the positioning of the key end or the lock end, The system 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-Tb21+…+Ta(2m)-Ta(2m-1)- Tb(2m)(2m-1)]×C÷(2m+2), where C is the propagation speed of the signal in air.

[0024] Selectively, the positioning device further comprises P positioning modules, where P ≥ 3, and the first calculation module further comprises The distance between each of the P positioning modules in the positioning device and the key end is calculated. The key end is positioned based on the distance between each of the P positioning modules and the key end. It is structured in such a way.

[0025] The first concept of this application further provides a positioning device to be applied to a key end. The positioning device comprises 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 to record the first reception time of the first information. The second transmitting module is configured to transmit second information to the lock end, which includes request information, a second transmission time of the request information, and a first reception time, and 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 positioning device based on the first transmission time, second reception time of the first information, and the difference between the second transmission time and the first reception time, in order to achieve positioning of the key end or the lock end.

[0026] Selectively, in a positioning device, a second receiving module is configured to repeatedly receive first information from a lock end and synchronously transmit second information to the lock end, with 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). A 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, thereby achieving positioning of the key end or lock end, The system 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.

[0027] Selectively, prior to the positioning device receiving 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. A lock end configured to calculate the distance between the lock end and the positioning device in order to achieve positioning of the key end or the lock end is, The formula is S = [ (Tb1-Tb0)-(Ta1-Ta0)+Ta2-Ta1-Tb21+...+Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1)] × C ÷ (2m+2) Based on this, the system is configured to calculate the distance S between the lock end and the positioning device, where C is the propagation speed of the signal in air.

[0028] Selectively, the lock end further comprises P positioning modules, where P ≥ 3, and the lock end further The distance between each of the P positioning modules in the lock end and the positioning device is calculated. The key end is positioned based on the distance between each of the P positioning modules and the positioning device. It is structured in such a way.

[0029] The first concept of this application further provides a positioning device to be applied to a key end. The positioning device comprises a third transmitting module, a third receiving module, and a third computing module. The third transmitting module is configured to transmit fourth information to the lock end and record the fourth transmission time of the fourth information, which 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 receiving module is configured to receive the fifth piece of information from the lock end, 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 complete as the sixth transmission time. A third transmitting module is further configured to transmit sixth information to the lock end, which is used to cause the lock end to receive the sixth information and record the sixth reception time of the sixth information, which 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, thereby achieving positioning of the lock end or key end.

[0030] Selectively, the third transmitting module is configured to repeatedly transmit the fourth piece of information, the third receiving module is configured to repeatedly receive the fifth piece of information synchronously, and the third transmitting module is further configured to repeatedly transmit the sixth piece of information, with the number of repetitions being m, the fourth transmission time being Ta(2m-1), the fourth reception time being Tb(2m-1), the fifth transmission time being Tb2m, the fifth reception time being Ta2m, the sixth transmission time being Ta(2m+1), and the sixth reception time being 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. A 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, thereby achieving positioning of the lock end or key end, The system 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.

[0031] Selectively, 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, and the fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. A lock end configured to calculate the distance between the lock end and the positioning device based on the 7th transmission time Tb0, the 7th reception time Ta0, the 4th transmission time, the difference between the 5th transmission time and the 4th reception time, the difference between the 6th transmission time and the 5th reception time, and the 6th reception time, thereby achieving the positioning of the key end or lock end, The system 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] Selectively, the lock end comprises P positioning modules, where P ≥ 3, and the lock end further... The distance between the positioning device and each of the P positioning modules in the lock end is calculated. The key end is positioned based on the distance between the positioning device and each of the P positioning modules within the lock end. It is structured in this way.

[0033] The first concept of this application further provides a positioning device to be applied to a lock end. The positioning device comprises a fourth transmitting module, a fourth receiving module, and a fourth computing module. The fourth receiving module is configured to receive fourth information from the key end and to record the fourth reception time of the fourth information. The fourth transmission module is configured to transmit fifth information containing request information to the key end and to 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 is complete as the sixth transmission time, as well as the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and 6th transmission time and Fifth reception time of the fifth piece of information. to It is used to calculate the difference and transmit the sixth piece of information to the positioning device, and to perform the following actions. The fourth receiving module is further configured to receive sixth information from the key end and record the sixth reception time of the sixth information, which 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, thereby enabling the positioning of the lock end or key end.

[0034] Selectively, the fourth receiving module is configured to repeatedly receive fourth information from the key end, the fourth transmitting module is configured to repeatedly transmit fifth information to the key end, and the fourth receiving module is further configured to repeatedly receive sixth information from the key end, with the number of repetitions being m, the fourth transmission time being Ta(2m-1), the fourth reception time being Tb(2m-1), the fifth transmission time being Tb2m, the fifth reception time being Ta2m, the sixth transmission time being Ta(2m+1), and the sixth reception time being Tb(2m+1). The fourth calculation module is configured to calculate the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m-1), Ta2m(2m-1), and the difference between the sixth transmission time and the fifth reception time, Ta(2m+1)2m. A 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, thereby achieving the positioning of the lock end or key end, The system 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.

[0035] Selectively, 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. A 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, thereby achieving the positioning of the key end or lock end, 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) Based on this, the system is configured to calculate the distance S between the positioning device and the key end, where C is the propagation speed of the signal in air.

[0036] Selectively, the positioning device comprises P positioning modules, where P ≥ 3, and a fourth calculation module further, The distance between the key end and each of the P positioning modules in the positioning device is calculated. The key end is positioned based on the distance between the key end and each of the P positioning modules in the positioning device. It is structured in this way.

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

[0038] The first concept of this application further provides a vehicle, the vehicle comprising a memory and a processor electrically connected to the memory, wherein 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 first concept of this application is performed.

[0039] Thus, the positioning method according to the first concept of this application improves interaction accuracy in the algorithm. During the information transmission and reception process, time is recorded and calculated using the same timing system during positioning, thereby erasing the transmission time within the same device and obtaining the precise time of information propagation between the lock end and the key end. Next, the average time is obtained by repeating the measurement multiple times, further reducing the time error. Positioning accuracy is improved by performing calculations using a multi-pass average ranging algorithm.

[0040] The second concept of this application provides a positioning method applicable to a lock end. The lock end comprises multiple antenna modules, and the method includes the following: Request information is received from the key end, and each of the multiple antenna modules calculates the reception time when it received the request information. The request information includes positioning information. The key end coordinates are calculated based on the coordinates of multiple antenna modules in a pre-defined coordinate system and the reception time of each antenna module, thereby enabling key end positioning.

[0041] Selectively, the lock end comprises a first antenna module, a second antenna module, and a third antenna module. Calculating the reception time at which each of the multiple antenna modules receives the request information includes calculating the first reception time Ta for the first antenna module, the second reception time Tb for the second antenna module, and the third reception time Tc for the third antenna module, respectively. Calculating the key end coordinates based on the coordinates of multiple antenna modules in a pre-defined coordinate system and the reception time of each antenna module includes the following: Let one point within the lock end be the origin, the coordinates of the first antenna module be (Xa, Ya, Za), the coordinates of the second antenna module be (Xb, Yb, Zb), and the coordinates of the third antenna module be (Xc, Yc, Zc).

number

[0042] Selectively, the lock end further comprises a control module, which is communicatively connected to multiple antenna modules via cables. Calculating the reception time at which each of the multiple antenna modules receives the request information includes the following: The control module records the time at which each antenna module received the request information. Based on the cable length L between the control module and the antenna module, and the acquisition time T', the reception time T for each antenna module is calculated according to T = T' - L ÷ V0. V0 is the propagation speed of positioning information in the cable.

[0043] Selectively, the lock end is a vehicle, and each antenna module comprises an internal antenna module and an external antenna module, the internal antenna module being located inside the vehicle and the external antenna module being located outside the vehicle, and the positioning method includes the following: Based on the coordinates of the key end, it is determined whether the key end is inside or outside the vehicle. If the key end is outside the vehicle, an external antenna module is used to connect to the key end for communication; if the key end is inside the vehicle, an internal antenna module is used to connect to the key end for communication. If the key end is outside the vehicle and the distance between the key end and the vehicle is within a preset range, the system will allow the vehicle to open the door closest to the key end based on its coordinates. If the key end is inside the vehicle and it is determined that the key end is in the driver's seat, the system will start the vehicle's engine.

[0044] Selectively, if 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 being inside the vehicle. Detecting a living being inside the vehicle includes the following: Each internal antenna module transmits the first ultra-wideband information. A second ultra-wideband information is received. This second ultra-wideband information is ultra-wideband information reflected by an object within the lock end. Based on the second ultra-broadband information, it is determined whether or not life exists within the lock end.

[0045] A second concept of this application further provides a positioning device to be applied to a lock end. The device comprises a receiving module and an analysis and calculation module. The receiving module comprises multiple antenna modules and is configured to receive request information from the key end, which includes positioning information. The analysis and calculation module is configured to calculate the reception time when each of the multiple 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 multiple antenna modules in the above coordinate system and the reception time of each antenna module, thereby enabling the positioning of the key end.

[0046] Selectively, the receiving module comprises 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 for the first antenna module, the second reception time Tb for the second antenna module, and the third reception time Tc for the third antenna module, respectively. The analytical calculation module further: Let the origin be a point within the lock end, the coordinates of the first antenna module be (Xa, Ya, Za), the coordinates of the second antenna module be (Xb, Yb, Zb), the coordinates of the third antenna module be (Xc, Yc, Zc), and the coordinates of the key end be (Xk, Yk, Zk).

number

[0047] Selectively, the analytical calculation module further, The time at which each antenna module received the request information is recorded. The system is configured to calculate the reception time T for each antenna module according to T = T' - L ÷ V0, based on the cable length L between the analysis calculation module and the antenna module, and the acquisition time T'. V0 is the propagation speed of the positioning information at the lock end.

