WO2023020055A1

WO2023020055A1 - Positioning method and apparatus

Info

Publication number: WO2023020055A1
Application number: PCT/CN2022/094226
Authority: WO
Inventors: 刘抒民; 张博; 沈丽; 龙祁峰
Original assignee: 荣耀终端有限公司
Priority date: 2021-08-18
Filing date: 2022-05-20
Publication date: 2023-02-23
Also published as: CN113660611B; CN113660611A

Abstract

The present application relates to the technical field of terminals, and provides a positioning method and apparatus. In the positioning method, when the distance between a target position and a second terminal is less than a preset distance threshold, a first terminal and the second terminal implement positioning using a second positioning method. The first terminal may use the second positioning method to obtain first relative position information of the first terminal and the second terminal obtained by positioning, the first relative position information comprising the distance and orientation of the first terminal and the second terminal. A first positioning identifier is then updated in a first interface according to the first relative position information. As the positioning precision of the second positioning method is greater than that of a first positioning method, a passenger holding the first terminal may more accurately perceive the distance and orientation between the passenger and a driver holding the second terminal.

Description

Positioning method and device

This application claims the priority of the Chinese patent application with the application number 202110951404.9 and the application title "Positioning Method and Device" submitted to the State Intellectual Property Office of China on August 18, 2021, the entire contents of which are incorporated in this application by reference.

technical field

The present application relates to the technical field of terminals, and in particular to a positioning method and device.

Background technique

At present, with the development of Internet technology, online car-hailing has become a part of people's transportation. After the passenger takes a taxi successfully, the driver's location will be displayed on the display interface of the online car-hailing application of the passenger terminal for the passenger to check.

Usually, the driver's location is obtained by the driver's terminal through 10-meter-level positioning technologies such as GPS positioning, base station positioning, or Bluetooth positioning.

However, the accuracy of the driver's position acquired by the above method is low, causing the passenger to be unable to perceive his precise position relative to the driver.

Contents of the invention

The present application provides a positioning method and device, which can collect the first relative position information of the passenger's first terminal and the driver's second terminal, so that the passenger can perceive the precise position of himself relative to the driver.

In a first aspect, the present application provides a positioning method applied to a communication system, where the communication system includes a first terminal and a second terminal. The method provided in the present application includes: the first terminal acquires the position information of the second terminal obtained by using the first positioning method. The first terminal displays the first interface. Wherein, the first interface includes a map, a first positioning mark and a second positioning mark, the first positioning mark is used to mark the location information of the second terminal on the map, and the second positioning mark is used to mark the position information of the target position on the map , the target location is obtained by the first terminal based on user operations. If the distance between the target location and the second terminal is smaller than the preset distance threshold, the first terminal and the second terminal are positioned using the second positioning method. Wherein, the positioning accuracy of the second positioning method is greater than that of the first positioning method. The first terminal acquires first relative position information of the first terminal and the second terminal obtained by positioning using the second positioning method, where the first relative position information includes a distance and a direction between the first terminal and the second terminal. The first terminal updates the first positioning identifier on the first interface according to the first relative position information.

In the positioning method provided by the present application, when the distance between the target location and the second terminal is smaller than a preset distance threshold, the first terminal and the second terminal use the second positioning method for positioning. The first terminal may acquire first relative position information of the first terminal and the second terminal obtained by positioning using the second positioning method, where the first relative position information includes a distance and a direction between the first terminal and the second terminal. Furthermore, the first positioning identifier is updated on the first interface according to the first relative position information. Since the positioning accuracy of the second positioning method is greater than that of the first positioning method, the passenger holding the first terminal can more accurately perceive the distance and direction between the driver holding the second terminal and himself.

In an optional implementation manner, the first terminal includes multiple antennas, and when the distance between the target location and the second terminal is smaller than a preset distance threshold, the first terminal and the second terminal use The second positioning method performs positioning, including: when the distance between the target position and the second terminal is smaller than a preset distance threshold, the first terminal receives a positioning signal from the position of the second terminal. Wherein, the positioning signal carries the first moment when the positioning signal is transmitted. The first terminal records the second moment when the positioning signal is received. The first terminal determines the distance of the second terminal relative to the first terminal according to the first moment, the second moment and the set signal propagation rate. The first terminal determines the relative direction of the second terminal relative to the second terminal according to the multiple antennas and the three-point positioning method.

In this way, the distance and direction of the second terminal relative to the first terminal can be accurately calculated.

Further, when the distance between the target position and the second terminal is less than the preset distance threshold, the first terminal receives the positioning signal from the position of the second terminal, including: the second terminal detects the target position and If the distance between the second terminals is less than the preset distance threshold, the second terminal transmits a positioning signal. The first terminal receives the positioning signal from the second terminal.

In this way, the second terminal can be used to transmit positioning signals, and the cost is low.

Or, further, when the distance between the target position and the second terminal is less than the preset distance threshold, the first terminal receives the positioning signal from the position of the second terminal, including: the second terminal detects the target If the distance between the location and the second terminal is less than a preset distance threshold, the positioning device is notified to transmit a positioning signal, where the location of the positioning device is the same as that of the second terminal. The first terminal receives a positioning signal from a positioning device.

In this way, the positioning device can be used to transmit the positioning signal, which reduces the power consumption of the second terminal.

In an optional implementation manner, the first terminal and the second terminal interact through a cloud server, and before the first terminal displays the first interface, the method provided by this application further includes: the first terminal and the second terminal receive information from the cloud Verification information of the server, wherein the verification information includes a verification ID and a key. The first terminal receiving the positioning signal from the location of the second terminal includes: the first terminal receiving the positioning signal from the location of the second terminal, carrying a verification identifier, and encrypted by a key at the first moment. Before the first terminal determines the distance of the second terminal relative to the first terminal according to the first moment, the second moment and the set signal propagation rate, the method provided by this application further includes: verifying the identification and positioning from the cloud server If the verification identifiers carried in the signals are consistent, the first terminal decrypts the first moment according to the key.

In this way, it can be improved that the first moment in the positioning signal will not be obtained by others during the propagation process, that is, the privacy and security of the first relative position information can be guaranteed.

In an optional implementation manner, the positioning signal is a UWB signal or an ultrasonic signal.

In an optional implementation manner, the first relative position information includes text information used to indicate the distance and direction of the second terminal relative to the first terminal.

In this way, the user can perceive the distance and direction from the driver more conveniently through the first relative position information.

Further, the first terminal also displays a third positioning mark on the map of the first interface, wherein the third positioning mark is used to mark the position information of the first terminal obtained through the first positioning method, and the content of the first positioning mark It is updated to indicate the relative positions of the second terminal and the first terminal on the map. The first relative position information further includes: an arrow pointing from the third positioning mark to the updated first positioning mark.

In this way, the user can perceive the distance and direction from the driver more conveniently through the first positioning mark, the third positioning mark and the arrow.

Furthermore, the content of the text information is updated along with the change of the first relative position information.

Further, when the distance between the second terminal and the first terminal is less than a preset distance threshold, the first terminal displays first prompt information on the first interface, and the first prompt information is used to indicate that passengers have boarded the vehicle.

In this way, the passenger who holds the first terminal can perceive through the first prompt information that he has got on the bus correctly.

In an optional implementation manner, the method provided in the present application further includes: the second terminal displays a second interface, and the second interface includes the first control and the third positioning mark. Wherein, the third positioning identifier is used to mark the position information of the first terminal obtained through the first positioning method. The second terminal sends the first request to the first terminal in response to the trigger operation on the first control. Wherein, the first request is used to request first relative location information of the first terminal. In response to the first request, the first terminal displays second prompt information on the first interface. Wherein, the second prompt information is used to indicate to share the first relative position information with the second terminal. The first terminal sends the first relative position information to the second terminal in response to the confirmation operation on the second prompt information. The second terminal generates second relative position information of the first terminal and the second terminal according to the first relative position information and the position information obtained by the second terminal using the first positioning method. The second terminal updates the third positioning identifier on the second interface according to the second relative position information.

In this way, the driver holding the second terminal can accurately perceive the distance and direction of the passenger relative to himself through the second relative position information.

Further, the second relative position information includes text information for indicating the distance and direction of the first terminal relative to the second terminal.

In this way, the driver holding the second terminal can more conveniently perceive the distance and direction of the passenger relative to himself through text messages.

Furthermore, the second interface also displays a first positioning mark and a third positioning mark, wherein the third positioning mark is used to indicate the relative position of the first terminal and the second terminal on the map, and the second relative position information also includes : An arrow pointing from the first positioning mark to the third positioning mark.

In this way, the driver holding the second terminal can also more conveniently perceive the distance and direction of the passenger relative to himself through the first positioning mark, the third positioning mark and the arrow.

Further, when the distance between the first terminal and the second terminal is less than the preset distance threshold, the second terminal displays third prompt information on the second interface, and the third prompt information is used to indicate that passengers have boarded the vehicle.

In this way, the driver holding the second terminal can perceive through the third prompt information that the passenger has got on the bus correctly.

