CN113132894B

CN113132894B - Positioning method and device, WLAN (Wireless local area network) equipment, computing equipment and storage medium

Info

Publication number: CN113132894B
Application number: CN201911415080.6A
Authority: CN
Inventors: 马梓翔; 潘淳
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2022-08-09
Anticipated expiration: 2039-12-31
Also published as: CN113132894A

Abstract

The application discloses a positioning method and device, WLAN equipment, computing equipment and a storage medium, and relates to the technical field of positioning. The positioning method comprises the following steps: acquiring time information of a message transmitted by adopting a first bandwidth between every two WLAN devices capable of mutually transmitting the message in a plurality of WLAN devices, wherein part of the WLAN devices are to-be-calibrated WLAN devices, and the message transmitted from any one of the WLAN devices can be transmitted among the WLAN devices; determining the position information of each WLAN device to be calibrated based on the time information and the position information of the calibrated WLAN devices in the plurality of WLAN devices; wherein each WLAN device is configured to transceive messages using a first bandwidth and a second bandwidth, and the first bandwidth is greater than the second bandwidth. The method and the device can effectively ensure the accuracy of calibrating the WLAN equipment to be calibrated.

Description

Positioning method and device, WLAN (Wireless local area network) equipment, computing equipment and storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, a WLAN device, a computing device, and a storage medium.

Background

With the development of Location Based Services (LBS) in recent years, there is an increasing demand for locating objects. The location-based service refers to a service provided according to the location of an object. For example, the location-based service may be: a service for providing navigation according to location, a service for pushing customized advertisements according to location, a service for providing peripheral service discovery according to location, and the like. Therefore, it is of great significance to accurately locate the object.

In the related art, a Wireless Local Area Network (WLAN) device may be used to receive an uplink signal sent by a WLAN device to be calibrated, determine a relative distance and a relative angle of the WLAN device to be calibrated with respect to the WLAN device according to the uplink signal, and then determine a position of the WLAN device to be calibrated in a specified coordinate system according to the relative distance, the relative angle, and a position and a calibration angle of the WLAN device in the specified coordinate system, so as to position the WLAN device to be calibrated.

Therefore, the accuracy of the position and the calibration angle of the WLAN device in the designated coordinate system has a great influence on the accuracy of the position of the WLAN device to be calibrated, and therefore, the method has an important significance in calibrating the position and the angle of the WLAN device.

Disclosure of Invention

The application provides a positioning method and device, WLAN equipment, computing equipment and a storage medium, which can improve the accuracy of calibrating the position and the angle of the WLAN equipment. The technical scheme provided by the application is as follows:

in a first aspect, the present application provides a positioning method, including: acquiring time information of a message transmitted by adopting a first bandwidth between every two WLAN devices capable of sending messages to each other in a plurality of WLAN devices, wherein a part of the WLAN devices are to-be-calibrated WLAN devices, and the message sent from any one of the WLAN devices can be transmitted among the WLAN devices; and determining the position information of each WLAN device to be calibrated based on the time information and the position information of the calibrated WLAN devices in the plurality of WLAN devices.

Wherein each WLAN device is configured to transceive messages using a first bandwidth and a second bandwidth, and the first bandwidth is greater than the second bandwidth.

In the positioning method provided by the embodiment of the application, the time information of the message transmitted by using the first bandwidth among the WLAN devices in the plurality of WLAN devices is obtained, and the position information of each WLAN device to be calibrated is determined according to the time information and the position information of the calibrated WLAN device in the plurality of WLAN devices.

And after determining the location information of each WLAN device to be calibrated based on the time information and the location information of the calibrated WLAN device in the plurality of WLAN devices, the method may further include: acquiring a first arrival angle of each WLAN device in a plurality of WLAN devices for receiving messages sent by other WLAN devices by adopting a first bandwidth; and determining the calibration angle of each WLAN device to be calibrated based on the first arrival angle.

The positioning method also comprises the steps of obtaining a first arrival angle of a message sent by other WLAN equipment in the plurality of WLAN equipment by using a first bandwidth, determining the calibration angle of each WLAN equipment to be calibrated based on the first arrival angle, and effectively ensuring the accuracy of the determined calibration angle of the WLAN equipment to be calibrated because the first bandwidth used when determining the first arrival angle is larger than the second bandwidth.

Optionally, the WLAN device is at least configured with a first transceiving component and a second transceiving component, where the first transceiving component is configured to use a first bandwidth to transceive a message, and the second transceiving component uses a second bandwidth to transceive a message.

Optionally, the first transceiver component is an ultra-wideband UWB transceiver component, a bluetooth transceiver component, or a Zigbee transceiver component.

In an implementation manner, an implementation process for determining location information of each WLAN device to be calibrated based on time information and location information of a calibrated WLAN device in a plurality of WLAN devices includes: determining the distance between any two WLAN devices based on the time information of the message transmitted between any two WLAN devices capable of sending messages to each other; and determining the position information of each WLAN device to be calibrated based on the distance between every two WLAN devices and the position information of the calibrated WLAN devices in the plurality of WLAN devices.

In one implementation manner, the implementation process of determining the calibration angle of each WLAN device to be calibrated based on the first angle of arrival includes: determining the direction relation of any two WLAN devices based on the position information of any two WLAN devices; determining an offset angle of a calibration angle of one WLAN device relative to a calibration angle of another WLAN device based on a first arrival angle of a message of the other WLAN device received by one WLAN device of any two WLAN devices; and determining the calibration angle of each WLAN device in any two WLAN devices based on the offset angle and the direction relation of any two WLAN devices.

In another implementation manner, an implementation process for determining a calibration angle of each WLAN device to be calibrated based on the first angle of arrival includes: acquiring a second arrival angle of other WLAN equipment for receiving the message sent by the WLAN equipment by adopting the first bandwidth; determining an offset angle of a calibration angle of one WLAN device relative to a calibration angle of another WLAN device based on a first arrival angle of one WLAN device receiving a message of the other WLAN device and a second arrival angle of the other WLAN device receiving the message of the one WLAN device in any two WLAN devices; and determining the calibration angle of the WLAN equipment with unknown calibration angle in any two pieces of WLAN equipment based on the offset angle and the calibration angle of the WLAN equipment with known calibration angle in any two pieces of WLAN equipment.

In one implementation scenario, the method further comprises: and positioning the equipment to be positioned based on all or part of the WLAN equipment in the plurality of WLAN equipment with the determined position information and the calibrated angle.

When the calibrated WLAN equipment is used for positioning the equipment to be positioned, the calibrated WLAN equipment has higher position accuracy and calibration angle accuracy, so that the positioning accuracy of the equipment to be positioned obtained according to the calibrated WLAN equipment is higher, and the positioning accuracy can be effectively ensured.

Optionally, after determining the location information of each WLAN device to be calibrated based on the time information and the location information of the calibrated WLAN device in the plurality of WLAN devices, the method further includes: and when the change of the position of the WLAN equipment to be calibrated is detected, updating the position information of the WLAN equipment to be calibrated based on the changed position.

