Positioning method and apparatus, communication device, and readable storage medium

Abstract

The present application relates to the technical field of communications, and discloses a positioning method and apparatus, a communication device, and a readable storage medium. The positioning method of embodiments of the present application comprises: in response to a user input, a first device determining a second device associated with an article to be searched for; sending a first signal to the second device during movement, and receiving, during movement, a second signal sent by the second device, wherein the second signal is a periodic signal generated on the basis of the first signal; obtaining a first measurement value of the second signal and a second measurement value of an inertial measurement unit in the first device, there being an association relationship between the second measurement value and the second signal; and on the basis of the first measurement value and the second measurement value, determining orientation information and / or position information of said article.

Description

Positioning methods, devices, communication equipment, and readable storage media

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411054322.4, filed in China on August 2, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the field of communication technology, specifically relating to a positioning method, apparatus, communication equipment, and readable storage medium. Background Technology

[0004] In related tag positioning solutions, Bluetooth, Ultra-Wide Band (UWB), and ultrasound are commonly used to achieve relative positioning between the tag and devices such as mobile phones. This requires the tag to have the ability to transmit and receive Bluetooth, UWB, and ultrasound signals, meaning the tag must be able to actively generate signals and / or have signal measurement and reporting capabilities. Therefore, this results in high power consumption and high cost. In this context, how to achieve a low-power and low-cost positioning method is a pressing issue that needs to be addressed. Summary of the Invention

[0005] This application provides a positioning method, apparatus, communication device, and readable storage medium, which can solve the problem of how to implement a low-power and low-cost positioning method.

[0006] In a first aspect, a positioning method is provided, executed by a first device, the method comprising:

[0007] The first device responds to user input and identifies a second device associated with the item to be searched;

[0008] The first device sends a first signal to the second device during movement and receives a second signal sent by the second device during movement, wherein the second signal is a periodic signal generated based on the first signal;

[0009] The first device obtains a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, and the second measurement value and the second signal are correlated.

[0010] The first device determines the orientation and / or location information of the item to be searched based on the first measurement value and the second measurement value.

[0011] Secondly, a positioning method is provided, executed by a second device, the method comprising:

[0012] The second device receives a first signal sent by the first device during movement, and the second device is associated with the item to be found;

[0013] The second device generates a second signal based on the first signal, and the second signal is a periodic signal;

[0014] The second device sends the second signal to the first device during the movement, the second signal being used to determine the orientation and / or location information of the item to be searched.

[0015] Thirdly, a positioning device is provided for use in a first device, comprising:

[0016] The determination module is used to determine a second device associated with the item to be searched in response to user input;

[0017] The first transmitting module is used to transmit a first signal to the second device during movement;

[0018] A first receiving module is configured to receive a second signal sent by the second device during movement, wherein the second signal is a periodic signal generated based on the first signal;

[0019] The first processing module is configured to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated, and to determine the orientation information and / or location information of the item to be searched based on the first measurement value and the second measurement value.

[0020] Fourthly, a positioning device is provided for use in a second device, comprising:

[0021] The second receiving module is used to receive the first signal sent by the first device during movement, and the positioning device is associated with the item to be found;

[0022] The second processing module is used to generate a second signal based on the first signal, wherein the second signal is a periodic signal;

[0023] The second sending module is used to send the second signal to the first device during the movement process, the second signal being used to determine the orientation information and / or location information of the item to be searched.

[0024] Fifthly, a positioning device is provided, the device being configured to perform the steps of the method described in the first aspect, or the steps of the method described in the second aspect.

[0025] In a sixth aspect, a communication device is provided, the communication device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect, or implementing the steps of the method as described in the second aspect.

[0026] In a seventh aspect, a communication device is provided, including a processor and a communication interface. For example, when the communication device is a first device, the processor is configured to, in response to user input, determine a second device associated with an item to be searched; the communication interface is configured to send a first signal to the second device during movement and receive a second signal sent by the second device during movement, the second signal being a periodic signal generated based on the first signal; the processor is further configured to obtain a first measurement value of the second signal and a second measurement value of an inertial measurement unit in the first device, the second measurement value and the second signal being correlated, and to determine the orientation information and / or location information of the item to be searched based on the first measurement value and the second measurement value. When the communication device is a second device, the communication interface is configured to receive the first signal sent by the first device during movement, the second device being associated with the item to be searched; the processor is configured to generate a second signal based on the first signal, the second signal being a periodic signal; the communication interface is further configured to send the second signal to the first device during movement, the second signal being used to determine the orientation information and / or location information of the item to be searched.

[0027] Eighthly, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.

[0028] A ninth aspect provides a wireless communication system, comprising: a first device and a second device, wherein the terminal is configured to perform the steps of the method described in the first aspect, and the communication device is configured to perform the steps of the method described in the second aspect.

[0029] In a tenth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0030] Eleventhly, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement the steps of the method as described in the second aspect.

[0031] In this embodiment, the first device can respond to user input, determine the second device associated with the item to be searched, and send a first signal to the second device during movement, and receive a second signal sent by the second device during movement. The second signal is a periodic signal generated based on the first signal. A first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device are obtained. The second measurement value and the second signal are correlated. Based on the first measurement value and the second measurement value, the orientation information and / or location information of the item to be searched are determined. Thus, a virtual antenna array can be constructed by moving the first device, thereby enabling the positioning of the second device and, consequently, the positioning of the item to be searched associated with the second device. This does not require the second device to have the ability to actively generate signals and / or measure and report signals, thus achieving low-power and low-cost positioning. Attached Figure Description

[0032] Figures 1A to 1E show schematic diagrams of the backscatter-based communication architecture in the embodiments of this application;

[0033] Figure 2 is a flowchart of a positioning method provided in an embodiment of this application;

[0034] Figure 3 is a schematic diagram illustrating motion information prompts in an embodiment of this application;

[0035] Figure 4 is a schematic diagram of the guidance information in an embodiment of this application;

[0036] Figure 5 is a flowchart illustrating the process after successfully / failed to find an item in an embodiment of this application.

[0037] Figure 6 is a flowchart of another positioning method provided in an embodiment of this application;

[0038] Figure 7 is a schematic diagram of a positioning device provided in an embodiment of this application;

[0039] Figure 8 is a schematic diagram of another positioning device provided in an embodiment of this application;

[0040] Figure 9 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0041] Figure 10 is a schematic diagram of the structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0043] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, the scope of protection for "A or B" covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. In addition, the terms "A and / or B," "at least one of A and B," and "at least one of A or B" also cover at least the above three scenarios. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0044] The term "instruction" in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction). A direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc., in the instruction sent. An indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.

[0045] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), or other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0046] To facilitate understanding of the embodiments of this application, the following will be described first.

[0047] Backscatter Communication (BSC) refers to the use of radio frequency signals from other devices or the environment to modulate signals and transmit information. It is a typical low-power IoT device. The basic components and main functions of a backscatter communication transmitter include:

[0048] - Antenna unit: Used to receive radio frequency signals and control commands, and also to transmit modulated backscattered signals.

[0049] - Energy Harvesting Module or Power Supply Module: This module is used for radio frequency energy harvesting or other energy harvesting in the backscatter communication device, including but not limited to solar energy, kinetic energy, mechanical energy, and thermal energy. In addition to the energy harvesting module, it may also include a battery power supply module, in which case the backscatter communication device is a semi-passive device. The energy harvesting module or power supply module supplies power to all other modules in the device.