[0048] Selectively, the lock end is the vehicle, and each antenna module comprises an internal antenna module and an external antenna module, with the internal antenna module located inside the vehicle and the external antenna module located outside the vehicle. The positioning device is further configured to determine, based on the coordinates of the key end, whether the key end is inside or outside the vehicle. If the key end is outside the vehicle, an external antenna module is used to communicate with the key end; if the key end is inside the vehicle, an internal antenna module is used to communicate with the key end. The positioning device is If the key end is outside the vehicle and the distance between the key end and the vehicle is within a predetermined range, the system will allow the vehicle to open the door closest to the key end based on its coordinates. If the key end is inside the vehicle and it is determined to be in the driver's seat, the system will start the vehicle's engine. It is structured in this way.

[0049] Selectively, if 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 living beings inside the vehicle, and for detecting living beings inside the vehicle, The internal antenna module is configured to transmit first ultra-wideband information. The internal antenna module is further configured to receive a second ultra-wideband information, which is ultra-wideband information reflected by an object within the lock end. The analytical calculation module is further configured to determine whether or not life exists within the lock end based on a second set of ultra-broadband information.

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

[0051] A second concept of this application further provides a vehicle, the vehicle comprising a memory and a processor electrically connected to the memory, wherein 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 concept is performed.

[0052] Thus, according to the positioning method of the second concept 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 the information is transmitted from the key end and the moment when the information arrives at the lock end are obtained. This avoids time calculation errors caused by time asynchronousness between the control module and the antenna module due to time loss during signal transmission through the cable, and as a result, a more accurate time for information propagation between the lock end and the key end can be obtained, thereby improving positioning accuracy. [Brief explanation of the drawing]

[0053] To more clearly explain the technical concept of the embodiments of this application, the necessary drawings for the embodiments are briefly introduced below. Clearly, the drawings described below represent only a few embodiments of this application, and those skilled in the art can obtain other drawings from these without any creative effort. [Figure 1] Figure 1 is a flowchart showing a positioning method applied to a lock end according to a first embodiment of this application. [Figure 2] Figure 2 is a schematic diagram showing an iterative positioning method applied to a lock end according to the first embodiment of this application. [Figure 3]Figure 3 is a flowchart showing a positioning method for receiving information from a key end according to a first embodiment of this application. [Figure 4] Figure 4 is a flowchart showing a positioning method applied to a key end according to a third embodiment of this application. [Figure 5] Figure 5 is a schematic diagram showing an iterative positioning method applied to a key end according to a third embodiment of this application. [Figure 6] Figure 6 is a flowchart showing a positioning method for receiving information from a lock end according to a third embodiment of this application. [Figure 7] Figure 7 is a schematic diagram showing an electronic device according to an embodiment of this application. [Figure 8] Figure 8 is a flowchart showing how the electronic device shown in Figure 7 calculates the position of the key end relative to the lock end. [Figure 9] Figure 9 is a schematic diagram showing the relationship between a vehicle and an electronic key according to an embodiment of this application. [Figure 10] Figure 10 is a schematic diagram showing the relationship between memory and processor according to the embodiment of this application. [Figure 11] Figure 11 is a flowchart showing a positioning method applied to a lock end according to an embodiment of this application. [Figure 12] Figure 12 is a flowchart showing the selection of three antenna modules in the positioning method shown in Figure 11. [Figure 13] Figure 13 is a flowchart showing the cable-length calibration algorithm for the positioning method shown in Figure 11. [Figure 14] Figure 14 is a flowchart showing a positioning method according to an embodiment of this application in which the lock end is a vehicle. [Figure 15] Figure 15 is a flowchart showing a method for detecting living organisms according to an embodiment of this application. [Figure 16]Figure 16 is a flowchart showing how the positioning device according to the embodiment of this application calculates the position of the key end relative to the lock end. [Figure 17] Figure 17 is a flowchart showing an extended function developed based on the coordinates of the key end by the positioning device according to the embodiment of this application. [Figure 18] Figure 18 is a schematic diagram showing the connection relationship between a vehicle and an electronic key according to the embodiment of this application. [Figure 19] Figure 19 is a schematic diagram showing the connection relationship between the vehicle's memory and processor, as shown in Figure 18. [Modes for carrying out the invention]

[0054] The technical invention in the embodiments of this application will be described clearly and comprehensively below with reference to the drawings of the embodiments of this application. Clearly, the embodiments described are only some, and not all, embodiments of this application. All other embodiments that a person skilled in the art can obtain without creative effort based on the embodiments of this application are all within the scope of protection of this application.

[0055] In the specification, claims, and drawings of this application, terms such as “first,” “second,” etc., are used not to describe a specific sequence, but to distinguish different subjects. Furthermore, terms such as “include,” “compose,” or any other variants are intended to cover, without excluding, other components. For example, a process, method, system, product, or device comprising a series of steps or units may, but is not limited to, further include other steps or units not listed, or may, selectively, further include other steps or units specific to those processes, methods, products, or devices.

[0056] The terms “Examples” or “Embodiments” as used herein mean that any particular features, structures, or characteristics described in conjunction with an Example or Embodiment may be included in at least one embodiment of this application. The term “Examples” as used elsewhere in the specification does not necessarily refer to the same embodiment, nor are they mutually exclusive, independent, or optional embodiments. Those skilled in the art will understand, either expressly or implicitly, that the embodiments described herein can be combined with other embodiments.

[0057] This application provides a positioning method, a positioning device, a computer-readable storage medium, and a vehicle for two concepts (first concept and second concept). The embodiments shown in Figures 1 to 10 of this application are different embodiments under the first concept, where the same parts under the first concept are represented by the same reference numerals, and different reference numerals represent different parts. The embodiments shown in Figures 11 to 19 of this application are different embodiments under the second concept, where the same parts under the second concept are represented by the same reference numerals, and different reference numerals represent different parts. In the different concepts, the same reference numerals may represent different parts, and parts with the same name may be represented by different reference numerals. If the sequential numbering of the flowchart is the same under the different concepts, under each concept, each step performs the corresponding function in each embodiment.

[0058] The following describes, first, the positioning method, positioning device, computer-readable storage medium, and vehicle according to the first embodiment of the present application. The positioning method of the first embodiment of the present application can be applied to positioning in environments such as automobiles, buildings, and access control.

[0059] Referring to Figure 1, the positioning method of the first embodiment of this application is applied to a lock end and includes the following:

[0060] S101: Transmit the 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, record the first reception time of the first information, and transmit the 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.

[0061] Selectively, the lock end may be, but is not limited to, a car door lock, a smart door lock, or a lock on other means of transport.

[0062] Selectively, the key end may be, but is not limited to, an electronic device with communication capabilities, such as a mobile phone, tablet, bracelet, smartwatch, smart glasses, or car key.

[0063] Selectively, the lock end sends a positioning request message, i.e., sends the first information Pa1 to the key end, records the current time after transmission, i.e., 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 time of receipt as the first reception time Tb1 of the first information Pa1. Next, the key end packages the reply information for the first information Pa1 and records the time when 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 information Pb1, and then sends the second 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] Selectively, the lockend receives the second information Pb1, records the current time, i.e., 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 lockend calculates the difference Tb21 between the second transmission time Tb2 and the first reception time Tb1.

[0066] S103: Based on the first transmission time, 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 key end is calculated to achieve the positioning of the key end or the lock end.

[0067] Selectively, the lock end calculates the distance S between the lock end and the key end by substituting 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, where C is the propagation speed of the signal in air.

[0068] In the algorithm described above, Ta1, Ta2, and Tb21 are all timed, recorded, and calculated using the same system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end, thereby improving the positioning accuracy of the UWB key.

[0069] The positioning method according to the first concept of this application improves interaction accuracy in the algorithm. During the information transmission and reception process, time is recorded and calculated using the same timing system during positioning, thereby erasing the transmission time within the same device and obtaining the precise time of information propagation between the lock end and the key end. Next, the average time is obtained by repeating the measurement multiple times, further reducing the time error. Positioning accuracy is improved by performing calculations using a multipath average distance measurement algorithm.

[0070] Referring to Figure 2, in one possible embodiment, the positioning method of the first embodiment of this application further includes the following:

[0071] S201: The process of transmitting the first piece of information and receiving the second piece of information is 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).

[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, the distance between the lock end and the key end is calculated as follows to achieve the positioning of the key end or the lock end. The distance S between the lock end and the key end is calculated 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.

[0073] Specifically, each iteration includes the time it takes for information to be sent from the lock end to the key end, the time it takes for the information to be processed within the key end, and the time it takes for the information to be sent from the key end to the lock end. In the first iteration, Tb21 is the time it takes for the information to be processed within the key end, and Ta2-Ta1-Tb21 is the sum of the time it takes for the information to be sent from the lock end to the key end and the time it takes for the information to be sent from the key end to the lock end. Dividing the sum of these times by 2 gives the time it takes for the information to be transmitted once between the lock end and the key end. In the mth iteration, Tb(2m)(2m-1) is the time it takes for the information to be processed within the key end, and Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1) is the sum of the time it takes for the information to be sent from the lock end to the key end and the time it takes for the information to be sent from the key end to the lock end. Dividing the sum of these times by 2m gives the average time it takes for the information to be transmitted once between the lock end and the key end.

