Measurement method and related device

Abstract

Provided in the embodiments of the present application is a measurement method, comprising: executing a first measurement task, wherein the first measurement task is to measure a target parameter relative to a target device on the basis of N measurement modes; acquiring N measured values corresponding to the N measurement modes; executing a first confidence level determination task, wherein the first confidence level determination task is to determine confidence levels corresponding to the N measurement modes; determining a target measured value from among the N measured values, wherein the target measured value is a measured value corresponding to a measurement mode having the highest confidence level; and determining a first output result, the first output result being obtained by summing a reference value and a compensation value, wherein the reference value is obtained on the basis of the target measured value, and the compensation value is obtained on the basis of N-1 measured values other than the target measured value among the N measured values.

Description

A measurement method and related device

[0001] The present application claims priority from the Chinese patent application No. 202411248526.1 filed on September 5, 2024, and entitled "A measurement method and related device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of measurement, and in particular to a measurement method and related device. BACKGROUND

[0003] The device recovery function is a function of helping users quickly and accurately find lost or forgotten devices by using the interconnection between a terminal device and a lost device. The terminal device can measure the distance or angle between the terminal device and the lost device through a specific measurement method and display the parameters. Users can constantly approach the lost device according to these parameters, which greatly improves the efficiency of recovering the lost device.

[0004] The terminal device can determine the above-mentioned parameters based on different measurement methods, such as ultrasonic or star flash. However, each of these methods has its own advantages and disadvantages. For example, ultrasonic has high accuracy in a short distance scenario, but cannot support long distances and has poor anti-interference performance. Star flash can support long distances and has high robustness, but has lower accuracy than ultrasonic in a short distance. In order to improve the accuracy and robustness of the device recovery function, the terminal device can use multiple measurement methods at the same time, fuse the measurement results of multiple measurement methods, and then display the fused results.

[0005] However, the current way of fusing measurement results is fixed and lacks flexibility. For example, a certain measurement method is fixed as the reference, and the remaining measurement methods are auxiliary. Therefore, it cannot adapt to changes in the actual environment, resulting in insufficient accuracy. SUMMARY

[0006] The present application provides a measurement method and related device for improving the flexibility of fused measurement and ensuring the accuracy of measurement.

[0007] The first aspect of the present application provides a measurement method:

[0008] The terminal device performs a first measurement task, the first measurement task being measuring a target parameter between the terminal device and a target device according to N measurement manners. The terminal device acquires N measurement values corresponding to the N measurement manners based on the first measurement task. The terminal device performs a first confidence determination task, the first confidence determination task being determining a confidence corresponding to the N measurement manners. The terminal device determines a target measurement value in the N measurement values, the target measurement value being a measurement value corresponding to a measurement manner with the highest confidence in the N measurement manners. The terminal device determines a first output result, the first output result being obtained by summing a reference value and a compensation value, the reference value being obtained according to the target measurement value, and the compensation value being obtained according to N-1 measurement values in the N measurement values except the target measurement value.

[0009] In the present application, the confidence of each measurement manner is determined, and the measurement manner with the highest confidence is taken as a reference for fusion, so that the best fusion effect can be obtained in various scenarios.

[0010] In a possible implementation, the method further includes:

[0011] The terminal device accumulates a preferred value for the measurement manner corresponding to the target measurement value. When there is a preferred measurement manner with a preferred value reaching a preset preferred value in the N measurement manners, the terminal device switches from the first measurement task to a second measurement task, the second measurement task being measuring the target parameter according to only the preferred measurement manner. The terminal device acquires a measurement value corresponding to the preferred measurement manner based on the second measurement task. The terminal device determines a second output result, the second output result being determined according to the measurement value corresponding to the preferred measurement manner.

[0012] In the present application, the preferred value is accumulated, so that if there is a measurement manner with a high confidence all the time, that is, the measurement manner is very suitable for the current scenario, the measurement manner can be preferred for measurement, thereby reducing the power consumption of the device while ensuring the accuracy and robustness.

[0013] In a possible implementation, the method further includes:

[0014] The terminal device determines whether the confidence of the preferred measurement manner is the highest in the N measurement manners, and accumulates a preferred zero value if not. If the preferred zero value reaches a preset preferred zero value, the terminal device sets the preferred values of the N measurement manners to zero. The terminal device switches from the second measurement task to the first measurement task, and determines the first output result.

[0015] In the present application, the preferred zero value is accumulated, so that when the confidence of the preferred measurement manner decreases, the result is output in a fusion manner again, thereby avoiding the decrease of the accuracy and robustness in time, and realizing the closed loop of the scheme.

[0016] In a possible implementation, the method further includes:

[0017] When there is a preferred measurement mode among the N measurement modes, the terminal device switches from the first confidence degree determination task to a second confidence degree determination task, and the second confidence degree determination task is to determine the confidence degree corresponding to the preferred measurement mode. The number of times that the confidence degree corresponding to the preferred measurement mode is determined to be less than the preset confidence degree is counted. If the number of times is greater than a preset number of times, the terminal device switches from the second measurement task to the first measurement task, and switches from the second confidence degree determination task to the first confidence degree determination task. The terminal device determines the first output result.

[0018] In this application, by accumulating the preferred zero value, it is ensured that when the confidence degree of the preferred measurement mode decreases, the result is output in a fusion manner in time to avoid the decrease of accuracy and robustness, and the closed loop of the implementation scheme is realized.

[0019] In a possible implementation, the target parameter is distance or angle.

[0020] In a possible implementation, the N measurement modes include star flash measurement, ultrasonic measurement, ultra-wideband measurement, Bluetooth low power consumption measurement, and WIFI measurement.

[0021] The second aspect of the present application provides a terminal device, comprising an execution unit and a processing unit:

[0022] The execution unit is configured to execute a first measurement task, and the first measurement task is to measure a target parameter between the terminal device and a target device according to N measurement modes.

[0023] The processing unit is configured to obtain N measurement values corresponding to the N measurement modes based on the first measurement task.

[0024] The execution unit is further configured to execute a first confidence degree determination task, and the first confidence degree determination task is to determine the confidence degrees corresponding to the N measurement modes.

[0025] The processing unit is further configured to determine a target measurement value in the N measurement values, and the target measurement value is a measurement value corresponding to a measurement mode with the highest confidence degree among the N measurement modes.

[0026] The processing unit is further configured to determine a first output result, and the first output result is obtained by summing a reference value and a compensation value, the reference value is obtained according to the target measurement value, and the compensation value is obtained according to N-1 measurement values in the N measurement values except the target measurement value.

[0027] In a possible implementation,

[0028] The processing unit is further configured to accumulate a preferred value for the measurement mode corresponding to the target measurement value.

