Terminal positioning method, computer-readable storage medium, and electronic device

Abstract

Embodiments of the present disclosure provide a terminal positioning method, a computer-readable storage medium, and an electronic device. The method is applied to indoor settings, and comprises: a target terminal receives a positioning indication sent by an auxiliary terminal, and in response to the positioning indication, the target terminal transmits millimeter waves to perform distance measurement on the surrounding environment of the target terminal so as to obtain coordinate data of the target terminal; the target terminal compares the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal so as to determine position information of the target terminal; and the target terminal sends the position information to the auxiliary terminal.

Description

Terminal positioning method, computer-readable storage medium, and electronic device

[0001] Cross-references to related publications

[0002] This disclosure is based on Chinese patent application 2024102104598, filed on February 26, 2024, entitled “Terminal Positioning Method, Computer-Readable Storage Medium and Electronic Device”, and claims the priority of the patent disclosure, and all the contents disclosed therein are incorporated into this disclosure by reference. Technical Field

[0003] The embodiments of the present disclosure relate to the field of communications, and in particular, to a terminal positioning method, a computer-readable storage medium, and an electronic device. Background Art

[0004] In modern society, people are highly dependent on target terminals, such as mobile phones, and often set their phones to silent mode. In daily life, they often don’t know where their phones are placed and it takes a long time to find them, which brings great inconvenience to people’s lives.

[0005] In related technologies, most mobile terminals are designed with positioning capabilities. Positioning refers to technologies or services that use specific positioning technologies to obtain the terminal user's location information and plot the location of the located object on an electronic map. Positioning technologies primarily include GPS-based positioning and positioning based on mobile operator network base stations. These technologies are generally applied to large outdoor areas. There are few functions specifically designed for indoor terminal positioning, making it difficult to accurately locate terminals located indoors.

[0006] Summary of the Invention

[0007] The embodiments of the present disclosure provide a terminal positioning method, a computer-readable storage medium, and an electronic device to at least solve the problem in the related art that a terminal located in an indoor scene cannot be accurately positioned.

[0008] According to one embodiment of the present disclosure, a terminal positioning method is provided, including: a target terminal receives a positioning indication sent by an auxiliary terminal, and the target terminal transmits millimeter waves in response to the positioning indication to measure the distance of the surrounding environment of the target terminal to obtain coordinate data of the target terminal; the target terminal compares the coordinate data with pre-stored positioning auxiliary data about the surrounding environment of the target terminal to determine the position information of the target terminal; and the target terminal sends the position information to the auxiliary terminal.

[0009] According to another embodiment of the present disclosure, a terminal positioning method is provided, including: an auxiliary terminal sending a positioning indication to a target terminal, so that the target terminal transmits millimeter waves in response to the positioning indication to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal; the auxiliary terminal receives the position information of the target terminal determined by the target terminal based on the coordinate data and pre-stored positioning auxiliary data about the surrounding environment of the target terminal.

[0010] According to another embodiment of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when running.

[0011] According to another embodiment of the present disclosure, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG1 is a hardware structure block diagram of a computer terminal according to a terminal positioning method according to an embodiment of the present disclosure;

[0013] FIG2 is a flow chart of a terminal positioning method according to an embodiment of the present disclosure;

[0014] FIG3 is a plan view of an indoor space according to an embodiment of the present disclosure;

[0015] FIG4 is a first flowchart of a data storage process according to an embodiment of the present disclosure;

[0016] FIG5 is a second flowchart of a data storage process according to an embodiment of the present disclosure;

[0017] FIG6 is a flowchart of a terminal positioning method according to yet another embodiment of the present disclosure;

[0018] FIG7 is a schematic diagram of azimuth calibration of the millimeter wave antenna transmission of the millimeter wave module;

[0019] FIG8 is a structural block diagram of a terminal positioning device according to an embodiment of the present disclosure;

[0020] FIG9 is a structural block diagram of a terminal positioning device according to yet another embodiment of the present disclosure;

[0021] FIG10 is a schematic diagram of the structure of a terminal positioning system according to an embodiment of the present disclosure;