In the second aspect, the present application also provides a positioning device, which is applied to the first terminal, and the device provided in the present application includes:

A communication unit, configured to acquire the position information of the second terminal obtained by using the first positioning method. A display unit, configured to display the first interface. Wherein, the first interface includes a map, a first positioning mark and a second positioning mark, the first positioning mark is used to mark the location information of the second terminal on the map, and the second positioning mark is used to mark the position information of the target position on the map , the target location is obtained by the first terminal based on user operations. The processing unit is configured to use the second positioning method to perform positioning with the second terminal when the distance between the target position and the second terminal is less than a preset distance threshold. Wherein, the positioning accuracy of the second positioning method is greater than that of the first positioning method. The processing unit is further configured to acquire first relative position information of the first terminal and the second terminal obtained by positioning using the second positioning method. Wherein, the first relative position information includes the distance and direction between the first terminal and the second terminal. The display unit is further configured to update the first positioning mark on the first interface according to the first relative position information.

In an optional implementation manner, the first terminal includes multiple antennas. The communication unit is further configured to receive a positioning signal from the location of the second terminal when the distance between the target location and the second terminal is smaller than a preset distance threshold. Wherein, the positioning signal carries the first moment when the positioning signal is transmitted. The processing unit is further configured to record the second moment when the positioning signal is received, and determine the distance of the second terminal relative to the first terminal according to the first moment, the second moment and the set signal propagation rate; and according to the multiple antennas and The three-point positioning device determines the relative direction of the second terminal relative to the second terminal.

Further, the communication unit is specifically configured to receive a positioning signal from the second terminal when the distance between the target location and the second terminal is less than a preset distance threshold.

Or, further, the communication unit is specifically configured to receive a positioning signal from the positioning device when the distance between the target position and the second terminal is smaller than a preset distance threshold. Wherein, the location of the positioning device is the same as that of the second terminal.

In an optional implementation manner, the first terminal interacts with the second terminal through a cloud server. The communication unit is further configured to receive verification information from the cloud server, where the verification information includes a verification ID and a key. The communication unit is specifically configured to receive a location signal from the second terminal, which carries a verification identifier and is encrypted by a key at the first moment. The processing unit is further configured to decrypt the first moment by the first terminal according to the key when the verification identifier from the cloud server is consistent with the verification identifier carried by the positioning signal.

In an optional implementation manner, the display unit is further configured to, when the distance between the second terminal and the first terminal is less than a preset distance threshold, the first terminal displays the first prompt information on the first interface, and the first terminal displays the first prompt information on the first interface. A reminder message is used to indicate that the passenger has boarded the vehicle.

In an optional implementation manner, the communication unit is further configured to receive the first request from the second terminal. Wherein, the first request is used to request first relative location information of the first terminal. The display unit is further configured to display second prompt information on the first interface in response to the first request. Wherein, the second prompt information is used to indicate to share the first relative position information with the second terminal. The communication unit is further configured to send the first relative position information to the second terminal in response to the confirmation operation on the second prompt information.

In the third aspect, the embodiment of the present application provides a positioning device, including a processor and a memory, the memory is used to store code instructions; the processor is used to run the code instructions, so as to execute any implementation method as in the first aspect or the first aspect The positioning method performed by the first terminal described in .

In the fourth aspect, the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores instructions, and when the instructions are executed, the computer executes the first aspect or any implementation manner of the first aspect. Describe the positioning method performed by the first terminal.

In a fifth aspect, a computer program product includes a computer program, and when the computer program is executed, the computer executes the positioning method performed by the first terminal as described in the first aspect or any implementation manner of the first aspect.

It should be understood that the second aspect to the fifth aspect of the present application correspond to the technical solution of the first aspect of the present application, and the advantageous effects obtained by each aspect and the corresponding feasible implementation manners are similar, so details are not repeated here.

Description of drawings

FIG. 1 is an interactive schematic diagram of a second terminal B sending GPS location information of a second terminal B to a first terminal A;

FIG. 2 is a schematic diagram of a hardware system architecture of a first terminal and a second terminal provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of interaction between the first mobile phone 100, the cloud server 300, the second mobile phone 200, and the positioning device of the vehicle 400 provided by the embodiment of the present application;

Fig. 4 is the first mobile phone 100 provided by the embodiment of the present application, the cloud server 300, and the second mobile phone 200 complete the interactive schematic diagram of the order process of car-hailing online;

FIG. 5 is a schematic diagram of the interaction between the cloud server 300 and the positioning devices of the first mobile phone 100 and the vehicle 400 respectively provided by the embodiment of the present application;

FIG. 6 is a structural block diagram of a positioning device 700 provided in an embodiment of the present application;

FIG. 7 is a schematic diagram of the first interface of the first mobile phone 100 provided by the embodiment of the present application;

FIG. 8 is a schematic diagram of a second interface of a second mobile phone 200 provided in an embodiment of the present application;

FIG. 9 is a schematic diagram of a scene where the first mobile phone 100 receives a UWB signal from a positioning device of a vehicle 400 according to an embodiment of the present application;

FIG. 10 is a schematic diagram of the interface of the first mobile phone 100 guiding passengers to get on the bus correctly according to the first relative position information provided by the embodiment of the present application;

FIG. 11 is a schematic diagram of the interaction of the first mobile phone 100 sharing the first relative position information to the second mobile phone 200 provided by the embodiment of the present application;

FIG. 12 is a schematic diagram of the interface of the second mobile phone 200 guiding the driver to pick up the passenger correctly according to the second relative position information provided by the embodiment of the present application;

FIG. 13 is a flow chart of the positioning method provided by the embodiment of the present application;

FIG. 14 is an interactive schematic diagram of the positioning method provided by the embodiment of the present application;

FIG. 15 is a structural block diagram of a positioning device 1500 provided in an embodiment of the present application;

FIG. 16 is a schematic diagram of a hardware structure of a first terminal or a second terminal provided in an embodiment of the present application;

FIG. 17 is a schematic structural diagram of a chip provided by an embodiment of the present application.

Detailed ways

In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with basically the same function and effect. For example, the first value and the second value are only used to distinguish different values, and their sequence is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the number and execution order, and words such as "first" and "second" do not necessarily limit the difference.

It should be noted that, in this application, words such as "exemplary" or "for example" are used as examples, illustrations or illustrations. Any embodiment or design described herein as "exemplary" or "for example" is not to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete manner.

In this application, "at least one" means one or more, and "multiple" means two or more. "And/or" describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural. The character "/" generally indicates that the contextual objects are an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item (piece) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple .

At present, with the development of Internet technology, online car-hailing has become a part of people's transportation. For example, a passenger wants to take a taxi from the starting point of the trip "Intersection of Binhe First Street" to the destination of the trip "Xueyuan Road Bus Station". As shown in FIG. 1 , after the driver triggers the second terminal B to successfully accept the order, the second terminal B collects the GPS location information of the second terminal and uploads it to the cloud server 300 . The cloud server 300 sends the GPS location information of the second terminal B to the first terminal A, and the first terminal A maps the GPS location information of the second terminal B to a map for display. Furthermore, the first terminal A marks the driver's GPS location information on the map on the dispatch interface of the online car-hailing application for passengers to refer to.

However, the above-mentioned driver's GPS location information is located using GPS positioning technology with a positioning accuracy of 10 meters. In this way, the location of the driver that the passenger checks on the dispatch interface is not accurate enough.

In view of this, an embodiment of the present application provides a positioning method. On the way for the driver of the online car-hailing car to pick up passengers, if the distance between the driver and the starting point of the trip is less than the preset distance threshold, the driver's second terminal controls the positioning device to transmit a positioning signal. Wherein, the positioning signal carries a transmission time. The passenger's first terminal can receive the positioning signal from the positioning device, and record the receiving time and the propagation direction of the positioning signal. The first terminal can determine the distance of the passenger relative to the driver based on the transmission time, reception time and propagation rate of the positioning signal. In this way, the accuracy of determining the distance can reach centimeter level. Furthermore, the first terminal may determine the relative position information of the passenger and the driver according to the propagation direction of the positioning signal and the distance between the passenger and the driver. Then, the first terminal identifies the relative position information of the passenger and the driver in the map displayed on the dispatch interface of the online car-hailing application.

In this way, the passenger can check the relative location information of the passenger and the driver on the map displayed on the order interface of the online car-hailing application. And because the accuracy of the determined distance can reach the centimeter level, the accuracy of the relative position information of the passenger and the driver that the passenger consults is high, so that the online car-hailing service including but not limited to the positioning method provided by the embodiment of the present application can be realized .

It can be understood that, the foregoing first terminal and the second terminal are both terminal devices. The terminal device can be a mobile phone, a wearable device (such as a smart bracelet or a smart watch), a tablet computer (Pad), a computer with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality ( augmented reality, AR) terminal equipment and so on. The embodiment of the present application does not limit the specific technology and specific device form adopted by the terminal device.

In order to better understand the embodiment of the present application, the structure of the terminal device in the embodiment of the present application is introduced below. Exemplarily, FIG. 2 is a schematic structural diagram of a terminal device provided in an embodiment of the present application.

The terminal device may include a processor 110, a GPS positioning device 120, an internal memory 121, a universal serial bus (universal serial bus, USB) interface 130, a charging management module 140, a power management module 141, an antenna 1, an antenna 2, and a mobile communication module 150, wireless communication module 160, ultrasonic transceiver module 161, audio module 170, speaker 170A, receiver 170B, microphone 170C, sensor module 180, button 190, indicator 192, camera 193, and display screen 194, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, bone conduction sensor 180M, etc.

