CN114417386A - Device positioning and coordinate list generation method and device, electronic device and storage medium - Google Patents

Device positioning and coordinate list generation method and device, electronic device and storage medium Download PDF

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Publication number
CN114417386A
CN114417386A CN202210073978.5A CN202210073978A CN114417386A CN 114417386 A CN114417386 A CN 114417386A CN 202210073978 A CN202210073978 A CN 202210073978A CN 114417386 A CN114417386 A CN 114417386A
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China
Prior art keywords
coordinate list
positioning
position information
relative position
devices
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CN202210073978.5A
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Chinese (zh)
Inventor
李川川
姜波
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Shenzhen Snowball Technology Co ltd
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Shenzhen Snowball Technology Co ltd
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Priority to CN202210073978.5A priority Critical patent/CN114417386A/en
Publication of CN114417386A publication Critical patent/CN114417386A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/602—Providing cryptographic facilities or services
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
    • G06F21/6209—Protecting access to data via a platform, e.g. using keys or access control rules to a single file or object, e.g. in a secure envelope, encrypted and accessed using a key, or with access control rules appended to the object itself

Abstract

The application provides a device positioning and coordinate list generation method, a device, an electronic device and a storage medium. The equipment positioning method comprises the following steps: acquiring a device coordinate list, wherein the device coordinate list comprises relative position information among a plurality of positioned devices in a positioning network; and positioning a target positioned device in the plurality of positioned devices by using the relative position information. Since the device coordinate list includes relative location information between the plurality of devices in the positioning network, the target device in the plurality of devices in the positioning network can be positioned by using the relative location information, thereby solving the problems in the prior art.

Description

Device positioning and coordinate list generation method and device, electronic device and storage medium
Technical Field
The present application relates to the field of information processing technologies, and in particular, to a device positioning and coordinate list generation method, apparatus, electronic device, and storage medium.
Background
With the development of society, equipment such as vehicles and bicycles becomes a necessary tool in daily life of people. However, in practice, these devices may be transferred from one location to another, and thus often require positioning of the devices.
Disclosure of Invention
An object of the embodiments of the present application is to provide a device positioning and coordinate list generation method, apparatus, electronic device, and storage medium, which are used to solve the problems in the prior art.
A first aspect of an embodiment of the present application provides an apparatus positioning method, where the method includes:
acquiring a device coordinate list, wherein the device coordinate list comprises relative position information among a plurality of positioned devices in a positioning network;
and positioning a target positioned device in the plurality of positioned devices by using the relative position information.
In an embodiment, the obtaining the device coordinate list specifically includes: and acquiring the equipment coordinate list through Bluetooth.
In one embodiment, the method further comprises: and displaying the positioning result of the target positioned equipment.
In an embodiment, the displaying the positioning result of the target-positioned device specifically includes:
and displaying the positioning result of the target positioned equipment in the drawn equipment distribution diagram of each positioned equipment in the positioning network.
In an embodiment, an application terminal is associated with the target positioned device in advance; then the process of the first step is carried out,
displaying a positioning result of the target positioned device, specifically comprising:
and displaying the positioning result of the target positioned equipment at the application terminal.
In an embodiment, the device coordinate list further includes device identification ciphertexts corresponding to respective located devices in the multiple located devices; then the process of the first step is carried out,
prior to locating a target located device of the plurality of located devices using the relative location information, the method further comprises:
respectively decrypting each equipment identification ciphertext by utilizing a prestored private key;
and determining the located equipment corresponding to the equipment identification ciphertext which is decrypted successfully as the target located equipment.
In one embodiment, the method comprises:
and encrypting the device identification plaintext of the target positioned device by using random information and a public key corresponding to the private key so as to obtain a device identification ciphertext of the target positioned device.
A second aspect of the embodiments of the present application provides a method for generating a device coordinate list, where the method is applied to a first device to be located in a location network, and includes:
determining relative location information between a first located device and a plurality of second located devices in a location network;
generating a device coordinate list for locating the first located device or at least one of the plurality of second located devices using the determined relative location information.
In an embodiment, determining the relative location information between the first located device and the plurality of second located devices in the location network specifically includes:
determining the distance and the relative direction between the first positioned device and each second positioned device in a plurality of second positioned devices respectively;
and generating the relative position information by using the distance and the relative direction.
In one embodiment, the method further comprises:
acquiring a second device coordinate list transmitted by at least one second positioned device in a plurality of second positioned devices;
updating the device coordinate list using the relative position information included in the second device coordinate list.
In an embodiment, the updating the device coordinate list by using the relative location information included in the second device coordinate list specifically includes:
determining a newly added positioned device of the second device coordinate list relative to the device coordinate list;
generating relative position information between the first positioned device and the newly added positioned device by using the relative position information between the second positioned device and the newly added positioned device which send the second device coordinate list;
adding the generated relative position information to the device coordinate list.
