Positioning and ranging method and related apparatus

Abstract

The present application relates to the technical field of positioning and ranging, and provides a positioning and ranging method and a related apparatus. The method comprises: determining a coordinate view, the coordinate view comprising a coordinate position of a second device; determining a second coordinate position of a first device, the second coordinate position being a calibrated coordinate position of the first device; on the basis of the coordinate position of the second device, determining a first coordinate position of the first device at a first time point; displaying the coordinate view, the coordinate view comprising the coordinate position of the second device, the second coordinate position of the first device, and the first coordinate position of the first device; and issuing a prompt, the prompt comprising a direction and a distance of the first coordinate position relative to the second coordinate position. The present application can present a coordinate view comprising position coordinates of a first device and a second device to a user, and can prompt a direction and a distance of a first coordinate position of the first device relative to a calibrated coordinate position of the first device, which enables the user to manage the first device more effectively.

Description

Positioning and ranging methods and related devices

[0001] This application claims priority to Chinese Patent Application No. 202510199419.2, filed on February 22, 2025, entitled "A method and apparatus for positioning and ranging", and to Chinese Patent Application No. 202510487725.6, filed on April 17, 2025, entitled "A method and apparatus for positioning and ranging", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of positioning and ranging technology, and in particular to a positioning and ranging method and related apparatus. Background Technology

[0003] Positioning and ranging technologies include ultrasonic positioning and ranging, Bluetooth positioning and ranging, and ultra-wideband positioning and ranging. With the development of various positioning and ranging technologies, the accuracy of positioning and ranging is also increasing.

[0004] Meanwhile, how to apply various positioning and ranging technologies to help users manage their equipment more effectively is a concern in the industry. Summary of the Invention

[0005] This application discloses a positioning and ranging method and related apparatus, which can present a coordinate view including the position coordinates of a first device and a second device to the user, and can prompt the user with the direction and distance of the first device's first coordinate position relative to the first device's calibrated coordinate position, which can help the user manage the first device more effectively.

[0006] The first aspect discloses a positioning and ranging method, which can be applied to a target second device, a module (e.g., a processor or chip) within the target second device, or a logic module or software capable of implementing all or part of the functions of the target second device. The following description, using an application to a target second device as an example, includes the following steps: determining a coordinate view including the coordinate position of the second device; determining a second coordinate position of a first device, which is the calibrated coordinate position of the first device, and the coordinate view also including the second coordinate position of the first device; determining a first coordinate position of the first device at a first time point based on the coordinate position of the second device; displaying the coordinate view, which includes the coordinate position of the second device, the second coordinate position of the first device, and the first coordinate position of the first device; and issuing a prompt including the direction and distance of the first coordinate position relative to the second coordinate position.

[0007] In this embodiment, the target second device can determine a coordinate view, which may include the current coordinate position of the first device (first coordinate position), the calibrated coordinate position of the first device (second coordinate position), and the coordinate position of the second device, etc., which can help the user intuitively understand the current position of the first device. Furthermore, the target second device can also issue prompts to indicate the direction and distance of the first device's current coordinate position relative to its calibrated coordinate position, thus helping the user manage the first device more effectively, such as helping the user return the first device to its original position.

[0008] In conjunction with the first aspect, in one possible implementation, the prompting includes issuing a prompt when the distance difference between the first coordinate position and the second coordinate position is greater than a distance difference threshold.

[0009] In this embodiment, when the distance difference between the first coordinate position and the second coordinate position is greater than the distance difference threshold, the first device can be considered to be at risk of being lost. Therefore, the target second device can actively issue a prompt at this time. When the distance difference between the first coordinate position and the second coordinate position is less than or equal to the distance difference threshold, the first device can be considered to be in a safe state and does not need to actively issue a prompt. In this way, the number of times the target second device issues a prompt can be reduced, thereby saving the power consumption of the target second device.

[0010] In conjunction with the first aspect, in one possible implementation, there are multiple second devices, and the method further includes: determining a first distance between the first device and the multiple second devices at the first time point; determining the first coordinate position of the first device at the first time point based on the coordinate position of the second devices includes: determining the first coordinate position of the first device at the first time point based on the first distance corresponding to the multiple second devices and the coordinate positions of the multiple second devices.

[0011] In conjunction with the first aspect, in one possible implementation, the method further includes: a target second device receiving a first ultrasonic signal transmitted by the first device, the target second device being any one of the plurality of second devices; the target second device transmitting a second ultrasonic signal to the first device; the determination of the first distance between the first device and the plurality of second devices at the first time point includes: determining the first distance between the first device and the target second device at the first time point based on the first time point, the second time point, the third time point, the fourth time point, the second distance, and the third distance; the first time point being the time point when the first device receives the first ultrasonic signal, the second time point being the time point when the target second device receives the first ultrasonic signal, the third time point being the time point when the target second device receives the second ultrasonic signal transmitted by the target second device, the fourth time point being the time point when the first device receives the second ultrasonic signal transmitted by the target second device, the second distance being the distance between the ultrasonic transmitting module and the ultrasonic receiving module of the first device, and the third distance being the distance between the ultrasonic transmitting module and the ultrasonic receiving module of the target second device.

[0012] In this embodiment, a bidirectional ranging method can be used to measure the first distance between the second device and the first device. This method is not affected by clock asynchrony between the second device and the first device, nor by clock asynchrony among multiple second devices, thus improving ranging accuracy. Furthermore, since this method does not require clock synchronization, it improves the efficiency of positioning and ranging and reduces positioning and ranging latency.

[0013] In conjunction with the first aspect, in one possible implementation, the time difference between the second time point and the third time point is less than the first time threshold.

[0014] In this embodiment of the application, the time difference between the second time point and the third time point can be less than the first time threshold, so as to ensure that the error of the first distance between the measured first device and the target second device is small.

[0015] In conjunction with the first aspect, in one possible implementation, the method further includes: the target second device periodically transmitting the second ultrasonic signal to the first device; and determining an offset distance between the first device and the target second device relative to a first distance corresponding to the target second device based on the time difference between the time point at which the first device receives the periodically transmitted second ultrasonic signal from the target second device and the fourth time point.

[0016] In this embodiment, based on bidirectional ultrasonic ranging, the target second device can periodically send a second ultrasonic signal to the first device. Then, based on the time difference between the time point when the first device receives the second ultrasonic signal and a fourth time point in a subsequent cycle, the offset distance between the first device and the target second device relative to the first distance of the target second device can be determined, so that the distance between the first device and the target second device can be determined based on this offset distance. In this method, it is not necessary to perform bidirectional ultrasonic ranging every time, but since it is implemented based on bidirectional ultrasonic ranging, high ranging accuracy can be guaranteed. Furthermore, since this method does not require clock synchronization, it can improve the efficiency of positioning and ranging and reduce the time delay of positioning and ranging.

[0017] In conjunction with the first aspect, in one possible implementation, the method further includes: a target second device simultaneously transmitting a first wireless signal and a first ultrasonic signal to the first device, wherein the target second device is any one of the plurality of second devices; determining the first distance between the first device and the plurality of second devices at the first time point includes: determining the first distance between the first device and the target second device based on the time difference between the first time point and a fifth time point, wherein the first time point is the time point at which the first device receives the first wireless signal, and the fifth time point is the time point at which the first device receives the first ultrasonic signal.

[0018] In this embodiment, the target second device can simultaneously transmit wireless signals and ultrasonic signals, so that a first distance between the first device and the target second device can be determined based on the time difference between the first device receiving the wireless signal and the ultrasonic signal. This method is not affected by clock asynchrony between the second device and the first device, nor by clock asynchrony between multiple second devices. Therefore, clock synchronization is unnecessary, thereby improving the efficiency of positioning and ranging and reducing the latency of positioning and ranging.

[0019] In conjunction with the first aspect, in one possible implementation, the method further includes: the target second device periodically transmitting the first ultrasonic signal to the first device; and determining an offset distance between the first device and the target second device relative to a first distance corresponding to the target second device based on the time difference between the time point at which the first device receives the periodically transmitted first ultrasonic signal from the target second device and the fifth time point.

[0020] In this embodiment, based on the simultaneous transmission of wireless and ultrasonic signals, the target second device can periodically transmit ultrasonic signals. Then, based on the time difference between the time point when the first device receives the second ultrasonic signal and the fifth time point in a subsequent cycle, the offset distance between the first device and the target second device relative to the first distance of the target second device can be determined. This offset distance allows for subsequent determination of the distance between the first device and the target second device. In this method, while achieving ranging, it is not necessary to simultaneously transmit wireless and ultrasonic signals each time. Therefore, transmission resources can be saved, interference reduced, and power consumption conserved. Furthermore, since this method does not require clock synchronization, the efficiency of positioning and ranging can be improved, and the latency of positioning and ranging can be reduced.

[0021] In conjunction with the first aspect, in one possible implementation, the method further includes: determining a third coordinate position based on the coordinate positions of the plurality of second devices, a first offset distance corresponding to the plurality of second devices, and a first distance corresponding to the plurality of second devices, wherein the third coordinate position is the coordinate position of the first device at a sixth time point, the sixth time point corresponds to the first offset distance, and the offset distance includes the first offset distance; updating and displaying the coordinate view, wherein the coordinate view includes the coordinate positions of the second devices, the second coordinate positions of the first devices, and the third coordinate positions of the first devices.

[0022] In this embodiment of the application, the target second device can determine the third coordinate position based on the first offset distance, the first distance, and the coordinate position of the second device, and can update and display the coordinate view so as to present the current coordinate position of the first device in a timely manner.

[0023] In conjunction with the first aspect, in one possible implementation, the method further includes: when a preset time threshold is reached after the second target device receives the first ultrasonic signal sent by the first device, the second target device re-receives the first ultrasonic signal sent by the first device.

[0024] In this embodiment of the application, when the duration of bidirectional ranging + periodic unidirectional ranging reaches a preset time threshold, bidirectional ranging + periodic unidirectional ranging can be re-triggered, thus ensuring that the positioning and ranging error is small.

[0025] In conjunction with the first aspect, in one possible implementation, the method further includes: when a preset time threshold is reached after the target second device simultaneously transmits the first wireless signal and the first ultrasonic signal to the first device, the target second device retransmits the first wireless signal and the first ultrasonic signal simultaneously to the first device.

[0026] In this embodiment of the application, when the duration of periodically sending the first ultrasonic signal reaches a preset time threshold, multiple second devices can be triggered to simultaneously send wireless and ultrasonic signals, thus ensuring that the positioning and ranging error is small.

