CN109557528A - Localization method, electronic equipment and server for multiple electronic equipments - Google Patents
Localization method, electronic equipment and server for multiple electronic equipments Download PDFInfo
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- CN109557528A CN109557528A CN201710878670.7A CN201710878670A CN109557528A CN 109557528 A CN109557528 A CN 109557528A CN 201710878670 A CN201710878670 A CN 201710878670A CN 109557528 A CN109557528 A CN 109557528A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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Abstract
Present disclose provides a kind of localization method for multiple electronic equipments, above-mentioned multiple electronic equipments include local terminal and at least one opposite end, and the above method includes: the first signal strength data group for obtaining the wireless signal that at least one above-mentioned opposite end is sent；Obtain the second signal intensity data group that at least one above-mentioned opposite end itself receives other electronic equipments；And relative position between above-mentioned multiple electronic equipments is determined according to above-mentioned first signal strength data group and above-mentioned second signal intensity data group.The disclosure additionally provides a kind of electronic equipment and a kind of server.
Description
Technical field
This disclosure relates to a kind of for the localization method of multiple electronic equipments, a kind of electronic equipment and a kind of server.
Background technique
Currently, common location technology includes GPS satellite positioning, the positioning of CDMA mobile communication technology etc., affect
The every aspect of people's life.For example, user, by the available path for leading to destination of location technology, police utilizes positioning
The exact position etc. of the available suspect of technology.
However, in implementing the present disclosure, inventor's discovery at least has the following technical problems in the related technology: phase
The locating scheme provided in the technology of pass, is limited by application scenarios, it will usually the problem of low positioning accuracy or positioning failure occurs.
Summary of the invention
An aspect of this disclosure provides a kind of localization method for multiple electronic equipments, above-mentioned multiple electronic equipments
Including local terminal and at least one opposite end, the above method includes: obtain the wireless signal that at least one above-mentioned opposite end is sent first
Signal strength data group；Obtain the second signal intensity data that at least one above-mentioned opposite end itself receives other electronic equipments
Group；And above-mentioned multiple electronic equipments are determined according to above-mentioned first signal strength data group and above-mentioned second signal intensity data group
Between relative position.
Optionally, it is determined according to above-mentioned first signal strength data group and above-mentioned second signal intensity data group above-mentioned multiple
Relative position between electronic equipment includes: the wireless signal sent according at least one above-mentioned opposite end that above-mentioned local terminal obtains
First signal strength data group, calculate between each opposite end in above-mentioned local terminal and at least one above-mentioned opposite end first it is opposite away from
From；And according to the first relative distance calculated result, and above-mentioned each opposite end and above-mentioned are determined by object of reference of above-mentioned local terminal
First area where the relative position at end.
Optionally, at least one above-mentioned opposite end includes the first opposite end and the second opposite end, at least one above-mentioned opposite end itself connects
The second signal intensity data group for receiving other electronic equipments includes that above-mentioned second opposite end that receives of above-mentioned first opposite end is sent
Wireless signal signal strength data, the above method further include: above-mentioned second opposite end received according to above-mentioned first opposite end
The signal strength data of the wireless signal of transmission, calculate between above-mentioned first opposite end and above-mentioned second opposite end second it is opposite away from
From；Above-mentioned second opposite end and above-mentioned the are determined according to the second relative distance calculated result, and by object of reference of above-mentioned first opposite end
Second area where the relative position of a pair of end；And according to above-mentioned second area and above-mentioned first area, determine above-mentioned
The relative position of two opposite ends.
Optionally, at least one above-mentioned opposite end further includes third opposite end, at least one above-mentioned opposite end itself receives other
The second signal intensity data group of electronic equipment further includes the wireless of the above-mentioned third opposite end transmission that above-mentioned second opposite end receives
The signal strength data of signal, the above method further include: sent according to the above-mentioned third opposite end that above-mentioned second opposite end receives
The signal strength data of wireless signal calculates the third relative distance between above-mentioned second opposite end and above-mentioned third opposite end；According to
Third relative distance calculated result, and above-mentioned third opposite end and above-mentioned second opposite end are determined by object of reference of above-mentioned second opposite end
Third region where relative position；And according to above-mentioned third opposite end with the relative position of above-mentioned second opposite end where it is above-mentioned
Above-mentioned first area where third region and above-mentioned third opposite end and the relative position of above-mentioned local terminal, alternatively, according to above-mentioned the
Above-mentioned third region and above-mentioned third opposite end and above-mentioned first opposite end where the relative position of three opposite ends and above-mentioned second opposite end
Relative position where second area, determine the relative position of above-mentioned third opposite end.
Optionally, above-mentioned first opposite end is less than above-mentioned second opposite end relative to above-mentioned relative to the relative distance of above-mentioned local terminal
The relative distance of local terminal, above-mentioned second opposite end are less than above-mentioned third opposite end relative to above-mentioned relative to the relative distance of above-mentioned local terminal
The relative distance of local terminal.
Optionally, the above method further include: the wireless communication sent according at least one above-mentioned opposite end that above-mentioned local terminal obtains
Number signal strength data, calculate the similarity between above-mentioned local terminal and at least one above-mentioned opposite end；According to similarity calculation knot
Fruit determines the opposite end most like with above-mentioned local terminal from least one above-mentioned opposite end；And by above-mentioned with above-mentioned local terminal most phase
As opposite end as at least one above-mentioned opposite end with above-mentioned local terminal apart from nearest opposite end.
Optionally, above-mentioned multiple electronic equipments include at least one first equipment group and second equipment group, and above-mentioned
One equipment group includes at least two electronic equipments, and above-mentioned second equipment group also includes at least two electronic equipments, and the above method is also
It include: that first server according to third signal strength data group and above-mentioned fourth signal intensity data group determines above-mentioned first equipment
The relative position between electronic equipment in group, wherein above-mentioned third signal strength data group includes in above-mentioned first equipment group
Opposite end send wireless signal signal strength data, above-mentioned fourth signal intensity data group includes in above-mentioned first equipment group
The received wireless signal in opposite end itself signal strength data；And second server according to the 5th signal strength data group and
Above-mentioned 6th signal strength data group determines the relative position between the electronic equipment in above-mentioned second equipment group, wherein above-mentioned
5th signal strength data group includes the signal strength data for the wireless signal that the opposite end in above-mentioned second equipment group is sent, above-mentioned
6th signal strength data group includes the signal strength data of the received wireless signal in opposite end in above-mentioned second equipment group itself,
Wherein, above-mentioned first server and above-mentioned second server are distributed server.