In an embodiment, the updating the device coordinate list by using the relative location information included in the second device coordinate list specifically includes:
determining that the second device coordinate list is the same located device of the device coordinate list;
converting relative position information between a second positioned device and the same positioned device which send the second device coordinate list into relative position information between the first positioned device and the same positioned device in a second device coordinate list;
calculating an average value or a weighted average value between the relative position information of the first positioned device and the same positioned device in the device coordinate list and the converted relative position information;
and updating the relative position information between the first positioned equipment and the same positioned equipment in the equipment coordinate list by using the calculated average value or weighted average value.
A third aspect of the embodiments of the present application provides an apparatus positioning device, including:
an acquisition unit configured to acquire an apparatus coordinate list including relative position information between a plurality of apparatuses in a positioning network;
and the positioning unit is used for positioning the target positioned equipment in the plurality of equipment by utilizing the relative position information.
A fourth aspect of the present embodiment provides an apparatus for generating a device coordinate list, where the apparatus is applied to locate a first located device in a network, and the apparatus includes:
a determining unit for determining relative position information between a first located device and a plurality of second located devices in a location network;
a generating unit, configured to generate a device coordinate list for positioning the first positioned device or at least one of the plurality of second positioned devices by using the determined relative position information.
A fifth aspect of an embodiment of the present application provides an electronic device, including:
a memory to store a computer program;
a processor configured to perform the method of any of the method embodiments of the first aspect or the second aspect of the embodiments of the present application.
A sixth aspect of an embodiment of the present application provides a storage medium, including: a program which, when run on an electronic device, causes the electronic device to perform the method of any of the method embodiments of the first or second aspects of embodiments of the present application.
The device positioning method provided by the embodiment of the application comprises the steps of obtaining a device coordinate list, and positioning target devices in a plurality of devices of a positioning network by using relative position information because the device coordinate list comprises the relative position information among the devices of the positioning network, thereby solving the problems in the prior art.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a positioning network according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a specific method for positioning a device according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a specific method for generating a device coordinate list according to an embodiment of the present application;
fig. 5 is a schematic diagram of a positioning network according to another embodiment of the present application;
fig. 6 is a schematic flowchart of a device positioning method in a specific application scenario according to yet another embodiment of the present application;
fig. 7 is a schematic structural diagram of an apparatus positioning device according to an embodiment of the present application;
fig. 8 is a schematic flowchart of a device coordinate list generation apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. In the description of the present application, terms such as "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying a relative importance or order.
As mentioned above, with the development of society, devices such as vehicles and bicycles become necessary tools in people's daily life. However, in practice, these devices may be transferred from one location to another, and thus often require positioning of the devices.
As shown in fig. 1, a schematic diagram of a positioning network in the device positioning method provided in this embodiment is provided, where the positioning network includes a plurality of devices 1 to be positioned, and at least one of the devices 1 to be positioned is provided with a positioning device 11, such as a UWB positioning module, a geomagnetic sensor, and the like, and of course, each device 1 to be positioned in the positioning network may also be provided with a positioning device 11. Thus, for the device 1 to be positioned provided with the positioning device, other devices to be positioned in the positioning network can be positioned by using the positioning device 11; of course, the positioning devices 1 provided with the positioning device 11 in the positioning network can also realize the positioning between each other.
In practical applications, the device 1 to be located may be a mobile phone, a laptop, a desktop, a vehicle, a bicycle or other types of devices.
As shown in fig. 2, for locating a located device 1 in a network, the located device 1 may be embodied as an electronic device such as a mobile phone, a tablet computer, and the electronic device may further include: at least one processor 12 and a memory 13. The memory 13 stores instructions executable by the processor 12, and the instructions are executed by the processor 12 to enable the electronic device to execute all or part of the flow of the method in the embodiment of the present application.
Of course, each positioned device 1 in the positioning network may also be provided with a communication module, so as to implement communication between each positioned device 1 of the positioning network; in practical application, the communication module may be a bluetooth communication module, or may also be a wifi communication module or other types of communication modules. For example, the device 1 to be located, which is provided with the locating device 11 in the locating network, can locate other devices 1 to be located in the locating network by using the locating device 11 carried by itself, and then send the result of the location to other devices 1 to be located through the communication module.
In an embodiment, a vehicle may be used as the device 1 to be located, and a UWB locating module and a geomagnetic sensor are provided as locating devices; a positioning network can be constructed among a plurality of vehicles by utilizing a Bluetooth communication module, each vehicle can be used as a first positioned device, and other vehicles (used as second positioned devices) in the positioning network are positioned by utilizing a positioning device carried by the vehicle. Of course, a device such as a mobile phone may also be added to the positioning network as a designated device, so as to be able to position the mobile phone, or positioning information may also be sent to the mobile phone through the bluetooth communication module, so as to enable the mobile phone to know the positioning result of the vehicle.