[0029] The execution unit is further configured to switch from the first measurement task to a second measurement task when there is a preferred measurement mode in the N measurement modes that reaches the preset preferred value, and the second measurement task is to measure the target parameter according to only the preferred measurement mode.

[0030] The processing unit is further configured to obtain a measurement value corresponding to the preferred measurement mode based on the second measurement task.

[0031] The processing unit is further configured to determine a second output result, and the second output result is determined according to the measurement value corresponding to the preferred measurement mode.

[0032] In a possible implementation manner,

[0033] The processing unit is further configured to determine whether the confidence degree of the preferred measurement mode is the largest among the N measurement modes, and if not, accumulate a preferred zero value.

[0034] The processing unit is further configured to set the preferred values of the N measurement modes to zero if the preferred zero value reaches a preset preferred zero value.

[0035] The execution unit is further configured to switch from the second measurement task to the first measurement task.

[0036] The processing unit is further configured to determine the first output result.

[0037] In a possible implementation manner,

[0038] The execution unit is further configured to switch from the first confidence degree determination task to a second confidence degree determination task when there is a preferred measurement mode in the N measurement modes, and the second confidence degree determination task is to determine a confidence degree corresponding to the preferred measurement mode.

[0039] The processing unit is further configured to determine a number of times that the confidence degree corresponding to the preferred measurement mode is less than a preset confidence degree, and if the number of times is greater than a preset number of times, switch from the second measurement task to the first measurement task, and switch from the second confidence degree determination task to the first confidence degree determination task.

[0040] The processing unit is further configured to determine the first output result.

[0041] In a possible implementation manner, the target parameter is a distance or an angle.

[0042] In a possible implementation manner, the N measurement modes include star flash measurement, ultrasonic measurement, ultra-wideband measurement, Bluetooth low power consumption measurement, and WIFI measurement.

[0043] The third aspect of the present application provides a terminal device, comprising a processor and a memory, the processor is used to execute instructions stored in the memory, so that the terminal device executes the method in the first aspect.

[0044] The fourth aspect of the present application further provides a computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method in any of the preceding aspects.

[0045] The fifth aspect of the present application further provides a computer-readable storage medium comprising computer program instructions which, when executed by a computer, cause the computer to carry out the method in any of the preceding aspects. BRIEF DESCRIPTION OF DRAWINGS

[0046] Fig. 1 is a schematic diagram of an application scenario of the present application;

[0047] Fig. 2 is a flow diagram of a measurement method of the present application;

[0048] Fig. 3 is another flow diagram of a measurement method of the present application;

[0049] Fig. 4 is another flow diagram of a measurement method of the present application;

[0050] Fig. 5 is a structural diagram of a terminal device of the present application;

[0051] Fig. 6 is another structural diagram of a terminal device of the present application;

[0052] Fig. 7 is another structural diagram of a terminal device of the present application. DETAILED DESCRIPTION

[0053] The embodiments of the present application will be described below in conjunction with the drawings, obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Those skilled in the art can know that, with the development of technology and the appearance of new scenes, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0054] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0055] In order to facilitate the understanding of the present application, the related concepts involved in the present application will be introduced as follows:

[0056] Starlink measurement: Starlink measurement is a measurement method based on starlink technology to measure distance or angle related parameters. Starlink is a new generation of short-range wireless communication technology standard. Starlink technology integrates the characteristics of traditional wireless communication technologies such as Bluetooth and Wi-Fi, and has made significant improvements and enhancements in time delay, power consumption, coverage and security. Starlink technology provides microsecond-level latency performance, which is crucial for application scenarios that require fast response, such as autonomous driving, remote control, etc. Starlink technology supports multimedia transmission and other large data volume applications to meet the growing demand for data transmission. It supports multiple devices to connect and communicate simultaneously, with a maximum of 4096 devices, far exceeding traditional wireless communication technologies. Through advanced communication protocols and underlying link design, the reliability and stability of data transmission are ensured, while external interference is resisted. Some starlink technology specifications support high-precision positioning functions, such as decimeter-level positioning accuracy, providing more accurate location information for intelligent vehicles, intelligent terminals and other fields.

[0057] Ultrasonic measurement: Ultrasonic measurement is a measurement method based on ultrasonic waves to measure related parameters, including ultrasonic ranging and ultrasonic angle measurement. Ultrasonic ranging is based on the relationship between the speed of ultrasonic wave propagation in a medium (such as air, water or solid) and time to measure distance. The basic principle is that the ultrasonic wave transmitter emits ultrasonic waves in a certain direction, starts timing at the same time as the emission, and the ultrasonic wave propagates in the medium, immediately returns when it encounters an obstacle. The ultrasonic receiver receives the reflected wave and immediately stops timing. According to the time t recorded by the timer and the propagation speed v of ultrasonic waves in the medium (at standard atmospheric pressure, the propagation speed of ultrasonic waves in air is about 340 m / s), the distance s from the emission point to the obstacle can be calculated by the formula s = vt / 2. This method is called time difference ranging method, which has the advantages of fast measurement speed, high accuracy, and is not affected by light and dust, etc. It is widely used in industrial automation, automobile safety, robot navigation and other fields. Ultrasonic angle measurement is to measure the angle of the target object by using the change of ultrasonic wave propagation speed and direction in the medium. Ultrasonic angle measurement technology usually uses array ultrasonic sensors, which combine a column of ultrasonic transmitters and receivers into a group, receive and process the reflected waves of the target object in each direction, and calculate the azimuth angle of the object. This method has a wide range of applications in model aircraft, robots, and measurement of air flow. The accuracy of ultrasonic angle measurement technology depends on many factors such as sensor quality, environmental interference, reflection medium, attenuation loss, etc. Therefore, in specific applications, it is necessary to select appropriate ultrasonic sensors, optimize measurement algorithms, and reasonably debug and calibrate the equipment to obtain more accurate and reliable measurement results.

[0058] Ultra-wideband (UWB) measurement: UWB measurement is a measurement method that uses UWB to measure relevant parameters, including UWB ranging and UWB angle measurement. The principle of UWB ranging is mainly based on the time of flight (TOF) of radio waves to calculate the distance. UWB angle measurement is achieved by measuring the time difference or phase difference of signals arriving at different receiving antennas to measure the angle. Specifically, UWB angle measurement can be divided into angle of arrival (AOA) measurement and angle of departure (AOD) measurement. In AOA measurement, at least two antennas are used at the receiving end, and by measuring the phase difference or time difference of the same transmitted signal arriving at the two antennas, the angle of arrival of the signal can be calculated. This method requires precise clock synchronization and phase measurement technology. In AOD measurement, two antennas are used at the transmitting end and one antenna is used at the receiving end. By measuring the phase difference or time difference of the two transmitted signals at the receiving end, the angle of departure of the signal can be inferred. This method also requires high-precision synchronization and measurement technology.