[0050] - Microcontrollers: including control baseband signal processing, energy storage or data scheduling status, switching, system synchronization, etc.

[0051] - Signal receiving module: Used to demodulate control commands or data sent by the backscatter communication receiver or other network nodes.

[0052] - Encoding and Modulation Module: Performs channel coding and signal modulation under the control of the controller, and achieves modulation by selecting different load impedances through a selection switch under the control of the controller.

[0053] -Memory or sensing module: Used to store device identification ID information, location information, or sensing data, etc.

[0054] In addition to the typical components mentioned above, future backscatter communication transmitters can also integrate tunnel diode amplifier modules, low-noise amplifier modules, etc., to improve the receiver sensitivity and transmission power of the transmitter.

[0055] Optionally, the basic components and main functions of the backscatter communication receiver include:

[0056] - Antenna element: Used to receive modulated backscattered signals.

[0057] - Backscatter signal detection module: Used to detect the backscatter signal sent by the backscatter communication transmitter, including but not limited to Amplitude Shift Keying (ASK) detection, Phase Shift Keying (PSK) detection, Frequency Shift Keying (FSK) detection, or Quadrature Amplitude Modulation (QAM) detection.

[0058] - Demodulation and decoding module: Demodulates and decodes the detected signal to recover the original information stream.

[0059] Backscatter communication devices control the reflection coefficient Γ of the modulation circuit by adjusting its internal impedance, thereby changing the amplitude, frequency, and phase of the incident signal to achieve signal modulation. The reflection coefficient Γ can be characterized as:

[0060] Where Z0 is the characteristic impedance of the antenna; Z1 is the load impedance; j represents a complex number, θ T Let S represent the phase. Assume the incident signal is represented as S. in (t), then the output signal is Therefore, by reasonably controlling the reflection coefficient, corresponding amplitude modulation, frequency modulation, or phase modulation can be achieved. Based on this, backscatter communication devices can be tags in traditional Radio Frequency Identification (RFID) systems, or passive or semi-passive Internet of Things (IoT) devices. Here, backscatter communication devices can be collectively referred to as BSC devices.

[0061] Optionally, a backscatter-based communication architecture may include at least the following patterns:

[0062] (1) Topology 1: As shown in Figure 1A, the base station in Topology 1 is both a radio frequency source / transmitter and a receiver. Therefore, Topology 1 is a Monostatic Backscatter Communication System (MBCS) architecture. Traditional RFID systems are typical MBCS systems, which include ambient IoT devices (such as tags) and readers (such as base stations). The tags communicate directly with the readers, and the readers may have frequency division duplex (FDD) architecture modules. In Topology 1, the device that transmits control signals and the device that receives backscattered signals are the same device, while the device that transmits the RF carrier source can be the same device as the aforementioned device or a separate device.

[0063] (2) Topology 2: As shown in Figure 1B, in Topology 2, the Ambient IoT Device (e.g., Tag) receives control signaling and carrier signals sent by intermediate nodes. The control signaling can be indicated by network devices (e.g., base station gNB) through intermediate nodes. The intermediate nodes can be User Equipment (UE), repeaters, IAB nodes, etc. The intermediate nodes can also act as relays to forward IoT data to the gNB.

[0064] (3) Topology 3: Topology 3 involves a bistatic backscatter communication system (BBCS), in which the radio frequency source, BSC transmitting device and BSC receiving device are separate; in Topology 3, the Ambient IoT Device (e.g., Tag) sends IoT data / uplink signaling to the base station and receives data / signaling sent by the auxiliary node, as shown in Figure 1C; or, the Ambient IoT Device (e.g., Tag) sends IoT data / uplink signaling to the auxiliary node and receives data / signaling sent by the base station, as shown in Figure 1D; the base station and the auxiliary node communicate through the Uu interface, and the auxiliary node can be UE, repeater, IAB, etc.

[0065] (4) Topology 4: As shown in Figure 1E, in Topology 4, the UE acts as the Reader to communicate with the Tag. This architecture also belongs to the monostatic backscatter communication architecture, the difference being that the Reader is the UE, not the base station.

[0066] In addition to tags based on backscatter communication, there are also some tag devices that can actively generate carrier waves but consume less than 1mW of power, such as active tags or semi-passive tags in RFID systems.

[0067] Backscatter communication devices are widely used in inventory and tracking, personal belongings retrieval, pet location, parking lot vehicle location, shopping mall shop location, and museum platform location due to their low cost, low power consumption, and small size. Passive tag-based positioning schemes based on backscatter are considered a low-cost and low-power positioning solution. Passive tags do not need to generate their own carrier waves; instead, they modulate their own data onto a radio frequency carrier transmitted by a third-party device, thus achieving low-cost, low-power, and miniaturized positioning.

[0068] Optionally, the measurement parameters required to support backscatter communication positioning may include, but are not limited to, Received Signal Strength (RSS), Received Signal Strength Indication (RSSI), Direction of Arrival (DOA), Angle of Arrival (AOA), Angle of Departure (AOD), phase information, Time of Arrival (TOA) or Round-Trip Time (RTT), Time Difference of Arrival (TDOA), and Phase Difference of Arrival (PDOA). DOA and AOA refer to the same angle and are conceptually equivalent; without loss of generality, the following explanation will use DOA as the reference.

[0069] Optionally, the solution in this application can be applied to angle measurement or positioning in LTE systems, 5G NR systems and NR evolution systems, 6G systems and 6G evolution systems, as well as IEEE 802.11 systems (such as WiFi systems), Bluetooth systems, LoRa systems, Zigbee systems, backscatter communication systems, low-power IoT systems, Ambient IoT, and other systems.

[0070] The positioning method, apparatus, communication device, and readable storage medium provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0071] Please refer to Figure 2, which is a flowchart of a positioning method provided in an embodiment of this application. The method is executed by a first device. As shown in Figure 2, the method includes the following steps:

[0072] Step 21: The first device responds to user input and determines the second device associated with the item to be found;

[0073] Step 22: The first device sends a first signal to the second device during the movement, and receives a second signal sent by the second device during the movement, wherein the second signal is a periodic signal generated based on the first signal;

[0074] Step 23: The first device obtains a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated;

[0075] Step 24: The first device determines the orientation and / or location information of the item to be searched based on the first measurement value and the second measurement value.

[0076] In this embodiment, the first device is a mobile device with angle measurement / positioning capabilities, which may include, but is not limited to, smartphones, tablets, laptops, smartwatches, smart bracelets, smart headphones, augmented reality (AR) devices, virtual reality (VR) devices, extended reality (XR) devices, mixed reality (MR) devices, robots, etc. It may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.

[0077] The second device is the device to be located, which may include, but is not limited to, RFID tags, 3GPP AIoT tags, WiFi / Zigbee / LoRa / Bluetooth tags, or other low-power devices. For example, the second device may be a passive tag or a semi-active tag.

[0078] The association between the item to be found and the second device can be achieved by installing / setting the second device on the item to be found.

[0079] User input can be voice input, such as voice input "find item A"; or it can be user input on the first device, such as inputting the name or identifier of the item to be found on the first device; there are no restrictions on this.

[0080] The movement of the first device can be achieved through the movement of a user who holds / carries the first device.