Fig. 3 is a specific flowchart of a device location method provided in an embodiment of the present application, where a location network includes a plurality of located devices, and the method can be used to locate any one of the located devices in the location network. The method can be executed by a certain positioned device in the positioning network, and also can be executed by a server or an application terminal, and the method comprises the following steps:
step S21: a list of device coordinates is obtained.
It should be noted that the device coordinate list includes relative position information between a plurality of devices to be located in the positioning network, and the relative position information between the devices to be located may be determined by a positioning apparatus provided on the devices to be located.
For example, the positioning network includes a plurality of devices to be positioned, wherein some of the devices to be positioned are provided with positioning apparatuses such as a UWB positioning module and a geomagnetic sensor. For a certain device to be located provided with a locating device, other devices to be located in the locating network can be located by using the locating device carried by the device to be located. For example, when the positioning apparatus is specifically a UWB positioning module and a geomagnetic sensor, for a certain device to be positioned provided with the UWB positioning module and the geomagnetic sensor, the UWB positioning module carried by the positioning apparatus may be used to measure a distance between the positioning apparatus and another device to be positioned, for example, the distance between the positioning apparatus and the other device to be positioned may be measured by using a Time of flight (TOF) algorithm, the UWB positioning module carried by the positioning apparatus may be used to determine a relative direction between the positioning apparatus and the other device to be positioned, for example, the relative direction may be determined by using an Angle of Arrival ranging algorithm (AOA), and after the distance and the relative direction between the positioning apparatus and the other device to be positioned are determined, the spatial direction determined by the geomagnetic sensor is further combined with the distance and the relative direction to generate relative position information, wherein the spatial direction can represent east, south, west or north directions in physical space. The relative position information can characterize and position relative position relation among a plurality of positioned devices in the network, such as distance, relative direction and the like among the plurality of positioned devices.
In practical applications, there are many specific ways to obtain the device coordinate list, and several ways can be listed here for illustration.
In the first mode, the device to be located uses its own locating device to locate other devices to be located in the location network, and generates the device coordinate list according to the location result.
For example, the device to be located measures the distance and the relative direction between itself and other devices to be located by using the UWB locating module carried by itself, in combination with a Time of flight (TOF) algorithm and an Angle of Arrival (AOA) algorithm, and generates a device coordinate list in combination with the spatial direction determined by the geomagnetic sensor.
And secondly, the positioned device receives the device coordinate lists sent by other positioned devices. For example, after a certain device to be located generates a device coordinate list, the device coordinate list may be transmitted to other devices to be located in the location network, so that the other devices to be located can receive the transmitted device coordinate list.
The first mode is mainly to generate a device coordinate list, and the second mode is mainly to receive the device coordinate list sent by other positioned devices. In the third embodiment, a specific manner of acquiring the device coordinate list may be to generate a new device coordinate list by using the received device coordinate list and the stored device coordinate list.
The stored device coordinate list may be a device coordinate list generated and stored by the device in the first mode, or may be a device coordinate list received and stored in the second mode. For example, after receiving a new device coordinate list, the relative position information in the new device coordinate list may be calculated, and an average or weighted average between the relative position information in the stored device coordinate list may be calculated, thereby generating a device coordinate list. The weight of the weight average value may be set according to actual conditions.
In practical application, in consideration of positioning a device to be positioned in a network, part of the device to be positioned is provided with a positioning device, and possibly, part of the device to be positioned is not provided with a positioning device, or the positioning device cannot normally operate, at this time, for the device to be positioned provided with a positioning device, the device coordinate list may be obtained by adopting the above-mentioned first, second, or third manner; for the positioned device which is not provided with the positioning device or cannot normally operate, the device coordinate list can be acquired by adopting the second mode or the third mode.
Step S22: and positioning a target positioned device in the plurality of positioned devices of the positioning network by using the relative position information in the device coordinate list.
The target positioned device can be one or more of a plurality of positioned devices in the positioning network.
After the device coordinate list is acquired in step S21, since the relative position information in the device coordinate list can represent the relative position relationship between the multiple devices to be located in the positioning network, such as the distance, the relative direction, and the like between the multiple devices to be located, the target device to be located in the multiple devices to be located in the positioning network can be located by using the relative position information.
For example, in the field of a shared bicycle or a shared automobile, a user needs to search for a shared bicycle or a shared automobile around the user, and at this time, the target located device is each shared bicycle or shared automobile around the user, and each located device in the positioning network can be positioned by using the relative position information in the coordinate list; or, when the user searches for a private car, the target-located device is the private car of the user, and the private car can be located by using the relative position information in the coordinate list.