Similarly, after determining the calibration angle of each WLAN device to be calibrated based on the first angle of arrival, the method further includes: and when detecting that the calibration angle of the WLAN equipment to be calibrated changes, updating the calibration angle of the WLAN equipment to be calibrated based on the changed calibration angle.

In a second aspect, the present application provides a positioning device comprising: the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring time information of a message transmitted by adopting a first bandwidth between every two WLAN devices capable of mutually transmitting the message in a plurality of WLAN devices, a part of the WLAN devices are to-be-calibrated WLAN devices, and the message transmitted from any one of the WLAN devices can be transmitted among the WLAN devices; and the determining module is used for determining the position information of each WLAN device to be calibrated based on the time information and the position information of the calibrated WLAN devices in the plurality of WLAN devices.

Optionally, the obtaining module is further configured to obtain a first arrival angle at which each WLAN device in the multiple WLAN devices receives a message sent by another WLAN device using the first bandwidth; and the determining module is further used for determining the calibration angle of each WLAN device to be calibrated based on the first arrival angle.

Optionally, the determining module is specifically configured to: determining the distance between any two WLAN devices based on the time information of the message transmitted between any two WLAN devices capable of sending messages to each other; and determining the position information of each WLAN device to be calibrated based on the distance between every two WLAN devices and the position information of the calibrated WLAN devices in the plurality of WLAN devices.

Optionally, the determining module is specifically configured to: determining the direction relation of any two WLAN devices based on the position information of any two WLAN devices; determining an offset angle of a calibration angle of one WLAN device relative to a calibration angle of another WLAN device based on a first arrival angle of a message of the other WLAN device received by one WLAN device of any two WLAN devices; and determining the calibration angle of each WLAN device in any two WLAN devices based on the offset angle and the direction relation of any two WLAN devices.

Optionally, the determining module is specifically configured to: acquiring a second arrival angle of other WLAN equipment for receiving the message sent by the WLAN equipment by adopting the first bandwidth; determining an offset angle of a calibration angle of one WLAN device relative to a calibration angle of another WLAN device based on a first arrival angle of one WLAN device receiving a message of the other WLAN device and a second arrival angle of the other WLAN device receiving the message of the one WLAN device in any two WLAN devices; and determining the calibration angle of the WLAN equipment with unknown calibration angle in any two pieces of WLAN equipment based on the offset angle and the calibration angle of the WLAN equipment with known calibration angle in any two pieces of WLAN equipment.

Optionally, the determining module is further configured to: and positioning the equipment to be positioned based on all or part of the WLAN equipment in the plurality of WLAN equipment with the determined position information and the calibrated angle.

In a third aspect, the present application provides a WLAN device, comprising: the first transceiving component is used for transceiving messages by adopting a first bandwidth, the second transceiving component is used for transceiving messages by adopting a second bandwidth, and the first bandwidth is larger than the second bandwidth.

In a fourth aspect, the present application provides a computing device comprising a processor and a memory; the memory has a computer program stored therein; when the processor executes the computer program, the computing device implements the positioning method provided by the first aspect.

In a fifth aspect, the present application provides a storage medium, and when executed by a processor, the storage medium implements the positioning method provided in the first aspect.

In a sixth aspect, the present application provides a computer program product, which when run on a computing device, causes the computing device to perform the positioning method provided in the first aspect.

Drawings

Fig. 1 is a schematic diagram of an implementation scenario related to a positioning method provided in an embodiment of the present application;

fig. 2 is a schematic diagram of an implementation scenario related to another positioning method provided in an embodiment of the present application;

fig. 3 is a flowchart of a positioning method provided in an embodiment of the present application;

fig. 4 is a schematic diagram illustrating a principle of determining location information of a WLAN device according to an embodiment of the present application;

fig. 5 is a schematic diagram illustrating a principle of determining a calibration angle of a WLAN device according to an embodiment of the present application;

fig. 6 is a schematic diagram illustrating a principle of determining a calibration angle of a WLAN device according to an embodiment of the present application;

fig. 7 is a schematic deployment diagram of a plurality of WLAN devices according to an embodiment of the present application;

fig. 8 is a block diagram of a positioning apparatus according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a WLAN device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a computing device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The embodiment of the application provides a positioning method. According to the positioning method, the time information of the messages transmitted by adopting the first bandwidth among the WLAN devices in the plurality of WLAN devices is obtained, the position information of each piece of position information and the position information of the WLAN device (namely, the calibrated WLAN device) with the uncertain calibration angle is determined according to the time information, the position information of the WLAN device (namely, the WLAN device to be calibrated) with the confirmed calibration angle in the plurality of WLAN devices, and the first bandwidth adopted when the time information is determined is larger than the second bandwidth, so that the positioning method provided by the embodiment of the application is adopted to determine the position information of the WLAN device to be calibrated, and the accuracy of the determined position information can be effectively guaranteed. Wherein the second bandwidth may be a bandwidth provided by wifi deployed in the WLAN device.

Optionally, the positioning method may further include obtaining a first angle of arrival (AoA) of a message sent by other WLAN devices in the plurality of WLAN devices by using a first bandwidth, and determining a calibration angle of each to-be-calibrated WLAN device based on the first angle of arrival, where the first bandwidth used when determining the first angle of arrival is greater than the second bandwidth, so that accuracy of the determined calibration angle of the to-be-calibrated WLAN device can be effectively ensured. The process of determining the position information and the calibration angle of the WLAN device to be calibrated is also referred to as a process of calibrating the WLAN device to be calibrated.

In an implementation manner, the first bandwidth may be a bandwidth provided by a transceiver module with a larger bandwidth, such as an ultra-wide band (UWB) transceiver module, a bluetooth transceiver module, or a Zigbee (Zigbee) transceiver module, deployed in the WLAN device.

Moreover, because the WLAN device to be calibrated is usually calibrated manually in the related art, in the embodiment of the present application, the WLAN device to be calibrated is calibrated according to the message transmitted by using the first bandwidth or the second bandwidth, so that the automation degree of calibrating the WLAN device to be calibrated can be improved, and the calibration process of calibrating the WLAN device to be calibrated is simplified.

It should be noted that, the WLAN device may further be deployed with more transceiver components, where the transceiver components may respectively receive and transmit messages with multiple bandwidths, and when calibrating the WLAN device, the transceiver components used for receiving and transmitting messages in the WLAN device may be controlled according to actual needs, so as to further improve accuracy of calibrating the WLAN device, which is not specifically limited in this embodiment of the present application.

The implementation scenario related to the positioning method provided by the embodiment of the present application may include: a management device and a plurality of WLAN devices. The WLAN devices in the plurality of WLAN devices can send messages to each other, and time information used for reflecting the message transmission duration and the arrival angle of the message when the message is received by the WLAN device serving as the receiving party are determined. And the WLAN device may send the time information and the arrival angle to the management device, so that the management device may determine, according to the positioning method provided in the embodiment of the present application, the location information and the calibration angle of the WLAN device to be calibrated in the plurality of WLAN devices according to the time information and the arrival angle, and the location information and the calibration angle of the WLAN device to be calibrated in the plurality of WLAN devices.