It can be understood that, the structure shown in the embodiment of the present application does not constitute a specific limitation on the terminal device. In other embodiments of the present application, the terminal device may include more or fewer components than shown in the figure, or combine certain components, or separate certain components, or arrange different components. The illustrated components can be realized in hardware, software or a combination of software and hardware.

Processor 110 may include one or more processing units. Wherein, different processing units may be independent devices, or may be integrated in one or more processors. A memory may also be provided in the processor 110 for storing instructions and data.

The USB interface 130 is an interface conforming to the USB standard specification, specifically, it can be a Mini USB interface, a Micro USB interface, a USB Type C interface, and the like. The USB interface 130 can be used to connect a charger to charge the terminal device, and can also be used to transmit data between the terminal device and peripheral devices. It can also be used to connect headphones and play audio through them. This interface can also be used to connect other electronic devices, such as AR devices.

The charging management module 140 is configured to receive a charging input from a charger. Wherein, the charger may be a wireless charger or a wired charger. The power management module 141 is used for connecting the charging management module 140 and the processor 110 .

The wireless communication function of the terminal device can be realized by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals, such as Bluetooth signals and ultra wide band (UWB) signals. Antennas in end devices can be used to cover single or multiple communication frequency bands. In one embodiment, both the antenna 1 and the antenna 2 can be replaced by an array antenna, and the array antenna includes a plurality of array-arranged sub-antennas, and each sub-antenna has a different relative direction of sending and receiving. In this way, the terminal device can determine the propagation direction of the received signal according to the intensity of the received signal of each sub-antenna. In another implementation manner, the terminal device may further include an antenna 3 (not shown in FIG. 2 ), and the relative directions of the antenna 1, the antenna 2, and the antenna 3 are different for transmitting and receiving. The terminal device can calculate the propagation direction of the signal through the three-point positioning method according to the time difference between the arrival of the signal at the antenna 1, the antenna 2, and the antenna 3.

The mobile communication module 150 can provide wireless communication solutions including 2G/3G/4G/5G applied on terminal equipment. The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (low noise amplifier, LNA) and the like. The mobile communication module 150 can receive electromagnetic waves through the antenna 1, filter and amplify the received electromagnetic waves, and send them to the modem processor for demodulation.

The wireless communication module 160 can provide wireless local area networks (wireless local area networks, WLAN) (such as wireless fidelity (Wi-Fi) network), bluetooth (bluetooth, BT), global navigation satellite system ( Global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), ultra wide band (Ultra wide band, UWB) and other wireless communication solutions.

The ultrasonic transceiver module 161 can be used to send and receive ultrasonic signals.

The terminal device realizes the display function through the GPU, the display screen 194, and the application processor. The GPU is a microprocessor for image processing, and is connected to the display screen 194 and the application processor. GPUs are used to perform mathematical and geometric calculations for graphics rendering.

The display screen 194 is used to display images, videos and the like. The display screen 194 includes a display panel. In some embodiments, the terminal device may include 1 or N display screens 194, where N is a positive integer greater than 1.

The terminal device can realize the shooting function through ISP, camera 193 , video codec, GPU, display screen 194 and application processor.

Camera 193 is used to capture still images or video. In some embodiments, the terminal device may include 1 or N cameras 193, where N is a positive integer greater than 1.

The GPS positioning device 120 is configured to collect current GPS position information of the terminal device.

The internal memory 121 may be used to store computer-executable program codes including instructions. The internal memory 121 may include an area for storing programs and an area for storing data.

The terminal device can implement audio functions through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, and the application processor. Such as music playback, recording, etc.

The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signal. Speaker 170A, also referred to as a "horn", is used to convert audio electrical signals into sound signals. The terminal device can listen to music through the speaker 170A, or listen to hands-free calls. The receiver 170B, also called "earpiece", is used to convert audio electrical signals into audio signals. When the terminal device answers a phone call or voice information, the receiver 170B can be placed close to the human ear to listen to the voice. The microphone 170C, also called "microphone" or "microphone", is used to convert sound signals into electrical signals.

The pressure sensor 180A is used to sense the pressure signal and convert the pressure signal into an electrical signal. In some embodiments, pressure sensor 180A may be disposed on display screen 194 . The gyroscope sensor 180B can be used to determine the motion posture of the terminal device. The air pressure sensor 180C is used to measure air pressure. The magnetic sensor 180D includes a Hall sensor. The acceleration sensor 180E can detect the acceleration of the terminal device in various relative directions (generally three axes). The distance sensor 180F is used to measure the distance. Proximity light sensor 180G may include, for example, light emitting diodes (LEDs) and light detectors, such as photodiodes. The ambient light sensor 180L is used for sensing ambient light brightness. The fingerprint sensor 180H is used to collect fingerprints. The temperature sensor 180J is used to detect temperature. The touch sensor 180K is also called "touch device". The touch sensor 180K can be disposed on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, also called a “touch screen”. The bone conduction sensor 180M can acquire vibration signals.

The keys 190 include a power key, a volume key and the like. The key 190 may be a mechanical key. It can also be a touch button. The terminal device can receive key input and generate key signal input related to user settings and function control of the terminal device. The indicator 192 can be an indicator light, and can be used to indicate charging status, power change, and can also be used to indicate messages, missed calls, notifications, and the like.

The software system of the terminal device may adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture, etc., which will not be repeated here.

Next, taking the first mobile phone 100 as the first terminal and the second mobile phone 200 as the second terminal as an example, the positioning method provided by the embodiment of the present application will be described. This example does not constitute a limitation to the embodiment of the present application. The following embodiments can be combined with each other, and the same or similar concepts or processes will not be repeated.

FIG. 3 is an architecture diagram of an application scenario of a positioning method provided by an embodiment of the present application. As shown in FIG. 3 , the passenger's first mobile phone 100 and the driver's second mobile phone 200 are respectively connected in communication with the cloud server 300 for data interaction. A positioning device is installed on the vehicle 400, and the driver's second mobile phone 200 can establish a one-to-one communication connection with the positioning device. For example, the driver's second mobile phone 200 may establish a bluetooth or wifi connection with the positioning device, which is not limited herein.

For example, when a passenger wants to take a taxi from the starting point of the trip "Binhe Yijie Intersection" to the destination "Xueyuan Road Bus Station", the icon of the online car-hailing application can be triggered on the system main interface of the first mobile phone 100 . The first mobile phone 100 may respond to the passenger's trigger operation to display a dispatch interface (not shown in the figure) of the online car-hailing application, wherein the dispatch interface includes an order control. The first mobile phone 100 can receive the travel starting point "Binhe 1st Street intersection" and travel destination "Xueyuan Road Bus Station" entered by passengers on the order dispatching interface. Further, the first mobile phone 100 sends an order request to the cloud server 300 in response to the passenger's trigger operation on the order control of the dispatch interface. Among them, the order request carries the passenger's GPS location information, the travel starting point "Binhe 1st Street Intersection", the travel destination "Xueyuan Road Bus Station", and the passenger's personal information (such as identity information, name, etc.).

As shown in FIG. 4 , the cloud server 300 sends the order request to the second mobile phone 200 . After the second mobile phone 200 receives the order request, the order receiving interface of the second mobile phone 200 displays the travel starting point "Binhe 1st Street Intersection", the travel destination "Xueyuan Road Bus Station", and the passenger's personal information, etc. (not shown in the drawings) . The second mobile phone 200 may send an order receiving instruction to the cloud server 300 in response to the driver's trigger operation on the order receiving control on the order receiving interface of the second mobile phone 200 . Wherein, the order receiving instruction carries the driver's GPS location information, the driver's personal information (such as identity information, name, etc.) and the like. Understandably, the GPS location information is collected by the second mobile phone 200 using the first positioning method. In addition, the above-mentioned first positioning method may also be replaced by a positioning method of collecting base station location information, or Bluetooth location information, etc., which is not limited herein.

Furthermore, the cloud server 300 generates verification information according to the order receiving instruction and the order request. Among them, the verification information includes the verification identification (such as the order number), the GPS location information of the first mobile phone 100, the travel starting point "Binhe Yijie intersection", the travel destination "Xueyuan Road Bus Station", and the passenger's personal information (such as identity information, name, etc.) etc.), the GPS location information of the second mobile phone 200, and the driver's personal information (such as identity information, name, etc.) and the like. Optionally, the cloud server 300 can also generate a key. As shown in FIG. 5 , the cloud server 300 may deliver the verification information and the key to the first mobile phone 100 and the second mobile phone 200 respectively. Since the second mobile phone 200 has pre-established a one-to-one communication connection with the positioning device, the second mobile phone 200 can also send the key and the verification identifier in the verification information to the positioning device. The positioning device receives the key and the verification ID from the second mobile phone 200, and stores the key and the verification ID.

Exemplarily, the structure and working principle of the positioning device will be described below by taking the Bluetooth connection between the positioning device and the second mobile phone 200 as an example. As shown in FIG. 6 , the positioning device 700 may include a Bluetooth module 701 , a signal processing module 702 , a signal transmitting module 703 , a storage module 704 and a power interface 705 . The signal processing module 702 is electrically connected to the Bluetooth module 701 , the signal transmitting module 703 , the storage module 704 and the power interface 705 respectively.