[0059] Bluetooth low energy (BLE) measurement: BLE measurement is a measurement method that uses BLE technology to measure relevant parameters, including BLE ranging and BLE angle measurement. BLE ranging can rely on various technologies, including RSSI (received signal strength indicator) and phase-based ranging (PBR). RSSI ranging is the most original radio-level distance measurement method, which calculates the distance based on the degree of signal attenuation between two radio devices over transmission distance. RSSI can indicate the distance between two radio transceivers, although it uses a rough estimate. The accuracy of RSSI ranging is relatively low, about a few meters, usually three to five meters. Its accuracy is largely dependent on the environment, as RSSI is susceptible to external factors such as signal absorption, diffraction, and multipath propagation. PBR uses the phase shift between received and transmitted radio signals on different channels for ranging. This method uses two or more signals with different frequencies to accurately estimate the distance by measuring the phase difference between them. BLE angle measurement mainly relies on AOA and AOD estimation.

[0060] Wireless fidelity (WIFI) measurement: WIFI measurement is a measurement mode for measuring relevant parameters by using WIFI technology, including WIFI ranging and WIFI angle measurement. WIFI ranging can rely on multiple technologies, of which the most common are ToF-based measurement method and RSSI-based method. WIFI angle measurement mainly relies on the estimation of AOA and AOD.

[0061] Since the principles of different measurement modes are different, the applicable scenarios are also different. Taking star flash measurement and ultrasonic measurement as examples, refer to Table 1 for a comparison of the characteristics of star flash measurement and ultrasonic measurement.

[0062] Table 1

[0063] As shown in Table 1, the advantage of ultrasonic measurement is high accuracy in a short distance, and the disadvantage is that it cannot support a long distance, relies on Bluetooth time, and has poor anti-interference performance. Meanwhile, it has poor performance in cloth bag scenarios and is sensitive to high-frequency noise. The advantage of star flash measurement is that it can support a long distance and has high robustness, and the disadvantage is that it has low accuracy in a short distance, which is not as good as ultrasonic measurement, and has poor performance in iron box scenarios. The ranging error of star flash measurement under LOS is 1-4 meters, and the ranging error of ultrasonic measurement under LOS is 0.1 meters. The angle measurement error of star flash measurement under LOS is 15-30 degrees, and the angle measurement error of ultrasonic measurement under LOS is 3-5 degrees. The effective distance of star flash measurement is greater than 50 meters, and the effective distance of ultrasonic measurement is within 30 meters.

[0064] Referring to FIG. 1, the present application can be applied to a device recovery scenario, which includes a terminal device and a lost target device. The terminal device can determine the parameters such as distance or angle between the terminal device and the target device by a specific measurement mode, and output the determined parameters, i.e., display the parameters on the screen of the terminal device. Multiple rounds of measurement are performed in this way to guide the user to continuously approach the lost target device until the user finds the target device. The terminal device in the present application can be a mobile phone, a tablet, a personal computer (PC), a watch, or other devices with audio processing and radio frequency signal processing units. The terminal device can have only a receiver or a combination of a transmitter and a receiver. The transmitter is used to transmit signals, and the receiver is used to receive signals.

[0065] Referring to FIG. 2, the flow of the measurement method in the present application is introduced as follows:

[0066] 201. The terminal device performs a first measurement task, which is to measure the target parameters between the terminal device and the target device according to N measurement modes.

[0067] When the user opens the device finding function on the terminal device, the terminal device simultaneously starts N kinds of measurement methods, for example, including star flash measurement, ultrasonic measurement, UWB, BLE and WIFI, and the terminal device simultaneously measures the target parameters between the terminal device and the target device according to the N kinds of measurement methods. The target parameters may be distance or angle, for example.

[0068] 202. The terminal device obtains N measurement values corresponding to the N kinds of measurement methods based on the first measurement task;

[0069] After the measurement is completed, the terminal device obtains N measurement values corresponding to the N kinds of measurement methods. Taking the target parameter as distance as an example, the measurement value of the star flash measurement is 10 meters, the measurement value of the ultrasonic measurement is 9 meters, the measurement value of the UWB is 7 meters, the measurement value of the BLE is 7 meters, and the measurement value of the WIFI is 8 meters.

[0070] 203. The terminal device performs a first confidence determination task, and the first confidence determination task is to determine the confidence corresponding to the N kinds of measurement methods.

[0071] In each round of measurement, the terminal device also determines the confidence of the N kinds of measurement methods. The confidence of the measurement method may be a comprehensive judgment according to the received signal strength indication (RSSI) and the environmental interference corresponding to the measurement method.

[0072] In a possible design scheme, different RSSI signal thresholds THr RSSI and environmental interference thresholds THr 环境 are given for different measurement methods. THr RSSI is the minimum threshold required to meet the star flash measurement requirement, and THr 环境 is the environmental interference threshold.

[0073] Taking the confidence calculation of the star flash measurement as an example, first, the calculation result is obtained according to formula (1):

[0074] wherein RSSI 星闪 is the RSSI corresponding to the star flash measurement, and RSSI 环境 is the environmental noise interference intensity.

[0075] If the above calculation result is less than or equal to 0, the confidence is 1, and if it is greater than 0, it is further calculated according to formula (2):

[0076] wherein CL 星闪 is the confidence of the star flash measurement, and THr maxFor the threshold value for calculating the normalization, the theoretical maximum level of formula (1) can be specified, and it is noted that when the value of CL 星闪 The confidence of the star flash measurement is equal to 10 when the value of CL

[0077] Similarly, the confidence of the ultrasound measurement is 7, the confidence of the UWB is 6, the confidence of the BLE is 6, and the confidence of the WIFI is 5.

[0078] 204、The terminal device determines a target measurement value in the N measurement values, the target measurement value being a measurement value corresponding to a measurement mode with the highest confidence in the N measurement modes;

[0079] The terminal device first determines the measurement mode with the highest confidence in the N measurement modes, and then determines the measurement value corresponding to the measurement mode, that is, the measurement value corresponding to the star flash measurement.

[0080] 205、The terminal device determines a first output result, the first output result being obtained by summing a reference value and a compensation value, the reference value being obtained according to the target measurement value, and the compensation value being obtained according to N-1 measurement values other than the target measurement value in the N measurement values.