[0022] FIG11 is a schematic diagram of the operation of a data processing module according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings and in conjunction with embodiments.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0025] The method embodiments provided in the embodiments of the present disclosure can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 is a hardware structure block diagram of a computer terminal of a terminal positioning method in an embodiment of the present disclosure. As shown in Figure 1, the computer terminal may include one or more (only one is shown in Figure 1) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 configured to store data, wherein the above-mentioned computer terminal may also include a transmission device 106 and an input and output device 108 configured to have a communication function. It can be understood by those skilled in the art that the structure shown in Figure 1 is only for illustration and does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include more or fewer components than those shown in Figure 1, or have a configuration different from that shown in Figure 1.

[0026] The memory 104 can be configured to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the terminal positioning method in the embodiment of the present disclosure. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0027] The transmission device 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by a communications provider of a computer terminal. In one embodiment, the transmission device 106 includes a network interface controller (NIC) that can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module that is configured to communicate with the Internet wirelessly.

[0028] FIG2 is a flow chart of a terminal positioning method according to an embodiment of the present disclosure. This embodiment is applied to an indoor scene. As shown in FIG2 , the flow includes the following steps:

[0029] Step S202: The target terminal receives a positioning instruction sent by the auxiliary terminal. In response to the positioning instruction, the target terminal transmits millimeter waves to measure the distance to the surrounding environment of the target terminal to obtain coordinate data of the target terminal.

[0030] In modern society, people are highly dependent on target terminals, such as mobile phones, and often set their phones to silent mode. In daily life, they often find themselves in situations where they don't know where their phones are placed and it takes a long time to find them, causing great inconvenience in their lives. However, current terminal positioning functions are generally applied to large outdoor areas, and there are few technologies specifically designed for positioning terminals in indoor scenarios. Therefore, in one embodiment, in response to a situation where a user is unable to determine the exact location of a target terminal indoors, the user sends a positioning instruction to the target terminal via an auxiliary terminal, so that the target terminal can determine its own location after receiving the positioning instruction. For example, the user sends a positioning instruction to a target mobile phone that is located indoors and whose specific location cannot be determined via a backup mobile phone, so that the target mobile phone can determine its own location after receiving the positioning instruction.

[0031] In one embodiment, the target terminal transmits millimeter waves. When the millimeter waves encounter obstacles or walls in the surrounding environment, a portion of the waves will be reflected back to the target terminal by the obstacles. The target terminal measures the time difference between transmission and reception of the echo. This time difference multiplied by the propagation speed of electromagnetic waves in air can determine the distance between the target terminal and the obstacle or wall. Coordinate data is determined based on the distance between the target terminal and the obstacle or wall. For example, in conjunction with the indoor plan size diagram shown in Figure 3, the distance d between the target terminal and the west longitudinal obstacle is determined by transmitting millimeter waves. Y (n), the distance from the east longitudinal direction Y1 is d Y1 (n), the distance from the north transverse direction X1 is d X1 (n), the distance to the south lateral obstacle is d X (n), the coordinates of the target terminal are n(d Y (n),d X (n),d Y1 (n),d X1 In one embodiment, the target terminal can transmit millimeter waves via a millimeter wave module. The transmitted millimeter waves can measure and image the surrounding environment. Distance measurement can be used to obtain coordinate data for the target terminal, while imaging can be used to obtain feature information about surrounding objects. The millimeter wave module can rotate 360 ​​degrees. The terminal positioning methods disclosed in the embodiments of the present disclosure are all applicable to scenarios where the target terminal is horizontal.

[0032] Before the target terminal in step S202 of the embodiment of the present disclosure receives the positioning indication sent by the auxiliary terminal, it also includes at least one of the following: the target terminal receives externally input spatial data and obstruction data of the surrounding environment of the target terminal to generate the positioning auxiliary data; the target terminal scans the space and obstructions of the surrounding environment of the target terminal by emitting millimeter waves to generate the positioning auxiliary data.