Understandably, the positioning device 700 can establish a one-to-one communication connection with the second mobile phone 200 through the Bluetooth module 701 . Furthermore, the positioning device 700 may receive the key and the verification ID from the second mobile phone 200 through the Bluetooth module 701 , and store the key and the verification ID in the storage module 704 . The signal transmitting module 703 may be used to transmit positioning signals. Wherein, the positioning signal may be a UWB signal encrypted by a key and carrying the first moment when the positioning signal is transmitted. Understandably, by encrypting the UWB signal with a key, the driver's location information and the passenger's location information can be protected from being leaked to others, thereby ensuring information security. Certainly, the positioning signal may also be an unencrypted UWB signal carrying the first moment when the positioning signal is transmitted, etc., which are limited here. In addition, the power interface 705 can be connected to a vehicle power supply, so that the vehicle power supply can supply power to the positioning device 700 through the power interface 705 . In this way, the vehicle power supply can provide the positioning device 700 with a longer battery life and greater signal transmission power. Optionally, the power interface 705 may also be replaced by a battery to supply power to the positioning device 700, which is not limited herein.

After the cloud server 300 sends the verification information to the first mobile phone 100 and the second mobile phone 200 respectively, the order process of online car-hailing is completed. Furthermore, as shown in FIG. 7 , the passenger's first mobile phone 100 displays a first interface 101 . Wherein, the first interface 101 of the first mobile phone 100 displays a map, and the map includes a first positioning mark 801, a second positioning mark 802, and a distance prompt 104 "2 kilometers away from you". It can be understood that the distance prompt 104 is used to indicate the distance of the GPS location information of the vehicle 400 on the map relative to the GPS location information of the travel starting point, for passengers to check. The first positioning mark 801 is used to mark the GPS position information of the vehicle 400 on the map (that is, the GPS position information of the second mobile phone 200 on the map), and the second positioning mark 802 is used to mark the starting point of travel "Binhe First Street intersection" on the map GPS location information on the .

Similarly, as shown in FIG. 8 , the driver's second mobile phone 200 displays a second interface 201 . A map is also displayed on the second interface 201 , and the map includes a first positioning mark 801 , a second positioning mark 802 and a distance prompt 202 "2 kilometers from the starting point". The distance prompt 202 is used to indicate the distance of the GPS location information of the vehicle 400 on the map relative to the GPS location information of the travel starting point, for the driver to check. Among them, the first positioning mark 801 is used to mark the GPS position information of the vehicle 400 on the map, and the second positioning mark 802 is used to mark the GPS position information of the travel starting point "Binhe First Street Intersection" on the map.

When the driver's second mobile phone 200 detects that the distance between the driver's GPS location information and the GPS location information of the travel starting point "Binhe Yijie intersection" is less than a preset distance threshold (such as 40m, 50m, and 60m, etc.), the passenger has Acquiring the precise location information of the vehicle 400 (that is, the first relative location information between the first mobile phone 100 and the vehicle 400 ) is required, so as to quickly and accurately find the driver's vehicle 400 to board. Since the accuracy of the GPS positioning technology is not high, the accuracy of the first positioning mark 801 on the first interface 101 and the GPS position information of the vehicle 400 marked on the map is not high. In this way, the position information of the vehicle 400 can be positioned using the second positioning method with higher accuracy. It can be understood that the positioning accuracy of the second positioning method is greater than the positioning accuracy of the above-mentioned first positioning method.

In the following, the second positioning method is the UWB positioning technology, and the process of using the UWB positioning technology to locate the driver's position information will be described with reference to FIG. 9 .

As shown in Figure 9, when the driver's second mobile phone 200 detects that the distance between the GPS location information of the vehicle 400 and the GPS location information of the travel starting point is less than the preset distance threshold, the second mobile phone 200 can notify the vehicle 400 The positioning device 700 on the device transmits UWB signals. Furthermore, the signal processing module 702 of the positioning device 700 extracts the key and the verification ID from the storage module 704, and controls the signal transmitting module 703 to transmit the UWB signal carrying the verification ID and the encrypted first moment. Wherein, the first moment is the moment when the UWB signal is transmitted.

In this way, the passenger's first mobile phone 100 can receive the UWB signal transmitted by the positioning device 700, and record the second moment when the UWB signal is received. The first mobile phone 100 can detect whether the verification identification carried by the UWB signal is consistent with the verification identification previously received from the cloud server 300. If they are consistent, it means that the vehicle 400 where the positioning device 700 that transmits the UWB signal is located is exactly the vehicle reserved by the passenger. . In this way, the first mobile phone 100 can decrypt the first moment of the UWB signal according to the key previously received from the cloud server 300 .

Furthermore, the first mobile phone 100 may calculate the transmission time t of the UWB signal according to the first moment and the second moment. The first mobile phone 100 determines the distance between the vehicle 400 where the positioning device 700 is located and the first mobile phone 100 (that is, the distance between the second mobile phone 200 and the first mobile phone 100 ) according to the formula d=v×t. Wherein, d is the distance between the vehicle 400 where the positioning device 700 is located and the first mobile phone 100, v is the propagation rate of the UWB signal, and t is the transmission time of the UWB signal. It should be noted that the transmission time t can be accurate to the level of picoseconds, and the accuracy is high; moreover, the propagation rate is a set constant, which can be accurate to millimeters per second.

It can be understood that, in the above process, since the UWB signal's transmission time and propagation rate are highly accurate, the calculated distance can be accurate to centimeter level (eg, 5.61 meters). In addition, the first mobile phone 100 can also calculate the direction of the transmitted UWB signal of the vehicle 400 through the three-point positioning method according to the transmission time of the UWB signal reaching the antenna of the first mobile phone 200 respectively. For example, the first mobile phone 200 includes an antenna 1 and an antenna 2, and the distance between the antenna 1 and the antenna 2 is D. Suppose the transmission time of UWB signal to reach antenna 1 is T1, so the distance D1 can be calculated according to the transmission time T1 and propagation speed; the transmission time of UWB signal to reach antenna 2 is T2, so, can be calculated according to the transmission time T2 and propagation speed distance D2. Since antenna 1, antenna 2 and the positioning device transmitting UWB signals form a triangle, in the case of known D, D1 and D2, the angle between the positioning device and antenna 1 or antenna 2 can be calculated by trigonometric functions, and then the first The mobile phone 100 is relative to the propagation direction of the UWB signal.

It can be understood that the propagation direction of the UWB signal is the direction of the vehicle 400 relative to the first mobile phone 100 (that is, the distance between the second mobile phone 200 and the first mobile phone 100), and the propagation direction of the UWB signal is determined by the antenna of the first mobile phone 100. The indicated direction of the vehicle 400 relative to the first mobile phone 100 is highly accurate. In this way, by combining the distance between the vehicle 400 and the first mobile phone 100 and the direction of the vehicle 400 relative to the first mobile phone 100 , more accurate first relative position information of the vehicle 400 and the first mobile phone 100 can be obtained.

Next, with reference to FIG. 10 , how the first mobile phone 100 guides passengers to get on the bus correctly according to the first relative position information will be introduced.

Exemplarily, the first mobile phone 100 can identify the vehicle 400 and the first mobile phone 100 on the map in the first interface 101 according to the GPS location information of the first mobile phone 100, the distance between the vehicle 400 and the first mobile phone 100, and the propagation direction of the UWB signal. First relative location information 105 of a mobile phone 100 . As shown in (a) in FIG. 10 , the first mobile phone 100 may display a third location mark 803 on the map of the first interface 101, wherein the third location mark 803 is used to mark the position of the first mobile phone 100 on the map. GPS location information, that is, the passenger's GPS location information. In addition, the first mobile phone 100 may also update the content of the first positioning mark 801 to indicate the relative positions of the vehicle 400 and the first mobile phone 400 on the map. Wherein, the first relative position information 105 may be text information of "15.61 meters from your front right". Understandably, the first relative position information 105 is used to indicate the distance and direction between the vehicle 400 and the first mobile phone 100 , that is, the distance and direction between the passenger and the driver. In this way, the passenger can more accurately perceive the distance and direction between the vehicle 400 and the first mobile phone 100 through the first relative position information 105 (for example, 15.61 meters ahead right).

In addition, the first relative position information 105 may also include an arrow for indicating the direction of the vehicle 400 , that is, an arrow pointing from the third positioning mark 803 to the updated first positioning mark 801 . Passengers can also perceive the direction and distance of the vehicle 400 relative to the first mobile phone 100 through the third positioning mark 803 , the updated first positioning mark 801 and the arrow indicating the direction of the vehicle 400 . In this way, passengers can more conveniently perceive the position of the vehicle 400 relative to themselves, so as to reasonably plan to find the route and departure time of the vehicle 400 .

As shown in (b) in FIG. 10 , after the vehicle 400 arrives at the starting point of travel "the intersection of Binhe First Street", the vehicle 400 no longer moves, but waits for passengers to board. And the content of the first relative position information 105 is updated as: "5.61 meters from your rear right". In this way, the passenger can more accurately perceive the distance and direction between the vehicle 400 and the first mobile phone 100 (such as 5.61 meters behind the right) through the first relative position information 105 while moving to find the vehicle 400 . Understandably, when the first relative position information 105 includes an arrow indicating the direction of the vehicle 400 , the direction of the above arrow will be adjusted as the relative distance and direction between the vehicle 400 and the first mobile phone 100 change. In this way, passengers can more conveniently perceive the position of the vehicle 400 relative to themselves, so as to judge whether their own moving direction is correct, and then, can find the vehicle 400 more efficiently and accurately.