[0081] The terminal device fuses the measurement values corresponding to the N measurement modes, and for example, the terminal device can fuse according to the following formula (3):

[0082] Wherein, d is the fusion result, a is a coefficient greater than 0 and less than or equal to 1, d 目标 is the target measurement value, dn is the nth measurement value in the N-1 measurement values other than the target measurement value in the N measurement values. It is not difficult to see that in the above formula (1), a x d 目标 is the reference value, and the subsequent sum part is the compensation value, the reference value being obtained according to the target measurement value, and the compensation value being obtained according to N-1 measurement values other than the target measurement value in the N measurement values. At this time, since the target measurement value is the measurement value of the star flash measurement, substituting the related data into formula (1) can obtain the following formula (4): 星闪 +(1-a) / 4 x (d 星闪 -d 超声 )+(1-a) / 4 x (d 星闪 -d UWB )+(1-a) / 4 x (d 星闪 - d ble )+(1-a) / 4 x (-d WIFI ) (4)

[0083] Wherein, d星闪 The measurement value is the star flash measurement, and the rest is similar.

[0084] The terminal device outputs the fusion result and performs the next round of measurement, i.e., repeats the foregoing operations to constantly refresh the fusion result for the user. Through such a design, at the beginning of the scheme, the measurement mode with the highest confidence in the current scene is taken as the reference value, and the rest of the measurement modes are taken as compensation values, so as to obtain the optimal fusion result in the current scene. When the scene changes, the reference value can also be flexibly changed, thereby ensuring the accuracy and robustness of the fusion result.

[0085] In a possible implementation, after each round of measurement, the terminal device accumulates a preference value for the measurement mode with the highest confidence. For example, in the first round of measurement, the confidence of the star flash measurement is the highest, and therefore the star flash measurement accumulates one point of the preference value. If in the second round of measurement, the confidence of the ultrasonic measurement is the highest, the ultrasonic measurement accumulates one point of the preference value, and the rest is similar.

[0086] After several rounds of measurement, a measurement mode with a preference value reaching a preset preference value, for example, 3, is obtained. For example, because the distance between the terminal device and the target device is far at the beginning, in the first round of measurement, the second round of measurement, and the third round of measurement, the confidence of the star flash measurement is the highest among the N measurement modes. After three rounds of measurement, the preference value of the star flash measurement reaches the preset preference value, and therefore the terminal device determines the star flash measurement as the preferred measurement mode.

[0087] After the preferred measurement mode is determined, the terminal device does not perform measurement according to the N measurement modes in subsequent measurement, but closes the measurement modes other than the preferred measurement mode among the N measurement modes and performs measurement only according to the preferred measurement mode. However, the terminal device still determines the confidence of the N measurement modes.

[0088] After the terminal device obtains the measurement value of the preferred measurement mode, the terminal device obtains and outputs an output result according to the measurement value, for example, the terminal device can directly output the measurement value as the output result. After switching to measurement according to only the preferred measurement mode, in order to determine whether the current preferred measurement mode conforms to the actual scene, the terminal device determines whether the confidence of the preferred measurement mode is the largest among the N measurement modes in each round of measurement, and if not, a preferred zero value is accumulated by one. Taking the actual scene as an example, after the star flash measurement is determined as the preferred measurement mode, the terminal device directly outputs the measurement value of the star flash measurement as the output result. It is assumed that in the fourth round and the fifth round of measurement, the star flash measurement is still the measurement mode with the highest confidence, but for example, as the distance between the terminal device and the target device becomes closer and closer, the confidence of the star flash measurement continuously decreases, and in the sixth round of measurement, the star flash measurement is no longer the measurement mode with the highest confidence. At this time, the preferred zero value is accumulated by one. When the preferred zero value reaches a preset preferred zero value, the terminal device sets the preferred value of all measurement modes to zero, that is, the preferred measurement mode is no longer used, and the terminal device is switched back to measurement according to the N measurement modes, and the preferred value is accumulated again. The preset preferred zero value can be 3 for example. It is assumed that in the seventh round and the eighth round of measurement, the star flash measurement is not the measurement mode with the highest confidence. Therefore, the preferred zero value is accumulated by 3, that is, the preset preferred zero value is reached, and at this time, the terminal device no longer uses the star flash measurement as the preferred measurement mode.

[0089] In the ninth round of measurement, the terminal device measures according to the N measurement modes. After the measurement is completed, the terminal device obtains N measurement values corresponding to the N measurement modes. Similarly, the terminal device determines the measurement mode with the highest confidence among the N measurement modes. It is assumed that in the ninth round of measurement, the distance between the terminal device and the target device is relatively close, and therefore in the ninth round of measurement, the confidence of the ultrasonic measurement is the largest. The terminal device fuses the N measurement values according to the foregoing formula (1) to obtain an output result, and accumulates a preferred value of the ultrasonic measurement by one. It is assumed that in the tenth round and the eleventh round of measurement, the confidence of the ultrasonic measurement is still the largest. Therefore, after the eleventh round of measurement is completed, the preferred value of the ultrasonic measurement reaches the preset preferred value, and the terminal device determines the ultrasonic measurement as the preferred measurement mode. The subsequent process is similar to the foregoing description, and is not repeated here.

[0090] Optionally, when the distance between the terminal device and the target device is less than a preset value, the terminal device can also output a prompt sound to remind the user.

[0091] In the present application, the measurement mode with the highest confidence is taken as the reference for fusion in the initial stage of measurement, ensuring the best fusion effect in various scenarios. If there is a measurement mode with consistently high confidence, it means that this measurement mode is very suitable for the current scenario, and only this measurement mode is selected for measurement, thereby reducing device power consumption while ensuring accuracy and robustness. When the confidence of the selected measurement mode decreases, the fusion method is used to output the result, avoiding a decrease in accuracy and robustness in a timely manner, and achieving a closed-loop solution.

[0092] Another flow of the measurement method in the present application is introduced as follows:

[0093] 301. The terminal device performs a first measurement task, which is to measure a target parameter between the terminal device and a target device according to N measurement modes;

[0094] This step is similar to the aforementioned step 201, and will not be described here again.

[0095] 302. The terminal device obtains N measurement values corresponding to the N measurement modes based on the first measurement task;

[0096] This step is similar to the aforementioned step 202, and will not be described here again.

[0097] 303. The terminal device performs a first confidence determination task, which is to determine the confidence corresponding to the N measurement modes;

[0098] This step is similar to the aforementioned step 203, and will not be described here again.

[0099] 304. The terminal device determines a target measurement value in the N measurement values, which is the measurement value corresponding to the measurement mode with the highest confidence in the N measurement modes;

[0100] This step is similar to the aforementioned step 204, and will not be described here again.