[0081] The Inertial Measurement Unit (IMU) is specifically a collection of sensors used to accurately measure and detect key information of a device, such as acceleration, angular velocity, and orientation. For example, an IMU may include three single-axis accelerometers, a single-axis gyroscope, and a magnetometer. The accelerometers detect the acceleration signals of the device along the three independent axes of the carrier coordinate system, while the gyroscope detects the angular velocity signals of the device relative to the navigation coordinate system. By measuring the angular velocity and acceleration of the object in three-dimensional space, and after error compensation and inertial navigation calculations, the IMU outputs information such as the coordinate changes and velocity of the device relative to its initial position.

[0082] Optionally, the movement trajectory of the first device may include at least one of the following:

[0083] Non-linear trajectory;

[0084] The trajectory of movement with non-constant acceleration.

[0085] According to the scheme of this application embodiment, a first device can respond to user input, determine a second device associated with the item to be searched, and send a first signal to the second device during movement, and receive a second signal sent by the second device during movement. The second signal is a periodic signal generated based on the first signal. A first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device are obtained. The second measurement value and the second signal are correlated. Based on the first measurement value and the second measurement value, the orientation information and / or location information of the item to be searched are determined. Thus, a virtual antenna array can be constructed by moving the first device, and the second device can be located thereby, and the item to be searched associated with the second device can be located. This does not require the second device to have the ability to actively generate signals and / or the ability to measure and report signals, thus achieving low-power and low-cost positioning.

[0086] Optionally, the first signal may satisfy at least one of the following:

[0087] (a) The first signal is a periodic synchronization signal, such as a primary synchronization signal (PSS), a secondary synchronization signal (SSS), a preamble signal, etc.

[0088] (b) The first signal is a periodic reference signal used for positioning or angle measurement, such as a Positioning Reference Signal (PRS).

[0089] (c) The first signal is a periodic measurement reference signal with a known sequence, such as a Channel State Information Reference Signal (CSI-RS), a Sounding Reference Signal (SRS), a Phase-Tracking Reference Signal (PTRS), a Dedicated Dedulation Reference Signal (DM-RS), a Preamble signal, etc.

[0090] (d) The first signal is a periodic data signal for which the modulation information or input bits are known, i.e., the first signal is a modulation signal;

[0091] (e) The first signal is a carrier signal, such as a sine signal, a cosine signal, a chirp signal, etc.

[0092] Optionally, when the first signal is a periodic signal, the period of the first signal and the period of the second signal may be the same or different. For example, a threshold parameter δ can be configured in the system, such that the period T1 of the first signal and the period T2 of the second signal satisfy: |T1-T2|≤δ.

[0093] Optionally, when the first signal is a periodic signal, the second signal may be obtained by backscattering the first signal according to a fixed reflection coefficient. Alternatively, when the first signal is a carrier signal, the second signal may be obtained by backscattering the first signal according to configuration or indication information.

[0094] Optionally, the correlation between the second measured value and the second signal can be: the measurement time of the first measured value of the second signal is the same as the measurement time of the second measured value, or the measurement time of the first measured value of the second signal and the measurement time of the second measured value are within the same time window. The size of this time window can be specified by the system or protocol. This ensures that the measurement times of the first and second measured values ​​are the same or close, thereby improving the accuracy of the estimated DOA / AOD and / or the location information of the second device between the first and second devices, and thus accurately locating the item to be searched.

[0095] Optionally, the first measured value of the second signal may include, but is not limited to, at least one of the following:

[0096] The reference signal strength (RSS) of the second signal;

[0097] The received signal strength indicator (RSSI) of the second signal;

[0098] The amplitude of the second signal;

[0099] The phase of the second signal;

[0100] The frequency of the second signal;

[0101] The covariance matrix of the second signal;

[0102] The autocorrelation matrix of the second signal;

[0103] Statistical values ​​obtained from multiple measurements of the second signal; these statistical values ​​may be, for example, the maximum value, average value, minimum value, weighted value, etc.

[0104] Measurements of multiple second signals obtained using multiple antennas, or statistical values ​​of measurements of multiple second signals obtained using multiple antennas.

[0105] In one alternative implementation, the first measurement values ​​of k second signals can be obtained using k (k≥1) antennas of the first device, or statistical values ​​of the measurement values ​​of the k second signals can be obtained, such as the maximum value, average value, etc.

[0106] Optionally, the second measurement value obtained based on the inertial measurement unit (IMU) may include at least one of the following:

[0107] Acceleration information, such as the acceleration information output by the accelerometer in the inertial measurement unit during the movement time T2, where T2 is equal to one cycle of the second signal;

[0108] Angular velocity information, such as the angular velocity information output by the gyroscope in the inertial measurement unit during the movement time T2, where T2 is equal to one cycle of the second signal;

[0109] Orientation information, such as the orientation information output by the gyroscope in the inertial measurement unit within the movement time T2, where T2 is equal to one cycle of the second signal;

[0110] Magnetic induction information, such as the magnetic induction intensity output by the magnetometer in the inertial measurement unit during the movement time T2, where T2 is equal to one cycle of the second signal;

[0111] Yaw angle information, such as the yaw angle information output by the magnetometer in the inertial measurement unit during the movement time T2, where T2 is equal to one cycle of the second signal;

[0112] Location information, such as the relative location information of the first device within a preset time window or within one cycle time T2 of the second signal;

[0113] The statistical values ​​of multiple measurements of the inertial measurement unit, such as the maximum value, average value, minimum value, weighted value, earliest measurement value, latest measurement value, etc.

[0114] Optionally, the orientation and / or location information of the item to be searched may include, but is not limited to, at least one of the following:

[0115] The relative location information of the item to be searched and the first device;

[0116] The relative location information of the first device and the item to be searched;

[0117] The absolute location information of the item to be searched;

[0118] The relative distance information between the item to be found and the first device;

[0119] The relative position information between the first device and the item to be searched, such as relative distance and relative orientation;

[0120] The relative position information between the item to be searched and the first device includes, for example, relative distance and relative orientation;

[0121] The absolute location information of the item to be searched.

[0122] The basic principle of angle measurement and positioning technology based on virtual antenna array (VAA) is to construct a virtual antenna array by moving the communication device according to a certain trajectory, and to calculate the DOA or AOD based on the constructed virtual antenna array. If more than two DOAs or AODs are calculated, the distance and angle to the device to be located can be estimated based on triangulation algorithms.

[0123] Optionally, various methods can be used to estimate the DOA or AOD between the first and second devices. Determining the orientation and / or location information of the item to be located in step 24 above may include:

[0124] The first device estimates multiple DOAs or AODs between the first device and the second device based on the first measurement value and the second measurement value, such as m (m≥2) first measurement values ​​and m second measurement values ​​during the movement process, using a DOA or AOD estimation algorithm. The DOA or AOD estimation algorithm may include at least one of the following: beamforming algorithm, multiple signal classification (MUSCI) algorithm, ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) algorithm, unitary ESPRIT algorithm, etc. For beamforming, MUSCI, ESPRIT, and unitary ESPRIT algorithms, please refer to existing algorithm descriptions; this application embodiment does not impose specific limitations on them.

[0125] The first device estimates the orientation and / or location information of the item to be searched, which is associated with the second device, based on the multiple DOAs or AODs. For example, after obtaining multiple DOAs or AODs, existing positioning algorithms (such as, but not limited to, AOA, AOD, and other multi-angle positioning algorithms) can be used to estimate the orientation and / or location information of the item to be searched.