As shown in (c) in Figure 10, when the distance between the vehicle 400 and the first mobile phone 100 is less than the preset distance threshold (such as 0.5m, 0.3m, etc.), and the duration exceeds the preset duration (such as 3s, 5s etc.), it means that the passenger has found the vehicle 400 and got on the bus. Furthermore, the first mobile phone 100 displays a first prompt message 106 "already boarded" on the first interface 101 . Understandably, the first prompt information is used to indicate that the passenger has boarded the vehicle. In this way, the passengers can perceive that they have got on the bus correctly through the first prompt information 106 . And the user's first mobile phone 100 will send the information of "have boarded" to the cloud server 300, which is used for the cloud server 300 to confirm the ride.

In addition, when the distance between the driver's GPS location information and the GPS location information of the "Binhe First Street Intersection" of the travel starting point is less than the preset distance threshold (such as 40m, 50m, and 60m, etc.), the driver also has the ability to obtain the passenger's accurate relative information. Position requirements in order to determine the more precise relative position of passengers and themselves. In this way, the driver can request the first mobile phone 100 to share the precise relative location to the driver's second mobile phone 200 .

Next, with reference to FIGS. 7-8 and 11-12 , how the second mobile phone 200 guides the driver to pick up passengers correctly will be described.

Please refer back to FIG. 7 , the first control 203 is displayed on the second interface 201 of the second mobile phone 200 . The second mobile phone 200 may send a first request to the first mobile phone 100 in response to the driver's trigger operation on the first control 203 , wherein the first request is used to request first relative position information of the first mobile phone 100 . As shown in FIG. 8, the first mobile phone 100 receives the first request from the second mobile phone 200, and displays the second prompt information 102 on the first interface 101. Wherein, the second prompt information 102 is used to indicate to share the first relative position information with the second mobile phone 200 , and the second prompt information 102 includes a confirmation control 103 .

As shown in FIG. 11 , if the passenger allows the first relative position information to be shared with the second mobile phone 200 , the first mobile phone 100 may send the first relative position information to the cloud server 300 in response to the passenger's confirmation operation on the confirmation control 103 . Furthermore, the cloud server 300 sends the first relative location information to the second mobile phone 200 . It can be understood that the second mobile phone 200 will receive the first relative position information only after the passenger allows the first relative position information to be shared with the second mobile phone 200, so that the passenger's location privacy can be protected.

Since the first relative position information includes the distance between the vehicle 400 and the first mobile phone 100 and the propagation direction of the UWB signal, the driver's second mobile phone 200 can use the GPS position information of the second mobile phone 200 and the distance between the vehicle 400 and the first mobile phone 100 The distance and the propagation direction of the UWB signal generate the second relative position information 204 of the first mobile phone 100 and the vehicle 400 . As shown in (a) in FIG. 12 , the second mobile phone 200 can display a first positioning mark 801 and a third positioning mark 803 on the map of the second interface 201, wherein the first positioning mark 801 is used to mark the position of the vehicle 400 For GPS location information, the third location identifier 803 is used to indicate the relative locations of the first mobile phone 100 and the vehicle 400 on the map. In addition, the second interface 201 of the second mobile phone 200 can also display the second relative position information 204 of the first mobile phone 100 and the vehicle 400 . Wherein, the second relative position information 204 includes the text information of "15.61 meters from the passenger in the front right".

Understandably, the second relative position information 204 is used to indicate the distance and direction between the first mobile phone 100 and the vehicle 400 , that is, the distance and direction between the passenger and the driver. In this way, the driver can more accurately perceive the distance and direction (eg, 15.61 meters) between the first mobile phone 100 and the vehicle 400 through the second relative position information 204 . In addition, the second relative position information 204 may further include: an arrow pointing from the first positioning mark 801 to the third positioning mark 803 . Understandably, the arrow is used to indicate the direction of the first mobile phone 100 . The driver can also perceive the direction and distance of the first mobile phone 100 relative to the vehicle 400 through the third positioning mark 803 , the first positioning mark 801 and the arrow indicating the direction of the first mobile phone 100 . In this way, the driver can perceive the position of the first mobile phone 100 relative to himself (that is, the position of the passenger relative to the driver) more conveniently, so as to reasonably plan a route to find the passenger.

As shown in (b) in FIG. 12 , after the vehicle 400 arrives at the starting point of travel "the intersection of Binhe First Street", the vehicle 400 no longer moves, but waits for passengers to board. In addition, the content of the second relative position information 204 can be updated to: "5.61 meters away from the passenger on the right", and the first positioning mark 801 of the vehicle 400 is also located at the starting point of travel "the intersection of Binhe First Street". In this way, the driver can more accurately perceive the distance and direction between the vehicle 400 and the first mobile phone 100 (such as 5.61 meters to the right) through the second relative position information 204 while the passenger is moving. It can be understood that when the second relative position information 204 includes an arrow indicating the direction of the first mobile phone 100 , the direction of the above arrow will be adjusted according to the change of the relative distance and direction between the first mobile phone 100 and the vehicle 400 , to judge whether the passenger is heading towards his position. In this way, the driver can continue to wait patiently for the arrival of the passenger, without the need to call the passenger to urge the passenger to leave or ask the passenger's location.

As shown in (c) in Figure 12, when the distance between the first mobile phone 100 and the vehicle 400 is less than the preset distance threshold (such as 0.5m, 0.3m, etc.), and the duration exceeds the preset duration (such as 3s, 5s, etc. ), it means that the passenger has found the vehicle 400 and boarded it. Furthermore, the second mobile phone 200 displays a third prompt message 205 "The passenger has confirmed boarding" on the second interface 201 . Understandably, the third prompt message 205 is used to indicate to confirm that the passenger has boarded the vehicle. In this way, the driver can perceive that the passenger has got on the bus correctly through the third prompt message 205, and there is no need to ask the tail number of the passenger's mobile phone number to judge whether the passenger got on the bus correctly, which reduces the taxi process link between the passenger and the driver. In addition, passengers and drivers do not need to check the last number of the mobile phone number to determine whether they are taking the correct vehicle, which provides more convenience for people with language barriers.

In addition, the second mobile phone 200 can also notify the positioning device 700 on the vehicle 400 to stop transmitting UWB signals when detecting that the distance between the vehicle 400 and the first mobile phone 100 has not changed within a preset period of time (such as 5s), In order to reduce the power consumption of the positioning device 700 .

Hereinafter, still taking the first mobile phone 100 as the first terminal and the second mobile phone 200 as the second terminal as an example, the above-mentioned flow of the positioning method in FIGS. 3-12 will be described.

FIG. 13 is a schematic flow chart of a positioning method provided by an embodiment of the present application. As shown in Figure 13, the positioning method may include the following steps:

S1401: The first mobile phone 100 responds to the passenger's trigger operation on the icon that triggers the online car-hailing application on the main interface of the system, and displays the dispatch interface of the online car-hailing application. Wherein, the dispatch interface includes an order control.

Exemplarily, the first mobile phone 100 may receive the travel starting point "Binhe 1st Street Intersection" and the travel destination "Xueyuan Road Bus Station" entered by the passenger on the dispatch interface. Of course, "the intersection of Binhe First Street" can also be replaced by other travel starting points, and "Xueyuan Road Bus Station" can also be replaced by other travel destinations, which are not limited here.

S1402: The first mobile phone 100 sends an order request to the cloud server 200 in response to the passenger's trigger operation on the order control of the dispatch interface.

S1403: The cloud server 200 sends an order request to the second mobile phone 200.

Among them, the order request carries the passenger's GPS location information, the travel starting point "Binhe 1st Street Intersection", the travel destination "Xueyuan Road Bus Station", and the passenger's personal information (such as identity information, name, etc.). After the second mobile phone 200 receives the order request, the order receiving interface of the second mobile phone 200 displays the travel starting point "Binhe 1st Street Intersection", the travel destination "Xueyuan Road Bus Station", and some personal information used to confirm passengers.

S1404: The second mobile phone 200 may send an order receiving instruction associated with the order request to the cloud server 300 in response to the driver's trigger operation on the order receiving control on the order receiving interface of the second mobile phone 200 .

Wherein, the order receiving instruction carries the driver's GPS location information, the driver's personal information (such as identity information, name, etc.) and the like. Furthermore, the cloud server 300 generates verification information according to the order receiving instruction and the order request. Among them, the verification information includes the verification identification (such as the order number), the GPS location information of the first mobile phone 100, the travel starting point "Binhe Yijie intersection", the travel destination "Xueyuan Road Bus Station", and the passenger's personal information (such as identity information, name, etc.) etc.), the GPS location information of the second mobile phone 200, and the driver's personal information (such as identity information, name, etc.) and the like.

S1405: The cloud server 300 generates verification information according to the order receiving instruction and the order request.

S1406: The first mobile phone 100 and the second mobile phone 200 receive verification information from the cloud server 300 .