[0101] 305. The terminal device determines a first output result, which is obtained by summing a reference value and a compensation value, the reference value is obtained according to the target measurement value, and the compensation value is obtained according to N-1 measurement values in the N measurement values except the target measurement value;

[0102] The terminal device fuses the measurement values corresponding to the N measurement modes. For example, the terminal device can fuse according to the following formula (3):

[0103] wherein d is the fusion result, a is a coefficient greater than 0 and less than or equal to 1, d 目标 is the aforementioned target measurement value,dn is the nth measurement value in the N-1 measurement values other than the target measurement value in the aforementioned N measurement values. It is not difficult to see that in the aforementioned formula (1), a x d 目标 is a reference value, and the subsequent summation part is a compensation value, the reference value is obtained according to the target measurement value, and the compensation value is obtained according to the N-1 measurement values other than the target measurement value in the N measurement values. At this time, since the target measurement value is the measurement value of the star flash measurement, the related data is substituted into formula (1) to obtain the following formula (4): d = a x d 星闪 + (1-a) / 4 x (d 星闪 -d 超声 ) + (1-a) / 4 x (d 星闪 -d UWB ) + (1-a) / 4 x (d 星闪 -d ble ) + (1-a) / 4 x (-d WIFI ) (4)

[0104] wherein d 星闪 is the measurement value of the star flash measurement, and the rest is similar.

[0105] After obtaining the fusion result, the terminal device outputs the fusion result and performs the next round of measurement, that is, repeats the aforementioned operation to continuously refresh the fusion result for the user. Through such a design, at the beginning of the scheme, the measurement method with the highest confidence in the current scene is taken as the reference value, and the rest of the measurement methods are taken as the compensation value, so as to obtain the optimal fusion result in the current scene. When the scene changes, the reference value can also change flexibly, thereby ensuring the accuracy and robustness of the fusion result.

[0106] In a possible implementation, after each round of measurement, the terminal device accumulates a preferred value for the measurement method with the highest confidence, for example, in the first round of measurement, the confidence of the star flash measurement is the highest, so the star flash measurement accumulates one point of the preferred value, if in the second round of measurement, the confidence of the ultrasonic measurement is the highest, then the ultrasonic measurement accumulates one point of the preferred value, and so on.

[0107] After several rounds of measurement, a measurement method with a preferred value reaching a preset preferred value, for example, 3, will appear. For example, since the distance between the terminal device and the target device is far at the beginning, in the first round of measurement, the second round of measurement and the third round of measurement, the confidence of the star flash measurement is the highest among the N measurement methods, and after three rounds of measurement, the preferred value of the star flash measurement can reach the preset preferred value, so the terminal device determines the star flash measurement as the preferred measurement method.

[0108] After the preferred measurement mode is determined, the terminal device will not measure according to the N measurement modes in the subsequent measurement, but will close the measurement modes other than the preferred measurement mode in the N measurement modes, and only measure according to the preferred measurement mode. In addition, the terminal device only determines the confidence of the preferred measurement mode in each round of subsequent measurement.

[0109] After the terminal device obtains the measurement value of the preferred measurement mode, the terminal device obtains and outputs the output result according to the measurement value, for example, the measurement value can be directly taken as the output result. After switching to measurement according to the preferred measurement mode, in order to determine whether the current preferred measurement mode meets the actual scene, the terminal device will determine whether the confidence of the preferred measurement mode is greater than the preset confidence in each round of measurement, and if not, the preferred zero value is accumulated by one. Taking the star flash measurement as an example, after the star flash measurement is determined as the preferred measurement mode, the terminal device directly takes the measurement value of the star flash measurement as the output result. It is assumed that the confidence of the star flash measurement is greater than the preset confidence in the fourth and fifth rounds of measurement, but for example, as the distance between the terminal device and the target device becomes closer, the confidence of the star flash measurement continues to decrease, and in the sixth round of measurement, the confidence is less than the preset confidence, at this time, the preferred zero value is accumulated by one. When the preset preferred zero value is reached, the terminal device sets the preferred value of all measurement modes to zero, that is, the preferred measurement mode is no longer applicable, and the terminal device is switched back to measurement according to the N measurement modes, and the preferred value is accumulated again. The preset preferred zero value can be 3, for example, and if the confidence of the star flash measurement is less than the preset confidence in the seventh and eighth rounds of measurement, the preferred zero value will be accumulated to 3, that is, the preset preferred zero value is reached, and the terminal device no longer takes the star flash measurement as the preferred measurement mode.

[0110] In the ninth round of measurement, the terminal device measures according to the N measurement modes, and after the measurement is completed, the terminal device obtains N measurement values corresponding to the N measurement modes. Similarly, the terminal device determines the measurement mode with the highest confidence in the N measurement modes, and it is assumed that the distance between the terminal device and the target device is relatively close in the ninth round of measurement, so the confidence of the ultrasonic measurement is the highest in the ninth round of measurement. The terminal device fuses the N measurement values according to the foregoing formula (1) to obtain the output result, and accumulates one preferred value for the ultrasonic measurement. It is assumed that the confidence of the ultrasonic measurement is still the highest in the tenth and eleventh rounds of measurement, so that after the eleventh round of measurement, the preferred value of the ultrasonic measurement reaches the preset preferred value, and the terminal device determines the ultrasonic measurement as the preferred measurement mode. The subsequent process is similar to the foregoing description, and will not be repeated here.

[0111] Optionally, when the distance between the terminal device and the target device is less than the preset value, the terminal device can also issue a prompt sound to remind the user.

[0112] In the present application, in the initial stage of measurement, the measurement mode with the highest confidence is taken as the reference for fusion, ensuring that the best fusion effect can be obtained in various different scenarios. After that, if there is a measurement mode with a consistently high confidence, it means that this measurement mode is very suitable for the current scenario, and only this measurement mode is preferred for measurement, thereby reducing the power consumption of the device under the premise of ensuring accuracy and robustness. When the confidence of the preferred measurement mode decreases, the result is output in a fused manner again, timely avoiding the decrease in accuracy and robustity, realizing the closed loop of the scheme.

[0113] Please refer to FIG. 3, and the following introduces another flow of the measurement method in the present application:

[0114] S01, obtaining an operation instruction;

[0115] The terminal device obtains the operation instruction of the user, for example, starting the device finding function.

[0116] S02, starting star flash measurement and ultrasonic measurement;

[0117] In the initial stage, the terminal device turns on the star flash measurement function and the ultrasonic measurement function.

[0118] S03, determining whether condition C1 is met;

[0119] Condition C1 is that there is a measurement mode whose preferred value reaches a preset preferred value, if there is, step S09 is executed, if not, step S04 is executed. In the initial stage, the preferred values of star flash measurement and ultrasonic measurement are both 0.