[0126] Optionally, the process of determining the orientation and / or location information of the item to be searched in step 24 above may include at least one of the following:

[0127] a) The first device directly calculates the orientation and / or location information of the item to be searched based on the first measurement value and the second measurement value, such as the first measurement value of multiple second signals and multiple second measurement values ​​of the corresponding IMU; the orientation and / or location information is, for example, the relative distance, relative orientation and / or relative position of the item to be searched and the first device, or the absolute position of the item to be searched.

[0128] b) The first device sends the first measurement value and the second measurement value (such as the first measurement value of multiple second signals and multiple second measurement values ​​of the corresponding IMU) to the third device, and receives the orientation information and / or location information of the item to be searched sent by the third device; the orientation information and / or location information of the item to be searched is calculated based on the first measurement value and the second measurement value, such as the relative distance, relative orientation and / or relative position of the item to be searched and the first device, or the absolute position of the item to be searched; the third device is, for example, a positioning server or other device different from the first device.

[0129] In this embodiment of the application, the device associated with the item to be found can be determined based on user input information. The second device associated with the item to be found, determined in response to user input, may include:

[0130] The first device determines the device information associated with the item information based on the item information input by the user.

[0131] The first device determines the second device based on the device information.

[0132] In this way, after obtaining the item information of the item to be searched, the device associated with the item can be efficiently determined based on the relationship between the item information and the device information.

[0133] Optionally, the item information may be the item name or item code of the item to be searched. The item information may be entered in at least one of the following ways:

[0134] Text input method; for example, you can enter the item information of the item you want to find by text on the device interface of the first device or in the application APP;

[0135] Voice input method; for example, you can input the item information of the item to be searched by voice on the device interface of the first device or in the APP.

[0136] Image input method; for example, by scanning the image of the item to be searched on the device interface or APP of the first device, the first device can obtain the name or code of the item to be searched.

[0137] Optionally, the device information may include, but is not limited to, at least one of the following:

[0138] Device Identifier (ID);

[0139] Tag Identifier (TID);

[0140] Electronic Product Code (EPC);

[0141] Radio Network Temporary Identity (RNTI).

[0142] Optionally, the device information for the second device can be obtained by the first device before performing positioning. The positioning method in this application embodiment may further include:

[0143] The first device obtains the device information of the second device through an inventory process, pairing process, or registration process;

[0144] The first device establishes a relationship between the device information of the second device and the item information (such as item name or item code) of the item to be searched.

[0145] Based on the relationship between item information and device information, after obtaining the item information of the item to be found, the device associated with the item to be found can be determined efficiently, thereby completing the positioning process.

[0146] It should be noted that the device information of the second device (such as device ID, TID, EPC, and / or RNTI) is a unique identifier for the second device during the positioning process. The association between the device information of the second device and the item information of the item to be located can be that the device information of one or more second devices is associated with item information (such as item name, item code, etc.). The memory of the second device can store the item information (such as item name, item code, etc.) of the associated item.

[0147] Optionally, the first device can interact with the second device to obtain the second device's capability information. Sending the first signal to the second device during movement may include:

[0148] The first device sends a first signal to the second device during movement based on the capability information of the second device; the capability information of the second device includes, but is not limited to, at least one of the following:

[0149] The antenna capability of the second device;

[0150] The modulation scheme supported by the second device;

[0151] The modulation order supported by the second device;

[0152] The modulation rate supported by the second device;

[0153] The bandwidth supported by the second device;

[0154] The second device supports the following operating frequencies;

[0155] The frequency shifting capability of the second device;

[0156] The magnitude of the reflection coefficient of the second device;

[0157] Amplifier information for the second device.

[0158] By using the acquired capability information, the first device can determine how the second device generates the second signal. For example, if the backscatter modulation method supported by the second device does not meet the parameter requirements of the second signal, then the first signal sent by the first device may be a periodic signal, and the second signal may simply be a reflection of the first signal; or, if the second device supports modulation, then the first signal may be a carrier signal, and the second signal may be a backscatter modulation signal or a positioning measurement signal.

[0159] In this embodiment of the application, in order to efficiently locate items, the first device can prompt / suggest movement information to the user. After determining the second device associated with the item to be located, the positioning method may further include:

[0160] The first device generates the first motion information; for example, the first device can generate the first motion information by combining user habits, prior information, etc., or it can generate the first motion information randomly.

[0161] The first device displays the first motion information to the user carrying the first device; the first motion information may include, but is not limited to, at least one of the following:

[0162] The trajectory of motion can be, for example, a straight line trajectory, a circular trajectory, an elliptical trajectory, a non-linear curved trajectory, etc.

[0163] Movement speed, such as including but not limited to the recommended optimal movement speed, the recommended maximum movement speed, and the recommended minimum movement speed;

[0164] Exercise time, which may include, but is not limited to, the recommended optimal exercise time, the recommended minimum exercise time, and the recommended maximum exercise time;

[0165] Step count, which may include, but is not limited to, the recommended optimal step count, the recommended minimum step count, and the recommended maximum step count;

[0166] Acceleration information, such as uniform motion information or non-uniform motion information;

[0167] The attitude information of the first device may include, but is not limited to, the orientation, azimuth, pitch, and roll angle of the first device.

[0168] By using the first motion information, the user can be instructed or informed of the suggested motion information. When the user moves according to the first motion information, the first device can move accordingly, thereby efficiently finding items.

[0169] Optionally, the first device may indicate or inform the user of exercise information through text display, voice playback, image display, animation, or video. The first exercise information may be presented through at least one of the following:

[0170] Textual information; for example, the first device can use text display to instruct or inform the user of the aforementioned first motion information;

[0171] Voice information; for example, the first device can instruct or inform the user of the aforementioned first motion information by playing voice commands.

[0172] Image information; for example, the first device can display the aforementioned first motion information through the image displayed on the device interface, and mark key information such as trajectory type, movement speed, acceleration, and orientation information.

[0173] Animation or video information; for example, the first device can dynamically display the above-mentioned first motion information through animation or video displayed on the device interface, and mark key information such as trajectory type, movement speed, acceleration, and orientation information.

[0174] For example, to inform users of their exercise information by displaying images, the specific user exercise information display interface can be as shown in Figure 3. The key information marked and displayed on the device interface is as follows:

[0175] (1) The suggested trajectory is the non-linear trajectory shown in Figure 3;

[0176] (2) Suggested device posture, as shown in Figure 3, which informs the user of the posture of holding the device in a graphical form;

[0177] (3) Recommended walking speed, as shown in Figure 3, is 1 m / s;

[0178] (4) The recommended walking time is 5 seconds, as shown in Figure 3.

[0179] (5) The recommended number of steps is 20, as shown in Figure 3.

[0180] (6) The recommended acceleration is uniform motion, i.e., the acceleration is 0, as shown in Figure 3.

[0181] Furthermore, the first device can combine voice playback and image display to present user motion information. Moreover, if the first device uses animation or video to inform the user of motion information, the hand gestures, motion trajectories, etc., can be designed in a dynamic style. Optionally, the first device can also combine voice playback and animation / video to present user motion information.

[0182] In this embodiment of the application, in order to efficiently locate the item, the first device can update the first motion information in real time and provide a prompt based on changes in the signal strength and signal quality of the received second signal during movement. After generating the first motion information, the positioning method in this embodiment of the application may further include:

[0183] The first device updates the first motion information and obtains the second motion information, that is, it obtains the updated first motion information; for example, the first device can update the first motion information in real time based on changes in the signal strength and signal quality of the received second signal.