Wherein, the first mobile phone 100 and the second mobile phone 200 may also receive a key for encrypting the positioning signal from the cloud server 300 .

S1407: The first mobile phone 100 displays the first interface 101.

Wherein, the first interface 101 of the first mobile phone 100 displays a map, and the map includes a first positioning mark 801 , a second positioning mark 802 , and a distance prompt 104 . The distance prompt 104 is used to indicate the distance between the GPS position information of the vehicle 400 on the map and the GPS position information of the travel starting point. The first positioning mark 801 is used to mark the GPS position information of the vehicle 400 on the map, and the second positioning mark 802 is used to mark the GPS position information of the travel starting point "Binhe First Street Intersection" on the map.

S1408: The second mobile phone 200 displays the second interface 102 .

A map is also displayed on the second interface 201 , and the map includes a first positioning mark 801 , a second positioning mark 802 and a distance prompt 202 . The distance prompt 202 is used to indicate the distance between the GPS location information of the vehicle 400 on the map and the GPS location information of the travel starting point. The first positioning mark 801 is used to mark the GPS position information of the vehicle 400 on the map, and the second positioning mark 802 is used to mark the GPS position information of the travel starting point "Binhe First Street Intersection" on the map.

S1409: When the second mobile phone 200 detects that the distance between the GPS location information of the vehicle 400 and the GPS location information of the travel starting point is less than a preset distance threshold, the second mobile phone 200 can notify the positioning device 700 on the vehicle 400 Transmit UWB signal.

Wherein, for the structure and principle of the positioning device 700, reference may be made to the introduction to FIG. 6 in the foregoing embodiment, and details are not repeated here.

S1410: The first mobile phone 100 may receive the UWB signal transmitted by the positioning device 700, and record a second moment when the UWB signal is received. Wherein, the UWB signal carries the first moment when the positioning signal is transmitted.

Wherein, for the working principles of S1409-S1410, reference may be made to the introduction to FIG. 9 in the foregoing embodiments, and details are not repeated here. In addition, when the second mobile phone 200 also has the function of sending and receiving UWB signals, in S1409-S1410, the device for transmitting UWB signals may also be replaced by: the second mobile phone 200 integrated with the function of transmitting UWB signals.

S1411: The first mobile phone 100 determines the distance between the vehicle 400 where the positioning device 700 is located and the first mobile phone 100 according to the first moment and the second moment, and determines the propagation direction of the UWB signal.

It can be understood that by combining the distance between the vehicle 400 and the first mobile phone 100 and the direction of the vehicle 400 relative to the first mobile phone 100 , more accurate first relative position information of the vehicle 400 and the first mobile phone 100 can be obtained.

The following describes how the first mobile phone 100 guides passengers to find the vehicle 400 according to the first relative position information in conjunction with S1412.

S1412: The first mobile phone 100 may display the third location mark 803 on the map on the first interface 101 . The third location identifier 803 is used to mark the GPS location information of the first mobile phone 100 , and the first mobile phone 100 updates the first location identifier in the first interface 101 according to the first relative location information.

Understandably, the first relative position information is used to indicate the distance and direction between the vehicle 400 and the first mobile phone 100 . In this way, the passenger can more accurately perceive the distance and direction between the vehicle 400 and the first mobile phone 100 through the first relative position information. In addition, the first relative position information may also include an updated first location mark 801 of the vehicle 400 on the map and an arrow used to indicate the direction of the vehicle 400. In this way, passengers may also pass the third location mark 803 and the updated The relative position of the first positioning mark 801 and the arrow used to indicate the direction of the vehicle 400 determine the direction and distance of the vehicle 400 relative to the first mobile phone 100 .

It should be noted that, for the working principle of S1412, reference may be made to the above-mentioned introduction to FIG. 10 , which will not be repeated here.

Next, how the first mobile phone 100 shares the first relative position information to the second mobile phone 200 will be introduced in combination with S1413-S1416.

S1413: The second mobile phone 200 sends a first request to the first mobile phone 100 in response to the driver's trigger operation on the first control 203 of the second interface 201 . Wherein, the first request is used to indicate to request the first relative location information of the first mobile phone 100 .

S1414: The first mobile phone 100 displays the second prompt information 102 on the first interface 101 in response to the first request. Wherein, the second prompt information 102 is used for instructing to share the first relative position information with the second mobile phone 200 .

S1415: The first mobile phone 100 may send the first relative position information to the second mobile phone 200 in response to the passenger's confirmation operation on the second prompt information 102 .

S1416: The second mobile phone 200 generates second relative position information according to the first relative position information and the GPS position information of the second mobile phone 200 .

Understandably, the above S1413-S1416 can be omitted.

In the following, in combination with S1418-S1419, how the second mobile phone 200 guides the driver to pick up the passenger correctly according to the second relative position information will be introduced.

S1417: The second mobile phone 200 displays the first positioning mark 801 and the second relative position information on the map in the second interface 201 . Wherein, the first location mark 801 is used to indicate the GPS location information of the vehicle 400 on the map.

Wherein, for the specific process and principle of S1417, reference may be made to the above-mentioned introduction to FIG. 12 , which will not be repeated here.

Understandably, the second relative position information is used to indicate the distance and direction between the first mobile phone 100 and the vehicle 400 . In this way, the driver can more accurately perceive the distance (eg, 15.61 meters) and direction between the first mobile phone 100 and the vehicle 400 through the second relative position information. The second interface 201 may also display a third positioning mark 803, which is used to indicate the relative positions of the first mobile phone 100 and the vehicle 400 on the map.

In addition, the second relative position information may also include: a fifth positioning mark 1201 and an arrow for indicating the direction of the first mobile phone 100, and the driver may also pass the third positioning mark 803 and the fifth positioning mark 1201, and an arrow for indicating the direction of the first An arrow in the direction of the mobile phone 100 determines the distance and direction of the first mobile phone 100 relative to the vehicle 400 . In this way, the driver can more accurately determine the position of the first mobile phone 100 relative to himself, so as to plan a reasonable route to find passengers.

S1418: When the distance between the first mobile phone 100 and the vehicle 400 is less than a preset distance threshold, the second mobile phone 200 displays third prompt information 205 on the second interface 201 . Wherein, the third prompt information 205 is used to indicate to confirm that the passenger has boarded the vehicle.

Next, how the first mobile phone 100 guides passengers to get on the bus according to the first relative position information will be introduced in conjunction with S1419.

S1419: When the first mobile phone 100 detects that the distance between the vehicle 400 and the first mobile phone 100 is less than the preset distance threshold, the first mobile phone 100 displays the first prompt information 106 on the first interface 101, and the first prompt information 106 uses Yu instructed the passengers to get on the bus.

Understandably, the above S1418-S1420 may be omitted.

FIG. 14 is an interactive schematic diagram of a positioning method provided by an embodiment of the present application. The interactive schematic diagram of the positioning method can summarize the above-mentioned methods in FIGS. 4-13 .

As shown in Figure 14, the method provided by this application includes:

Step 1: The cloud server 300 generates a key and a verification ID.

Step 2: The cloud server 300 sends the key and the verification ID to the first mobile phone 100 and the second mobile phone 200 .

Step 3: The second mobile phone 200 transmits the encrypted UWB signal when the distance between the first mobile phone 100 and the second mobile phone 200 is less than the distance threshold. Wherein, the UWB signal carries a key and a verification identifier.

Step 4: The first mobile phone 100 receives and decrypts the UWB signal from the second mobile phone 200, and obtains the first relative position information of the mobile phone 100 and the mobile phone 200 according to the UWB signal.

Step 5: Navigate according to the first relative position information and send the first relative position information to the second mobile phone 200 .

Step 6: The second mobile phone 200 navigates according to the first relative position information.

Step 7: When the distance between the first mobile phone 100 and the second mobile phone 200 is less than the distance threshold and does not change within a preset time, the first mobile phone 100 confirms getting in the car.

Step 8: When the distance between the first mobile phone 100 and the second mobile phone 200 is less than the distance threshold and does not change within a preset time, the second mobile phone 200 confirms that the passenger gets on the bus.

Step 9: The cloud server receives the confirmation boarding instructions from the first mobile phone 100 and the second mobile phone 200 . After the vehicle 400 is determined to have reached the end of travel through the GPS location information, and the first mobile phone 100 detects that the distance between the first mobile phone 100 and the vehicle 400 is greater than a preset distance threshold (such as 1m, 2m, etc.), the first mobile phone 100 sends a payment request to the cloud server 300, and the cloud service 300 confirms that the payment is completed, and sends the payment content to the second mobile phone 200 (not shown in FIG. 15 ), which can confirm the completion of the order and payment more accurately without additional operations. operate.

In addition, in the above introduction to the positioning method provided by the embodiment of the present application, the trigger operation mentioned may include: click operation, long press operation, and gesture trigger operation, etc., which are not limited here.

In addition, in the above description of the positioning method provided by the embodiment of the present application, the positioning signal is a UWB signal as an example for description. Understandably, the UWB signal can also be replaced by an ultrasonic signal. Correspondingly, the Bluetooth module in the positioning device is replaced with an ultrasonic transceiver module, and the first mobile phone 100 is also provided with an ultrasonic transceiver module. In this way, the positioning device can realize transmitting ultrasonic signals, and the first mobile phone 100 can realize receiving ultrasonic signals.