[0033] In one embodiment, the terminal positioning method can be applied to the positioning of the terminal in an indoor scene. Before the target terminal is positioned, the spatial data and obstruction data can be obtained in two ways: external input or self-scanning. That is, the user measures the boundary size and obstruction data of the environment where the target terminal may be located in advance. The data storage flow chart 1 according to the embodiment of the present disclosure shown in Figure 4 corresponds to the method of obtaining spatial data and obstruction data through external input. The data storage flow chart 2 according to the embodiment of the present disclosure shown in Figure 5 corresponds to the method of obtaining spatial data and obstruction data through self-scanning. For example, the size data of the wall and furniture are measured, and the measured data are input into the target terminal; or the target terminal transmits millimeter waves. When the millimeter waves encounter obstructions (such as walls, furniture, etc.), they are reflected. The target terminal receives and records these reflected signals and performs data processing on the reflected signals, including calculating the intensity, distance, direction and other information of the reflected signals. After the data processing is completed, the target terminal analyzes the surrounding environment to determine the size data and position relationship of the obstructions in the surrounding area.

[0034] Through the embodiments of the present disclosure, after receiving the positioning indication, the target terminal begins to position itself, measures the distance to its surrounding environment by emitting millimeter waves, and obtains the coordinate data of the target terminal based on the reflected millimeter waves. At the same time, the target terminal pre-stores positioning auxiliary data about the surrounding environment, so the coordinate data can be compared with the auxiliary positioning data to ultimately determine the location information of the target terminal. In order to enable the user to find the target terminal, the target terminal sends the location information to the auxiliary terminal. Therefore, it can solve the problem in the related art that it is impossible to accurately locate the terminal located in the indoor scene, thereby achieving the effect of the target terminal in the indoor scene determining its own position by emitting millimeter waves and using positioning auxiliary information.

[0035] The process of the embodiment shown in FIG4 includes the following steps:

[0036] Step S402, importing indoor and furniture size data;

[0037] Specifically, the room and furniture size data (ie, length, width, height) are imported into B1.

[0038] Step S404, calibrating the millimeter wave transmission azimuth;

[0039] Specifically, the millimeter wave transmission direction of the millimeter wave module is calibrated to specify a reference direction.

[0040] Step S406, imaging and scanning the environment near the furniture;

[0041] Specifically, a millimeter wave module is used to scan and image the environment near the furniture.

[0042] Step S408: input positioning assistance data.

[0043] Specifically, the data obtained in steps S402-S406 are entered into the storage module as positioning auxiliary data for standby use.

[0044] The process of the embodiment shown in FIG5 includes the following steps:

[0045] Step S502, calibrating the millimeter wave transmission azimuth;

[0046] Specifically, the millimeter wave transmission direction of the millimeter wave module is calibrated to specify a reference direction.

[0047] Step S504, measuring the origin coordinates;

[0048] Specifically, the origin coordinates are measured at a distance less than a certain distance from the wall facing away from the reference direction.

[0049] Step S506, moving along the reference direction for scanning measurement;

[0050] Specifically, the millimeter wave module moves and scans along the reference direction, and uses the origin in step S504 as the reference point to obtain indoor boundary size data.

[0051] Step S508, imaging and scanning the environment near the furniture;

[0052] Specifically, a millimeter wave module is used to scan and image the environment near the furniture.

[0053] Step S510: input positioning assistance data.

[0054] Specifically, the data obtained in steps S502-S508 are entered into the storage module as positioning auxiliary data for standby use.

[0055] It should be noted that obtaining spatial data and occlusion data through external input to generate auxiliary data is mostly used in scenes with few indoor walls and furniture, and is relatively accurate; obtaining spatial data and occlusion data through self-scanning to generate auxiliary data is mostly used in scenes with many indoor walls and furniture, and is relatively convenient.

[0056] The spatial data of the surrounding environment received or scanned by the target terminal includes indoor size data, and the obstruction data of the surrounding environment includes furniture size data and the positional relationship between furniture. The spatial data and the obstruction data are used together as positioning auxiliary data.

