Positioning method and electronic device

Abstract

The present application relates to the technical field of terminals, and provides a positioning method and an electronic device. According to the present application, on the basis of an auxiliary determination signal transmitted between auxiliary determination units pre-configured in a first electronic device and a second electronic device, an initial location of the second electronic device that is positioned can be quickly determined, thereby effectively improving the positioning success rate and greatly shorting the positioning time of a starting anomaly location. The method is applied to the first electronic device. The first electronic device comprises a first wireless positioning module; auxiliary determination units are arranged in M signal areas of the first wireless positioning module; and the optical angle of each auxiliary determination unit is smaller than or equal to the signal coverage angle of the corresponding signal area, wherein M is a positive integer. The method comprises: receiving, by means of a first auxiliary determination unit, an auxiliary determination signal sent by the second electronic device; and on the basis of the auxiliary determination signal, determining the validity of target positioning data acquired by the first electronic device by means of the first wireless positioning module.

Description

Positioning method and electronic equipment

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on July 19, 2023, with application number 202310891551.0 and application name “Positioning Method and Electronic Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of terminal technology, and in particular to a positioning method and electronic device. Background Art

[0003] With the development of terminal technology, wireless positioning technology has been widely used in various scenarios. Currently, common wireless positioning technologies include those based on ultra-wideband (UWB) / millimeter waves, electromagnetic fields, and optical tracking. However, these positioning technologies are affected by environmental factors and design, and often suffer from positioning signal blind spots.

[0004] For example, in the common azimuth measurement used in wireless positioning, due to limitations in antenna performance and environmental consistency, the azimuth data obtained by electronic devices in certain directions cannot be effectively correlated with the actual value. As a result, when users start measuring from these locations, they may not be able to locate a valid position.

[0005] Summary of the Invention

[0006] To address the aforementioned technical issues, the present application provides a positioning method and electronic device. The technical solution provided by the present application rapidly determines the initial position of the located second electronic device based on an auxiliary determination signal transmitted between pre-configured auxiliary determination units in a first electronic device and a second electronic device, thereby effectively improving the positioning success rate and significantly shortening the initial abnormal position positioning time.

[0007] In order to achieve the above technical objectives, this application provides the following technical solutions:

[0008] In a first aspect, a positioning method is provided, applied to a first electronic device. The first electronic device includes a first wireless positioning module, wherein auxiliary determination units are provided in M ​​signal areas of the first wireless positioning module, wherein an optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, where M is a positive integer. The method includes: receiving, via the first auxiliary determination unit, an auxiliary determination signal transmitted by a second electronic device. Based on the auxiliary determination signal, determining the validity of target positioning data obtained by the first electronic device via the first wireless positioning module.

[0009] By installing a low-cost auxiliary determination unit in the signal area, fast and accurate positioning can be achieved even during high-precision positioning tracking. This can cost-effectively resolve positioning anomalies in areas with abnormal positioning signals, quickly determine the initial position of the located device, and enhance the user experience.

[0010] In addition, when the starting position of the device to be located is an abnormal position, the auxiliary judgment unit light constraint can also be used to determine the effective positioning signal area, quickly determine the electronic device used to generate effective positioning data, and greatly shorten the positioning time of the starting abnormal position.

[0011] According to a first aspect, the auxiliary determination signal is a signal received by the first electronic device in a first signal area of ​​M signal areas, and a first auxiliary determination unit is provided in the first signal area; based on the auxiliary determination signal, the validity of the target positioning data acquired by the first electronic device through the first wireless positioning module is determined, including: based on the signal characteristics of the auxiliary determination signal, determining a second signal area for transmitting the auxiliary determination signal, the second signal area being the signal area of ​​the second wireless positioning module included in the second electronic device. The validity of the target positioning data is determined based on status information of the first signal area and the second signal area.

[0012] In some examples, the target positioning data acquired by the first electronic device may be positioning data determined locally by the first electronic device, or may be positioning data received and sent by the second electronic device.

[0013] In some examples, the validity of positioning data indicates whether the peer device was within its own valid positioning signal zone when the positioning data was acquired. If the peer device is within the valid positioning signal zone of the device, the local positioning data acquired by the device is valid. If the peer device is within the abnormal positioning signal zone of the device, the local positioning data acquired by the device is invalid. Whether the peer device is within its own valid positioning signal zone can be determined by the signal area of ​​the auxiliary determination unit that receives or transmits the auxiliary determination signal.

[0014] According to the first aspect, or any implementation method of the above first aspect, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; according to the status information of the first signal area and the second signal area, the validity of the target positioning data is determined, including: when the status information indicates that the first signal area includes the first valid positioning signal area and the second signal area includes the second valid positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the second positioning data sent by the second electronic device is received, and the valid target positioning data is the first positioning data or the second positioning data.

[0015] That is, the first electronic device is located within the valid positioning signal area of ​​the second electronic device's second positioning module, and the second electronic device is located within the valid positioning signal area of ​​the first electronic device's first positioning module. Therefore, both the first and second electronic devices can obtain valid positioning data. The first electronic device can then select either positioning data as the final target positioning data.

[0016] According to the first aspect, or any implementation method of the first aspect above, the validity of the target positioning data is determined based on the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first valid positioning signal area and the second signal area includes a second abnormal positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the valid target positioning data is the first positioning data.

[0017] That is, the first electronic device is located within the abnormal positioning signal area of ​​the second electronic device's second positioning module, while the second electronic device is located within the valid positioning signal area of ​​the first electronic device's first positioning module. Therefore, the first electronic device can obtain valid positioning data. The first electronic device can then use the locally obtained first positioning data as the final target positioning data.

[0018] According to the first aspect, or any implementation of the first aspect above, determining the validity of the target positioning data based on status information of the first signal area and the second signal area includes: when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second valid positioning signal area, receiving second positioning data sent by the second electronic device, and the valid target positioning data is the second positioning data.

[0019] That is, the first electronic device is located within the valid positioning signal area of ​​the second electronic device's second positioning module, while the second electronic device is located within the abnormal positioning signal area of ​​the first electronic device's first positioning module. Therefore, the second electronic device can obtain valid positioning data. The first electronic device can then use the second positioning data obtained from the second electronic device as the final target positioning data.

[0020] According to the first aspect, or any implementation of the first aspect above, the validity of the target positioning data is determined based on the status information of the first signal area and the second signal area, including: when the status information indicates that the first signal area includes a first abnormal positioning signal area and the second signal area includes a second abnormal positioning signal area, a first indication is sent to the second electronic device, and the first indication is used to instruct the auxiliary determination signal to be sent again; wherein the target positioning data is invalid.

[0021] That is, the first electronic device is located within the abnormal positioning signal area of ​​the second electronic device's second positioning module, and the second electronic device is located within the abnormal positioning signal area of ​​the first electronic device's first positioning module. Therefore, neither the first nor the second electronic device can obtain valid positioning data. The first electronic device can then determine that this round of positioning has failed and instruct the second electronic device to send an auxiliary determination signal again to initiate the next round of positioning.

[0022] According to the first aspect, or any implementation of the first aspect above, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0023] According to the first aspect, or any implementation of the first aspect above, the first wireless positioning module includes N signal areas, and no auxiliary judgment unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

[0024] Optionally, the first wireless positioning module includes N signal areas, wherein M of the N signal areas are provided with auxiliary determination units, and the other signal areas are not provided with auxiliary determination units. Alternatively, the first wireless positioning module includes N signal areas each provided with an auxiliary determination unit.

[0025] According to the first aspect, or any implementation of the first aspect above, the first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0026] According to the first aspect, or any implementation of the first aspect, the auxiliary determination signal is an optical signal.

[0027] Optionally, the optical signals transmitted by different auxiliary determination units are modulated optical signals. For example, the auxiliary determination units may adjust the characteristics of the transmitted optical signals through frequency tuning, amplitude modulation, or other methods. Alternatively, different optical signals may be distinguished by carrying different information within the optical signals. Thus, by determining the characteristics of the optical signals, the signal region in which the auxiliary determination unit transmitting the optical signal is located can be determined.

[0028] In a second aspect, a positioning method is provided, applied to a second electronic device. The second electronic device includes a second wireless positioning module, wherein P signal areas of the second wireless positioning module are provided with auxiliary determination units, wherein the optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, where P is a positive integer. The method includes: in response to a user operation, transmitting an auxiliary determination signal to the first electronic device via the second auxiliary determination unit in the second signal area, where the second signal area is an area within the P signal areas; the auxiliary determination signal is used to determine the validity of positioning data determined by the first electronic device or the second electronic device.

[0029] According to the second aspect, the method further includes: receiving status information of a second signal area and a first signal area sent by a first electronic device, where the first signal area is an area within the M signal areas of a first wireless positioning module in the first electronic device, where M is a positive integer, and a first auxiliary determination unit is provided in the first signal area, where the first auxiliary determination unit is an auxiliary determination unit that receives an auxiliary determination signal. In response to the status information, local second positioning data is obtained through the second wireless positioning module. The second positioning data is sent to the first electronic device, and the second positioning data is used by the first electronic device to determine target positioning data.

[0030] According to the second aspect, or any implementation method of the above second aspect, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; in response to the status information, the local second positioning data is obtained through the second wireless positioning module, including: when the second signal area indicated in the status information includes the second valid positioning signal area, the local second positioning data is obtained through the second wireless positioning module.

[0031] According to the second aspect, or any implementation of the second aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0032] According to the second aspect, or any implementation of the above second aspect, the second wireless positioning module includes O signal areas, and no auxiliary judgment unit is set in other signal areas outside P signal areas, and O is a positive integer greater than P.

[0033] According to the second aspect, or any implementation of the second aspect above, the second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0034] According to the second aspect, or any implementation of the second aspect, the auxiliary determination signal is an optical signal.

[0035] In a third aspect, an electronic device is provided. The electronic device includes: a first wireless positioning module, wherein M signal areas of the first wireless positioning module are provided with auxiliary determination units, wherein an optical angle of the auxiliary determination unit is less than or equal to a signal coverage angle of the corresponding signal area, and the auxiliary determination unit is configured to determine the validity of positioning data obtained by the first wireless positioning module, where M is a positive integer.

[0036] According to the third aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0037] According to the third aspect, or any implementation of the third aspect above, the first wireless positioning module includes N signal areas, and no auxiliary judgment unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

[0038] According to the third aspect, or any implementation of the third aspect above, the first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0039] In a fourth aspect, an electronic device is provided. The electronic device includes: a second wireless positioning module, wherein P signal areas of the second wireless positioning module are provided with auxiliary determination units, wherein an optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and the auxiliary determination unit is used to determine the validity of positioning data obtained by the first wireless positioning module, where P is a positive integer.

[0040] According to a fourth aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0041] According to the fourth aspect, or any implementation of the fourth aspect above, the second wireless positioning module includes O signal areas, and no auxiliary judgment unit is set in other signal areas outside P signal areas, and O is a positive integer greater than P.

[0042] According to the fourth aspect, or any implementation of the fourth aspect above, the second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0043] In a fifth aspect, a positioning system is provided, which includes the first electronic device described in the third aspect and the second electronic device described in the fourth aspect.

