WO2017113414A1

WO2017113414A1 - Communication device positioning method and communication device

Info

Publication number: WO2017113414A1
Application number: PCT/CN2015/100344
Authority: WO
Inventors: 卢恒惠; 丁志明; 王雷
Original assignee: 华为技术有限公司
Priority date: 2015-12-31
Filing date: 2015-12-31
Publication date: 2017-07-06
Also published as: CN108141835A; CN108141835B

Abstract

Disclosed are a communication device positioning method and a communication device, the method comprising: a first communication device acquiring a relative distance between the first communication device and a second communication device on each group of measurement points in a plurality of groups of measurement points; the first communication device acquiring first movement status information of the first communication device on said each group of measurement points and/or acquiring second movement status information of the second communication device on said each group of measurement points; the first communication device determining, according to at least one of the first movement status information and the second movement status information acquired on said each group of measurement points and the relative distance, the position of the first communication device and/or the position of the second communication device. The positioning method and the communication device in the embodiments of the present invention can still locate the target device even if the position of a reference device is unknown. This invention supports many application scenes, is widely applicable, and satisfies the user demand on positioning in different scenes.

Description

Positioning method and communication device of communication device

Technical field

The present invention relates to the field of communications, and more particularly to a positioning method and a communication device of a communication device.

Background technique

In a scenario where peer-to-peer positioning is used, it is sometimes necessary to locate a communication device (hereinafter referred to as a target device). In the case of positioning the target device, taking the two-dimensional positioning as an example, it is necessary to measure the relative distance between the target device and the communication device (hereinafter referred to as a reference device) at at least three known positions, and then obtain the relative distance according to the measurement. And calculate the location of the target device at a known location where the reference device is located. With this method, the location information of the reference device must first be known before the location of the target device can be estimated. If the location information of the reference device is not known, the target device cannot use the reference device to estimate its location.

Summary of the invention

The positioning method and the communication device of the communication device provided by the embodiment of the present invention can locate the target device if the location of the reference device is unknown.

In a first aspect, a positioning method of a communication device is provided, the positioning method includes: acquiring, by a first communication device, a relative distance between each of the plurality of sets of measurement points of the first communication device and the second communication device; Obtaining, by the first communications device, first motion state information of the first communications device at each set of measurement points and/or acquiring second motion state information of the second communications device at each set of measurement points; The communication device determines the location of the first communication device and/or the second communication device according to at least one of the first motion state information and the second motion state information acquired at each set of measurement points and the relative distance.

The first communication device and the second communication device may be a target device and a reference device, respectively, ie the target device is capable of locating the target device and/or the reference device if the location of the reference device is unknown. Wherein the set of measurement points includes a measurement point at which the first communication device is located and a measurement point at which the second communication device is located; the relative distance includes a distance between the first communication device and the second communication device; the first The motion state information is used to indicate a displacement vector of the one of the plurality of measurement points of the first communication device relative to the other of the plurality of measurement points, the second motion state information is used to indicate a displacement vector of the second communication device at one of the plurality of sets of measurement points relative to the other of the plurality of measurement points. The introduction of the first motion state information and/or the second motion state information as the positioning condition can support multiple application scenarios, and has a wide application range, which can meet the positioning requirements of the user in different scenarios.

With reference to the first aspect, in a possible implementation manner of the first aspect, the first communications device acquires second motion state information of the second communications device at each set of measuring points, including: at each set of measuring points, The first communication device sends first request information to the second communication device, where the first request information is used to request second motion state information at a measurement point where the second communication device is located; at each set of measurement points, Receiving, by the communication device, first response information that is sent by the second communications device according to the first request information, where the first response information includes second motion state information at a measurement point where the second communications device is located.

The first communication device sends the first request information at each set of measurement points, and receives the first response information at each set of measurement points, so that the first communication device can acquire the second communication device at each set of measurement points. Two motion status information.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the positioning method further includes: determining, by the first communications device, the number of groups of the measurement points to be N groups, where the N is a positive integer greater than or equal to 2; the first communication device acquires second motion state information of the second communication device at each set of measurement points, including: at the first group of measurement points, the first communication device is to the second The communication device sends first request information, where the first request information is used to request the second communication device to send second motion state information on the N sets of measurement points; and at the i-th measurement point, the first communication device receives the first The first response information sent by the second communication device according to the first request information, the first response information includes second motion state information of the second communication device at the ith group of measurement points, where i=1, . . . , N .

The first communication device may first determine the number N of measurement points, and the first request information sent by the first communication device may request the second communication device to actively send the second motion state information of the N sets of measurement points. When acquiring the second motion state information of the second communication device in each group of measurement points, the first communication device may reduce the number of times of sending the first request information to save signaling overhead and alleviate data transmission congestion. The first communication device can arbitrarily designate one set of N equations that can solve quadratic equations with four unknowns, or N sets of equations that can solve quadratic equations with two unknowns.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the first communications device acquires a second second communications device at each of the set of measurement points The motion state information includes: at the first group of measurement points, the first communication device sends first request information to the second communication device, where the first request information is used to request the second communication device to be in the first group of measurements a second motion state information on the point, the first request information is further used to request location information of the measurement point where the second communication device is located; at the first group of measurement points, the first communication device receives the second communication device according to The first response information sent by the first request information, the first response information includes second motion state information of the second communications device at the first group of measurement points, or the first response information includes the second communications device The second motion state information and the location information on the first group of measurement points; the first communication device determines, according to whether the first response information includes the location information, the number of groups of measurement points is N groups, and the N is greater than Or a positive integer equal to 2; at the second set of measurement points, the first communication device sends second request information to the second communication device, where the second request information is used to request the second communication device to send The second motion state information on the N-1 group measurement point; the first communication device receives the second response information sent by the second communication device according to the second request information, where the The second response information includes second motion state information of the second communication device at the ith group of measurement points, where i=2, . . . , N.

The first communication device may determine, according to whether the received first response information includes location information of the measurement point of the second communication device, the number of groups of measurement points, so that when the second request information is sent, the second communication device is instructed to actively send the subsequent N-1. The second motion state information on the group measurement point can prevent the first communication device from blindly transmitting the first request information or the second communication device blindly transmitting the first response information, thereby saving signaling overhead and alleviating data transmission congestion. Wherein, when the first response information does not include the location information, an N group of equations that can solve a quadratic equation with four unknowns can be arbitrarily specified according to experience; when the first response information includes the location information, A set of N equations that solve quadratic equations with two unknowns.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the first communications device sends the first request information to the second communications device, including: the first communications The device sends a first ranging request frame to the second communications device, where the first ranging request frame carries the first request information; the first communications device receives the first sending by the second communications device according to the first request information. The response information includes: the first communication device receives the first distance measurement frame sent by the second communication device according to the first ranging request frame, and the first distance measurement frame carries the first response information.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the first ranging request frame includes a request domain, where the request domain carries the first request information.

Optionally, in a possible implementation manner of the first aspect, the first ranging request frame may include a location configuration information LCI measurement request field, where the LCI measurement request domain carries the first request information; or, the first ranging The request frame includes a motion state information measurement request field, and the motion state information measurement request domain carries the first request information.

The first request information can be flexibly carried in different domains of the first ranging request frame according to requirements, and has good compatibility with the prior art.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the first distance measurement frame includes a report domain, where the report domain carries the first response information.

Optionally, in a possible implementation manner of the first aspect, the first distance measurement frame includes an LCI measurement report field, where the LCI measurement report field carries the first response information; or the first distance measurement frame includes a motion state. The information measurement report field, the motion state information measurement report domain carries the first response information.

The first response information can be flexibly carried in different domains of the first distance measurement frame as needed, and has good compatibility with the prior art.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the first request information is further used to request location information of a measurement point where the second communications device is located; When the first response information received by the first communication device includes the location information, the first communication device according to at least one of the first motion state information and the second motion state information acquired at each set of measurement points and the relative distance Determining the location of the first communication device and/or the second communication device, including: the first communication device according to at least one of the first motion state information and the second motion state information acquired at each set of measurement points, The relative distance and the location information determine the location of the first communication device.

If the first communication device can know the location information of the measurement point where the second communication device is located, the first communication device may combine at least one of the first motion state information and the second motion state information on each set of measurement points The relative distance and the location information make it easier and faster to determine the location of the first communication device.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in the eighth possible implementation manner of the first aspect, the first request information is further used to request the second communications device to perform distance measurement, and obtain the first communications The phase of the device and the second communication device at each of the plurality of sets of measurement points For the distance, the first communication device acquires the relative distance between the first communication device and the second communication device at each set of measurement points by distance measurement.

The first communication device can obtain the relative distance between the first communication device and the second communication device while acquiring the second motion state information of the second communication device at each set of measurement points, and can fully utilize the channel resources, thereby saving the overhead of transmitting information.

With reference to the first aspect and the foregoing possible implementation manner of the first aspect, in the ninth possible implementation manner of the first aspect, the first motion state information and the second motion state information both include a displacement magnitude, an acceleration magnitude, and a speed magnitude. At least one of and the direction of motion information.

The first communication device may determine the first communication device and/or the second communication device according to at least one of the first communication device and/or the second communication device displacement magnitude, the acceleration magnitude, and the speed magnitude, the motion direction information, and the relative distance. The location is flexible and easy to implement when positioning.

Optionally, in a possible implementation manner of the first aspect, the first communications device, according to the at least one of the first motion state information and the second motion state information acquired by each set of measurement points, and the relative distance, Determining a location of the first communication device and/or the second communication device, the first communication device according to the first motion state information of each set of measurement points when the first communication device is moving and the second communication device is stationary Determining a position of the first communication device and/or the second communication device with the relative distance; when the second communication device is moving and the first communication device is stationary, the first communication device is according to the second motion state of the each set of measurement points Information and the relative distance determine a location of the first communication device and/or the second communication device; when the first communication device moves and the second communication device moves, the first communication device acquires the first according to the each set of measurement points The motion state information, the second motion state information, and the relative distance determine a location of the first communication device and/or the second communication device.

As long as one of the first communication device and the second communication device has a displacement change, the first communication device and/or the second communication device may be determined according to the corresponding motion state information at each set of measurement points and the relative distance. The location of the method is wide and supports more application scenarios.

Optionally, in a possible implementation manner of the first aspect, the positioning method further includes: acquiring location information of a measurement point where the second communication device is located; and the first communication device is configured according to the first motion acquired by the each group of measurement points Determining the location of the first communication device and/or the second communication device by at least one of the status information and the second motion state information, including: when the first communication device moves and the second communication device is stationary The first communication device determines the location of the first communication device according to the first motion state information of the each set of measurement points, the relative distance, and the location information; when the second communication When the device moves and the first communication device is stationary, the first communication device determines the location of the first communication device according to the second motion state information of the each set of measurement points, the relative distance, and the location information; when the first communication device moves And when the second communication device is in motion, the first communication device determines the location of the first communication device according to the first motion state information, the second motion state information, the relative distance, and the location information acquired by the each set of measurement points.

It should be understood that in a possible implementation manner of the first aspect, the first communications device may send the at least one first request information at the same measurement point, so that the second communications device can receive the first request information; The communication device can also transmit at least one first response message at the same measurement point to cause the first communication device to receive the first response message.

It should be understood that the first communication device in the above method may be a target device (a communication device that needs to be located), and the first communication device may also be a reference device (a communication device that wants to know other communication device location information), and the present invention is here. Not limited.

It should be understood that, in the above positioning method, the position of the second communication device (reference device) may be used as the origin of the coordinate system, and the position of the second communication device is set to (0, 0). With the method, the first communication device needs to acquire the relative distance between the first communication device and the second communication device on each of the three sets of measurement points, and the first communication device can combine each of the three sets of measurement points. Measuring at least one of the first motion state information and the second motion state information on the measurement point, a relative distance between the first communication device and the second communication device between the three sets of measurement points, and a position of the second communication device (0) , 0), determining the relative positions of the first communication device and the second communication device. The method for acquiring the second motion state information of the second communication device is as described in the foregoing possible implementation manner of the first aspect.

A second aspect provides a method for locating a communication device, the method includes: receiving, by the second communication device, request information sent by the first communication device, where the request information is used to request the second communication device to be at each group of measurement points. a second motion state information; the second communication device sends response information to the first communication device, the response information including second motion state information at each set of measurement points, so that the first communication device is configured according to the each group of measurements At least one of first motion state information of the first communication device and second motion state information of the second communication device at the point and each of the plurality of sets of measurement points of the first communication device and the second communication device Measuring the relative distance of the points determines the location of the first communication device and/or the second communication device.

The second communication device can transmit its second motion state information at each set of measurement points to the first communication device to enable the first communication device to access the first communication device and if the location of the second communication device is unknown / or the second communication device performs positioning.

With reference to the second aspect, in a first possible implementation manner of the second aspect, the receiving, by the second communications device, the request information sent by the first communications device, the second communications device receiving the second communications device First request information sent by the first communications device, the first request information is used to request second motion state information at a measurement point where the second communications device is located; the second communications device sends a response message to the first communications device The second communication device sends the first response information to the first communication device, where the first response information includes the second motion state information at the measurement point where the second communication device is located. .

The second communication device receives the first request information at each set of measurement points, and sends the first response information to the first communication device at each set of measurement points, so that the first communication device acquires the second communication device in each group The second motion state information of the point is measured, so that the first communication device can determine the location of the first communication device and/or the second communication device according to the second motion state information and the relative distance, and meet the positioning requirement of the user.

With reference to the second aspect and the foregoing possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the second communications device receives the request information sent by the first communications device, including: in the first group of measurements The second communication device receives the first request information sent by the first communication device, where the first request information is used to request the second communication device to send the second motion state information on the N sets of measurement points, the N a positive integer greater than or equal to 2; the second communication device sends the response information to the first communication device, the second communication device sends the first response information to the first communication device at the i-th measurement point, The first response information includes second motion state information of the second communication device at the i-th group of measurement points, where i=1, . . . , N.

The second communication device only needs to receive the first request information of the set of measurement points, and may, according to the first request information, actively send the second motion state information of each set of measurement points on the N sets of measurement points to the first communication device, so that The first communication device acquires the location of the first communication device according to the second motion state information of the second communication device, which not only satisfies the positioning requirement of the user, but also saves signaling overhead and alleviates data transmission congestion.