Illustratively, fig. 1 is a scenario in which the implementation includes: schematic diagram of a management device 01 and five WLAN devices 02. Among the five WLAN devices 02, three WLAN devices 02 are calibrated WLAN devices 02, each of the three calibrated WLAN devices 02 has a ranging function, and the remaining two WLAN devices 02 may be calibrated according to the location information of the three calibrated WLAN devices 02. In fig. 1, the calibrated WLAN device 02 and the uncalibrated WLAN device 02 are not illustrated in a distinguishing manner.

The management device 01 is configured to manage a plurality of WLAN devices 02. The management device 01 may be a local controller, or may be a cloud (also referred to as a remote) controller. For example, the management device 01 may be an Access Controller (AC) or a server that manages the plurality of WLAN devices 02. The WLAN device 02 may be a switch, a router, a Wireless Access Point (WAP), or the like.

The management device 01 establishes a connection with each WLAN device 02 of the plurality of WLAN devices 02, so that after acquiring the time information and/or arrival angle of the packet, each WLAN device 02 may send the information to the management device 01 by using the connection, so that the management device 01 can acquire the information. And, the deployment of the plurality of WLAN devices 02 satisfies the following condition: the message sent from any WLAN device 02 of the plurality of WLAN devices 02 can be transmitted between the plurality of WLAN devices 02, that is, the message sent from any WLAN device 02 can be transmitted to any other WLAN device 02 of the plurality of WLAN devices 02 except for any WLAN device 02 by direct transmission or indirect transfer. In this way, the message sent by each uncalibrated WLAN device 02 of the plurality of WLAN devices 02 can be received by some or all of the WLAN devices 02 of the plurality of WLAN devices 02, so that each uncalibrated WLAN device 02 of the plurality of WLAN devices 02 can be calibrated according to the sending condition of the message between different WLAN devices 02 and the calibrated WLAN device 02 of the plurality of WLAN devices 02.

In a deployment manner of the plurality of WLAN devices 02, each of the WLAN devices 02 can perform message interaction with other WLAN devices 02, that is, each of the WLAN devices 02 can send a message to each of the other WLAN devices 02.

In another deployment manner of the multiple WLAN devices 02, the any WLAN device 02 may perform message interaction with a part of the WLAN devices 02 in the multiple WLAN devices 02, and the part of the WLAN devices 02 may resend the message to a part of the WLAN devices 02 that cannot perform message interaction with the any WLAN device 02 in the multiple WLAN devices 02, and the part of the WLAN devices 02 that cannot perform message interaction with the any WLAN device 02 may also send the message to other WLAN devices 02 that cannot perform message interaction with the any WLAN device 02, and such a cycle is performed, so that the deployment of the multiple WLAN devices 02 meets a condition that the message sent by the any WLAN device 02 can be transmitted between the multiple WLAN devices 02.

As an example of another deployment of the plurality of WLAN devices 02, assume that WLAN device 022, WLAN device 023, and WLAN device 024 in fig. 1 are calibrated WLAN devices, and the deployment of WLAN device 021, WLAN device 022, WLAN device 023, WLAN device 024, and WLAN device 025 in fig. 1 satisfies the following conditions: messages sent by WLAN device 021 can be received by WLAN device 022, WLAN device 023, and WLAN device 024, and messages sent by WLAN device 025 can be received by WLAN device 021, WLAN device 023, and WLAN device 024.

Thus, after the WLAN device 022, the WLAN device 023, and the WLAN device 024 receive the message sent by the WLAN device 021, the WLAN device 022, the WLAN device 023, and the WLAN device 024 may all determine the respective distances from the WLAN device 021 according to the sending conditions of the respective received messages, so that the location information of the WLAN device 021 can be determined according to the distances and the location information of the WLAN device 022, the WLAN device 023, and the WLAN device 024.

After the location information of the WLAN device 021 is determined, after the WLAN device 021, the WLAN device 023 and the WLAN device 024 receive the message sent by the WLAN device 025, the WLAN device 021, the WLAN device 023 and the WLAN device 024 may all determine the distance from the WLAN device 025 to each other according to the sending condition of each received message, so that the location information of the WLAN device 025 can be determined according to the distance and the location information of the WLAN device 021, the WLAN device 023 and the WLAN device 024. In this way, the location calibration of all WLAN devices to be calibrated in the five WLAN devices in fig. 1 can be implemented.

It should be noted that the implementation scenario may include at least two WLAN devices 02. When the implementation scenario includes two WLAN devices 02, one WLAN device 02 of the two WLAN devices 02 is the calibrated WLAN device 02, and the other WLAN device 02 is the WLAN device 02 to be calibrated. The calibrated WLAN device 02 has the functions of measuring distance and side angle, and the WLAN device 02 to be calibrated can be calibrated by the functions of measuring distance and angle of the calibrated WLAN device 02 and the position information and calibration angle of the calibrated WLAN device 02.

Optionally, as shown in fig. 2, the implementation scenario may further include: the device 03 to be positioned. The device 03 to be positioned and each WLAN device 02 are connected, after the WLAN devices 02 to be calibrated among the plurality of WLAN devices 02 are calibrated, a message may be sent to the WLAN devices 02 through the device 03 to be positioned, and the position information of the device 03 to be positioned is determined by using some or all of the plurality of WLAN devices 02 according to the message, so as to provide a location-based service for the device 03 to be positioned according to the position information of the device 03 to be positioned. In fig. 2, the calibrated WLAN device 02 and the uncalibrated WLAN device 02 are not illustrated in a distinguishing manner.

The device 03 to be positioned may be a Station (STA). The STA may be a wireless communication chip, a wireless sensor, or a wireless communication station, for example: the STA may be a mobile phone, a tablet, a set-top box, a smart television, a smart wearable device, an in-vehicle communication device, a computer, and so on.

Fig. 3 is a flowchart of a positioning method according to an embodiment of the present disclosure. As shown in fig. 3, the method may include:

step 301, a message transmitted by a first bandwidth is adopted between every two WLAN devices capable of sending messages to each other in the plurality of WLAN devices, and time information of the message is determined.

Wherein, some WLAN devices in the plurality of WLAN devices are to-be-calibrated WLAN devices, and the deployment of the plurality of WLAN devices satisfies the following conditions: messages sent from any one of the plurality of WLAN devices can be transmitted between the plurality of WLAN devices. Please refer to the description of the deployment method in the foregoing description for the deployment method of multiple WLAN devices, which is not described herein again.

When a message is transmitted between two WLAN devices, the time information is used to indicate the transmission time of the message between the two WLAN devices. From the time information, the distance between the two WLAN devices and thus the location information of the WLAN devices can be determined.

Generally, according to IEEE802.11, wifi is used to transmit messages between WLAN devices, and therefore, the bandwidth provided by wifi is the second bandwidth. In the embodiment of the application, when the position information of the WLAN device is determined, the position information of the WLAN device to be calibrated is determined according to the message transmitted by using the first bandwidth, and since the first bandwidth is larger than the first bandwidth, when the position information of the WLAN device to be calibrated is determined according to the message transmitted by using the first bandwidth, the accuracy of the position information of the WLAN device to be calibrated can be effectively improved.