[0044] In a sixth aspect, a first electronic device is provided. The first electronic device includes: a processor and a memory, the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor reads the computer instructions from the memory, the first electronic device executes: receiving the auxiliary determination signal sent by the second electronic device through the first auxiliary determination unit. According to the auxiliary determination signal, the validity of the target positioning data obtained by the first electronic device through the first wireless positioning module is determined. The first electronic device includes a first wireless positioning module, and auxiliary determination units are provided in the M signal areas of the first wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and M is a positive integer.

[0045] According to the sixth aspect, the auxiliary determination signal is a signal received by the first electronic device in the first signal area of ​​M signal areas, and a first auxiliary determination unit is provided in the first signal area; based on the auxiliary determination signal, the validity of the target positioning data obtained by the first electronic device through the first wireless positioning module is determined, including: based on the signal characteristics of the auxiliary determination signal, determining the second signal area for sending the auxiliary determination signal, the second signal area being the signal area of ​​the second wireless positioning module included in the second electronic device. The validity of the target positioning data is determined based on the status information of the first signal area and the second signal area.

[0046] According to the sixth aspect, or any implementation method of the above sixth aspect, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; according to the status information of the first signal area and the second signal area, the validity of the target positioning data is determined, including: when the status information indicates that the first signal area includes the first valid positioning signal area and the second signal area includes the second valid positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the second positioning data sent by the second electronic device is received, and the valid target positioning data is the first positioning data or the second positioning data.

[0047] According to the sixth aspect, or any implementation method of the above sixth aspect, the validity of the target positioning data is determined based on the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first valid positioning signal area and the second signal area includes a second abnormal positioning signal area, the local first positioning data is obtained through the first wireless positioning module, and the valid target positioning data is the first positioning data.

[0048] According to the sixth aspect, or any implementation method of the above sixth aspect, the validity of the target positioning data is determined based on the status information of the first signal area and the second signal area, including: when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second valid positioning signal area, receiving the second positioning data sent by the second electronic device, and the valid target positioning data is the second positioning data.

[0049] According to the sixth aspect, or any implementation method of the above sixth aspect, the validity of the target positioning data is determined based on the status information of the first signal area and the second signal area, including: when the status information indicates that the first signal area includes a first abnormal positioning signal area and the second signal area includes a second abnormal positioning signal area, a first indication is sent to the second electronic device, and the first indication is used to indicate that the auxiliary determination signal is sent again; wherein, the target positioning data is invalid.

[0050] According to the sixth aspect, or any implementation of the sixth aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0051] According to the sixth aspect, or any implementation of the above sixth aspect, the first wireless positioning module includes N signal areas, and no auxiliary judgment unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

[0052] According to the sixth aspect, or any implementation of the sixth aspect above, the first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0053] According to the sixth aspect, or any implementation of the sixth aspect, the auxiliary determination signal is an optical signal.

[0054] In a seventh aspect, a second electronic device is provided. The second electronic device includes: a processor and a memory, the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor reads the computer instructions from the memory, the second electronic device executes: in response to user operation, an auxiliary determination signal is sent to the first electronic device through a second auxiliary determination unit in a second signal area, where the second signal area is an area among P signal areas; the auxiliary determination signal is used to determine the validity of the positioning data determined by the first electronic device or the second electronic device. The second electronic device includes a second wireless positioning module, and auxiliary determination units are provided in the P signal areas of the second wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and P is a positive integer.

[0055] According to the seventh aspect, when the processor reads the computer instructions from the memory, it also causes the second electronic device to execute: receiving status information of the second signal area and the first signal area sent by the first electronic device, the first signal area is an area in the M signal areas of the first wireless positioning module in the first electronic device, M is a positive integer, and a first auxiliary determination unit is provided in the first signal area, and the first auxiliary determination unit is an auxiliary determination unit that receives the auxiliary determination signal. In response to the status information, the local second positioning data is obtained through the second wireless positioning module. The second positioning data is sent to the first electronic device, and the second positioning data is used by the first electronic device to determine the target positioning data.

[0056] According to the seventh aspect, or any implementation method of the above seventh aspect, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; in response to the status information, the local second positioning data is obtained through the second wireless positioning module, including: when the second signal area indicated in the status information includes the second valid positioning signal area, the local second positioning data is obtained through the second wireless positioning module.

[0057] According to the seventh aspect, or any implementation of the seventh aspect, the auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

[0058] According to the seventh aspect, or any implementation method of the above seventh aspect, the second wireless positioning module includes O signal areas, and no auxiliary judgment unit is set in other signal areas outside P signal areas, and O is a positive integer greater than P.

[0059] According to the seventh aspect, or any implementation of the seventh aspect above, the second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0060] According to the seventh aspect, or any implementation of the seventh aspect, the auxiliary determination signal is an optical signal.

[0061] In an eighth aspect, an electronic device is provided, the electronic device having the function of implementing the positioning method described in the first aspect and any possible implementation thereof; or the electronic device having the function of implementing the positioning method described in the second aspect and any possible implementation thereof. The function may be implemented in hardware, or may be implemented in hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions.

[0062] In a ninth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program (also referred to as instructions or code), which, when executed by an electronic device, causes the electronic device to perform the method of the first aspect or any one of the embodiments of the first aspect; or causes the electronic device to perform the method of the second aspect or any one of the embodiments of the second aspect.

[0063] In the tenth aspect, a computer program product is provided. When the computer program product is run on an electronic device, the electronic device executes the method of the first aspect or any one of the embodiments of the first aspect; or, the electronic device executes the method of the second aspect or any one of the embodiments of the second aspect.

[0064] In the eleventh aspect, a circuit system is provided, which includes a processing circuit, and the processing circuit is configured to execute the method of the first aspect or any one of the embodiments of the first aspect; or, the processing circuit is configured to execute the method of the second aspect or any one of the embodiments of the second aspect.

[0065] In the twelfth aspect, a chip system is provided, comprising at least one processor and at least one interface circuit, wherein the at least one interface circuit is used to perform transceiver functions and send instructions to the at least one processor. When the at least one processor executes the instructions, the at least one processor executes the method of the first aspect or any one of the embodiments of the first aspect; or, the at least one processor executes the method of the second aspect or any one of the embodiments of the second aspect.

[0066] The technical effects of the aforementioned aspects can be referenced with each other and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] FIG1 is a schematic diagram of direction angle measurement results provided in an embodiment of the present application;

[0068] FIG2 is a schematic diagram of a positioning scenario based on an inertial navigation module provided in an embodiment of the present application;

[0069] FIG3 is a schematic diagram of a positioning scenario based on multiple wireless positioning modules provided in an embodiment of the present application;

[0070] FIG4 is a schematic diagram of a communication system for applying the positioning method provided in an embodiment of the present application;

[0071] FIG5 is a first schematic diagram of the hardware structure of a first electronic device provided in an embodiment of the present application;

[0072] FIG6 is a second schematic diagram of the hardware structure of the first electronic device provided in an embodiment of the present application;

[0073] FIG7 is a third schematic diagram of the hardware structure of the first electronic device provided in an embodiment of the present application;

[0074] FIG8 is a flowchart of a positioning method according to an embodiment of the present application;

[0075] FIG9 is a first schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0076] FIG10 is a second schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0077] FIG11 is a third schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0078] FIG12 is a fourth schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0079] FIG13 is a fifth schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0080] FIG14 is a sixth schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0081] FIG15 is a seventh schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0082] FIG16 is a schematic diagram of an eighth positioning scenario provided in an embodiment of the present application;

[0083] FIG17 is a ninth schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0084] FIG18 is a schematic diagram of a positioning scenario provided in an embodiment of the present application;

[0085] FIG19 is a schematic diagram of a positioning scenario eleven provided in an embodiment of the present application;

[0086] FIG20 is a schematic diagram of a positioning scenario 12 provided in an embodiment of the present application;

[0087] FIG21 is a second flow chart of the positioning method provided in an embodiment of the present application;

[0088] FIG22 is a schematic structural diagram of a first electronic device provided in an embodiment of the present application;

[0089] FIG23 is a schematic structural diagram of a second electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] The technical solutions in the embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. Among them, in the description of the embodiments of the present application, the terms used in the following embodiments are only for the purpose of describing specific embodiments, and are not intended to be used as limitations on the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to include expressions such as "one or more", unless there is a clear indication to the contrary in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one or more (including two).

[0091] References to "one embodiment" or "some embodiments" etc. described in this specification mean that the specific features, structures or characteristics described in conjunction with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in another way. The term "connected" includes direct and indirect connections, unless otherwise stated. "First" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0092] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0093] In some embodiments, wireless positioning technology is widely used in various scenarios, such as remote positioning and device ranging. Commonly used wireless positioning technologies include those based on UWB / millimeter waves, electromagnetic fields, and optical tracking. However, these positioning technologies are affected by environmental factors and design, and often suffer from positioning signal blind spots.

[0094] For example, based on the antenna's directionality, the antennas configured in electronic devices can include directional antennas or omnidirectional antennas. Directional antennas are widely used in the positioning of electronic devices due to their signal propagation distance and anti-interference performance. However, due to the consistency of antenna performance and the environment, in the angular measurement commonly used in wireless positioning, the angular data obtained by electronic devices in certain directions cannot effectively correspond to the actual value. As a result, when users start measuring from these positions, they may not be able to locate a valid position.

[0095] For example, as shown in Figure 1, the phase difference measurements between true angles of -70° and -90° are likely to overlap with those between true angles of -60° and -70°. Therefore, when the electronic device begins measurement using these true angles as the initial position, the obtained measurement values ​​may not correspond one-to-one with the actual true angles, resulting in positioning anomalies.

[0096] Optionally, the area where the electronic device can obtain accurate azimuth data is described as a valid positioning signal area, and the area where the electronic device cannot obtain accurate azimuth data is described as an abnormal positioning signal area.

[0097] For example, as shown in Figure 2, an electronic device is configured with a wireless positioning module (such as wireless positioning module 1). Due to the performance limitations of its wireless positioning module 1, the electronic device has one or more valid positioning signal areas and one or more abnormal positioning signal areas. During the positioning process, the positioning device can only accurately locate the position of the positioned device through the wireless positioning module if the positioned device is within the valid signal positioning signal area of ​​the positioning device.

[0098] To address the aforementioned issue of being unable to obtain effective positioning due to abnormal positioning signal areas, an inertial measurement unit (IMU) is typically deployed in electronic devices to assist with positioning and tracking. Alternatively, additional wireless positioning modules or multiple antenna groups can be deployed in the electronic device to provide complete coverage of the effective positioning signal area.

[0099] For example, as shown in Figure 2, the wireless positioning module 2 of the positioned device is configured with a wireless positioning receiving module and an inertial navigation module (i.e., IMU). Among them, the inertial navigation module includes an accelerometer and a gyroscope. The accelerometer is used to detect the acceleration of the positioned device itself on the x-axis, y-axis, and z-axis. The collected acceleration can be converted into the displacement of the positioned device to determine the short-term movement state of the positioned device. The gyroscope is used to detect the angular velocity of the positioned device on the x-axis, y-axis, and z-axis. The collected angular velocity can also be converted into the displacement of the positioned device to determine the displacement state of the positioned device. The inertial navigation module in the positioned device tracks the position movement information of the device through the accelerometer and gyroscope to achieve position tracking in the abnormal positioning signal area.

