CN104950284B - The determination method and electronic device of device relative position - Google Patents
The determination method and electronic device of device relative position Download PDFInfo
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- CN104950284B CN104950284B CN201410111264.4A CN201410111264A CN104950284B CN 104950284 B CN104950284 B CN 104950284B CN 201410111264 A CN201410111264 A CN 201410111264A CN 104950284 B CN104950284 B CN 104950284B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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Abstract
A kind of determination method and electronic device of device relative position, suitable for determining the relative position of second electronic device around it by the first electronic device.The method by with wireless signal that second electronic device is linked up to calculate at a distance from second electronic device and the first electronic device.After a unit time and two unit time, respectively according to above-mentioned wireless signal to calculate the distance between second electronic device and the first electronic device and calculate second electronic device in the displacement moved in each unit time.Finally, it is as a reference point with the current location of the first electronic device, and according to the aforementioned displacement for calculating the distance between first, second electronic device and second electronic device, calculate relative position of the second electronic device relative to the first electronic device.
Description
Technical field
The invention relates to a kind of location technologies, and a kind of determination method in particular to device relative position and
Electronic device.
Background technique
In recent years, with electronics technology and the continuous evolution and improvement of mechanics of communication, mobile phone, smartphone etc. are no
It takes up space and portable electronic device is also weeded out the old and bring forth the new.These mobile devices on the market there's no one who doesn't or isn't integrate multiple function with
Its competitiveness is promoted, other than general photograph, call, function of surfing the Net, connects global positioning system (Global now
Positioning System, GPS) it is also all incorporated on hand-hold communication device with electronic map, user can lead to whenever and wherever possible
The positioning function for crossing mobile device grasps the position at place itself.
GPS is a kind of location technology in conjunction with satellite and wireless telecommunications, can provide accurate positioning, speed and time letter
Breath.GPS can be located resulting location information and show on the electronic map in conjunction with electronic map, to be supplied to
User understands its current position.
However, GPS can be only applied to the place that can receive satellite-signal, when user is into the GPS such as interior
When the place or user that satellite-signal can not be received are not turned on GPS positioning function, positioning function is also just lost
Energy.At this point, if user it should be understood that itself position, or wants to know about relative position of other people in the place,
It is typically only capable to the feature of self-observation surrounding buildings or object by both party, and informs other side in a manner of phone contact, so as to right
Side is looked for, and as a result often spends many times during looking for.Therefore, it is necessary to provide one kind can be applied to it is indoor fixed
Position mode, come the relative position for helping user to learn other people relative to oneself.
Summary of the invention
The present invention provides the determination method and electronic device of a kind of device relative position, and it is opposite can to obtain other electronic devices
In the relative position of itself.
The determination method of the device of the invention relative position, suitable for being detected by the first electronic device and being determined second around it
The relative position of electronic device.The method is basis and the wireless signal between second electronic device, calculates second electronic device
With the first distance of the first electronic device.After the first unit time, according to wireless signal with calculate second electronic device with
The second distance of first electronic device, and the first electronic device is calculated in the first displacement moved in the first unit time.Again
After the second unit time, according to wireless signal to calculate the third distance between second electronic device and the first electronic device
And the first electronic device is calculated in the second displacement moved in the second unit time.Finally, with the current of the first electronic device
Position is as a reference point, by above-mentioned first distance, the first displacement and second distance and second displacement and the calculating of third distance the
First relative position of two electronic devices relative to the first electronic device.
In one embodiment of this invention, the method is also after k-1 unit time, according to wireless signal in terms of
Calculate the kth distance between second electronic device and the first electronic device, after k unit time, according to wireless signal with
+ 1 distance of kth between second electronic device and the first electronic device is calculated, and calculates the first electronic device in k-th of list
The kth displacement moved in the time of position, wherein k is positive integer.According to the displacement of above-mentioned kth, -1 distance of kth and kth distance, meter
Second electronic device is relative to the kth relative position of the first electronic device and after the kth unit time when calculating -1 unit time of kth
Second electronic device is relative to the smallest value of error between+1 relative position of kth of the first electronic device to determine the second electronics dress
Set the kth relative position relative to the first electronic device.