[0057] In step S202, the target terminal transmits millimeter waves to measure the distance to the surrounding environment of the target terminal, including: the target terminal sends the millimeter waves in the horizontal direction and the vertical direction respectively based on the spatial orientation of the surrounding environment of the target terminal to measure the distance to the surrounding environment of the target terminal.

[0058] It should be noted that the target terminal transmits millimeter waves horizontally via a millimeter wave module equipped with a geomagnetic sensor and capable of identifying direction. The millimeter wave module's millimeter wave transmission direction is bound to a geomagnetic sensor's identification direction, thus providing the module with a direction identification function. The millimeter wave module can select a transmission direction based on the specific orientation of the house. That is, the millimeter wave transmission direction is related to spatial data. Millimeter wave modules transmitting horizontally have ranging, imaging, and direction identification capabilities. Millimeter wave modules transmitting vertically have ranging and imaging capabilities.

[0059] In one embodiment, the target terminal sends millimeter waves in a vertical direction, and the distance between the target terminal and a preset top, such as a ceiling, is determined based on the reflection distance of the millimeter waves. The distance between the target terminal and the ground can also be further determined based on the distance between the preset top and the ground.

[0060] Step S204: the target terminal compares the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal;

[0061] It should be noted that since only knowing the coordinate data is still not enough to quickly and accurately determine the location of the target terminal, it is necessary to combine positioning auxiliary data to further determine the environment where the target terminal is located, so that the user can quickly find the target terminal.

[0062] Step S204 includes: the target terminal determines whether the target terminal is blocked based on the quantitative relationship between the sum of the millimeter wave reflection distances corresponding to the coordinate data and the size of the corresponding boundary, wherein the corresponding boundary is a boundary in the surrounding environment of the target terminal that is parallel to the reflection line of the millimeter wave; and determines the location information of the target terminal based on the blockage judgment result.

[0063] It should be noted that the millimeter wave reflection distance refers to the distance that the millimeter wave emitted by the target terminal is reflected back after encountering an obstacle, that is, the distance between the target terminal and the wall or obstacle. Since the millimeter wave reflection distance has been obtained when determining the target data, it can be used directly.

[0064] In one embodiment, after obtaining the coordinate data, the sum of the reflection distances of the lateral millimeter waves is determined based on the sum of the absolute values ​​of the lateral coordinates, and the sum of the reflection distances is compared with the length of the lateral wall, where the length of the lateral wall is the size of the corresponding boundary of the lateral coordinate data, and the same applies to the longitudinal direction.

[0065] In one embodiment, the target terminal determines whether the target terminal is blocked based on the quantitative relationship between the sum of the reflection distances corresponding to the coordinate data and the size of the corresponding boundary, including: when the sum of the millimeter wave reflection distances is less than the size of the corresponding boundary, determining that the target terminal is blocked; when the sum of the millimeter wave reflection distances is equal to the size of the corresponding boundary, determining that the target terminal is not blocked.

[0066] Combined with the indoor plane size diagram shown in Figure 3, when the coordinates of the target terminal n are n(d Y (n),d X (n),d Y1 (n),d X1 (n)), will |d Y (n)|+|d Y1 The value of (n)| is related to the length D of the transverse wall x In comparison, |d X (n)|+|d X1 The value of (n)| is related to the length D of the longitudinal wall Y Compared. If |d Y (n)|+|d Y1 (n)| <D x , or |d X (n)|+|d X1 (n)| <D Y , indicating that the target terminal is blocked; if |d Y (n)|+|d Y1 (n)|=D x and|d X (n)|+|d X1 (n)|=D Y , indicating that the target terminal is not blocked. The length of the horizontal wall D x and the length of the longitudinal wall D Y All of them belong to positioning assistance data.

[0067] It should be noted that there are two coordinate systems in Figure 3, namely X / Y and X1 / Y1. Manually switching X / Y or X1 / Y1 as the main coordinate system can be used as an auxiliary means. For example, in Figure 3, n(d Y (n),d X (n),d Y1 (n),d X1 When the X / Y direction of (n)) is blocked by obstacle O, if X1 / Y1 is used as the coordinate system, the coordinates obtained are (d Y1 (n),d X1 (n)), so the calibrated position is accurate; if X / Y is used as the coordinate system, the coordinate obtained is d ′ Y (n),d ′ X (n)), the position marked in this way is a misjudgment (where d ′ Y (n) = d Y (n),d ′ X (n) = d X (n))).