[0100] For example, as shown in Figure 2, when the positioned device enters the valid positioning signal area (such as starting from point A), the positioning device locates the position change ΔS1 of the positioned device in real time, and at the same time, the IMU in the positioned device can calculate its own movement trajectory ΔS2 during this period. The positioning device determines whether the wireless positioning signal is valid at this time by judging whether the error between ΔS1 and ΔS2 is within the preset range. After that, the positioning device can continue to track the position of the positioned device through inertial navigation through continuous short-term tracking judgment when the positioned device moves to the abnormal positioning signal area.

[0101] However, in the above IMU-based positioning process, the initial position of the located device must be within the valid positioning signal area to ensure accurate positioning. If the initial position of the located device is in the abnormal positioning signal area, then before the located device moves into the valid positioning signal area, the positioning data obtained will be abnormal, and accurate positioning cannot be achieved.

[0102] Furthermore, due to interference from wireless positioning signals within the effective positioning signal area, the positioning device needs to perform filtering and analysis for a long time to determine the initial position of the device being positioned. This results in a long initial positioning time and a low success rate.

[0103] Furthermore, after the positioning device determines the initial position of the located device within the valid positioning signal area, the located device moves to the abnormal positioning signal area. If the located device stays in the abnormal positioning signal area for a short time, the positioning device can use the IMU to accurately locate the located device. However, if the located device stays in the abnormal positioning signal area for a long time, over time, the IMU-based position tracking will experience excessive deviations in the accumulated positioning data, making it impossible to obtain accurate and valid positioning data, resulting in positioning anomalies.

[0104] For another example, as shown in FIG3 , the positioning device is configured with multiple wireless positioning modules to expand the coverage of the effective positioning signal area, thereby ensuring that the movement of the positioned device remains within the effective positioning signal area, meeting the requirements of accurate positioning.

[0105] However, deploying multiple wireless positioning modules in electronic devices not only increases costs but also significantly increases the overall stacking size of the electronic device. Furthermore, in closed indoor environments, an overly large effective positioning signal area can easily cause the positioning device to determine the resolved positions of multiple devices being located, affecting the ultimate positioning effect.

[0106] Therefore, the present application provides a positioning method that can quickly determine the initial position of the located second electronic device based on the positioning signal of the auxiliary determination unit pre-configured in the first electronic device and / or the second electronic device, thereby effectively improving the positioning success rate and significantly shortening the initial abnormal position positioning time.

[0107] Figure 4 is a schematic diagram of a communication system to which the positioning method provided in an embodiment of the present application is applied. As shown in Figure 4 , the communication system includes a first electronic device 100 and a second electronic device 200.

[0108] Optionally, the first electronic device 100 or the second electronic device 200 may be, for example, a mobile phone, a tablet computer, a laptop computer, a smart screen, a remote control handle, a wearable device, a vehicle-mounted terminal, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), an artificial intelligence (AI) device or other terminal device, and the operating system installed on the first electronic device 100 or the second electronic device 200 includes but is not limited to This application does not limit the specific types of the first electronic device 100 and the second electronic device 200 or the installed operating systems.

[0109] In some embodiments, a wireless communication connection is established between the first electronic device 100 and the second electronic device 200. The wireless communication technology used to establish the wireless communication connection includes, but is not limited to, at least one of the following: Bluetooth (BT) (e.g., traditional Bluetooth or Bluetooth low energy (BLE)), wireless local area networks (WLAN) (e.g., wireless fidelity (Wi-Fi) networks), near field communication (NFC), Zigbee, frequency modulation (FM), infrared (IR), etc.

[0110] Optionally, the first electronic device 100 and the second electronic device 200 may also establish a communication connection through a third-party device in the local area network, such as a router, a gateway, a smart device controller, a server, etc.

[0111] In other embodiments, a wired communication connection may also be established between the first electronic device 100 and the second electronic device 200. For example, the first electronic device 100 and the second electronic device 200 are connected via a universal serial bus (USB) interface.

[0112] Optionally, the first electronic device 100 is, for example, a positioning device, and the second electronic device 200 is, for example, a positioned device. Optionally, in a remote control scenario, the first electronic device 100 is, for example, a controlled display terminal (such as a smart screen), and the second electronic device 200 is, for example, a remote control terminal (such as a remote control handle). The first electronic device 100 determines whether it needs to respond to an instruction signal sent by the second electronic device 200 by locating the position of the second electronic device 200.

[0113] Optionally, the first electronic device 100 and the second electronic device 200 in the embodiment of the present application may be implemented by different devices, and the different devices may have the same, similar or somewhat different hardware structures, such as the hardware structure shown in FIG. 5 .

[0114] For example, taking the first electronic device 100 having the hardware structure shown in FIG. 5 as an example, the hardware structure shown in FIG. 5 is described.

[0115] As shown in Figure 5, the first electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, a wireless positioning module 161, an auxiliary determination unit 162, an audio module 170, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc.

[0116] It should be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the first electronic device 100. In other embodiments of the present application, the first electronic device 100 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0117] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0118] The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of instruction fetching and execution.

[0119] Processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in processor 110 is a cache memory. This memory can store instructions or data that have just been used or are being recycled by processor 110. If processor 110 needs to use the same instruction or data again, it can directly access the memory. This avoids duplicate accesses, reduces processor 110 latency, and thus improves system efficiency.

[0120] In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface.

[0121] The MIPI interface can be used to connect the processor 110 to peripheral devices such as the display screen 194 and the camera 193. MIPI interfaces include the camera serial interface (CSI) and the display serial interface (DSI). In some embodiments, the processor 110 and the camera 193 communicate via the CSI interface to implement the camera function of the first electronic device 100. The processor 110 and the display screen 194 communicate via the DSI interface to implement the display function of the first electronic device 100.

[0122] The USB interface 130 is an interface that complies with USB standards and specifications, and may be a Mini USB interface, a Micro USB interface, a USB Type-C interface, or the like. The USB interface 130 can be used to connect a charger to charge the first electronic device 100, or to transfer data between the first electronic device 100 and peripheral devices. It can also be used to connect headphones to play audio. This interface can also be used to connect other electronic devices, such as AR devices.

[0123] It is understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is merely an illustrative description and does not constitute a structural limitation on the first electronic device 100. In other embodiments of the present application, the first electronic device 100 may also adopt a different interface connection method from the above embodiments, or a combination of multiple interface connection methods.

[0124] The charging management module 140 is configured to receive charging input from a charger. The charger can be either a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 can receive charging input from the wired charger via the USB interface 130. In some wireless charging embodiments, the charging management module 140 can receive wireless charging input via the wireless charging coil of the first electronic device 100. While charging the battery 142, the charging management module 140 can also provide power to the electronic device via the power management module 141.

[0125] The power management module 141 is used to connect the battery 142, the charging management module 140, and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and provides power to the processor 110, the internal memory 121, the display 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle count, and battery health status (leakage, impedance). In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0126] The wireless communication function of the first electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0127] Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in first electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch.

[0128] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied to the first electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0129] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is passed to the application processor. The application processor outputs the sound signal through the audio device or displays an image or video through the display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be provided in the same device as the mobile communication module 150 or other functional modules.

[0130] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., applied on the first electronic device 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0131] In some embodiments, the antenna 1 of the first electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the first electronic device 100 can communicate with a network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0132] The wireless positioning module 161 is used to implement the positioning function of the first electronic device 100. For example, the second electronic device 200 is positioned using positioning technologies such as UWB / millimeter waves, electromagnetic fields, and optical tracking. For example, the wireless positioning module 161 can be any of the following: an electromagnetic positioning module, a UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

[0133] The signal coverage range of the wireless positioning module 161 is 360 degrees, one part of which is the effective positioning signal area and the other part is the abnormal positioning signal area.

[0134] The auxiliary determination unit 162 is an optical transceiver. Its optical transmission and reception angles are constrained by the structure to match the coverage angles of the effective positioning signal area and abnormal positioning signal area of ​​the wireless positioning module 161. This allows for clear and distinct area determination within the determined effective positioning signal area and abnormal positioning signal area.

[0135] Optionally, the auxiliary determination unit 162 is a module for emitting or receiving optical signals, such as an invisible light emitting diode, an invisible light receiving diode, or a camera.

[0136] Optionally, the optical transmission and reception angle of the auxiliary determination unit 162 deployed in the signal area (such as the effective positioning signal area or the abnormal positioning signal area) is less than or equal to the signal coverage angle of the signal area. Thus, after the auxiliary determination unit 162 receives or sends an optical signal, it can determine that the opposite device is located within the corresponding signal area. Optionally, in the case where the optical transmission and reception angle of the auxiliary determination unit 162 is less than the signal coverage angle of the corresponding signal area, the angle that is less than is greater than or equal to a preset angle threshold. For example, the optical transmission and reception angle of the auxiliary determination unit 162 is less than the signal coverage angle of the corresponding signal area by no more than 5 degrees. In this way, the waste of the effective signal positioning area is avoided and the accuracy of positioning is improved.

[0137] Optionally, one or more auxiliary determination units 162 are deployed in at least one of different valid positioning signal areas or abnormal positioning signal areas; and different auxiliary determination units 162 are deployed in different valid positioning signal areas or abnormal positioning signal areas. Optionally, different auxiliary determination units 162 are used to indicate that the optical signal characteristics of the auxiliary determination units 162 are different.

[0138] For example, as shown in FIG6 , the signal coverage range of the wireless positioning module includes two effective positioning signal areas, such as the effective positioning signal area B1 and the effective positioning signal area B2; and two abnormal positioning signal areas, such as the abnormal positioning signal area A1 and the abnormal positioning signal area A2. Among them, an auxiliary determination unit is deployed in the effective positioning signal area B2. The auxiliary determination unit is a light receiving unit that can be used to receive optical signals emitted to the effective positioning signal area B2, and will not receive optical signals emitted to other effective positioning signal areas and abnormal positioning signal areas. In this way, the light receiving angle of the auxiliary determination unit can be used to clearly determine the coverage range of the effective positioning signal area B2. Subsequently, the first electronic device 100 first determines whether the second electronic device 200 is located in the effective positioning signal area B2 through the optical signal reception of the auxiliary determination unit, and then performs further positioning, thereby improving the speed of determining the initial position of the second electronic device 200.

[0139] In some examples, the second electronic device 200 is also configured with a wireless positioning module and an auxiliary determination unit, which determine the location of the second electronic device 200 by cooperating with the auxiliary determination unit in the first electronic device 100.

[0140] Optionally, auxiliary determination units deployed in different signal zones, when capable of light transmission, can emit characteristically adjusted optical signals. Thus, upon receiving the transmitted light, the auxiliary determination unit in the electronic device can determine the signal zone from which the opposite device emitted the optical signal based on the characteristics of the received optical signal, thereby determining the positional relationship between the electronic device and the opposite device. For example, the electronic device can determine which signal zone of the opposite device the electronic device is located in.

[0141] Optionally, the auxiliary determination unit may adjust the characteristics of the emitted optical signal by frequency adjustment, amplitude modulation, etc.