[0074] In the algorithm described above, Ta1, Ta2…Ta(2m), Tb1, Tb2…Tb(2m), and Tb21…Tb(2m)(2m-1) are all recorded and calculated using the same timing system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end. Furthermore, since the multi-pass averaging method is used, the accuracy increases as the value of m increases, significantly improving the positioning accuracy of the positioning technology described in this application. Selectively, when the number of repetitions m is 3, the positioning accuracy reaches 10 cm.

[0075] Referring to Figure 3, in one possible embodiment, the positioning method of the first embodiment of the present application further includes the following before transmitting the first information:

[0076] S301: 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.

[0077] S302: The distance between the lock end and the key end is calculated as follows to achieve positioning of the key end or the lock end: S = [ (Tb1-Tb0)-(Ta1-Ta0)+Ta2-Ta1-Tb21+…+Ta(2m)-Ta(2m-1)- Tb(2m)(2m-1)] × C ÷ (2m+2) Based on this, calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in air.

[0078] Selectively, before the lock end transmits the first information, the key end packages the positioning request information, records the time when packaging is complete as the third transmission time Tb0, then packages the third transmission time Tb0 into the positioning request information 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 time it takes for the third information Pb0 to be transmitted from the key end to the lock end, and the time it takes for the third information Pb0 to be executed internally by the lock end. 1st information This is the total time it takes to transmit from the lock end to the key end. (Ta1-Ta0) is the time it takes for the third piece of information Pb0 to be executed inside the lock end. Dividing (Tb1-Tb0)-(Ta1-Ta0) by 2 gives the time it takes for the third piece of information Pb0 to be transmitted once between the lock end and the key end. In this embodiment, the positioning method has an additional step initiated by the key end, and a repeating pass (Tb1-Tb0)-(Ta1-Ta0) is added based on the formula S=[Ta2-Ta1-Tb21+…+Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1)]×C÷(2m). Finally, the number of repetitions is also (m+1), and the number of round trips of the signal being divided also becomes 2(m+1), i.e., (2m+2).

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

[0080] In one possible embodiment, the positioning method of the first embodiment of this application comprises a lock end having P positioning modules, where P ≥ 3, and the positioning method further includes: calculating the distance between each of the P positioning modules in the lock end and the key end; and positioning 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 first embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated assuming that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

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

[0083] In one possible embodiment, the positioning method of the second embodiment of this application is applied to a key end and includes the following: The system receives the first piece of information from the lockend and records the time of the first receipt of that information. Second information is transmitted 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 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, second reception time of the first information, and the difference between the second transmission time and the first reception time, in order to position the key end or the lock end.

[0084] In one possible embodiment, the positioning method of the second embodiment of this application involves repeatedly receiving first information from a lock end and transmitting 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 is positioned by 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, as follows: The distance S between the lock end and the key end is calculated 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.

[0085] In one possible embodiment, the positioning method of the second embodiment of this application further includes the following before receiving first information from the lock end: 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. The distance between the lock end and the key end is calculated to achieve positioning of the key end or the lock end as follows: S = [ (Tb1-Tb0)-(Ta1-Ta0)+Ta2-Ta1-Tb21+…+Ta(2m)-Ta(2m-1)- Tb(2m)(2m-1)]×C÷(2m+2) Based on this, calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in air.

[0086] In one possible embodiment, the positioning method of the second embodiment of this application comprises a lock end having P positioning modules, P ≥ 3, and the positioning method further includes: calculating the distance between each of the P positioning modules in the lock end and the key end; and positioning the key end based on the distance between each of the P positioning modules and the key end.

[0087] Specifically, according to the algorithm according to the second embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated, provided that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

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

[0089] For a detailed explanation, please refer to the embodiments described above in this application, but we will not repeat them here.

[0090] Referring to Figure 4, the positioning method of the third embodiment of this application is applied to a key end and includes the following:

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

[0092] Selectively, the key end may be, but is not limited to, an electronic device with communication capabilities, such as a mobile phone, tablet, bracelet, smartwatch, or smart glasses.

[0093] Selectively, the lock end may be, but is not limited to, a car door lock, a smart door lock, or a lock on other means of transport.

[0094] Selectively, the key end sends a positioning request message, i.e., sends fourth information Pa1 to the lock end, records the current time after transmission, i.e., obtains the fourth transmission time Ta1. The lock end performs the following operations: The lock end receives fourth information Pa1, records the reception time, i.e., obtains the fourth reception time Tb1 of fourth information Pa1. The lock end sends fifth information to the key end, which includes 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 complete as the sixth transmission time.

[0096] Selectively, 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 complete, calculates the value Ta21 (Ta2-Ta1), begins calculating the value Ta32 (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 instruct the lockend 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 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] Selectively, the key end is the sixth information Pa3. Send to the lock end. The lock end is The sixth information item's sixth reception time Tb3 Record The sixth piece of information, Pa3, further includes the sixth transmission time, Ta3, the difference between the fifth reception time, Ta2, and the fourth transmission time, Ta21, and the difference between the sixth transmission time and the fifth reception time, Ta32.

[0099] S404: Based on the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the key end and the lock end is calculated to achieve the positioning of the lock end or key end.

[0100] Selectively, 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, as well as 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, where C is the propagation speed of the signal in air.

[0101] In the algorithm described above, Ta1, Ta2, and Tb21 are all timed, recorded, and calculated using the same system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end, thereby improving the positioning accuracy of the UWB key.

[0102] Referring to Figure 5, in one possible embodiment, the positioning method of the third embodiment of this application further includes the following:

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

[0104] S502: Based on the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the key end and the lock end is calculated as follows to achieve the positioning of the lock end or key end. The distance S between the lock end and the key end is calculated 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 air.

[0105] Specifically, each iteration includes the time it takes for the fourth piece of information to be sent from the key end to the lock end, the time it takes for the fourth piece of information to be executed inside the lock end, the time it takes for the fifth piece of information to be sent from the lock end to the key end, the time it takes for the fifth piece of information to be executed inside the key end, and the time it takes for the sixth piece of information to be sent from the key end to the lock end.

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

[0107] In the algorithm described above, Ta1, Ta2…Ta(2m+1), Tb1, Tb2…Tb(2m+1), and Tb21…Tb(2m+1)(2m) are all recorded and calculated using the same timing system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end. Furthermore, since the multi-pass averaging method is used, the accuracy increases as the value of m increases, significantly improving the positioning accuracy of the positioning technology described in this application. Selectively, when the number of repetitions m is 2, the positioning accuracy reaches 10 cm.

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

[0109] S601: Receives the seventh piece of information from the lock end and records 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 7th transmission time Tb0, the 7th reception time Ta0, the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the lock end and the key end is calculated as follows to achieve the positioning of the key end or the lock end: 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) Based on this, calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in air.

[0111] Selectively, before the key end transmits the fourth information, the lock end packages the positioning request information, records the time when packaging is completed as the seventh transmission time Tb0, and then packages the seventh transmission time Tb0 into the positioning request information. 7thObtain information Pb0, and then, 7th Information Pb0 is sent to the key end. Specifically, (Ta1-Ta0) is when the 7th piece of information Pb0 is Key End This is the time it takes to run internally, and (Tb1-Tb0)-(Ta1-Ta0) is, 4th information This is the sum of the time it takes for the information to be transmitted from the key end to the lock end and the time it takes for the seventh piece of information Pb0 to be transmitted from the lock end to the key end. (Tb2-Tb1) is the time it takes for the information to be processed inside the lock end, and (Ta2-Ta1)-(Tb2-Tb1) is the sum of the time it takes for the information to be transmitted from the key end to the lock end and the time it takes for the information to be transmitted from the lock end to the key end. Thus, dividing (Tb1-Tb0)-(Ta1-Ta0) + (Ta2-Ta1)-(Tb2-Tb1) by 4 gives the time it takes for the information to be transmitted once between the lock end and the key end. In this embodiment, the positioning method includes an additional step initiated by a lock end, and a repeating pass (Tb1-Tb0)-(Ta1-Ta0) +(Ta2-Ta1)-(Tb2-Tb1) is added 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). Finally, the number of repetitions also becomes (m+1), and the number of round trips of the signal being divided also becomes 4(m+1), i.e., (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 a formula.

[0113] In one possible embodiment, the positioning method of the third embodiment of this application comprises a lock end having P positioning modules, where P ≥ 3, and the positioning method further includes: calculating the distance between the key end and each of the P positioning modules in the lock end; and positioning the key end based on the distance between the key end and each of the P positioning modules in the lock end.

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

[0115] Specifically, according to the algorithm according to the third embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated, provided that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

[0116] The positioning method of the fourth embodiment of this application is applied to a lock end and includes the following: The fourth piece of information is received from the key end, and the fourth reception time of the fourth piece of information is recorded. The fifth piece of information, including the request information, is sent to the key end, and the fifth transmission time of the fifth piece of information is recorded. The fifth piece of information is received by the key end, the fifth reception time of the fifth piece of information is recorded, the fifth piece of information is packaged, and the current time after packaging is completed is recorded as the sixth transmission time, as well as the difference between the fifth reception time of the fifth piece of information and the fourth transmission time of the fourth piece of information, and 6th transmission time and Fifth reception time of the fifth piece of information. to It is used to calculate the difference and send the sixth piece of information to the lockend. The system receives the sixth piece of information from the key end and records 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. Based on the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the key end and the lock end is calculated to achieve the positioning of the lock end or key end.