The device positioning method provided by the embodiment of the application comprises the steps of obtaining a device coordinate list, and positioning target devices in a plurality of devices of a positioning network by using relative position information because the device coordinate list comprises the relative position information among the devices of the positioning network, thereby solving the problems in the prior art.
In addition, after the target located device is located by using the step S22, the method provided in the embodiment of the present application may further include: displaying a positioning result of the target positioned equipment; of course, according to actual needs, the positioning result can also be broadcasted or sent to a server and the like.
The specific way of presenting the positioning result of the target positioned device may be to draw a device distribution map of each positioned device in the positioning network by using relative position information between a plurality of positioned devices in the positioning network, and then present the positioning result of the target positioned device in the device distribution map, for example, to highlight the target positioned device in the device distribution map.
In practical applications, when a specific application scenario is combined, for example, when a private car of a user is located, the application terminal may be further associated with a target located device (for example, the private car, etc.) in advance, and the specific association may be that the application terminal is associated with a device identifier of the target located device, where the device identifier may be a UWB device identifier or another identifier capable of uniquely identifying the target located device. Therefore, on one hand, the target positioned equipment can be determined from a plurality of positioned equipment of the positioning network by utilizing the association relationship, and on the other hand, the positioning result of the target positioned equipment can be displayed at the application terminal. The application terminal can be an application terminal installed on an intelligent terminal such as a mobile phone, a tablet computer and an intelligent watch.
It should be further noted that, in step S21, the obtained device coordinate list may generally include, in addition to the relative location information between the multiple located devices in the location network, device identifiers corresponding to the respective located devices, where the device identifiers may be device identifiers in plaintext (hereinafter referred to as device identification plaintext) or device identifiers in ciphertext (hereinafter referred to as device identification ciphertext).
For example, a, b, c and d are the multiple located devices in the location network, and the device coordinate list may beComprises the following steps: a (0,0), B (X)ab,Yab),C(Xac,Yac),D(Xad,Yad) In the device coordinate list, A, B, C and D are the device identifiers of the located devices a, b, c and D, respectively, (X)ab,Yab) For relative position information between the positioned devices a, b, (X)ac,Yac) For relative position information between the positioned devices a, c, (X)ad,Yad) Is relative position information between the positioned devices a and d, and (0,0) is relative position information of the positioned device a relative to the self. The device identifiers A, B, C and D may be device identification plaintext or device identification ciphertext, among other things.
When the device coordinate list further includes device identifiers respectively corresponding to each located device in the positioning network, in particular, in order to improve security and reduce a risk of information leakage, where the device identifiers are generally specifically device identification ciphertexts, in step S22, before locating the target located device by using the relative location information in the device coordinate list, the method further includes: and respectively decrypting each equipment identification ciphertext by using a pre-stored private key, determining the positioned equipment corresponding to the successfully decrypted equipment identification ciphertext as target positioned equipment, and positioning the target positioned equipment by using the relative position information in the equipment coordinate list.
For example, the specific generation manner of the device identification ciphertext may be to encrypt the device identification plaintext of the target located device by using the random information and the public key corresponding to the private key, so as to obtain the device identification ciphertext of the target located device. The random information may be a random number, or a timestamp of each time the target device to be located joins the location network.
In the positioning method provided by the embodiment of the present application, several generation manners of the device coordinate list are mentioned above, and here, the generation manners of the device coordinate list may be further described, and accordingly, a device coordinate list generation method is provided. As shown in fig. 4, the method may be applied to locate a first located device in a network, where the first located device may be any one located device in the network provided with a locating apparatus, and the method includes the following steps:
step S31: relative location information between a first located device and a plurality of second located devices in a location network is determined.
The second located device may be any one of the located devices in the location network other than the first located device.
That is, relative position information between the first located device and the plurality of second located devices may be determined centering on the first located device. For example, the first device to be located may determine the distance and relative direction between itself and each of the plurality of second devices to be located by using its own locating device.
Step S32: a list of device coordinates is generated using the determined relative position information.
Since the device coordinate list includes relative location information between the first located device and a plurality of second located devices in the positioning network, it can be used to locate the first located device or at least one of the plurality of second located devices.
Obviously, the device coordinate list generated by the device coordinate list generation method can be used for positioning a device, for example, the device coordinate list is applied to the device positioning method provided in the embodiment of the present application, so as to position a first positioned device or a second positioned device in the device coordinate list, and therefore the device coordinate list generation method can also solve the problem in the prior art, which is not described herein again.
In practical applications, after the first located device generates the device coordinate list, the generated device coordinate list may be further updated, specifically, the above steps S31 and S32 may be re-executed to generate a new device coordinate list, for example, the above steps S31 and S32 may be periodically executed to periodically generate the device coordinate list, where the period may be 1 hour, 0.5 hour, or other time period.