[0142] 7 , the first electronic device 100 and the second electronic device 200 are respectively configured with a processor, a wireless positioning module, and an auxiliary determination unit. The auxiliary determination unit includes one or more optical units configured to transmit or receive at least one of an optical signal.

[0143] For example, the auxiliary determination unit in the first electronic device 100 is a light receiving unit, and the auxiliary determination unit in the second electronic device 200 is a light emitting unit. In this way, through cooperation with the second electronic device 200, after the first electronic device 100 receives the optical signal transmitted by the second electronic device 200 through the auxiliary determination unit, it can use the processor to determine which signal area of ​​the second electronic device 200 the auxiliary determination unit is transmitting the optical signal, and which signal area the auxiliary determination unit in the first electronic device 100 receives the optical signal.

[0144] Among them, when the optical signal emitted by the auxiliary determination unit located in the effective positioning signal area is received by the opposite device, or when the auxiliary determination unit located in the effective positioning signal area receives the optical signal (that is, when there is valid positioning data at either end of the first electronic device 100 or the second electronic device 200), positioning can be performed through the first electronic device 100 or the second electronic device 200 to which the effective positioning signal area belongs.

[0145] For example, the processor of the first electronic device 100 determines that the auxiliary determination unit located in the valid positioning signal area receives an optical signal and can determine that the second electronic device 200 is located in the valid positioning signal area of ​​the first electronic device. Then, the first electronic device 100 can determine the location of the second electronic device 200 through the wireless positioning module.

[0146] In some embodiments, the wireless positioning module 161 and the auxiliary determination unit 162 may be independent modules; or, the wireless positioning module 161 includes the auxiliary determination unit 162.

[0147] The first electronic device 100 implements display functionality through a GPU, display screen 194, and an application processor. The GPU is a microprocessor for image processing that connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or modify display information.

[0148] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be manufactured using a liquid crystal display (LCD), for example, an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Mini-LED, Micro-LED, Micro-OLED, quantum dot light-emitting diodes (QLED), etc. In some embodiments, the first electronic device 100 may include one or N display screens 194, where N is a positive integer greater than 1.

[0149] The camera 193 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal, and then passes the electrical signal to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the first electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0150] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the first electronic device 100. The external memory card communicates with the processor 110 via the external memory interface 120 to implement data storage functions. For example, files such as music and videos can be stored in the external memory card.

[0151] The internal memory 121 can be used to store computer executable program codes, which include instructions. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the first electronic device 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 110 executes various functional applications and data processing of the first electronic device 100 by running instructions stored in the internal memory 121 and / or instructions stored in a memory provided in the processor.

[0152] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be set in the processor 110, or some functional modules of the audio module 170 can be set in the processor 110. The first electronic device 100 can use the audio module 170, such as music playback and recording. The audio module 170 may include a speaker, a receiver, a microphone, a headphone jack, and an application processor to implement audio functions.

[0153] The sensor module 180 may include a pressure sensor, a gyro sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a distance sensor, a proximity light sensor, a fingerprint sensor, a temperature sensor, a touch sensor, an ambient light sensor, a bone conduction sensor, and the like.

[0154] The buttons 190 include a power button, a volume button, etc. The buttons 190 may be mechanical buttons or touch buttons. The first electronic device 100 may receive key inputs and generate key signal inputs related to user settings and function control of the first electronic device 100.

[0155] Motor 191 can generate vibration alerts. This can be used for incoming call vibration alerts or touch vibration feedback. Depending on the touch operation applied to different areas of the display 194, motor 191 can also generate different vibration feedback effects. Different application scenarios (e.g., time reminders, receiving messages, alarm clocks, gaming, etc.) can also correspond to different vibration feedback effects.

[0156] The indicator 192 may be an indicator light, which may be used to indicate the charging status, power level changes, messages, missed calls, notifications, etc.

[0157] The SIM card interface 195 is used to connect a SIM card. The SIM card can be connected to and disconnected from the first electronic device 100 by inserting or removing the SIM card into or from the SIM card interface 195. The first electronic device 100 may support one or N SIM card interfaces, where N is a positive integer greater than one.

[0158] In the following text, the positioning method provided in the embodiment of the present application is described in detail, taking the first electronic device as the positioning device, the auxiliary determination unit deployed in the wireless receiving module is used to receive optical signals; the second electronic device is the positioned device, the auxiliary determination unit deployed in the wireless receiving module is used to transmit optical signals; the first electronic device and the second electronic device both include two valid positioning signal areas and two abnormal positioning signal areas as shown in Figure 6 as an example.

[0159] It should be understood that the auxiliary determination unit deployed in the wireless receiving module of the first electronic device can also be used to transmit optical signals, and the auxiliary determination unit deployed in the wireless receiving module of the second electronic device can be used to receive optical signals. In this case, the positioning method between the first and second electronic devices can refer to the positioning method described in the following embodiments, and this embodiment of the present application will not be repeated here.

[0160] In addition, the first electronic device and the second electronic device may have more or fewer valid positioning signal areas and abnormal positioning signal areas depending on the wireless positioning modules configured therein, and the embodiments of the present application do not limit this.

[0161] FIG8 is a flow chart of a positioning method provided in an embodiment of the present application. It should be noted that the method is not limited to FIG8 and the specific sequence described below. It should be understood that in other embodiments, the order of some steps in the method can be interchanged according to actual needs, or some steps can be omitted or deleted. The method includes the following steps:

[0162] S801. The wireless positioning module sends an auxiliary determination signal through the auxiliary determination unit.

[0163] In some embodiments, the auxiliary determination unit disposed in the wireless receiving module of the second electronic device is used to transmit the auxiliary determination signal. In response to a user operation, the second electronic device transmits the auxiliary determination signal through the auxiliary determination unit.

[0164] Optionally, the auxiliary determination signal is an optical signal. The auxiliary determination unit may adjust the characteristics of the transmitted optical signal through frequency tuning, amplitude modulation, or the like. Alternatively, the auxiliary determination signal may carry different information for distinguishing the signal region in which the auxiliary determination unit transmitting the auxiliary determination signal is located. For example, different signal regions of the wireless positioning module are preset with different identifiers, and the auxiliary determination signal transmitted by the auxiliary determination unit carries the identifier of the signal region in which it is located.

[0165] The following describes in detail the positioning method provided in the embodiment of the present application, taking the auxiliary determination signal as an optical signal as an example.

[0166] Optionally, the optical signal emitted by the second electronic device is an adjusted optical signal, and the first electronic device is configured with characteristics of the optical signal emitted by the second electronic device. Thus, upon receiving the optical signal, the first electronic device can determine, based on the preset optical signal characteristics, whether the received optical signal is an optical signal emitted by the second electronic device, and determine in which signal zone of the second electronic device the optical signal is emitted by the auxiliary determination unit.

[0167] For example, as shown in Figure 9, a first electronic device is equipped with a wireless positioning module 1. An auxiliary determination unit is placed within the effective positioning signal area Bn of the wireless positioning module 1. This auxiliary determination unit is a light receiving unit, and its light reception angle is less than or equal to the signal coverage angle of the effective positioning signal area Bn. Therefore, by constraining the structure of this auxiliary determination unit, all optical signals received by the auxiliary determination unit are optical signals emitted toward the effective positioning signal area Bn. In other words, if the device emitting the optical signal is within the effective positioning signal area Bn of the first electronic device, the first electronic device can obtain valid positioning data.

[0168] The second electronic device is equipped with a wireless positioning module 2. An auxiliary determination unit is placed within the effective positioning signal area C1 of the wireless positioning module 2. This auxiliary determination unit is a light emitting unit, and its light emission angle is less than or equal to the signal coverage angle of the effective positioning signal area C1. Therefore, by constraining the structure of this auxiliary determination unit, the optical signals emitted by the auxiliary determination unit are all within the coverage area of ​​the effective positioning signal area C1. In other words, if the device receiving this optical signal is within the effective positioning signal area C1 of the second electronic device, the second electronic device can obtain valid positioning data.

[0169] For example, the first electronic device is a smart screen, and the second electronic device is a remote control handle. As shown in Figure 9, the smart screen is equipped with a wireless positioning module 1. The forward direction of the smart screen corresponds to the effective positioning signal area Bn. The user is within the signal coverage of the effective positioning signal area Bn and can control the smart screen through the remote control handle. The smart screen can accurately locate the remote control handle. However, if the user is within the signal coverage of the abnormal positioning signal area A1 or the abnormal signal positioning signal area An, the smart screen cannot accurately locate the remote control handle, and the user cannot control the smart screen through the remote control handle. The remote control handle is equipped with a wireless positioning module 2. The forward direction of the remote control handle corresponds to the effective positioning signal area C1, and a light emitting unit is arranged in the effective positioning signal area C1. In response to the user's operation of the button, the remote control handle sends an optical signal through the light emitting unit.

[0170] S802: The optical receiving unit obtains the auxiliary determination signal and determines the corresponding status information. If yes, execute step S803; if not, execute step S801.

[0171] The first electronic device's wireless positioning module has light receiving units with different signal characteristics deployed in the effective positioning signal area and the abnormal positioning signal area. Similarly, the second electronic device's wireless positioning module has light emitting units with different signal characteristics deployed in the effective positioning signal area and the abnormal positioning signal area. This allows the first electronic device to determine corresponding status information based on the characteristics of the received optical signal and the characteristics of the light receiving unit that received the optical signal.

[0172] Table 1

[0173] For example, as shown in Table 1 above, the signal area of ​​the wireless positioning module 1 in the first electronic device includes a valid positioning signal area and an abnormal positioning signal area, wherein the valid signal positioning area is provided with a light receiving unit 3, and the abnormal positioning signal area is provided with a light receiving unit 4. The signal area of ​​the wireless positioning module 2 in the second electronic device includes a valid positioning signal area and an abnormal positioning signal area, wherein the valid signal positioning area is provided with a light transmitting unit 1, and the abnormal positioning signal area is provided with a light transmitting unit 2. Then, after the wireless positioning module 1 in the first electronic device receives the auxiliary determination signal sent by the light transmitting unit in the second electronic device through the light transmitting unit in the different signal areas through the light receiving unit in the different signal areas, it can determine the status information of the signal area where the light transmitting unit that sent the auxiliary determination signal is located, and determine the status information of the signal area where the light receiving unit that received the auxiliary determination signal is located.

[0174] For example, the first electronic device receives the auxiliary judgment signal sent by the second electronic device through the light emitting unit 1 in the effective positioning signal area through the light receiving unit 3 in the effective positioning signal area, and the first electronic device can determine the status information of the light emitting unit 1 and the light receiving unit 3.

[0175] In some examples, the status information is used to indicate a valid positioning signal area or an abnormal positioning signal area. The order of determining the status information is not limited in the embodiments of the present application.

[0176] For example, the first electronic device first determines that the status information of the light emitting unit 1 indicates that the signal area where the light emitting unit 1 that sends the auxiliary judgment signal is located is a valid positioning signal area, and then determines that the status information of the light receiving unit 3 indicates that the signal area where the light receiving unit 3 that receives the auxiliary judgment signal is located is a valid positioning signal area.