To facilitate transceiving of messages transmitted using a first bandwidth by a WLAN device, each of a plurality of WLAN devices may be configured with a transceiving component (hereinafter referred to as a first transceiving component for ease of distinction) that transceives messages using the first bandwidth. Illustratively, the first transceiving component may be a transceiving component that transmits and receives messages by using UWB technology, bluetooth technology or Zigbee technology. That is, the first bandwidth may be a bandwidth provided by a UWB transceiving component, a bluetooth transceiving component, or a Zigbee transceiving component deployed in the WLAN device.

Optionally, each WLAN device may further be configured with a transceiving component (hereinafter referred to as a second transceiving component for convenience of distinction) configured to transceive a message using a second bandwidth, so as to facilitate message interaction with other devices that are not configured with a transceiving component capable of providing the first bandwidth using the second transceiving component.

Also, the meaning of the time information may be various. Correspondingly, when the meanings of the time information are different, the implementation modes for acquiring the time information are also different. This is illustrated below:

for example, the time information may indicate an absolute time difference (i.e., a time difference of arrival (TDoA)) between arrival times of the message at every two other WLAN devices when a certain to-be-calibrated WLAN device sends the message to at least three other WLAN devices, respectively, that is, the time information may include at least two sets of time differences according to arrival times of the message at the at least three other WLAN devices. At this time, every two other WLAN devices may mutually obtain the arrival time of the message to the other party, and then determine the arrival time difference according to the arrival time of the message to the other party and the arrival time of the message to itself, so as to obtain the time information. The other WLAN devices are any WLAN device of the plurality of WLAN devices except the certain WLAN device to be calibrated.

For another example, the time information may indicate a time of flight (ToF) of a message sent from a certain to-be-calibrated WLAN device to another WLAN device. At this time, the message sent by the to-be-calibrated WLAN device to the other WLAN device may carry the sending time of the message, and after the other WLAN device receives the message, the arrival time of the message may be determined, and then the flight time may be determined according to the arrival time and the sending time, so as to obtain the time information.

For another example, the time information may indicate Round Trip Time (RTT) of a message in a process that a certain to-be-calibrated WLAN device sends the message to another WLAN device, and then the other WLAN device sends the message to the to-be-calibrated WLAN device again. At this time, when the to-be-calibrated WLAN device sends a message to another WLAN device, the sending time of the message may be recorded, and when the to-be-calibrated WLAN device receives the message sent by the other WLAN device, the arrival time of the message may be determined, and the receiving time of the message received by the other WLAN device, and the sending time of the message sent by the other WLAN device to the to-be-calibrated WLAN device after receiving the message may be obtained, and then, the to-be-calibrated WLAN device may determine the round-trip time according to the arrival time and the sending time of the message sent by the to-be-calibrated WLAN device, and the time of the message sent by the other to-be-calibrated WLAN device, so as to obtain the time information.

It should be noted that, in step 301, it is not limited that, in the plurality of WLAN devices, every two WLAN devices need to perform message interaction, as long as there is no WLAN device that does not perform message interaction with other WLAN devices in the plurality of WLAN devices. When no WLAN device which does not perform message interaction with other WLAN devices exists in the plurality of WLAN devices, the distance between any one of the plurality of WLAN devices and the other WLAN devices in the plurality of WLAN devices can be determined through the message interaction among the plurality of WLAN devices, and accordingly, the position information of each WLAN device to be calibrated in the plurality of WLAN devices can be ensured to be determined.

Step 302, the WLAN device sends the time information of the packet to the management device.

After obtaining the time information of the packet, the WLAN device may send the time information to the management device, so that the management device determines the location information of the WLAN device to be calibrated according to the time information.

It should be noted that each WLAN device may also have a computing capability, and after the WLAN device acquires the time information, the WLAN device may further determine information such as a distance between two WLAN devices corresponding to the time information according to the time information, and then send the information such as the distance to the management device, so that the management device determines the location information of the WLAN device to be calibrated according to the information such as the distance.

In addition, the WLAN device with a controller function may be included in the plurality of WLAN devices, and at this time, the WLAN device may send the time information to the WLAN device with a controller function, so that the WLAN device with a controller function determines the location information of the WLAN device to be calibrated according to the time information.

Step 303, after acquiring the time information of the packet transmitted by the first bandwidth between each two WLAN devices capable of sending packets to each other in the plurality of WLAN devices, the management device determines the location information of each to-be-calibrated WLAN device based on the time information and the location information of the calibrated WLAN device in the plurality of WLAN devices.

Since the distance between two WLAN devices may be determined according to the speed of light and the transmission duration used by the message to be transmitted from one WLAN device to another WLAN device in the two WLAN devices, after the management device obtains the time information of the message transmitted by using the first bandwidth between each two WLAN devices capable of mutually transmitting the message in the plurality of WLAN devices, the management device may determine the distance between any two WLAN devices based on the time information of the message transmitted between any two WLAN devices capable of mutually transmitting the message. And then, determining the position information of each WLAN device to be calibrated according to a geometric principle based on the distance between every two WLAN devices and the position information of the calibrated WLAN devices in the plurality of WLAN devices.

The implementation manner of determining the location information of the WLAN device to be calibrated according to the geometric principle may include at least the following two manners:

first, when the distance from the WLAN device to be calibrated to each of the at least three calibrated WLAN devices is known, the location information of the WLAN device to be calibrated can be determined according to the distance, the triangulation principle and the location information of each calibrated WLAN device. For example, as shown in fig. 4, assuming that the distances from the AP1 to be calibrated to the three calibrated APs 2, 3 and 4 are a1, a2 and a3, respectively, it can be known from geometric knowledge that the AP1 should be on a circle with the AP2 as the center and a1 as the radius, the AP1 is on a circle with the AP3 as the center and a2 as the radius, and the AP1 is on a circle with the AP4 as the center and a3 as the radius, so that the intersection point of the three circles can be determined as the position of the AP 1.

Secondly, when the distance from the WLAN device to be calibrated to a calibrated WLAN device and the directional relationship between the WLAN device to be calibrated and the calibrated WLAN device are known, the location information of the WLAN device to be calibrated may be determined according to the geometric relationship satisfied by the distance and directional relationship and the location information of the calibrated WLAN device.

Moreover, when the meanings represented by the time information are different, the implementation manner of determining the distance between the two WLAN devices according to the time information is also different, and correspondingly, the implementation manner of determining the position information of the WLAN device to be calibrated according to the distance is also different. The following description is made for several meanings of the time information in step 301, respectively:

when the time information is used to indicate the arrival time difference from the message sent by the WLAN device to be calibrated to each two WLAN devices of the at least three WLAN devices, an equation about the location of the WLAN device to be calibrated may be established according to the location of each two other WLAN devices of the at least three WLAN devices, the location of the WLAN device to be calibrated, and the arrival time difference, and then the location information of the WLAN device to be calibrated is determined according to the hyperbolic positioning method.