Furthermore, in the above description of the positioning method provided by the embodiment of the present application, it is described that the positioning device 700 is located in the vehicle. In addition, the second mobile phone 200 may also be integrated with a function of transmitting UWB signals or ultrasonic signals, so as to realize the same function as that of the positioning device 700 .

In addition, in the above embodiment, in order to further improve the accuracy of the distance, the method of calculating the distance between the first mobile phone 100 and the vehicle 400 according to the UWB signal can also be replaced by: after detecting the GPS positioning information of the vehicle 400 and the starting point of the trip, If the distance between the GPS positioning information is less than the preset distance threshold, the first mobile phone 100 is notified to transmit the encrypted UWB signal 1 . The first mobile phone 100 records the time of transmission Ta. The positioning device 700 receives the UWB signal 1 transmitted by the first mobile phone 100, and transmits the UWB signal 2 with an encrypted time difference T0, wherein the time difference T0 is the time difference when the UWB signal 1 is transmitted from the first mobile phone 100 to the positioning device 700. The first mobile phone 100 receives the UWB signal 2 transmitted by the positioning device 700, and records the second time Tb. And the time difference T0 carried in the UWB signal 2 is decrypted through the key. In this way, the first mobile phone 100 can calculate the distance between the first mobile phone 100 and the vehicle 400 according to the formula D=c×(Tb-Ta-T0)/2. Wherein, D is the distance between the first mobile phone 100 and the vehicle 400, and c is the transmission speed of the UWB signal.

Referring to FIG. 15 , the embodiment of the present application further provides a positioning apparatus 1500, which is applied to a first terminal. As shown in FIG. 15 , an apparatus 1500 provided by this application includes a communication unit 1501 , a display unit 1502 and a processing unit 1503 . in,

The communication unit 1501 is configured to acquire the position information of the second terminal obtained by using the first positioning method. The display unit 1502 is configured to display the first interface. Wherein, the first interface includes a map, a first positioning mark and a second positioning mark, the first positioning mark is used to mark the location information of the second terminal on the map, and the second positioning mark is used to mark the position information of the target position on the map , the target location is obtained by the first terminal based on user operations. The processing unit 1503 is configured to use a second positioning method to perform positioning with the second terminal when the distance between the target location and the second terminal is smaller than a preset distance threshold. Wherein, the positioning accuracy of the second positioning method is greater than that of the first positioning method. The processing unit 1503 is further configured to acquire first relative position information of the first terminal and the second terminal that are positioned by using the second positioning method. Wherein, the first relative position information includes the distance and direction between the first terminal and the second terminal. The display unit 1502 is further configured to update the first positioning identifier on the first interface according to the first relative position information.

In an optional implementation manner, the first terminal includes multiple antennas. The communication unit 1501 is further configured to receive a positioning signal from the location of the second terminal when the distance between the target location and the second terminal is smaller than a preset distance threshold. Wherein, the positioning signal carries the first moment when the positioning signal is transmitted. The processing unit 1503 is further configured to record the second moment when the positioning signal is received, determine the distance of the second terminal relative to the first terminal according to the first moment, the second moment, and the set signal propagation rate; and determine the distance between the second terminal and the first terminal according to the multiple antennas and the three-point positioning device 1500, determining the relative direction of the second terminal relative to the second terminal.

Further, the communication unit 1501 is specifically configured to receive a positioning signal from the second terminal when the distance between the target location and the second terminal is smaller than a preset distance threshold.

Or, further, the communication unit 1501 is specifically configured to receive a positioning signal from a positioning device when the distance between the target position and the second terminal is smaller than a preset distance threshold. Wherein, the location of the positioning device is the same as that of the second terminal.

In an optional implementation manner, the first terminal interacts with the second terminal through a cloud server. The communication unit 1501 is further configured to receive verification information from the cloud server, where the verification information includes a verification ID and a key. The communication unit 1501 is specifically configured to receive a location signal from the second terminal that carries a verification identifier and is encrypted by a key at the first moment. The processing unit 1503 is further configured to decrypt the first moment by the first terminal according to the key when the verification identifier from the cloud server is consistent with the verification identifier carried by the positioning signal.

In an optional implementation manner, the display unit 1502 is further configured to, when the distance between the second terminal and the first terminal is less than a preset distance threshold, the first terminal display the first prompt information on the first interface, The first prompt information is used to indicate that passengers have boarded the vehicle.

In an optional implementation manner, the communication unit 1501 is further configured to receive the first request from the second terminal. Wherein, the first request is used to request first relative location information of the first terminal. The display unit 1502 is further configured to display second prompt information on the first interface in response to the first request. Wherein, the second prompt information is used to indicate to share the first relative position information with the second terminal. The communication unit 1501 is further configured to send the first relative position information to the second terminal in response to the confirmation operation on the second prompt information.

Exemplarily, FIG. 16 is a schematic diagram of a hardware structure of a first terminal and a second terminal provided in an embodiment of the present application. As shown in FIG. 16 , the first terminal and the second terminal include a processor 1601, a communication line 1604 and At least one communication interface (the communication interface 1603 is used as an example in FIG. 16 for illustration).

The processor 1601 can be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, a specific application integrated circuit (application-specific integrated circuit, ASIC), or one or more for controlling the execution of the program program of this application integrated circuit.

Communication lines 1604 may include circuitry that communicates information between the components described above.

The communication interface 1603 uses any device such as a transceiver for communicating with other devices or communication networks, such as Ethernet, wireless local area networks (wireless local area networks, WLAN) and so on.

Possibly, the first terminal and the second terminal may further include a memory 1602 .

The memory 1602 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (random access memory, RAM) or other types that can store information and instructions It can also be an electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be programmed by a computer Any other medium accessed, but not limited to. The memory may exist independently and be connected to the processor through the communication line 1604 . Memory can also be integrated with the processor.

Wherein, the memory 1602 is used to store computer-executed instructions for implementing the solution of the present application, and the execution is controlled by the processor 1601 . The processor 1601 is configured to execute computer-executed instructions stored in the memory 1602, so as to implement the positioning method performed by the first terminal or the second terminal provided in the embodiment of the present application.

Possibly, the computer-executed instructions in the embodiment of the present application may also be referred to as application program code, which is not specifically limited in the embodiment of the present application.

In a specific implementation, as an embodiment, the processor 1601 may include one or more CPUs, for example, CPU0 and CPU1 in FIG. 16 .

In a specific implementation, as an example, the first terminal and the second terminal may include multiple processors, for example, processor 1601 and processor 1605 in FIG. 16 . Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).

Exemplarily, FIG. 17 is a schematic structural diagram of a chip provided by an embodiment of the present application. The chip 170 includes one or more than two (including two) processors 1710 and a communication interface 1730 .

In some implementations, memory 1740 stores the following elements: executable modules or data structures, or subsets thereof, or extensions thereof.

In this embodiment of the present application, the memory 1740 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1710 . A part of the memory 1740 may also include a non-volatile random access memory (non-volatile random access memory, NVRAM).

In the embodiment of the present application, the memory 1740 , the communication interface 1730 and the memory 1740 are coupled together through the bus system 1720 . Wherein, the bus system 1720 may include not only a data bus, but also a power bus, a control bus, and a status signal bus. For ease of description, the various buses are labeled bus system 1720 in FIG. 17 .

The method performed by the first terminal or the second terminal described in the above embodiments of the present application may be applied to the processor 1710 or implemented by the processor 1710 . The processor 1710 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method may be implemented by an integrated logic circuit of hardware in the processor 1710 or instructions in the form of software. The above-mentioned processor 1710 may be a general-purpose processor (for example, a microprocessor or a conventional processor), a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), an off-the-shelf programmable gate Array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates, transistor logic devices or discrete hardware components, the processor 1710 can implement or execute the first terminal or the second terminal disclosed in the embodiments of the present application Execution method, steps and logic block diagram.

The steps of the method performed by the first terminal or the second terminal disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. Wherein, the software module may be located in a mature storage medium in the field such as random access memory, read-only memory, programmable read-only memory, or electrically erasable programmable read only memory (EEPROM). The storage medium is located in the memory 1740, and the processor 1710 reads the information in the memory 1740, and combines its hardware to complete the above-mentioned steps of the method executed by the first terminal or the second terminal.

In the above embodiments, the instructions stored in the memory for execution by the processor may be implemented in the form of computer program products. Wherein, the computer program product may be written in the memory in advance, or may be downloaded and installed in the memory in the form of software.

A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. The computer can be a general purpose computer, special purpose computer, computer network, or other programmable apparatus. Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, e.g. Coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL) or wireless (such as infrared, wireless, microwave, etc.) transmission to another website site, computer, server or data center. Computer readable storage medium can be Any available media capable of being stored by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. For example, available media may include magnetic media (e.g., floppy disks, hard disks, or tapes), optical media (e.g., A digital versatile disc (digital versatile disc, DVD)), or a semiconductor medium (for example, a solid state disk (solid state disk, SSD)), etc.

The embodiment of the present application also provides a computer-readable storage medium. The methods performed by the first terminal or the second terminal described in the foregoing embodiments may be implemented in whole or in part by software, hardware, firmware or any combination thereof. Computer-readable media may include computer storage media and communication media, and may include any medium that can transfer a computer program from one place to another. A storage media may be any target media that can be accessed by a computer.