Another updating method may also be that at least one second located device in the plurality of second located devices is obtained, the second device coordinate list is sent, and then the generated device coordinate list is updated by using the relative position information included in the second device coordinate list.
The specific way of updating the generated device coordinate list by using the relative position information included in the second device coordinate list may be to determine a newly added located device of the second device coordinate list relative to the generated device coordinate list, for example, compare a device identifier in the second device coordinate list with a device identifier in the generated device coordinate list, thereby determining the newly added located device; after the newly added positioned device is determined, relative position information between the first positioned device and the newly added positioned device is generated by utilizing the relative position information between the second positioned device which sends the second device coordinate list and the newly added positioned device, and then the generated relative position information is added to the generated device coordinate list.
In addition, if the second device coordinate list has no additional positioned devices relative to the generated device coordinate list, the generated device coordinate list may not be updated.
For example, the first located device a generates a list of device coordinates as follows: a (0,0), B (X)ab,Yab),C(Xac,Yac),D(Xad,Yad). In the device coordinate list, A, B, C and D are the device identifiers of the located devices, respectively, (X)ab,Yab) To locate relative position information between devices A, B, (X)ac,Yac) To locate relative position information between devices A, C, (X)ad,Yad) For the relative position information between the positioned-devices A, D, (0,0) is the relative position information of the first positioned-device A relative to itself, wherein these relative position information are measured by the first positioned-device A centering on itselfThus obtaining the product.
The first located device a receives the second device coordinate list sent by the second located device B: b (0,0), A (X)ba,Yba),C(Xbc,Ybc),E(Xbe,Ybe). In the second device coordinate list
A, B, C and E are the device identifiers of the located devices, respectively, (X)ba,Yba) To be positioned at
Relative position information between the units A, B, (X)bc,Ybc) To be positioned in relative position between devices B, C
Position information, (X)be,Ybe) To locate relative position information between devices B, E, (0,0) to be located
Relative position information of the device B with respect to itself, wherein these relative position information may be determined
The bit device B measures itself as a center.
Thus, the first located device a can determine a new located device of the second device coordinate list relative to the generated device coordinate list, where the new located device is the located device E; then, the relative position information of the positioned device B and the positioned device E, namely (X), is utilizedbe,Ybe) Generating relative position information E (X) between the first positioned device A and the positioned device Eae,Yae) Then E (X)ae,Yae) Adding to the generated device coordinate list, resulting in an updated device coordinate list: a (0,0), B (X)ab,Yab),C(Xac,Yac),D(Xad,Yad),E(Xae,Yae). Wherein: xae＝Xab+Xbe；Yae＝Yab+Ybe。
Similarly, if the located device B receives the device coordinate list sent by the located device a, the device coordinate list of the located device B is updated to obtain a new coordinate list as follows:
B(0,0),A(Xba,Yba),C(Xbc,Ybc),D(Xbd,Ybd),E(Xbe,Ybe) (ii) a Wherein: xbd＝
Xba+Xad；Ybd＝Yba+Yad。
It should be further noted that, for the same located device in the second device coordinate list and the generated device coordinate list, no update may be performed, or the relative position information between the second located device and the same located device in the second device coordinate list, which is sent in the second device coordinate list, may be converted into the relative position information between the first located device and the same located device, that is, the same located device is converted into a coordinate system; and then directly using the relative position information obtained by conversion to replace the relative position information between the first positioned equipment and the same positioned equipment in the generated equipment coordinate list.
Of course, in order to further improve the accuracy, it may also be possible to first determine the same located device in the second device coordinate list and the generated device coordinate list, then convert the relative position information between the second located device in the second device coordinate list and the same located device into the relative position information between the first located device and the same located device, then calculate the relative position information between the first located device and the same located device in the generated device coordinate list, and an average value or a weighted average value between the converted relative position information, and then update the relative position information between the first located device and the same located device in the generated device coordinate list by using the calculated average value or the weighted average value.
For example, in the above example, the two device coordinate lists a (0,0), B (X) in the above exampleab,Yab),C(Xac,Yac),D(Xad,Yad) And B (0,0), A (X)ba,Yba),C(Xbc,Ybc),E(Xbe,Ybe) Wherein the positioned device C is a phaseAs well as the device being located.
The second device coordinates may be tabulated B (0,0), a (X)ba,Yba),C(Xbc,Ybc),E(Xbe,Ybe) The relative position information (X) between the second device-to-be-positioned and the same device-to-be-positioned of the second device coordinate list is transmittedbc,Ybc) And then converted into relative position information (X) between the first positioned equipment and the same positioned equipmentab+Xbc,Yab+Ybc) Then calculate (X)ab+Xbc,Yab+Ybc) And (X)ac,Yac) Average value in between, and then replacing (X) with the average valueac,Yac) Thus, for A (0,0), B (X)ab,Yab),C(Xac,Yac),D(Xad,Yad) And (6) updating.