Optionally, above-mentioned electronic equipment is robot or unmanned plane.
Another aspect of the disclosure provides a kind of electronic equipment, including sender unit, signal receiver and processing
Device.Sender unit is used to send wireless signal at least one opposite end electronic equipment；Signal receiver for receive it is above-mentioned extremely
The the first signal strength data group and at least one above-mentioned opposite end electronic equipment itself for the wireless signal that a few opposite end is sent connect
Receive the second signal intensity data group of other electronic equipments；And above-mentioned processor runs program, to execute according to institute as above
The method stated.
Another aspect of the disclosure provides a kind of server, including obtains module, receiving module and determining module.It obtains
Modulus block is used to obtain the first signal strength data group of the wireless signal of at least one electronic equipment transmission；Receiving module is used for
Obtain the second signal intensity data group that at least one above-mentioned electronic equipment itself receives other electronic equipments；And determine mould
Block is used to determine multiple above-mentioned electronic equipments according to above-mentioned first signal strength data group and above-mentioned second signal intensity data group
Between relative position.
Optionally, above-mentioned determining module includes computing unit and determination unit.Computing unit according to above-mentioned local terminal for obtaining
At least one above-mentioned opposite end send wireless signal the first signal strength data group, calculate above-mentioned local terminal and it is above-mentioned at least
The first relative distance between each opposite end in one opposite end；And determination unit is used to be calculated according to the first relative distance and tie
Fruit, and determine using above-mentioned local terminal as object of reference the first area where the relative position of above-mentioned each opposite end and above-mentioned local terminal.
Optionally, at least one above-mentioned opposite end includes the first opposite end and the second opposite end, at least one above-mentioned opposite end itself connects
The second signal intensity data group for receiving other servers includes that above-mentioned second opposite end that receives of above-mentioned first opposite end is sent
The signal strength data of wireless signal, above-mentioned server further include the first computing module, the first determining module and the second determining mould
Block.The signal for the wireless signal that above-mentioned second opposite end that first computing module is used to be received according to above-mentioned first opposite end is sent is strong
Degree evidence calculates the second relative distance between above-mentioned first opposite end and above-mentioned second opposite end；First determining module is used for basis
Second relative distance calculated result, and above-mentioned second opposite end and above-mentioned first opposite end are determined by object of reference of above-mentioned first opposite end
Second area where relative position；And second determining module be used for according to above-mentioned second area and above-mentioned first area, really
The relative position of fixed above-mentioned second opposite end.
Optionally, at least one above-mentioned opposite end further includes third opposite end, at least one above-mentioned opposite end itself receives other
The second signal intensity data group of server further includes the wireless communication for the above-mentioned third opposite end transmission that above-mentioned second opposite end receives
Number signal strength data, above-mentioned server further includes the second computing module, third determining module and the 4th determining module.Second
The signal strength data for the wireless signal that the above-mentioned third opposite end that computing module is used to be received according to above-mentioned second opposite end is sent,
Calculate the third relative distance between above-mentioned second opposite end and above-mentioned third opposite end；Third determining module is used for according to third phase pair
Apart from calculated result, and determine using above-mentioned second opposite end as object of reference the relative position of above-mentioned third opposite end Yu above-mentioned second opposite end
The third region at place；And the 4th determining module be used for according to the relative position institute of above-mentioned third opposite end and above-mentioned second opposite end
Above-mentioned third region and above-mentioned third opposite end and above-mentioned local terminal relative position where above-mentioned first area, alternatively, root
According to above-mentioned third opposite end with the relative position of above-mentioned second opposite end where above-mentioned third region and above-mentioned third opposite end with it is above-mentioned
Second area where the relative position of first opposite end determines the relative position of above-mentioned third opposite end.
Optionally, above-mentioned first opposite end is less than above-mentioned second opposite end relative to above-mentioned relative to the relative distance of above-mentioned local terminal
The relative distance of local terminal, above-mentioned second opposite end are less than above-mentioned third opposite end relative to above-mentioned relative to the relative distance of above-mentioned local terminal
The relative distance of local terminal.
Optionally, above-mentioned server further includes third computing module, the 5th determining module and the 6th determining module.Third meter
The signal strength data for calculating the wireless signal that at least one above-mentioned opposite end that module is used to obtain according to above-mentioned local terminal is sent, calculates
Similarity between above-mentioned local terminal and at least one above-mentioned opposite end；5th determining module be used for according to similarity calculation as a result, from
The opposite end most like with above-mentioned local terminal is determined at least one above-mentioned opposite end；And the 6th determining module be used for by it is above-mentioned with
State the most like opposite end of local terminal as at least one above-mentioned opposite end with above-mentioned local terminal apart from nearest opposite end.
Another aspect of the present disclosure provides a kind of non-volatile memory medium, is stored with computer executable instructions, on
Instruction is stated when executed for realizing method as described above.
Another aspect of the present disclosure provides a kind of computer program, and above-mentioned computer program, which includes that computer is executable, to be referred to
It enables, above-metioned instruction is when executed for realizing method as described above.