As a possible design, the computer-readable medium may include compact disc read-only memory (compact disc read-only memory, CD-ROM), RAM, ROM, EEPROM or other optical disc storage; the computer-readable medium may include a magnetic disk memory or other disk storage devices. Also, any connected cord is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, compact disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Reproduce data.

Combinations of the above should also be included within the scope of computer-readable media. The above is only the specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application, and should cover Within the protection scope of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A positioning method, characterized in that it is applied to a communication system, the communication system includes a first terminal and a second terminal, and the method includes:

The first terminal acquires the location information of the second terminal obtained by using the first positioning method;

The first terminal displays a first interface, where the first interface includes a map, a first location identifier, and a second location identifier, and the first location identifier is used to mark the location of the second terminal on the map. location information, the second positioning identifier is used to mark the location information of a target location on the map, and the target location is obtained by the first terminal based on a user operation;

When the distance between the target location and the second terminal is less than a preset distance threshold, the first terminal and the second terminal are positioned using a second positioning method, wherein the The positioning accuracy of the second positioning method is greater than the positioning accuracy of the first positioning method;

The first terminal acquires first relative position information of the first terminal and the second terminal obtained by positioning using the second positioning method, and the first relative position information includes the first relative position information of the first terminal and the the distance and direction of the second terminal;

The first terminal updates the first positioning identifier on the first interface according to the first relative position information.
The method according to claim 1, wherein the first terminal includes multiple antennas, and when the distance between the target location and the second terminal is less than a preset distance threshold, the The second positioning method is used for positioning between the first terminal and the second terminal, including:

When the distance between the target position and the second terminal is less than a preset distance threshold, the first terminal receives a positioning signal from the position of the second terminal, wherein the positioning signal carry the first moment when the positioning signal is transmitted;

The first terminal records the second moment when the positioning signal is received;

The first terminal determines the distance of the second terminal relative to the first terminal according to the first moment, the second moment and a set signal propagation rate;

The first terminal determines the relative direction of the second terminal relative to the second terminal according to the plurality of antennas and the three-point positioning method.
The method according to claim 2, wherein when the distance between the target location and the second terminal is less than a preset distance threshold, the first terminal receives the The positioning signal of the location of the second terminal, comprising:

When the second terminal detects that the distance between the target location and the second terminal is less than a preset distance threshold, the second terminal transmits the positioning signal;

The first terminal receives the positioning signal from the second terminal.
The method according to claim 2, wherein when the distance between the target location and the second terminal is less than a preset distance threshold, the first terminal receives the The positioning signal of the location of the second terminal, comprising:

When the second terminal detects that the distance between the target position and the second terminal is less than a preset distance threshold, it notifies the positioning device to transmit the positioning signal, wherein the positioning device and the The position of the second terminal is the same;

The first terminal receives a positioning signal from the positioning device.
The method according to claim 2, wherein the first terminal and the second terminal interact through a cloud server, and before the first terminal displays the first interface, the method further comprises:

The first terminal and the second terminal receive verification information from the cloud server, where the verification information includes a verification ID and a key;

The receiving by the first terminal of the positioning signal from the location of the second terminal includes: the first terminal receiving the positioning signal from the location of the second terminal, which carries a verification identifier and is encrypted by a key at the first moment positioning signal;

Before the first terminal determines the distance of the second terminal relative to the first terminal according to the first moment, the second moment and the set signal propagation rate, the method further includes:

In a case where the verification identifier from the cloud server is consistent with the verification identifier carried in the positioning signal, the first terminal decrypts the first moment according to the key.
The method according to any one of claims 2-5, wherein the positioning signal is a UWB signal or an ultrasonic signal.
The method according to claim 1, wherein the first relative position information includes text information for indicating the distance and direction of the second terminal relative to the first terminal.
The method according to claim 7, wherein the first terminal further displays a third positioning mark on the map of the first interface, wherein the third positioning mark is used to mark the The position information of the first terminal obtained by a positioning method, the content of the first positioning identifier is updated to indicate the relative position of the second terminal and the first terminal on the map, and the first relative The location information further includes: an arrow pointing from the third location identifier to the updated first location identifier.
The method according to claim 7, wherein the content of the text information is updated along with the change of the first relative position information.
The method according to claim 1, wherein when the distance between the second terminal and the first terminal is less than a preset distance threshold, the first terminal displays the first A prompt message, the first prompt message is used to indicate that the passenger has boarded the vehicle.
The method according to claim 1, further comprising:

The second terminal displays a second interface, the second interface includes a first control and a third positioning mark, wherein the third positioning mark is used to mark the first terminal obtained by the first positioning method location information;

The second terminal sends a first request to the first terminal in response to a trigger operation on the first control, where the first request is used to request first relative position information of the first terminal;

The first terminal displays second prompt information on the first interface in response to the first request, where the second prompt information is used to indicate to share the first relative position information with the second terminal ;

The first terminal sends the first relative position information to the second terminal in response to an operation for confirming the second prompt information;

generating, by the second terminal, second relative position information between the first terminal and the second terminal according to the first relative position information and position information obtained by the second terminal using a first positioning method,

The second terminal updates the third positioning identifier on the second interface according to the second relative position information.
The method according to claim 11, wherein the second relative position information includes text information for indicating the distance and direction of the first terminal relative to the second terminal.
The method according to claim 12, wherein the second interface further displays the first positioning mark and the third positioning mark, wherein the third positioning mark is used to indicate that the first terminal and the For the relative position of the second terminal on the map, the second relative position information further includes: an arrow pointing from the first positioning mark to the third positioning mark.
The method according to claim 11, wherein when the distance between the first terminal and the second terminal is less than a preset distance threshold, the second terminal displays the first Three prompt information, the third prompt information is used to indicate that the passenger has boarded the bus.
A positioning device is characterized in that it is applied to a first terminal, and the device includes:

a communication unit, configured to acquire the position information of the second terminal obtained by using the first positioning method;

A display unit, configured to display a first interface, where the first interface includes a map, a first location mark, and a second location mark, and the first location mark is used to mark the location of the second terminal on the map location information, the second positioning identifier is used to mark the location information of a target location on the map, and the target location is obtained by the first terminal based on a user operation;

A processing unit, configured to use a second positioning method to perform positioning with the second terminal when the distance between the target position and the second terminal is less than a preset distance threshold, wherein the The positioning accuracy of the second positioning method is greater than the positioning accuracy of the first positioning method;

The processing unit is further configured to acquire first relative position information of the first terminal and the second terminal obtained by using the second positioning method, wherein the first relative position information includes the first the distance and direction between a terminal and said second terminal;

The display unit is further configured to update the first positioning mark on the first interface according to the first relative position information.
The apparatus according to claim 15, wherein the first terminal comprises a plurality of antennas,

The communication unit is further configured to receive a positioning signal from the position of the second terminal when the distance between the target position and the second terminal is less than a preset distance threshold, wherein the The positioning signal carries the first moment when the positioning signal is transmitted;

The processing unit is further configured to record the second moment when the positioning signal is received, and determine the relative distance between the second terminal and the the distance of the first terminal; and determining the relative direction of the second terminal relative to the second terminal according to the plurality of antennas and the three-point positioning device.
The device according to claim 16, wherein the communication unit is specifically configured to, when the distance between the target location and the second terminal is less than a preset distance threshold, then receive the The positioning signal of the second terminal.
The device according to claim 16, wherein the communication unit is specifically configured to receive a positioning message from the location when the distance between the target location and the second terminal is less than a preset distance threshold. A location signal of a device, wherein the location of the location device is the same as that of the second terminal.
The device according to claim 16, wherein the first terminal and the second terminal interact through a cloud server,

The communication unit is further configured to receive verification information from the cloud server, wherein the verification information includes a verification ID and a key;

The communication unit is specifically configured to receive a location signal from the second terminal that carries a verification identifier and is encrypted at the first moment by a key;

The processing unit is further configured to, when the verification identifier from the cloud server is consistent with the verification identifier carried by the positioning signal, decrypt the first moment by the first terminal according to the key.
The device according to any one of claims 16-19, wherein the positioning signal is a UWB signal or an ultrasonic signal.
The device according to claim 15, wherein the first relative position information includes text information for indicating the distance and direction of the second terminal relative to the first terminal.
The device according to claim 15, wherein the display unit is further configured to, when the distance between the second terminal and the first terminal is less than a preset distance threshold, the first terminal Displaying first prompt information on the first interface, the first prompt information is used to indicate that passengers have boarded the vehicle.
The device according to claim 15, characterized in that,

The communication unit is further configured to receive a first request from the second terminal, where the first request is used to request first relative position information of the first terminal;

The display unit is further configured to display second prompt information on the first interface in response to the first request, where the second prompt information is used to indicate that the first prompt is shared with the second terminal. Relative location information;

The communication unit is further configured to send the first relative position information to the second terminal in response to a confirmation operation on the second prompt information.
A computer-readable storage medium, the computer-readable storage medium stores a computer program, wherein, when the computer program is executed by a processor, the computer executes the first step as described in any one of claims 1 to 14. A method executed by a terminal.