With reference to the second aspect and the foregoing possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the second communications device receives the request information sent by the first communications device, including: in the first group of measurements Point, the second communication device receives the first request information sent by the first communication device, where the first request information is used to request the second motion state information of the second communication device at the first group of measurement points, the first The request information is further used to request location information of the measurement point where the second communication device is located; the second communication device sends the response information to the first communication device, including: in the first group of measurements The second communication device sends the first response information to the first communication device, where the first response information includes second motion state information of the second communication device at the first group of measurement points; the first response information is further Included in the second group of measurement points, the second communication device receives the second request information sent by the first communication device, where the second request information is And the second communication device sends the second response information to the first communication device, where the second communication device sends the second motion state information to the first communication device. The second response information includes second motion state information of the second communication device at the i-th group measurement point, where i=2, . . . , N.

If the second communication device can know the location information of the measurement point where it is located, the measurement point location information can be sent to the first communication device, so that the first communication device can determine the number of groups of measurement points more accurately, thereby indicating the first The second communication device actively sends the second motion state information on the subsequent N-1 group measurement points, which can prevent the first communication device from blindly transmitting the first response information multiple times, thereby saving signaling overhead and alleviating data transmission. congestion.

With reference to the second aspect and the foregoing possible implementation manner of the second aspect, in a fourth possible implementation manner of the second aspect, the second communications device receives the first request information that is sent by the first communications device, including: The second communication device receives the first ranging request frame sent by the first communications device, where the first ranging request frame carries the first request information; the second communications device sends the first response information to the first communications device, including The second communication device sends a first distance measurement frame to the first communication device, where the first distance measurement frame carries the first response information.

The first request information is carried in the first ranging request frame, and the first response information is carried in the first distance measurement frame, so that after receiving the first ranging request frame, the second communications device sends the first to the first communications device. Measuring a frame, so that the first communication device determines the location of the first communication device and/or the second communication device according to the second motion state information of the second communication device at each set of measurement points and the relative distance to satisfy the user Positioning requirements.

With reference to the second aspect and the foregoing possible implementation manner of the second aspect, in a fifth possible implementation manner of the first aspect, the first ranging request frame includes a request domain, where the request domain carries the first request information.

The first request information can be flexibly carried in different domains within the first ranging request frame according to requirements, and has good compatibility with the prior art.

With reference to the second aspect and the foregoing possible implementation manner of the second aspect, in a sixth possible implementation manner of the second aspect, the first distance measurement frame includes a report domain, where the report domain carries the first response information.

The first response information can be flexibly carried in different domains within the first distance measurement frame as needed, and has good compatibility with the prior art.

With reference to the foregoing possible implementation manner of the second aspect, in a seventh possible implementation manner of the second aspect, the first request information is further used to request location information of the measurement point where the second communications device is located, so that the first A communication device determines a location of the first communication device based on at least one of the first motion state information and the second motion state information, the relative distance, and the location information.

If the second communication device can know the location information of the measurement point where it is located, and send the location information to the first communication device, the first communication device can combine at least one of the first motion state information and the second motion state information. Kind, the relative distance and the position information, more accurately and quickly determine their position to meet the user's positioning needs.

With reference to the second aspect and the foregoing possible implementation manner of the second aspect, in the eighth possible implementation manner of the second aspect, the first request information is further used to request the second communications device to perform distance measurement, the first response The information is also used to turn on and perform the distance measurement to cause the first communication device to obtain the relative distance of each set of measurement points according to the distance measurement.

The second communication device transmits the second motion state information of each set of measurement points to the first communication device while participating in the distance measurement, so as to fully utilize the channel resources, and save the overhead of transmitting the information.

With reference to the second aspect and the foregoing possible implementation manner of the second aspect, in the ninth possible implementation manner of the second aspect, the first motion state information and the second motion state information both include a displacement magnitude, an acceleration magnitude, and a speed magnitude. At least one of and the direction of motion information.

In a third aspect, a communication device is provided for performing the method of any of the above first aspect or any of the possible implementations of the first aspect. Specifically, the communication device includes a first acquisition module, a second acquisition for performing the method in the above first aspect or any possible implementation of the first aspect Module and determination unit.

In a fourth aspect, a communication device is provided for performing the method of any of the second aspect or the second aspect of the second aspect. In particular, the communication device comprises a receiving module and a transmitting module for performing the method of any of the possible implementations of the second aspect or the second aspect described above.

In a fifth aspect, a communication device is provided, comprising: a transceiver, a memory, a processor, and a bus system. Wherein the transceiver, the memory and the processor are connected by the bus system, the transceiver is for receiving and transmitting information or signals, the memory is for storing instructions, the processor is configured to execute instructions stored by the memory, and the processor further The method for controlling the transceiver to receive and transmit information or signals, and when the processor executes the memory stored instructions, causes the processor to perform the method of the first aspect or any of the possible implementations of the first aspect.

In a sixth aspect, a communication device is provided, comprising: a transceiver, a memory, a processor, and a bus system. Wherein the transceiver, the memory and the processor are connected by the bus system, the transceiver is for receiving and transmitting information or signals, the memory is for storing instructions, the processor is configured to execute instructions stored by the memory, and the processor further The method for controlling the transceiver to receive and transmit information or signals, and when the processor executes the memory stored instructions, causes the processor to perform the method of any of the possible implementations of the second aspect or the second aspect.

A seventh aspect is a method for locating a communication device, the method comprising:

The first communication device acquires three distance values, which are distances between the second communication device and the first communication device when the second communication device is at the position L10, the position L11, and the position L12; the first communication device receives a first set of measured values and a second set of measured values sent by the second communications device, the first set of measured values including a first displacement magnitude and a first displacement direction, wherein the first displacement magnitude and the first displacement direction are respectively The displacement magnitude and the displacement direction of the second communication device moving from the position L10 to the position L11, the second set of measurement values including the second displacement magnitude and the second displacement direction, the second displacement magnitude and the second displacement direction being the second communication respectively The displacement magnitude and the displacement direction of the device moving from the position L11 to the position L12; the first communication device determines, according to the three distance values, the first set of measured values and the second set of measured values, the first communication device relative to the first The location of the second communication device or the location of the second communication device relative to the first communication device.

Therefore, the multiple distance values and the multiple sets of measured values are used as positioning conditions to support multiple application scenarios, and the application range is wide, which can meet the positioning requirements of users in different scenarios. The first displacement magnitude, the first displacement direction, the second displacement magnitude, and the second displacement direction of the second communication device may be acquired by an accelerometer, a gyroscope, a magnetometer, a compass, or the like. Take the accelerometer as an example, you can pass The acceleration of the second communication device is acquired and the corresponding measured value is obtained by integrating the acceleration.

In conjunction with the possible implementation of the seventh aspect, in a first implementation manner of the seventh aspect, the first communications device that receives the first set of measured values and the second set of measured values that are sent by the second communications device include: the first The communication device sends a request message to the second communication device, the request message for requesting the first set of measurements and the second set of measurements; the first communications device receiving the first of the second communications device to transmit at location L11 Response information, the first response information includes the first set of measurements; the first communications device receives second response information sent by the second communications device at location L12, the second response information including the second set of measurements ( The response information includes the first response information and the second response information).

The first set of measurement values and the second set of measurement values of the second communication device may be obtained by sending the request information to receive the response information, so as to implement the positioning requirement of the user.

It should be understood that, in the first implementation manner of the seventh aspect, in one case, the request information may be used to request the displacement size and direction of the current measurement point relative to the last measurement point of the second communication device, and then the second The communication device only feeds back the corresponding response information after receiving the request information at different locations; in another case, the request information is used to request the second communication device to actively feed back the second communication device at the current measurement point relative to After the second communication device receives the request information, if the position information changes, the second communication device actively feeds back to the first communication device the magnitude and direction of the displacement of the current measurement point relative to the previous measurement point.

With reference to the first possible implementation manner of the seventh aspect, in the second implementation manner of the seventh aspect, the first communications device acquires three distance values, and the request information is further used to request the second communications device to perform the distance The method further includes: receiving third response information sent by the second communication device at the location L10, the response information is further used to perform distance measurement, and acquiring, by the distance measurement, the first communication device to acquire three distance values. (response information includes the first response information, the second response information, and the third response information)

It should be understood that the first communications device may send request information at different times, and after receiving the request information at the location L10, the second communications device sends a third response message, where the third response information is used to perform distance measurement; After receiving the request information at the location L11, the second communication device sends first response information, where the first response information is used to perform distance measurement, where the first response information includes the second communication device from the location L10 to the location L11. a first displacement size and a first displacement direction; the second communication device, after receiving the request information at the location L12, transmitting second response information, the second response information is used to perform distance measurement, and the second corresponding information includes a second The second displacement magnitude and the second displacement direction of the communication device from position L11 to position L12. It may also be that the first communication device sends Requesting information, the request information is used to request the second communication device to actively send the response information, that is, the first communication device only needs to send the request information once, and after receiving the request information, the second communication device goes to the first position at the location L10. The communication device sends the third response information, where the third response information is used to perform the distance measurement, and after the second communication device moves to the L11, the first response information is sent to the first communication device, where the first response information includes the first displacement The size and the first direction of the displacement, the first response information is used to perform the distance measurement, and the second communication device actively sends the second response information to the first communication device after the second communication device moves to the L12, the second response information including the second displacement size And a second displacement direction, the second response information is used to perform distance measurement.

With reference to the seventh aspect and the foregoing possible implementation manner of the seventh aspect, in a third implementation manner of the seventh aspect, the method further includes:

The first communication device acquires a third set of measured values and a fourth set of measured values, where the third set of measured values includes a third displacement magnitude and a third displacement direction, wherein the third displacement magnitude and the third displacement direction are respectively the first a displacement magnitude and a displacement direction of the communication device moving from a position L20 to a position L21, the fourth set of measurement values including a fourth displacement magnitude and a fourth displacement direction, wherein the fourth displacement magnitude and the fourth displacement direction are respectively the first communication device a displacement magnitude and a displacement direction moved from position L21 to position L22; the first communication device may determine the first communication device relative to the three distance values, the first, second, third, and fourth sets of measurements The location of the second communication device or the location of the second communication device relative to the first communication device.

It should be understood that the above three distance values may be the distance between the position L20 and the position L10, the distance between the position L21 and the position L11, and the distance between the position L22 and the position L12, respectively, when the first communication device and the second communication When the device changes its position, the first communication device can determine whether the location of the second communication device relative to the second communication device or the second communication device is relative to the location of the second communication device.

With reference to the seventh aspect and the foregoing possible implementation manner of the seventh aspect, in a fourth implementation manner of the seventh aspect, the method further includes: receiving, by the first communications device, the location information of the second communications device that is sent by the second communications device The location information includes longitude and latitude of the second communication device or coordinates of the second communication device in a preset reference coordinate system; the first communication device according to the three distance values, the first set of measured values, the Determining a location of the first communication device by the second set of measurements and the location information; or, the first communication device is based on the three distance values, the first set of measurements, the second set of measurements, the third set The measured value, the fourth set of measured values, and the location information determine a location of the first communications device.

In the above implementation manner, the first communication device may omit the step of determining its location relative to the second communication device, and directly determine its location (if the location information of the second communication device is known, the first communication device may determine its own Absolute position).

With reference to the seventh aspect and the foregoing possible implementation manner of the seventh aspect, in a fifth implementation manner of the seventh aspect, the method further includes: moving the second communication device to L13 and/or moving the first communication device to L23, and obtaining the corresponding a fifth set of measured values and/or a sixth set of measured values, the fifth set of measured values being a fifth displacement magnitude and a fifth displacement direction of the second communication device moving from position L12 to L13, the sixth set of measurements being the first The communication device moves from position L12 to a sixth set of displacement magnitudes and a sixth displacement direction of position L23; the first communication device can be based on four distance values, the first, second, third, fourth, fifth, and sixth The set of measurements determines a location of the first communications device relative to the second communications device, or a location of the second communications device relative to the first communications device.

With reference to the foregoing possible implementation manners of the seventh aspect and the seventh aspect, in a possible implementation of the seventh aspect, the first communications device may locate the second communications device as a coordinate system origin, and quickly locate itself relative to the second communications The location of the device.

With reference to the seventh aspect and the foregoing possible implementation manner of the seventh aspect, in a fifth implementation manner of the seventh aspect, the first communications device is configured by the second communications device, where the first communications device is configured by the second communications device Positioning on a two-dimensional plane having a reference coordinate system including an X-axis and a Y-axis, the displacement magnitude including a displacement magnitude on the X-axis and the Y-axis; or the first communication device passing through the second communication device Performing the positioning includes positioning the first communication device in a three-dimensional space by the second communication device, the three-dimensional space being established with a reference coordinate system including an X-axis, a Y-axis, and a Z-axis, the displacement being included in the X-axis, the Y-axis, and The amount of displacement on the Z axis.

In an eighth aspect, a method for locating a communication device, the method comprising: the first communication device acquiring three distance values, wherein the three distance values are respectively when the first communication device is at the position L10, the position L11, and the position L12 And a distance between the second communication device; the first communication device acquiring the first set of measurements and the second set of measurements, the first set of measurements comprising a first displacement magnitude and a first displacement direction, the first displacement The magnitude and the first displacement direction are respectively a displacement magnitude and a displacement direction of the first communication device moving from the position L10 to the position L11, the second set of measurement values including a second displacement magnitude and a second displacement direction, the second displacement magnitude and The second displacement direction is respectively a displacement magnitude and a displacement direction of the first communication device moving from the position L11 to the position L12; the first communication device according to the three distance values, the first group of measurement values, and the second group of measurement values Determining a location of the first communication device relative to the second communication device, or a location of the second communication device relative to the first communication device.

Therefore, the multiple distance values and the multiple sets of measured values are used as positioning conditions to support multiple application scenarios, and the application range is wide, which can meet the positioning requirements of users in different scenarios. The first communication device can obtain the first set of measured values and the second set of measured values of the first communication device by an accelerometer, a gyroscope, a magnetometer, a compass, and the like. Taking the accelerometer as an example, the first measurement value and the second measurement value can be obtained by acquiring the acceleration of the first communication device and integrating the acceleration.