When the time information indication message is sent to the flight time of any other WLAN device by the WLAN device to be calibrated, the product of the flight time and the light speed is the distance between the WLAN device to be calibrated and the any other WLAN device, and then the position information of the WLAN device to be calibrated is determined according to the triangulation positioning principle, the distance between the WLAN device to be calibrated and each other WLAN device, and the position information of at least three calibrated WLAN devices.

When the time information indicates the round trip time of the to-be-calibrated WLAN device sending the message to the other WLAN devices, the distance between the to-be-calibrated WLAN device and the other WLAN devices may be determined according to the round trip time, and then the location information of the to-be-calibrated WLAN device may be determined according to the triangulation principle, the distances between the to-be-calibrated WLAN device and the at least three calibrated WLAN devices, and the location information of the at least three calibrated WLAN devices.

Step 304, when it is detected that the position of the WLAN device to be calibrated changes, the management device updates the position information of the device to be calibrated based on the changed position.

After determining the location information of each WLAN device to be calibrated, the location information of each WLAN device to be calibrated may be recorded in the management device for subsequent use. And after the position information of each piece of WLAN equipment to be calibrated is determined, whether the position of each piece of WLAN equipment is changed or not can be detected, and when the position of any piece of WLAN equipment is determined to be changed, the position information of any piece of WLAN equipment recorded in the management equipment is updated based on the changed position. When detecting whether the location of any WLAN device changes, after determining the location information of any WLAN device each time, the location information may be compared with the location information of any WLAN device recorded in the management device, and when the amount of change between the location information and the location information of any WLAN device recorded in the management device is greater than a preset location threshold, it is determined that the location of any WLAN device has changed.

Step 305, each WLAN device obtains a first angle of arrival for receiving the messages sent by other WLAN devices.

When receiving a message sent by other WLAN devices, the WLAN device may determine a first angle of arrival of the message.

Optionally, the messages sent by the other WLAN devices may be messages sent by using a first bandwidth, or may be messages sent by using a second bandwidth. When the message sent to a certain WLAN device by a certain other WLAN device is the message sent by using the first bandwidth, the accuracy of determining the calibration angle of the WLAN device to be calibrated can be effectively improved.

Moreover, when the message sent by a certain other WLAN device to a certain WLAN device is a message sent by using the first bandwidth, if the time information determined in step 301 is the flight time of the message sent by the certain other WLAN device to the certain WLAN device, the message sent by the certain other WLAN device to the certain WLAN device in step 301 and the message sent by the other WLAN device to the certain WLAN device for determining the first angle of arrival in step 305 may be the same message. At this time, the messages to be sent in the process of calibrating the WLAN device to be calibrated can be reduced, and the air interface overhead in the calibration process can be effectively reduced.

It should be noted that, in this step 305, it is also not limited that, in the plurality of WLAN devices, every two WLAN devices need to perform message interaction, as long as there is no WLAN device that does not perform message interaction with other WLAN devices in the plurality of WLAN devices. When no WLAN equipment which does not perform message interaction with other WLAN equipment exists in the plurality of WLAN equipment, the first arrival angle of the message when every two WLAN equipment perform message interaction can be determined through the message interaction between the plurality of WLAN equipment, and accordingly, the calibration angle of each WLAN equipment to be calibrated in the plurality of WLAN equipment can be ensured to be determined.

Step 306, the WLAN device sends the first angle of arrival of the packet to the management device.

After obtaining the first angle of arrival of the packet, the WLAN device may send the first angle of arrival to the management device, so that the management device determines the calibration angle of the WLAN device to be calibrated according to the first angle of arrival.

It should be noted that each WLAN device may also have a calculation capability, and after the WLAN device acquires the first angle of arrival, the WLAN device may also perform data processing on the first angle of arrival, and then send the data after the data processing to the management device, so that the management device determines the calibration angle of the WLAN device to be calibrated according to the data processing, which can reduce the calculation amount of the management device.

Moreover, the plurality of WLAN devices may include a WLAN device with a controller function, and at this time, the WLAN device may send the first angle of arrival to the WLAN device with a controller function, so that the WLAN device with a controller function determines the calibration angle of the WLAN device to be calibrated according to the first angle of arrival.

Step 307, the management device determines a calibration angle of each WLAN device to be calibrated based on the first angle of arrival.

In one implementation of this step 307, there are two angular relationships between any two WLAN devices. One is the direction relationship between the two WLAN devices calculated according to the location information of the two WLAN devices and the geometric relationship satisfied by the two WLAN devices. The other is an offset angle of the calibration angle of one of the two WLAN devices with respect to the calibration angle of the other WLAN device, and the offset angle may be calculated according to a first angle of arrival of a message sent by the other WLAN device and received by the one WLAN device of the two WLAN devices. Thus, after determining the location information of the two WLAN devices, the first angle of arrival, and the calibration angle of one of the two WLAN devices, the calibration angle of the other of the two WLAN devices may be determined.

Therefore, the implementation process of this step 307 may include: the method comprises the steps of determining the direction relation of any two WLAN devices based on the position information of any two WLAN devices, then determining the offset angle of the calibration angle of another WLAN device relative to the calibration angle of one WLAN device based on the first arrival angle of the message of the other WLAN device received by one WLAN device of the any two WLAN devices, and then determining the calibration angle of each WLAN device of the any two WLAN devices based on the offset angle and the direction relation of the any two WLAN devices.

For example, as shown in fig. 5, it is assumed that, according to the position information of the AP1 and the position information of the AP2, it can be determined that the directional relationship between the AP1 and the AP2 is that the AP1 is located 30 degrees north of the AP2, and the AP2 is located in a direction rotated 210 degrees clockwise from the north direction as a starting point of the AP 1. And the first angle of arrival of the message sent by AP1 and received by AP2 is 30 degrees north east. Since both the first angle of arrival and the directional relationship indicate that AP1 is located 30 degrees north-east of AP2, it can be determined that the nominal angle of AP2 is the true north direction, and the offset angle of AP1 with respect to AP2 is 30 degrees north-east. Moreover, it is assumed that the second arrival angle of the AP1 receiving the message sent by the AP2 is 180 degrees, and the AP2 is located in the direction that the AP1 rotates 210 degrees clockwise with the north direction as the starting point, so that it can be determined that the calibration angle of the AP1 is 30 degrees north-east.

In another implementation manner of this step 307, for any two WLAN devices including one calibrated WLAN device, the management device may obtain the arrival angles of the messages sent by the two WLAN devices receiving the other party, determine the relative offset angle of the calibration angles of the two WLAN devices according to the arrival angles, and then determine the calibration angle of the WLAN device to be calibrated according to the relative offset angle and the calibration angle of the calibrated WLAN device. For the implementation manner of the management device acquiring the angle of arrival of the message sent by the two WLAN devices and received by the other WLAN device, reference is made to step 305 and step 306, which is not described herein again.