In one embodiment of this invention, the method also accesses the second electronic device being previously calculated relative to the first electricity
First relative position of sub-device to k-th of relative position, and it is as a reference point with the current location of the first electronic device, according to
Above-mentioned first is moved to kth displacement, and the first relative position to k-th of relative position is modified to the k relative to reference point respectively
A correction position.Centered on reference point, the correction position is shown with graphic interface, to indicate that second electronic device is opposite
In the motion track of reference point.
In one embodiment of this invention, in above-mentioned the first electronic device of calculating in moved in the first unit time
One displacement, and after the step of calculating second distance of the second electronic device relative to the first electronic device according to wireless signal,
The method also calculates it by second electronic device and is displaced in the third moved in the first unit time, and sends the first electricity to
Sub-device.Then, as a reference point with the first electronic device, according to above-mentioned first distance, the difference of the first displacement and third displacement
And second distance calculates first relative position of the second electronic device relative to the first electronic device.
In one embodiment of this invention, the wireless signal between above-mentioned basis and second electronic device calculates the second electricity
The step of sub-device and the first distance of the first electronic device is to receive second electronic device after sending wireless signal and respond nothing
The feedback signal of line signal return, then calculate from send wireless signal to receive that above-mentioned feedback signal passed through it is round-trip when
Between, and first distance is calculated according to the transmission speed of above-mentioned two-way time and wireless signal.
In one embodiment of this invention, the first distance between above-mentioned the first electronic device of calculating and second electronic device
Step is to receive the feedback signal of second electronic device response wireless signal passback after sending wireless signal, then this is fed back
The signal strength and distance collation table of signal are compared to obtain first distance.
In one embodiment of this invention, the first distance between above-mentioned the first electronic device of calculating and second electronic device
Step further includes opening an application-specific, and pass to and authenticated with second device progress ditch in a manner of near-field communication
And/or matcher.
In one embodiment of this invention, above-mentioned the first electronic device of calculating is in the first displacement moved in the unit time
Step is to calculate above-mentioned first displacement using accelerometer, the received sensitive information of gyroscope and compass institute.
In one embodiment of this invention, the first phase between above-mentioned the first electronic device of calculating and second electronic device
After the step of to position, the method shows above-mentioned first relative position also centered on reference point, with graphic interface.
In one embodiment of this invention, after the unit time, the method also utilizes positioning unit to the first electricity
Sub-device is positioned, to obtain the first absolute position of the first electronic device.Then, according to the first absolute position and the first phase
To position, the second absolute position of second electronic device is calculated.
In one embodiment of this invention, after the unit time, it is fixed that the method is also utilized by second electronic device
Bit location is positioned, and to obtain the second absolute position, and sends the second absolute position to first electronic device, and by first
Electronic device calculates the first absolute position of the first electronic device according to above-mentioned second absolute position and the first relative position.
The electronic device of the device of the invention relative position, this electronic device include wireless communication unit, sensor, storage
Unit and processing unit, wherein wireless communication unit is to transmit wireless signal with second electronic device, and storage element is to remember
Record module.Processing unit is connection wireless communication unit, sensor and storage element, and to access and execute in storage element
The module of record, above-mentioned module includes distance calculation module, displacement computing module and relative position computing module, wherein distance meter
Module is calculated according to wireless signal, calculates the first distance between second electronic device and electronic device.When by the first unit
Between after, distance calculation module calculates the second distance of second electronic device and electronic device according to wireless signal, and displacement
Computing module is detected using sensor and calculates electronic device in the first displacement moved in the first unit time.Using second
After unit time, distance calculation module time is according to the wireless signal to calculate the third between second electronic device and electronic device
Distance, and displacement computing module detect using sensor and calculate electronic device in the second moved in the second unit time
It moves.Relative position computing module is as a reference point with the current location of electronic device, by first distance, first displacement with second away from
From and second displacement and third distance calculate first relative position of the second electronic device relative to electronic device.