[0117] In one possible embodiment, the positioning method of the fourth embodiment of this application involves repeatedly receiving fourth information from a key end, transmitting fifth information, and 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). Based on the difference between the 5th reception time and the 4th transmission time, the 4th reception time, the 5th transmission time, the 6th reception time, and the difference between the 6th transmission time and the 5th reception time, the distance between the key end and the lock end is calculated as follows to achieve the positioning of the lock end or key end. The distance S between the lock end and the key end is calculated 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.

[0118] In one possible embodiment, the positioning method of the fourth embodiment of this application further includes, before receiving fourth information from the key end: 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. 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, the distance between the lock end and the key end is calculated as follows to achieve positioning of the key end or the lock end. 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) Based on this, calculate the distance S between the lock end and the key end. C is the propagation speed of the signal in air.

[0119] In one possible embodiment, the positioning method of the fourth embodiment of this application comprises a lock end having P positioning modules, where P ≥ 3, and the positioning method further includes: calculating the distance between the key end and each of the P positioning modules in the lock end; and positioning the key end based on the distance between the key end and each of the P positioning modules in the lock end.

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

[0121] Specifically, according to the algorithm according to the fourth embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated, provided that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

[0122] For a detailed explanation, please refer to the embodiments described above in this application, but we will not repeat them here.

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

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

[0125] next, The positioning modules within the lock end are the first positioning module, the second positioning module, and the third positioning module. and the fourth positioning module The first positioning module is calibrated as A, with coordinates (X1, Y1, Z1). The second positioning module is calibrated as B, with coordinates (X2, Y2, Z2). The third positioning module is calibrated as C, with coordinates (X3, Y3, Z3). The fourth positioning module is calibrated as D, with coordinates (X4, Y4, Z4).

[0126] Specifically, after 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 includes 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, ……, the Pth positioning module. The coordinates of the Pth 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] moreover, Set the position of the key end as point K, and 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)[[ID=4…]] 2 +(Zk - Z4) 2 。

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

[0130] A fifth embodiment of this application provides a positioning device applied to a lock end. The positioning device comprises a first transmitting module, a first receiving module, and a first calculating module. The first transmitting module is configured to transmit first information to the key end and record the first transmission time of the first information, which is used to cause the key end to receive the first information, record the first reception time of the first information, and transmit second information to the lock end, which includes request information, the second transmission time of the request information, and the first reception time. The first receiving module is configured to receive second information from the key end and to 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 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, thereby enabling the positioning of the key end or lock end.

[0131] Selectively, the lock end sends a positioning request message, i.e., sends the first information Pa1 to the key end, records the current time after transmission, i.e., 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 time of receipt as the first reception time Tb1 of the first information Pa1. Next, the key end packages the reply information for the first information Pa1 and records the time when 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 information Pb1, and then sends the second information Pb1 to the lock end. The lock end receives the second information Pb1, records the current time, i.e., 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 lock end is calculated by substituting 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, where C is the propagation speed of the signal in air. The first transmission time is denoted as Ta1, the second reception time as Ta2, and the difference between the second transmission time and the first reception time as Tb21.

[0133] In a possible embodiment, the positioning device described in the fifth embodiment of this application, The first transmitting module is configured to repeatedly transmit first information, and the first receiving module is configured to repeatedly receive second information synchronously, with 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). A 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, in order to achieve positioning of the key end or lock end, The system 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 air.

[0134] Specifically, each iteration includes the time it takes for information to be sent from the transmitting module to the key end, the time it takes for the information to be processed within the key end, and the time it takes for the information to be sent from the key end to the receiving module. In the first iteration, Tb21 is the time it takes for the information to be processed within the key end, and Ta2-Ta1-Tb21 is the sum of the time it takes for information to be sent from the lock end to the key end and the time it takes for information to be sent from the key end to the lock end. Dividing the sum of these times by 2 gives the time it takes for information to be transmitted once between the lock end and the key end. In the mth iteration, Tb(2m)(2m-1) is the time it takes for information to be processed within the key end, and Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1) is the sum of the time it takes for information to be sent from the lock end to the key end and the time it takes for information to be sent from the key end to the lock end. Dividing the sum of these times by 2m gives the average time it takes for information to be transmitted once between the lock end and the key end.

[0135] In the algorithm described above, Ta1, Ta2…Ta(2m), Tb1, Tb2…Tb(2m), and Tb21…Tb(2m)(2m-1) are all recorded and calculated using the same timing system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end. Furthermore, since the multi-pass averaging method is used, the accuracy increases as the value of m increases, significantly improving the positioning accuracy of the positioning technology described in this application. Selectively, when the number of repetitions m is 3, the positioning accuracy reaches 10 cm.

[0136] In a possible embodiment, the positioning device described in the fifth embodiment of this application is configured such that, prior to the first transmitting module transmitting first information, the first receiving module further receives third information from the key end and records 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. A first computing module configured to calculate the distance between a lock end and a key end to achieve the positioning of the key end or the lock end, The system 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-Tb21+…+Ta(2m)-Ta(2m-1)- Tb(2m)(2m-1)]×C÷(2m+2), where C is the propagation speed of the signal in air.

[0137] Selectively, before the transmitting module transmits the first information, the key end packages the positioning request information, records the time when packaging is complete as the third transmission time Tb0, then packages the third transmission time Tb0 into the positioning request information 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 time when the third information Pb0 is transmitted from the key end to the receiving module and the time when the third information Pb0 is executed inside the positioning device, 1st informationThis is the total time it takes to transmit from the transmitting module to the key end. (Ta1-Ta0) is the time it takes for the third piece of information Pb0 to be executed inside the lock end. Dividing (Tb1-Tb0)-(Ta1-Ta0) by 2 gives the time it takes for the third piece of information Pb0 to be transmitted once between the lock end and the key end. In this embodiment, the positioning device is given a feature initiated by the key end, and a repeating pass (Tb1-Tb0)-(Ta1-Ta0) is added based on the formula S=[Ta2-Ta1-Tb21+…+Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1)]×C÷(2m). Finally, the number of repetitions is also (m+1), and the number of round trips of the signal being divided is also 2m, which is 2(m+1), i.e., (2m+2).

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

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

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

[0141] Specifically, according to the algorithm according to the fifth embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated, provided that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

[0142] Selectively, 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] A sixth embodiment of this application provides a positioning device applied to a key end. The positioning device comprises 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 to record the first reception time of the first information. The second transmitting module is configured to transmit second information to the lock end, which includes request information, a second transmission time of the request information, and a first reception time, and 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 positioning device based on the first transmission time, second reception time of the first information, and the difference between the second transmission time and the first reception time, in order to achieve positioning of the key end or the lock end.

[0144] In a possible embodiment, the positioning device described in the sixth embodiment of this application, The second receiving module is configured to repeatedly receive the first information from the lock end and synchronously transmit the second information to the lock end, with m being the number of repetitions, Ta(2m-1) being the first transmission time, Ta2m being the second reception time, Tb(2m-1) being the first reception time, Tb2m being the second transmission time, and the difference between the second transmission time and the first reception time is Tb(2m)(2m-1). A 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, thereby achieving positioning of the key end or lock end, The system 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.

[0145] In a possible embodiment, the positioning device described in the sixth embodiment of the present application is configured such that, prior to the positioning device receiving first information from the lock end, a second transmitting module further transmits third information to the lock end and records a 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 in order to achieve positioning of the key end or the lock end is, The formula is S = [ (Tb1-Tb0)-(Ta1-Ta0)+Ta2-Ta1-Tb21+...+Ta(2m)-Ta(2m-1)-Tb(2m)(2m-1)] × C ÷ (2m+2) Based on this, the system is configured to calculate the distance S between the lock end and the positioning device, where C is the propagation speed of the signal in air.

[0146] In a possible embodiment, the positioning device described in the sixth embodiment of this application further comprises a lock end with P positioning modules, where P ≥ 3, and the lock end is configured to further calculate the distance between each of the P positioning modules in the lock end and the positioning device, and to position the key end based on the distance between each of the P positioning modules and the positioning device.

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

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

[0149] Specifically, according to the algorithm according to the sixth embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated, provided that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

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

[0151] For a detailed explanation, please refer to the embodiments described above in this application, but we will not repeat them here.

[0152] Embodiments of the seventh aspect of this application provide a positioning device to be applied to a key end. The positioning device comprises a third transmitting module, a third receiving module, and a third calculating module. The third transmitting module is configured to transmit fourth information to the lock end and record the fourth transmission time of the fourth information, which 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 receiving module is configured to receive the fifth piece of information from the lock end, 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 complete as the sixth transmission time. A third transmitting module is further configured to transmit sixth information to the lock end, which is used to cause the lock end to receive the sixth information and record the sixth reception time of the sixth information, which 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, thereby achieving positioning of the lock end or key end.

[0153] Specifically, the transmitting module transmits the fourth piece of information and records the fourth transmission time Ta1 of the fourth piece of information. The fourth piece of information is used to instruct the lock end to receive the fourth piece of information, record the fourth reception time Tb1 of the fourth piece of information, transmit the fifth piece of information including the request information to the receiving module, and record the fifth transmission time Tb2 of the request information. The receiving module receives the fifth piece of information, records the fifth reception time Ta2 of the fifth piece of information, packages the fifth piece of information, and records the current time after packaging is complete as the sixth transmission time Ta3. The transmitting module transmits the sixth piece of information. The sixth piece of 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 piece of information and records the sixth reception time Tb3 of the sixth piece of 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, thereby achieving positioning of the lock end or key end.