For example, as shown in fig. 6, it is assumed that the calibration angle of the AP2 is a north direction, and the first arrival angle of the AP2 for receiving the message sent by the AP1 is 30 degrees north, that is, the arrival angle of the message sent by the AP1 is 30 degrees clockwise relative to the calibration angle of the AP 2. And assume that the second arrival angle of the AP1 for receiving the message sent by the AP2 is 165 degrees, that is, the arrival angle of the message sent by the AP2 is 165 degrees clockwise with respect to the direction of the calibration angle of the AP 1. Thus, it may be determined that the relative offset angle of the nominal angle of AP1 with respect to the nominal angle of AP2 is 45 degrees. Since the nominal angle of the AP2 is the true north direction, the nominal angle of the AP1 may be determined to be 45 degrees north-east.

It should be noted that, in a deployment scenario of a plurality of WLAN devices, the plurality of WLAN devices includes: one or two WLAN devices which can only exchange messages with one WLAN device, and a plurality of WLAN devices which can exchange messages with two WLAN devices. Fig. 7 is a schematic diagram of the deployment scenario, and as shown in fig. 7, the WLAN devices include: a WLAN device 1 and a WLAN device n each capable of interworking messages with only one WLAN device, a plurality of WLAN devices 2, 3, … …, and (n-1) capable of interworking messages with both WLAN devices. In the plurality of WLAN devices, the message sent from the WLAN device 1 may be sent to the WLAN device 2, the WLAN device 2 may also send the message to the WLAN device 3, the WLAN device 3 sends the message to the WLAN devices interacting with the WLAN device 3 except the WLAN device 2, and sends the messages in sequence according to the rule until the message is sent to the WLAN device (n-1), and the WLAN device (n-1) sends the message to the WLAN device n, so that the message sent from any one of the plurality of WLAN devices may be transmitted among the plurality of WLAN devices, that is, the plurality of WLAN devices may all implement direct or indirect interaction. Correspondingly, in the deployment scenario, the position information and the calibration angles of all the WLAN devices to be calibrated in the plurality of WLAN devices can be determined according to the time information and the arrival angle of the message.

In addition, in the deployment scenario, when one calibrated WLAN exists in the plurality of WLAN devices and each WLAN device in the plurality of WLAN devices has a ranging and angle measuring function, the calibrated WLAN may be used as a starting point, by performing message interaction between every two WLAN devices, and determining the location information and the calibration angle of another WLAN device in every two WLAN devices according to the WLAN devices whose location information and calibration angle are known in every two WLAN devices, thereby implementing calibration of all WLAN devices to be calibrated in the plurality of WLAN devices. The WLAN device may measure the range according to the message sent by using the first bandwidth and measure the angle according to the message sent by using the second bandwidth. Or the WLAN device may perform ranging and angle measurement according to the message sent by using the first bandwidth, which is not specifically limited in this embodiment.

Step 308, when it is detected that the calibration angle of the WLAN device to be calibrated changes, the management device updates the calibration angle of the device to be calibrated based on the changed calibration angle.

After determining the calibration angle of each WLAN device to be calibrated, the calibration angle of each WLAN device to be calibrated may be recorded in the management device for subsequent use. And after determining the calibration angle of each WLAN device to be calibrated, detecting whether the calibration angle of each WLAN device changes, and updating the calibration angle of any WLAN device recorded in the management device based on the changed calibration angle when determining that the calibration angle of any WLAN device changes. When detecting whether the calibration angle of any WLAN device changes, after determining the calibration angle of any WLAN device each time, the calibration angle may be compared with the calibration angle of any WLAN device recorded in the management device, and when the variation between the calibration angle and the calibration angle of any WLAN device recorded in the management device is greater than a preset angle threshold, it is determined that the calibration angle of any WLAN device has changed.

Step 309, the management device locates the device to be located based on all or part of the WLAN devices in the plurality of WLAN devices with determined location information and calibration angles.

The device to be positioned and the WLAN device can perform message interaction, the WLAN device can determine time information of sending messages between the WLAN device and the device to be positioned according to the message interaction process and send the time information to the management device, and the management device can determine the position information of the device to be positioned according to the time information. The management device determines the implementation process of the location information of the device to be located according to the time information, and may refer to the implementation process of determining the location information of the WLAN device to be calibrated in step 303.

When the device to be positioned can receive and send a message by adopting a second bandwidth and each piece of WLAN equipment has a function of measuring a distance, the distance between the device to be positioned and each piece of WLAN equipment can be respectively determined according to the message sent between the device to be positioned and each piece of WLAN equipment in at least three pieces of WLAN equipment by adopting the second bandwidth, and the device to be positioned is positioned according to the distance between the device to be positioned and each piece of WLAN equipment.

When the device to be positioned can transmit and receive messages by using the first bandwidth and the second bandwidth, and each WLAN device has a function of measuring a distance, the distance between the device to be positioned and each WLAN device can be respectively determined according to the messages transmitted by using the first bandwidth and/or the second bandwidth, so as to position the device to be positioned. And when the device to be positioned is positioned according to the message sent by the first bandwidth, the positioning accuracy of the device to be positioned can be effectively improved.

Further, when the WLAN device has both a function of measuring a distance and a function of measuring an angle, each WLAN device of the at least one WLAN device may be used to measure the angle and the distance of the device to be positioned, and position the device to be positioned according to the angle and the distance. Therefore, the total number of the WLAN equipment used for positioning the equipment to be positioned can be reduced, and the positioning cost for positioning the equipment to be positioned is effectively reduced.

Moreover, when the WLAN device in the deployment scenario shown in fig. 7 is used to locate the device to be located, in order to ensure that the device to be located can perform message interaction with the WLAN device that locates the device to be located, it is necessary to ensure that the device to be located is located in an area where message interaction can be performed with at least 3 WLAN devices of the plurality of WLAN devices.

It should be further noted that, when calibrating the WLAN device to be calibrated, if the calibrated WLAN device has a ranging function and does not have an angle measurement function, at least three calibrated WLAN devices may be used for calibration, and when calibrating the WLAN device to be calibrated using three or more calibrated WLAN devices, the WLAN device to be calibrated may be calibrated according to a WLAN device group including at least three calibrated WLAN devices in the three or more calibrated WLAN devices, and calibration results of one or more WLAN device groups in the three or more calibrated WLAN devices are integrated to determine a calibration result of the WLAN device to be calibrated. For example, when calibrating the WLAN device to be calibrated by using five calibrated WLAN devices, the WLAN device to be calibrated may be calibrated according to six WLAN device groups, each of which includes three calibrated WLAN devices, and the weighted sum of the calibration results of the six WLAN device groups is determined as the calibration result of the WLAN device to be calibrated. Therefore, information referenced when the WLAN equipment to be calibrated is added, and the calibration accuracy can be further improved.

Similarly, when the calibrated WLAN device has the ranging and angle measuring functions, the WLAN device to be calibrated may also be calibrated by referring to a similar processing manner, so as to further improve the calibration accuracy. And when the device to be positioned is positioned, a similar processing mode can be referred to, so that the accuracy of positioning the device to be positioned is further improved.

In summary, in the positioning method provided in the embodiment of the present application, the time information of the packet transmitted by using the first bandwidth among the WLAN devices in the plurality of WLAN devices is obtained, and the location information of each to-be-calibrated WLAN device is determined according to the time information and the location information of the calibrated WLAN device in the plurality of WLAN devices.