With reference to the eighth aspect, in a first implementation manner of the eighth aspect, the first communications device acquires three distance values, including: the first communications device sends a request message to the second communications device, where the request information is used Requesting to perform distance measurement; the first communication device receives a response message sent to the first communication device by the second communication device at the location L10, the location L11, and the location L12, the response message is used to perform distance measurement; Obtaining three distance values of the first communication device and the second communication device.

With reference to all the implementations of the eighth aspect and the eighth aspect, in a second implementation manner of the eighth aspect, the method further includes: receiving, by the first communications device, location information of the second communications device that is sent by the second communications device, The location information includes longitude and latitude of the second communication device or coordinates of the second communication device in a preset reference coordinate system; the first communication device according to the three distance values, the first set of measured values, the first The two sets of measurements and the location information determine the location of the first communication device.

In the foregoing implementation manner, the first communications device learns that the location information of the second communications device can obtain its absolute location.

With reference to all implementations of the eighth aspect and the eighth aspect, in a third implementation manner of the eighth aspect, the first communications device is configured by the second communications device, where the first communications device is configured by the second communications device Positioning on a dimensional plane, the two-dimensional plane is established with a reference coordinate system including an X-axis and a Y-axis, the displacement magnitude including a displacement magnitude on the X-axis and the Y-axis; or the first communication device is performed by the second communication device Positioning includes positioning, by the second communication device, in a three-dimensional space by a second communication device having a reference coordinate system including an X-axis, a Y-axis, and a Z-axis, the displacement being included in the X-axis, the Y-axis, and the Z-axis. The amount of displacement on the axis.

In all of the above implementations, L10, L11, L12, L13, L20, L21, and L22 represent different positions, respectively.

In a possible implementation manner of the foregoing seventh and eighth aspects, the second communication device may establish a coordinate system for the origin, where the coordinates of the second communication device are (0, 0), and the corresponding location information is (0, 0).

In a possible implementation of the seventh and eighth aspects above, the distance measurement may be a fine time measurement FTM.

In a ninth aspect, a positioning device is provided, including:

At least one processor;

A memory storing an application, the application including at least one instruction to cause the at least one processor to perform all of the methods of the first to eighth aspects above in accordance with the at least one instruction.

These and other aspects of the invention will be more apparent from the following description of the embodiments.

DRAWINGS

FIG. 1 is a schematic diagram of positioning a communication device in the prior art.

2 is a schematic flowchart of a positioning method of a communication device according to an embodiment of the present invention.

3(a), (b) and (c) are three application scenarios of a positioning method of a communication device according to an embodiment of the present invention.

4 is a schematic diagram of a behavior field of a first ranging request frame according to an embodiment of the present invention.

FIG. 5 is another schematic diagram of a behavior field of a first ranging request frame according to an embodiment of the present invention.

FIG. 6 is a schematic flowchart of a specific implementation manner of a positioning method of a communication device according to an embodiment of the present invention.

FIG. 7 is a schematic flowchart of another specific implementation manner of a positioning method of a communication device according to an embodiment of the present invention.

FIG. 8 is a schematic structural block diagram of a communication device according to an embodiment of the present invention.

FIG. 9 is another schematic structural block diagram of a communication device according to an embodiment of the present invention.

FIG. 10 is a schematic structural block diagram of a communication device according to another embodiment of the present invention.

11 is a block diagram showing the schematic structure of a communication device according to still another embodiment of the present invention.

FIG. 12 is a schematic structural block diagram of a communication device according to still another embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The technical solution of the present invention can be applied to various point-to-point communication systems, such as: Global System of Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access. (WCDMA, Wideband Code Division Multiple Access Wireless), General Packet Radio Service (GPRS), Long Term Evolution (LTE, Long Term Evolution), Frequency Division Duplex (FDD) or Time Division Duplex ( TDD, Time Division Duplex) systems, etc.

The communication device can communicate with one or more communication devices via wireless technology (eg, Wi-Fi, Bluetooth, LTE Direct), and the communication device can be a mobile terminal such as a mobile phone (or "cellular" phone) and portable The portable device can be a Wi-Fi access point AP (Access Point), a cellular base station, a Bluetooth beacon, or the like.

Before the embodiment of the present invention is introduced, the application scenario of the present invention is first introduced. The embodiment of the present invention can be applied to a network architecture based on a peer-to-peer communication technology. The point-to-point communication technology is, for example, Wi-Fi, Bluetooth, LTE Direct, and the like. FIG. 1 is a schematic diagram of positioning a communication device in the prior art. When positioning a certain communication device (hereinafter referred to as a target device), it is necessary to locate the target device by means of another communication device (hereinafter referred to as a reference device). The reference device and the target device are a group of communication devices. In the application scenario of FIG. 1, the target device needs to know the distance between the reference device and the reference device at the at least three known locations, and obtain the distance calculated by the reference device according to the known location and the measured distance. The location of the target device, but if the location of the reference device is unknown, the target device cannot be located.

2 shows a schematic flow chart of a positioning method 200 of a communication device, which may be performed by a first communication device or by a network system that controls the first communication device and the second communication device, in accordance with an embodiment of the present invention. For example, the first communication device executes the method. As shown in FIG. 2, the method 200 includes:

S210. The first communications device acquires a relative distance between the first communications device and the second communications device at each of the plurality of sets of measurement points.

S220. The first communications device acquires first motion state information of the first communications device at each set of measurement points and/or obtains second motion state information of the second communications device at each set of measurement points.

S230. The first communications device obtains, according to the first motion state information acquired on each group of measurement points, At least one of the second motion state information and the relative distance determine a location of the first communication device and/or the second communication device.

In particular, the first communication device can acquire the relative distances of the first communication device and the second communication device at each of the plurality of sets of measurement points. The relative distance can include a distance between the first communication device and the second communication device. A set of measurement points may include measurement points at which the first communication device is located and measurement points at which the second communication device is located. For example, assuming that there are four sets of measurement points, the positions of the first communication device at the four sets of measurement points are A ₁ , A ₂ , A ₃ , and A ₄ , respectively, and the positions of the second communication device at the four sets of measurement points are respectively B ₁ , B ₂ , B ₃ , B ₄ . The first communication device may acquire a relative distance between A ₁ and B _₁ d _1, A _2, and the distance between B _₂ d _2, the relative distance between A ₃ and B _₃ d _3, A ₄ and B ₄ of The relative distance d _{4 between} . The position of the first communication device at the four sets of measurement points may be the same A ₁ =A ₂ =A ₃ =A ₄ ie the first communication device is in a stationary state; likewise the position of the second communication device at the four sets of measurement points may be the same B ₁ =B ₂ =B ₃ =B ₄ ie the second communication device is in a stationary state, but the first communication device and the second communication device are not simultaneously in a stationary state, ie at least one communication between the first communication device and the second communication device The device needs to change the position to obtain the relative distance between the first communication device and the second communication device at each set of measurement points. The first communication device may also acquire the first motion state information of the self-set at each of the set of measurement points and/or obtain the second motion state information of the second communication device at each set of measurement points. Determining, by the first communication device, the first communication device and/or the second communication device according to at least one of acquiring the first motion state information and the second motion state information of the group of measurement points and the relative distance s position.

Therefore, the positioning method 200 provided by the embodiment of the present invention can achieve the positioning of the first communication device by using the method, even if the first communication device and the second communication device do not have positioning software such as GPS or cannot perform GPS positioning due to poor signal. / or locate other communication devices. The first motion state information and/or the second motion state information are introduced as the positioning conditions, and the application scenarios are supported, and the application range is wide, which can meet the positioning requirements of the user in different scenarios.

Optionally, from the perspective of the second communications device, the executor may be the second communications device. The locating method 200 provided by the embodiment of the present invention may be: the second communications device receives the request information sent by the first communications device, where The request information is used to request second motion state information of the second communication device on each of the plurality of sets of measurement points; the second communication device sends response information to the first communication device, the response information including the each set of measurements Second motion state information at the point, such that the first communication device is based on at least one of the first motion state information and the second motion state information at each set of measurement points and the first communication device and the first The relative position of the two communication devices at each set of measurement points Distance determining the location of the first communication device and/or the second communication device.

Therefore, in the positioning method provided by the embodiment of the present invention, the second communication device may send the second motion state information of each group of measurement points to the first communication device, so that the first communication device performs positioning, and the method supports multiple methods. Application scenarios, a wide range of applications.

It should be understood that the positioning in the present invention may be two-dimensional positioning or three-dimensional positioning. The present invention is described by taking two-dimensional positioning as an example, but the present invention is not limited thereto. Among them, two-dimensional positioning can be expressed by longitude and latitude.

It should be understood that the first motion state information mentioned in the present invention refers to the motion state information corresponding to the first communication device, and the second motion state information refers to the motion state information corresponding to the second communication device. The first motion state information is used to indicate a displacement vector of the first set of measurement points of the first communication device with respect to another one of the plurality of sets of measurement points, the second motion state information is used to indicate the second communication A displacement vector of a set of measurement points of a device at a plurality of sets of measurement points relative to another of the set of measurement points. The first communication device can learn the location of the first communication device at the plurality of sets of measurement points according to its location at a certain measurement point and the first motion state information. In other words, the first communication device can know the location of the first communication device at other measurement points by the corresponding first motion state information and the location of a certain measurement point. That is, the position of the other measurement points can be expressed by the corresponding first motion state information and the position of one measurement point. For example, the position information of the other measurement points is obtained by using the corresponding first motion state information plus the position information of a certain measurement point. Similarly, the second communication device can also obtain the location of the second communication device at other measurement points by using the corresponding second motion state information and the location of a certain measurement point.

It should be understood that the present invention may acquire the first motion state information and the second motion state information by an accelerometer, a gyroscope, a magnetometer, a compass, or the like.

It should be understood that, in the positioning method provided by the embodiment of the present invention, each set of measurement points mentioned includes two measurement points, that is, a measurement point where the first communication device is located and a measurement point where the second communication device is located. The first motion state information of the first communication device at each group of measurement points may include: first motion state information at a measurement point corresponding to each group of measurement points where the first communication device is located. Assume that the first set of measurement points is (A ₁ , B ₁ ), where A ₁ is the measurement point corresponding to the first communication device at the first set of measurement points, and B ₁ is the second communication device at the first set of measurement points The corresponding measurement point. Obtaining a second motion in a second communication device a first set of measurement point state information may include: obtaining a second communication device on _a second motion state information of the measurement point B.

Optionally, the first motion state information and the second motion state information may each include at least one of a displacement size, an acceleration magnitude, and a velocity magnitude, and motion direction information. The direction of the motion direction information may be measured on the basis of the southeast and northwest, or may be measured in the up, down, left, and right directions of the target point. The present invention is not limited herein. Taking the first motion state information and the second motion state information each including a displacement vector as an example, acquiring the second motion state information of the second communication device at each group of measurement points may include acquiring that the second communication device is to be moved at each group of measurement points. The distance size and direction (for example, first determining the distance and direction of the distance to move), and may also include obtaining the displacement magnitude and direction of the current measurement point of the second communication device compared to the previous set of measurement points, and The method includes obtaining a displacement vector of the second communication device compared to a certain one of the plurality of sets of measurement points. For example, acquiring the second motion state information of the second communication device at the third group of measurement points may include acquiring a displacement vector (Δa ₂ , Δb _{2 ) of the} second communication device moving from the second group of measurement points to the third group of measurement points. And may also be a displacement vector (Δa ₃ , Δb ₃ ) that acquires the size and direction that the second communication device is to move, that is, moves from the third group of measurement points to the fourth group of measurement points; and may also be the second communication device A displacement vector (Δa ₁ + Δa ₂ , Δb ₁ + Δb ₃ ) that moves from the first set of measurement points to the third set of measurement points. It should be understood that if the second motion state information includes the distance magnitude and direction that the second communication device is to move, the second communication device does not change position again at the fourth group of measurement points, so the fourth group of measurement points The second motion state information is stationary, and the corresponding displacement vector is (0, 0); if the second motion state information includes a displacement vector moving from the previous set of measurement points to the current measurement point, since the first set of measurement points is the initial measurement point Then, the second motion state information on the first set of measurement points is stationary, and the corresponding displacement vector is (0, 0).

In order to facilitate the understanding of the method provided by the embodiment of the present invention, the first communication device and/or the at least one of the first motion state information and the second motion state information of each set of measurement points and the relative distance are specifically described below. Or the location of the second communication device.

FIG. 3 illustrates three application scenarios of a communication device according to an embodiment of the present invention. Taking four sets of measurement points as an example, the first communication device can obtain the relative distances of the first communication device and the second communication device on the four sets of measurement points are respectively d ₁ , d ₂ , d ₃ , d ₄ . Wherein the location of the first communication device is (x, y) and the location of the second communication device is (a, b)

As shown in FIG. 3(a), it is assumed that the first communication device is in a stationary state, and the second communication device changes position at each set of measurement points. The first communication device may acquire each of the measuring points of the second motion state information _{(0,0), (△ a 1} , △ b 1), (△ a 1 + △ a 2, △ b 1 + △ b 2 And (Δa ₁ + Δa ₂ + Δa ₃ , Δb ₁ + Δb ₂ + Δb ₃ ). According to the second motion state information, the positions of the second device at the other three sets of measurement points can be assumed to be (a + Δa ₁ , b + Δb ₁ ), (a + Δa ₁ + Δa ₂ , b + Δb ₁ + Δb ₂ ), (a + Δa ₁ + Δa ₂ + Δa ₃ , b + Δb ₁ + Δb ₂ + Δb ₃ ). Then according to the relative distances d ₁ , d ₂ , d ₃ , d ₄ between the first communication device and the second communication device, the following four formulas can be listed:

According to Equation 1 to Equation 4, (x, y) and/or (a, b) can be solved, that is, the first communication device can determine the second motion state information and the relative distance at each measurement point according to the second communication device. The location (x, y) of a communication device and/or the location (a, b) of the second communication device.