In one embodiment of this invention, wherein distance calculation module utilizes wireless telecommunications after k unit time
Unit sends wireless signal to detect second electronic device, and distance calculation module simultaneously calculates second electronic device according to wireless signal
Kth distance between electronic device, and displacement computing module calculate electronic device in k-th of unit time by sensor
The kth of interior movement is displaced, and wherein k is positive integer.Also, relative position computing module according to kth displacement, the distance of kth -1 and
Kth distance, and when calculating -1 unit time of kth second electronic device relative to -1 relative position of kth of electronic device and the
Kth the relative position error the smallest value of the second electronic device relative to electronic device after the k unit time, and according to above-mentioned calculating
As a result kth relative position of the second electronic device relative to electronic device is determined.
In one embodiment of this invention, above-mentioned electronic device further includes display unit, and the module of electronic device is also
Including display module.Wherein, the second electronic device that relative position computing module is previously calculated via storage element access is opposite
It is as a reference point with the current location of electronic device in the first relative position of electronic device to -1 relative position of kth, according to
First is moved to the displacement of kth -1, and correcting the first relative position to -1 relative position of kth respectively is the k-1 relative to reference point
A correction position and display module centered on reference point, using graphic interface show correction position in display unit, with
Indicate motion track of the second electronic device relative to reference point.
In one embodiment of this invention, above-mentioned second electronic device includes calculating it in being moved in the unit time
Second displacement, and send electronic device to.Wherein, relative position computing module is also as a reference point with electronic device, by first
Three sides of the difference and second distance of distance, the first displacement and second displacement as triangle, are calculated using triangle inequality
First relative position of the second electronic device relative to electronic device.
In one embodiment of this invention, above-mentioned distance calculation module also utilizes wireless communication unit to send wireless signal
And the feedback letter of second electronic device response wireless signal passback is received, and calculate from wireless signal is sent to receiving feedback letter
Number two-way time passed through.Also, distance calculation module is calculated also according to the transmission speed of two-way time and wireless signal
First distance.
In one embodiment of this invention, above-mentioned distance calculation module also utilizes wireless communication unit to send above-mentioned wireless
Signal and the feedback signal for receiving second electronic device response wireless signal passback.Also, distance calculation module is also according to above-mentioned
The signal strength and distance collation table of feedback signal are compared to obtain first distance.
In one embodiment of this invention, above-mentioned electronic device further includes an application-specific, wherein specific at this
After application program is opened, which is passed to second device progress ditch in a manner of near-field communication and is authenticated and/or matched
To program.
In one embodiment of this invention, above-mentioned sensor includes one of accelerometer, gyroscope and compass
Or combinations thereof.
In one embodiment of this invention, above-mentioned electronic device further includes positioning system, this positioning system connection processing
Unit.Positioning system positioning electronic device, to obtain the first absolute position of electronic device, and above-mentioned module further includes absolute position
Computing module is set, absolute position computing module calculates second electronic device also according to the first absolute position and the first relative position
The second absolute position.
In one embodiment of this invention, wherein second electronic device is positioned using positioning system, to obtain one the
Two absolute positions, and send judgement electronic device to, and above-mentioned module further includes absolute position computing module, absolute position meter
Module is calculated according to above-mentioned second absolute position and the first relative position, calculates the first absolute position of electronic device.
Based on above-mentioned, the determination method and electronic device of the device of the invention relative position benefit respectively before and after the unit time
The distance between detected with wireless signal and calculate second electronic device, this electronic device is moved in the unit of account time
Displacement, and second electronic device is calculated relative to this electronics according to the distance that above-mentioned displacement and two different time points calculate
The relative position of device.Whereby, user utilizes at a distance from other devices and the displacement of itself is without passing through positioning system, still
It can be seen that relative position of other devices relative to oneself.