[0120] S04, measuring according to star flash measurement and ultrasonic measurement to obtain a measurement value, and determining the confidence of star flash measurement and ultrasonic measurement;

[0121] The terminal device measures the target parameter between the target device, for example, the distance or angle, according to star flash measurement and ultrasonic measurement, to obtain the corresponding measurement value. In addition, the terminal device also determines the confidence of star flash measurement and ultrasonic measurement.

[0122] S05, determining whether condition C2 is met;

[0123] Condition C2 is that the confidence of star flash measurement is greater than the confidence of ultrasonic measurement, if yes, step S06 is executed, if not, step S07 is executed.

[0124] S06, obtaining the output result according to the first fusion formula, and accumulating the preferred value of star flash measurement;

[0125] The first fusion formula is shown in the following formula (5): d=a×d 星闪 +(1-a)×(d 星闪 -d超声 ) (5)

[0126] wherein d is the output result, a is a coefficient greater than 0 and less than or equal to 1, d 星闪 is the measurement value of the star flash measurement, d 超声 is the measurement value of the ultrasound measurement.

[0127] S07, obtaining the output result according to a second fusion formula, accumulating the preferred value of the ultrasound measurement;

[0128] The second fusion formula is shown in the following formula (6): d = a x d 超声 + (1-a) x (d 超声 -d 星闪 ) (6)

[0129] S08, outputting the output result;

[0130] After obtaining the output result, the output result is outputted, i.e. the output result is displayed on the screen of the terminal device.

[0131] S09, judging whether condition C3 is met?

[0132] The condition C3 is that the preferred value of the star flash measurement reaches a preset preferred value, if yes, step S10 is executed, if not, step S16 is executed.

[0133] S10, measuring according to the star flash measurement to obtain a measurement value, and determining the confidence of the star flash measurement and the ultrasound measurement;

[0134] The terminal device closes the ultrasound measurement function, and only measures according to the star flash measurement, but still determines the confidence of the star flash measurement and the ultrasound measurement.

[0135] S11, obtaining the output result according to the measurement value of the star flash measurement;

[0136] The terminal device obtains the output result according to the measurement value of the star flash measurement, for example, directly taking the measurement value of the star flash measurement as the output result.

[0137] S12, judging whether condition C4 is met?

[0138] The condition C4 is that the confidence of the star flash measurement is less than the confidence of the ultrasound measurement, if yes, step S13 is executed, if not, step S08 is executed.

[0139] S13, accumulating the preferred zero value;

[0140] The preferred zero value is accumulated by one.

[0141] S14, judging whether condition C5 is met?

[0142] Condition C5 is that the preferred value of the starlight flash measurement reaches a preset preferred value, if yes, step S15 is executed, if not, step S08 is executed.

[0143] S15, the preferred value is zeroed.

[0144] The terminal device zeroes the preferred values of the starlight flash measurement and the ultrasound measurement.

[0145] S16, it is judged whether condition C6 is met.

[0146] Condition C6 is that the preferred value of the ultrasound measurement reaches a preset preferred value, if yes, step S17 is executed.

[0147] S17, a measurement is made according to the ultrasound measurement to obtain a measurement value, and a confidence of the starlight flash measurement and the ultrasound measurement is determined.

[0148] The terminal device turns off the starlight flash measurement function, and only makes a measurement according to the ultrasound measurement, but still determines the confidence of the starlight flash measurement and the ultrasound measurement.

[0149] S18, an output result is obtained according to the measurement value of the ultrasound measurement.

[0150] The terminal device obtains an output result according to the measurement value of the ultrasound measurement, for example, directly taking the measurement value of the ultrasound measurement as the output result.

[0151] S19, it is judged whether condition C7 is met.

[0152] Condition C7 is that the confidence of the ultrasound measurement is less than the confidence of the starlight flash measurement, if yes, step S13 is executed, if not, step S08 is executed.

[0153] Please refer to FIG. 4, and the following introduces another flow of the measurement method in the application:

[0154] S01, an operation instruction is obtained.

[0155] The terminal device obtains an operation instruction of a user, for example, starting a device finding function.

[0156] S02, starlight flash measurement and ultrasound measurement are started.

[0157] In the initial stage, the terminal device turns on the starlight flash measurement function and the ultrasound measurement function.

[0158] S03, it is judged whether condition C1 is met.

[0159] Condition C1 is that there is a measurement mode whose preferred value reaches a preset preferred value, if yes, step S09 is executed, if not, step S04 is executed. In the initial stage, the preferred values of the starlight flash measurement and the ultrasound measurement are both 0.

[0160] S04, measuring according to the starlight flash measurement and the ultrasonic measurement to obtain a measurement value, and determining the confidence of the starlight flash measurement and the ultrasonic measurement;

[0161] The terminal device measures a target parameter between the terminal device and the target device, such as a distance or an angle, according to the starlight flash measurement and the ultrasonic measurement to obtain a corresponding measurement value. In addition, the terminal device also determines the confidence of the starlight flash measurement and the ultrasonic measurement.

[0162] S05, determining whether a condition C2 is met;

[0163] The condition C2 is that the confidence of the starlight flash measurement is greater than the confidence of the ultrasonic measurement. If yes, step S06 is executed, and if no, step S07 is executed.

[0164] S06, obtaining an output result according to a first fusion formula, and accumulating a preferred value of the starlight flash measurement;

[0165] The first fusion formula is shown in the foregoing formula (5): d=a×d 星闪 +(1-a)×(d 星闪 -d 超声 ) (5)

[0166] wherein d is the output result, a is a coefficient greater than 0 and less than or equal to 1, d 星闪 is the measurement value of the starlight flash measurement, and d 超声 is the measurement value of the ultrasonic measurement.

[0167] S07, obtaining an output result according to a second fusion formula, and accumulating a preferred value of the ultrasonic measurement;

[0168] The second fusion formula is shown in the foregoing formula (6): d=a×d 超声 +(1-a)×(d 超声 -d 星闪 ) (6)

[0169] S08, outputting the output result;

[0170] After the output result is obtained, the output result is outputted, that is, the output result is displayed on the screen of the terminal device.

[0171] S09, determining whether a condition C3 is met?

[0172] The condition C3 is that the preferred value of the starlight flash measurement reaches a preset preferred value. If yes, step S10 is executed, and if no, step S16 is executed.

[0173] S10, measuring according to the starlight flash measurement to obtain a measurement value, and determining the confidence of the starlight flash measurement;

[0174] The terminal device turns off the ultrasonic measurement function, only measures according to the star flash measurement, and only determines the confidence of the star flash measurement.