As shown in FIG. 3(b), it is assumed that the second communication device is in a stationary state, at which time the first communication device changes position at each set of measurement points. The first communication device can acquire its own first motion state information. The first motion state information of each set of measurement points may be (0, 0), (Δx ₁ , Δy ₁ ), (Δx ₁ + Δx ₂ , Δy ₁ + Δy ₂ ), and (Δx) ₁ + Δx ₂ + Δx ₃ , Δy ₁ + Δy ₂ + Δy ₃ ), according to the first motion state information, the position of the first communication device at the other three sets of measurement points can be assumed to be (x, y ), (x+Δx ₁ , y+Δy ₁ ), (x+Δx ₁ +Δx ₂ , y+Δy ₁ +Δy ₂ ) and (x+Δx ₁ +Δx ₂ +Δx ₃ ,y+△ y ₁ + Δy ₂ + Δy ₃ ). Then according to the relative distances d ₁ , d ₂ , d ₃ , d ₄ between the first communication device and the second communication device, the following four formulas can be listed:

According to the above formula 5 to formula 8, (x, y) and/or (a, b) can be solved, that is, the first communication device can determine the first according to the first motion state information of each set of measurement points and the relative distance. The location (x, y) of the communication device and/or the location (a, b) of the second communication device.

As shown in FIG. 3(c), it is assumed that the first communication device changes position at each set of measurement points, and the second communication device also changes position at each set of measurement points. The first communication device needs to acquire its own first motion state information at each set of measurement points and acquire second motion state information of the second communication device at each set of measurement points. The position of the first communication device at each set of measurement points may be (x, y), (x + Δx ₁ , y + Δy ₁ ), (x + Δx ₁ + Δx ₂ , y + Δy ₁ + Δy ₂ ) And (x + Δx ₁ + Δx ₂ + Δx ₃ , y + Δy ₁ + Δy ₂ + Δy ₃ ), the second motion state information of the second communication device at each set of measurement points may be (a, b ), (a + Δa ₁ , b + Δb ₁ ), (a + Δa ₁ + Δa ₂ , b + Δb ₁ + Δb ₂ ) and (a + Δa ₁ + Δa ₂ + Δa ₃ , b + △ b ₁ + Δb ₂ + Δb ₃ ), according to the relative distances d ₁ , d ₂ , d ₃ , d ₄ between the first communication device and the second communication device, Equation 9 to Equation 12 can be listed:

According to the above formula 9 to formula 12, (x, y) and/or (a, b) can be solved, that is, the first communication device can according to its first motion state information at each measurement point, and the second communication device is in each group. The second motion state information of the measurement point and the relative distance determine the position (x, y) of the first communication device and/or the position (a, b) of the second communication device.

It should be understood that, in the positioning method provided by the embodiment of the present invention, the relative distance can be obtained by FTM (Fine Timing Measurement), or the relative distance can be obtained by Timing Measurement, and other methods can be used. The relative distance is obtained, and the present invention is not limited herein.

It should be understood that the position (a, b) of the second communication device may be set to (0, 0), and the first communication device according to the first motion state information and the second motion of each of the three sets of measurement points At least one of the status information and the three distance values d ₁ , d ₂ , d ₃ determine a relative position of the first communication device relative to the second communication device, or the second communication device is relative to the first communication device Relative position.

It should be understood that the first communication device acquiring the motion state information of the second communication device at each group of measurement points may be that the second communication device receives the first request information sent by the first communication device, where the first request information is used to request the second Second motion state information of the communication device at each set of measurement points; the second communication device transmits first response information according to the first request information, the first response information including the second motion state at each set of measurement points The first communication device obtains the second motion state information of the second communication device at each set of measurement points after receiving the first response information. The second communication device may send the first response information at each set of measurement points according to the first request information, where each first response information includes second motion state information of the measurement point where the second communication device is located, or may be The second communication device transmits first response information to the first communication device only at the last set of measurement points, the first response information including second motion state information of the second communication device at all measurement points. It is also possible for other devices to obtain the second motion state information of the second communication device at each set of measurement points and send the second motion state information to the first communication device, which is not limited herein.

The positioning method 200 provided by the present invention can locate the first communication device and/or the second communication device when the location of the second communication device is unknown, and the method can be applied to more application scenarios, for example, the first The communication device and the second communication device are both mobile devices or the first communication device and the second communication device, one of which is a mobile device and the other is a non-removable device such as a base station. The present invention is simple in operation, easy to implement, and has many existing There are good compatibility scenarios.

The first communication device may determine that the first communication device and/or the first communication device is determined according to at least one of the first motion state information and the second motion state information acquired at each set of measurement points and the relative distance. The location of the second communication device. The first communication device may send the request information to the second communication device, and the second communication device may send the response information to the first communication device to enable the first communication device to acquire the motion state information of the second communication device. The following is specifically described in the present invention, the first communication device acquires the second motion state information of the second communication device at each set of measurement points (or the second communication device sends the motion state information of each group of measurement points to the first communication device) Several specific implementations.

Optionally, the first manner in which the first communications device obtains the second motion state information of the second communications device at each set of measurement points may include:

The first communication device sends the first request information to the second communication device, where the first request information is used to request the second motion state information at the measurement point where the second communication device is located;

The second communication device receives the first request information sent by the first communication device, and sends first response information to the first communication device at each set of measurement points, where the first response information includes the measurement point at which the second communication device is located Second motion state information;

At each of the measurement points, the first communication device receives the first response information that is sent by the second communication device according to the first request information;

The first communication device acquires second motion state information of the second communication device at each set of measurement points by receiving the first response information.

Specifically, the first communication device acquiring the second motion information of the second communications device at each set of measurement points may be that the first communications device sends the first request information at each set of measurement points, where the first request information is used for the request. The second motion state information at the measurement point where the second communication device is located; after receiving the first request information, the second communication device sends the first response information, where the first response information includes the measurement point where the second communication device is located The second motion state information, that is, the method for acquiring the second motion state information of the second communication device at each group of measurement points by the method may include: sending the first message at each group of measurement points Requesting information, correspondingly, the second communication device feeds back the first response information at each set of measurement points, and the first response information fed back by the second communication device at each set of measurement points carries the measurement point of the second communication device Two motion status information.

Taking the first communication device as the stationary and the second communication device as an example, it is assumed that the motion state information of the second communication device on the four sets of measurement points needs to be measured, and the first communication device can send the first request information at the first group of measurement points. The first request information is used to request the second motion state information of the second communication device at the first measurement point, and the second communication device can feed back the first communication device at the location corresponding to the first group of measurement points. Its own second state of motion information. Similarly, at the subsequent second, third, and fourth sets of measurement points, the first communication device may send the first request information, where the first request information is used to request the second communication device to be in the second or third or fourth set of measurement points, respectively. The second motion state information, correspondingly, the second communication device can feed back the second motion state information of the measurement point at which the second communication device is located to the first communication device at the position corresponding to the second, third, and fourth group of measurement points.

The first communication device acquires the second motion state information of the second communication device at each set of measurement points by transmitting the first request information and receiving the first response information at each set of measurement points, and the first communication device may be according to each set of measurement points. The second motion state information and the relative distance determine the location of the first communication device and/or the second communication device to meet the needs of the user's location.

Optionally, the second manner in which the first communications device obtains the second motion state information of the second communications device at each set of measurement points may include:

The first communication device first determines that the number of groups of measurement points is N groups, and the N is a positive integer greater than or equal to 2;

The first communication device sends the first request information to the second communication device, where the first request information is used to request the second communication device to send the second motion state information on the N sets of measurement points. ;

Receiving, by the first communication device, the first request information, where the second communication device sends the first response information to the first communication device, where the first response information includes the Second motion state information of the second communication device at the i-th set of measurement points, where i=1, . . . , N;

The first communication device receives the first response information on the i-th measurement point;

The first communication device acquires second motion state information of the second communication device at each set of measurement points by receiving the first response information at each set of measurement points of the N sets of measurement points.

Specifically, the first communication device may first determine the number of measurement groups. Then the first communication device Transmitting, by the first group of measurement points, first request information, where the first request information is used to request the second communication device to actively send the second motion state information of the N sets of measurement points; and the second communication device receives the first request information. The second motion state information at each of the N sets of measurement points is actively transmitted at each set of measurement points. That is, the method for obtaining the second motion state information of the second communication device at each group of measurement points may include: the first communication device transmitting the first request information at the first group of measurement points, the first request information indicating the second communication device Actively transmitting the first response information to the first communication device, where the first response information carries the second motion state information of the measurement point where the second communication device is located, and the second communication device actively takes the first information after receiving the first request information. The communication device transmits second motion state information of each of the N sets of measurement points.

Taking the first communication device as the stationary and the second communication device as an example, if the number of groups of measurement points determined by the first communication device is five, it is necessary to know the second motion state information of the second communication device at the five sets of measurement points. . The first communication device may send the first request information on the first set of measurement points, the first request information being used to request the second communication device to send the second motion state information on the five sets of measurement points. After the second communication device receives the first request information at the location corresponding to the first group of measurement points, the second communication device may send the first response information to the first communication device for feedback at the time of the first group of measurements. The second motion state information of the point. When the second communication device moves to the second group of measurement points, the first response information is actively sent to the first communication device for feeding back the second motion state information of the second communication device at the second group of measurement points, and so on. Each time the second communication device moves to a set of measurement points, the first response information is actively sent to the first communication device for feedback of the second motion state information of the measurement point at which it is located until the second communication device moves to the fifth The set of measurement points and feed back to the first communication device its second motion state information at the fifth set of measurement points.

It should be understood that, in the method, the first communication device determines that the number of groups of measurement points is N groups, which may be the number of groups specified by the first communication device according to the self information and the obtained information of the second communication device, or may be arbitrarily designated according to experience. The number of groups of quadratic equations with two unknowns or the number of groups of quadratic equations with four unknowns can be solved, and the invention is not limited herein. It should be understood that N may also be a positive integer greater than or equal to four.

The first communication device may first determine the number N of measurement points, and the first request information sent by the first communication device may request the second communication device to actively send the second motion state information of the N sets of measurement points, only at a set of measurement points. The second motion state information of the second communication device at each set of measurement points can be obtained by sending the first request information, which can save signaling overhead and alleviate data transmission congestion.

Optionally, the first communications device acquires a second motion of the second communications device at each set of measurement points The third way of state information can include:

The first communication device sends, to the second communication device, first request information, where the first request information is used to request a second motion state of the second communication device at the first set of measurement points. Information, the first request information is further used to request location information of a measurement point where the second communication device is located;

After receiving the first request information, the second communications device sends the first response information to the first communications device, where the first communications information includes the second motion state information of the second communications device at the first set of measuring points. Or the first response information includes second motion state information of the second communications device at the first set of measurement points and the location information;

The second communication device may determine that the number of groups of measurement points is N groups, and the N is a positive integer greater than or equal to 2, according to whether the first response information includes the measurement point location information;

At the second set of measurement points, the first communication device sends second request information to the second communication device, where the second request information is used to request the second communication device to send the subsequent number of the N-1 group of measurement points. Second motion state information;

After receiving the second request information, the second communication device sends the second response information to the first communication device at the i-th group measurement point, where the second response information includes the second communication device is measured in the ith group Second motion state information of the point, where i=2, . . . , N;

The first communication device receives the second response information at each of the N-1 sets of measurement points to obtain second motion state information of the second communication device at each set of measurement points.

Specifically, the acquiring the second motion information of the second communications device at each group of measurement points may be that the first communications device sends the first request information at the first group of measurement points, where the first request information is used not only to request the second communications. The second motion state information of the measurement point at which the device is located is also used to request location information of the measurement point at which the second communication device is located. Optionally, the location information may be location information such as longitude, latitude, and altitude of the second communications device. If the second communication device can know its own measurement point location information, it will feed back its own measurement point location information to the first communication device through the first response information, and if the second communication device cannot obtain its own measurement point location information, the second communication device cannot The measurement point location information is fed back to the first communication device; after receiving the first response information, the first communication device may determine the number of measurement points according to whether the first response information includes the measurement point location information, and when determining the measurement point After the number of the group, sending the second request information to the second communication device, where the second request information is used to request the second communication device to send the second motion state information on the subsequent N-1 group measurement point, the second communication device After receiving the second request information, actively sending a second motion status letter at each subsequent measurement point interest. Optionally, if the first response information received by the first communications device includes location information of the measurement point where the second communications device is located, the first communications device may determine that the number of groups of measurement points is greater than or equal to two groups; The first response information received by the communication device does not include the measurement point location information of the second communication device, and the first communication device may determine that the number of groups of measurement points is greater than or equal to four groups.

Taking the first communication device as the stationary and the second communication device as an example, if the first response information received by the first communication device does not include the measurement point location information, the first communication device may determine that the number of measurement points is five groups. The second communication device may send the second request information, where the second request information is used to request the second communication device to send the second motion state information on the subsequent four sets of measurement points, and the second communication device receives After the second request information, the second communication state information of the second communication device at the second group of measurement points is actively sent to the first communication device, and so on, and the second communication device moves to a set of measurement points. Actively transmitting, to the first communication device, second motion state information of the measurement point at which it is located until the second communication device moves to the fifth group of measurement points and feeds back the second motion state of the fifth group of measurement points to the first communication device Information so far.

The first communication device may determine the number of groups of measurement points according to whether the received first response information includes measurement point location information, and further, when transmitting the second request information, instruct the second communication device to actively send subsequent N-1 groups of measurement points. The second motion state information can prevent the first communication device from blindly transmitting the first request information multiple times or the second communication device blindly transmitting the first response information multiple times, thereby saving signaling overhead and alleviating data transmission congestion.

Therefore, in the positioning method of the communication device provided by the embodiment of the present invention, the first communication device may obtain the second motion state information of the second communication device at each set of measurement points in a plurality of manners, so that the first communication device is different. The first communication is determined according to at least one of the first motion state information and the second motion state information of each set of measurement points and the relative distance between the first communication device and the second communication device at each set of measurement points. The location of the device and/or the second communication device enables the user's location requirements to be met even if the location of the second communication device is unknown.

It has been described above that the first communication device is made aware of the second motion state information of the second communication device at each set of measurement points by transmitting the request information and receiving the response information. Optionally, the request information and the response information may be carried in a corresponding frame structure for transmission.