[0177] Alternatively, the first electronic device first determines that the status information of the light receiving unit 3 indicates that the signal area where the light receiving unit 3 receiving the auxiliary judgment signal is located is a valid positioning signal area, and then determines that the status information of the light emitting unit 1 indicates that the signal area where the light emitting unit 1 sending the auxiliary judgment signal is located is a valid positioning signal area.

[0178] Alternatively, the first electronic device first generates a characteristic combination for the light emitting unit 1 and the light receiving unit 3, and then determines state information of the characteristic combination, such as a characteristic combination of a valid positioning signal area and a valid positioning signal area.

[0179] It should be understood that the first and second electronic devices may selectively deploy at least one of the light emitting units or light receiving units in portions of the valid and abnormal positioning signal areas. Therefore, the status information obtained represents some or all of the status information exemplified in Table 1 above. Furthermore, if the first and second electronic devices have more or fewer valid and abnormal positioning signal areas, more status information may be generated, which is not further illustrated here.

[0180] For example, in the scenario shown in Figure 9, a light emitting unit 1 is placed in the effective positioning signal area C1 of the second electronic device, which is used to emit an optical signal of frequency f1. A light receiving unit 3 is placed in the effective positioning signal area Bn of the first electronic device. When the light receiving unit 3 receives the optical signal of frequency f1 emitted by the light emitting unit 1, the first electronic device can determine that the status information (light emitting unit 1, light receiving unit 3) has been received. Then, after obtaining the status information, the first electronic device can determine whether there is valid positioning data (i.e., execute the following step S803). When the first electronic device does not obtain the status information, it can return to step S801.

[0181] In some embodiments, after acquiring the status information, the first electronic device may synchronize the status information with the second electronic device to facilitate subsequent acquisition of valid positioning data. Furthermore, the first electronic device may notify the second electronic device of the optical signal it has received from the second electronic device by sending the status information.

[0182] Exemplarily, as shown in FIG10 , the second electronic device responds to a user operation by sending an optical signal through an auxiliary determination unit placed in the effective positioning signal area C1. Since the second electronic device is located in the abnormal signal area An of the first electronic device, and no auxiliary determination unit is placed in the abnormal signal area An of the first electronic device, the optical signal sent by the second electronic device cannot be received. Therefore, the first electronic device cannot obtain status information within a preset time after the second electronic device sends the optical signal, and cannot feedback status information to the second electronic device. Therefore, if the second electronic device does not receive the status information fed back by the first electronic device within a preset time after transmitting the optical signal, it may return to execute the above step S801. For example, the second electronic device prompts the user to move the position and re-operate to trigger the control of the first electronic device. Alternatively, if the first electronic device has not been controlled for a long time, the user may re-operate the second electronic device to control the first electronic device.

[0183] As another example, as shown in Figure 11, in response to a user operation, the second electronic device transmits an optical signal via an auxiliary determination unit placed in the effective positioning signal area C1. The optical signal is transmitted in a direction that is neither within the effective positioning signal area of ​​the first electronic device nor within the abnormal positioning signal area of ​​the first electronic device. In this scenario, the user may control other electronic devices through the second electronic device, while the first electronic device, unable to obtain status information, will not trigger positioning and, therefore, will not respond to the control of the second electronic device.

[0184] S803: If there is valid positioning data, go to step S804; if not, go to step S801.

[0185] In some embodiments, when the peer device is located within its own valid positioning signal area, the electronic device can accurately locate the position of the peer device, that is, obtain valid positioning data. When the peer device is located within its own abnormal positioning signal area, the electronic device cannot accurately locate the position of the peer device, that is, cannot obtain valid positioning data. Therefore, after synchronizing status information, the first electronic device and the second electronic device can determine whether the peer device is located within their own valid positioning signal area, thereby determining whether they can obtain valid positioning data. After any electronic device of the first electronic device and the second electronic device determines that valid positioning data can be obtained, it can output the valid positioning data, that is, execute the following step S804; when both the first electronic device and the second electronic device cannot obtain valid positioning data, it indicates that the positioning process is abnormal, and the user needs to re-operate the second electronic device to re-trigger control of the first electronic device, that is, return to execute the above step S801.

[0186] Exemplarily, corresponding to the state information shown in Table 1 above, as shown in Table 2 below, different state information may correspond to different valid positioning data existence results.

[0187] Table 2

[0188] For example, light emitting unit 1 and light receiving unit 3 are auxiliary determination units deployed within the valid positioning signal area of ​​the corresponding device. Therefore, when the status information (light emitting unit 1, light receiving unit 3) is obtained, the first and second electronic devices are both within the valid positioning signal area of ​​the other device. Therefore, the positioning data obtained by both electronic devices locating the other device is valid.

[0189] For another example, light emitting unit 1 is an auxiliary determination unit deployed in the valid positioning signal area of ​​the second electronic device, and light receiving unit 4 is an auxiliary determination unit deployed in the abnormal positioning signal area of ​​the first electronic device. Therefore, when the status information (light emitting unit 1, light receiving unit 4) is obtained, the first electronic device is located in the valid positioning signal area of ​​the second electronic device, and the second electronic device is located in the abnormal positioning signal area of ​​the first electronic device. Therefore, the positioning data obtained by the second electronic device locating the first electronic device is valid positioning data.

[0190] For another example, light emitting unit 2 is an auxiliary determination unit deployed in the abnormal positioning signal area of ​​the second electronic device, and light receiving unit 3 is an auxiliary determination unit deployed in the effective positioning signal area of ​​the first electronic device. Therefore, when the status information (light emitting unit 2, light receiving unit 3) is obtained, the first electronic device is located in the abnormal positioning signal area of ​​the second electronic device, and the second electronic device is located in the effective positioning signal area of ​​the first electronic device. Therefore, the positioning data obtained by the first electronic device to locate the second electronic device is valid positioning data.

[0191] For another example, light emitting unit 2 and light receiving unit 4 are auxiliary determination units deployed in the abnormal location signal area of ​​the corresponding device. Therefore, when the status information (light emitting unit 2, light receiving unit 4) is obtained, the first electronic device and the second electronic device are both located in the abnormal location signal area of ​​the other device. Therefore, the positioning data obtained by both electronic devices locating the other device is abnormal positioning data.

[0192] S804: The positioning device obtains valid positioning data.

[0193] In some embodiments, after the electronic device determines that it can obtain valid positioning data based on the status information, it may locate the peer device using the wireless positioning module to obtain valid positioning data. Alternatively, the electronic device may have already obtained positioning data while obtaining the status information. If the electronic device subsequently determines that it can obtain valid positioning data based on the status information, it retains the already determined valid positioning data. If the electronic device determines that it cannot obtain valid positioning data based on the status information, it discards the already determined positioning data.

[0194] Optionally, the wireless positioning module obtains positioning data based on electromagnetic waves (such as Bluetooth / Wi-Fi / UWB / millimeter wave and other wireless frequency bands), electromagnetic fields (distributed electromagnetic field sources and electromagnetic sensors), etc. It should be noted that the method for obtaining wireless positioning data can refer to the existing technology, and the embodiments of this application are not limited to this.

[0195] In some embodiments, the second electronic device, serving as the positioned device, sends the valid positioning data to the positioning device, ie, the first electronic device, after acquiring the valid positioning data.

[0196] In some embodiments, after obtaining a set of valid positioning data determined by the first electronic device or the second electronic device, the first electronic device may determine the location of the second electronic device based on the valid positioning data.

[0197] Alternatively, the first electronic device determines the valid positioning data and receives the valid positioning data sent by the second electronic device. Then, the first electronic device can select any one set of valid positioning data to determine the position of the second electronic device. Or, according to the preset rules, the retained valid positioning data is judged. For example, in the scenario shown in Figure 9, if the first electronic device is a smart screen, the back direction of the smart screen is the valid positioning signal area B1, if the second electronic device is located in the valid positioning signal area B1, the valid positioning data obtained by the smart screen may also be unusable because the user is not controlling the smart screen. Therefore, a rule can be preset in the smart screen to determine the valid positioning data corresponding to the valid positioning signal area B1 as positioning data that needs to be discarded.

[0198] In some embodiments, after acquiring valid positioning data, the first electronic device may display a corresponding identifier to facilitate the user to confirm that the control process is valid.

[0199] By deploying low-cost auxiliary determination units in signal areas (such as valid positioning signal areas or abnormal positioning signal areas), fast and accurate positioning can be achieved during high-precision positioning tracking. This can cost-effectively resolve positioning anomalies in abnormal positioning signal areas, quickly determine the initial position of the located device, and improve the user experience.

[0200] In addition, when the starting position of the device to be located is an abnormal position, the auxiliary judgment unit light constraint can also be used to determine the effective positioning signal area, quickly determine the electronic device used to generate effective positioning data, and greatly shorten the positioning time of the starting abnormal position.

[0201] The above embodiment describes the positioning process by placing an auxiliary determination unit in the effective positioning signal area of ​​the first electronic device and the second electronic device, respectively. The following describes different implementations of the positioning process in detail, based on the positioning process principle shown in Figure 8 and in combination with different positioning scenarios.

[0202] In some embodiments, an auxiliary determination unit for transmitting optical signals is placed in the effective positioning signal area of ​​the wireless positioning module 2 in the second electronic device, and auxiliary determination units for receiving optical signals are placed in the effective positioning signal area and abnormal positioning signal area of ​​the wireless positioning module 1 in the first electronic device. In this way, the first electronic device can determine whether the second electronic device is located in its own effective positioning signal area or abnormal positioning signal area through the auxiliary determination unit receiving the optical signal, thereby achieving more accurate positioning.

[0203] For example, as shown in FIG12 , in response to a user operation, the second electronic device transmits an optical signal with adjusted optical signal characteristics, such as an optical signal frequency of f1, through an auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1. Subsequently, upon receiving the optical signal, the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn of the first electronic device can generate corresponding status information. Furthermore, the first electronic device transmits this status information to the second electronic device, i.e., synchronized positioning state. Based on the status information, the first electronic device determines that the second electronic device is located in the effective positioning signal area of ​​the first electronic device and can generate valid positioning data. Furthermore, based on the status information, the second electronic device determines that the first electronic device is located in the effective positioning signal area of ​​the second electronic device and can generate valid positioning data and send this valid positioning data to the first electronic device. Subsequently, the first electronic device can determine the location of the second electronic device based on the two sets of valid positioning data obtained. For example, the first electronic device discards the valid positioning data transmitted by the second electronic device and completes the positioning of the second electronic device using the valid positioning data determined by itself.

[0204] As another example, as shown in FIG13 , the second electronic device, in response to a user operation, transmits an optical signal with adjusted optical signal characteristics through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1. Afterwards, the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn of the first electronic device, and the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An, both receive the optical signal. Then, the first electronic device can generate two corresponding sets of status information and send the two sets of status information to the second electronic device. Based on the two sets of status information, the first electronic device determines that the second electronic device is located at the junction of its effective positioning signal area and the abnormal positioning signal area, and there is a risk of positioning abnormality. Based on the two sets of status information, the second electronic device determines that the first electronic device is located in its effective signal positioning signal area, and therefore can generate effective positioning data and send the effective positioning data to the first electronic device. Afterwards, the first electronic device can determine the positioning of the second electronic device based on the effective positioning data sent by the second electronic device.