To make the foregoing features and advantages of the present invention clearer and more comprehensible, special embodiment below, and cooperate institute's accompanying drawings
It is described in detail below.
Detailed description of the invention
Fig. 1 is the block diagram according to the electronic device of device relative position depicted in one embodiment of the invention.
Fig. 2 is the flow chart according to the determination method of device relative position depicted in one embodiment of the invention.
Fig. 3 is the schematic diagram according to the determination method of device relative position depicted in one embodiment of the invention.
Fig. 4 A and 4B are the examples according to the determination method of device relative position depicted in one embodiment of the invention.
Fig. 5 is the schematic diagram according to the determination method of device relative position depicted in another embodiment of the present invention.
Fig. 6 A and 6B are the examples according to the determination method of device relative position depicted in another embodiment of the present invention.
Fig. 7 is the schematic diagram according to the determination method of device relative position depicted in yet another embodiment of the invention.
Fig. 8 is the example according to the determination method of device relative position depicted in yet another embodiment of the invention.
Fig. 9 is the schematic diagram according to the determination method of device relative position depicted in yet another embodiment of the invention.
[label declaration]
10,20,50,55,70,75,91~99: electronic device
12: wireless communication unit 14: sensor
16: storage element 161: distance calculation module
162: displacement computing module 163: relative position computing module
S210~S270: step 401,601~616: point
T: unit time r0~rk, L1, L2: distance
d1~d3、dA, 1、dB, 1: displacement
Vector
A0、A1、A1’、B0、B1、P0~Pk, Q: endpoint
E、ed、er: error
Specific embodiment
The present invention is by electronic device using other electronic devices around wireless signal detection, and according to these electronic devices
The information such as the signal strength of feedback signal or signal two-way time calculate electronic device it is mobile before and after the unit time with other electricity
The distance between sub-device.On the other hand, the accelerometer that the present invention also utilizes electronic device itself to be equipped with
(accelerometer), the sensors such as gyroscope (gyro sensor), electronic compass (compass) detect and calculate electronics
The displacement that device moves within the above-mentioned unit time, to utilize such as triangle to close in conjunction with range information between above-mentioned apparatus
System extrapolates relative position of other electronic devices relative to electronic device itself, finally again in a manner of graphic interface by this
The relative position of a little electronic devices is shown on the screen of electronic device, can also show the motion track of these electronic devices.By
This, the graphic interface that user can show from electronic device learns the relative position of other electronic devices, see also shifting
Dynamic path allows user to be easier to find the user of other electronic devices.
Fig. 1 be according to depicted in one embodiment of the invention to electronic device relative position electronic device square
Figure.Fig. 1 is please referred to, the electronic device 10 of the present embodiment includes wireless communication unit 12, sensor 14, storage element 16 and processing
Unit 18.Electronic device 10 can be such as electronic apparatus, including mobile phone, tablet computer, notebook computer etc.
Electronic device or device for vehicular electronic, do not limit herein.
Wireless communication unit 12 can support the technology of at least one following wireless signal transmission: the direct-connected (WiFi of Wireless Fidelity
Direct), bluetooth, near-field communication (Near Field Communication；NFC), device is to device (Device to
device；D2D) the wireless communication techniques such as communication, but it is not limited only to this.
Sensor 14 can be accelerometer, gyroscope, electronic compass etc. to the mobile relevant information of detection electronic installation
Sensor or these sensors combination.
Storage element 16 can be fixed or movable random access memory (the random access of any kenel
Memory, RAM), read-only memory (read-only memory, ROM), flash memory (flash memory) or similar component or on
State the combination of element.In the present embodiment, storage element 110 is to recording distance computing module 161, displacement computing module 162
And relative position computing module 163.These modules are for example previously stored the program in storage element 16, can load electronic device
10 processing unit 18, and the decision-making function of executive device relative position.