Detailed description of the invention
In order to which the disclosure and its advantage is more fully understood, referring now to being described below in conjunction with attached drawing, in which:
Fig. 1 diagrammatically illustrates the applied field of the localization method for multiple electronic equipments according to the embodiment of the present disclosure
Scape；
Fig. 2 diagrammatically illustrates the flow chart of the localization method for multiple electronic equipments according to the embodiment of the present disclosure；
Fig. 3 A is diagrammatically illustrated according to the strong according to the first signal strength data group and second signal of the embodiment of the present disclosure
Degree data group determines the flow chart of the relative position between multiple electronic equipments；
Fig. 3 B diagrammatically illustrates the schematic diagram of the relative position between the electronic equipment according to the embodiment of the present disclosure；
Fig. 3 C diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu；
Fig. 3 D diagrammatically illustrates the schematic diagram of the relative position between the electronic equipment according to another embodiment of the disclosure；
Fig. 3 E diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu；
Fig. 3 F diagrammatically illustrates the schematic diagram of the relative position between the electronic equipment according to another embodiment of the disclosure；
Fig. 3 G diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu；
Fig. 3 H diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu；
Fig. 4 diagrammatically illustrates the block diagram of the electronic equipment according to the embodiment of the present disclosure；
Fig. 5 diagrammatically illustrates the block diagram of electronic equipment according to another embodiment of the present disclosure；And
Fig. 6 diagrammatically illustrates the block diagram of the server according to the embodiment of the present disclosure.
Specific embodiment
Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are only exemplary
, and it is not intended to limit the scope of the present disclosure.In addition, in the following description, descriptions of well-known structures and technologies are omitted, with
Avoid unnecessarily obscuring the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein
The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of
Or add other one or more features, step, operation or component.
There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without that should be explained with idealization or excessively mechanical mode.
It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to
Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C "
Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or
System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come
Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least
One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have
B and C, and/or the system with A, B, C etc.).It should also be understood by those skilled in the art that substantially arbitrarily indicating two or more
The adversative conjunction and/or phrase of optional project shall be construed as either in specification, claims or attached drawing
A possibility that giving including one of these projects, either one or two projects of these projects.For example, phrase " A or B " should
A possibility that being understood to include " A " or " B " or " A and B ".
Shown in the drawings of some block diagrams and/or flow chart.It should be understood that some sides in block diagram and/or flow chart
Frame or combinations thereof can be realized by computer program instructions.These computer program instructions can be supplied to general purpose computer,
The processor of special purpose computer or other programmable data processing units, so that these instructions are when executed by this processor can be with
Creation is for realizing function/operation device illustrated in these block diagrams and/or flow chart.
Therefore, the technology of the disclosure can be realized in the form of hardware and/or software (including firmware, microcode etc.).Separately
Outside, the technology of the disclosure can take the form of the computer program product on the computer-readable medium for being stored with instruction, should
Computer program product uses for instruction execution system or instruction execution system is combined to use.In the context of the disclosure
In, computer-readable medium, which can be, can include, store, transmitting, propagating or transmitting the arbitrary medium of instruction.For example, calculating
Machine readable medium can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or propagation medium.
The specific example of computer-readable medium includes: magnetic memory apparatus, such as tape or hard disk (HDD)；Light storage device, such as CD
(CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wire/wireless communication link.
Embodiment of the disclosure provides a kind of localization method for multiple electronic equipments, and multiple electronic equipments include this
End and at least one opposite end, the localization method include: the first signal strength for obtaining the wireless signal that at least one opposite end is sent
Data group；Obtain the second signal intensity data group that at least one opposite end itself receives other electronic equipments；And according to
One signal strength data group and second signal intensity data group determine the relative position between multiple electronic equipments.
Fig. 1 diagrammatically illustrates the applied field of the localization method for multiple electronic equipments according to the embodiment of the present disclosure
Scape.
It, can between multiple electronic equipments as shown in Figure 1, in the application scenarios, including electronic equipment A~electronic equipment E
Mutually to send and receive wireless signal data.Wherein, the type of electronic equipment includes but is not limited to mobile phone, tablet computer, machine
Device people and unmanned plane etc..Localization method for multiple electronic equipments include obtain one or more electronic equipments send it is wireless
First signal strength data group of signal, and obtain one or more electronic equipments itself and receive the of other electronic equipments
Binary signal intensity data group.After getting the first signal strength data group and second signal intensity data group, using corresponding
Calculation method be that can determine relative position between multiple electronic equipments.Specifically, for example, electronic equipment A receives other
The signal strength data and electronic equipment A for the wireless signal that electronic equipment is sent also receive other electronic equipments itself and connect
The signal strength data of the wireless signal received, in this case, electronic equipment A is according to its received all signal strength number
According to accordingly being calculated, the relative position between electronic equipment A and other electronic equipments can be determined.
According to the implementation of the disclosure, the localization method for multiple electronic equipments can also be realized beyond the clouds, for example, cloud
The signal that the signal strength data and other electronic equipments itself for obtaining the wireless signal of other electronic equipments transmission receive
Intensity data, and the relative position between multiple electronic equipments is determined according to the signal strength data of acquisition.
In accordance with an embodiment of the present disclosure, the sending device of wireless signal can be according to the reality between positioning accuracy and electronic equipment
Border is determined apart from situation.For example, can be adopted when the actual range between electronic equipment is in 30 meters or so of short-range situation
Wireless signal is sent with the blue-tooth device that electronic equipment carries.
In accordance with an embodiment of the present disclosure, the application scenarios of the above-mentioned localization method for multiple electronic equipments are not by indoor room
Outer equal places limitation.For example, the localization method is basement for environment locating for electronic equipment, the GPS signals such as desert are weaker
Area, alternatively, the localization method carries the position of the tourist of electronic equipment, then alternatively, positioning for tourist group's positioning
Method is formed into columns positioning under various circumstances for robot or unmanned plane.In accordance with an embodiment of the present disclosure, without one or more
Base station is positioned, and the wireless signal data obtained by electronic equipment can reach locating effect.
Fig. 2 diagrammatically illustrates the flow chart of the localization method for multiple electronic equipments according to the embodiment of the present disclosure.
In accordance with an embodiment of the present disclosure, multiple electronic equipments include local terminal and at least one opposite end, as shown in Fig. 2, this is fixed
Position method includes operation S201~S203.
In operation S201, the first signal strength data group of the wireless signal of at least one opposite end transmission is obtained.
In operation S202, the second signal intensity data that at least one opposite end itself receives other electronic equipments is obtained
Group.