[0205] As another example, as shown in FIG14 , the second electronic device, in response to user operation, transmits an optical signal with adjusted optical signal characteristics through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1. Afterwards, the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An in the first electronic device receives the optical signal. Then, the first electronic device can generate corresponding status information and send the status information to the second electronic device. Based on the status information, the first electronic device determines that the second electronic device is located in its abnormal positioning signal area and cannot generate valid positioning data. Based on the received status information, the second electronic device determines that the first electronic device is located in its effective signal positioning signal area, and therefore can generate effective positioning data and send the effective positioning data to the first electronic device. Afterwards, the first electronic device can determine the positioning of the second electronic device based on the acquired effective positioning data sent by the second electronic device.

[0206] Alternatively, if the first electronic device cannot generate valid positioning data and fails to receive valid positioning data from the second electronic device within a preset time, it can be determined that the positioning has failed. In this case, the user needs to re-operate the second electronic device to re-trigger control of the first electronic device.

[0207] As another example, as shown in Figure 15, in response to a user operation, the second electronic device transmits an optical signal with adjusted optical signal characteristics via an auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1. Subsequently, the first electronic device is unable to receive this optical signal and is unable to provide status information to the second electronic device within a preset time. The second electronic device may then determine that positioning has failed and require the user to re-operate the second electronic device to re-trigger control of the first electronic device.

[0208] In some embodiments, auxiliary determination units for sending optical signals are respectively placed in the effective positioning signal area and the abnormal signal positioning signal area of ​​the wireless positioning module 2 in the second electronic device, and auxiliary determination units for receiving optical signals are respectively placed in the effective positioning signal area and the abnormal signal positioning signal area of ​​the wireless positioning module 1 in the first electronic device. In addition, the optical signal characteristics of the optical signals sent by the auxiliary determination units in the effective positioning signal area and the abnormal signal positioning signal area of ​​the second electronic device are different. For example, the frequency of the optical signal sent by the auxiliary determination unit in the effective positioning signal area of ​​the second electronic device is f1, and the frequency of the optical signal sent by the auxiliary determination unit in the abnormal signal positioning signal area is f2.

[0209] In this way, after receiving the optical signal, the first electronic device can not only determine in which signal area the auxiliary determination unit received the optical signal. In addition, the first electronic device can determine, based on the frequency of the received optical signal, that the signal area where the optical signal was sent is the valid positioning signal area or abnormal positioning signal area of ​​the second electronic device, and generate corresponding status information. Then, while the first electronic device determines that the second electronic device is located in its own valid positioning signal area or abnormal positioning signal area, it can also determine that it is located in the valid positioning signal area or abnormal positioning signal area of ​​the second electronic device, thereby achieving more accurate positioning.

[0210] Optionally, when the wireless positioning module 2 of the second electronic device has multiple valid positioning signal areas, the optical signal characteristics of the optical signals emitted by the multiple valid positioning signal areas are the same or different. When the wireless positioning module 2 of the second electronic device has multiple abnormal positioning signal areas, the optical signal characteristics of the optical signals emitted by the multiple abnormal positioning signal areas are the same or different.

[0211] For example, as shown in FIG16 , in response to a user operation, the second electronic device transmits an optical signal having adjusted optical signal characteristics according to a preset emission rule through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1, the auxiliary determination unit (light emitting unit) located in the abnormal positioning signal area D1, and the auxiliary determination unit (light emitting unit) located in the abnormal positioning signal area Dn. Optionally, the preset emission rule includes, for example, simultaneous emission, sequential emission in chronological order, and the like.

[0212] Afterwards, the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn of the first electronic device, after receiving the optical signal, determines that the auxiliary determination unit sending the optical signal is an auxiliary determination unit located in the effective positioning signal area of ​​the second electronic device based on the optical signal characteristics of the optical signal. In addition, the first electronic device can generate corresponding status information. Afterwards, the first electronic device sends the status information to the second electronic device. The first electronic device determines that the second electronic device is located in the effective positioning signal area of ​​the first electronic device based on the status information, and can generate valid positioning data. In addition, the second electronic device determines that the first electronic device is located in the effective positioning signal area of ​​the second electronic device based on the status information, and can generate valid positioning data and send the valid positioning data to the first electronic device. Afterwards, the first electronic device can determine the position of the second electronic device based on the two sets of valid positioning data obtained. For example, the first electronic device discards the valid positioning data sent by the second electronic device, and completes the positioning of the second electronic device through the valid positioning data determined by itself.

[0213] As another example, as shown in FIG17 , in response to a user operation, the second electronic device transmits an optical signal with adjusted optical signal characteristics according to a preset transmission rule via the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1, the auxiliary determination units (light emitting units) located in the abnormal positioning signal area D1, and the abnormal positioning signal area Dn. Subsequently, upon receiving the optical signal, the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An of the first electronic device determines, based on the optical signal characteristics of the optical signal, that the auxiliary determination unit transmitting the optical signal is located in the effective positioning signal area of ​​the second electronic device. Furthermore, the first electronic device may generate corresponding status information. The first electronic device may then transmit this status information to the second electronic device. Based on the status information, the first electronic device determines that the second electronic device is located in the abnormal positioning signal area of ​​the first electronic device and cannot generate valid positioning data. Furthermore, based on the status information, the second electronic device determines that the first electronic device is located in the effective positioning signal area of ​​the second electronic device and can generate valid positioning data, which it then transmits to the first electronic device. The first electronic device may then determine the location of the second electronic device based on the valid positioning data received from the second electronic device.

[0214] As another example, as shown in FIG18 , in response to a user operation, the second electronic device transmits an optical signal with adjusted optical signal characteristics according to a preset transmission rule through the auxiliary determination unit (light emitting unit) located in the effective positioning signal area C1, the auxiliary determination unit (light emitting unit) located in the abnormal positioning signal area D1, and the auxiliary determination unit (light emitting unit) located in the abnormal positioning signal area Dn of the first electronic device. Subsequently, upon receiving the optical signal, the auxiliary determination unit (light receiving unit) located in the effective positioning signal area Bn of the first electronic device determines, based on the optical signal characteristics of the optical signal, that the auxiliary determination unit that sent the optical signal is the auxiliary determination unit located in the abnormal positioning signal area of ​​the second electronic device (or, determines that the auxiliary determination unit that sent the optical signal is the auxiliary determination unit located in the abnormal positioning signal area D1 of the second electronic device). Furthermore, the first electronic device may generate corresponding status information. Subsequently, the first electronic device transmits the status information to the second electronic device. Based on the status information, the first electronic device determines that the second electronic device is located in the effective positioning signal area of ​​the first electronic device and can generate valid positioning data. Furthermore, based on the status information, the second electronic device determines that the first electronic device is located in the abnormal positioning signal area of ​​the second electronic device and cannot generate valid positioning data. Afterwards, the first electronic device may determine the location of the second electronic device based on the valid positioning data determined by itself.

[0215] As another example, as shown in FIG19 , in response to a user operation, the second electronic device transmits an optical signal with adjusted optical signal characteristics according to a preset transmission rule via the auxiliary determination unit (light emitting unit) located in the valid positioning signal area C1, the auxiliary determination units (light emitting units) located in the abnormal positioning signal area D1, and the abnormal positioning signal area Dn. Subsequently, upon receiving the optical signal, the auxiliary determination unit (light receiving unit) located in the abnormal positioning signal area An of the first electronic device determines, based on the optical signal characteristics of the optical signal, that the auxiliary determination unit transmitting the optical signal is located in the abnormal positioning signal area of ​​the second electronic device. Furthermore, the first electronic device may generate corresponding status information. The first electronic device then transmits this status information to the second electronic device. Based on the status information, the first electronic device determines that the second electronic device is located in the abnormal positioning signal area of ​​the first electronic device and is unable to generate valid positioning data. Furthermore, based on the status information, the second electronic device determines that the first electronic device is located in the abnormal positioning signal area of ​​the second electronic device and is unable to generate valid positioning data. Subsequently, the first electronic device fails to receive valid positioning data from the second electronic device within a preset time period and fails to generate valid positioning data itself. Then, the first electronic device may determine that the positioning has failed and the user needs to re-operate the second electronic device to re-trigger the control of the first electronic device.

[0216] In other embodiments, the electronic device is located in a smaller enclosed space, and objects in the enclosed space may produce optical effects such as reflection on the optical signal, thereby affecting the electronic device's ability to match the edge position of the signal area based on the receiving and transmitting angles of the optical signal.

[0217] Exemplarily, as shown in FIG20 , based on the performance of the wireless positioning module 1 in the first electronic device, the edge position of the effective positioning signal area Bn of the wireless positioning module 1 should be the edge position shown by reference numeral 201. However, due to the problem of optical signal reflection, the signal coverage range of the effective positioning signal area Bn is affected. For example, the signal coverage range of the effective positioning signal area Bn is reduced, and the edge position of the effective positioning signal area Bn is changed to the edge position shown by reference numeral 202; correspondingly, the signal coverage range of the abnormal positioning signal area An adjacent to the effective positioning signal area Bn is expanded. Therefore, in the configuration process of the auxiliary determination unit, the auxiliary determination unit with the corresponding optical signal angle should be deployed according to the actual signal coverage range of the effective positioning signal area Bn and the abnormal positioning signal area An, so as to ensure that the optical transmission and reception angle of the deployed auxiliary determination unit matches the edge position of the actual signal coverage range of the signal area.

[0218] For example, when controlling a display screen via a remote control in a car, the space inside the car is small, and multiple objects such as the inner walls of the door and the car seat may reflect the optical signal emitted by the remote control. Therefore, the corresponding auxiliary determination units can be deployed based on the actual signal coverage range of the signal area of ​​the remote control and / or the display screen's wireless positioning module. Through structural constraints, the optical transmission and reception angle of an auxiliary determination unit within the signal area can be less than or equal to the signal coverage angle of the corresponding signal area. This ensures the accuracy of determining the coverage angle of the signal area based on the transmission and reception angle of the optical signal.

[0219] It should be understood that in the scenario where the optical signal receiving and transmitting angle of the deployed auxiliary determination unit is determined based on the corrected signal coverage range, the positioning process of the first electronic device or the second electronic device can still refer to the implementation methods of the above-mentioned embodiments and will not be repeated here.

[0220] In addition, the positioning process described above uses the auxiliary determination unit as an optical transmitting unit or optical receiving unit as an example. In some scenarios, the auxiliary determination unit can also be an optical transceiver unit. That is, the auxiliary determination unit can both transmit and receive optical signals. When the auxiliary determination unit is an optical transceiver unit, the process of the first electronic device locating the second electronic device can be referred to the implementation methods of the various embodiments described above and will not be further described here.

[0221] In some scenarios, the communication system may include multiple first electronic devices and / or multiple second electronic devices. Then, during the positioning process, each electronic device may be positioned separately.

[0222] For example, in a multi-speaker networking scenario, the communication system includes multiple speakers (i.e., multiple first electronic devices) and a remote control handle (i.e., a second electronic device). The signal coverage angles of the effective positioning signal areas of the wireless positioning modules of the multiple speakers overlap, thereby achieving unified control of multiple speakers through a remote control handle. Therefore, when auxiliary determination units are respectively deployed in the effective positioning signal areas of the wireless positioning modules of different speakers, the optical signal receiving and transmitting directions of the different auxiliary determination units are the same, so as to ensure that the effective positioning signal areas finally determined are the same, and to ensure unified control of the multiple speakers by the remote control handle.