In addition, for a located device in the positioning network, when a certain located device needs to exit the positioning network, a notification message may be sent to the positioning network in advance, so that after other located devices in the positioning network receive the notification message, their own device coordinate lists can be updated, for example, location information related to the located device is deleted.
Of course, after the device coordinate list is updated, the updated device coordinate list may be broadcasted in the positioning network to inform other positioned devices.
The above is a specific description of the device positioning method and the device coordinate list generation method provided in the embodiments of the present application, and for convenience of understanding, the method may be described in more detail with reference to a specific application scenario. As shown in fig. 5, in this application scenario, the positioning network includes a plurality of positioned devices, and these positioned devices are specifically vehicles, a UWB positioning module and a geomagnetic sensor are disposed on the vehicles, and a positioning network is constructed by using a bluetooth communication module among the plurality of vehicles, so as to position a private car of a user. The method is performed by an application terminal, which may be installed on a user's handset. As shown in fig. 6, in the application scenario, the method may include the following steps:
step S41: and the user associates the application terminal on the mobile phone with the equipment identification plaintext of the private car.
Wherein the device identification plaintext may be a UWB device identifier.
Step S42: the private car is added into the positioning network, wherein the identifier displayed on the positioning network by the private car is an equipment identifier ciphertext, and the equipment identifier ciphertext is obtained by encrypting the equipment identifier plaintext of the private car by using random information and a public key.
For example, in practical applications, after a private car of a user stops stably and is flamed out, a bluetooth communication module or a wifi communication module can be started to join in a positioning network. In the process of joining the positioning network, the device identification plaintext of the private car can be encrypted by utilizing the random information and the public key to obtain a device identification ciphertext, and the device identification ciphertext is used for being displayed in the positioning network and being discovered by other vehicles, so that the device identification plaintext is prevented from being leaked.
Step S43: the private car determines relative position information between the private car and a plurality of vehicles in the positioning network, and further generates and stores an equipment coordinate list.
After the private car joins the positioning network, other vehicles in the positioning network can be positioned, and of course, other vehicles in the positioning network can also position the private car. For example, the private car may search for broadcast information locating other vehicles in the network to obtain device identifiers of the other vehicles and store the device identifiers as a list for subsequent locating thereof.
The specific mode of the private car for positioning other vehicles can be that based on a UWB positioning module carried by the private car, the distance and the relative direction between the private car and other vehicles are calculated by utilizing TOF and AOA algorithms, and the relative position information is generated by combining the space direction determined by the geomagnetic sensor. For example, the position of the vehicle itself may be used as the origin of a two-dimensional coordinate system, the distance, the relative direction, and the spatial direction (the spatial direction can represent the east, south, west, north, and the like directions in the physical space) are used to calculate the coordinates of other vehicles, and finally, a device coordinate list is generated.
After the private car generates the device coordinate list, the device coordinate list can be broadcasted to the positioning network, so that other vehicles in the positioning network can acquire the device coordinate list.
Step S44: and periodically acquiring a second device coordinate list sent by other vehicles in the positioning network for updating the stored device coordinate list.
After the device coordinate list is generated and stored in step S43, the second device coordinate list sent by other vehicles in the positioning network may be acquired, and the device coordinate list stored in step S43 may be updated by using the acquired second device coordinate list, but of course, the updated device coordinate list may also be stored, and then, after a period, a new second device coordinate list sent by other vehicles in the positioning network may be acquired again, and the previously stored updated device coordinate list may be updated again, and then, the updated device coordinate list may continue to be stored again, and the second device coordinate list sent by other vehicles in the positioning network may be periodically acquired for updating the stored device coordinate list.
The length of the period can be set according to actual needs, for example, at the initial stage of the private car joining the positioning network, the period can be set to be relatively short time, for example, 1 minute; after the private car joins the positioning network for a long time, the update of the device coordinate list is relatively stable, and the period may be gradually increased, for example, to 1 hour. And when the difference between the second device coordinate list sent by other vehicles in the acquired positioning network and the device identifier in the device coordinate list of the second device coordinate list is smaller or completely the same, the acquisition of the device coordinate list sent by other vehicles in the network can be stopped, so that the electric quantity is saved.
Step S45: when a user positions a private car through an application terminal on a mobile phone, the application terminal obtains an updated equipment coordinate list, and the equipment coordinate list comprises relative position information among all vehicles in a positioning network and equipment identification ciphertexts respectively corresponding to all vehicles.
Usually, the user can also start bluetooth and the like on the mobile phone, so that the mobile phone is also added to the positioning network, and the application terminal on the mobile phone can acquire the device coordinate list.