In operation S203, multiple electronic equipments are determined according to the first signal strength data group and second signal intensity data group
Between relative position.
In accordance with an embodiment of the present disclosure, which is applied to the positioning between multiple electronic equipments.Wherein, electronics is set
Standby type includes but is not limited to mobile phone, tablet computer, robot and unmanned plane etc..Each electronic equipment all can serve as local terminal
And opposite end, electronic equipment obtain the signal strength data of the wireless signal of other electronic equipments transmission as local terminal, and obtain
The signal strength data that other electronic equipments itself receive, wherein the electronic equipment for sending wireless signal can be used as opposite end.
Specifically, as shown in table 1.
Table 1
| Electronic equipment 1 | Electronic equipment 2 | Electronic equipment 3 | Electronic equipment 4 | Electronic equipment 5 | |
| Electronic equipment 1 | - | -10.1 | -30.0 | -45.2 | -58.1 |
| Electronic equipment 2 | -10.2 | - | -32.6 | -57.5 | -75.9 |
| Electronic equipment 3 | -28.4 | -30.5 | - | -9.5 | -30.1 |
| Electronic equipment 4 | -43.5 | -59.7 | -9.8 | - | … |
| Electronic equipment 5 | -55.5 | -70.7 | -28.7 | … | - |
In table 1, electronic equipment 1 to the electronic equipment 5 in the first row, which can be, sends wireless signal data as opposite end
The electronic equipment of (data unit can be dBm).Electronic equipment 1 to electronic equipment 5 in first row can be as this termination
Receive the electronic equipment of wireless signal data.Wherein, each electronic equipment not only receives the wireless signal of other electronic equipments transmission
Data also receive the wireless signal data that other electronic equipments itself receive.It is set for example, electronic equipment 1 receives electronics
The standby 2 wireless signal data sent to electronic equipment 5, such as the second row in table 1, electronic equipment 1 also receive electronic equipment 2 to
Electronic equipment 5 receives the wireless signal data of other electronic equipments, such as the third line in table 1 to the 6th row.
According to the implementation of the disclosure, the localization method for multiple electronic equipments can also be realized beyond the clouds, for example, cloud
The signal that the signal strength data and other electronic equipments itself for obtaining the wireless signal of other electronic equipments transmission receive
Intensity data, and the relative position between multiple electronic equipments is determined according to the signal strength data of acquisition.
It should be noted that the number of above-mentioned electronic equipment is only schematical, the disclosure does not limit of electronic equipment
Number.
In accordance with an embodiment of the present disclosure, more according to the signal strength data determination sent and received between multiple electronic equipments
Relative position between a electronic equipment, solves and is limited in the related technology by application scenarios, it will usually positioning accuracy occurs
The problem of low or positioning failure, achieve the effect that positioning can be realized in the wireless signal data obtained by electronic equipment.
Below with reference to Fig. 3 A~Fig. 3 H, method shown in Fig. 2 is described further in conjunction with specific embodiments.
Fig. 3 A is diagrammatically illustrated according to the strong according to the first signal strength data group and second signal of the embodiment of the present disclosure
Degree data group determines the flow chart of the relative position between multiple electronic equipments.
As shown in Figure 3A, multiple electronic equipments are determined according to the first signal strength data group and second signal intensity data group
Between relative position include operation S2031 and S2032.
In operation S2031, according to the first signal strength number of the wireless signal that at least one opposite end that local terminal obtains is sent
According to group, the first relative distance between each opposite end in local terminal and at least one opposite end is calculated.
In operation S2032, each opposite end and this are determined according to the first relative distance calculated result, and by object of reference of local terminal
First area where the relative position at end.
In accordance with an embodiment of the present disclosure, the signal strength for the wireless signal that one or more opposite ends are sent is obtained according to local terminal
Data can calculate the first relative distance between local terminal and one or more opposite ends.For example, signal strength data is brought into
The numerical value is drawn as radius and is justified using local terminal as object of reference by one predetermined formula, available corresponding numerical value, obtained circle
First area where as each opposite end and the relative position of local terminal.
Fig. 3 B diagrammatically illustrates the schematic diagram of the relative position between the electronic equipment according to the embodiment of the present disclosure.
It is the center of circle with electronic equipment 1, brings the signal strength data that the electronic equipment 1 receives into a predetermined formula, obtain
It draws and justifies as radius to corresponding numerical value, as shown in Figure 3B, obtain 4 place of electronic equipment 2, electronic equipment 3 and electronic equipment
First area.Wherein, the relationship that predetermined formula can be between the signal strength and distance received according to electronic equipment is fitted
Obtained formula, alternatively, the predetermined formula is the signal strength that is received using electronic equipment as inverse proportion function of independent variable etc.
Deng.It should be noted that the signal strength received is stronger, the distance between electronic equipment is shorter, and the disclosure is to according to signal
Intensity data calculates the predetermined formula of the relative distance between electronic equipment without limitation.
In accordance with an embodiment of the present disclosure, the signal strength for the wireless signal that one or more opposite ends are sent is obtained according to local terminal
Data can calculate the relative distance between local terminal and one or more opposite ends, to judge the distance between electronic equipment.
Fig. 3 C diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu.
In accordance with an embodiment of the present disclosure, at least one opposite end includes the first opposite end and the second opposite end, at least one opposite end sheet
The second signal intensity data group that body receives other electronic equipments includes nothing that the second opposite end for receiving of the first opposite end is sent
The signal strength data of line signal, as shown in Figure 3 C, this method include operation S204~S206.
In operation S204, the signal strength data for the wireless signal that the second opposite end received according to the first opposite end is sent,
Calculate the second relative distance between the first opposite end and the second opposite end.
In operation S205, the second opposite end is determined according to the second relative distance calculated result, and by object of reference of the first opposite end
With the second area where the relative position of the first opposite end.
The relative position of the second opposite end is determined according to second area and first area in operation S206.