[0223] For example, Figure 21 is a flow chart of a positioning method provided in an embodiment of the present application. As shown in Figure 21, the method includes the following steps.

[0224] S2101. In response to a user operation, the second electronic device sends an auxiliary determination signal through a second auxiliary determination unit in a second signal area.

[0225] Among them, the first electronic device includes a first wireless positioning module, and an auxiliary determination unit is set in the M signal areas of the first wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and M is a positive integer.

[0226] Optionally, the first wireless positioning module includes N signal areas, wherein no auxiliary determination unit is provided in signal areas other than M signal areas, and N is a positive integer greater than M. Alternatively, auxiliary determination units are provided in all N signal areas included in the first wireless positioning module.

[0227] Among them, the second electronic device includes a second wireless positioning module, and an auxiliary determination unit is set in P signal areas of the second wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area, and P is a positive integer.

[0228] Optionally, the second wireless positioning module includes O signal areas, and no auxiliary determination unit is provided in signal areas other than P signal areas, where O is a positive integer greater than P. Alternatively, auxiliary determination units are provided in all O signal areas included in the second wireless positioning module.

[0229] In this way, an auxiliary determination unit is set in part of the signal area of ​​the wireless positioning module, which saves costs while meeting the positioning requirements.

[0230] Optionally, the first wireless positioning module or the second wireless positioning module is any one of the following: an electromagnetic positioning module, a UWB positioning module, a millimeter wave positioning module, or an optical tracking positioning module.

[0231] For example, if the wireless positioning module is an electromagnetic positioning module, the wireless positioning module includes one positioning circuit and three coils. For another example, if the wireless positioning module is a UWB positioning module, the wireless positioning module includes one positioning circuit and three antennas.

[0232] Optionally, the auxiliary determination unit is at least one of a transmitting unit or a receiving unit. For example, the auxiliary determination unit is an optical transceiver unit, and the auxiliary determination unit in the second electronic device receives the auxiliary determination signal sent by the auxiliary determination unit in the first electronic device while sending the auxiliary determination signal to the first electronic device. That is to say, the first electronic device and the second electronic device can both be used for positioning during the interaction process. Among them, the positioning process of the second electronic device can refer to the positioning process of the first electronic device, and the embodiments of the present application will not be described in detail. For another example, the auxiliary determination unit in the first electronic device is a light receiving unit, and the auxiliary determination unit in the second electronic device is a light transmitting unit. The first electronic device is a positioning device, and the second electronic device is a positioned device.

[0233] Optionally, the auxiliary determination signal is an optical signal. The optical signals transmitted by different auxiliary determination units are modulated optical signals. For example, the auxiliary determination unit may adjust the characteristics of the transmitted optical signal through frequency tuning, amplitude modulation, or other methods. Alternatively, different optical signals may be distinguished by carrying different information in the optical signal. Thus, by determining the signal characteristics of the optical signal, the signal region in which the auxiliary determination unit transmitting the optical signal is located can be determined.

[0234] In some embodiments, in response to a user operation, the second electronic device transmits an auxiliary determination signal to the first electronic device via a second auxiliary determination unit in a second signal area, where the second signal area is an area among the P signal areas. The auxiliary determination signal is used to determine the validity of the positioning data determined by the first electronic device or the second electronic device.

[0235] Optionally, the validity of the positioning data is used to indicate whether the peer device is located in its own valid positioning signal area when the positioning data is obtained. If the peer device is located in the valid positioning signal area of ​​the device, the local positioning data obtained by the device is valid data. If the peer device is located in the abnormal positioning signal area of ​​the device, the local positioning data obtained by the device is invalid data. By using the signal area where the auxiliary determination unit that receives or sends the auxiliary determination signal is located, it can be determined whether the peer device is located in its own valid positioning signal area. Among them, the specific process of determining the validity of the positioning data can refer to the content described in step S2103 below and will not be repeated here.

[0236] S2102: The first electronic device receives an auxiliary determination signal through a first auxiliary determination unit in a first signal area.

[0237] Optionally, the auxiliary determination signal is a signal received by the first electronic device in a first signal area among the M signal areas, and a first auxiliary determination unit is provided in the first signal area.

[0238] For example, as shown in FIG9 , in response to a user operation, the second electronic device transmits an auxiliary determination signal via the auxiliary determination unit in the effective positioning signal area C1 of the wireless positioning module 2. Correspondingly, the first electronic device receives the auxiliary determination signal via the auxiliary determination unit in the effective positioning signal area Bn of the wireless positioning module 1.

[0239] S2103: The first electronic device determines the validity of the target positioning data obtained by the first electronic device through the first wireless positioning module according to the auxiliary determination signal.

[0240] In some embodiments, the first electronic device determines a second signal area in which to send the auxiliary determination signal based on signal characteristics of the auxiliary determination signal, where the second signal area is a signal area of ​​a second wireless positioning module included in the second electronic device. The validity of the target positioning data is determined based on status information of the first signal area and the second signal area.

[0241] In some embodiments, the signal characteristics of the auxiliary determination units sent by the auxiliary determination units in different signal areas are different. Therefore, by judging the signal characteristics of the auxiliary determination unit, the signal area where the auxiliary determination unit sending the auxiliary determination unit is located can be determined.

[0242] Optionally, the signal characteristics include, for example, frequency characteristics, amplitude characteristics, carried information, etc.

[0243] In some embodiments, the signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area.

[0244] For example, the second wireless positioning module of the second electronic device includes four signal areas, including two effective positioning signal areas and two abnormal signal positioning areas.

[0245] For example, the auxiliary determination signals sent by the auxiliary determination units arranged in the four signal areas all have different signal characteristics.

[0246] Alternatively, the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in two valid positioning signal areas among the four signal areas are the same, the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in two abnormal positioning signal areas are the same, and the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in the valid positioning signal area are different from the signal characteristics of the auxiliary determination signals sent by the auxiliary determination units set in the abnormal positioning signal area.

[0247] Alternatively, auxiliary determination units are respectively provided in two effective positioning signal areas and one abnormal positioning signal area among the four signal areas, and the auxiliary determination signals sent by the three auxiliary determination units have different signal characteristics.

[0248] In some examples, when the first signal area indicated by the status information includes a first valid positioning signal area and the second signal area includes a second valid positioning signal area, the first electronic device obtains local first positioning data through the first wireless positioning module and receives the second positioning data sent by the second electronic device. The valid target positioning data is the first positioning data or the second positioning data.

[0249] That is, the first electronic device is located within the valid positioning signal area of ​​the second electronic device's second positioning module, and the second electronic device is located within the valid positioning signal area of ​​the first electronic device's first positioning module. Therefore, both the first and second electronic devices can obtain valid positioning data. The first electronic device can then select either positioning data as the final target positioning data.

[0250] Optionally, after determining the status information, the first electronic device further sends the status information to the second electronic device, so that the second electronic device can determine whether it needs to obtain positioning data based on the status information.

[0251] For example, the second electronic device receives status information about the second signal area and the first signal area transmitted by the first electronic device. The first signal area is one of the M signal areas of the first wireless positioning module in the first electronic device. The first signal area is provided with a first auxiliary determination unit, which is an auxiliary determination unit that receives the auxiliary determination signal. In response to the status information, the second electronic device obtains local second positioning data through the second wireless positioning module, and then transmits the second positioning data to the first electronic device. The second positioning data is used by the first electronic device to determine target positioning data.

[0252] Optionally, if the second signal area indicated in the status information includes a second valid positioning signal area, local second positioning data is obtained through the second wireless positioning module. That is, if the second electronic device determines that the first electronic device is located in the valid positioning signal area of ​​the second electronic device's second positioning module, it then obtains local second positioning data and sends the second positioning data to the first electronic device. In the current scenario, the second positioning data is valid positioning data.

[0253] In other examples, when the first signal area indicated by the status information includes a first valid positioning signal area and the second signal area includes a second abnormal positioning signal area, the first electronic device obtains local first positioning data through the first wireless positioning module, and the valid target positioning data is the first positioning data.

[0254] That is, the first electronic device is located within the abnormal positioning signal area of ​​the second electronic device's second positioning module, while the second electronic device is located within the valid positioning signal area of ​​the first electronic device's first positioning module. Therefore, the first electronic device can obtain valid positioning data. The first electronic device can then use the locally obtained first positioning data as the final target positioning data.

[0255] In other examples, when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second valid positioning signal area, the first electronic device receives the second positioning data sent by the second electronic device, and the valid target positioning data is the second positioning data.

[0256] That is, the first electronic device is located within the valid positioning signal area of ​​the second electronic device's second positioning module, while the second electronic device is located within the abnormal positioning signal area of ​​the first electronic device's first positioning module. Therefore, the second electronic device can obtain valid positioning data. The first electronic device can then use the second positioning data obtained from the second electronic device as the final target positioning data.

[0257] In some other examples, when the first signal area indicated by the status information includes a first abnormal positioning signal area and the second signal area includes a second abnormal positioning signal area, the first electronic device sends a first instruction to the second electronic device, where the first instruction is used to instruct the auxiliary determination signal to be sent again. The target positioning data is invalid.

[0258] That is, the first electronic device is located within the abnormal positioning signal area of ​​the second electronic device's second positioning module, and the second electronic device is located within the abnormal positioning signal area of ​​the first electronic device's first positioning module. Therefore, neither the first nor the second electronic device can obtain valid positioning data. The first electronic device can then determine that this round of positioning has failed and instruct the second electronic device to send an auxiliary determination signal again to initiate the next round of positioning.

[0259] By deploying low-cost auxiliary determination units in signal areas (such as valid positioning signal areas or abnormal positioning signal areas), fast and accurate positioning can be achieved during high-precision positioning tracking. This can cost-effectively resolve positioning anomalies in abnormal positioning signal areas, quickly determine the initial position of the located device, and improve the user experience.

[0260] In addition, when the starting position of the device to be located is an abnormal position, the auxiliary judgment unit light constraint can also be used to determine the effective positioning signal area, quickly determine the electronic device used to generate effective positioning data, and greatly shorten the positioning time of the starting abnormal position.

[0261] The positioning method provided by the embodiment of the present application is described in detail above with reference to Figures 6 to 21. The first electronic device and the second electronic device provided by the embodiment of the present application are described in detail below with reference to Figures 22 and 23.

[0262] In one possible design, Figure 22 is a schematic diagram of the structure of a first electronic device provided in an embodiment of the present application. As shown in Figure 22, first electronic device 2200 may include: a transceiver unit 2201 and a processing unit 2202. First electronic device 2200 may be used to implement the functions of the first electronic device or positioning device involved in the above method embodiments.

[0263] Optionally, the transceiver unit 2201 is used to support the first electronic device 2200 to execute S802 in Figure 8; or to support the first electronic device 2200 to execute S2102 in Figure 21.

[0264] Optionally, the processing unit 2202 is used to support the first electronic device 2200 to execute S802, S803 and S804 in Figure 8; or to support the first electronic device 2200 to execute S2103 in Figure 21.