Step S46: and the application terminal decrypts the equipment identification ciphertexts by using the private key respectively, and determines the vehicle corresponding to the successfully decrypted equipment identification ciphertexts as the private car.
Step S47: and the application terminal positions the private car by using the relative position information in the equipment coordinate list.
Based on the same inventive concept as the device positioning method provided by the embodiment of the present application, the embodiment of the present application also provides a device positioning apparatus, and for the embodiment of the apparatus, if it is unclear, the corresponding content of the embodiment of the method can be referred to. As shown in fig. 7, which is a specific structural diagram of the apparatus 50, the apparatus 50 includes: an acquisition unit 501 and a positioning unit 502, wherein:
an obtaining unit 501, configured to obtain a device coordinate list, where the device coordinate list includes relative location information between multiple located devices in a location network;
a positioning unit 502, configured to position a target located device in the plurality of located devices by using the relative position information.
With the device 50 provided in the embodiment of the present application, since the device 50 adopts the same inventive concept as the device positioning method provided in the embodiment of the present application, on the premise that the device positioning method can solve the technical problem, the device 50 can also solve the technical problem, and details thereof are not repeated here.
In addition, in practical applications, the technical effect obtained by combining the apparatus 50 with specific hardware devices, cloud technologies, and the like is also within the scope of the present application, for example, different units in the apparatus 50 are arranged in different nodes in a distributed cluster by using a distributed cluster manner, so as to improve efficiency and the like.
In practical applications, the specific way for the obtaining unit 501 to obtain the device coordinate list may be to obtain the device coordinate list through bluetooth.
The apparatus 50 may further include a display unit for displaying the positioning result of the target-positioned device.
In particular, the presentation unit can be configured to present the positioning result of the target positioned device in the plotted device profile of each positioned device in the positioning network.
The apparatus 50 may further include an associating unit, configured to associate the application terminal with the target located device in advance; the display unit may specifically include a display subunit, configured to display, at the application terminal, a positioning result of the target positioned device.
In practical application, the device coordinate list further includes device identification ciphertexts corresponding to each of the multiple located devices; then the process of the first step is carried out,
the positioning unit 502 may specifically include a decryption subunit and a positioning subunit, where:
the decryption subunit is used for decrypting each equipment identification ciphertext by using a prestored private key;
and the positioning subunit is used for determining the positioned equipment corresponding to the successfully decrypted equipment identification ciphertext as the target positioned equipment.
The apparatus 50 may further include an encrypting unit, configured to encrypt a device identification plaintext of the target located device by using the random information and a public key corresponding to the private key, so as to obtain a device identification ciphertext of the target located device.
Based on the same inventive concept as the device coordinate list generation method provided by the embodiment of the present application, the embodiment of the present application also provides a device coordinate list generation apparatus, and for the embodiment of the apparatus, if there is ambiguity, reference may be made to the corresponding contents of the embodiment of the method. As shown in fig. 8, which is a specific structural diagram of the apparatus 60, the apparatus 60 can be applied to locate a first device to be located in a network, and a locating device is disposed in the first device to be located. The apparatus 60 comprises: a determining unit 601 and a generating unit 602, wherein:
a determining unit 601, configured to determine relative location information between a first located device and a plurality of second located devices in a location network;
a generating unit 602, configured to generate a device coordinate list for positioning the first located device or at least one of the plurality of second located devices by using the determined relative position information.
With the apparatus 60 provided in the embodiment of the present application, since the apparatus 60 adopts the same inventive concept as that of the device coordinate list generation method provided in the embodiment of the present application, on the premise that the device coordinate list generation method can solve the technical problem, the apparatus 60 can also solve the technical problem, and details thereof are not repeated here.
In practical applications, the determining unit 601 can be configured to determine a distance and a relative direction between the first located device and each of the plurality of second located devices, and generate the relative position information by using the distance and the relative direction.
The apparatus 60 may further include an updating unit configured to obtain a second device coordinate list transmitted by at least one second located device of the plurality of second located devices; updating the device coordinate list using the relative position information included in the second device coordinate list.
The updating unit may include a first updating subunit that determines a new located device of the second device coordinate list relative to the device coordinate list; generating relative position information between the first positioned device and the newly added positioned device by using the relative position information between the second positioned device and the newly added positioned device which send the second device coordinate list; adding the generated relative position information to the device coordinate list.
The updating unit may include a second updating subunit that determines that the second device coordinate list is the same as the located device of the device coordinate list; converting relative position information between a second positioned device and the same positioned device which send the second device coordinate list into relative position information between the first positioned device and the same positioned device in a second device coordinate list; calculating an average value or a weighted average value between the relative position information of the first positioned device and the same positioned device in the device coordinate list and the converted relative position information; and updating the relative position information between the first positioned equipment and the same positioned equipment in the equipment coordinate list by using the calculated average value or weighted average value.