In accordance with an embodiment of the present disclosure, after determining the relative distance between local terminal and one or more opposite ends,
Using local terminal as the center of circle, relative distance be radius border circular areas on can determine the position of corresponding opposite end.It is right at least one
In the case that end includes the first opposite end and the second opposite end, the first opposite end can receive the signal of the wireless signal of the second opposite end transmission
Intensity data, therefore, according to the signal strength data for the wireless signal that the second opposite end that the first opposite end receives is sent, using pre-
The second relative distance between the first opposite end and the second opposite end can be calculated by determining formula.Wherein, predetermined formula can be with reference to meter
The formula used when calculating the relative distance between local terminal and one or more opposite ends.After calculating the second relative distance, together
Obtained the second relative distance can be drawn as radius and be justified using the first opposite end as the center of circle by sample, obtain the second opposite end relative to
Second area where first opposite end.According to the position intersected between second area and first area, second pair can be determined
The relative position at end.
Fig. 3 D diagrammatically illustrates the schematic diagram of the relative position between the electronic equipment according to another embodiment of the disclosure.
As shown in Figure 3D, with electronic equipment 2 (the first opposite end) for the center of circle, (first pair of electronic equipment 2 will be calculated
End) and electronic equipment 3 (the second opposite end) between the second relative distance as radius draw circle, obtained circle be second area.By
There is the point of intersection in first area and second area, the point of the intersection can be used as electronic equipment 3 (the second opposite end) relative to electricity
The position of sub- equipment 1 (local terminal) and electronic equipment 2 (the first opposite end).
In accordance with an embodiment of the present disclosure, by the intersection point of second area and first area, the phase of the second opposite end can be determined
To position, the relative position between electronic equipment is further determined, this improves positioning accuracies.
Fig. 3 E diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu.
In accordance with an embodiment of the present disclosure, at least one opposite end further includes third opposite end, at least one opposite end itself receives
The second signal intensity data group of other electronic equipments further includes the wireless signal for the third opposite end transmission that the second opposite end receives
Signal strength data, as shown in FIGURE 3 E, this method include operation S207~S209.
In operation S207, the signal strength data for the wireless signal that the third opposite end received according to the second opposite end is sent,
Calculate the third relative distance between the second opposite end and third opposite end.
In operation S208, third opposite end is determined according to third relative distance calculated result, and by object of reference of the second opposite end
With the third region where the relative position of the second opposite end.
In operation S209, third region and third opposite end where the relative position of third opposite end and the second opposite end with
First area where the relative position of local terminal, alternatively, according to the third where the relative position of third opposite end and the second opposite end
Second area where the relative position of region and third opposite end and the first opposite end, determines the relative position of third opposite end.
In accordance with an embodiment of the present disclosure, after determining the relative position between local terminal, the first opposite end and the second opposite end,
In the case where at least one opposite end further includes third opposite end, the second opposite end can receive the wireless signal of third opposite end transmission
Therefore signal strength data can receive the signal strength data of the wireless signal of third opposite end transmission according to the second opposite end, adopt
The third relative distance between the second opposite end and third opposite end can be calculated with predetermined formula.Wherein, predetermined formula can join
Examine the formula used when calculating the relative distance between local terminal and one or more opposite ends.Calculate third relative distance it
Afterwards, likewise it is possible to using the second opposite end as the center of circle, obtained third relative distance is drawn as radius and is justified, third opposite end is obtained
Relative to the third region where the second opposite end.According to the position intersected between third region and second area, can determine
The relative position of third opposite end, or according to the first area where third region and third opposite end and the relative position of local terminal it
Between the position intersected, can determine the relative position of third opposite end.
Fig. 3 F diagrammatically illustrates the schematic diagram of the relative position between the electronic equipment according to another embodiment of the disclosure.
As illustrated in Figure 3 F, with electronic equipment 3 (the second opposite end) for the center of circle, (second pair of electronic equipment 3 will be calculated
End) and electronic equipment 4 (third opposite end) between third relative distance as radius draw circle, obtained circle be third region.By
There are the point of intersection or third region and second area to have the point of intersection in first area and third region, the point of the intersection can
Using as electronic equipment 4 (third opposite end) relative to electronic equipment 1 (local terminal), electronic equipment 2 (the first opposite end) and electronic equipment 3
The position of (the second opposite end).
In accordance with an embodiment of the present disclosure, the intersection point or third region by third region and first area and the secondth area
The intersection point in domain can determine the relative position of third opposite end, the relative position between electronic equipment has further been determined, because
This, improves positioning accuracy.
In accordance with an embodiment of the present disclosure, the first opposite end relative to local terminal relative distance less than the second opposite end relative to local terminal
Relative distance, the second opposite end relative to local terminal relative distance be less than relative distance of the third opposite end relative to local terminal.
In accordance with an embodiment of the present disclosure, method of the opposite end electronic equipment relative to the relative position of local terminal electronic equipment is determined
It can be the relative position that opposite end electronic equipment is successively determined according to the sequence apart from local terminal distance, for example, first determining distance originally
The relative position of nearest opposite end electronic equipment is held, then determines the relative position apart from the farther away opposite end electronic equipment of local terminal.It is logical
Aforesaid way is crossed, is positioned without one or more base stations, the wireless signal data obtained by electronic equipment can reach
Locating effect.
Fig. 3 G diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu.
As shown in Figure 3 G, which further includes operation S210~S212.
In operation S210, according to the signal strength data for the wireless signal that at least one opposite end that local terminal obtains is sent, meter
Calculate the similarity between local terminal and at least one opposite end.
In operation S211, according to similarity calculation as a result, determining pair most like with local terminal from least one opposite end
End.
In operation S212, using the opposite end most like with local terminal as pair nearest with local terminal distance at least one opposite end
End.
In accordance with an embodiment of the present disclosure, since signal strength is with apart from negative correlation, two equipment are more far away, obtain signal
It is weaker；It is on the contrary then stronger.Since Bluetooth signal reception/emissive porwer of distinct device may be different, by using cooperateing with
Algorithm is filtered, calculates each electronic equipment at a distance from other electronic equipments, and calculates " similarity " between electronic equipment and comes instead
Reflect the distance between electronic equipment.