[0027] In conjunction with the first aspect, in one possible implementation, the preset time threshold is determined based on clock offset parameters and positioning ranging requirements, wherein the clock offset parameters include the clock offset parameters of the first device and / or the clock offset parameters of the plurality of second devices.

[0028] In this embodiment, the preset time threshold can be determined based on the clock offset parameter and the positioning and ranging requirements. This ensures that the corresponding positioning and ranging requirements can be met when a certain preset time threshold is adopted.

[0029] The second aspect discloses a positioning and ranging device that has the functions of the first aspect described above. For example, the positioning and ranging device includes a module or unit that performs the methods of the first aspect or any possible implementation of the first aspect. The module or unit can be implemented by software, hardware, or a combination of software and hardware.

[0030] For example, the positioning and ranging device disclosed in the second aspect above may be a target second device or a chip in the target second device, etc.

[0031] The third aspect discloses a positioning and ranging system, which includes a second target device for implementing the methods provided in the first aspect and any possible implementation thereof.

[0032] The fourth aspect discloses a positioning and ranging device, including a processor; the processor invokes a computer program or computer instructions to implement the methods provided in the first aspect and any possible implementation thereof.

[0033] As one possible implementation, the positioning and ranging device disclosed in the fourth aspect above further includes an ultrasonic transmitting module and an ultrasonic receiving module.

[0034] As one possible implementation, the positioning and ranging device disclosed in the fourth aspect above further includes a wireless communication interface for receiving and / or transmitting data.

[0035] As one possible implementation, the positioning and ranging device disclosed in the fourth aspect above may include one or more processors.

[0036] Optionally, the positioning and ranging device disclosed in the fourth aspect above further includes one or more memories. These memories can be used to store computer programs or computer instructions.

[0037] The fifth aspect discloses a computer-readable storage medium storing a computer program or computer instructions that, when executed, implement the methods provided in the first aspect and any possible implementation thereof.

[0038] The sixth aspect discloses a chip including a processor for executing a program stored in a memory, which, when executed, causes the chip to perform the methods provided in the first aspect and any possible implementation thereof.

[0039] As one possible implementation, the memory is located outside the chip.

[0040] The seventh aspect discloses a computer program product comprising computer program code that, when executed, causes the methods provided in the first aspect and any possible implementation thereof to be performed.

[0041] It should be understood that the implementation and beneficial effects of the above-mentioned aspects or any possible implementation methods of this application can be referred to each other. Attached Figure Description

[0042] The accompanying drawings are provided to more clearly illustrate the technical solutions of the embodiments of this application. The drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 is a schematic diagram showing the relationship between the propagation time and distance of an ultrasonic signal disclosed in an embodiment of this application;

[0044] Figure 2 is a schematic diagram of an ultrasonic bidirectional positioning and ranging method disclosed in an embodiment of this application;

[0045] Figure 3 is a schematic diagram of the architecture of a positioning and ranging system disclosed in an embodiment of this application;

[0046] Figure 4 is a schematic diagram of an ultrasonic positioning and ranging method disclosed in an embodiment of this application;

[0047] Figure 5 is a schematic diagram of another ultrasonic positioning and ranging method disclosed in the embodiments of this application;

[0048] Figure 6 is a schematic diagram of another ultrasonic positioning and ranging method disclosed in the embodiments of this application;

[0049] Figure 7A is a schematic diagram of another ultrasonic positioning and ranging method disclosed in the embodiments of this application;

[0050] Figure 7B is a schematic diagram of another ultrasonic positioning and ranging method disclosed in the embodiments of this application;

[0051] Figure 8 is a schematic diagram of a coordinate view disclosed in an embodiment of this application;

[0052] Figure 9 is a schematic diagram of another coordinate view disclosed in an embodiment of this application;

[0053] Figure 10 is a schematic diagram of another coordinate view disclosed in an embodiment of this application;

[0054] Figure 11 is a flowchart illustrating a positioning and ranging scheme disclosed in an embodiment of this application;

[0055] Figure 12 is a schematic flowchart of a positioning and ranging method disclosed in an embodiment of this application;

[0056] Figure 13 is a schematic diagram of a scenario involving logical distance and physical distance as disclosed in an embodiment of this application;

[0057] Figure 14 is a schematic diagram of a positioning and ranging device disclosed in an embodiment of this application;

[0058] Figure 15 is a schematic diagram of the hardware structure of a positioning and ranging device disclosed in an embodiment of this application. Detailed Implementation

[0059] This application discloses a positioning and ranging method and related apparatus, which can present a coordinate view including the position coordinates of a first device and a second device to the user, and can indicate the direction and distance of the first device's first coordinate position relative to its calibrated coordinate position, thus helping the user to manage the first device more effectively. The technical solutions in this application will be clearly and completely described below with reference to the accompanying drawings.

[0060] To better understand the embodiments of this application, the relevant content, terms or nouns involved in this application will be briefly introduced below.

[0061] I. Distance Measurement Technology

[0062] Ranging technologies include Bluetooth ranging and ultra-wideband (UWB) ranging. Bluetooth ranging primarily relies on the received signal strength indication (RSSI) of the Bluetooth signal. While relatively simple to implement, it is heavily influenced by environmental obstructions, and the RSSI of Bluetooth signals is not sensitive to distance, showing little change after 3 meters. Furthermore, this method typically requires algorithmic correction to remove interference, resulting in a longer latency. UWB ranging, on the other hand, is based on the time difference of arrival (TDOA). This method is relatively simple to implement and offers high accuracy, but it is more expensive.

[0063] In addition to Bluetooth and UWB signals, ultrasonic signals can also be used for ranging, as shown in Figure 1. The propagation time and distance of ultrasonic signals have a linear relationship, resulting in high ranging accuracy, strong anti-interference capabilities, and rapid response. It should be understood that, under normal circumstances, the propagation speed of ultrasonic signals in air is 340 meters per second (m / s).

[0064] II. Ultrasonic unidirectional ranging and ultrasonic bidirectional ranging

[0065] In this embodiment, ultrasonic ranging includes unidirectional ultrasonic ranging and bidirectional ultrasonic ranging. Unidirectional ultrasonic ranging can also be called unidirectional ultrasonic ranging, and bidirectional ultrasonic ranging can also be called bidirectional ultrasonic ranging.

[0066] Ultrasonic one-way ranging primarily involves one device transmitting an ultrasonic signal and another receiving it. The distance between the two devices is then determined based on the time difference between the time the ultrasonic signal is received and the time it is transmitted. The core of ultrasonic one-way ranging lies in accurately obtaining the time difference between the transmitted and received ultrasonic signals; the more accurate the time difference, the smaller the ranging error. One possible approach is to synchronize the clocks of the two devices. The transmitting device records the time of transmitting the ultrasonic signal, and the receiving device records the time of receiving the ultrasonic signal. The distance between the two devices is then determined based on the recorded time difference between the transmitted and received ultrasonic signals.

[0067] In ultrasonic two-way ranging, both devices can transmit and receive ultrasonic signals. For example, as shown in Figure 2, taking device A and device B as examples, device A's ultrasonic transmitting module (such as a speaker) can transmit ultrasonic signals, and device A can record the transmission time t1. Device A's ultrasonic receiving module (such as a microphone) can receive the ultrasonic signals, and device A can record the reception time t2. 11 Device B's ultrasonic receiving module (such as a microphone) can also receive the ultrasonic signal, and Device B can record the reception time t. 21 Device B's ultrasonic transmitting module (such as a speaker) can also transmit ultrasonic signals, for example, it can transmit an ultrasonic signal within a preset time (such as within 100ms) after receiving an ultrasonic signal from device A. Device B can record the transmission time t2, and Device B's ultrasonic receiving module (such as a microphone) can receive the ultrasonic signal. Furthermore, Device B can record the reception time t. 22 The ultrasonic receiving module (such as a microphone) of device A can also receive the ultrasonic signal, and device A can record the reception time t. 12 The distance (D) between device A and device B can be calculated using the following formula:

[0068] Where d1 is the distance between the ultrasonic transmitting module and the ultrasonic receiving module of device A, and d2 is the distance between the ultrasonic transmitting module and the ultrasonic receiving module of device B. V can be the speed of ultrasonic signal propagation in air, such as 340 m / s. For example, device B can send relevant time information (such as t) back to device A. 22 -t 21 , or t 22 and t 21 This allows device A to calculate the distance between device A and device B, or device A to send relevant time information (such as t) back to device B. 12 -t 11 , or t 12 and t 11 This allows device B to calculate the distance between device A and device B.

[0069] It should be understood that ultrasonic bidirectional ranging is not affected by the clock asynchrony between the two devices, therefore, it usually has high ranging accuracy, such as ranging accuracy down to the centimeter level.

[0070] To better understand the embodiments of this application, the system architecture of the embodiments of this application will be described below.

[0071] Please refer to Figure 3, which is a schematic diagram of the architecture of a positioning and ranging system disclosed in an embodiment of this application. As shown in Figure 3, the positioning and ranging system may include one or more first devices (one is shown in Figure 3) and one or more second devices (three are shown in Figure 3). In this embodiment, the first device may also be referred to as an electronic device, and the second device may also be referred to as a host.

[0072] For example, the first device is mobile. The second device may not be mobile, and its location may be fixed.

[0073] The first and second devices may include an ultrasonic transmitting module and an ultrasonic receiving module. The ultrasonic transmitting module is used to transmit ultrasonic signals, and the ultrasonic receiving module is used to receive ultrasonic signals. The ultrasonic transmitting module can be a speaker (SPK), also known as a "loudspeaker," etc. Optionally, the first and second devices may include one or more speakers. The ultrasonic receiving module can be a microphone (MIC), also known as a "microphone," "voice transducer," etc. Optionally, the first and second devices may include one or more microphones. In this embodiment, the ultrasonic transmitting module and the ultrasonic receiving module may also be collectively referred to as an ultrasonic module.

[0074] Optionally, the first device and the second device may further include wireless communication modules, such as one or more wireless communication modules selected from Bluetooth, Wireless Fidelity (WiFi), and mobile communication modules. The wireless communication modules of the first and second devices can be used for communication (e.g., communication between the first and second devices) or for positioning and ranging between the first and second devices. The first and second devices may also include processors, memory, etc., but this application embodiment does not limit this.

[0075] For example, the first device can be a mobile phone, tablet computer, laptop computer, tag, smartwatch, virtual reality (VR) device, augmented reality (AR) device, smart home device (such as refrigerator, television, air conditioner, electricity meter, etc.), smart robot, etc. The second device can be a mobile phone, tablet computer, desktop computer, anti-theft device, etc.