[0175] S11, obtaining an output result according to the measurement value of the star flash measurement;

[0176] The terminal device obtains an output result according to the measurement value of the star flash measurement, for example, directly taking the measurement value of the star flash measurement as the output result.

[0177] S12, determining whether condition C4 is met;

[0178] Condition C4 is that the confidence of the star flash measurement is less than a preset confidence, if yes, step S13 is executed, and if not, step S08 is executed.

[0179] S13, accumulating a preferred zero value;

[0180] The preferred zero value is accumulated by one.

[0181] S14, determining whether condition C5 is met;

[0182] Condition C5 is that the preferred zero value reaches a preset preferred zero value, if yes, step S15 is executed, and if not, step S08 is executed.

[0183] S15, zeroing the preferred value;

[0184] The terminal device zeros the preferred value of the star flash measurement and the ultrasonic measurement.

[0185] S16, determining whether condition C6 is met;

[0186] Condition C6 is that the preferred value of the ultrasonic measurement reaches a preset preferred value, if yes, step S17 is executed.

[0187] S17, measuring according to the ultrasonic measurement to obtain a measurement value, and determining the confidence of the ultrasonic measurement;

[0188] The terminal device turns off the star flash measurement function, only measures according to the ultrasonic measurement, and only determines the confidence of the ultrasonic measurement.

[0189] S18, obtaining an output result according to the measurement value of the ultrasonic measurement;

[0190] The terminal device obtains an output result according to the measurement value of the ultrasonic measurement, for example, directly taking the measurement value of the ultrasonic measurement as the output result.

[0191] S19, determining whether condition C7 is met;

[0192] Condition C7 is that the confidence of the ultrasonic measurement is less than a preset confidence, if yes, step S13 is executed, and if not, step S08 is executed.

[0193] The measurement method in the present application is introduced above, and the terminal device in the present application is introduced below.

[0194] The terminal device in the present application includes at least an audio processing module (unit) and a radio frequency processing module (unit), as shown in FIG. 5.

[0195] The audio processing unit includes one or more microphones, one or more processors and one or more memories, and optionally, one or more loudspeakers. The processor can invoke the instructions and audio files in the memory, so that the terminal device executes the related method. The processor and the microphone, loudspeaker and memory are connected through a bus to realize data exchange. The loudspeaker and the transmitter operate under the control of the processor. The radio frequency processing unit includes one or more receiving antennas, one or more processors and one or more memories, and optionally, one or more transmitting antennas. The memory is used to store instructions, radio frequency signal data, etc. The processor can invoke the instructions and radio frequency signal data in the memory, so that the terminal device executes the related method. The processor and the transmitting antenna, receiving antenna and memory are connected through a bus to realize data exchange. The transmitting antenna and the transmitter operate under the control of the processor.

[0196] The present application also provides a computer program product containing instructions. The computer program product can be software or a program product containing instructions, which can run on a terminal device or be stored in any available medium. When the computer program product runs on at least one computer, it makes the at least one computer execute the method in the foregoing embodiments.

[0197] The present application also provides a computer readable storage medium. The computer readable storage medium can be any available medium that the terminal device can store or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk), etc. The computer readable storage medium includes instructions, which instruct the computer to execute the method in the foregoing embodiments.

[0198] The present application also provides a chip, which includes a processing circuit and a storage circuit. The storage circuit is used to store instructions, and when the instructions are executed by the processing circuit, the chip executes the method in the foregoing embodiments.

[0199] FIG. 6 is another structural schematic diagram of the terminal device in the present application, which includes an execution unit 601 and a processing unit 602.

[0200] The execution unit 601 is configured to execute a first measurement task, the first measurement task being measuring a target parameter between the target device according to N measurement manners;

[0201] The processing unit 602 is configured to acquire N measurement values corresponding to the N measurement manners based on the first measurement task;

[0202] The execution unit 601 is further configured to execute a first confidence determination task, the first confidence determination task being determining confidences corresponding to the N measurement manners;

[0203] The processing unit 602 is further configured to determine a target measurement value in the N measurement values, the target measurement value being a measurement value corresponding to a measurement manner with the maximum confidence in the N measurement manners;

[0204] The processing unit 602 is further configured to determine a first output result, the first output result being obtained by summing a reference value and a compensation value, the reference value being obtained according to the target measurement value, and the compensation value being obtained according to N-1 measurement values in the N measurement values except the target measurement value.

[0205] In a possible implementation manner,

[0206] The processing unit 602 is further configured to accumulate a preferred value for the measurement manner corresponding to the target measurement value;

[0207] The execution unit 601 is further configured to switch from the first measurement task to a second measurement task when there is a preferred measurement manner with a preferred value reaching a preset preferred value in the N measurement manners, the second measurement task being measuring the target parameter according to only the preferred measurement manner;

[0208] The processing unit 602 is further configured to acquire a measurement value corresponding to the preferred measurement manner based on the second measurement task;

[0209] The processing unit 602 is further configured to determine a second output result according to the measurement value corresponding to the preferred measurement manner.

[0210] In a possible implementation manner,

[0211] The processing unit 602 is further configured to determine whether the confidence of the preferred measurement manner is the maximum in the N measurement manners, and accumulate a preferred zero value if not;

[0212] The processing unit 602 is further configured to set the preferred values of the N measurement manners to zero if the preferred zero value reaches a preset preferred zero value;

[0213] The execution unit 601 is further configured to switch from the second measurement task to the first measurement task;

[0214] The processing unit 602 is further configured to determine the first output result.

[0215] In a possible implementation manner,

[0216] The execution unit 601 is further configured to switch from the first confidence degree determination task to a second confidence degree determination task when there is a preferred measurement manner in the N measurement manners, and the second confidence degree determination task is to determine a confidence degree corresponding to the preferred measurement manner.

[0217] The processing unit 602 is further configured to determine a number of times that the confidence degree corresponding to the preferred measurement manner is less than a preset confidence degree, and switch from the second measurement task to the first measurement task and from the second confidence degree determination task to the first confidence degree determination task if the number of times is greater than a preset number of times.

[0218] The processing unit 602 is further configured to determine the first output result.

[0219] In a possible implementation manner, the target parameter is a distance or an angle.

[0220] In a possible implementation manner, the N measurement manners include star flash measurement, ultrasonic measurement, ultra-wideband measurement, Bluetooth low power consumption measurement, and WIFI measurement.

[0221] FIG. 7 is a structural schematic diagram of a terminal device provided by an embodiment of the present application. The terminal device 700 can include one or more central processing units (CPUs) 701 and a memory 705, and the memory 705 stores one or more application programs or data.