For example, the first request information may be carried on the first ranging request frame, and the first response information may be carried on the first distance measurement frame. The first ranging request frame may be a fine time measurement FTM request frame, or may be a time measurement (TM) request frame, or may be another ranging request frame, which is not limited herein; the first distance measurement frame may be FTM measurement frame, or TM measurement frame, It can also be other distance measurement frames, which are not limited herein.

Taking the first ranging request frame as the first FTM request frame, where the first distance measurement frame is the first FTM measurement frame, the first communication device may send the first FTM request frame to the second communication device, where the first An FTM request frame carries the first request information; after receiving the first FTM request frame sent by the first communications device, the second communications device sends a first FTM measurement frame to the first communications device, where the first FTM measurement frame carries the first a first communication device receives the first FTM measurement frame sent by the second communication device according to the first FTM request frame, and further acquires second motion state information of the second communication device at each set of measurement points according to the first response information. . Optionally, the first FTM request frame may include a request domain, where the request domain carries the first request information. Optionally, as shown in FIG. 4, the request domain may be a location configuration information (LCI) measurement request domain, where the LCI measurement request domain carries the first request information; or, as shown in FIG. 5, the request The domain may be a motion state information measurement request field, and the motion state information measurement request domain carries the first request information. Optionally, the first FTM measurement frame may include a report domain, where the report domain carries the first response information. Optionally, the report domain may be an LCI measurement report domain, where the LCI measurement report domain carries the first response information; or the report domain may be a motion state information measurement report domain, where the motion state information measurement report domain carries the first A response message. The behavior field of the first FTM request frame may include: a Category field for indicating the type of the action frame; a Public Action field, which is used to distinguish different after the classification field. Common behavior frame format; Trigger field, when the Trigger field is set to 1, it indicates that the originating station requests the response station to start or continue to send FTM frames. When the Trigger field is set to 0, it indicates that the originating station requests the response station to end the transmission of FTM frames; LCI A measurement request field for requesting a measurement report element of a measurement type LCI; a Location Civic Measurement request field for requesting a measurement report element of a measurement type of Location Civic; a fine time measurement parameter (Fine A Timing Measurement Parameters field for carrying FTM parameter elements; a Mobility Informantion Measurement Requeset for requesting motion state information.

The first request information can be flexibly carried in different domains of the first ranging request frame according to requirements, and has good compatibility with the prior art. The first response information can also be flexibly carried in different domains within the first distance measurement frame according to requirements, and has good compatibility with the prior art.

Optionally, the first request information is further configured to request the second communications device to perform distance measurement, where the relative information of the first communications device and the second communications device at each of the plurality of sets of measurement points is acquired. The distance includes: obtaining, by distance measurement, a relative distance between the first communication device and the second communication device at each set of measurement points.

Optionally, FIG. 6 shows a specific implementation manner 300 of a positioning method of a communication device according to an embodiment of the present invention. The positioning method 300 shown in FIG. 6 may include:

S310. The first communications device sends a first ranging request frame to the second communications device, where the first ranging request frame includes first request information, where the first request information is used to request a measurement point where the second communications device is located. Second motion state information, the first request information is further used to request the second communication device to perform distance measurement;

S320. The second communication device sends a first distance measurement frame to the first communication device according to the first ranging request frame, where the first distance measurement frame includes first response information, where the first response information includes the second communication device. The second motion state information on the measurement point, wherein the second communication device can record the transmission time T _{1 of} transmitting the first distance measurement frame;

S330. After receiving the first distance measurement frame sent by the second communication device, the first communication device acquires second motion state information of the second communication device according to the first distance measurement frame, where the first communication device can record and receive the first distance. Measuring frame reception time T ₂ ;

S340, the first communication device transmits confirmation information to the second communication device, the first communication device may further send the record to determine the transmission time information T _3;

S350. After receiving the determining information, the second communications device may record the receiving time T ₄ and send a second distance measurement frame to the first communications device, where the second distance measuring frame includes the second communications device transmitting the first distance measuring frame. acknowledgment information reception time of the transmission time T ₁ and the second communication device receiving the transmitted first communication apparatus T _4;

S360. The first communication device obtains a relative distance between the first communication device and the second communication device after receiving the second distance measurement frame.

S370. Perform S310-S360 on each of the plurality of sets of measurement points in sequence, and obtain a relative distance between the first communication device and the second communication device in each of the plurality of measurement points and the multiple groups. Measuring second motion state information of each set of measurement points in the point, and then the first communication device may determine the first according to at least one of the first motion state information and the second motion state information on each set of measurement points and the relative distance The location of the communication device and/or the second communication device.

Specifically, the acknowledgment information may be ACK (Acknowledgement) or other information such as non-packet NDP (Non-Data Packet) that can be used for distance measurement. The method takes an ACK as an example, and the first communication device sends a first ranging request frame to the second communication device, where the first ranging request frame is used to request distance measurement with the second communication. After receiving the first ranging request frame, the second communication device sends a first distance measurement frame to the first communication device, and the second communication device sends the first time measurement frame to the transmission time T ₁ , the first communication device After receiving the first distance measurement frame, the ACK is sent, where the first communication device receives the reception time of the first distance measurement frame as T ₂ , and the first communication device sends the first response information to the second communication device, where the first measuring a second time to transmit frames from a first communication device transmits time information in response to the transmission _3, the second communication device receives the first response message is T, wherein the second communication device receives the first response message to T ₄ . The second distance measurement frame includes the transmission time T ₁ and the reception time T ₄ , and the first communication device obtains the relative distance between the first communication device and the second communication device according to formula (13) after receiving the second distance measurement frame. .

Where d is the relative distance between the first communication device and the second communication device, and C is the transmission speed of the radio wave, usually taking C=3*10 ⁸ m/s, and T ₁ ' and T ₄ ' are T ₁ and T ₄ Time at the first communication device clock reference. For the specific acquisition method, refer to the definition of 802.11FTM standard, which is not introduced here. (Note: the clocks of the first communication device and the second communication device are not necessarily synchronized, so it is necessary to distinguish between T ₁ ' and T ₄ ' and T ₁ and T ₄ )

Optionally, FIG. 7 is another specific implementation manner of a positioning method of a communication device according to an embodiment of the present invention. The positioning method 400 can include:

S410. The first communications device determines a number N of measurement points.

At the first set of measurement points:

S420. The first communications device sends a first ranging request frame to the second communications device, where the ranging request frame includes first request information, where the first request information is used to request the second communications device to send N sets of measurement points. Second motion state information, the first request information is further used to instruct the second communication device to perform distance measurement;

S430. The second communication device sends a first distance measurement frame to the first communication device according to the first ranging request frame, where the first distance measurement frame includes first response information, where the first response information includes the second communication device. a second motion state information at the measurement point, wherein the second communication device can record the transmission time T _{1 of} transmitting the first distance measurement frame;

S440. After receiving the first distance measurement frame sent by the second communication device, the first communication device acquires second motion state information of the second communication device according to the first distance measurement frame, where the first communication device can record and receive the first a receiving time T _{2 of} a distance measurement frame;

S450, the first communication device transmits confirmation information to the second communication device, wherein the first communication device sends the confirmation may record time information T _3;

May be recorded reception time T _4, and may send a second distance measuring frame to the first communication device after S460, the second communication apparatus receives the acknowledgment information, the second distance measurement frame comprises a second communication device transmits a first distance measurement frame a sending time T ₁ and a receiving time T _{4 of} the second communication device receiving the confirmation information sent by the first communication device;

S470. The first communication device receives the second distance measurement frame to obtain a relative distance between the first communication device and the second communication device.

S480. Perform S430-S470 on each of the subsequent N-1 group measurement points, and obtain a relative distance between the first communication device and the second communication device in each of the N measurement points. The second motion state information of each of the plurality of sets of measurement points, and then the first communication device may according to at least one of the first motion state information and the second motion state information of each set of measurement points and the relative distance, The location of the first communication device and/or the second communication device is determined.

Therefore, the positioning method provided by the embodiment of the present invention can obtain the second motion state information of the second communication device in each group of measurement points obtained in a plurality of manners, so that the first communication device cannot know the location information of the second communication device even if the location information is not available. The location of the first communication device itself and/or the location of the second communication device may still be determined by at least one of its own first state of motion information and the second state of motion information of the second communication device. The method supports multiple application scenarios and has a wide application range, which satisfies the requirements of user positioning.

It should be understood that, in the foregoing method, the first communications device may send the at least one first request information at the same measurement point, so that the second communications device can receive the first request information. Similarly, the second communications device can also be in the same A measurement point transmits at least one first response message to cause the first communication device to receive the first response message.

It should be understood that, in the foregoing method, the first response information is carried in the first distance measurement frame, which is only a preferred embodiment of the present invention, and the first response information may also be carried in the second distance measurement frame.

It should be understood that the first communication device motion mentioned in the above method may include that the first communication device changes position in a plurality of sets of measurement points (the positions on each set of measurement points are different); the second communication device motion may include The second communication device changes position in a plurality of sets of measurement points (the positions on each set of measurement points are different).

It should be understood that in the above positioning method, the position of the second communication device (reference device) may be taken as the origin of the coordinate system, and the position of the second communication device is set to (0, 0). Using this method, the first communication The device needs to obtain a relative distance between the first communication device and the second communication device on each of the three sets of measurement points, and the first communication device can combine the first motion on each of the three sets of measurement points. Determining the first communication device by at least one of the status information and the second motion state information, a relative distance of the first communication device and the second communication device at the three sets of measurement points, and a position (0, 0) of the second communication device Relative to the location of the second communication device. The second motion state information of the specific second communication device and the method of acquiring the distance between the first communication device and the second communication device may be as described above as described above.

It should be understood that, in the above positioning method, the position of the first communication device (target device) may be used as the origin of the coordinate system, and the position of the first communication device is set to (0, 0). With the method, the first communication device needs to acquire the relative distance between the first communication device and the second communication device on each of the three sets of measurement points, and the first communication device can combine each of the three sets of measurement points. Measuring at least one of the first motion state information and the second motion state information on the measurement point, a relative distance of the first communication device and the second communication device at the three sets of measurement points, and a position of the first communication device (0, 0) And determining a location of the second communication device relative to the second communication device.

Alternatively, it is mentioned above that the first communication device may be a target device (a communication device that needs to be positioned) and the second communication device may be a reference device. The first request information sent by the first communications device can be used not only to request the second motion state information of the second communications device but also to request the location information of the measuring point where the second communications device is located; if the second communications device When the positioning function can acquire the location information of the measurement device according to the existing positioning technologies, such as Wi-Fi positioning, cellular positioning, and Bluetooth positioning, the second communication device can send the location information of the measurement point where the measurement point is located to the first response information. And the first communication device, so that the first communication device determines the location of the first communication device according to at least one of the first motion state information and the second motion state information, the relative distance, and the location information.

Optionally, the first communication device may also be a reference device (a communication device that wants to know the location of the target communication device). The second communication device may be a target device (a communication device that needs to be located). If the first communication device has a positioning function, it can acquire its own location information according to existing positioning technologies such as Wi-Fi positioning, cellular positioning, and Bluetooth positioning. Obtaining, by the first communications device, the location of the first communications device and/or the second communications device according to the at least one of the first motion state information and the second motion state information, and the second communications device may include: Determining the location of the first communication device by at least one of the first motion state information and the second motion state information, the relative distance, and the location information.

2 to 7 illustrate a method of positioning a communication device, and a communication device that performs positioning using the above positioning method is specifically described below.

As shown in FIG. 8, a communication device 500 is provided. The communication device 500 includes: a first acquisition module 510, configured to acquire a relative distance between the communication device and the reference device at each set of measurement points of the plurality of sets of measurement points. a second obtaining module 520, configured to acquire first motion state information of the communication device at each set of measurement points and/or obtain second motion state information of the reference device at each set of measurement points; the determining module 530 Determining, by the at least one of the first motion state information and the second motion state information of the each set of measurement points acquired by the second acquiring module 520, and the relative distance acquired by the first acquiring module, determining the communication device and / or the location of the reference device.

The communication device determines the location of the communication device and/or the reference device according to at least one of the first motion state information and the second motion state information acquired at each set of measurement points and the relative distance. The communication device can determine the location of the communication device itself and/or the location of the reference device even if the location information of the reference device cannot be known, thereby satisfying the user positioning requirement.

Optionally, as shown in FIG. 8, the second obtaining module 520 includes: a sending unit 521, configured to send first request information to the reference device at each set of measurement points, where the first request information is used to request the Referring to the second motion state information at the measurement point where the device is located, the receiving unit 521 is configured to receive, by the each group of measurement points, the first response information that is sent by the reference device according to the first request information, where the first response information includes The second motion state information at the measurement point where the reference device is located.

The sending unit 521 sends the first request information on each set of measurement points, and the receiving unit 521 receives the first response information at each set of measurement points, so that the second obtaining module can obtain the reference device at each set of measurement points. The second motion state information, the determining module 530 can determine the location of the communication device and/or the reference device according to the second motion state information and the relative distance. The communication device can locate the communication device and/or the reference device without knowing the measurement point location information of the reference device. The communication device supports multiple application scenarios, and has a wide application range, which satisfies the requirements of user positioning.

Optionally, as shown in FIG. 8 , the determining module 530 is further configured to determine that the number of groups of measurement points is N groups, where N is a positive integer greater than or equal to 2; the second obtaining module 520 includes: a sending unit 521, And sending, by the first set of measurement points, the first request information to the reference device, where the first request information is used to request the reference device to send the second motion state information of each of the N sets of measurement points; The receiving unit 522 is configured to receive, by the i-th group of measurement points, first response information that is sent by the reference device according to the first request information, where the first response information includes the reference device at the ith group of measurement points. Two motion state information, where i=1, . . . , N.

The determining module 530 may first determine the number N of measurement points, and the first request information sent by the sending unit 521 may request the reference device to actively send the second motion state information of the N sets of measurement points. Then, the sending unit 521 can send the first request information on a set of measurement points to know the second motion state information of the reference device at each set of measurement points. When the communication device 500 performs positioning, it can meet the positioning requirements of the user, and can save signaling overhead and alleviate data transmission congestion.