[0076] It should be noted that the positioning and ranging scheme provided in this application embodiment can measure the distance between the first device and the second device, which can also be referred to as the physical distance of the first device. Furthermore, based on the positions of multiple second devices and the distances between the multiple second devices and the first device, the position of the first device can be determined, such as through trilateration. In addition, in this application embodiment, the distance between the current position of the first device and its initial position can also be measured, which can also be referred to as the logical distance of the first device. The initial position of the first device can be a pre-configured position, the position at the time of the first device's initial positioning, or another configured position; this application embodiment does not limit this.

[0077] Optionally, in this embodiment of the application, ultrasonic waves can be used preferentially for positioning and ranging between the first device and the second device. When ultrasonic positioning and ranging is abnormal (such as ultrasonic transmitting module failure, ultrasonic receiving module failure, inability to identify ultrasonic waves, excessive ultrasonic interference, etc.), it can be switched to Bluetooth, WiFi, or a combination of Bluetooth and WiFi for positioning and ranging.

[0078] It should be understood that the architecture shown in Figure 3 is merely an illustrative example, and other devices may also be included in the architecture shown in Figure 3. This application embodiment does not limit this.

[0079] It is understood that the aforementioned first device, second device, etc., can be implemented in the form of hardware, computer software, or a combination of hardware and computer software. For example, the aforementioned first device, second device, etc., can be implemented by a single device or by a functional module within a single device; this application embodiment does not specifically limit this.

[0080] It should be understood that the technical solutions provided in this application can be applied to various scenarios, such as anti-theft of goods in shopping malls, warehouse management, and item retrieval.

[0081] In the embodiments of this application, the term "wireless communication" can also be abbreviated as "communication", and the term "communication" can also be described as "data transmission", "information transmission" or "transmission".

[0082] It should be noted that the system architecture, network architecture, and business scenarios (or application scenarios) described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of positioning and ranging architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0083] The following provides exemplary descriptions of several positioning and ranging schemes provided in the embodiments of this application.

[0084] The first method is based on ultrasonic unidirectional ranging, which involves simultaneously transmitting wireless and ultrasonic signals.

[0085] For example, the second device can simultaneously send wireless signals (such as Bluetooth signals) and ultrasonic signals to the first device. Since the propagation speed of wireless signals is the speed of light, the propagation time of wireless signals can be ignored. The first device can use the time point of receiving the wireless signal as the time point of the second device sending the ultrasonic signal. The first device can also determine the time point of receiving the ultrasonic signal, and then use (the time point of receiving the ultrasonic signal - the time point of receiving the wireless signal) as the propagation time of the ultrasonic signal. Based on the propagation speed of the ultrasonic signal (such as 340m / s), the distance between the first device and the second device can be determined.

[0086] In some possible implementations, the second device can periodically transmit ultrasonic signals. In this case, the second device can simultaneously transmit a wireless signal when it first transmits the ultrasonic signal. In subsequent periodic transmissions of ultrasonic signals, it does not need to simultaneously transmit the wireless signal. The first device can determine the time deviation caused by the offset distance between the first and second devices (relative to the initial distance determined based on the time points of receiving ultrasonic signals in subsequent periods, the time point of receiving ultrasonic signals in the first period, and the period of transmitting ultrasonic signals (e.g., 50ms). Then, it can determine the offset distance between the first and second devices relative to the initial distance, i.e., the distance change relative to the initial distance, based on this time deviation. Finally, it can determine the current distance between the first and second devices based on this offset distance and the initial distance. It should be noted that in other possible implementations, the second device can also transmit ultrasonic signals and wireless signals simultaneously in each period.

[0087] As shown in Figure 4, the second device can simultaneously transmit wireless and ultrasonic signals at time t1, while the first device can transmit at time t... 12 The wireless signal was received at time t. 11 Upon receiving the ultrasonic signal, the initial distance between the first and second devices (denoted as D1) can be calculated, where D1 equals t. 11 With t 12 The time difference between them is multiplied by the speed of propagation of the ultrasonic signal. D1 can be t1, t2, ... 11 t 12The distance between the first and second devices at specific time points. Assume the second device periodically transmits ultrasonic signals with a period T (e.g., 20ms). The second device can transmit ultrasonic signals at time points t1+T(t2), t1+2T(t3), t1+3T(t4), etc. For the ultrasonic signals transmitted by the second device at time points t2, t3, t4, etc., if the distance between the first and second devices remains unchanged, the distance between the first and second devices should be such that at time point t1+T(t2), t1+2T(t3), t1+3T(t4), etc. 11 +T、t 11 +2T、t 11 +3T(t` 41 The first device receives the corresponding ultrasonic signal at specific time points, such as the time point when it actually receives the ultrasonic signal for the corresponding period, and the time point when the first device should theoretically receive the ultrasonic signal when the distance between the first and second devices remains constant. Based on this, the first device can determine the offset distance between the first and second devices relative to the initial distance, based on the actual time point when it receives the ultrasonic signal for the corresponding period, and the theoretical time point when the first device should receive the ultrasonic signal when the distance between the first and second devices remains constant. For example, the distance for the i-th period can be denoted as D. i The time point at which the first device actually receives the ultrasonic signal sent by the second device in the i-th cycle can be denoted as t. i1 The time point at which the second device sends the ultrasonic signal in the i-th cycle is denoted as t. i Then, the offset distance between the first device and the second device in the i-th cycle relative to the initial distance can be ((t) i1 -t 11 )-(t i -t1))*v, where v is the propagation speed of the ultrasonic signal, (t i -t1) equals (i-1)*T, (t i1 -t 11 (t) can be understood as the difference in receiving intervals. i -t1) can be understood as the transmission interval difference. Based on the offset distance between the first and second devices in the i-th cycle relative to the initial distance, the distance between the first and second devices in the i-th cycle can be determined. This distance is the sum of the offset distance and the initial distance, i.e., ((t1) i1 -t 11 )-(t i -t1))*v+D1.

[0088] It is understandable that the position of the first device can be determined based on the distances between multiple second devices and the first device, as well as the positions of these second devices. For example, triangulation, trilateration, or other methods can be used to determine the position of the first device.

[0089] It should be noted that due to clock drift between the first and second devices, when the second device periodically transmits ultrasonic signals, the longer the period or the later the period, the larger the measured time deviation error may be. This results in a larger error in the offset distance between the first and second devices relative to the initial distance, determined based on the time deviation, and consequently, a larger measured distance error between the first and second devices. Therefore, in some possible implementations, a maximum periodic transmission duration (denoted as T1) can be set. When the maximum duration (T1) is reached, the second device can be triggered to simultaneously retransmit both wireless and ultrasonic signals to update the "initial distance" between the first and second devices and the "time point of the first ultrasonic signal reception" of the first device. Then, the second device can periodically transmit ultrasonic signals again (period denoted as T2) to ensure that the measured distance error between the first and second devices is less than a distance error threshold (e.g., 5cm). For example, the maximum duration (T1) can be determined based on one or more of the following: the clock offset parameters of the first and second devices, the clock offset parameters of the second device, and positioning and ranging requirements (e.g., requiring a ranging error of less than 5cm). For example, the maximum duration that can meet the corresponding positioning and ranging requirements can be estimated based on the clock offset parameters of the first device and the clock offset parameters of the second device, and T1 can be determined within the range of this maximum duration.

[0090] It should also be noted that the above-described second device is illustrated using the example of transmitting ultrasonic signals at a fixed period, but this application embodiment does not limit this. In some possible implementations, the second device may also transmit ultrasonic signals at varying periods. For example, there may be a 5ms interval between the first and second periods, a 10ms interval between the second and third periods, a 15ms interval between the third and fourth periods, etc. For the varying periods, the first device can calculate the corresponding time deviation, thereby determining the offset distance, etc., based on the time deviation.

[0091] It should be understood that the ranging accuracy of the above ranging method is not affected by the clock asynchrony between the first and second devices, nor by the clock asynchrony between multiple second devices, and there is no need for clock synchronization between the first and second devices.

[0092] It should also be understood that the above description of the first ranging method is merely illustrative and does not constitute a limitation. For example, in some possible implementations, the first device may also send wireless and ultrasonic signals to the second device. Furthermore, in some possible implementations, the first device may send relevant time information (such as the time of recording / monitoring the reception of wireless signals, the time of receiving ultrasonic signals, etc.) to other devices (such as the second device, cloud devices, etc.), which can then be processed by these other devices to calculate the distance between the first and second devices.

[0093] The second method is to perform unidirectional ultrasonic ranging based on the transmitted ultrasonic signal and the timestamp (time stamp / time point of the transmitted ultrasonic signal).

[0094] For example, the second device can send an ultrasonic signal to the first device, and can also send a timestamp to the first device, i.e., the timestamp of the ultrasonic signal sent by the second device. The first device can also determine the time point of receiving the ultrasonic signal, and then use (the time point of receiving the ultrasonic signal - the timestamp of sending the ultrasonic signal) as the propagation time of the ultrasonic signal. Based on the propagation speed of the ultrasonic signal (e.g., 340 m / s), the distance between the first and second devices can be determined. The timestamp can be transmitted via wireless communication methods such as Bluetooth or WiFi, or it can be directly carried in the ultrasonic signal. In some possible implementations, the second and first devices can also negotiate the time point for sending the ultrasonic signal; in this case, the second device does not need to send a timestamp to the first device.

[0095] It is understandable that the first and second devices can synchronize their clocks (e.g., via Bluetooth, WiFi, etc.) to obtain a more accurate propagation time of the ultrasonic signal, thereby obtaining a more accurate distance between the first and second devices.

[0096] In some possible implementations, the second device can periodically transmit ultrasonic signals. In this case, the second device can send a corresponding timestamp to the first device when it first transmits the ultrasonic signal. In subsequent periodic transmissions of ultrasonic signals, it does not need to send the corresponding timestamp to the first device. The first device can determine the time deviation between the first and second devices relative to the initial distance based on the time points of receiving ultrasonic signals in subsequent periods, the time points of receiving ultrasonic signals in the first period, and the period of transmitting ultrasonic signals (e.g., 50ms). Then, it can determine the offset distance between the first and second devices relative to the initial distance based on this time deviation, and then determine the current distance between the first and second devices based on this offset distance and the initial distance. It should be noted that in other possible implementations, the second device can also transmit an ultrasonic signal and a corresponding timestamp for each ultrasonic signal in each period.