[0154] Selectively, 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, as well as 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, where C is the propagation speed of the signal in air.

[0155] In the algorithm described above, Ta1, Ta2, and Tb21 are all timed, recorded, and calculated using the same system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end, thereby improving the positioning accuracy of the UWB key.

[0156] In a possible embodiment, the positioning device described in the seventh embodiment of this application is configured such that a third transmitting module is configured to repeatedly transmit fourth information, a third receiving module is configured to repeatedly receive fifth information synchronously, and the third transmitting module is further configured to repeatedly transmit sixth information, the number of repetitions being m, the fourth transmission time being Ta(2m-1), the fourth reception time being Tb(2m-1), the fifth transmission time being Tb2m, the fifth reception time being Ta2m, the sixth transmission time being Ta(2m+1), and the sixth reception time being Tb(2m+1). The third calculation module is configured to calculate the difference between the fifth reception time Ta2m and the fourth transmission time Ta(2m-1), which is Ta2m(2m-1), and the difference between the sixth transmission time and the fifth reception time, which is Ta(2m+1)2m. A 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, thereby achieving positioning of the lock end or key end, The system 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.

[0157] Specifically, each iteration includes the time it takes for the fourth information to be transmitted from the positioning device to the lock end, the time it takes for the fourth information to be executed inside the lock end, the time it takes for the fifth information to be transmitted from the lock end to the positioning device, the time it takes for the fifth information to be executed inside the positioning device, and the time it takes 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 it takes for the fourth piece of information to be processed inside the lock end, and Ta21-(Tb2-Tb1) is the sum of the time it takes for the fourth piece of information to be sent from the transmitting module to the lock end and the time it takes for the fifth piece of information to be sent from the lock end to the receiving module. Ta32 is the time it takes for the fifth piece of information to be processed inside the key end, and (Tb3-Tb2)-Ta32 is the sum of the time it takes for the fifth piece of information to be sent from the lock end to the positioning device and the time it takes for the sixth piece of information to be sent from the positioning device to the lock end. Ta21-(Tb2-Tb1)+(Tb3-Tb2)-Ta32 is the time it takes for one iteration, and dividing this by 4 gives the time it takes for the information to be transmitted once between the lock end and the key end. In the mth iteration, [Tb(2m)-Tb(2m-1)] is the time it takes for the fourth piece of information to be executed inside the lock end, and Ta(2m)(2m-1)-[Tb(2m)-Tb(2m-1)] is the sum of the time it takes for the fourth piece of information to be sent from the key end to the lock end and the time it takes for the fifth piece of information to be sent from the lock end to the key end. Ta(2m+1)(2m) is the time it takes for the fifth piece of information to be executed inside the key end, and [Tb(2m+1)-Tb (2m)]-Ta(2m+1)(2m) is the sum of the time it takes for the fifth piece of information to be sent from the lock end to the key end and the time it takes for the sixth piece of information to be sent 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 repetition, and dividing it by 4m gives the time it takes for information to be transmitted once between the lock end and the key end.

[0159] In the algorithm described above, Ta1, Ta2…Ta(2m+1), Tb1, Tb2…Tb(2m+1), and Tb21…Tb(2m+1)(2m) are all recorded and calculated using the same timing system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end. Furthermore, since the multi-pass averaging method is used, the accuracy increases as the value of m increases, significantly improving the positioning accuracy of the positioning technology described in this application. Selectively, when the number of repetitions m is 2, the positioning accuracy reaches 10 cm.

[0160] In a possible embodiment, the positioning device described in the seventh embodiment of this application, Prior to the third transmitting module transmitting 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, and the fifth information further includes the seventh transmission time Tb0 and the seventh reception time Ta0 of the seventh information. A lock end configured to calculate the distance between the lock end and the positioning device based on the 7th transmission time Tb0, the 7th reception time Ta0, the 4th transmission time, the difference between the 5th transmission time and the 4th reception time, the difference between the 6th transmission time and the 5th reception time, and the 6th reception time, thereby achieving the positioning of the key end or lock end, The system 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.

[0161] Selectively, before the transmitting module transmits the fourth information, the lock end packages the positioning request information, records the time when packaging is complete as the seventh transmission time Tb0, and then packages the seventh transmission time Tb0 into the positioning request information. 7th Obtain information Pb0, and then, 7th Information Pb0 is sent to the key end. Specifically, (Ta1-Ta0) is when the 7th piece of information Pb0 is Key End This is the time it takes to run internally, and (Tb1-Tb0)-(Ta1-Ta0) is, 4th information This is the sum of the time it takes for the information to be transmitted from the key end to the lock end and the time it takes for the seventh piece of information Pb0 to be transmitted from the lock end to the key end. (Tb2-Tb1) is the time it takes for the information to be processed inside the lock end, and (Ta2-Ta1)-(Tb2-Tb1) is the sum of the time it takes for the information to be transmitted from the key end to the lock end and the time it takes for the information to be transmitted from the lock end to the key end. Thus, dividing (Tb1-Tb0)-(Ta1-Ta0) + (Ta2-Ta1)-(Tb2-Tb1) by 4 gives the time it takes for the information to be transmitted once between the lock end and the key end. In this embodiment, the positioning method includes an additional step initiated by a lock end, and a repeating pass (Tb1-Tb0)-(Ta1-Ta0) +(Ta2-Ta1)-(Tb2-Tb1) is added 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). Finally, the number of repetitions also becomes (m+1), and the number of round trips of the signal being divided also becomes 4(m+1), i.e., (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 a formula.

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

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

[0165] Specifically, according to the algorithm according to the seventh embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated, provided that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

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

[0167] Embodiments of the eighth aspect of this application further provide a positioning device applied to a lock end. The positioning device comprises a fourth transmitting module, a fourth receiving module, and a fourth calculating module. The fourth receiving module is configured to receive fourth information from the key end and to record the fourth reception time of the fourth information. The fourth transmission module is configured to transmit fifth information containing request information to the key end and to 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 is complete as the sixth transmission time, as well as the difference between the fifth reception time of the fifth information and the fourth transmission time of the fourth information, and 6th transmission time and Fifth reception time of the fifth piece of information. to It is used to calculate the difference and transmit the sixth piece of information to the positioning device, and to perform the following actions. The fourth receiving module is further configured to receive sixth information from the key end and record the sixth reception time of the sixth information, which 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, thereby enabling the positioning of the lock end or key end.

[0168] In a possible embodiment, the positioning device described in the eighth embodiment of this application, The fourth receiving module is configured to repeatedly receive the fourth piece of information from the key end, the fourth transmitting module is configured to repeatedly transmit the fifth piece of information to the key end synchronously, and the fourth receiving module is further configured to repeatedly receive the sixth piece of information from the key end, with the number of repetitions being m, the fourth transmission time being Ta(2m-1), the fourth reception time being Tb(2m-1), the fifth transmission time being Tb2m, the fifth reception time being Ta2m, the sixth transmission time being Ta(2m+1), and the sixth reception time being 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. A 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, thereby achieving the positioning of the lock end or key end, The system 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.

[0169] In a possible embodiment, the positioning device described in the eighth embodiment of this 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. A 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, thereby achieving the positioning of the key end or lock end, 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) Based on this, the system is configured to calculate the distance S between the positioning device and the key end, where C is the propagation speed of the signal in air.

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

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

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

[0173] Specifically, according to the algorithm according to the eighth embodiment of this application, the distance between each positioning module in the lock end and the key end is calculated, provided that the position of each positioning module is fixed and the obtained distances between each positioning module and the key end are different from each other. The key end is positioned based on the difference in distances between each positioning module and the key end.

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

[0175] For a detailed explanation, please refer to the embodiments described above in this application, but we will not repeat them here.

[0176] Specifically, referring to Figure 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, which 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 the key end. As soon as the Bluetooth component detects and recognizes the key end, the Bluetooth component stops detection and transmits a signal to activate the broadband component. The broadband component is connected to the key end for wireless communication and calculates the position of the key end relative to the electronic device 100.

[0177] Selectively, 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 low-energy sleep mode, and the UWB device is in off mode. Therefore, when electronic device 100 is not powered on, it is in low-energy mode.

[0178] Selectively, the electronic device 100 further comprises a near-field communication (NFC) device, the NFC device being used to control the electronic device 100 in case of a power shortage at the key end.

[0179] Selectively, the electronic device 100 further comprises a camera 6, an infrared emitter 5, and a proximity sensor 8. The camera 6 and the infrared emitter 5 are electrically connected to the proximity sensor 8, and the camera 6 is electrically connected to the infrared emitter 5. When a living organism approaches the electronic device 100, the proximity sensor 8 detects the organism and transmits a signal to activate the infrared emitter 5 and the camera 6. The infrared emitter 5 emits infrared light towards the living organism, and the camera 6 receives and models the infrared light from the living organism.

[0180] Selectively, infrared emitter 5 emits infrared light with a wavelength range of 780 nm to 2500 nm.

[0181] Selectively, the imaging device 6 is equipped with an imaging lens. The imaging lens is either a fixed-focus lens (prime lens) or a zoom lens. The number of imaging lenses can be monocular, binocular, or multiocular.