Optionally, the second obtaining module 520 includes a sending unit 521, configured to send first request information to the reference device, where the first request information is used to request the reference device, as shown in FIG. The second motion state information on the first set of measurement points, the first request information is further used to request the measurement point location information of the reference device, and the receiving unit 522 is configured to receive the first information sent by the reference device according to the first request information. a first response information including second motion state information of the reference device at the first set of measurement points, or the first response information includes motion state information of the reference device at the first set of measurement points And the measurement point location information; the determining module 530 is further configured to determine, according to whether the first response information includes the measurement point location information, the number of groups of measurement points is N groups, where N is a positive integer greater than or equal to 2; The sending unit 521 is further configured to send second request information to the reference device on the second group of measurement points, where the second request information is used to request the reference device to send the first part of the N-1 group of measurement points. The second response information is sent by the reference device according to the second request information, where the second response information includes the reference device is measured in the i-th group. Second motion state information at the point, where i=2, . . . , N.

The determining module 530 may determine the number of sets of measurement points according to whether the first response information received by the receiving unit 522 includes the measurement point location information, so that the sending unit 521 may instruct the reference device to actively send the subsequent N-1 when transmitting the second request information. The second motion state information on the group measurement point, the communication device can avoid blindly transmitting the first request information multiple times during positioning, thereby saving signaling overhead and alleviating data transmission congestion.

Optionally, the sending unit 521 is configured to send, to the reference device, a first fine time measurement ranging request frame, where the first ranging request frame carries the first request information, and the receiving unit 522 is specifically configured to receive The first distance measurement frame sent by the reference device according to the first ranging request frame, where the first distance measurement frame carries the first response information.

The first request information is carried in the first ranging request frame, and the first response information is carried in the first distance measurement frame, so that the receiving unit 522 can obtain the reference device after receiving the first distance measurement frame. The second motion state information of the group measurement point, thereby determining that the module 530 can be rooted The location of the communication device and/or the reference device can be determined based on the second motion state information, thereby satisfying the need for user location.

Optionally, the first ranging request frame sent by the sending unit 521 includes a request domain, where the request domain carries the first request information.

The first request information sent by the sending unit 521 may be carried in the LCI measurement request field of the first ranging request frame, and may also be carried in the motion state information measurement request field. The sending unit 521 can flexibly carry the first request information in the first ranging request frame according to the requirement, so that the communication device acquires the second motion state information of the reference device, and can further perform positioning according to the second motion state information, and satisfy the user. Positioning needs.

Optionally, the first distance measurement frame received by the receiving unit 522 includes a report domain, where the report domain carries the first response information.

The first response information received by the receiving unit 522 may be carried in the LCI measurement report field of the first distance measurement frame, and may also be carried in the motion state information measurement report. The first response information may be flexibly carried in the first distance measurement frame, so that after the receiving unit 522 receives the first distance measurement frame, the determining module 530 performs positioning according to the second motion state information of the reference device to satisfy the user. Positioning requirements.

Optionally, the first request information sent by the sending module 521 is further used to request the measurement point location information of the reference device; when the first response information received by the receiving module 522 includes the measurement point location information, the determining The module 530 is specifically configured to determine a location of the communications device according to at least one of the first motion state information and the second motion state information, the relative distance, and the measurement point location information.

If the second obtaining module 520 can acquire the measurement point location information of the reference device, the communication device can combine at least one of the first motion state information and the second motion state information, the relative distance, and the measurement point location information. It is easier and faster to determine the location of the communication device and/or the reference device.

Optionally, the first request information sent by the sending module 521 is further used to request the reference device to perform FTM measurement, and the first obtaining module 510 is further configured to acquire, by using FTM measurement, the communication device and the reference device in multiple sets of measurements. The relative distance at each set of measurement points in the point.

The first obtaining module 510 obtains the second motion state information of the reference device at each set of measurement points while acquiring the relative distance between the communication device and the reference device at each set of measurement points, and can fully utilize the channel resources, thereby saving The overhead of transmitting information.

Optionally, the first motion state information and the second motion state information each include at least one of a displacement magnitude, an acceleration magnitude, and a velocity magnitude, and motion direction information. The determining module 530 can determine the location of the communication device and/or the reference device according to at least one of the communication device and/or the reference device displacement size, the acceleration magnitude, and the speed magnitude, even if the reference device When the position of the measuring point is unknown, the position of the communication device and/or the reference device can still be determined, which not only satisfies the requirement of user positioning, but also has a simple operation method and is easy to implement.

Optionally, when the communication device is moving and the reference device is stationary, the determining module 530 is specifically configured to determine a location of the communication device and/or the reference device according to the first motion state information of the each set of measurement points and the relative distance; When the reference device moves and the communication device is stationary, the determining module 530 is specifically configured to determine a location of the communication device and/or the reference device according to the second motion state information of the each set of measurement points and the relative distance; when the communication device moves and The determining module 530 is specifically configured to determine the location of the communication device and/or the reference device according to the first motion state information, the second motion state information, and the relative distance of each set of measurement points.

As long as one of the communication device and the reference device has a displacement change, the determining module 530 can determine the position of the communication device and/or the reference device according to the corresponding motion state information at each set of measurement points, and the method has a wide application range. , support more application scenarios.

It should be understood that the communication device 500 according to an embodiment of the present invention may correspond to an execution subject of the method in the embodiment of the present invention, and the above and other operations and/or functions of the respective modules in the communication device 500 are respectively implemented in order to implement FIG. 2 to FIG. 7 The corresponding process of each method, for the sake of brevity, will not be repeated here.

FIG. 9 provides a communication device 600. The communication device 600 includes: a receiving module 610, configured to receive request information sent by a target device, where the request information is used to request a second motion state of the communication device at each set of measurement points. The sending module 620 is configured to send, according to the request information received by the receiving module, response information to the target device, where the response information includes the second motion state information, so that the target device is configured according to the first set of measurement points. Determining a location of the target device and/or the communication device by at least one of a motion state information and the second motion state information and a relative distance between the target device and the communication device at each set of measurement points.

The sending module 620 sends the response information to the target device, so that the target device acquires the second motion state information of the communication device at each set of measurement points according to the response information. The target device can determine the location of the target device and/or the communication device according to the second motion state information even if the measurement device location information of the communication device cannot be obtained, and meet the user positioning requirement.

Optionally, the receiving module 610 is specifically configured to receive the target device at each set of measurement points. Sending first request information, the first request information is used to request second motion state information at a measurement point where the communication device is located; the sending module 620 is specifically configured to send the first device to the target device at each set of measurement points And a response message, the first response information including second motion state information at a measurement point where the communication device is located.

The receiving module 610 receives a first request message at each set of measurement points, and the sending module 620 sends the first response information to the target device at each set of measurement points, so that the target device obtains the first of the communication devices at each set of measurement points. The second motion state information, so that the target device can determine the location of the target device and/or the communication device according to the second motion state information and the relative distance even if the measurement point location information of the unknown communication device can satisfy the target device positioning requirement.

The receiving module 610 is configured to receive, by using the first group of measurement points, the first request information sent by the target device, where the first request information is used to request the communications device to send the second motion of each of the N sets of measurement points. State information, the N is a positive integer greater than or equal to 2; the sending module 620 is specifically configured to send first response information to the target device on the i-th measuring point, where the first response information includes the communication device at the i The second motion state information on the set of measurement points, where i = 1, ..., N.

The receiving module 610 only needs to receive the first request information on the set of measurement points, and the sending module 620 can actively send the second motion state information of each set of measurement points on the N sets of measurement points to the target device according to the first request information. The target device obtains the location of the target device according to the second motion state information of the communication device, which not only satisfies the positioning requirement of the user, but also saves signaling overhead and alleviates data transmission congestion.

The receiving module 610 is configured to receive, by the first group of measurement points, first request information sent by the target device, where the first request information is used to request second motion state information at a measurement point where the communication device is located, where the The request information is further used to request the measurement point location information of the current measurement point of the communication device; the sending module 620 is specifically configured to send the first response information to the target device on the first group of measurement points, where the first response information includes The second motion state information of the communication device at the first group of measurement points; or the first response information includes second motion state information of the communication device at the first group of measurement points and the measurement point location information; the receiving module 610 further Receiving, by the second group of measurement points, the second request information sent by the target device, where the second request information is used to request the communication device to send the second motion state information on the subsequent N-1 group measurement points; the sending The module 620 is further configured to send second response information to the target device on the i-th measurement point, where the second response information includes a second motion of the communication device at the i-th measurement point Information, where i = 2, ..., N.

If the communication device can know its own measurement point location information, the measurement point location letter can be The information is sent to the target device by the sending module, so that the target device can determine the number of the measurement points according to whether the received first response information includes the measurement point location information, and then instruct the communication device to actively send the subsequent N when the second request information is sent. The second motion state information on the 1 set of measurement points can prevent the communication device from blindly transmitting the first response information multiple times, thereby saving signaling overhead and alleviating data transmission congestion.

Optionally, the receiving module 610 is specifically configured to receive a first ranging request frame sent by the target device, where the first ranging request frame carries the first request information, where the sending module is specifically configured to send the first request message to the target device. A distance measurement frame is framed, and the first distance measurement frame carries the first response information.

The first request information is carried in the first ranging request frame, and the first response information is carried in the first distance measurement frame, so that the receiving module 610 sends the first distance measurement frame to the target device after receiving the first ranging request frame. So that the target device determines the location of the target device and/or the communication device according to the second motion state information of the communication device at each set of measurement points, thereby satisfying the requirement of user positioning.

Optionally, the first ranging request frame received by the receiving module 610 includes a request domain, where the request domain carries the first request information.

The first request information may be carried in the LCI measurement request field of the first ranging request frame, and may also be carried in the motion state information measurement request field. The first request information may be flexibly carried in the first ranging request frame according to the requirement, so that the communication device sends the second motion state information at each set of measurement points to the target device after receiving the first FTM frame, so that the target The device obtains the second motion state information of the communication device at each set of measurement points, and further can perform positioning according to the second motion state information to meet the positioning requirement of the user.

The first distance measurement frame sent by the sending module 620 includes a report domain, and the report domain carries the first response information.

The first response information may be carried in the LCI measurement report field of the first distance measurement frame, and may also be carried in the motion state information measurement report. The communication device can flexibly carry the first response information in the first distance measurement frame, so that the target device acquires the second motion state information of the communication device according to the first response information, and then can perform positioning according to the second motion state information. Meet the user's positioning needs.

Optionally, the first request information received by the receiving module 610 is further used to request location information of the measurement point of the communication device, so that the target device is configured according to the at least one of the first motion state information and the second motion state information. A relative distance and the location information determine a location of the target device and/or the communication device.

If the communication device can know its own measurement point location information and send the measurement point location information to the target device, the target device can combine at least one of the first motion state information and the second motion state information, the relative distance and The measurement point location information makes it easier and faster to determine the target device and/or the communication device to meet the positioning requirements of the user.

Optionally, the first request information received by the receiving module 610 is further used to request the communications device to perform FTM measurement, where the first response information is further used to enable and perform the FTM measurement.

The sending module 620 participates in the FTM measurement while transmitting the second motion state information of the communication device at each set of measurement points to the target device, and can fully utilize the channel resources, thereby saving the overhead of transmitting information.

The first motion state information and the second motion state information each include at least one of a displacement magnitude, an acceleration magnitude, and a velocity magnitude, and motion direction information.

The communication device may acquire at least one of a self-displacement size, an acceleration size, and a speed size and transmit the direction information to the target device, so that the target device determines the target device and/or the communication device according to the second motion state information and the relative distance. The location to meet the user's positioning needs.

It should be understood that the communication device 600 according to an embodiment of the present invention may correspond to an execution subject of the method in the embodiment of the present invention, and the above and other operations and/or functions of the respective modules in the communication device 600 are respectively implemented in order to implement FIG. 2 to FIG. 7 The corresponding process of each method, for the sake of brevity, will not be repeated here.

8 to 10 depict a communication device from the perspective of a functional module, which is described below from the perspective of a physical device

Figure 11 shows a communication device of an embodiment of the present invention. The communication device includes a transceiver 710, a processor 720, a memory 730, and a bus system 740. The transceiver 710, the processor 720, and the memory 730 can be connected by a bus system 740, which can be used to store instructions for executing the memory stored instructions to control the transceiver 710 to receive or transmit information. ;

The processor 720 is configured to: acquire a relative distance between the communication device and the reference device at each of the plurality of sets of measurement points; obtain first motion state information and/or obtain the communication device at the each set of measurement points Second motion state information of the reference device at each set of measurement points; the processor 730 according to at least one of the first motion state information and the second motion state information acquired at each set of measurement points and the relative Distance determines the location of the communication device and/or the reference device.

Therefore, in the communication device of the embodiment of the present invention, the communication device may determine, according to at least one of the first motion state information and the second motion state information acquired at each set of measurement points, and the relative distance. The location of the communication device and/or the reference device. Even if the communication device cannot know the location information of the reference device, the location of the communication device itself and/or the location of the reference device can be determined, thereby satisfying the requirement of user positioning.

Optionally, the transceiver 710 is configured to send first request information to the reference device at each set of measurement points, where the first request information is used to request second motion state information at a measurement point where the reference device is located. The transceiver 710 is further configured to receive, at each set of measurement points, first response information that is sent by the reference device according to the first request information, where the first response information includes a second motion at a measurement point where the reference device is located status information.

The communication device can locate the communication device and/or the reference device without knowing the measurement point location information of the reference device. The communication device supports multiple application scenarios, and has a wide application range, which satisfies the requirements of user positioning.

Optionally, the processor 720 is further configured to determine that the number of groups of measurement points is N groups, where N is a positive integer greater than or equal to 2; the transceiver 720 is specifically configured to use the reference group on the first group of measurement points. The device sends first request information, where the first request information is used to request the reference device to send the second motion state information of each of the N sets of measurement points; the transceiver 720 is further configured to use the i-th group measurement point Receiving, by the first response information sent by the reference device according to the first request information, the first response information includes second motion state information of the reference device at the ith group of measurement points, where i=1, . . . N.

The communication device may first determine the number N of measurement points, and the communication device may acquire the second motion state information of the second communication device at each set of measurement points by transmitting the first request information on a set of measurement points. The communication device can save signaling overhead and ease data transmission congestion when performing positioning.