[0097] As shown in Figure 5, the second device can send an ultrasonic signal at time point t1, and the first device can send an ultrasonic signal at time point t2. 11 Upon receiving the ultrasonic signal, the second device can also send the corresponding transmission timestamp t1 to the first device. The first device can calculate the initial distance (denoted as D1) between the first and second devices based on the time point of receiving the ultrasonic signal and the timestamp t1, where D1 equals t1. 11 The time difference between t1 and t2 is multiplied by the propagation speed of the ultrasonic signal. D1 can be t1, t2, t3, t4, t5, t6, t7, t8, t9, t1, t1, t1, t1, t2 ... 11 The distance between the first and second devices at specific time points. Assume the second device periodically transmits ultrasonic signals with a period T (e.g., 20ms). The second device can transmit ultrasonic signals at time points t1+T(t2), t1+2T(t3), t1+3T(t4), etc. For the ultrasonic signals transmitted by the second device at time points t2, t3, t4, etc., if the distance between the first and second devices remains unchanged, the distance between the first and second devices should be such that at time point t1+T(t2), t1+2T(t3), t1+3T(t4), etc. 11 +T、t 11 +2T、t 11 +3T(t` 41 The first device receives the corresponding ultrasonic signal at specific time points, such as the time point when it actually receives the ultrasonic signal for the corresponding period, and the time point when the first device should theoretically receive the ultrasonic signal when the distance between the first and second devices remains constant. Based on this, the first device can determine the offset distance between the first and second devices relative to the initial distance, based on the actual time point when it receives the ultrasonic signal for the corresponding period, and the theoretical time point when the first device should receive the ultrasonic signal when the distance between the first and second devices remains constant. For example, the distance for the i-th period can be denoted as D. i The time point at which the first device actually receives the ultrasonic signal sent by the second device in the i-th cycle can be denoted as t. i1 The time point at which the second device sends the ultrasonic signal in the i-th cycle is denoted as t. iThen, the offset distance between the first device and the second device in the i-th cycle relative to the initial distance can be ((t) i1 -t 11 )-(t i -t1))*v, where v is the propagation speed of the ultrasonic signal, (t i -t 11 The distance between the first and second devices in the i-th cycle, relative to the initial distance, is equal to (i-1)*T. Based on the offset distance between the first and second devices in the i-th cycle compared to the initial distance, the distance between the first and second devices in the i-th cycle can be determined. This distance is the sum of the offset distance and the initial distance, i.e., ((t)*T). i1 -t 11 )-(t i -t1))*v+D1.

[0098] It is understandable that the position of the first device can be determined based on the distances between multiple second devices and the first device, as well as the positions of these second devices. For example, triangulation, trilateration, or other methods can be used to determine the position of the first device.

[0099] It should be noted that due to clock drift between the first and second devices, the first and / or second devices may not transmit ultrasonic signals at the accurate time, and the recorded time of ultrasonic signal reception may be inaccurate. For the case where the second device periodically transmits ultrasonic signals, the longer the period or the later the period, the greater the error in the measured time deviation. This results in a larger error in the offset distance between the first and second devices relative to the initial distance, determined based on the time deviation, and consequently, a larger error in the measured distance between the first and second devices. Therefore, in some possible implementations, a maximum periodic transmission duration (denoted as T1) can be set. When the maximum duration (T1) is reached, the clocks between the first and second devices can be resynchronized. The second device can then retransmit the ultrasonic signal and its corresponding timestamp to update the "initial distance" between the first and second devices and the "time point of the first ultrasonic signal reception" of the first device. The second device can then periodically transmit ultrasonic signals again (period denoted as T2) to ensure that the measured distance error between the first and second devices is less than a distance error threshold (e.g., 5cm). For example, the maximum duration (T1) can be determined based on one or more of the following: the clock offset parameters of the first device, the clock offset parameters of the second device, and positioning and ranging requirements (such as requiring a ranging error of less than 5 cm). For instance, the maximum duration that can satisfy the corresponding positioning and ranging requirements can be estimated based on the clock offset parameters of the first and second devices, and T1 can be determined within this maximum duration range. For example, in some possible implementations, the first and second devices can also synchronize their clocks in real time.

[0100] It should also be noted that the above-described second device is illustrated using the example of transmitting ultrasonic signals at a fixed period, but this embodiment of the application does not limit this. In some possible implementations, the second device may also transmit ultrasonic signals at a varying period.

[0101] It should be understood that the above description of the second ranging method is merely illustrative and does not constitute a limitation. For example, in some possible implementations, the first device may send an ultrasonic signal and a corresponding timestamp to the second device. Furthermore, in some possible implementations, the first device may send relevant time information (such as the time point of recording / monitoring the received ultrasonic signal) to other devices (such as the second device, a cloud device, etc.), which can then be processed by these other devices to calculate the distance between the first and second devices.

[0102] The third method is to perform positioning and ranging based on the time difference of received ultrasonic signals (TDOA positioning and ranging).

[0103] For example, multiple second devices can simultaneously transmit ultrasonic signals, and a first device can receive the ultrasonic signals transmitted by the multiple second devices. The first device can determine the time difference between receiving the ultrasonic signals from different second devices, and then determine the position of the first device based on the time difference and the positions of the multiple second devices. Based on the determined position of the first device, the first device can also determine the distances between the first device and each of the multiple second devices.

[0104] It is understandable that multiple second devices can synchronize their clocks (e.g., via Bluetooth, WiFi, etc.) to ensure that multiple second devices can send ultrasonic signals synchronously, thereby obtaining the time difference between the ultrasonic signals received by the first device from different second devices when the first device is at a certain location.

[0105] In some possible implementations, multiple second devices can periodically and simultaneously transmit ultrasonic signals to continuously locate and measure the distance to the first device. As shown in Figure 6, taking three second devices as an example, the main unit 1-3 can transmit an ultrasonic signal at time point t1, and the first device can transmit an ultrasonic signal at time point t... 11 Upon receiving the ultrasonic signal sent by host 1, it can be detected at time point t. 12 Upon receiving the ultrasonic signal sent by host 2, it can be detected at time point t. 13 Upon receiving the ultrasonic signal from host 3, the first device can determine its initial position (denoted as p1) based on the time difference between the received ultrasonic signals from different hosts and the positions of multiple hosts. It can also determine the distance to each host based on this initial position. p1 can be t1, t2, t3, t4, t5, t6, t7, t8, t9, t1, t1, t1, t1, t1, t2, t1, t1, t2, t1, t2, t1, t2, t3 ... 11 t 12 t 13 The location of the first device at a given time point. In subsequent cycles, the first device can also determine its own location using the TDOA method. In one possible implementation, assume that hosts 1-3 periodically transmit ultrasonic signals at a period T (e.g., 20ms). Hosts 1-3 can transmit ultrasonic signals at time points t1+T(t2), t1+2T(t3), t1+3T(t4), etc. For the ultrasonic signals transmitted by host 1 at time points t2, t3, t4, etc., if the distance between host 1 and the first device remains unchanged, the first device should be at time t... 11 +T、t 11 +2T(t` 31The ultrasonic signals are received at time points t2, t3, t4, etc. The ultrasonic signals sent by host 2 and host 3 at time points t2, t3, t4, etc., can be understood similarly. Based on this, the first device can determine the offset distance between the first device and the second device relative to the initial distance, based on the actual time point at which the ultrasonic signal of the corresponding cycle is received, and the theoretical time point at which the first device should receive the ultrasonic signal when the distance between the first device and the second device remains constant. For example, the distance in the i-th cycle can be denoted as D. i The time point at which the first device actually receives the ultrasonic signal sent by host 1 in the i-th cycle can be denoted as t. i1 The time point at which host 1 sends the ultrasonic signal in the i-th cycle is denoted as t. i Then, the offset distance between the first device and host 1 in the i-th cycle, relative to the initial distance, can be ((t) i1 -t 11 )-(t i -t1))*v, where v is the propagation speed of the ultrasonic signal, (t i -t1) equals (i-1)*T. Based on the offset distance between the first device and host 1 in the i-th cycle relative to the initial distance, the distance between the first device and host 1 in the i-th cycle can be determined. This distance is the sum of the offset distance and the initial distance, i.e., ((t1)*T. i1 -t1)-(t i -t1))*v+D1.

[0106] It should be noted that due to clock drift in the second devices, when the second devices periodically transmit ultrasonic signals, the longer the period or the later the period, the greater the time difference between the ultrasonic signals transmitted by multiple second devices. This results in a significant discrepancy between the time difference determined by the first device for receiving ultrasonic signals from different second devices and the actual situation, leading to a larger positional error for the first device. Therefore, in some possible implementations, a maximum periodic transmission duration (denoted as T1) can be set. When the maximum duration (T1) is reached, the clocks of the multiple second devices can be resynchronized, and then the multiple second devices can periodically (period denoted as T2) simultaneously transmit ultrasonic signals again. This ensures that the measured distance error between the first and second devices is less than a distance error threshold (e.g., 5cm), or that the measured positioning error of the first device is less than a positioning error threshold (e.g., 10cm). For example, the maximum duration (T1) can be determined by one or more of the clock offset parameters of the multiple second devices, positioning and ranging requirements (e.g., requiring a ranging error of less than 5cm), etc. For example, the maximum duration required to meet the corresponding positioning and ranging requirements can be estimated based on the clock offset parameters of multiple second devices, and T1 can be determined within this maximum duration range. Exemplarily, in some possible implementations, the multiple second devices can also synchronize their clocks in real time.

[0107] It should also be noted that the above-described second device is illustrated using the example of transmitting ultrasonic signals at a fixed period, but this embodiment of the application does not limit this. In some possible implementations, the second device may also transmit ultrasonic signals at a varying period.

[0108] It should be understood that the above description of the third ranging method is merely illustrative and does not constitute a limitation. For example, in some possible implementations, the first device may send ultrasonic signals to multiple second devices. Furthermore, in some possible implementations, the first device may send relevant time information (such as the recorded / monitored times of receiving ultrasonic signals from different second devices) to other devices (such as second devices, cloud devices, etc.), which can then process the information to calculate the position of the first device, the distance between the first and second devices, etc.

[0109] The fourth method is to measure distance using a combination of ultrasonic two-way ranging and ultrasonic one-way ranging.