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

[0183] Selectively, if the proximity sensor 8 does not detect a living being approaching the electronic device 100, the imaging device 6 enters a low-power mode. Selectively, the proximity sensor 8 may be, but is not limited to, a fingerprint module, a button, a capacitive sensor for detecting humans, or an infrared sensor.

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

[0185] Selectively, electronic equipment 100 The assembly further comprises a bracket 2, a trim glass 1, and pins 4. The bracket 2 is positioned around at least one side of the trim glass 1. The pins 4 are used to secure the circuit board assembly to the bracket 2. The bracket 2 is further provided with mounting points 3. The mounting points 3 are 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 curved formability and can be formed by hot bending.

[0186] The electronic device 100 further comprises P positioning modules, where P ≥ 3. The electronic device 100 further calculates the distance between the key end and each of the P positioning modules within the electronic device 100, and uses these distances to position the key end.

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

[0188] Selectively, referring to Figure 8, the process by which the electronic device 100 calculates the position of the key end relative to the lock end specifically includes the following:

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

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

[0191] S803: As soon as the Bluetooth device detects a Bluetooth connection request from the key end, the Bluetooth device stops periodically detecting Bluetooth connection requests and simultaneously authenticates the key end. After successful authentication, it activates the broadband device.

[0192] S804: The key end transmits a signal to each of the P positioning modules in the electronic device 100. The electronic device 100 calculates the distance between itself and each of the activity modules using a multipath ranging algorithm. S805: The electronic device 100 calculates the position of the activity module using a distance algorithm based on the distance between the electronic device 100 and each activity module, and the distance between the communication module and the activity module.

[0193] In one possible embodiment, an embodiment of the ninth aspect of this application provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable program code, which is used to cause a computer to execute the positioning method described in this application.

[0194] Referring to Figures 9 and 10, in one possible embodiment, an embodiment of the tenth aspect of this application provides a vehicle 200. The vehicle 200 comprises a memory 220 and a processor 210 electrically connected to the memory 220, wherein the memory 220 stores program code executable by the processor 210, and when the program code is called and executed by the processor 210, the positioning method described in this application is performed.

[0195] Selectively, referring to Figure 9, the vehicle 200 receives a signal from the electronic key 300 and positions the electronic key 300 by performing the positioning method described in this application.

[0196] Specifically, referring to Figure 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, such as program instructions / modules corresponding to the positioning method in the embodiment of the present invention. The processor 210 executes various functional applications and data processing of the server by executing the non-volatile software programs, instructions and modules stored in the memory 220, that is, it realizes the positioning method of the above embodiment.

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

[0198] Specifically, the positioning device described in this application improves interaction accuracy in the algorithm. During the information transmission and reception process, time is recorded and calculated using the same timing system during positioning, thereby erasing the transmission time within the same device and obtaining the precise time of information propagation between the lock end and the key end. Next, the average time is obtained by repeating the measurement multiple times, further reducing the time error. Positioning accuracy is improved by performing calculations using a multipath average distance measurement algorithm. When the positioning device described in this application is mounted on a vehicle 200, more precise positioning information can be obtained, enabling precise positioning of the key end to the 10cm level. The vehicle 200 in this application may be, but is not limited to, a passenger car, multi-purpose vehicle (MPV), sport / suburban utility vehicle (SUV), off-road vehicle (ORV), pickup truck, minivan, passenger car, truck, etc.

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

[0200] Referring to Figure 11, this application provides a positioning method applicable to a lock end, which comprises multiple antenna modules. The method includes the following:

[0201] S 1 101: Receive request information from the key end and calculate the reception time when each of the multiple antenna modules received 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 multiple antenna modules received the request information. In other words, the lock end calculates the time when the request information reached each antenna module. Since each antenna module is located in a different position and is at a different distance from the key end, the time when the request information reaches each antenna module may differ.

[0203] Selectively, the lock end may be, but is not limited to, a car door lock, a smart door lock, or a lock on other means of transport.

[0204] Selectively, the key end may be, but is not limited to, an electronic device with communication capabilities, such as a mobile phone, tablet, bracelet, smartwatch, smart glasses, or car key.

[0205] Selectively, the number of antenna modules is 3 to 7, specifically, it may be 3, 4, 5, 6, or 7, but is not limited to these. A larger number of antenna modules results in higher positioning accuracy of the key end, making precise positioning and unlocking easier.

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

[0207] S 1 102: Based on the coordinates of multiple antenna modules in a pre-set coordinate system and the reception time of each antenna module, the coordinates of the key end are calculated to achieve key end positioning.

[0208] Selectively, when the lock end receives positioning request information from the key end, it responds to the request information by determining the origin point O at the lock end based on a preset coordinate system. In this case, the coordinate position of each antenna module is determined, and based on the reception time of each antenna module, the distance between each antenna module and the key end is determined, and based on that distance, the coordinates of the key end are calculated, enabling the positioning of the key end.

[0209] Specifically, the coordinate system is already calibrated and input before being used for lock-end operations. Selectively, the coordinate system is established after the application scene has been verified.

[0210] In some embodiments, the lock end is a vehicle, and the vehicle has four doors. There are four antenna modules, each antenna module is installed corresponding to one door, and the four antenna modules are installed in a square, located at the four corners of the square, with the side length of the square being 2m. The position of one of the four antenna modules is taken as the origin, and the coordinates of this 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 method includes the following.

[0212] S 1 201: 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] S 1 202: Take one point in the lock end as the origin, denote 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, take one point in the lock end as the origin (0, 0, 0), and based on the origin, in the coordinate system based on the preset coordinate system, record the coordinates of the first antenna module as (Xa, Ya, Za) in the coordinate system, record the coordinates of the second antenna module as (Xb, Yb, Zb), and record the coordinates of the third antenna module as (Xc, Yc, Zc). Optionally, the coordinates of any component in the lock end can be shown in the coordinate system and are used to reflect the spatial position of the corresponding component in the lock end.

[0216] S 1 203:

Number

[0217] Selectively, the key end transmits request information. The reception time corresponding to the first antenna module to receive the request information is recorded as Ta, the reception time corresponding to the second antenna module to receive the request information is recorded as Tb, the reception time corresponding to the third antenna module to receive the request information is recorded as Tc, and similarly, the reception time corresponding to the nth antenna module to receive the request information is recorded as Tn. The lock end receives the request information from each antenna module and calculates the different reception times for each antenna module, i.e., Ta, Tb, Tc...Tn. Based on the reception times of each antenna module, the coordinates of the key end are calculated to achieve key end positioning.

[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. We can deduce that |KA-KB|=|Ta-Tb|×C, |KB-KC|=|Tb-Tc|×C, and |KC-KA|=|Tc-Ta|×C. From this, we can calculate the precise coordinate position (Xk, Yk, Zk) of the key end.

[0219] Referring to Figure 13, in one possible embodiment, the lock end comprises a control module and a plurality of antenna modules. The control module is communicatively connected to the plurality of antenna modules via cables.

[0220] S 1 301: Request information is received and acquired from the key end, and the acquisition time of each antenna module that received the request information is recorded.

[0221] Specifically, multiple antenna modules within the lock end receive request information from the key end. The control module records the acquisition time when each antenna module receives the request information. The acquisition time includes the request time when multiple antenna modules received the request information from the key end, and the time it takes for the request information to travel from the antenna modules to the control module within the lock end.

[0222] S 1 302: Based on the cable length L between the control module and the antenna module, and the acquisition time T', the reception time T for each antenna module is calculated according to T = T' - L ÷ V0, where V0 is the propagation speed of the positioning information in the cable.

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

[0224] Selectively, the first acquisition time for the first antenna module is Ta', and the second acquisition time for the second antenna module is Tb'. Third The third acquisition time for the 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: Let the first reception time of the first antenna module be Ta, then Ta = Ta' - La ÷ V0. Let the second reception time of the second antenna module be Tb, then Tb = Tb' - Lb ÷ V0. Let the third reception time of the third antenna module be 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 using the same timing system. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end. Furthermore, the length of the cable between the control module and the antenna module is calibrated to further improve positioning accuracy. A positioning accuracy of 10 cm can be achieved with four antenna modules, which is sufficient to meet current accuracy requirements. In addition, higher accuracy can be obtained by increasing the number of antenna modules. Selectively, the cable lengths La, Lb, and Lc can be equal, and the software algorithm can be simplified.

[0226] S 1 303: Based on the coordinates of multiple antenna modules in a pre-set coordinate system and the reception time of each antenna module, the coordinates of the key end are calculated to achieve key end positioning.

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

[0228] S 1 401: The vehicle receives request information from the key end, calculates the reception time at which each antenna module received 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. If the key end is outside the vehicle, an external antenna module is used to communicate with the key end. If the key end is inside the vehicle, an internal antenna module is used to communicate with the key end. S1 402: 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 at the driver's seat, the engine of the vehicle 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 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 of the key end inside and outside the lock end.

[0230] Specifically, when the lock end is a vehicle, the vehicle's exterior is generally made of materials such as sheet metal that can interfere with information transmission. To maintain smooth wireless transmission of information between the key end and the vehicle, if the key end is outside the vehicle, the external antenna modules of each antenna module of the vehicle are wirelessly connected to the key end to receive signals from the key end. If the key end moves from outside the vehicle to inside the vehicle, the signal transmission line between the key end and the external antenna module is obstructed and blocked by the vehicle's exterior. In this case, an internal antenna module is wirelessly connected to the key end instead of the external antenna module, maintaining a smooth signal transmission line between the key end and the antenna module and completing the continuous positioning of the key end both inside and outside the vehicle. Furthermore, the vehicle itself positions the key end by constructing a coordinate system, and the vehicle facilitates the realization of other functions by more accurately determining the positional relationship between the key end and each part of the vehicle itself based on the position of each part of the vehicle itself in the coordinate system. Selectively, if the key end is outside the vehicle and close to the vehicle, it is possible to open the door closest to the key end based on the coordinates of the key end. If the key end is inside the vehicle, the vehicle determines whether the key end's coordinates are in the driver's seat. If they are in the driver's seat, the vehicle's engine can be automatically started.