[0184] The first device displays the second motion information to the user carrying the first device; the second motion information includes at least one of the following:

[0185] The trajectory of motion can be, for example, a straight line trajectory, a circular trajectory, an elliptical trajectory, a non-linear curved trajectory, etc.

[0186] Movement speed, such as including but not limited to the recommended optimal movement speed, the recommended maximum movement speed, and the recommended minimum movement speed;

[0187] Acceleration information, such as uniform motion information or non-uniform motion information;

[0188] The attitude information of the first device may include, but is not limited to, the orientation, azimuth, pitch, and roll angle of the first device.

[0189] By using this second motion information, the user's motion deviation can be corrected, enabling the user to efficiently find items when moving according to the second motion information.

[0190] Optionally, the first device may indicate or inform the user of the updated motion information through text, voice playback, image display, animation, or video. The second motion information may be presented through at least one of the following:

[0191] Textual information; for example, the first device can use text display to instruct or inform the user of the aforementioned second motion information;

[0192] Voice information; for example, the first device can instruct or inform the user of the aforementioned second motion information by playing voice commands.

[0193] Image information; for example, the first device can display the second motion information mentioned above through the image displayed on the device interface, and mark key information such as trajectory type, movement speed, acceleration, and orientation information.

[0194] Animation or video information; for example, the first device can dynamically display the aforementioned second motion information through animation or video displayed on the device interface, and annotate key information such as trajectory type, movement speed, acceleration, and orientation information.

[0195] Optionally, if the orientation and / or location information of the item to be found is successfully determined, the positioning method in this application embodiment may further include:

[0196] The first device generates guidance information based on the orientation information and / or location information; the guidance information is information related to the orientation and / or location of the item to be found, and is used to guide the user to find the item;

[0197] The first device displays the guidance information to the user carrying the first device.

[0198] This kind of helpful information makes it easier for users to find the item they are looking for.

[0199] Optionally, the guidance information may include at least one of the following:

[0200] (I) The relative location information of the item to be located and the first device;

[0201] (II) Relative location information of the first device and the item to be located;

[0202] (III) Absolute location information of the item to be searched;

[0203] (IV) Relative distance information between the item to be located and the first device;

[0204] (IIV) Relative positional information between the first device and the item to be located, including relative distance and relative orientation;

[0205] (V) The relative position information of the item to be searched and the first device, such as relative distance and relative orientation;

[0206] (VI) Absolute location information of the item to be searched.

[0207] Optionally, the first device may provide guidance information through text display, voice playback, image display, animation, or video, such as indicating the location or orientation of the item to be found relative to the first device, or generating directional arrows or dynamic trajectory maps to guide the user in finding the item. The guidance information may be provided through at least one of the following:

[0208] Textual information; for example, the first device can use text to inform the user of the location or position information of the item to be found.

[0209] Voice information; for example, the first device can use voice to inform the user of the location or position information of the item to be found.

[0210] Image information; for example, the first device can use the image displayed on the device interface to present the orientation or location information of the item to be searched relative to the first device; in addition, it can also generate directional arrows or trajectory maps to guide the user to find the item to be searched.

[0211] Animated or video information; for example, the first device can dynamically present the orientation or location information of the item to be searched relative to the first device through animations or videos displayed on the device interface; in addition, it can also generate dynamic pointing arrows or dynamic trajectory maps to guide users to find the item to be searched.

[0212] For example, to inform a user of the location and orientation of an item (such as a wallet) relative to a first device by displaying an image, the guidance information displayed on the device interface can be as shown in Figure 4. The key information marked and displayed on the device interface is as follows:

[0213] (1) The orientation information of the wallet relative to the first device, as shown in Figure 4, is 105°;

[0214] (2) The distance information of the wallet relative to the first device, as shown in Figure 4, is approximately 10m;

[0215] (3) Guide users to find the arrow pointing to the wallet, as shown in Figure 4 with a single-dot line arrow and marking the distance and direction information;

[0216] (4) Guide users to find the wallet's trajectory map, as shown in Figure 4, which is a curved dashed line trajectory map.

[0217] Furthermore, the first device can combine voice playback and image display to present the object's location information or guide the user in finding the object. Moreover, if the first device uses animation or video to inform the user of the object's location information or guide the user in finding the object, the directional arrows and trajectory diagrams can be dynamically displayed. Optionally, the first device can also combine voice playback and animation / video to present relevant information to the user.

[0218] Optionally, if the orientation and / or location information of the item to be searched is not successfully determined, i.e., the orientation and / or location information of the item to be searched is not obtained, the positioning method in this application embodiment may further include at least one of the following:

[0219] ① The first device generates a positioning failure message and notifies the user carrying the first device of the positioning failure message, which is used to notify the user of the positioning failure; thereby informing the user of the positioning failure; in this case, the user or the first device can terminate the positioning process.

[0220] ② The first device generates relocation information and prompts the user carrying the first device with the relocation information, which is used to notify the user to perform the location again; thereby, the user can restart the location to find the item; after restarting the location, the above location process can be repeated, which will not be described in detail here;

[0221] ③ The first device generates a long-distance positioning activation message and prompts the user carrying the first device with the long-distance positioning activation message. The long-distance positioning activation message is used to notify the user to activate the long-distance positioning service. For example, the long-distance positioning service can be used to locate the item through multi-device collaborative positioning, cellular positioning, Bluetooth positioning, etc., and can also enable "long-distance search mode" or "lost mode", etc. With the help of the long-distance positioning service, the probability of successfully finding the item can be increased.

[0222] It should be noted that the location failure information, the relocation information, and the long-distance location activation information can be prompted through text, voice, images, etc., and there are no limitations on this.

[0223] Optionally, the positioning method in the embodiments of this application may further include at least one of the following:

[0224] (a) The first device responds to the user's end operation and exits the positioning process or positioning interface; for example, after the user successfully or unsuccessfully finds an item based on the guidance information, the user can actively end the positioning process or exit the device positioning interface based on the input end operation.

[0225] (b) The first device responds to the user's input of a location success message and ends the location process; for example, after the user successfully finds the item according to the guidance information, the user can input a location success message into the first device to end the location process.

[0226] (c) The first device responds to the location end information input by the user and ends the location process; for example, after the user successfully or unsuccessfully finds an item according to the guidance information, the user can input location end information in the first device to end the location process.

[0227] (d) In response to the user's input location failure information, the first device performs any of the following: terminates the location process; restarts the location process, i.e., re-executes the above-mentioned location process; generates a long-range location activation message and prompts the user carrying the first device with the long-range location activation message, which is used to notify the user to enable the long-range location service. For example, the long-range location service can be performed through multi-device collaborative location, cellular location, Bluetooth location, etc., and can also enable "long-range search mode" or "lost mode," etc.; thereby, the probability of successfully finding the item can be increased by using the long-range location service.

[0228] Optionally, when a user searches for an item based on guidance information provided by the first device, such as orientation / location information or item search trajectory information, the search may succeed or fail, thereby triggering different processes or operations. As shown in Figure 5, possible processes and operations may include:

[0229] Scenario 1: If the item is successfully found, one of the following operations can be performed:

[0230] 1.1 The user actively ends the location process or exits the location interface;

[0231] 1.2 The user enters a location success message on the first device to end the location process;

[0232] 1.3 The user enters the location end information on the first device to end the location process.