[0110] For example, a first device and one or more second devices can first perform ultrasonic bidirectional ranging. The first device can send ultrasonic signals, and the one or more second devices can receive these signals. After receiving the ultrasonic signals from the first device, each of the one or more second devices can send its own ultrasonic signals back to the first device, which in turn can receive those signals. Based on the principle of ultrasonic bidirectional ranging, the distance between the first device and the one or more second devices can be determined. Based on this ultrasonic bidirectional ranging, the one or more second devices can periodically send ultrasonic signals back to the first device. Then, the time deviation caused by the offset distance between the first device and the one or more second devices relative to the initial distance can be determined. Based on this time deviation, the offset distance between the first device and the one or more second devices relative to the initial distance can be determined. Finally, based on this offset distance and the initial distance, the current distance between the first device and the one or more second devices can be determined.

[0111] Optionally, during ultrasonic bidirectional ranging, the time difference between the moment the second device receives the ultrasonic signal sent by the first device and the moment the second device sends the ultrasonic signal back to the first device is less than a first time threshold, such as 1 ms. This avoids the problem of large positional changes of the first device due to long intervals, resulting in large errors in ultrasonic bidirectional ranging. In some possible implementations, the first time threshold can be determined based on the range or maximum speed of the first device. For example, the faster the maximum speed of the first device, the smaller the first time threshold can be. In specific implementations, the maximum allowable time threshold for ensuring the corresponding ranging accuracy (e.g., 5 cm) under different maximum speed conditions can be determined / estimated, and then the first time threshold can be determined within the maximum time threshold, such as setting the maximum time threshold as the first time threshold.

[0112] It is understandable that the position of the first device can be determined based on the distances between multiple second devices and the first device, as well as the positions of these second devices. For example, triangulation, trilateration, or other methods can be used to determine the position of the first device.

[0113] It should be noted that due to clock drift in the one or more second devices, for the periodic transmission of ultrasonic signals by the one or more second devices, the longer the period or the later the period, the larger the measured time deviation error may be. This results in a larger offset distance error between the first device and the one or more second devices relative to the initial distance, and consequently, a larger measured distance error between the first device and the one or more second devices. Based on this, in some possible implementations, a maximum duration (denoted as T1) of a large cycle (one ultrasonic bidirectional ranging + multiple ultrasonic unidirectional ranging) can be set. When the maximum duration (T1) is reached, ultrasonic bidirectional ranging between the first and second devices can be triggered again to update the "initial distance" (the distance between the first and second devices determined by ultrasonic bidirectional ranging) and the "time point of first ultrasonic signal reception" of the first device (the time point when the first device receives the ultrasonic signal during the ultrasonic bidirectional ranging process). Then, the second device can periodically transmit ultrasonic signals again (period denoted as T2) to ensure that the measured distance error between the first and second devices is less than the distance error threshold (e.g., 5cm). For example, the maximum duration (T1) can be determined based on one or more of the clock offset parameters of the first device, the clock offset parameters of the second device, and positioning and ranging requirements (such as requiring a ranging error of less than 5cm). For instance, the maximum duration that can meet the corresponding positioning and ranging requirements can be estimated based on the clock offset parameters of the first device and the clock offset parameters of the second device, and T1 can be determined within this maximum duration range.

[0114] As shown in Figure 7A, taking three secondary devices (host 1-3) as an example, the first device can first perform ultrasonic bidirectional ranging with the three secondary devices, and then it can repeatedly perform ultrasonic unidirectional ranging. When the maximum duration (T1) is reached, the ultrasonic bidirectional ranging between the first device and the three secondary devices can be triggered again, and then the ultrasonic unidirectional ranging can be repeatedly performed again.

[0115] As shown in Figure 7B, the first device can send an ultrasonic signal at time point t0, and the host device 1 can send an ultrasonic signal at time point t1. 10 The ultrasonic signal was received and can be detected at time point t` 11 The host 2 can send an ultrasonic signal to the first device at time point t. 20 The ultrasonic signal was received and can be detected at time point t` 21 The host 3 can send an ultrasonic signal to the first device at time point t. 30 The ultrasonic signal was received and can be detected at time point t` 31 Send an ultrasonic signal to the first device, and the first device can do so at time point t.11 The ultrasonic signal sent by host 1 was received at time point t. 21 The ultrasonic signal sent by host 2 was received at time point t. 31 Upon receiving the ultrasonic signal from host 3, based on the principle of ultrasonic bidirectional ranging, the first device can calculate the initial distance (denoted as D1) between the first and second devices. Assuming hosts 1-3 periodically transmit ultrasonic signals with a period T2 (e.g., 20ms), host 1 can... 11 +T2(t` 12 ), t` 11 +2T2(t` 13 At specific time points, ultrasonic signals are sent to the first device, targeting host 1 at t` 12 ,t` 13 If the distance between the first device and host 1 remains unchanged, and the ultrasonic signal is transmitted at a specific time point, the first device should transmit the signal at time t. 11 +T2、t 11 The ultrasonic signal is received at time points such as +2T2. Based on this, the first device can determine the offset distance between itself and the host 1 relative to the initial distance, based on the actual time point at which the ultrasonic signal of the corresponding period is received, and the theoretical time point at which the first device should receive the ultrasonic signal when the distance between the first device and the host 1 remains constant. The first device can then obtain the distance between itself and the second device for the corresponding period based on the initial distance and this offset distance; this distance is the sum of the offset distance and the initial distance. The distances between the host 2 and the first device, and between the host 3 and the first device, can be calculated similarly, and will not be detailed here.

[0116] It should be noted that the above-described second device is illustrated using the example of transmitting ultrasonic signals at a fixed period, but this embodiment of the application does not limit this. In some possible implementations, the second device may also transmit ultrasonic signals at a varying period.

[0117] It should be understood that, since the above-mentioned ranging method is based on ultrasonic bidirectional ranging and performs ultrasonic unidirectional ranging, there is no need for clock synchronization between multiple second devices, or between the one or more second devices and the first device. The ranging accuracy is not affected by the clock asynchrony between the first and second devices, nor by the clock asynchrony between multiple second devices.

[0118] It should also be understood that the above description of the fourth ranging method is merely illustrative and does not constitute a limitation. For example, in some possible implementations, the first device may periodically send ultrasonic signals to the second device. Furthermore, in some possible implementations, the first device may send relevant time information (such as the time point of recording / monitoring the received ultrasonic signals) to other devices (such as the second device, cloud devices, etc.), which can then process the information and calculate the distance between the first and second devices.

[0119] Based on the four positioning and ranging schemes mentioned above, a scheme for generating coordinate views is introduced below.

[0120] For example, the target second device can generate a coordinate view of the second device (or a host coordinate view). The target second device can be any one of a plurality of second devices, and the coordinate view can include the coordinate positions of the plurality of second devices. The plurality of second devices can be deployed by relevant personnel within a specific area for the management of the first device, such as for anti-theft management.

[0121] In one possible implementation, the coordinates of multiple deployed second devices can be pre-calibrated, such as directly calibrating their coordinates based on their geographical locations. In another possible implementation, the coordinates of each second device can be calibrated based on the distances between them. For example, the target second device can first calibrate the coordinates of one of its devices (e.g., the target second device) as (0, 0). Then, it can select the next second device to be calibrated, calibrating its coordinates based on the distance between that second device and the device with the coordinates at (0, 0), such as calibrating it as (D1, 0), where D1 is the distance between the target second device and the device with the coordinates at (0, 0), in meters (m). Afterward, the target second device can select the next second device to be calibrated, calibrating its coordinates based on the distance between that second device and the already calibrated second device, such as using triangulation or trilateration to locate the second device based on this distance. Subsequently, the same method can be used to calibrate the coordinates of other second devices whose coordinate positions have not been calibrated.

[0122] For example, the generated host coordinate view can be shown in Figure 8. Host 1, with coordinates (0, 0), can be the target host. The following describes the process of automatically calibrating the coordinate position of the second device, illustrated in Figure 8. After calibrating the coordinate position of host 1 as (0, 0), assuming the next host to be calibrated is host 2, since the distance between host 1 and host 2 is 2m, the coordinate position of host 2 can be calibrated as (2, 0), that is, the direction of the line connecting host 1 and host 2 is taken as the x-axis direction. Assuming the next host to be calibrated is host 6, since the distance between host 6 and host 1 is 2m, and the distance between host 6 and host 2 is... The coordinates of host 6 can be marked as (0, 2) or (0, -2). The following example uses (0, 2), meaning the direction of the line connecting host 1 and host 6 is taken as the y-axis. Assume the next host to be marked is host 5. Since the distance between host 5 and host 6 is 2m, the distance between host 5 and host 2 is 2m, and the distance between host 5 and host 1 is... The coordinates of host 5 can be marked as (2, 2). Subsequently, the coordinates of host 3, host 4, host 7, and host 8 can be marked in the same way, which will not be elaborated further here. It should be understood that the distance between any two hosts can be obtained using ultrasonic ranging, such as unidirectional or bidirectional ultrasonic ranging.

[0123] Based on the coordinate view of the second device, a global coordinate view can also be generated. This global coordinate view, in addition to the coordinate view of the second device, can also include the coordinate positions of one or more first devices. The following explanation uses one first device as an example. In this embodiment, the first device has an initial coordinate position, or calibration coordinate position. The global coordinate view can include the calibration coordinate position of the first device.

[0124] In one possible implementation, the calibration coordinates of the first deployed device can be pre-defined, such as by directly calibrating the calibration coordinates of the first device based on its initial geographical location. In another possible implementation, the target second device can determine the calibration coordinates of the first device based on the initial distances between the first device and multiple second devices, as well as the coordinates of those multiple second devices. For example, the first device can be located based on the initial distances between it and the multiple second devices (e.g., triangulation, trilateration, etc.). For instance, suppose the initial distances between the first device and host 1, host 2, and host 3 are all... The target second device can determine the calibration coordinate position of the first device as (1, 1), and the generated global coordinate view can be shown in Figure 9.

[0125] As shown in Figure 10, because the first device is mobile, the target second device can determine the coordinate position of the first device in real time / periodically, and then update the global coordinate view to display the current coordinate position of the first device. It should be understood that the coordinate position of the first device can be determined using the four positioning and ranging schemes described above.

[0126] In this embodiment, the target second device can display a prompt message, which may include the direction and distance of the first device's current coordinate position relative to its calibrated coordinate position. For example, the target second device can display the prompt message on a global coordinate view. The prompt message can be in text form, graphic form, or a combination of text and graphics, etc., and is not limited thereto. For instance, as shown in Figure 10, at time A, the prompt message may include the direction (e.g., arrow direction) and distance (3m) of the first device's coordinate position at time A relative to its calibrated coordinate position; at time B, the prompt message may include the direction and distance (4m) of the first device's coordinate position at time B relative to its calibrated coordinate position; and at time C, the prompt message may include the direction and distance (5m) of the first device's coordinate position at time C relative to its calibrated coordinate position.