[0068] In one embodiment, determining the location information of the target terminal based on the occlusion judgment result includes: when the target terminal is blocked, the target terminal scans and images the surrounding environment of the target terminal, and determines the location information of the target terminal based on the scanning and imaging results and the auxiliary positioning data; when the target terminal is not blocked, the target terminal determines the location information of the target terminal based on the coordinate data.

[0069] It should be noted that if the target terminal is obscured, it is difficult for the user to find the target terminal based solely on the coordinate data. Therefore, the target terminal needs to scan and image the surrounding environment to obtain data on surrounding obstructions, and then use the auxiliary positioning data to determine the target terminal's location information. If the target terminal is not obscured, it means that the target terminal is exposed to the spatial environment, and the user can find the target terminal based on the location information determined by the coordinate data.

[0070] In one embodiment, determining the location information of the target terminal based on the occlusion judgment result includes: when the target terminal is blocked, the target terminal scans and images the surrounding environment of the target terminal, and determines the location information of the target terminal based on the distance between the target terminal and a preset top, the scanning imaging result, and the auxiliary positioning data; when the target terminal is not blocked, the target terminal determines the location information of the target terminal based on the distance between the target terminal and the preset top, the coordinate data, and the surrounding environment of the target terminal.

[0071] It should be noted that in addition to scanning and imaging the surrounding environment and determining coordinate data by emitting millimeter waves to determine the position of the target terminal, the target terminal can also determine the height of the target terminal based on the distance between the target terminal and a preset top, such as the ceiling, to more accurately locate the target terminal.

[0072] In one embodiment, the target terminal transmits millimeter waves in a vertical direction to determine the distance from the target terminal to the ceiling, and the height of the target terminal can be obtained by combining the indoor height.

[0073] Step S206: The target terminal sends the location information to the auxiliary terminal.

[0074] Since the target terminal has an interactive function, the target terminal sends location information to the auxiliary terminal after determining its own location, so that the user can determine the location of the target terminal based on the location information of the target terminal displayed by the auxiliary terminal and find the target terminal.

[0075] FIG6 is a flow chart of a terminal positioning method according to yet another embodiment of the present disclosure, which is applied to an auxiliary terminal. As shown in FIG6 , the flow includes the following steps:

[0076] Step S602: The auxiliary terminal sends a positioning instruction to the target terminal, so that the target terminal transmits millimeter waves in response to the positioning instruction to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal;

[0077] In one embodiment, when the user is unable to determine the location of the target terminal, the auxiliary terminal is operated to send a positioning indication to the target terminal. After receiving the positioning indication, the target terminal transmits millimeter waves to measure the distance to the surrounding environment of the target terminal. When the millimeter waves encounter obstacles or walls in the surrounding environment, a portion of the waves will be reflected back to the target terminal by the obstacles. The target terminal measures the time difference between transmission and reception of the echo. This time difference multiplied by the propagation speed of electromagnetic waves in the air can determine the distance between the target terminal and the obstacle or wall. Coordinate data is determined based on the distance between the target terminal and the obstacle or wall. For example, in combination with the indoor plan size diagram shown in Figure 3, the distance d between the target terminal and the west longitudinal obstacle is determined by transmitting millimeter waves. Y (n), the distance from the east longitudinal direction Y1 is d Y1 (n), the distance from the north transverse direction X1 is d X1 (n), the distance to the south lateral obstacle is d X (n), the coordinates of the target terminal are n(d Y (n),d X (n),d Y1 (n),d X1(n)).

[0078] After the auxiliary terminal sends a positioning indication to the target terminal in step S602 of the embodiment of the present disclosure, it also includes: the auxiliary terminal binds the transmission direction of the millimeter wave emitted by the target terminal in the horizontal direction with the identification direction of the geomagnetic sensor set in the target terminal to set a reference direction.