[0233] Scenario 2: If the search for the item fails, one of the following operations can be performed:

[0234] 2.1 The user actively ends the location process or exits the location interface;

[0235] 2.2 If the user enters a location failure message in the first device, the first device will perform the following operations:

[0236] (I) Regenerate the orientation or location-related guidance information of the second device to guide the user to find the item again;

[0237] (II) Generate a relocation prompt message to ask the user whether to perform the location process again;

[0238] (III) Generate a location failure notification message to prompt the user to enable "long-distance search mode" or "lost mode" to inform the user to enable long-distance location service;

[0239] (IV) Generate a location failure notification message to inform the user that the location failed and end the process;

[0240] 2.3 The user enters the location end information on the first device to end the location process.

[0241] Please refer to Figure 6, which is a flowchart of a positioning method provided in an embodiment of this application. The method is executed by a second device. As shown in Figure 6, the method includes the following steps:

[0242] Step 61: The second device receives the first signal sent by the first device during movement, and the second device is associated with the item to be found;

[0243] Step 62: The second device generates a second signal based on the first signal, wherein the second signal is a periodic signal;

[0244] Step 63: The second device sends the second signal to the first device during the movement process. The second signal is used to determine the orientation information and / or location information of the item to be searched.

[0245] In this embodiment of the application, the first device is a device with angle measurement / positioning capability and supports mobility, which may include, but is not limited to, smartphones, tablets, laptops, smartwatches, smart bracelets, smart headphones, AR devices, VR devices, XR devices, MR devices, robots, etc., and may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.

[0246] The second device is the device to be located, which may include, but is not limited to, RFID tags, 3GPP AIoT tags, WiFi / Zigbee / LoRa / Bluetooth tags, or other low-power devices. For example, the second device may be a passive tag or a semi-active tag.

[0247] The association between the item to be found and the second device can be achieved by installing / setting the second device on the item to be found.

[0248] The movement of the first device can be achieved through the movement of a user who holds / carries the first device.

[0249] Optionally, the movement trajectory of the first device may include at least one of the following:

[0250] Non-linear trajectory;

[0251] The trajectory of movement with non-constant acceleration.

[0252] The solution of this application embodiment can construct a virtual antenna array by moving the first device, thereby locating the second device and then locating the item to be found associated with the second device. This does not require the second device to have the ability to actively generate signals and / or the ability to measure and report signals, thus achieving low-power and low-cost positioning.

[0253] Optionally, the first signal may satisfy at least one of the following:

[0254] (a) The first signal is a periodic synchronization signal, such as PSS, SSS, Preamble signal, etc.;

[0255] (b) The first signal is a periodic reference signal used for positioning or angle measurement, such as PRS;

[0256] (c) The first signal is a periodic measurement reference signal with a known sequence, such as CSI-RS, SRS, PTRS, DM-RS, Preamble signal, etc.

[0257] (d) The first signal is a periodic data signal for which the modulation information or input bits are known, i.e., the first signal is a modulation signal;

[0258] (e) The first signal is a carrier signal, such as a sine signal, a cosine signal, a chirp signal, etc.

[0259] Optionally, when the first signal is a periodic signal, the period of the first signal and the period of the second signal may be the same or different. For example, a threshold parameter δ can be configured in the system, such that the period T1 of the first signal and the period T2 of the second signal satisfy: |T1-T2|≤δ.

[0260] Optionally, when the first signal is a periodic signal, the second signal may be obtained by backscattering the first signal according to a fixed reflection coefficient. Alternatively, when the first signal is a carrier signal, the second signal may be obtained by backscattering the first signal according to configuration or indication information.

[0261] Optionally, the positioning method in the embodiments of this application may further include:

[0262] The second device sends capability information to the first device; wherein the capability information is capability information related to generating / transmitting a second signal, and the capability information may include at least one of the following:

[0263] The antenna capability of the second device;

[0264] The modulation scheme supported by the second device;

[0265] The modulation order supported by the second device;

[0266] The modulation rate supported by the second device;

[0267] The bandwidth supported by the second device;

[0268] The second device supports the following operating frequencies;

[0269] The frequency shifting capability of the second device;

[0270] The magnitude of the reflection coefficient of the second device;

[0271] Amplifier information for the second device.

[0272] Optionally, the second device can send device information to the first device, such as the Electronic Product Code (EPC), Tag Identification Number (TID), or Device ID, so that the first device can establish a relationship between the first device and the second device based on the device information, thereby enabling the second device to respond to the first device in a timely manner.

[0273] In one alternative implementation, the second device may send its EPC code, TID code, device ID, etc. to the first device through an inventory process or registration process.

[0274] The positioning method provided in this application can be executed by a positioning device. This application uses a positioning device executing the positioning method as an example to illustrate the positioning device provided in this application.

[0275] This application provides a positioning device. As an example, the positioning device can be a communication device or a component within a communication device, such as a chip. The positioning device includes a receiving module, a transmitting module, and a processing module. The receiving module, transmitting module, and processing module can be implemented in software or hardware. When implemented in hardware, the processing module can be implemented by a processor. For example, the processor can include general-purpose processors, special-purpose processors, such as a Central Processing Unit (CPU), microprocessor, Digital Signal Processor (DSP), Artificial Intelligence (AI) processor, Graphics Processing Unit (GPU), Application Specific Integrated Circuit (ASIC), Network Processor (NP), Field Programmable Gate Array (FPGA), or other programmable logic devices, gate circuits, transistors, discrete hardware components, etc. The receiving module and transmitting module can be implemented by a communication interface, which can include one or more of the following: transceiver, pins, circuits, bus, radio frequency unit, etc.

[0276] Specifically, referring to Figure 7, when the positioning device is the first device or a component of the first device, the positioning device 70 includes:

[0277] The determination module 71 is used to determine, in response to user input, a second device associated with the item to be searched;

[0278] The first transmitting module 72 is used to transmit a first signal to the second device during the movement;

[0279] The first receiving module 73 is configured to receive a second signal sent by the second device during movement, wherein the second signal is a periodic signal generated based on the first signal;

[0280] The first processing module 74 is used to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated, and to determine the orientation information and / or location information of the item to be searched based on the first measurement value and the second measurement value.

[0281] Optionally, the measurement time of the first measurement value is the same as the measurement time of the second measurement value, or the measurement time of the first measurement value and the measurement time of the second measurement value are within the same time window.

[0282] Optionally, the first measurement includes at least one of the following: reference signal strength RSS, received signal strength indication RSSI, signal amplitude, signal phase, signal frequency, covariance matrix, and autocorrelation matrix;

[0283] And / or, the second measurement includes at least one of the following: acceleration information, angular velocity information, azimuth information, magnetic induction information, yaw angle information, and position information.

[0284] Optionally, the orientation and / or location information of the item to be searched includes at least one of the following:

[0285] The relative location information of the item to be searched and the first device;

[0286] The relative location information of the first device and the item to be searched;

[0287] The absolute location information of the item to be searched;

[0288] The relative distance information between the item to be found and the first device;

[0289] The relative position information of the first device and the item to be searched;

[0290] The relative position information of the item to be found and the first device;

[0291] The absolute location information of the item to be searched.

[0292] Optionally, the determining module 71 is specifically used to: determine device information associated with the item information based on the item information input by the user; and determine the second device based on the device information.