In addition, the positioning method may further include obtaining a first arrival angle at which the WLAN device receives a message sent by other WLAN devices in the plurality of WLAN devices through the first bandwidth, and determining a calibration angle of each to-be-calibrated WLAN device based on the first arrival angle, and since the first bandwidth adopted when determining the first arrival angle is greater than the second bandwidth, the accuracy of the determined calibration angle of the to-be-calibrated WLAN device can be effectively ensured.

Furthermore, when the calibrated WLAN device is used to position the device to be positioned, the calibrated WLAN device has higher position accuracy and calibration angle accuracy, so that the positioning accuracy of the device to be positioned obtained according to the calibrated WLAN device is higher, and the positioning accuracy can be effectively ensured.

It should be noted that, the order of the steps of the calibration method provided in the embodiment of the present application may be appropriately adjusted, and the steps may also be increased or decreased according to the circumstances, and any method that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application, and therefore, the detailed description is omitted.

The following are embodiments of an apparatus of the present application that may be used to perform embodiments of the methods of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

The embodiment of the present application provides a positioning apparatus, as shown in fig. 8, the positioning apparatus 70 may include:

an obtaining module 701, configured to obtain time information of a packet transmitted by using a first bandwidth between every two WLAN devices capable of sending packets to each other in a plurality of WLAN devices, where some WLAN devices in the plurality of WLAN devices are to-be-calibrated WLAN devices, and a packet sent from any WLAN device in the plurality of WLAN devices can be transmitted between the plurality of WLAN devices.

A determining module 702, configured to determine location information of each WLAN device to be calibrated based on the time information and the location information of the calibrated WLAN device in the plurality of WLAN devices.

Optionally, the obtaining module 701 is further configured to obtain a first angle of arrival of each WLAN device in the multiple WLAN devices receiving the message sent by the other WLAN devices using the first bandwidth.

The determining module 702 is further configured to determine a calibration angle of each WLAN device to be calibrated based on the first angle of arrival.

Optionally, the determining module 702 is specifically configured to:

the distance between any two WLAN devices is determined based on the time information of the message transmitted between any two WLAN devices capable of sending messages to each other.

And determining the position information of each WLAN device to be calibrated based on the distance between every two WLAN devices and the position information of the calibrated WLAN devices in the plurality of WLAN devices.

Optionally, the determining module 702 is specifically configured to:

determining a directional relationship of any two WLAN devices based on the location information of any two WLAN devices.

Based on a first arrival angle of a message of one WLAN device of any two WLAN devices, the calibrated angle of the one WLAN device is determined to be offset relative to the calibrated angle of the other WLAN device.

And determining the calibration angle of each WLAN device in any two WLAN devices based on the offset angle and the direction relation of any two WLAN devices.

Optionally, the determining module 702 is specifically configured to: acquiring a second arrival angle of other WLAN equipment for receiving the message sent by the WLAN equipment by adopting the first bandwidth; determining an offset angle of a calibration angle of one WLAN device relative to a calibration angle of another WLAN device based on a first arrival angle of one WLAN device receiving a message of the other WLAN device and a second arrival angle of the other WLAN device receiving the message of the one WLAN device in any two WLAN devices; and determining the calibration angle of the WLAN equipment with unknown calibration angle in any two pieces of WLAN equipment based on the offset angle and the calibration angle of the WLAN equipment with known calibration angle in any two pieces of WLAN equipment.

Optionally, the determining module 702 is further configured to: and positioning the equipment to be positioned based on all or part of the WLAN equipment in the plurality of WLAN equipment with the determined position information and the calibrated angle.

In summary, in the positioning apparatus provided in the embodiment of the present application, the obtaining module obtains the time information of the packet transmitted by using the first bandwidth among the WLAN devices in the plurality of WLAN devices, and the determining module determines the location information of each to-be-calibrated WLAN device according to the time information and the location information of the calibrated WLAN device in the plurality of WLAN devices.

In addition, the positioning method further obtains a first arrival angle of a message sent by the WLAN device through the obtaining module, where the message is sent by other WLAN devices in the plurality of WLAN devices through a first bandwidth, the determining module determines the calibration angle of each WLAN device to be calibrated based on the first arrival angle, and the first bandwidth adopted when determining the first arrival angle is greater than the second bandwidth, so that the accuracy of the determined calibration angle of the WLAN device to be calibrated can be effectively ensured.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The embodiment of the application also provides WLAN equipment. The WLAN device may include: memory, processor and first transceiver component. The first transceiving component is used for transceiving messages by adopting a first bandwidth. Wherein the first bandwidth is larger than a second bandwidth, and the second bandwidth can be a bandwidth provided by wifi deployed in the WLAN device. Optionally, the first transceiver component may be a UWB transceiver component, a bluetooth transceiver component, or a Zigbee transceiver component. Alternatively, the WLAN device may be an AP.

Further, the WLAN device may further include a second transceiving component. The second transceiving component is used for transceiving messages by adopting a second bandwidth.

In one implementation, each of the first transceiver component and the second transceiver component may include: modem module, transceiver, communication interface and antenna module.

The modulation and demodulation module is used for modulating and demodulating signals transmitted by adopting a specified bandwidth. The specified bandwidth is the bandwidth which can be provided by the transceiving component to which the modulation and demodulation module belongs. The transceiver is connected to the modem module for transmitting and receiving signals using the specified bandwidth. The communication interface is used for connecting the WLAN equipment with other equipment. The antenna module is used for converting signals required to be transmitted to other equipment by the transceiver into electromagnetic waves propagated in an unbounded medium by the guided wave propagated on the transmission line, or converting electromagnetic waves received from the unbounded medium into the guided wave propagated on the transmission line for receiving by the transceiver.

Fig. 9 shows a WLAN device including: a memory, a processor, a first transceiving component, and a second transceiving component. As shown in fig. 9, the WLAN device 800 includes: memory 810, processor 820, first transceiving component 830, and second transceiving component 840. The memory 810, the processor 820, the first transceiving component 830 and the second transceiving component 840 are interconnected via a bus 850.

The bus 850 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.

Memory 810 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 810 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory 810 may also comprise a combination of memories of the kind described above.

The processor 820 may be a hardware chip, and is configured to complete the functions of the WLAN device in the positioning method provided in the embodiments of the present application. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof. Alternatively, processor 820 may be a general-purpose processor, such as a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.

Accordingly, the memory 810 is configured to store program instructions, which when executed by the processor 820, the WLAN device 800 is configured to perform one or more steps performed by the WLAN device in the positioning method provided by the above-mentioned method embodiment, or an alternative implementation thereof, so that the WLAN device 800 implements the functions of the WLAN device in the above-mentioned positioning method.