[0079] In one embodiment, an auxiliary terminal collaborates with a target terminal to calibrate the millimeter wave transmission direction. The target terminal utilizes a 360-degree rotatable millimeter wave module, as shown in Figure 7 , which illustrates the azimuth calibration of the millimeter wave antenna transmission of the millimeter wave module. The millimeter wave module incorporates a geomagnetic sensor, and the millimeter wave transmission azimuth can be bound to a specific discernible direction of the geomagnetic sensor through a specific calibration technique. Leveraging the geomagnetic sensor's ability to identify direction, the auxiliary terminal sends a positioning indication to the target terminal, and then manually determines through the auxiliary terminal's visual interface whether the millimeter wave transmission direction is consistent with a reference direction. If so, calibration terminates; otherwise, calibration continues. The reference direction can be manually set, and any direction (east, south, west, or north) can be set as the reference direction.

[0080] Step S604: the auxiliary terminal receives the location information of the target terminal determined by the target terminal according to the coordinate data and pre-stored positioning assistance data about the surrounding environment of the target terminal.

[0081] In one embodiment, after the target terminal determines its own location information, it sends the location information to the auxiliary terminal. The user can determine not only the coordinates of the target terminal but also relevant information about the target terminal's surrounding environment based on the location information displayed by the auxiliary terminal, and thus find the target terminal.

[0082] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal device (which can be a terminal, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0083] This embodiment also provides a terminal positioning device, which is configured to implement the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0084] FIG8 is a structural block diagram of a terminal positioning device according to an embodiment of the present disclosure. As shown in FIG8 , the device includes:

[0085] The transmitting module 10 is configured to receive a positioning indication sent by the auxiliary terminal, and the target terminal transmits millimeter waves in response to the positioning indication to measure the distance of the surrounding environment of the target terminal to obtain coordinate data of the target terminal;

[0086] a comparison module 20 configured to compare the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal;

[0087] The first sending module 30 is configured to send the location information to the auxiliary terminal.

[0088] FIG9 is a structural block diagram of a terminal positioning device according to yet another embodiment of the present disclosure. As shown in FIG9 , the device includes:

[0089] The second sending module 40 is configured to send a positioning instruction to the target terminal, so that the target terminal transmits a millimeter wave in response to the positioning instruction to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal;

[0090] The receiving module 50 is configured to receive the location information of the target terminal determined by the target terminal according to the coordinate data and pre-stored positioning assistance data about the surrounding environment of the target terminal.

[0091] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0092] FIG10 is a schematic diagram of the structure of a terminal positioning system according to an embodiment of the present disclosure. As shown in FIG10 , the system includes a data storage module B1 , a data processing module B2 , a display module B3 , a positioning data entry module B4 and an interaction module B5 .

[0093] B1 records auxiliary positioning input data, B2 is set to process data from B1 and B4, B3 visualizes the data from B2, B4 records its positioning-related data when the target terminal is lost, B5 is a human-computer interaction module, and B5 can share all positioning-related data of the target terminal with the auxiliary terminal.

[0094] Figure 11 is a working diagram of the data processing module according to an embodiment of the present disclosure. As shown in Figure 11, after the data processing module B2 obtains the data of the target terminal from the positioning data entry module B4, it first compares the sum of its parallel reverse coordinates with the corresponding parallel maximum boundary size. When the sum of the parallel reverse coordinates is less than the corresponding parallel maximum boundary size, the millimeter wave scanning ranging module and imaging obtain the furniture size, height and surrounding environment image, and compare them with the data in the data storage module B1 to determine the current position; when the sum of the parallel reverse coordinates is equal to the corresponding parallel maximum boundary size, the coordinate data and the boundary data in the data storage module B1 are compared to determine the current position.

[0095] An embodiment of the present disclosure further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when run.

[0096] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0097] An embodiment of the present disclosure further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0098] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0099] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail here.

[0100] Obviously, those skilled in the art should understand that the modules or steps of the present disclosure described above can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices, they can be implemented using program code executable by the computing device, and thus, they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be performed in a different order than herein, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present disclosure is not limited to any particular combination of hardware and software.