[0127] In some possible implementations, when the distance difference between the current coordinate position and the calibrated coordinate position of the first device exceeds a distance difference threshold (e.g., 3m), the target second device can display this prompt message. Furthermore, the target second device can issue an alarm to alert the user that the first device is currently far from the calibrated coordinate position.

[0128] In some possible implementations, the target second device may also display other prompts based on the global coordinate view, such as the direction and distance of the coordinate position of one first device relative to the coordinate position of another first device. In some possible implementations, the target second device may also display other prompts based on the global coordinate view, such as the direction and distance of the coordinate position of the first device relative to the coordinate positions of one or more second devices. In the embodiments of this application, the distance between the coordinate positions of the first device and the coordinate positions of the second device can be referred to as the physical distance, and the distance between the current coordinate position of the first device and the calibrated coordinate position of the first device can be referred to as the logical distance.

[0129] It should be noted that the target second device can also determine the corresponding geographical direction in the coordinate view based on direction sensors (such as geomagnetic sensors), i.e., directions such as north, south, east, and west. For example, suppose there are two sets of second devices, each set containing at least two devices, and each set of second devices faces the same direction, i.e., the direction pointed to by the geomagnetic sensor, which is perpendicular to the line connecting the sets of devices in the coordinate view. Furthermore, the orientation of these two sets of second devices (e.g., the orientation of the geomagnetic sensor) can be relative, meaning the geomagnetic sensors of these two sets of second devices can point to each other. In this case, the corresponding geographical direction in the coordinate view can be determined based on the direction corresponding to either set of second devices. For example, taking Figure 10 as an example, assume that host 1, host 2, and host 3 form one group (denoted as group 1), and host 4, host 5, and host 6 form another group (denoted as group 2). The orientations of these two groups of devices are opposite. The geomagnetic sensor corresponding to group 1 points due north, that is, towards host 4 to host 6, and this direction is perpendicular to the line connecting host 1 to host 3. The geomagnetic sensor corresponding to group 2 points due south, that is, towards host 1 to host 3, and this direction is perpendicular to the line connecting host 4 to host 6. In this case, the x-axis direction can be determined as due east, and the y-axis direction as due north. It should be understood that this explanation uses the second device as an example. In some possible implementations, the corresponding geographical direction in the coordinate view can also be determined based on the first device, such as determining the corresponding geographical direction in the coordinate view based on the state of multiple groups of first devices when they are in the calibration coordinate position. For details, please refer to the relevant description in the case of multiple groups of second devices described above.

[0130] It should be understood that the above coordinate positions are described using two-dimensional examples, but this application embodiment does not limit this, and the coordinate positions can also be three-dimensional coordinate positions.

[0131] It should be understood that the above description of generating coordinate views is based on the example of the target second device generating coordinate views. However, this application embodiment does not limit this, and in some possible implementations, the coordinate view can also be generated by the first device, cloud device, or other second devices. Furthermore, the device generating the coordinate view can provide the generated coordinate view to relevant devices that have usage needs. For example, the target second device can provide the generated global coordinate view to the first device, the first device can display the global coordinate view, and the first device can combine its own orientation sensors (such as geomagnetic sensors, gyroscopes, accelerometers, etc.) to display relevant prompt information to accurately indicate to the user the direction (such as due north) and distance (such as 3m) of the first device relative to the calibrated coordinate position.

[0132] The above description of generating coordinate views mainly uses ultrasonic ranging as an example, but this application embodiment does not limit this. Furthermore, in some possible implementations, to improve the reliability of the positioning and ranging scheme provided in this application embodiment, ultrasonic positioning and ranging can be used preferentially. When ultrasonic positioning and ranging malfunctions (such as ultrasonic transmitter module failure, ultrasonic receiver module failure, inability to identify ultrasonic waves, excessive ultrasonic interference, etc.), it can be switched to Bluetooth, WiFi, or a combination of Bluetooth and WiFi for positioning and ranging. After ultrasonic positioning and ranging recovers, it can be switched back to ultrasonic positioning and ranging. The specific flowchart is shown in Figure 11.

[0133] Please refer to Figure 12, which is a flowchart illustrating a positioning and ranging method disclosed in an embodiment of this application. The relevant steps in Figure 12 can be referenced to the four positioning and ranging schemes described above, as well as the related description of generating the coordinate view. As shown in Figure 12, the method may include, but is not limited to, the following steps:

[0134] 1201. Determine the coordinate view, which includes the coordinate position of the second device.

[0135] For example, the target second device can determine a coordinate view that includes the coordinate position of the second device. There can be one or more second devices, including the target second device.

[0136] For details on how the second target device determines the coordinate view, please refer to the relevant descriptions in the above-described scheme for generating coordinate views.

[0137] 1202. Determine the second coordinate position of the first device, which is the calibration coordinate position of the first device, and the coordinate view includes the second coordinate position of the first device.

[0138] For example, the target second device can determine the second coordinate position of the first device. The specific implementation of the target second device determining the second coordinate position of the first device can be found in the relevant description of the above-described scheme for generating a coordinate view.

[0139] 1203. Determine the first coordinate position of the first device at the first time point based on the coordinate position of the second device.

[0140] For example, when there are multiple second devices, the target second device can determine the first distance between the first device and the multiple second devices at a first time point. Then, based on the first distances corresponding to the multiple second devices and the coordinate positions of the multiple second devices, the first coordinate position of the first device at the first time point can be determined. The target second device can be any one of the multiple second devices. Optionally, the number of second devices is greater than or equal to 3. For example, as shown in Figure 13, the distance between the first coordinate position and the target second device can be 0.2m, and the distance between the first coordinate position and the calibrated coordinate position of the first device can be 0.86m.

[0141] The following describes the case where a two-way ranging method is used to determine the first coordinate position. For further details, please refer to the fourth positioning and ranging method described above. In some possible implementations, the first device can send a first ultrasonic signal to multiple second devices, and the multiple second devices can each receive the first ultrasonic signal sent by the first device. The multiple second devices can also each send a second ultrasonic signal to the first device, for example, multiple second devices can each send a second ultrasonic signal to the first device after receiving the first ultrasonic signal sent by the first device. For a single second device, the target second device can determine the first distance between itself and the target second device based on the time point at which the first device receives its own first ultrasonic signal, the time point at which the first device receives the second ultrasonic signal sent by the target second device, the time point at which the target second device receives the first ultrasonic signal, and the time point at which the target second device receives its own second ultrasonic signal. Taking the determination of the first distance between the first device and the target second device at the first time point as an example, the target second device can determine the first distance between itself and the target second device at the first time point based on the first time point, the second time point, the third time point, the fourth time point, the second distance, and the third distance. Wherein, the first time point is the time when the first device receives the first ultrasonic signal, that is, the time when the ultrasonic receiving module of the first device first receives the first ultrasonic signal sent by the ultrasonic transmitting module of the first device; the second time point is the time when the target second device receives the first ultrasonic signal, that is, the time when the ultrasonic receiving module of the target second device first receives the first ultrasonic signal sent by the ultrasonic transmitting module of the first device; the third time point is the time when the target second device receives the second ultrasonic signal sent by itself, that is, the time when the ultrasonic receiving module of the target second device first receives the second ultrasonic signal sent by its own ultrasonic transmitting module; the fourth time point is the time when the first device receives the second ultrasonic signal sent by the target second device, that is, the time when the ultrasonic receiving module of the first device first receives the second ultrasonic signal sent by the ultrasonic transmitting module of the target second device; the second distance is the distance between the ultrasonic transmitting module and the ultrasonic receiving module of the first device; and the third distance is the distance between the ultrasonic transmitting module and the ultrasonic receiving module of the target second device.

[0142] Optionally, in the above-mentioned two-way ranging scenario, the first distance between the first device and multiple second devices at the first time point can also be regarded as the first distance between the first device and multiple second devices at the second, third, and fourth time points, or as the first distance between the first device and multiple second devices at any time point between the first and fourth time points.

[0143] In some possible implementations, the time difference between the second time point and the third time point is less than the first time threshold.

[0144] The following describes the scenario where the first coordinate position is determined by simultaneously transmitting wireless and ultrasonic signals. For further details, please refer to the first positioning and ranging method described above. In some possible implementations, multiple second devices can simultaneously transmit a first wireless signal and a first ultrasonic signal to the first device. The target second device can determine the first distance between itself and each of the second devices based on the time points at which the first device receives the first wireless signal and the first ultrasonic signal transmitted by each second device. Taking the target second device as an example, the target second device can simultaneously transmit the first wireless signal and the first ultrasonic signal to the first device. Then, the target second device can determine the first distance between itself and the first device based on the time difference between a first time point and a fifth time point. Here, the first time point is the time when the first device receives the first wireless signal, and the fifth time point is the time when the first device receives the first ultrasonic signal.

[0145] Optionally, in the above-mentioned ranging scenario, the first distance between the first device and multiple second devices at the first time point can also be regarded as the first distance between the first device and multiple second devices at the fifth time point, or as the first distance between the first device and multiple second devices at any time point between the first time point and the fifth time point.

[0146] In some possible implementations, the second coordinate position of the first device can also be determined using the two methods described above.

[0147] For example, when there is only one second device, the coordinate position of the first device can be determined based on the propagation direction of the ultrasonic signal, the distance between the second device and the first device, and the coordinate position of the second device.

[0148] In some possible implementations, the target second device may preferentially use ultrasonic positioning and ranging to determine the distance between the first device and multiple second devices, such as determining the first distance between the first device and multiple second devices at a first time point. In the event of abnormal ultrasonic positioning and ranging, Bluetooth, WiFi, star flash, or a combination of multiple methods may be used to determine the distance between the first device and multiple second devices. After ultrasonic positioning and ranging is restored, it may be switched back to ultrasonic positioning and ranging.

[0149] 1204. Display the coordinate view, which includes the coordinate position of the second device, the second coordinate position of the first device, and the first coordinate position of the first device.

[0150] For example, after the target second device determines the first coordinate position of the first device at the first time point, the first coordinate position of the first device can be displayed in the coordinate view.

[0151] 1205. Issue a prompt, which includes the direction and distance of the first coordinate position relative to the second coordinate position.

[0152] For example, the target second device may issue a prompt based on a coordinate view, which includes the direction and distance of the first coordinate position relative to the second coordinate position.

[0153] In some possible implementations, the target second device may issue a prompt when the distance difference between the first coordinate position and the second coordinate position is greater than a distance difference threshold.