Processing unit 18 is connect with wireless communication unit 12, sensor 14 and storage element 16 respectively.Processing unit 18 can
To be central processing unit (Central Processing Unit；) or other programmable general services or special CPU
Microprocessor (Microprocessor), digital signal processor (the Digital Signal Processor of purposes；DSP),
Programmable controller, specific integrated circuit (Application Specific Integrated Circuit；ASIC) or other
The combination of similar component or said elements.In the present embodiment, processing unit 18 is to access and execute above-mentioned storage element 16
The module of middle record uses the determination method for realizing the device relative position of the embodiment of the present invention.
Fig. 2 is the flow chart according to the determination method of device relative position depicted in one embodiment of the invention.Fig. 3 be according to
According to the schematic diagram of the determination method of device relative position depicted in one embodiment of the invention.Referring to Fig. 1, Fig. 2 and figure
3, the method for the present embodiment is suitable for above-mentioned electronic device 10, wherein Fig. 3 be painted electronic device 10 and it is surrounding another
Positional relationship between electronic device 20.Below it is each item of electronic device 10 in collocation Fig. 1, illustrates the present embodiment method
Detailed process.
In step S210, distance calculation module 161 is according to transmitting between wireless communication unit 12 and electronic device 20
Wireless signal calculates the first distance r of electronic device 10 and electronic device 200.Wherein, in one embodiment, distance calculates mould
Block 161 can be using wireless communication unit 12 from wireless signal is sent to receiving 20 feedback signal elapsed time of electronic device
Or signal strength calculates the distance between electronic device 10 and electronic device 20.
In detail, in one embodiment, distance calculation module 161 sends wireless signal using wireless communication unit 12, and
It receives electronic device 20 and responds the feedback signal of this wireless signal passback, to calculate wireless communication unit 12 from transmission wireless communication
Number to two-way time (the Round Trip Time for receiving feedback signal and being passed through；RTT).Finally, according to this two-way time with
The transmission speed of wireless signal, distance calculation module 161 can calculate first between electronic device 10 and electronic device 20
Distance r0.This first distance r0The e.g. half of the product of the transmission speed of two-way time and wireless signal.Wherein, distance meter
Internet control Message Protocol (internet control message can be transmitted by wireless communication unit 12 by calculating module 161
protocol；ICMP) package or other data electron devices 20, to calculate two-way time, do not limit herein.
In another embodiment, distance calculation module 161 can also be filled according to detected by wireless communication unit 12 by electronics
Set the signal strength of feedback signal transmitted by 20 response wireless signals or by the wireless of electronic device 20 active transmission itself
The signal strength of signal, for example, by comparing distance collation table to obtain first distance r0.Specifically, distance calculation module
161 after receiving feedback signal using wireless communication unit 12, can inquire storage in advance according to the signal strength of this feedback signal
A signal strength in storage module 16 and distance collation table, thus obtain corresponding to the signal strength of feedback signal away from
From, and to as the first distance r between electronic device 10 and electronic device 200。
It should be noted that in one embodiment, electronic device 10, can also be first with wireless before detection electronic installation 20
The wireless communication technique (for example, WiFi Direct, bluetooth, near-field communication etc.) that communication unit 12 is supported, and can allow specific
Application program or network service, with electronic device 20 carry out ditch pass to authenticated (authentication) or match
(pairing) program, to establish the channel of signal transmitting.This movement linked up can represent electronic device 10 and be intended to begin to use
The function of the relative position of tracking electronic device 20, that is, start to determine the relative position of electronic device 20.After pairing, electronics dress
Set 10 and electronic device 20 can be by this channel transfer wireless signal, to carry out Distance estimation.For example, two are held respectively
The user of electronic device 10 and electronic device 20 can carry out ditch in advance and pass to completion certification or pairing, and need to know pair
When square relative position, starting judges the function of other side relative position, or can judge other side relative position needing to use
When function, then carries out ditch and pass to certification or pairing.For example, two users can open relevant application program, and can pass through
Such as the mode of near-field communication (Near Field Communication, NFC) is matched, and the position directly to be matched
It sets as starting point, and starts to track the relative position of other side, and starting point and mutual motion track can be shown and be filled in electronics
It sets.