[0293] Optionally, the positioning device 70 further includes:

[0294] The acquisition module is used to acquire device information of the second device through an inventory process, pairing process, or registration process;

[0295] A module is established to establish the association between the device information of the second device and the item information of the item to be searched.

[0296] Optionally, the device information includes at least one of the following:

[0297] Equipment identification;

[0298] Tag identification number;

[0299] Product electronic code;

[0300] Temporary identifier for wireless network.

[0301] Optionally, the item information is entered in at least one of the following ways:

[0302] Text input method;

[0303] Voice input method;

[0304] Image input method.

[0305] Optionally, the positioning device 70 further includes:

[0306] The first generation module is used to generate the first motion information;

[0307] The first prompting module is used to prompt the user carrying the first device with the first motion information;

[0308] The first motion information includes at least one of the following:

[0309] trajectory of motion;

[0310] Speed ​​of movement;

[0311] Exercise time;

[0312] Steps taken;

[0313] Acceleration information;

[0314] The attitude information of the first device.

[0315] Optionally, the first motion information is provided through at least one of the following:

[0316] Text information;

[0317] Voice information;

[0318] Image information;

[0319] Animation or video information.

[0320] Optionally, the positioning device 70 further includes:

[0321] The update module is used to update the first motion information and obtain the second motion information;

[0322] The second prompting module is used to prompt the user carrying the first device with the second motion information;

[0323] The second motion information includes at least one of the following:

[0324] trajectory of motion;

[0325] Speed ​​of movement;

[0326] Acceleration information;

[0327] The attitude information of the first device.

[0328] Optionally, the positioning device 70 further includes:

[0329] The second generation module is used to generate guidance information based on the orientation and / or location information of the item to be searched when the orientation and / or location information is successfully determined.

[0330] The third prompt module is used to prompt the user carrying the first device with the guidance information.

[0331] Optionally, the guidance information is provided through at least one of the following:

[0332] Text information;

[0333] Voice information;

[0334] Image information;

[0335] Animation or video information.

[0336] Optionally, the positioning device 70 further includes:

[0337] The first execution module is configured to perform at least one of the following when the orientation and / or location information of the item to be searched is not successfully determined:

[0338] A location failure message is generated and the user carrying the first device is prompted with the location failure message, which is used to notify the user that the location has failed.

[0339] Generate relocation information and prompt the user carrying the first device with the relocation information, which is used to notify the user to perform relocation again;

[0340] A long-distance positioning activation message is generated and the user carrying the first device is prompted with the long-distance positioning activation message, which is used to notify the user to activate the long-distance positioning service.

[0341] Optionally, the positioning device 70 further includes:

[0342] The second execution module is used to perform at least one of the following:

[0343] In response to the user's termination action, exit the location process or location interface;

[0344] Upon receiving a location success message from the user, the location process ends.

[0345] The location process ends in response to the user's input of a location termination message.

[0346] In response to a location failure message input by the user, perform any of the following: terminate the location process; restart the location process; generate a long-distance location activation message and prompt the user carrying the first device with the long-distance location activation message, which is used to notify the user to enable the long-distance location service.

[0347] Optionally, the first sending module 72 is further configured to: send the first signal to the second device during movement based on the capability information of the second device;

[0348] The capability information of the second device includes at least one of the following:

[0349] The antenna capability of the second device;

[0350] The modulation scheme supported by the second device;

[0351] The modulation order supported by the second device;

[0352] The modulation rate supported by the second device;

[0353] The bandwidth supported by the second device;

[0354] The second device supports the following operating frequencies;

[0355] The frequency shifting capability of the second device;

[0356] The magnitude of the reflection coefficient of the second device;

[0357] Amplifier information for the second device.

[0358] Optionally, the first processing module 74 is specifically configured to perform at least one of the following:

[0359] Based on the first measurement value and the second measurement value, the orientation information and / or location information of the item to be searched are directly calculated.

[0360] The first measurement value and the second measurement value are sent to a third device, and the location information and / or position information of the item to be searched sent by the third device are received, wherein the location information and / or position information of the item to be searched is calculated based on the first measurement value and the second measurement value.

[0361] The positioning device 70 provided in this application embodiment can implement the various processes implemented in the method embodiment shown in FIG2 and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0362] Referring to Figure 8, when the positioning device is a second device or a component of the second device, the positioning device 80 includes:

[0363] The second receiving module 81 is used to receive the first signal sent by the first device during movement, and the positioning device is associated with the item to be found.

[0364] The second processing module 82 is used to generate a second signal based on the first signal, wherein the second signal is a periodic signal;

[0365] The second sending module 83 is used to send the second signal to the first device during the movement process, the second signal being used to determine the orientation information and / or location information of the item to be searched.

[0366] The positioning device 80 provided in this application embodiment can implement the various processes implemented in the method embodiment shown in FIG6 and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0367] As shown in Figure 9, this application embodiment also provides a communication device 90, including a processor 91 and a memory 92. The memory 92 stores programs or instructions that can run on the processor 91. For example, when the communication device 90 is a first device, the program or instructions executed by the processor 91 implement the various steps of the positioning method embodiment shown in Figure 2 above, and achieve the same technical effect. When the communication device 90 is a second device, the program or instructions executed by the processor 91 implement the various steps of the positioning method embodiment shown in Figure 6 above, and achieve the same technical effect. To avoid repetition, this will not be described again here.

[0368] This application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps in the method embodiment shown in FIG2, and can achieve the same technical effect. This terminal may be the positioning device shown in FIG7.

[0369] Specifically, Figure 10 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of this application.

[0370] The terminal 1000 includes, but is not limited to, at least some of the following components: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, and processor 1010.

[0371] Those skilled in the art will understand that the terminal 1000 may also include a power supply (such as a battery) for powering various components. The power supply can be logically connected to the processor 1010 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The terminal structure shown in Figure 10 does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0372] It should be understood that, in this embodiment, the input unit 1004 may include a graphics processor 10041 and a microphone 10042. The graphics processor 10041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1007 includes a touch panel 10071 and at least one of other input devices 10072. The touch panel 10071 is also called a touch screen. The touch panel 10071 may include a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0373] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 1001 can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network-side device. Typically, the radio frequency unit 1001 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0374] The memory 1009 can be used to store software programs or instructions, as well as various data. The memory 1009 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 1009 may include volatile memory or non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1009 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0375] The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor 1010.

[0376] The processor 1010 is used to determine a second device associated with the item to be searched in response to user input;

[0377] The radio frequency unit 1001 is used to send a first signal to the second device and receive a second signal sent by the second device during the movement of the terminal 1000, wherein the second signal is a periodic signal generated based on the first signal;

[0378] The processor 1010 is configured to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated; and to determine the orientation information and / or location information of the item to be searched based on the first measurement value and the second measurement value.

[0379] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the method embodiment shown in Figure 2, and achieve the same or corresponding technical effects. To avoid repetition, it will not be described again here.

[0380] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the positioning method embodiments shown in FIG2 or FIG6 above and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0381] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0382] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the positioning method embodiments shown in FIG2 or FIG6 above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0383] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0384] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the positioning method embodiments shown in FIG2 or FIG6 above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0385] This application also provides a communication system, including a first device and a second device, wherein the first device can be used to perform the steps of the positioning method as shown in FIG2 above, and the second device can be used to perform the steps of the positioning method as shown in FIG6 above.