Optionally, the transceiver 710 is configured to send first request information to the reference device at the first group of measurement points, where the first request information is used to request a second motion state of the reference device at the first group of measurement points. Information, the first request information is further used to request measurement point location information of the reference device; the transceiver 710 is further configured to receive first response information that is sent by the reference device according to the first request information, where the first response information includes the Referring to the second motion state information of the device at the first set of measurement points, or the first response information includes motion state information of the reference device at the first set of measurement points and the measurement point location information; the processor 720 And determining, according to whether the first response information includes the measurement point location information, determining that the number of groups of measurement points is N groups, the N being a positive integer greater than or equal to 2; the transceiver 710 is further configured to perform measurement in the second group Sending a second request message to the reference device at the point, The second request information is used to request the reference device to send the second motion state information on the subsequent N-1 group measurement points; the transceiver 710 is further configured to receive the reference device on the i-th group measurement point according to the second A second response message requesting information transmission, the second response information including second motion state information of the reference device at the i-th group of measurement points, where i=2, . . . , N.

The communication device can avoid blindly transmitting the first request information multiple times during positioning, thereby saving signaling overhead and alleviating data transmission congestion.

Optionally, the transceiver 710 is specifically configured to send a ranging request frame to the reference device, where the first ranging request frame carries the first request information; the transceiver 710 is specifically configured to receive the reference device according to the first And a first distance measurement frame sent by the ranging request frame, where the first distance measurement frame carries the first response information.

The first request information is carried in the first ranging request frame, and the first response information is carried in the first distance measurement frame, so that the communication device acquires the second reference measurement frame at the second measurement point of each group after receiving the first distance measurement frame. The motion state information further determines the location of the communication device and/or the reference device according to the second motion state information, thereby satisfying the user positioning requirement.

Optionally, the first ranging request frame sent by the transceiver 710 includes a request domain, where the request domain carries the first request information.

The first request information sent by the transceiver 710 may be carried in the LCI measurement request field of the first ranging request frame, and may also be carried in the motion state information measurement request field. The communication device can flexibly carry the first request information in the first ranging request frame according to the requirement, so that the communication device acquires the second motion state information of the reference device, and then can perform positioning according to the second motion state information to satisfy the user. Positioning requirements.

Optionally, the first distance measurement frame received by the transceiver 710 includes a report domain, where the report domain carries the first response information.

The first response information received by the transceiver 710 may be carried in the LCI measurement report field of the first distance measurement frame, and may also be carried in the motion state information measurement report field. The first response information may be flexibly carried in the first distance measurement frame, so that after the transceiver 710 receives the first distance measurement frame, the processor 730 performs positioning according to the second motion state information of the reference device to satisfy the user. Positioning requirements.

Optionally, the first request information sent by the transceiver 710 is further used to request measurement point location information of the reference device; when the first response information received by the transceiver 710 includes the measurement point location information, the processor 720 is specifically configured to use the first motion state information and the second motion state letter At least one of the interest, the relative distance, and the measurement point location information determine the location of the communication device.

If the communication device can acquire the location information of the measurement point of the reference device, the communication device can combine the at least one of the first motion state information and the second motion state information, the relative distance, and the measurement point location information, which is simpler. Quickly determining the location of the communication device and/or the reference device.

Optionally, the first request information received by the transceiver 710 is further used to request the reference device to perform FTM measurement, and the processor 720 is further configured to acquire, by using FTM measurement, the communication device and the reference device in multiple sets of measurement points. The relative distance between each set of measurement points.

The communication device obtains the second motion state information of the reference device at each set of measurement points while acquiring the relative distance between the self and the reference device at each set of measurement points, and can fully utilize the channel resources, thereby saving the overhead of transmitting information.

Optionally, the first motion state information and the second motion state information each include at least one of a displacement magnitude, an acceleration magnitude, and a velocity magnitude, and motion direction information.

The communication device may determine the location of the communication device and/or the reference device based on at least one of its own and/or reference device displacement magnitude, acceleration magnitude, and speed magnitude, and relative distance, even at the reference device measurement point When the location is unknown, the location of the communication device and/or the reference device can still be determined, which not only satisfies the requirements of user positioning, but also has a simple operation method and is easy to implement.

Optionally, when the communication device is moving and the reference device is stationary, the processor 720 is specifically configured to determine a location of the communication device and/or the reference device according to the first motion state information of the each set of measurement points and the relative distance; When the reference device moves and the communication device is stationary, the processor 720 is specifically configured to determine the location of the communication device and/or the reference device according to the second motion state information of the each set of measurement points and the relative distance; when the communication device moves and refers to When the device is in motion, the processor 720 is specifically configured to determine the location of the communication device and/or the reference device according to the first motion state information, the second motion state information, and the relative distance of each set of measurement points.

As long as one of the communication device and the reference device has a displacement change, the communication device can determine the location of the communication device and/or the reference device according to the corresponding motion state information at each set of measurement points, and the method has a wide application range. , support more application scenarios.

It should be understood that, in the embodiment of the present invention, the processor 720 may be a central processing unit ("CPU"), and the processor 720 may also be other general-purpose processors, digital signal processors (DSPs). , application specific integrated circuit (ASIC), off-the-shelf programmable gate array (FPGA) Or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The memory 730 can include read only memory and random access memory and provides instructions and data to the processor 720. A portion of the memory 730 may also include a non-volatile random access memory. For example, the memory 730 can also store information of the device type.

The bus system 740 may include a power bus, a control bus, a status signal bus, and the like in addition to the data bus. However, for clarity of description, various buses are labeled as bus system 740 in the figure.

In the implementation process, each step of the above method may be completed by an integrated logic circuit of hardware in the processor 720 or an instruction in a form of software. The steps of the method disclosed in the embodiments of the present invention may be directly implemented as a hardware processor, or may be performed by a combination of hardware and software modules in the processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in memory 730, and processor 720 reads the information in memory 730 and, in conjunction with its hardware, performs the steps of the above method. To avoid repetition, it will not be described in detail here.

It should be understood that communication device 700 in accordance with an embodiment of the present invention may correspond to an execution subject of a method in an embodiment of the present invention, and that the above and other operations and/or functions of the various devices in communication device 700 are respectively implemented in order to implement FIG. 7 The various methods and corresponding processes are not described here for brevity.

As shown in FIG. 12, a communication device of an embodiment of the present invention includes a transceiver 810, a memory 830, a processor 820, and a bus system 840. The transceiver 810, the memory 830, and the processor 820 are connected by a bus system. 830 is used to store instructions, the processor 820 is configured to execute instructions stored in the memory 830, the processor 820 is further configured to control the transceiver 810 to receive and send information or information, and the transceiver 810 is configured to receive a request sent by the target device. Information, the request information is used to request second motion state information of the communication device at each set of measurement points; the transceiver 810 is further configured to send response information to the target device according to the request information received by the transceiver 810, where The response information includes the second motion state information, so that the target device is based on at least one of the first motion state information and the second motion state information on each set of measurement points, and the target device and the communication device are in the The relative distance of each set of measurement points determines the location of the target device and/or the communication device.

The communication device can receive the first request information and send the target request information according to the request information The second motion state information of each set of measurement points is such that the target device can determine the location of the target device and/or the communication device according to the second motion state information even if the measurement device location information of the communication device cannot be obtained, and the information is satisfied. User positioning needs.

Optionally, the transceiver 810 is configured to receive, by using each set of measurement points, first request information sent by the target device, where the first request information is used to request a second motion state at a measurement point where the communication device is located. The transceiver 810 is specifically configured to send first response information to the target device at each set of measurement points, where the first response information includes second motion state information at a measurement point where the communication device is located.

The transceiver 810 receives a first request message at each set of measurement points and feeds back a first response message, so that the target device acquires the second motion state information of the communication device at each set of measurement points, so that the target device is unknown. The measurement point location information of the communication device can still determine the location of the target device and/or the communication device according to the second motion state information and the relative distance, thereby satisfying the requirement of the target device location.

Optionally, the processor 820 is further configured to determine that the number of groups of measurement points is N groups, and the N is greater than or equal to 2; the transceiver 810 is specifically configured to receive, by the first group of measurement points, the first one sent by the target device. Requesting information, the first request information is used to request the communication device to send second motion state information of each of the N sets of measurement points; the transceiver 810 is specifically configured to send the target device to the i-th measurement point First response information, the first response information including second motion state information of the communication device at the i-th group of measurement points, where i=1, . . . , N.

The transceiver 810 only needs to receive a first request information, and may, according to the first request information, actively send, to the target device, second motion state information of each group of measurement points on the N sets of measurement points, so that the target device is configured according to the communication device. The second motion state information determines the location of the target device, which not only satisfies the positioning requirement of the user, but also saves signaling overhead and alleviates data transmission congestion.

Optionally, the transceiver 810 is configured to receive, by using the first group of measurement points, first request information sent by the target device, where the first request information is used to request a second motion state at a measurement point where the communication device is located. Information, the first request information is further used to request measurement point location information of a current measurement point of the communication device; the transceiver 810 is specifically configured to send first response information to the target device on the first group of measurement points, where A response information includes second motion state information of the communication device at the first set of measurement points; or the first response information includes second motion state information of the communication device at the first set of measurement points and the measurement point location information; The transceiver 810 is further configured to receive, by the second group of measurement points, second request information sent by the target device, where the second request information is used to request the communication device to send the subsequent The second motion state information on the N-1 group measurement point; the transceiver 810 is further configured to send the second response information to the target device on the i-th group measurement point, where the second response information includes the communication device in the The second motion state information of the i group measurement points, where i=2, . . . , N.

If the communication device can know its own measurement point location information, the measurement point location information can be sent to the target device through the transceiver, so that the target device can determine the group of the measurement point according to whether the received first response information includes the measurement point location information. And, when transmitting the second request information, instructing the communication device to actively send the second motion state information on the subsequent N-1 group measurement points, thereby preventing the communication device from blindly transmitting the first response information multiple times, thereby saving signaling Overhead and can alleviate data transmission congestion.

Optionally, the transceiver 810 is configured to receive a first ranging request frame sent by the target device, where the first ranging request frame carries the first request information; the transceiver 810 is specifically configured to send the first request to the target device. a distance measurement frame, the first distance measurement frame carrying the first response information.

The first request information is carried in the first ranging request frame, and the first response information is carried in the first distance measurement frame, so that after receiving the first ranging request frame, the transceiver sends the first distance measurement frame to the target device. The target device determines the location of the target device and/or the communication device according to the second motion state information of the communication device at each set of measurement points, thereby satisfying the requirement of user positioning.

Optionally, the first ranging request frame received by the transceiver 810 includes a request domain, where the request domain carries the first request information.

Optionally, the first distance measurement frame sent by the transceiver 810 includes a report domain, where the report domain carries the first response information.

The first response information may be carried in the LCI measurement report field of the first distance measurement frame, and may also be carried in the motion state information measurement report field. The communication device can flexibly carry the first response information in the first distance measurement frame, so that the target device acquires the second motion state information of the communication device according to the first response information, and then can perform positioning according to the second motion state information. Meet the user's positioning needs.

Optionally, the first request information received by the transceiver 810 is further used to request measurement point location information of the communication device, so that the target device is configured according to at least one of the first motion state information and the second motion state information. The relative distance and the measurement point location information determine the location of the target device and/or the communication device.

Optionally, the first request information received by the transceiver 810 is further used to request the communication device to perform FTM measurement, where the first response information is further used to enable and execute the FTM measurement.

The communication device participates in the FTM measurement while transmitting the second motion state information of the communication device at each set of measurement points to the target device, and can fully utilize the channel resources, thereby saving the overhead of transmitting information.

It is to be understood that the communication device 800 in accordance with an embodiment of the present invention may correspond to an execution subject of the method in the embodiments of the present invention, and that the above and other operations and/or functions of the various devices in the communication device 800 are respectively implemented in order to implement FIG. 2 to FIG. 7 The various methods and corresponding processes are not described here for brevity.

It should be understood that, in the embodiment of the present invention, the processor 820 may be a central processing unit ("CPU"), and the processor 820 may also be other general-purpose processors, digital signal processors (DSPs). , an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, and the like. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The memory 830 can include read only memory and random access memory and provides instructions and data to the processor 820. A portion of the memory 830 may also include a non-volatile random access memory. For example, the memory 830 can also store information of the device type.

The bus system 840 may include a power bus, a control bus, a status signal bus, and the like in addition to the data bus. However, for clarity of description, various buses are labeled as bus system 840 in the figure.

In the implementation process, each step of the above method may be integrated by hardware in the processor 820. The logic circuit or the instruction in the form of software is completed. The steps of the method disclosed in the embodiments of the present invention may be directly implemented as a hardware processor, or may be performed by a combination of hardware and software modules in the processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory 830, and the processor 820 reads the information in the memory 830 and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

It should be understood that in the embodiments of the present invention, "first" and "second" are merely used to distinguish different objects, but do not limit the scope of the embodiments of the present invention.