When in accordance with an embodiment of the present disclosure, to calculate 2 cosine similarity of electronic equipment 1 and electronic equipment, calculates electronics and set
" similarity " formula for 1 and electronic equipment 2 may is that
Wherein A is that electronic equipment 1 is received from electronic equipment 3, the signal strength of electronic equipment 4 and electronic equipment 5, B
It is that electronic equipment 2 is received from electronic equipment 3, the signal strength of electronic equipment 4 and electronic equipment 5.
Substituting into formula using upper data recorded in table 1 can obtain:
Similarity (electronic equipment 1, electronic equipment 2)=(30.0*32.6+45.2*57.5+58.1*75.9)/
(sqrt (30.0^2+45.2^2+58.1^2) * sqrt (32.6^2+57.5^2+75.9^2))=7986.79/ (79.5*100.6)
=0.9986
Wherein, negative sign balances out, and has been omitted from herein.Sqrt (x) is the square root for seeking x.
Similarly, Similarity (electronic equipment 1, electronic equipment 3)=(10.1*30.5+45.2*9.5+58.1*30.1)/
(sqrt (10.1^2+45.2^2+58.1^2) * sqrt (30.5^2+9.5^2+30.1^2))=2486.3/ (74.3*43.9)=
0.762
According to similarity size, electronic equipment 1 and electronic equipment 2 are more like, can determine that electronic equipment 1 is set apart from electronics
Standby 2 is more closer than apart from electronic equipment 3.It therefore, through the above way can be using the opposite end most like with local terminal as at least one
With local terminal apart from nearest opposite end in opposite end.
In accordance with an embodiment of the present disclosure, since the Bluetooth signal reception of distinct device/emissive porwer may be different, pass through meter
Each electronic equipment is calculated at a distance from other electronic equipments, and calculates " similarity " Lai Fanying electronic equipment between electronic equipment
Between distance, solve the Bluetooth signal reception of distinct device/emissive porwer may be different and cause positioning is inaccurate to ask
Topic.
Fig. 3 H diagrammatically illustrates the stream of the localization method for multiple electronic equipments according to another embodiment of the disclosure
Cheng Tu.
In accordance with an embodiment of the present disclosure, multiple electronic equipments include at least one first equipment group and second equipment
Group, the first equipment group include at least two electronic equipments, and the second equipment group also includes at least two electronic equipments, such as Fig. 3 E institute
Show, which further includes operation S213 and S214.
In operation S213, first server determines the according to third signal strength data group and fourth signal intensity data group
The relative position between electronic equipment in one equipment group, wherein third signal strength data group includes in the first equipment group
The signal strength data for the wireless signal that opposite end is sent, fourth signal intensity data group includes the opposite end itself in the first equipment group
The signal strength data of received wireless signal；
In operation S214, second server determines the according to the 5th signal strength data group and the 6th signal strength data group
The relative position between electronic equipment in two equipment groups, wherein the 5th signal strength data group includes in the second equipment group
The signal strength data for the wireless signal that opposite end is sent, the 6th signal strength data group includes the opposite end itself in the second equipment group
The signal strength data of received wireless signal, wherein first server and second server are distributed server.
It in accordance with an embodiment of the present disclosure, can be using distributed server according to the nothing sent and received between electronic equipment
Line signal data realizes the positioning to distinct electronic apparatuses.In accordance with an embodiment of the present disclosure, first server and second server
Respectively include one or more servers, for handle sent and received between the electronic equipment in relevant device group it is wireless
Signal data.
In accordance with an embodiment of the present disclosure, in the case where electronic equipment is more, in order to improve location efficiency, number of units after raising
According to treatment effeciency, multiple electronic equipments can be divided into multiple groups, the electronic equipment in each group can be by different servers
Positioning is implemented separately in cluster, and finally by different server clusters, treated that location data synchronizes is shared, can solve
In the case where electronic equipment is excessive, lead to the problem of locating effect difference because server cluster processing capacity is insufficient.
In accordance with an embodiment of the present disclosure, electronic equipment includes robot or unmanned plane.
Fig. 4 diagrammatically illustrates the block diagram of the electronic equipment according to the embodiment of the present disclosure.
As shown in figure 4, electronic equipment 400 includes sender unit 410, signal receiver 420 and processor 430.
Sender unit 410 is used to send wireless signal at least one opposite end electronic equipment.
Signal receiver 420 be used for receive at least one opposite end transmission wireless signal the first signal strength data group and
At least one opposite end electronic equipment itself receives the second signal intensity data group of other electronic equipments.
Processor 430 is for running program, to execute the correlation method recorded in above-mentioned attached drawing.
In accordance with an embodiment of the present disclosure, more according to the signal strength data determination sent and received between multiple electronic equipments
Relative position between a electronic equipment, solves and is limited in the related technology by application scenarios, it will usually positioning accuracy occurs
The problem of low or positioning failure, achieve the effect that positioning can be realized in the wireless signal data obtained by electronic equipment.
Fig. 5 diagrammatically illustrates the block diagram of electronic equipment according to another embodiment of the present disclosure.
As shown in figure 5, electronic equipment 400 includes sender unit 410, signal receiver 420, processor 430 and can
Read storage medium 440.The electronic equipment 400 can be executed above with reference to Fig. 2, the method for Fig. 3 A~Fig. 3 H description, more to realize
Communication between a electronic equipment.
Specifically, processor 430 for example may include general purpose microprocessor, instruction set processor and/or related chip group
And/or special microprocessor (for example, specific integrated circuit (ASIC)), etc..Processor 430 can also include using for caching
The onboard storage device on way.Processor 430 can be for executing with reference to Fig. 2, and Fig. 3 A~Fig. 3 H description is implemented according to the disclosure
Single treatment unit either multiple processing units of the different movements of the method flow of example.