[0231] Referring to Figure 15, in a possible embodiment, if 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 being inside the vehicle. Detecting a living being inside the vehicle further includes:

[0232] S 1 501: Each internal antenna module transmits the first ultra-wideband information.

[0233] S 1 502: Receive a second ultra-wideband information. The second ultra-wideband information is ultra-wideband information reflected by an object within the lock end.

[0234] S 1 503: Based on the second ultra-broadband information, determine whether or not life forms exist within the Lockend.

[0235] Specifically, the internal antenna module transmits first ultra-wideband information. After the first ultra-wideband information reaches the surface of a living organism, a portion of it is reflected by the organism. The reflected portion of the first ultra-wideband information carries vital sign information of the organism, i.e., second ultra-wideband information. After the second ultra-wideband information is received by the internal antenna module, vital sign information of the organism, such as heart rate and respiration, can be obtained through an appropriate signal processing method. This completes the detection of living organisms inside the lock end. The equipment required for this detection method is simple and inexpensive. If the lock end is a vehicle, it is possible to monitor the vital information of living organisms such as children and pets inside the vehicle in real time, thereby improving the safety of vehicle use.

[0236] In possible embodiments, this application further provides a positioning device to be applied to a lock end. The device comprises a receiving module and an analysis and calculation module. The receiving module comprises multiple antenna modules and is configured to receive request information from the key end, which includes positioning information. The analysis and calculation module is configured to calculate the reception time when each of the multiple 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 multiple antenna modules in a pre-defined coordinate system and the reception time of each antenna module, thereby enabling key end positioning.

[0237] Selectively, the lock end may be, but is not limited to, a car door lock, a smart door lock, or a lock on other means of transport.

[0238] Selectively, the key end may be, but is not limited to, an electronic device with communication capabilities, such as a mobile phone, tablet, bracelet, smartwatch, smart glasses, or car key.

[0239] Selectively, the receiving module includes multiple antenna modules. The number of antenna modules ranges from 3 to 7.

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

[0241] Selectively, based on a pre-defined coordinate system, the origin point O is first determined at the lock end. The coordinate position of each antenna module is 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 this distance, the coordinates of the key end are calculated, and the key end can be positioned.

[0242] In possible embodiments, the receiving module comprises 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 for the first antenna module, the second reception time Tb for the second antenna module, and the third reception time Tc for the third antenna module, respectively. The analytical calculation module further: Let the origin be a point within the lock end, the coordinates of the first antenna module be (Xa, Ya, Za), the coordinates of the second antenna module be (Xb, Yb, Zb), the coordinates of the third antenna module be (Xc, Yc, Zc), and the coordinates of the key end be (Xk, Yk, Zk).

number

[0243] Selectively, the key end transmits request information. Of the multiple antenna modules, the reception time corresponding to the first antenna module to receive the request information is denoted as Ta, the reception time corresponding to the second antenna module to receive the request information is denoted as Tb, the reception time corresponding to the third antenna module to receive the request information is denoted as Tc, and similarly, the reception time corresponding to the nth antenna module to receive the request information is denoted as Tn. The analysis and calculation module receives the request information from each antenna module and calculates the different reception times for each antenna module, i.e., Ta, Tb, Tc...Tn. Based on the reception times of each antenna module, the analysis and calculation module calculates the coordinates of the key end to achieve key end positioning.

[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. We can deduce that |KA-KB|=|Ta-Tb|×C, |KB-KC|=|Tb-Tc|×C, and |KC-KA|=|Tc-Ta|×C. From this, we can calculate the precise coordinate position (Xk, Yk, Zk) of the key end.

[0245] In a possible embodiment, the analysis and calculation module is further configured to record the acquisition time when each antenna module received the requested information, and to calculate the reception time T for each antenna module according to T = T' - L ÷ V0, based on the cable length L between the analysis and calculation module and the antenna module, and the acquisition time T', where V0 is the propagation speed of the positioning information at the lock end.

[0246] Selectively, the first acquisition time for the first antenna module is Ta', and the second acquisition time for the second antenna module is Tb'. ThirdThe third acquisition time for the antenna module is Tc'. The cable length between the first antenna module and the analysis / calculation module is La, the cable length between the second antenna module and the analysis / calculation module is Lb, and the cable length between the third antenna module and the analysis / calculation module is Lc. According to the formula, the following is obtained: Let Ta be the first reception time for the first antenna module, then Ta = Ta' - La ÷ V0. Let Tb be the second reception time for the second antenna module, then Tb = Tb' - Lb ÷ V0. Let Tc be the third reception time for the third antenna module, then Tc = Tc' - Lc ÷ V0.

[0247] In the positioning device described in this 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 this application. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end. Furthermore, the length of the cable between the analysis and calculation module and the antenna module is calibrated to further improve positioning accuracy. A positioning accuracy of 10 cm can be achieved with four antenna modules, which is sufficient to meet current accuracy requirements. In addition, higher accuracy can be obtained by increasing the number of antenna modules. Selectively, the cable lengths La, Lb, and Lc can be equal, and the software algorithm can be simplified.

[0248] In possible embodiments, the positioning device described in this application further comprises a Bluetooth module, which is electrically connected to a receiving module and an analytical computing module. Selectively, the Bluetooth module is a Bluetooth Low Energy (BLE) device, the analytical computing module is an ultra-wideband (UWB) device, and the receiving module is an ultra-wideband device antenna (UWB antenna). Prior to the BLE device detecting and recognizing the key end, the BLE device is in low-energy sleep mode, the UWB device is in off mode, and the UWB antenna is not receiving external information. Therefore, the positioning device is in low-energy mode when not activated.

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

[0250] S 1 601: The Bluetooth device is in low-energy sleep mode and periodically detects Bluetooth connection requests. The receiving module and analysis / calculation module are turned off.

[0251] S 1 602: If a Bluetooth device is not detecting a Bluetooth connection request, it enters a low-energy sleep mode and continues to periodically detect Bluetooth connection requests.

[0252] S 1 603: As soon as the Bluetooth device detects a Bluetooth connection request from the key end, the Bluetooth device stops periodically detecting Bluetooth connection requests and simultaneously authenticates the key end. After successful authentication, it activates the receiving module and the analysis and calculation module.

[0253] S 1604: Multiple antenna modules within the receiving module receive request information from the key end. The analysis and calculation module calculates the reception time when each of the multiple antenna modules received the request information, using a length calibration algorithm for the length of the cable between the analysis and calculation module itself and each antenna module. S1605: Positioning device, The coordinates of the key end are calculated based on a pre-defined coordinate system to achieve key end positioning.

[0254] In possible embodiments, the lock end is a vehicle, and each antenna module comprises an internal antenna module and an external antenna module, the internal antenna module being located inside the vehicle and the external antenna module being located outside the vehicle. The positioning device is further configured to determine, based on the coordinates of the key end, whether the key end is inside or outside the vehicle, and if the key end is outside the vehicle, the external antenna module is used to communicate with the key end, and if the key end is inside the vehicle, the internal antenna module is used to communicate with the key end. The positioning device is If the key end is outside the vehicle and the distance between the key end and the vehicle is within a predetermined range, the system will allow the vehicle to open the door closest to the key end based on its coordinates. If the key end is inside the vehicle and it is determined to be in the driver's seat, the system will start the vehicle's engine. It is structured in this way. Specifically, if the material of the lock end itself is metal or another material that hinders information transmission, in order to ensure smooth information transmission, each antenna module is equipped with an internal antenna module and an external antenna module, with the internal antenna module located inside the lock end and the external antenna module located outside the lock end. When the key end is outside the lock end, the external antenna module of each antenna module is wirelessly connected to the key end and receives signals from the key end. When the key end moves from outside the lock end to inside the lock end, the signal transmission line between the key end and the external antenna module is obstructed and blocked by the lock end. In this case, the internal antenna module is wirelessly connected to the key end instead of the external antenna module, maintaining a smooth signal transmission line between the key end and the antenna module and completing the continuous positioning of the key end both inside and outside the lock end.

[0255] Specifically, when the lock end is a vehicle, the vehicle's exterior is generally made of materials such as sheet metal that can 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 connected to the key end to receive signals from the key end. When the key end moves from outside the vehicle to inside the vehicle, the signal transmission line between the key end and the external antenna module is obstructed and blocked by the vehicle's exterior. In this case, an internal antenna module is wirelessly connected to the key end instead of the external antenna module, maintaining a smooth signal transmission line between the key end and the antenna module, and the positioning device completes continuous positioning of the key end both inside and outside the vehicle. Furthermore, the positioning device itself positions the key end by constructing a coordinate system, and the vehicle facilitates the realization of other functions by more accurately determining the positional relationship between the key end and each part of the vehicle itself based on the position of each part of the vehicle itself in the coordinate system.