Optionally, the first transceiving component 830 and/or the second transceiving component 840 may comprise an antenna. Alternatively, the first transceiver module 830 and/or the second transceiver module 840 may also be a transceiver circuit, a radio frequency circuit, or a radio frequency unit, which is not limited in this embodiment of the application. The first transceiving module 830 and the second transceiving module 840 are configured to perform a signal transceiving operation. When the processor 820 determines that the signal transceiving operation needs to be performed, the first transceiving component 830 or the second transceiving component 840 may be invoked or driven to perform the transceiving operation.

The embodiment of the application also provides the computing equipment. The computing device may be a server or a controller, etc. As shown in fig. 10, the computing device 900 may include: a processor 910, a communication interface 920, and a memory 930. The processor 910, the communication interface 920, and the memory 930 are interconnected via a bus 940.

The bus 940 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 10, but this is not intended to represent only one bus or type of bus.

Memory 930 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 930 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory 930 may also comprise a combination of memories of the kind described above.

The processor 910 may be a hardware chip, and is configured to complete the function of managing the device in the positioning method provided in the embodiment of the present application. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof. Alternatively, the processor 021 may be a general-purpose processor, such as a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.

Accordingly, the memory 930 is configured to store program instructions that, when executed by the processor 910, enable the computing device 900 to perform one or more steps performed by a management device in the positioning method provided by the above-described method embodiments, or wherein alternative embodiments are implemented, to enable the computing device 900 to implement the functions of the management device in the positioning method described above.

Embodiments of the present application also provide a computer-readable storage medium, which may be a non-transitory readable storage medium, and when instructions in the computer-readable storage medium are executed by a computer, the computer is configured to perform the positioning method provided in the present application. The computer readable storage medium includes, but is not limited to, volatile memory such as random access memory, non-volatile memory such as flash memory, Hard Disk Drive (HDD), Solid State Drive (SSD).

The present application also provides a computer program product comprising computer instructions which, when executed by a computing device, the computing device performs the positioning method provided herein.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only an example of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the principles of the present application should be included in the scope of the present application.

Claims

1. A method of positioning, the method comprising:

acquiring time information of a message transmitted by adopting a first bandwidth between every two WLAN devices capable of sending messages to each other in a plurality of WLAN devices, wherein part of the WLAN devices are to-be-calibrated WLAN devices, and the message sent from any one of the WLAN devices can be transmitted among the WLAN devices;

determining the position information of each WLAN device to be calibrated based on the time information and the position information of the calibrated WLAN devices in the plurality of WLAN devices;

acquiring a first arrival angle of each WLAN device in the plurality of WLAN devices for receiving messages sent by other WLAN devices by using the first bandwidth;

determining a calibration angle of each WLAN device to be calibrated based on the first arrival angle;

the WLAN equipment is at least provided with an ultra-wideband UWB transmitting-receiving component and a second transmitting-receiving component, the ultra-wideband UWB transmitting-receiving component is used for transmitting and receiving messages by adopting a first bandwidth, the second transmitting-receiving component is used for transmitting and receiving messages by adopting a second bandwidth, and the first bandwidth is larger than the second bandwidth.

2. The method of claim 1, wherein determining the location information of each WLAN device to be calibrated based on the time information and the location information of the calibrated WLAN devices of the plurality of WLAN devices comprises:

determining the distance between any two WLAN devices based on the time information of the message transmitted between any two WLAN devices capable of sending messages to each other;

3. The method of claim 1, wherein determining a calibration angle for each WLAN device to be calibrated based on the first angle of arrival comprises:

determining a directional relationship between any two WLAN devices based on the position information of any two WLAN devices;

determining an offset angle of a calibration angle of one WLAN device relative to a calibration angle of another WLAN device based on a first arrival angle of a message of the other WLAN device received by the one WLAN device of the any two WLAN devices;

and determining a calibration angle of each WLAN device in the two random WLAN devices based on the offset angle and the direction relation of the two random WLAN devices.

4. The method of claim 1, wherein determining a calibration angle for each WLAN device to be calibrated based on the first angle of arrival comprises:

acquiring a second arrival angle of the other WLAN equipment for receiving the message sent by the WLAN equipment by adopting the first bandwidth;

determining an offset angle of a calibration angle of one WLAN device relative to a calibration angle of another WLAN device based on a first arrival angle of one WLAN device in any two WLAN devices for receiving a message of the other WLAN device and a second arrival angle of the other WLAN device for receiving the message of the one WLAN device;

and determining the calibration angle of the WLAN equipment with unknown calibration angle in any two pieces of WLAN equipment based on the offset angle and the calibration angle of the WLAN equipment with known calibration angle in any two pieces of WLAN equipment.

5. The method of any of claims 1 to 4, further comprising:

and positioning the equipment to be positioned based on all or part of the WLAN equipment in the plurality of WLAN equipment with the determined position information and the calibrated angle.

6. A positioning device, the device comprising:

an obtaining module, configured to obtain time information of a packet transmitted by using a first bandwidth between every two WLAN devices capable of sending packets to each other in a plurality of WLAN devices, where some WLAN devices in the plurality of WLAN devices are to-be-calibrated WLAN devices, and a packet sent from any WLAN device in the plurality of WLAN devices can be transmitted between the plurality of WLAN devices;

a determining module, configured to determine location information of each WLAN device to be calibrated based on the time information and location information of a calibrated WLAN device in the plurality of WLAN devices;

the obtaining module is further configured to obtain a first arrival angle at which each WLAN device of the plurality of WLAN devices receives a packet sent by another WLAN device using the first bandwidth;

the determining module is further configured to determine a calibration angle of each WLAN device to be calibrated based on the first angle of arrival;

7. The apparatus of claim 6, wherein the determining module is specifically configured to:

8. The apparatus of claim 6, wherein the determining module is specifically configured to:

9. The apparatus of claim 6, wherein the determining module is specifically configured to:

10. The apparatus of any of claims 6 to 9, wherein the determining module is further configured to:

11. A WLAN device, characterized in that the WLAN device comprises: the system comprises an ultra-wideband UWB receiving and sending component and a second receiving and sending component, wherein the ultra-wideband UWB receiving and sending component is used for receiving and sending messages by adopting a first bandwidth, the second receiving and sending component is used for receiving and sending messages by adopting a second bandwidth, the first bandwidth is larger than the second bandwidth, and the first bandwidth is used for enabling a management device to obtain time information of messages transmitted by adopting the first bandwidth between every two WLAN devices capable of sending messages to each other in a plurality of WLAN devices; determining the position information of each WLAN device to be calibrated based on the time information and the position information of the calibrated WLAN devices in the plurality of WLAN devices; acquiring a first arrival angle of each WLAN device in the plurality of WLAN devices for receiving messages sent by other WLAN devices by using the first bandwidth; determining a calibration angle of each WLAN device to be calibrated based on the first arrival angle; some of the WLAN devices are to-be-calibrated WLAN devices, and a message sent from any one of the WLAN devices can be transmitted between the WLAN devices.

12. A computing device, wherein the computing device comprises: a processor and a memory; the memory has stored therein a computer program; the processor, when executing the computer program, implements the positioning method of any one of claims 1 to 5.

13. A storage medium, wherein instructions in the storage medium, when executed by a processor, implement the positioning method of any one of claims 1 to 5.