[0386] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0387] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0388] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

A positioning method comprises: A first device determines a second device associated with an object to be found in response to a user input; The first device sends a first signal to the second device during movement and receives a second signal sent by the second device during movement, wherein the second signal is a periodic signal generated according to the first signal; The first device obtains a first measurement value of the second signal and a second measurement value of an inertial measurement unit in the first device, and the second measurement value and the second signal have a correlation relationship; The first device determines orientation information and / or position information of the object to be found according to the first measurement value and the second measurement value. The method of claim 1, wherein, The measurement time of the first measurement value is the same as the measurement time of the second measurement value, or the measurement time of the first measurement value and the measurement time of the second measurement value are in the same time window. According to the method of claim 1 or 2, wherein The first measurement value comprises at least one of the following: reference signal strength RSS, received signal strength indication RSSI, signal amplitude, signal phase, signal frequency, covariance matrix, and autocorrelation matrix; And / or, The second measurement value comprises at least one of the following: acceleration information, angular velocity information, orientation information, magnetic induction information, yaw angle information, and position information. The method according to any one of claims 1 to 3, wherein The orientation information and / or position information of the object to be found comprises at least one of the following: Relative orientation information of the object to be found and the first device; Relative orientation information of the first device and the object to be found; Absolute orientation information of the object to be found; Relative distance information of the object to be found and the first device; Relative position information of the first device and the object to be found; Relative position information of the object to be found and the first device; Absolute position information of the object to be found. The method according to any one of claims 1 to 4, wherein The first device determines a second device associated with an object to be found in response to a user input, comprising: The first device determines device information associated with the object information of the object to be found according to the user input; The first device determines the second device according to the device information. The method of claim 5, wherein, The method further comprises: The first device obtains device information of the second device through an inventory process, a pairing process, or a registration process; The first device establishes an association between the device information of the second device and the object information of the object to be found. The method according to claim 5 or 6, wherein The device information comprises at least one of the following: Device identifier; Tag identification number; Product electronic code; Wireless network temporary identifier. The method according to any one of claims 5 to 7, wherein The object information is input by at least one of the following ways: Text input mode; Voice input mode; Image input mode. The method according to any one of claims 1 to 8, wherein After determining the second device associated with the object to be found, the method further comprises: The first device generates first motion information; The first device prompts the first motion information to a user carrying the first device; Wherein, the first motion information comprises at least one of the following: Motion trajectory; Motion speed; Motion time; Motion step number; Acceleration information; Attitude information of the first device. The method of claim 9, wherein, The first motion information is prompted by at least one of the following: text information; voice information; image information; animation or video information. The method according to claim 9 or 10, wherein The method further comprises: The first device updates the first motion information to obtain second motion information; The first device prompts the second motion information to a user carrying the first device; The second motion information comprises at least one of the following: motion trajectory; motion speed; acceleration information; attitude information of the first device. The method according to any one of claims 1 to 11, wherein If the orientation information and / or position information of the to-be-searched object is successfully determined, the method further comprises: The first device generates guidance information according to the orientation information and / or position information; The first device prompts the guidance information to a user carrying the first device. The method of claim 12, wherein, The guidance information is prompted by at least one of the following: text information; voice information; image information; animation or video information. The method according to any one of claims 1 to 11, wherein If the orientation information and / or position information of the to-be-searched object is not successfully determined, the method further comprises at least one of the following: The first device generates positioning failure information and prompts the positioning failure information to a user carrying the first device, wherein the positioning failure information is used to inform the user of the positioning failure; The first device generates repositioning information and prompts the repositioning information to a user carrying the first device, wherein the repositioning information is used to inform the user to perform positioning again; The first device generates long-distance positioning start information and prompts the long-distance positioning start information to a user carrying the first device, wherein the long-distance positioning start information is used to inform the user to start the long-distance positioning service. The method according to any one of claims 1 to 14, wherein The method further comprises at least one of the following: The first device exits the positioning process or the positioning interface in response to an end operation of the user; The first device ends the positioning process in response to positioning success information input by the user; The first device ends the positioning process in response to positioning end information input by the user; The first device performs any one of the following in response to positioning failure information input by the user: ends the positioning process; restarts the positioning process; The method of claim 1, wherein, generates long-distance positioning start information and prompts the long-distance positioning start information to a user carrying the first device, wherein the long-distance positioning start information is used to inform the user to start the long-distance positioning service. The first device sends a first signal to the second device during movement, comprising: The first device sends the first signal to the second device during movement according to the capability information of the second device; The capability information of the second device comprises at least one of the following: antenna capability of the second device; modulation mode supported by the second device; modulation order supported by the second device; modulation rate supported by the second device; bandwidth supported by the second device; working frequency point supported by the second device; frequency shifting capability of the second device; reflection coefficient size of the second device; amplifier information of the second device. The method of claim 1, wherein, The first device determines the orientation information and / or the position information of the to-be-searched-for article according to the first measurement value and the second measurement value, including at least one of the following: The first device directly calculates the orientation information and / or the position information of the to-be-searched-for article according to the first measurement value and the second measurement value. The first device sends the first measurement value and the second measurement value to a third device, and receives the orientation information and / or the position information of the to-be-searched-for article sent by the third device, wherein the orientation information and / or the position information of the to-be-searched-for article is calculated according to the first measurement value and the second measurement value. A positioning method, comprising: A second device receives a first signal sent by a first device in a moving process, and the second device is associated with a to-be-searched-for article; The second device generates a second signal according to the first signal, and the second signal is a periodic signal; The second device sends the second signal to the first device in the moving process, and the second signal is used to determine the orientation information and / or the position information of the to-be-searched-for article. A positioning apparatus, comprising: A determining module is configured to determine a second device associated with a to-be-searched-for article in response to a user input; A first sending module is configured to send a first signal to the second device in a moving process; A first receiving module is configured to receive a second signal sent by the second device in the moving process, wherein the second signal is a periodic signal generated according to the first signal; A first processing module is configured to obtain a first measurement value of the second signal and a second measurement value of an inertial measurement unit in the first device, the second measurement value and the second signal have an associated relationship, and determine the orientation information and / or the position information of the to-be-searched-for article according to the first measurement value and the second measurement value. The apparatus of claim 19, wherein The determining module is specifically configured to: Determine device information associated with the article information of the to-be-searched-for article according to the article information input by the user, and determine the second device according to the device information. The apparatus of claim 19 or 20, wherein, The apparatus further comprises: A first generating module is configured to generate first motion information; A first prompting module is configured to prompt a user carrying the first device with the first motion information; The first motion information includes at least one of the following: Motion trajectory; Motion speed; Motion time; Motion step number; Acceleration information; Attitude information of the first device. A positioning apparatus, comprising: A second receiving module is configured to receive a first signal sent by a first device in a moving process, and the positioning apparatus is associated with a to-be-searched-for article; A second processing module is configured to generate a second signal according to the first signal, and the second signal is a periodic signal; A second sending module is configured to send the second signal to the first device in the moving process, and the second signal is used to determine the orientation information and / or the position information of the to-be-searched-for article. A communication device comprising a processor and a memory, said memory storing a program or instructions executable on said processor, said program or instructions, when executed by said processor, implementing the method of any one of claims 1 to 17, or implementing the steps of the method of claim 18. A readable storage medium, on which a program or instructions are stored, said program or instructions, when executed by a processor, implementing the method of any one of claims 1 to 17, or implementing the steps of the method of claim 18.

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