[0154] In some possible implementations, based on the aforementioned bidirectional ranging, multiple second devices can periodically send second ultrasonic signals to the first device. Taking a target second device as an example, the target second device can periodically send second ultrasonic signals to the first device. In this case, the target second device can determine the offset distance between the first device and the target second device relative to the first device's corresponding first distance based on the time difference between the time point when the first device receives the periodically sent second ultrasonic signals from the target second device and a fourth time point.

[0155] The target second device can also determine a third coordinate position based on the coordinate positions of multiple second devices, the first offset distances corresponding to the multiple second devices, and the first distances corresponding to the multiple second devices. The third coordinate position can be the coordinate position of the first device at a sixth time point, and the sixth time point corresponds to the first offset distance, as shown in Figure 13. For example, the first offset distance can be the offset distance corresponding to a certain cycle (denoted as the first cycle), and the sixth time point can be any time point between the earliest time point in the cycle when the multiple second devices send the second ultrasonic signal and the latest time point in the cycle when the first device receives the second ultrasonic signal sent by the multiple second devices. After the target second device determines the third coordinate position, it can update and display a coordinate view, which can include the coordinate positions of the second devices, the second coordinate positions of the first device, and the third coordinate position of the first device.

[0156] Optionally, when the duration of bidirectional ranging plus periodic unidirectional ranging reaches a preset time threshold, bidirectional ranging plus periodic unidirectional ranging can be re-triggered. For example, when the preset time threshold is reached after the target second device receives the first ultrasonic signal sent by the first device, the target second device can re-receive the first ultrasonic signal sent by the first device.

[0157] In some possible implementations, based on the simultaneous transmission of the first wireless signal and the first ultrasonic signal by the multiple second devices, the multiple second devices may periodically transmit the first ultrasonic signal to the first device. Taking the target second device as an example, the target second device may periodically transmit the first ultrasonic signal to the first device. In this case, the target second device may determine the offset distance between the first device and the target second device relative to the first distance of the periodically transmitted first ultrasonic signal by the target second device based on the time difference between the time point when the first device receives the first ultrasonic signal periodically transmitted by the target second device and the fifth time point.

[0158] The target second device can also determine a third coordinate position based on the coordinate positions of multiple second devices, the first offset distances corresponding to the multiple second devices, and the first distances corresponding to the multiple second devices. The third coordinate position can be the coordinate position of the first device at a sixth time point, and the sixth time point corresponds to the first offset distance. For example, the first offset distance can be the offset distance corresponding to a certain cycle (denoted as the first cycle), and the sixth time point can be any time point between the earliest time point in the cycle when the multiple second devices send the first ultrasonic signal and the latest time point in the cycle when the first device receives the first ultrasonic signal sent by the multiple second devices. After the target second device determines the third coordinate position, it can update and display a coordinate view, which can include the coordinate positions of the second devices, the second coordinate positions of the first device, and the third coordinate position of the first device.

[0159] Optionally, when the duration of periodically transmitting the first ultrasonic signal reaches a preset time threshold, multiple second devices can be re-triggered to simultaneously transmit wireless and ultrasonic signals. For example, after the target second device simultaneously transmits the first wireless signal and the first ultrasonic signal to the first device, and the preset time threshold is reached, the target second device re-transmits the first wireless signal and the first ultrasonic signal to the first device simultaneously.

[0160] In some possible implementations, the aforementioned preset time threshold is determined based on clock offset parameters and positioning ranging requirements (such as ranging error less than 5cm). The clock offset parameters include the clock offset parameters of the first device and / or the clock offset parameters of multiple second devices.

[0161] It should be noted that the above description of positioning and ranging mainly uses the example of a fixed second device, but this application does not limit this. In some possible implementations, the second device may have mobility, such as "relative" mobility.

[0162] In the above processing flow, the target second device can determine the coordinate view, which may include the current coordinate position of the first device, the calibrated coordinate position of the first device, the coordinate position of the second device, etc. In addition, the target second device can also issue prompts to indicate to the user the direction and distance of the current coordinate position of the first device relative to the calibrated coordinate position of the first device. In this way, it can help the user manage the first device, such as helping the user return the first device to its original position, that is, to reposition the first device to its calibrated coordinate position.

[0163] It should be noted that the relevant information and descriptions in the different embodiments described above can be referenced interchangeably. It should also be noted that although the above description mainly uses the target second device as the execution subject, in some possible implementations, the operations performed by the target second device can also be performed by the first device, other second devices besides the target second device, cloud devices, etc., or the operations performed by the target second device can be performed collaboratively by the first device, one or more second devices, cloud devices, etc., such as some operations being performed by the target second device, some by the first device, and some by the cloud device, etc., which are not limited here.

[0164] It should be understood that Figure 12 above mainly uses the target second device as the execution subject in the interaction illustration to illustrate the above processing flow, but this application does not limit the execution subject of this interaction illustration. For example, the target second device in Figure 12 can also be a chip, chip system, or processor that supports the target second device in implementing the method, or it can be a logic module or software that can implement all or part of the target second device.

[0165] The foregoing mainly describes the positioning and ranging method provided in the embodiments of this application. It is understood that the aforementioned second target device, in order to achieve the corresponding functions, may include hardware structures and / or software modules corresponding to the execution of each function. Based on the units and steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0166] This application embodiment can divide the target second device, etc., into functional modules according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0167] Figure 14 shows a possible structural diagram of the positioning and ranging device 1400, where each functional module is divided according to its corresponding function. The positioning and ranging device 1400 may include a processing unit 1401 and a display unit 1402. The positioning and ranging device 1400 may also include an ultrasonic unit 1403 and a wireless communication unit 1404. In one possible implementation, the ultrasonic unit 1403 includes at least one of an ultrasonic transmitting unit and an ultrasonic receiving unit. The ultrasonic transmitting unit and the ultrasonic receiving unit may be integrated together or are two independent units, etc. In one possible implementation, the wireless communication unit 1404 includes at least one of a wireless transmitting unit or a wireless receiving unit. The wireless transmitting unit and the wireless receiving unit may be integrated together or are two independent units, etc. In one possible design, the positioning and ranging device 1400 may be the aforementioned target second device, or it may be a component (e.g., a processor, chip, chip system, circuit, or functional module) within the target second device, or it may be a processing system within the target second device, etc.

[0168] When the positioning and ranging device 1400 is used for the function of the target second device in the embodiment shown in FIG12 above, for example:

[0169] Processing unit 1401 is used to determine a coordinate view, which includes the coordinate position of the second device;

[0170] The processing unit 1401 is further configured to determine a second coordinate position of the first device, the second coordinate position being the calibration coordinate position of the first device, and the coordinate view further including the second coordinate position of the first device;

[0171] The processing unit 1401 is further configured to determine the first coordinate position of the first device at the first time point based on the coordinate position of the second device;

[0172] Display unit 1402 is used to display the coordinate view, which includes the coordinate position of the second device, the second coordinate position of the first device, and the first coordinate position of the first device;

[0173] The processing unit 1401 is also configured to issue a prompt, the prompt including the direction and distance of the first coordinate position relative to the second coordinate position.

[0174] In one possible implementation, the processing unit 1401 issues a prompt when the distance difference between the first coordinate position and the second coordinate position is greater than a distance difference threshold.

[0175] In one possible implementation, there are multiple second devices, and the processing unit 1401 is further configured to determine a first distance between the first device and the multiple second devices at the first time point; the processing unit 1401 determines the first coordinate position of the first device at the first time point based on the coordinate position of the second devices, including: determining the first coordinate position of the first device at the first time point based on the first distance corresponding to the multiple second devices and the coordinate positions of the multiple second devices.

[0176] In one possible implementation, the ultrasonic unit 1403 is configured to receive a first ultrasonic signal transmitted by the first device, and the target second device is any one of the plurality of second devices; the ultrasonic unit 1403 is further configured to transmit a second ultrasonic signal to the first device; the processing unit 1401 determines the first distance between the first device and the plurality of second devices at the first time point by: determining the first distance between the first device and the target second device at the first time point based on the first time point, the second time point, the third time point, the fourth time point, the second distance, and the third distance; the first time point is the time point at which the first device receives the first ultrasonic signal. The second time point is the time when the positioning and ranging device 1400 receives the first ultrasonic signal; the third time point is the time when the positioning and ranging device 1400 receives the second ultrasonic signal sent by the positioning and ranging device 1400; the fourth time point is the time when the first device receives the second ultrasonic signal sent by the positioning and ranging device 1400; the second distance is the distance between the ultrasonic transmitting module (ultrasonic transmitting unit) and the ultrasonic receiving module (ultrasonic receiving unit) of the first device; and the third distance is the distance between the ultrasonic transmitting module and the ultrasonic receiving module of the positioning and ranging device 1400.

[0177] In one possible implementation, the time difference between the second time point and the third time point is less than the first time threshold.

[0178] In one possible implementation, the ultrasonic unit 1403 is further configured to periodically send the second ultrasonic signal to the first device; the processing unit 1401 is further configured to determine the offset distance between the first device and the target second device relative to the first distance of the target second device based on the time difference between the time point at which the first device receives the second ultrasonic signal periodically sent by the positioning and ranging device 1400 and the fourth time point.

[0179] In one possible implementation, the ultrasonic unit 1403 and the wireless communication unit 1404 are used to simultaneously send a first wireless signal and a first ultrasonic signal to the first device, and the target second device is any one of the plurality of second devices; the processing unit 1401 determines the first distance between the first device and the plurality of second devices at the first time point by: determining the first distance between the first device and the target second device based on the time difference between the first time point and the fifth time point, wherein the first time point is the time point at which the first device receives the first wireless signal, and the fifth time point is the time point at which the first device receives the first ultrasonic signal.

[0180] In one possible implementation, the ultrasonic unit 1403 is further configured to periodically send the first ultrasonic signal to the first device; the processing unit 1401 is further configured to determine the offset distance between the first device and the target second device relative to the first distance corresponding to the target second device based on the time difference between the time point when the first device receives the first ultrasonic signal periodically sent by the positioning and ranging device 1400 and the fifth time point.

[0181] In one possible implementation, the processing unit 1401 is further configured to determine a third coordinate position based on the coordinate positions of the plurality of second devices, the first offset distance corresponding to the plurality of second devices, and the first distance corresponding to the plurality of second devices. The third coordinate position is the coordinate position of the first device at a sixth time point, the sixth time point corresponding to the first offset distance, and the offset distance includes the first offset distance. The display unit 1402 is further configured to display an updated coordinate view, the coordinate view including the coordinate positions of the second devices, the second coordinate positions of the first devices, and the third coordinate positions of the first devices.