Readable storage medium storing program for executing 440, such as can be any Jie can include, store, transmitting, propagating or transmitting instruction
Matter.For example, readable storage medium storing program for executing 440 can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device
Part or propagation medium.The specific example of readable storage medium storing program for executing 440 includes: magnetic memory apparatus, such as tape or hard disk (HDD)；Light is deposited
Storage device, such as CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wire/wireless communication chain
Road.
Readable storage medium storing program for executing 440 may include computer program 441, which may include code/calculating
Machine executable instruction executes processor 430 for example above in conjunction with Fig. 2, Fig. 3 A~Fig. 3 H
Described method flow and its any deformation.
Computer program 441 can be configured to have the computer program code for example including computer program module.Example
Such as, in the exemplary embodiment, the code in computer program 441 may include one or more program modules, for example including
441A, module 441B ....It should be noted that the division mode and number of module are not fixation, those skilled in the art can
To be combined according to the actual situation using suitable program module or program module, when these program modules are combined by processor 430
When execution, processor 430 is executed for example above in conjunction with Fig. 2, method flow described in Fig. 3 A~Fig. 3 H and its appoints
What is deformed.
In accordance with an embodiment of the present disclosure, processor 430 can be handed over sender unit 430 and signal receiver 440
Mutually, Lai Zhihang is above in conjunction with Fig. 2, method flow and its any deformation described in Fig. 3 A~Fig. 3 H.
Fig. 6 diagrammatically illustrates the block diagram of the server according to the embodiment of the present disclosure.
As shown in fig. 6, server 500 includes obtaining module 510, receiving module 520 and determining module 530.
Obtain the first signal strength data that module 510 is used to obtain the wireless signal of at least one electronic equipment transmission
Group.
Receiving module 520 be used for obtain at least one electronic equipment itself receive other electronic equipments second signal it is strong
Spend data group.
Determining module 530 is used to determine multiple electronics according to the first signal strength data group and second signal intensity data group
Relative position between equipment.
In accordance with an embodiment of the present disclosure, more according to the signal strength data determination sent and received between multiple electronic equipments
Relative position between a electronic equipment, solves and is limited in the related technology by application scenarios, it will usually positioning accuracy occurs
The problem of low or positioning failure, achieve the effect that positioning can be realized in the wireless signal data obtained by electronic equipment.
It is understood that obtaining module 510, receiving module 520 and determining module 530 may be incorporated in a module
It realizes or any one module therein can be split into multiple modules.Alternatively, one or more moulds in these modules
At least partly function of block can be combined at least partly function of other modules, and be realized in a module.According to this
The embodiment of invention, obtaining at least one of module 510, receiving module 520 and determining module 530 can be at least by partly
It is embodied as on hardware circuit, such as field programmable gate array (FPGA), programmable logic array (PLA), system on chip, substrate
System, the system in encapsulation, specific integrated circuit (ASIC), can with to circuit carry out it is integrated or encapsulate any other
The hardware such as rational method or firmware realize, or with software, three kinds of implementations of hardware and firmware it is appropriately combined come it is real
It is existing.Alternatively, obtaining at least one of module 510, receiving module 520 and determining module 530 can at least be at least partially implemented
The function of corresponding module can be executed when the program is run by computer for computer program module.
In accordance with an embodiment of the present disclosure, determining module includes computing unit and determination unit.Computing unit is used for according to this
First signal strength data group of the wireless signal that at least one opposite end that end obtains is sent calculates local terminal and at least one opposite end
In each opposite end between the first relative distance；And determination unit is used for according to the first relative distance calculated result, and with
Local terminal is that object of reference determines the first area where each opposite end and the relative position of local terminal.Optionally, at least one opposite end is wrapped
The first opposite end and the second opposite end are included, the second signal intensity data group that at least one opposite end itself receives other servers includes
The signal strength data for the wireless signal that the second opposite end that first opposite end receives is sent, server further includes the first calculating mould
Block, the first determining module and the second determining module.It sends out the second opposite end that first computing module is used to be received according to the first opposite end
The signal strength data of the wireless signal sent calculates the second relative distance between the first opposite end and the second opposite end；First determines
Module is used for according to the second relative distance calculated result, and determines the second opposite end and the first opposite end by object of reference of the first opposite end
Second area where relative position；And second determining module be used for according to second area and first area, determine second pair
The relative position at end.Optionally, at least one opposite end further includes third opposite end, at least one opposite end itself receives other services
The second signal intensity data group of device further includes the signal strength of the wireless signal for the third opposite end transmission that the second opposite end receives
Data, server further include the second computing module, third determining module and the 4th determining module.Second computing module is used for basis
The signal strength data for the wireless signal that third opposite end that second opposite end receives is sent, calculate the second opposite end and third opposite end it
Between third relative distance；Third determining module is used for according to third relative distance calculated result, and using the second opposite end as reference
Object determines the third region where the relative position of third opposite end and the second opposite end；And the 4th determining module be used for according to third
The firstth area where third region and third opposite end and the relative position of local terminal where the relative position of opposite end and the second opposite end
Domain, alternatively, according to third region and third opposite end and the first opposite end where the relative position of third opposite end and the second opposite end
Second area where relative position determines the relative position of third opposite end.Optionally, the first opposite end is relative to the opposite of local terminal
Relative distance of the distance less than the second opposite end relative to local terminal, the second opposite end are less than third opposite end relative to the relative distance of local terminal
Relative distance relative to local terminal.Optionally, server further includes third computing module, the 5th determining module and the 6th determining mould
Block.The signal strength data for the wireless signal that at least one opposite end that third computing module is used to be obtained according to local terminal is sent, meter
Calculate the similarity between local terminal and at least one opposite end；5th determining module is used for according to similarity calculation as a result, from least one
The opposite end most like with local terminal is determined in a opposite end；And the 6th determining module be used for using the opposite end most like with local terminal as
With local terminal apart from nearest opposite end at least one opposite end.
Another aspect of the present disclosure provides a kind of non-volatile memory medium, is stored with computer executable instructions, on
State the method that instruction describes when executed for realizing Fig. 2, Fig. 3 A to 3H.