An embodiment of the present invention further provides a storage medium, including: a program that, when run on an electronic device, causes the electronic device to perform all or part of the procedures of the methods in the above-described embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like. The storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (16)

1. A method for locating a device, the method comprising:
acquiring a device coordinate list, wherein the device coordinate list comprises relative position information among a plurality of positioned devices in a positioning network;
and positioning a target positioned device in the plurality of positioned devices by using the relative position information.
2. The method according to claim 1, wherein obtaining the device coordinate list specifically comprises: and acquiring the equipment coordinate list through Bluetooth.
3. The method of claim 1, further comprising: and displaying the positioning result of the target positioned equipment.
4. The method according to claim 3, wherein presenting the positioning result of the target-located device specifically comprises:
and displaying the positioning result of the target positioned equipment in the drawn equipment distribution diagram of each positioned equipment in the positioning network.
5. The method according to claim 3, characterized in that an application terminal is associated with the target positioned device in advance; then the process of the first step is carried out,
displaying a positioning result of the target positioned device, specifically comprising:
and displaying the positioning result of the target positioned equipment at the application terminal.
6. The method of claim 1, wherein the device coordinate list further includes device identification ciphertexts corresponding to respective located devices of the plurality of located devices; then the process of the first step is carried out,
prior to locating a target located device of the plurality of located devices using the relative location information, the method further comprises:
respectively decrypting each equipment identification ciphertext by utilizing a prestored private key;
and determining the located equipment corresponding to the equipment identification ciphertext which is decrypted successfully as the target located equipment.
7. The method of claim 6, wherein the method comprises:
and encrypting the device identification plaintext of the target positioned device by using random information and a public key corresponding to the private key so as to obtain a device identification ciphertext of the target positioned device.
8. A method for generating a device coordinate list, the method being applied to a first located device in a location network, and comprising:
determining relative location information between a first located device and a plurality of second located devices in a location network;
generating a device coordinate list for locating the first located device or at least one of the plurality of second located devices using the determined relative location information.
9. The method according to claim 8, wherein determining the relative location information between the first located device and the plurality of second located devices in the location network comprises:
determining the distance and the relative direction between the first positioned device and each second positioned device in a plurality of second positioned devices respectively;
and generating the relative position information by using the distance and the relative direction.
10. The method of claim 9, further comprising:
acquiring a second device coordinate list transmitted by at least one second positioned device in a plurality of second positioned devices;
updating the device coordinate list using the relative position information included in the second device coordinate list.
11. The method according to claim 10, wherein updating the device coordinate list using the relative location information included in the second device coordinate list includes:
determining a newly added positioned device of the second device coordinate list relative to the device coordinate list;
generating relative position information between the first positioned device and the newly added positioned device by using the relative position information between the second positioned device and the newly added positioned device which send the second device coordinate list;
adding the generated relative position information to the device coordinate list.
12. The method according to claim 10, wherein updating the device coordinate list using the relative location information included in the second device coordinate list includes:
determining a same located device between the second device coordinate list and the device coordinate list;
converting relative position information between a second positioned device and the same positioned device which send the second device coordinate list into relative position information between the first positioned device and the same positioned device in a second device coordinate list;
calculating an average value or a weighted average value between the relative position information of the first positioned device and the same positioned device in the device coordinate list and the converted relative position information;
and updating the relative position information between the first positioned equipment and the same positioned equipment in the equipment coordinate list by using the calculated average value or weighted average value.
13. An apparatus positioning device, comprising:
an acquisition unit configured to acquire an apparatus coordinate list including relative position information between a plurality of apparatuses in a positioning network;
and the positioning unit is used for positioning the target positioned equipment in the plurality of equipment by utilizing the relative position information.
14. An apparatus for generating a device coordinate list, the apparatus being applied to locate a first located device in a network, the apparatus comprising:
a determining unit for determining relative position information between a first located device and a plurality of second located devices in a location network;
a generating unit, configured to generate a device coordinate list for positioning the first positioned device or at least one of the plurality of second positioned devices by using the determined relative position information.
15. An electronic device, comprising:
a memory to store a computer program;
a processor to perform the method of any one of claims 1 to 12.
16. A storage medium, comprising: program which, when run on an electronic device, causes the electronic device to perform the method of any one of claims 1 to 12.
CN202210073978.5A 2022-01-21 2022-01-21 Device positioning and coordinate list generation method and device, electronic device and storage medium Pending CN114417386A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210073978.5A CN114417386A (en) 2022-01-21 2022-01-21 Device positioning and coordinate list generation method and device, electronic device and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210073978.5A CN114417386A (en) 2022-01-21 2022-01-21 Device positioning and coordinate list generation method and device, electronic device and storage medium

Publications (1)

Publication Number Publication Date
CN114417386A true CN114417386A (en) 2022-04-29

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