[0222] The memory 705 can be volatile storage or persistent storage. The programs stored in the memory 705 can include one or more modules, and each module can include a series of instruction operations. Further, the central processing unit 701 can be configured to communicate with the memory 705 and execute the series of instruction operations in the memory 705 on the terminal device 700.

[0223] The terminal device 700 can further include one or more power supplies 702, one or more wired or wireless network interfaces 703, one or more input and output interfaces 704, and / or one or more operating systems. The central processing unit 701 can execute the operations of the foregoing embodiments, and details are not described herein again.

[0224] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiments, which are not described herein again.

[0225] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. The division of the units is merely a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0226] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0227] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware, or in the form of a software functional unit.

[0228] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application essentially or substantially, or all or part of the technical solutions, can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), magnetic disk or optical disk, and various other media that can store program codes.

Claims

1. A method of measurement, characterized by, The method comprises: a terminal device performs a first measurement task, the first measurement task being measuring a target parameter between the terminal device and a target device according to N measurement manners; the terminal device acquires N measurement values corresponding to the N measurement manners based on the first measurement task; the terminal device performs a first confidence determination task, the first confidence determination task being determining a confidence corresponding to the N measurement manners; the terminal device determines a target measurement value in the N measurement values, the target measurement value being a measurement value corresponding to a measurement manner with the highest confidence in the N measurement manners; the terminal device determines a first output result, the first output result being obtained by summing a reference value and a compensation value, the reference value being obtained according to the target measurement value, and the compensation value being obtained according to N-1 measurement values in the N measurement values except the target measurement value.

2. The method of claim 1, wherein, The method further comprises: the terminal device accumulates a preferred value for the measurement manner corresponding to the target measurement value; when there is a preferred measurement manner in the N measurement manners with the preferred value reaching a preset preferred value, the terminal device switches from the first measurement task to a second measurement task, the second measurement task being measuring the target parameter according to only the preferred measurement manner; the terminal device acquires a measurement value corresponding to the preferred measurement manner based on the second measurement task; the terminal device determines a second output result according to the measurement value corresponding to the preferred measurement manner.

3. The method of claim 2, wherein, The method further comprises: the terminal device determines whether the confidence of the preferred measurement manner is the highest in the N measurement manners, and accumulates a preferred zero value if not; if the preferred zero value reaches a preset preferred zero value, the terminal device sets the preferred values of the N measurement manners to zero; the terminal device switches from the second measurement task to the first measurement task; the terminal device determines the first output result.

4. The method of claim 2, wherein, The method further comprises: when there is the preferred measurement manner in the N measurement manners, the terminal device switches from the first confidence determination task to a second confidence determination task, the second confidence determination task being determining a confidence corresponding to the preferred measurement manner; a number of times that the confidence corresponding to the preferred measurement manner is less than a preset confidence is determined, and if the number of times is greater than a preset number of times, the terminal device switches from the second measurement task to the first measurement task, and from the second confidence determination task to the first confidence determination task; the terminal device determines the first output result.

5. The method according to any one of claims 1 to 4, characterized in that, The target parameter is distance or angle.

6. The method of claim 5, wherein, The N measurement manners comprise star flash measurement, ultrasonic measurement, ultra-wideband measurement, Bluetooth low power consumption measurement, and wireless fidelity (WIFI) measurement.

7. A terminal device, characterized by comprising: The method comprises an execution unit and a processing unit. The execution unit is configured to perform a first measurement task, the first measurement task being measuring a target parameter between the terminal device and a target device according to N measurement manners. The processing unit is configured to acquire N measurement values corresponding to the N measurement manners based on the first measurement task. The execution unit is further configured to perform a first confidence determination task, the first confidence determination task being to determine a confidence corresponding to the N measurement manners; The processing unit is further configured to determine a target measurement value in the N measurement values, the target measurement value being a measurement value corresponding to a measurement manner with the highest confidence in the N measurement manners; The processing unit is further configured to determine a first output result, the first output result being obtained by summing a reference value and a compensation value, the reference value being obtained according to the target measurement value, and the compensation value being obtained according to N-1 measurement values in the N measurement values except the target measurement value.

8. The terminal device according to claim 7, wherein The processing unit is further configured to accumulate a preferred value for the measurement manner corresponding to the target measurement value; The execution unit is further configured to switch from the first measurement task to a second measurement task when there is a preferred measurement manner in the N measurement manners with the preferred value reaching a preset preferred value, the second measurement task being to measure the target parameter according to only the preferred measurement manner; The processing unit is further configured to obtain a measurement value corresponding to the preferred measurement manner based on the second measurement task; The processing unit is further configured to determine a second output result according to the measurement value corresponding to the preferred measurement manner.

9. The terminal device according to claim 8, wherein The processing unit is further configured to determine whether the confidence of the preferred measurement manner is the highest in the N measurement manners, and accumulate a preferred zero value if not; The processing unit is further configured to set the preferred values of the N measurement manners to zero if the preferred zero value reaches a preset preferred zero value; The execution unit is further configured to switch from the second measurement task to the first measurement task; The processing unit is further configured to determine the first output result.

10. The terminal device according to claim 8, wherein The execution unit is further configured to switch from the first confidence determination task to a second confidence determination task when there is the preferred measurement manner in the N measurement manners, the second confidence determination task being to determine a confidence corresponding to the preferred measurement manner; The processing unit is further configured to determine a number of times that the confidence corresponding to the preferred measurement manner is less than a preset confidence; The execution unit is further configured to switch from the second measurement task to the first measurement task and from the second confidence determination task to the first confidence determination task if the number of times is greater than a preset number of times; The processing unit is further configured to determine the first output result.

11. The terminal device according to any one of claims 7 to 10, characterized by, The target parameter is a distance or an angle.

12. The terminal device according to claim 11, characterized by The N measurement manners include star flash measurement, ultrasonic measurement, ultra-wideband measurement, Bluetooth low power consumption measurement, and wireless fidelity (WIFI) measurement.

13. A terminal device, comprising: The terminal device comprises a processor and a memory, the processor being configured to execute instructions stored in the memory, so that the terminal device performs the method according to any one of claims 1 to 6. The terminal device comprises a processor and a memory, the processor being configured to execute instructions stored in the memory, so that the terminal device performs the method according to any one of claims 1 to 6.

14. A computer program product comprising instructions, characterized in that, When the instructions are executed by a computer, the computer performs a method according to any one of claims 1 to 6.

15. A computer-readable storage medium, characterized in that, A computer program comprising instructions which, when executed by a computer, cause the computer to perform a method according to any one of claims 1 to 6.

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