[0256] If the key end is selectively determined to be outside the vehicle, the vehicle determines the door closest to the key end based on its coordinate position. If the vehicle's key end coordinates are within the vehicle's unlock coordinate range, the vehicle is allowed to open the door closest to the key end, facilitating entry for the driver or passenger. If the key end is inside the vehicle, the vehicle determines its position based on its coordinate position. If the key end is located in the driver's seat, the vehicle's engine is automatically started, facilitating entry for the driver. If the key end is outside the vehicle, the vehicle determines, based on its coordinate position, that the vehicle's key end coordinates are outside the vehicle's unlock coordinate range, and then determines that the driver has left the vehicle and automatically locks the vehicle doors. Specifically, referring to Figure 17, the positioning device detects a connection request from the key end, and after authentication, calculates the precise coordinates of the key end in the coordinate system. If the key end is not located near the driver's door of the vehicle, the driver's door will not be opened. If the key end is located near the driver's side door of the vehicle, the driver's side door will open. Then, the system will detect whether the key end is located within the driver's side area of ​​the vehicle. If the key end is located within the driver's side area of ​​the vehicle, the vehicle's engine will start and the driver's side door will lock. If the key end is moved away from the vehicle, the vehicle will automatically lock its doors.

[0257] In possible embodiments, if 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 living beings inside the vehicle, and for detecting living beings inside the vehicle, The internal antenna module is configured to transmit first ultra-wideband information. The internal antenna module is further configured to receive a second ultra-wideband information, which is ultra-wideband information reflected by an object within the lock end. The analytical calculation module is further configured to determine whether or not life exists within the lock end based on a second set of ultra-broadband information.

[0258] Specifically, the internal antenna module transmits first ultra-wideband information. After the first ultra-wideband information reaches the surface of a living organism, a portion of it is reflected by the organism. This reflected information carries vital sign information of the organism, i.e., second ultra-wideband information. After the second ultra-wideband information is received by the internal antenna module, vital sign information of the organism, such as heart rate and respiration, can be obtained through an appropriate signal processing method. This completes the detection of living organisms inside the lock end. The equipment required for this detection method is simple and inexpensive. If the lock end is a vehicle, the vital information of living organisms such as children and pets inside the vehicle can be monitored in real time, preventing situations where children or pets are trapped inside the vehicle for extended periods, thereby improving the safety of vehicle use.

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

[0260] Referring to Figures 18 and 19, in one possible embodiment, the present application further provides a vehicle 200. The vehicle 200 comprises a memory 220 and a processor 210 electrically connected to the memory 220, wherein the memory 220 stores program code executable by the processor 210, and when the program code is invoked and executed by the processor 210, the positioning method described in the present application is performed.

[0261] Selectively, referring to Figure 18, the vehicle 200 receives a signal from the electronic key 100 and positions the electronic key 100 by performing the positioning method described in this application.

[0262] Specifically, referring to Figure 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, such as program instructions / modules corresponding to the positioning method in the embodiment of the present invention. The processor 210 executes various functional applications and data processing of the server by executing the non-volatile software programs, instructions and modules stored in the memory 220, that is, it realizes the positioning method of the above embodiment.

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

[0264] Specifically, the positioning device described in this application calibrates the signal transmission time based on the cable length, thereby providing accuracy compensation for signal transmission within the lock end to obtain the time when information is transmitted from the key end and the time when the information arrives at the antenna module. This avoids time calculation errors due to time asynchronous operation between the lock end and the key end, resulting in more accurate information propagation time between the lock end and the key end, and improving positioning accuracy. When the positioning device described in this application is mounted on a vehicle 200, more accurate positioning information can be obtained, enabling precise positioning of the key end at the 10cm level. The vehicle 200 in this application may be, but is not limited to, a passenger car, multi-purpose vehicle (MPV), sports utility vehicle (SUV), off-road vehicle (ORV), pickup truck, minivan, passenger car, truck, etc.

[0265] Although embodiments of this application have been shown and described above, these embodiments are illustrative and should not be understood as limiting this application. Those skilled in the art can modify, alter, substitute, and transform the above embodiments within the scope of this application. Such improvements and enhancements should also fall within the scope of protection of this application. [Explanation of symbols]

[0266] Explanation of reference numerals in the drawings in the first embodiment of the concept: 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. Explanation of reference numerals in the drawings in the second embodiment of the concept: 100...electronic key, 200...vehicle, 210...processor, 220...memory.

Claims

1. A positioning method applied to a lock end, The first information is transmitted, and the first transmission time of the first information is recorded, wherein the first information is used to cause the key end to receive the first information, record the first reception time of the first information, and transmit the 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, and the request information is the reply information to the first information, and the recording is made. The process involves receiving the second information, recording the second reception time of the second information, and calculating the difference between the second transmission time and the first reception time. This includes 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, thereby achieving the positioning of the key end or the lock end. Before transmitting the first information, the positioning method The process 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 to achieve positioning of the key end or the lock end is: This includes calculating the distance S between the lock end and the key 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), where C is the propagation speed of the signal in air. A positioning method characterized by the following:

2. The process of transmitting the first information and receiving the second information is 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 distance between the lock end and the key end is calculated to achieve the positioning of the key end or the lock end. The method further 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. The positioning method according to feature 1.

3. The lock end comprises P positioning modules, where P ≥ 3, and the positioning method is The distance between each of the P positioning modules within the lock end and the key end is calculated, 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 claim 1 or 2.

4. A positioning method applied to a lock end, The system receives fourth information from the key end and records the fourth reception time of the said fourth information. The process involves transmitting a fifth piece of information containing request information to the key end and recording the fifth transmission time of the fifth piece of information, wherein the fifth piece of information is used to cause the key end to receive the fifth piece of information, record the fifth reception time of the fifth piece of information, package the fifth piece of information, record the current time after packaging is completed as the sixth transmission time, calculate the difference between the fifth reception time of the fifth piece of information and the fourth transmission time of the fourth piece of information, and the difference between the sixth transmission time and the fifth reception time of the fifth piece of information, and transmit the sixth piece of information to the lock end, and the request information is the reply information of the fourth piece of information, and is recorded. The process involves receiving sixth information from the key end and recording the sixth reception time of the sixth information, wherein 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. This includes 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, thereby achieving the positioning of the lock end or the key end. Before receiving the fourth information from the aforementioned key end, the positioning method The 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, 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, the distance between the lock end and the key end is calculated to achieve the positioning of the key end or the lock end. The process includes calculating 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. A positioning method characterized by the following:

5. The process of receiving the fourth information from the key end, transmitting the fifth information, and receiving the sixth information from the key end is repeated, with the number of repetitions being 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, the distance between the key end and the lock end is calculated to achieve the positioning of the lock end or the key end. The method further 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 air. The positioning method according to feature 4.

6. The lock end comprises P positioning modules, where P ≥ 3, and the positioning method is The distance between the key end and each of the P positioning modules within the lock end is calculated, Positioning the key end based on the distance between the key end and each of the P positioning modules within the lock end, Further including, The positioning method according to feature 4 or 5.

7. A positioning device applied to a lock end, It comprises a first transmitting module, a first receiving module, and a first computing module, The first transmission module is configured to transmit first information to a 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, 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 request information is the reply information to the first information, The first receiving module is configured to receive the second information from the key end and to 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 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, thereby achieving the positioning of the key end or the lock end. Prior to the first transmitting module transmitting the first information, the first receiving 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. The first calculation module, configured to calculate the distance between the lock end and the key end to achieve the positioning of the key end or the lock end, The system 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-Tb21+…+Ta(2m)-Ta(2m-1)- Tb(2m)(2m-1)]×C÷(2m+2), where C is the propagation speed of the signal in air. A positioning device characterized by the following features.

8. The first transmitting module is configured to repeatedly transmit the first information, and the first receiving module is configured to repeatedly receive the second information synchronously, with 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). 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, in order to achieve positioning of the key end or the lock end, The system 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 air. The positioning device according to feature 7.

9. The positioning device further comprises P positioning modules, where P ≥ 3, and the first calculation module further comprises The distance between each of the P positioning modules in the positioning device and the key end is calculated. The key end is positioned based on the distance between each of the P positioning modules and the key end. It is structured in such a way. The positioning device according to claim 7 or 8.

10. A positioning device applied to a lock end, It comprises a fourth transmitting module, a fourth receiving module, and a fourth computing module, The fourth receiving module is configured to receive fourth information from the key end and to 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 to record the fifth transmission time of the fifth information. The fifth information is used to cause 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 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 sixth transmission time and the fifth reception time of the fifth information, and transmit the sixth information to the positioning device. The request information is the reply information to the fourth information. The fourth receiving 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 including 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, thereby achieving the positioning of the lock end or the key end. 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. 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, thereby achieving the positioning of the key end or the lock end, The system 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. A positioning device characterized by the following features.

11. The fourth receiving module is configured to repeatedly receive fourth information from the key end, the fourth transmitting module is configured to repeatedly transmit fifth information to the key end synchronously, and the fourth receiving 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 between the fifth reception time Ta2m and the fourth transmission time Ta(2m-1), Ta2m(2m-1), and the difference between the sixth transmission time and the fifth reception time, Ta(2m+1)2m. 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, thereby achieving the positioning of the lock end or the key end, The system 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 feature 10.

12. The positioning device comprises P positioning modules, where P ≥ 3, and the fourth calculation module further comprises The distance between the key end and each of the P positioning modules in the positioning device is calculated. The key end is positioned based on the distance between the key end and each of the P positioning modules in the positioning device. It is structured in such a way. The positioning device according to claim 10 or 11.

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