Another aspect of the present disclosure provides a kind of computer program, and above-mentioned computer program, which includes that computer is executable, to be referred to
It enables, the method that above-metioned instruction describes when executed for realizing Fig. 2, Fig. 3 A to 3H.
It can according to an embodiment of the invention, obtaining at least one of module 510, receiving module 520 and determining module 530
To be embodied as the computer program module with reference to Fig. 5 description, when being executed by processor 430, may be implemented described above
Corresponding operating.
It will be understood by those skilled in the art that the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations or/or combination, even if such combination or combination are not expressly recited in the disclosure.Particularly, exist
In the case where not departing from disclosure spirit or teaching, the feature recorded in each embodiment and/or claim of the disclosure can
To carry out multiple combinations and/or combination.All these combinations and/or combination each fall within the scope of the present disclosure.
Although the disclosure, art technology has shown and described referring to the certain exemplary embodiments of the disclosure
Personnel it should be understood that in the case where the spirit and scope of the present disclosure limited without departing substantially from the following claims and their equivalents,
A variety of changes in form and details can be carried out to the disclosure.Therefore, the scope of the present disclosure should not necessarily be limited by above-described embodiment,
But should be not only determined by appended claims, also it is defined by the equivalent of appended claims.
Claims (10)
1. a kind of localization method for multiple electronic equipments, the multiple electronic equipment includes local terminal and at least one opposite end,
The described method includes:
Obtain the first signal strength data group of the wireless signal that at least one described opposite end is sent；
Obtain the second signal intensity data group that at least one opposite end itself receives other electronic equipments；And
According to the first signal strength data group and the second signal intensity data group determine the multiple electronic equipment it
Between relative position.
2. strong according to the first signal strength data group and the second signal according to the method described in claim 1, wherein
Degree data group determines that the relative position between the multiple electronic equipment includes:
According to the first signal strength data group of the wireless signal that at least one opposite end described in local terminal acquisition is sent, calculate
The first relative distance between each opposite end in the local terminal and at least one described opposite end；And
Each opposite end and the local terminal are determined according to the first relative distance calculated result, and by object of reference of the local terminal
First area where relative position.
3. according to the method described in claim 2, wherein, at least one described opposite end includes the first opposite end and the second opposite end, institute
Stating at least one opposite end itself and receiving the second signal intensity data group of other electronic equipments includes that first opposite end receives
The signal strength data for the wireless signal that second opposite end arrived is sent, the method also includes:
The signal strength data for the wireless signal that second opposite end received according to first opposite end is sent, described in calculating
The second relative distance between first opposite end and second opposite end；
Second opposite end and described the are determined according to the second relative distance calculated result, and by object of reference of first opposite end
Second area where the relative position of a pair of end；And
According to the second area and the first area, the relative position of second opposite end is determined.
4. according to the method described in claim 3, wherein, at least one described opposite end further includes third opposite end, described at least one
The second signal intensity data group that a opposite end itself receives other electronic equipments further includes institute that second opposite end receives
The signal strength data for stating the wireless signal of third opposite end transmission, the method also includes:
The signal strength data for the wireless signal that the third opposite end received according to second opposite end is sent, described in calculating
Third relative distance between second opposite end and the third opposite end；
The third opposite end and described the are determined according to third relative distance calculated result, and by object of reference of second opposite end
Third region where the relative position of two opposite ends；And
According to the third region and the third opposite end where the relative position of the third opposite end and second opposite end
The first area where with the relative position of the local terminal, alternatively, according to the third opposite end and second opposite end
The third region and the third opposite end where relative position and the secondth area where the relative position of first opposite end
Domain determines the relative position of the third opposite end.
5. according to the method described in claim 4, wherein, first opposite end is less than institute relative to the relative distance of the local terminal
Relative distance of second opposite end relative to the local terminal is stated, second opposite end is less than institute relative to the relative distance of the local terminal
State relative distance of the third opposite end relative to the local terminal.
6. according to the method described in claim 1, wherein, the method also includes:
According to the signal strength data for the wireless signal that at least one opposite end described in local terminal acquisition is sent, described is calculated
Similarity between end and at least one described opposite end；
According to similarity calculation as a result, determining the opposite end most like with the local terminal from least one described opposite end；And
Using pair nearest with the local terminal distance at least one opposite end as described in the most like opposite end of the local terminal
End.
7. according to the method described in claim 1, wherein, the multiple electronic equipment includes at least one first equipment group and one
A second equipment group, first equipment group include at least two electronic equipments, and second equipment group also includes at least two
Electronic equipment, the method also includes:
First server determines first equipment according to third signal strength data group and the fourth signal intensity data group
The relative position between electronic equipment in group, wherein the third signal strength data group includes in first equipment group
Opposite end send wireless signal signal strength data, the fourth signal intensity data group includes in first equipment group
The received wireless signal in opposite end itself signal strength data；And
Second server determines second equipment according to the 5th signal strength data group and the 6th signal strength data group
The relative position between electronic equipment in group, wherein the 5th signal strength data group includes in second equipment group
Opposite end send wireless signal signal strength data, the 6th signal strength data group includes in second equipment group
The received wireless signal in opposite end itself signal strength data,
Wherein, the first server and the second server are distributed server.
8. method according to any one of claim 1 to 7, wherein the electronic equipment is robot or unmanned plane.
9. a kind of electronic equipment, comprising:
Sender unit, for sending wireless signal at least one opposite end electronic equipment；
Signal receiver, for receiving the first signal strength data group and the institute of the wireless signal that at least one described opposite end is sent
State the second signal intensity data group that at least one opposite end electronic equipment itself receives other electronic equipments；And
Processor, the processor run program, in method described in execution according to claim 1~any one of 6.
10. a kind of server, comprising:
Module is obtained, the first signal strength data group of the wireless signal for obtaining the transmission of at least one electronic equipment；
Receiving module receives the second signal intensity of other electronic equipments for obtaining at least one electronic equipment itself
Data group；And
Determining module, for determining multiple institutes according to the first signal strength data group and the second signal intensity data group
State the relative position between electronic equipment.
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