[0182] In one possible implementation, when a preset time threshold is reached after the ultrasonic unit 1403 receives the first ultrasonic signal sent by the first device, the ultrasonic unit 1403 resumes receiving the first ultrasonic signal sent by the first device.

[0183] In one possible implementation, when a preset time threshold is reached after the ultrasonic unit 1403 simultaneously transmits the first wireless signal and the first ultrasonic signal to the first device, the ultrasonic unit 1403 retransmits the first wireless signal and the first ultrasonic signal to the first device simultaneously.

[0184] In one possible implementation, the preset time threshold is determined based on clock offset parameters and positioning ranging requirements, wherein the clock offset parameters include the clock offset parameters of the first device and / or the clock offset parameters of the plurality of second devices.

[0185] The specific operation of each unit in the above-mentioned positioning and ranging device 1400 can be found in the embodiment shown in Figure 12 above and the description of the target second device in other related embodiments, which will not be repeated here.

[0186] Figure 15 shows a possible hardware structure diagram of the positioning and ranging device 1500 provided in an embodiment of this application. The positioning and ranging device 1500 may include at least one processor 1502. Optionally, it may also include a bus 1503. Further optionally, it may also include a wireless communication interface 1504, an ultrasonic module 1505, and at least one memory 1501, wherein the memory 1501, processor 1502, ultrasonic module 1505, and wireless communication interface 1504 can be connected through the bus 1503. Optionally, the positioning and ranging device 1500 may also include a display module (not shown in Figure 15), which can be used to display content.

[0187] The memory 1501 provides storage space, which can store data such as the operating system and computer programs. The memory 1501 can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0188] Processor 1502 is a module that performs arithmetic and / or logical operations. Specifically, it can be one or a combination of processing modules such as a central processing unit (CPU), graphics processing unit (GPU), microprocessor unit (MPU), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), complex programmable logic device (CPLD), coprocessor (assisting the CPU in completing corresponding processing and applications), and microcontroller unit (MCU). For example, processor 1502 can be used to process communication protocols and communication data.

[0189] The wireless communication interface 1504 is used to receive and / or transmit data to external sources. Optionally, the wireless communication interface 1504 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) and / or a receiver coupled to the interface. For example, the wireless communication interface 1504 may include control circuitry and an antenna, the control circuitry being primarily used for processing radio frequency signals. The antenna is primarily used for transmitting and receiving radio frequency signals in the form of electromagnetic waves.

[0190] The ultrasonic module 1505 may include an ultrasonic transmitting module and / or an ultrasonic receiving module. The ultrasonic transmitting module can be used to transmit ultrasonic signals, and the ultrasonic receiving module can be used to receive ultrasonic signals.

[0191] In one design, the positioning and ranging device 1500 can be used to perform the function of the target second device in the embodiment shown in FIG12 above. For details, please refer to the relevant description of the target second device in FIG12 above, which will not be repeated here.

[0192] In one possible design, memory 1501 may store instructions, which may be computer programs that run on processor 1502, causing positioning and ranging device 1500 to perform the operations performed by the target second device in any of the above method embodiments. For details, please refer to the relevant description in Figure 12 above, which will not be elaborated here.

[0193] It should be noted that the positioning and ranging device 1500 shown in Figure 15 is only one implementation of the embodiment of this application. In actual applications, the positioning and ranging device 1500 may include more or fewer components, which is not limited here.

[0194] This application also discloses a positioning and ranging system, which includes at least one of a target second device and a first device, wherein the target second device is used to perform the operation performed by the target second device in any of the above method embodiments, and the first device is used to perform the operation performed by the first device in any of the above method embodiments.

[0195] This application also discloses a first device for performing the operations performed by the first device in any of the above method embodiments.

[0196] This application also discloses a chip, which includes a processor, wherein the processor is configured to execute a computer program or computer instructions stored in a memory, causing the chip to perform the operation performed by the target second device in the above method embodiments, or causing the chip to perform the operation performed by the first device in the above method embodiments.

[0197] As one possible implementation, the memory is located outside the chip.

[0198] This application also discloses a computer-readable storage medium storing instructions thereon, which, when executed, perform the operations performed by the target second device in the above method embodiments, or the operations performed by the first device in the above method embodiments.

[0199] This application also discloses a computer program product including instructions that, when executed, perform the operations performed by the target second device in the above method embodiments, or the operations performed by the first device in the above method embodiments.

[0200] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described herein can be combined with other embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects and are not used to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, it may include a series of steps or units, or optionally, steps or units not listed, or optionally other steps or units inherent to these processes, methods, products, or devices. It is also understandable that, for an architecture with multiple devices or modules, if one device or module generates a piece of information and another device or module uses that information, there are multiple ways for the other device to obtain that information. For example, the device or module that generated the information may send the information directly to the device or module that used the information (equivalent to direct sending), or the device or module that generated the information may send the information to the device or module that used the information through other devices or modules (equivalent to indirect sending).

[0201] It is understood that the accompanying drawings show only the parts relevant to this application and not all of them. It should be understood that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0202] The terms “component,” “module,” “system,” “unit,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, a thread of execution, a program, and / or distributed between two or more computers. Furthermore, these units can be executed from various computer-readable media on which various data structures are stored. For example, a unit can communicate via local and / or remote processes based on signals having one or more data packets (e.g., data from a second unit interacting with another unit between a local system, a distributed system, and / or a network; for example, the Internet interacting with other systems via signals).

[0203] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only a specific embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this application should be included within the scope of protection of this application.

Claims

1. A positioning and ranging method, characterized in that, The method includes: Determine a coordinate view, the coordinate view including the coordinate position of the second device; Determine the second coordinate position of the first device, the second coordinate position being the calibrated coordinate position of the first device, and the coordinate view further includes the second coordinate position of the first device; The first coordinate position of the first device at the first time point is determined based on the coordinate position of the second device. The coordinate view is displayed, which includes the coordinate position of the second device, the second coordinate position of the first device, and the first coordinate position of the first device. A prompt is issued, which includes the direction and distance of the first coordinate position relative to the second coordinate position.

2. The method according to claim 1, characterized in that, The notification includes: A prompt is issued when the distance difference between the first coordinate position and the second coordinate position is greater than the distance difference threshold.

3. The method according to claim 1 or 2, characterized in that, The second device may be multiple, and the method further includes: Determine the first distance between the first device and the plurality of second devices at the first time point; Determining the first coordinate position of the first device at the first time point based on the coordinate position of the second device includes: Based on the first distances corresponding to the plurality of second devices and the coordinate positions of the plurality of second devices, the first coordinate position of the first device at the first time point is determined.

4. The method of claim 3, wherein, The method further includes: The target second device receives the first ultrasonic signal sent by the first device, wherein the target second device is any one of the plurality of second devices; The target second device sends a second ultrasonic signal to the first device; The first distance between the first device and the plurality of second devices at the first time point includes: Based on the first time point, the second time point, the third time point, the fourth time point, the second distance, and the third distance, a first distance between the first device and the target second device is determined at the first time point; the first time point is the time when the first device receives the first ultrasonic signal, the second time point is the time when the target second device receives the first ultrasonic signal, the third time point is the time when the target second device receives the second ultrasonic signal sent by the target second device, the fourth time point is the time when the first device receives the second ultrasonic signal sent by the target second device, the second distance is the distance between the ultrasonic transmitting module and the ultrasonic receiving module of the first device, and the third distance is the distance between the ultrasonic transmitting module and the ultrasonic receiving module of the target second device.

5. The method according to claim 4, characterized in that, The time difference between the second time point and the third time point is less than the first time threshold.

6. The method according to claim 4 or 5, characterized in that, The method further includes: The target second device periodically sends the second ultrasonic signal to the first device; Based on the time difference between the time point at which the first device receives the second ultrasonic signal periodically transmitted by the target second device and the fourth time point, the offset distance between the first device and the target second device relative to the first distance corresponding to the target second device is determined.

7. The method of claim 3, wherein, The method further includes: The target second device simultaneously sends a first wireless signal and a first ultrasonic signal to the first device, wherein the target second device is any one of the plurality of second devices; The first distance between the first device and the plurality of second devices at the first time point includes: The first distance between the first device and the target second device is determined based on the time difference between the first time point and the fifth time point. The first time point is the time when the first device receives the first wireless signal, and the fifth time point is the time when the first device receives the first ultrasonic signal.

8. The method of claim 7, wherein, The method further includes: The target second device periodically sends the first ultrasonic signal to the first device; Based on the time difference between the time point at which the first device receives the first ultrasonic signal periodically transmitted by the target second device and the fifth time point, the offset distance between the first device and the target second device relative to the first distance corresponding to the target second device is determined.

9. The method according to claim 6 or 8, characterized in that, The method further includes: A third coordinate position is determined based on the coordinate positions of the plurality of second devices, the first offset distance corresponding to the plurality of second devices, and the first distance corresponding to the plurality of second devices. The third coordinate position is the coordinate position of the first device at the sixth time point. The sixth time point corresponds to the first offset distance, and the offset distance includes the first offset distance. Update and display the coordinate view, which includes the coordinate position of the second device, the second coordinate position of the first device, and the third coordinate position of the first device.

10. The method according to any one of claims 4-6, characterized in that, The method further includes: When a preset time threshold is reached after the target second device receives the first ultrasonic signal sent by the first device, the target second device re-receives the first ultrasonic signal sent by the first device.

11. The method of claim 7 or 8, wherein, The method further includes: When a preset time threshold is reached after the target second device simultaneously sends the first wireless signal and the first ultrasonic signal to the first device, the target second device resends the first wireless signal and the first ultrasonic signal to the first device simultaneously.

12. The method according to claim 10 or 11, characterized in that, The preset time threshold is determined based on clock offset parameters and positioning ranging requirements. The clock offset parameters include the clock offset parameters of the first device and / or the clock offset parameters of the plurality of second devices.

13. A position location system characterized by Includes a second target device, said second target device being used to implement the method according to any one of claims 1-12.

14. A position location ranging device, characterized by Includes modules for implementing the method as described in any one of claims 1-12.

15. A position location ranging device, comprising: Includes a processor, the processor being configured to cause the positioning and ranging device to perform the method as described in any one of claims 1-12.

16. A computer readable storage medium characterized by: The computer-readable storage medium stores a computer program or computer instructions that are executed by a processor to implement the method as described in any one of claims 1-12.

17. A computer program product, characterised in that, The computer program product includes computer program code or computer instructions, which, when executed, implement the method described in any one of claims 1-12.

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