It should be understood that, in various embodiments of the present invention, the size of the sequence numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be directed to the embodiments of the present invention. The implementation process constitutes any limitation.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both, for clarity of hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

A person skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. You can choose some of them according to actual needs or All units are used to achieve the objectives of the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method of various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

The above is only the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any equivalent person can be easily conceived within the technical scope of the present invention by any person skilled in the art. Modifications or substitutions are intended to be included within the scope of the invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

A positioning method for a communication device, characterized in that the positioning method comprises:

The first communication device acquires a relative distance between the first communication device and the second communication device at each of the plurality of sets of measurement points;

Obtaining, by the first communications device, first motion state information of the first communications device at each set of measurement points and/or acquiring a second motion state of the second communications device at each set of measurement points information;

Determining, by the first communications device, the first communications device and/or the at least one of the first motion state information and the second motion state information acquired at each set of measurement points and the relative distance The location of the second communication device.
The locating method according to claim 1, wherein the acquiring, by the first communications device, the second motion state information of the second communications device at each of the set of measuring points comprises:

At each of the set of measurement points, the first communication device sends first request information to the second communication device, where the first request information is used to request that the second communication device is at a measurement point Second motion state information;

Receiving, by the first communication device, the first response information that is sent by the second communications device according to the first request information, where the first communications information includes the second communications device The second motion state information at the measurement point.
The positioning method according to claim 1, wherein the positioning method further comprises:

The first communication device determines that the number of groups of measurement points is N groups, and the N is a positive integer greater than or equal to 2;

Obtaining, by the first communications device, the second motion state information of the second communications device at each of the set of measurement points, including:

At the first set of measurement points, the first communication device sends first request information to the second communication device, where the first request information is used to request the second communication device to send the Nth measurement point Second motion state information;

Receiving, by the first communication device, first response information that is sent by the second communications device according to the first request information, where the first communications information includes the second communications device The second motion state information on the i-th set of measurement points, where i=1, . . . , N.
The positioning method according to claim 1, wherein said first communication device Acquiring the second motion state information of the second communication device on each set of measurement points, including:

At a first set of measurement points, the first communication device transmits first request information to the second communication device, the first request information being used to request the second communication device to be at the first set of measurement points The second motion state information, the first request information is further used to request location information of the measurement point where the second communication device is located;

Receiving, by the first communication device, first response information that is sent by the second communications device according to the first request information, where the first response information includes the second communications device a second motion state information on a set of measurement points, or the first response information includes second motion state information and the location information on the first set of measurement points;

Determining, by the first communication device, whether the number of groups of measurement points is N groups according to whether the first response information includes the measurement point location information, where the N is a positive integer greater than or equal to 2;

And at the second group of measurement points, the first communication device sends second request information to the second communication device, where the second request information is used to request the second communication device to send a subsequent N-1 group measurement Second motion state information at the point;

Receiving, by the first communication device, second response information that is sent by the second communications device according to the second request information, where the second communications device includes the second communications device The second motion state information of the i-th set of measurement points, where i=2, . . . , N.
The locating method according to any one of claims 2 to 4, wherein the first communication device sends the first request information to the second communication device, including:

The first communication device sends a first ranging request frame to the second communications device, where the first ranging request frame carries the first request information;

Receiving, by the first communications device, the first response information that is sent by the second communications device according to the first request information,

The first communication device receives a first distance measurement frame that is sent by the second communication device according to the first ranging request frame, and the first distance measurement frame carries the first response information.
The positioning method according to claim 5, wherein the first ranging request frame comprises a request domain, and the request domain carries the first request information.
The positioning method according to claim 5 or 6, wherein the first distance measurement frame comprises a report domain, and the report domain carries the first request information.
The positioning method according to claim 2 or 3, wherein the first request information is further used to request location information of a measurement point where the second communication device is located;

When the first response information received by the first communications device includes the location information, the first communications device is configured according to at least one of the first motion state information and the second motion state information acquired on each set of measurement points. And determining the location of the first communications device and/or the second communications device, and the relative distance, including:

Determining, by the first communications device, the first communications device according to at least one of the first motion state information and the second motion state information acquired on each set of measurement points, the relative distance, and the location information s position.
The positioning method according to any one of claims 5 to 7, wherein the first request information is further used to request the second communication device to perform distance measurement, and the first communication device acquires the first communication device. And a relative distance of the second communication device at each of the plurality of sets of measurement points, including:

The first communication device acquires, by distance measurement, a relative distance between the first communication device and the second communication device at each set of measurement points.
The positioning method according to any one of claims 1 to 9, wherein the first motion state information and the second motion state information each include at least one of a displacement magnitude, an acceleration magnitude, and a velocity magnitude, and motion Direction information.
A positioning method for a communication device, characterized in that the positioning method comprises:

The second communication device receives the request information sent by the first communication device, where the request information is used to request the second motion state information of the second communication device on each set of measurement points in the plurality of sets of measurement points;

Transmitting, by the second communication device, response information to the first communication device, where the response information includes second motion state information on each set of measurement points, so that the first communication device performs measurement according to each group Determining the first position of at least one of the first motion state information and the second motion state information at the point and the relative distance of the first communication device and the second communication device at each of the set of measurement points The location of a communication device and/or the second communication device.
The locating method according to claim 11, wherein the receiving, by the second communications device, the request information sent by the first communications device comprises:

Receiving, by the second communication device, the first request information sent by the first communications device, where the first request information is used to request that the second communications device is located at a measurement point Second motion state information;

The sending, by the second communications device, the response information to the first communications device includes:

At each of the set of measurement points, the second communication device transmits a first to the first communication device In response to the information, the first response information includes second motion state information at a measurement point at which the second communication device is located.
The locating method according to claim 11, wherein the receiving, by the second communications device, the request information sent by the first communications device comprises:

Receiving, by the first communication device, the first request information sent by the first communications device, where the first request information is used to request the second communications device to send the N sets of measurement points The second motion state information, where N is a positive integer greater than or equal to 2;

The sending, by the second communications device, the response information to the first communications device includes:

At the i-th measurement point, the second communication device transmits first response information to the first communication device, the first response information including a second of the second communication device at the i-th measurement point Motion state information, where i = 1, ..., N.
The locating method according to claim 11, wherein the receiving, by the second communications device, the request information sent by the first communications device comprises:

Receiving, by the first communication device, the first request information sent by the first communications device, where the first request information is used to request the second communications device at the first group of measurement points a second motion state information, where the first request information is further used to request location information of a measurement point where the second communication device is located;

Sending the response information to the first communications device by the second communications device, including:

At a first set of measurement points, the second communication device transmits first response information to the first communication device, the first response information including a second motion of the second communication device at a first set of measurement points Status information; or the first response information includes second motion state information of the second communication device at the first set of measurement points and the location information;

The second communication device receives the second request information sent by the first communications device, where the second request information is used to request the second communications device to send a subsequent N-1 group. Measuring second motion state information at the point;

At the i-th set of measurement points, the second communication device transmits second response information to the first communication device, the second response information including a second motion of the second communication device at the i-th set of measurement points Status information, where i=2,...,N.
The locating method according to any one of claims 12 to 14, wherein the receiving, by the second communications device, the first request information sent by the first communications device comprises:

Receiving, by the second communications device, a first ranging request frame sent by the first communications device, where The first ranging request frame carries the first request information;

The sending, by the second communications device, the first response information to the first communications device includes:

The second communication device sends a first distance measurement frame to the first communication device, where the first distance measurement frame carries the first response information.
The positioning method according to claim 15, wherein the first ranging request frame comprises a request domain, and the request domain carries the first request information.
The positioning method according to claim 15 or 16, wherein the first distance measurement frame reports a domain, and the report domain carries the first response information.
The positioning method according to claim 12 or 13, wherein the first request information is further used to request location information of a measurement point where the second communication device is located, so that when the first response information includes And determining, by the first communication device, at least one of the first motion state information and the second motion state information acquired on each set of measurement points, the relative distance, and the location information, The location of the first communication device.
The positioning method according to any one of claims 15 to 17, wherein the first request information is further used to request the second communication device to perform distance measurement, and the first response information is further used to start And performing the distance measurement to cause the first communication device to determine a relative distance of the each set of measurement points according to the distance measurement.
The positioning method according to any one of claims 11 to 19, wherein the first motion state information and the second motion state information each include at least one of a displacement magnitude, an acceleration magnitude, and a velocity magnitude, and motion Direction information.
A communication device, characterized in that the communication device comprises:

a first acquiring module, configured to acquire a relative distance between the communication device and the reference device at each of the plurality of sets of measurement points;

a second acquiring module, configured to acquire first motion state information of the communication device at each set of measurement points and/or obtain second motion state information of the reference device at each set of measurement points;

a determining module, configured to: according to at least one of the first motion state information and/or the second motion state information on each set of measurement points acquired by the second acquiring module, and the location acquired by the first acquiring module The relative distance is determined to determine the location of the communication device and/or reference device.
The communication device according to claim 21, wherein the second obtaining module comprises:

a sending unit, configured to send a first request message to the reference device at each set of measurement points The first request information is used to request second motion state information at a measurement point where the reference device is located;

a receiving unit, configured to receive first response information that is sent by the reference device according to the first request information, where the first response information includes a measurement point at a measurement point where the reference device is located Two motion status information.
The communication device according to claim 21, wherein the determining module is further configured to determine that the number of groups of measurement points is N groups, and the N is a positive integer greater than or equal to 2;

The second obtaining module includes:

a sending unit, configured to send first request information to the reference device on the first group of measurement points, where the first request information is used to request the reference device to send each of the N sets of measurement points Describe the second motion state information;

a receiving unit, configured to receive, by the i-th measurement point, first response information that is sent by the reference device according to the first request information, where the first response information includes that the reference device is measured in the i-th group Second motion state information at the point, where i = 1, ..., N.
The communication device according to claim 21, wherein the second obtaining module comprises:

a sending unit, configured to send first request information to the reference device on the first group of measurement points, where the first request information is used to request second motion state information of the reference device on the first group of measurement points, The first request information is further used to request location information of a measurement point where the reference device is located;

a receiving unit, configured to receive first response information that is sent by the reference device according to the first request information, where the first response information includes second motion state information of the reference device at the first group of measurement points, or The first response information includes second motion state information and the location information on the first set of measurement points;

The determining module is further configured to determine, according to whether the first response information includes the measurement point location information, the number of groups of measurement points is N groups, where N is a positive integer greater than or equal to 2;

The sending unit is further configured to send the second request information to the reference device on the second group of measurement points, where the second request information is used to request the reference device to send the subsequent N-1 group of measurement points Describe the second motion state information;

The receiving unit is further configured to receive, by the i-th group of measurement points, second response information that is sent by the reference device according to the second request information, where the second response information includes the reference device at the i-th The second motion state information on the set of measurement points, where i=2, . . . , N.
The communication device according to any one of claims 22 to 24, wherein the sending unit is configured to send a first ranging request frame to the reference device, where the first ranging request frame bearer The first request information;

The receiving unit is configured to receive a first distance measurement frame that is sent by the reference device according to the first ranging request frame, where the first distance measurement frame carries the first response information.
The communication device according to claim 25, wherein the first ranging request frame sent by the sending unit comprises a request domain, and the request domain carries the first request information.
The communication device according to claim 25 or 26, wherein the first distance measurement frame received by the receiving unit comprises a report domain, and the report domain carries the first response information.
The communication device according to claim 22 or 23, wherein the first request information received by the receiving module is further used to request location information of a measurement point where the reference device is located;

When the received first response information includes the location information, the determining module is configured to be used according to the first motion state information and the second motion state information of each set of measurement points acquired by the second acquiring module. Determining the location of the communication device by at least one of the relative distance and the measurement point location information.
The communication device according to any one of claims 25 to 27, wherein the first request information received by the receiving module is further used to request the reference device to perform distance measurement, and the first acquiring module further And a relative distance obtained by the distance measurement between the communication device and the reference device at each set of measurement points.
The communication device according to any one of claims 21 to 29, wherein the first motion state information and the second motion state information each include at least one of a displacement magnitude, an acceleration magnitude, and a velocity magnitude, and motion Direction information.
A communication device, characterized in that the communication device comprises:

a receiving module, configured to receive request information sent by the target device, where the request information is used to request second motion state information of the communications device at each set of measurement points;

a sending module, configured to send response information to the target device according to the request information received by the receiving module, where the response information includes the second motion state information, so that the target device performs measurement according to each group First motion state information of the target device acquired at the point and the Determining a location of the target device and/or the communication device by at least one of second motion state information of the communication device and a relative distance of the target device and the communication device at the set of measurement points.
The communication device according to claim 31, wherein the receiving module is configured to receive first request information sent by the target device at each set of measurement points, where the first request information is used for requesting The second motion state information at the measurement point where the communication device is located;

The sending module is specifically configured to send first response information to the target device at each set of measurement points, where the first response information includes second motion state information at a measurement point where the communication device is located.
The communication device according to claim 31, wherein the receiving module is configured to receive first request information sent by the target device on a first group of measurement points, where the first request information is used to request a location Transmitting, by the communication device, second motion state information of each set of measurement points of the N sets of measurement points, where N is a positive integer greater than or equal to 2;

The sending module is specifically configured to send first response information to the target device on the i-th measuring point, where the first response information includes second motion state information of the communications device at the i-th measuring point. Where i=1,...,N.
The communication device according to claim 31, wherein the receiving module is configured to receive first request information sent by the target device on a first group of measurement points, where the first request information is used to request a location a second motion state information at a measurement point where the communication device is located, where the first request information is further used to request location information of a current measurement point of the communication device;

The sending module is specifically configured to send first response information to the target device on the first group of measurement points, where the first response information includes second motion state information of the communication device at the first group of measurement points; or The first response information includes second motion state information and the location information on the first set of measurement points;

The receiving module is further configured to receive second request information sent by the target device on a second group of measurement points, where the second request information is used to request the communication device to send a subsequent N-1 group measurement point. Second motion state information;

The sending module is further configured to send second response information to the target device on the i-th measuring point, where the second response information includes second motion state information of the communications device at the i-th measuring point, where i=2,...,N.
A communication device according to any one of claims 32 to 34, characterized in that The receiving module is configured to receive a first ranging request frame sent by the target device, where the first ranging request frame carries the first request information;

The sending module is specifically configured to send a first distance measurement frame to the target device, where the first distance measurement frame carries the first response information.
The communication device according to claim 35, wherein the first ranging request frame received by the receiving module comprises a request domain, and the request domain carries the first request information.
The communication device according to claim 35 or claim 36, wherein the first distance measurement frame sent by the sending module comprises a report domain, and the report domain carries the first response information.
The communication device according to claim 32 or 33, wherein the first request information received by the receiving module is further used to request location information of a measurement point at which the communication device is located, so that the target device obtains according to the Determining the location of the target device by at least one of the first motion state information and the second motion state information of each set of measurement points, the relative distance, and the location information.
The communication device according to any one of claims 35 to 37, wherein the first request information received by the receiving module is further used to request the communication device to perform distance measurement, the first response information. It is also used to turn on and perform the distance measurement.
The communication device according to any one of claims 31 to 39, wherein the first motion state information and the second motion state information each include at least one of a displacement magnitude, an acceleration magnitude, and a velocity magnitude, and motion Direction information.