[0101] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations of the present disclosure are possible. Any modifications, equivalent substitutions, or improvements made within the principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A terminal positioning method, applied to indoor scenarios, comprising: The target terminal receives a positioning instruction sent by the auxiliary terminal, and in response to the positioning instruction, the target terminal transmits a millimeter wave to measure the distance of the surrounding environment of the target terminal to obtain coordinate data of the target terminal; The target terminal compares the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal; The target terminal sends the location information to the auxiliary terminal.

2. The method according to claim 1, wherein Before the target terminal receives the positioning instruction sent by the auxiliary terminal, the method further includes at least one of the following: The target terminal receives externally input spatial data and obstruction data of the surrounding environment of the target terminal to generate the positioning assistance data; The target terminal scans the space and obstructions in the surrounding environment of the target terminal by transmitting millimeter waves to generate the positioning assistance data.

3. The method according to claim 1, wherein The target terminal transmits a millimeter wave in response to the positioning indication to measure the distance of the surrounding environment of the target terminal, including: The target terminal sends the millimeter wave in a horizontal direction and a vertical direction based on the spatial orientation of the surrounding environment of the target terminal to measure the distance of the surrounding environment of the target terminal.

4. The method according to claim 1, wherein The target terminal compares the coordinate data with pre-stored positioning assistance data about the surrounding environment of the target terminal to determine the location information of the target terminal, including: The target terminal determines whether the target terminal is blocked based on a quantitative relationship between a sum of millimeter wave reflection distances corresponding to the coordinate data and a size of a corresponding boundary, wherein the corresponding boundary is a boundary in the surrounding environment of the target terminal that is parallel to the reflection path of the millimeter wave; The location information of the target terminal is determined according to the occlusion judgment result.

5. The method according to claim 4, wherein The target terminal determines whether the target terminal is blocked according to a quantitative relationship between a sum of millimeter wave reflection distances corresponding to the coordinate data and a size of a corresponding boundary, including: When the sum of the millimeter wave reflection distances is smaller than the size of the corresponding boundary, determining that the target terminal is blocked; When the sum of the millimeter wave reflection distances is equal to the size of the corresponding boundary, it is determined that the target terminal is not blocked.

6. The method according to claim 4, wherein: The determining the location information of the target terminal according to the occlusion judgment result includes: When the target terminal is blocked, the target terminal scans and images the surrounding environment of the target terminal, and determines the location information of the target terminal according to the scanning and imaging results and the auxiliary positioning data; In a case where the target terminal is not blocked, the target terminal determines the location information of the target terminal according to the coordinate data.

7. The method according to claim 4, wherein: The determining the location information of the target terminal according to the occlusion judgment result includes: When the target terminal is blocked, the target terminal scans and images the surrounding environment of the target terminal, and determines the location information of the target terminal according to the distance between the target terminal and the preset top, the scanning imaging result, and the auxiliary positioning data; In a case where the target terminal is not blocked, the target terminal determines the location information of the target terminal according to the distance between the target terminal and a preset top, the coordinate data, and the surrounding environment of the target terminal.

8. A terminal positioning method, comprising: The auxiliary terminal sends a positioning instruction to the target terminal, so that the target terminal transmits millimeter waves in response to the positioning instruction to measure the distance of the surrounding environment of the target terminal and obtain coordinate data of the target terminal; The auxiliary terminal receives the location information of the target terminal determined by the target terminal according to the coordinate data and pre-stored positioning assistance data about the surrounding environment of the target terminal.

9. The method according to claim 8, wherein After the auxiliary terminal sends the positioning instruction to the target terminal, the method further includes: The auxiliary terminal binds the transmission direction of the millimeter wave transmitted by the target terminal in the horizontal direction with the identification direction of the geomagnetic sensor provided in the target terminal to set a reference direction.

10. A computer-readable storage medium having a computer program stored therein, wherein: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented, or the steps of the method described in any one of claims 8-9 are implemented.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the processor implements the steps of the method described in any one of claims 1 to 7, or implements the steps of the method described in any one of claims 8-9.

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