[0265] Among them, the transceiver unit may include a receiving unit and a sending unit, and may be implemented by a transceiver or a transceiver-related circuit component, and may be a transceiver or a transceiver module. The operations and / or functions of each unit in the first electronic device 2200 are respectively to implement the corresponding processes of the positioning method described in the above method embodiment. All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional unit. For the sake of brevity, they are not repeated here.

[0266] Optionally, the first electronic device 2200 shown in Figure 22 may further include a storage unit (not shown in Figure 22) in which a program or instruction is stored. When the transceiver unit 2201 and the processing unit 2202 execute the program or instruction, the first electronic device 2200 shown in Figure 22 may perform the positioning method described in the above method embodiment.

[0267] The technical effects of the first electronic device 2200 shown in FIG. 22 may refer to the technical effects of the positioning method described in the above method embodiment, and will not be repeated here.

[0268] In addition to being in the form of the first electronic device 2200, the technical solution provided in this application may also be a functional unit or chip in the first electronic device, or a device used in conjunction with the first electronic device.

[0269] In one possible design, Figure 23 is a schematic diagram of the structure of a second electronic device provided in an embodiment of the present application. As shown in Figure 23, second electronic device 2300 may include a transceiver unit 2301 and a processing unit 2302. Second electronic device 2300 may be used to implement the functions of the second electronic device or the located device involved in the above method embodiments.

[0270] Optionally, the transceiver unit 2301 is used to support the second electronic device 2300 to execute S801 in Figure 8; or, is used to support the second electronic device 2300 to execute S2101 in Figure 21.

[0271] Optionally, the processing unit 2302 is used to support the second electronic device 2300 to execute S2101 in Figure 21.

[0272] Among them, the transceiver unit may include a receiving unit and a sending unit, and may be implemented by a transceiver or a transceiver-related circuit component, and may be a transceiver or a transceiver module. The operations and / or functions of each unit in the second electronic device 2300 are respectively to implement the corresponding processes of the positioning method described in the above method embodiment. All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional unit. For the sake of brevity, they are not repeated here.

[0273] Optionally, the second electronic device 2300 shown in Figure 23 may further include a storage unit (not shown in Figure 23) in which a program or instruction is stored. When the transceiver unit 2301 and the processing unit 2302 execute the program or instruction, the second electronic device 2300 shown in Figure 23 may perform the positioning method described in the above method embodiment.

[0274] The technical effects of the second electronic device 2300 shown in FIG. 23 may refer to the technical effects of the positioning method described in the above method embodiment, and will not be repeated here.

[0275] In addition to being in the form of the second electronic device 2300, the technical solution provided in this application may also be a functional unit or chip in the second electronic device, or a device used in conjunction with the second electronic device.

[0276] An embodiment of the present application also provides a chip system, including: a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the chip system implements the method in any of the above method embodiments.

[0277] Optionally, there may be one or more processors in the chip system. The processor may be implemented in hardware or software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, etc. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.

[0278] Optionally, the memory in the chip system may be one or more. The memory may be integrated with the processor or may be provided separately from the processor, which is not limited in the embodiments of the present application. For example, the memory may be a non-transient processor, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or provided on different chips. The embodiments of the present application do not specifically limit the type of memory or the configuration of the memory and the processor.

[0279] Exemplarily, the chip system may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD) or other integrated chips.

[0280] It should be understood that each step in the above method embodiment can be completed by hardware integrated logic circuits in a processor or by software instructions. The method steps disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware processor, or by a combination of hardware and software modules in a processor.

[0281] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the computer executes the above-mentioned related steps to implement the positioning method in the above-mentioned embodiment.

[0282] An embodiment of the present application further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement the positioning method in the above-mentioned embodiment.

[0283] In addition, embodiments of the present application further provide a device. Specifically, the device may be a component or module, and may include one or more processors and a memory connected to each other. The memory is configured to store a computer program. When the computer program is executed by one or more processors, the device performs the positioning method described in each of the aforementioned method embodiments.

[0284] The apparatus, computer-readable storage medium, computer program product, or chip provided in the embodiments of the present application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0285] The steps of the method or algorithm described in conjunction with the disclosure of the embodiments of the present application can be implemented in a hardware manner or can be implemented by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory (RAM), a flash memory, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, a hard disk, a mobile hard disk, a read-only compact disc (CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC).

[0286] Through the description of the above embodiments, those skilled in the art will clearly understand that for the sake of convenience and brevity, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed; that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0287] In the several embodiments provided in this application, it should be understood that the disclosed methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of modules or units, which can be electrical, mechanical or other forms.

[0288] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0289] Computer-readable storage media include, but are not limited to, any of the following: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media that can store program code.

[0290] The above is only a specific embodiment of the present application, but the scope of protection of this application is not limited to this. Any changes or substitutions within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A positioning method, characterized in that: Applied to a first electronic device, the first electronic device includes a first wireless positioning module, an auxiliary determination unit is provided in M ​​signal areas of the first wireless positioning module, an optical angle of the auxiliary determination unit is less than or equal to a signal coverage angle of the corresponding signal area, M is a positive integer, and the method includes: receiving, by the first auxiliary determination unit, an auxiliary determination signal sent by the second electronic device; The validity of the target positioning data acquired by the first electronic device through the first wireless positioning module is determined according to the auxiliary determination signal.

2. The method according to claim 1, characterized in that The auxiliary determination signal is a signal received by the first electronic device in a first signal area of ​​the M signal areas, and the first auxiliary determination unit is provided in the first signal area; The determining, according to the auxiliary determination signal, the validity of the target positioning data acquired by the first electronic device through the first wireless positioning module comprises: Determine, according to the signal characteristics of the auxiliary determination signal, a second signal area for sending the auxiliary determination signal, where the second signal area is a signal area of ​​a second wireless positioning module included in the second electronic device; The validity of the target positioning data is determined according to the status information of the first signal area and the second signal area.

3. The method according to claim 2, characterized in that The signal area of ​​the first wireless positioning module includes a first valid positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second valid positioning signal area and a second abnormal positioning signal area; and determining the validity of the target positioning data according to the status information of the first signal area and the second signal area includes: When the first signal area indicated by the status information includes the first valid positioning signal area, and the second signal area includes the second valid positioning signal area, the local first positioning data is acquired through the first wireless positioning module, and the second positioning data sent by the second electronic device is received, and the valid target positioning data is the first positioning data or the second positioning data.

4. The method according to claim 2 or 3, characterized in that: The determining, according to the status information of the first signal area and the second signal area, the validity of the target positioning data includes: When the first signal area indicated by the status information includes the first valid positioning signal area, and the second signal area includes the second abnormal positioning signal area, the local first positioning data is acquired through the first wireless positioning module, and the valid target positioning data is the first positioning data.

5. The method according to any one of claims 2 to 4, characterized in that: The determining, according to the status information of the first signal area and the second signal area, the validity of the target positioning data includes: When the first signal area indicated by the status information includes the first abnormal positioning signal area and the second signal area includes the second valid positioning signal area, the second positioning data sent by the second electronic device is received, and the valid target positioning data is the second positioning data.

6. The method according to any one of claims 2 to 5, characterized in that: The determining, according to the status information of the first signal area and the second signal area, the validity of the target positioning data includes: When the first signal area indicated by the status information includes the first abnormal positioning signal area, and the second signal area includes the second abnormal positioning signal area, a first indication is sent to the second electronic device, wherein the first indication is used to instruct to send an auxiliary determination signal again; wherein the target positioning data is invalid.

7. The method according to any one of claims 1 to 6, characterized in that: The auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

8. The method according to any one of claims 1 to 7, characterized in that: The first wireless positioning module includes N signal areas, and no auxiliary determination unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

9. The method according to any one of claims 1 to 8, characterized in that: The first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

10. The method according to any one of claims 1 to 9, characterized in that: The auxiliary determination signal is an optical signal.

11. A positioning method, characterized in that: Applied to a second electronic device, the second electronic device includes a second wireless positioning module, an auxiliary determination unit is provided in P signal areas of the second wireless positioning module, an optical angle of the auxiliary determination unit is less than or equal to a signal coverage angle of the corresponding signal area, P is a positive integer, and the method includes: In response to a user operation, an auxiliary determination signal is sent to the first electronic device through a second auxiliary determination unit in a second signal area, where the second signal area is an area among the P signal areas; the auxiliary determination signal is used to determine the validity of the positioning data determined by the first electronic device or the second electronic device.

12. The method according to claim 11, characterized in that The method further comprises: Receive status information of the second signal area and the first signal area sent by the first electronic device, where the first signal area is an area among M signal areas of the first wireless positioning module in the first electronic device, where M is a positive integer, and a first auxiliary determination unit is provided in the first signal area, and the first auxiliary determination unit is an auxiliary determination unit that receives the auxiliary determination signal; In response to the state information, acquiring local second positioning data through the second wireless positioning module; The second positioning data is sent to the first electronic device, where the second positioning data is used by the first electronic device to determine target positioning data.

13. The method according to claim 12, characterized in that The signal area of ​​the first wireless positioning module includes a first effective positioning signal area and a first abnormal positioning signal area, and the signal area of ​​the second wireless positioning module includes a second effective positioning signal area and a second abnormal positioning signal area; The step of acquiring local second positioning data by the second wireless positioning module in response to the state information includes: When the second signal area indicated in the status information includes a second valid positioning signal area, local second positioning data is acquired through the second wireless positioning module.

14. The method according to any one of claims 11 to 13, characterized in that: The auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

15. The method according to any one of claims 11 to 14, characterized in that: The second wireless positioning module includes O signal areas, and no auxiliary determination unit is set in other signal areas outside the P signal areas, and O is a positive integer greater than P.

16. The method according to any one of claims 11 to 15, characterized in that: The second wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

17. The method according to any one of claims 11 to 16, characterized in that: The auxiliary determination signal is an optical signal.

18. An electronic device, characterized in that: The electronic device includes a first wireless positioning module, and an auxiliary determination unit is arranged in M ​​signal areas of the first wireless positioning module. The optical angle of the auxiliary determination unit is less than or equal to the signal coverage angle of the corresponding signal area. The auxiliary determination unit is used to determine the validity of the positioning data obtained by the first wireless positioning module, and M is a positive integer.

19. The electronic device according to claim 18, characterized in that: The auxiliary determination unit is at least one of a transmitting unit and a receiving unit.

20. The electronic device according to claim 18 or 19, characterized in that: The first wireless positioning module includes N signal areas, and no auxiliary determination unit is set in other signal areas outside the M signal areas, and N is a positive integer greater than M.

21. The electronic device according to any one of claims 18 to 20, characterized in that: The first wireless positioning module is any one of the following: an electromagnetic positioning module, an ultra-wideband technology UWB positioning module, a millimeter wave positioning module, and an optical tracking positioning module.

22. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor reads the computer instructions from the memory, the electronic device executes the method as described in any one of claims 1-10; or, the electronic device executes the method as described in any one of claims 11-17.

23. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a computer program, which, when executed on an electronic device, enables the electronic device to execute the method as described in any one of claims 1 to 10; or enables the electronic device to execute the method as described in any one of claims 11 to 17.

24. A computer program product, characterized in that When the computer program product is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 10; or the computer is enabled to execute the method according to any one of claims 11 to 17.

Images