And in other embodiments, if the device identification code of the wireless communication unit of 10 known electronic 20 of electronic device
It, also can be during pairing, according to the signal strength for the feedback signal that electronic device 20 responds, directly when (device ID)
Calculate the first distance r between electronic device 10 and electronic device 200.Above-mentioned calculating first distance r0Method it is merely illustrative, answer
The method of measurement two-way time and signal strength can be adjusted according to its demand with the present embodiment person or are calculated using other methods
First distance r0, the present invention is not intended to limit this.
The process for returning to Fig. 2, after unit time t, in step S230, distance calculation module 161 can be sharp again
Wireless signal is sent with detection electronic installation 20 with wireless communication unit 12, and calculates electronic device 10 and electronic device 20 accordingly
Second distance r1.Meanwhile displacement computing module 162 can also calculate electronic device in the first displacement moved in unit time t
d1.Wherein, distance calculation module 161 calculates second distance r1Method and above-mentioned calculating first distance r0Method it is identical,
This is repeated no more.
In the present embodiment, accelerometer, gyroscope that displacement computing module 162 can be equipped with using electronic device 10 itself
Or the first displacement d that the sensors such as electronic compass detection electronic installation 10 moves in Moving Unit time t1.Specifically, three
The accelerometer of axis accelerometer can detect the acceleration movement of three axial directions, and can be calculated by detected acceleration
Each axial displacement out.For example, displacement can be obtained in acceleration after integrating twice.In addition, gyroscope can be examined
The rotation amount of electronic device 10 is surveyed, electronic compass then can detect the orientation of electronic device 10.Whereby, electronic device 10 can pass through
Orientation estimates (Dead Reckoning；DR) or the positioning methods such as inertial navigation (inertial navigation) learn first
It is displaced d1Moving distance and moving direction.
And by unit time t, (that is, in total after 2 unit time t), in step s 250, distance calculates mould
Block 161 can send wireless signal using wireless communication unit 12 again with detection electronic installation 20, and calculate electronic device accordingly
10 with the third distance r of electronic device 202.Meanwhile displacement computing module 162 can also calculate electronic device in this unit time t
The second displacement d of interior movement2.Wherein, distance calculation module 161 calculates third distance r2Method and above-mentioned calculating first distance
r0Method it is identical, details are not described herein.
Finally, relative position computing module 163 will be using the current location of electronic device 10 as reference in step S270
Point, according to the first distance r of above-mentioned calculating0, first displacement d1With second distance r1And second displacement d2With third distance r2Meter
Calculate first relative position of the electronic device 20 relative to electronic device 10.Wherein, relative position computing module 163 for example can first by
The first distance r of above-mentioned calculating0, first displacement d1With second distance r1As three sides of triangle, triangle inequality meter is utilized
It calculates after by unit time t, relative position of the electronic device 20 relative to electronic device 10, then again by above-mentioned calculating
Second distance r1, second displacement d2With third distance r2As three sides of triangle, is calculated using triangle inequality and passing through 2
After a unit time t, relative position of the electronic device 20 relative to electronic device 10.Wherein, the present embodiment further utilizes
Second distance r1, second displacement d2With third distance r2Calculate position of the electronic device 20 after second unit time t, then
This position is compared with the position of electronic device 20 calculated after first unit time t, uses more confirmation electronics dress
Set 20 position.
Specifically, Fig. 4 A and 4B are the determination methods according to device relative position depicted in one embodiment of the invention
Example.Referring to Fig. 3 and Fig. 4 A, Fig. 4 A be the electronic device 20 using in Fig. 3 position as Q endpoint (that is, coordinate (0,
0)), and with P0And P1Endpoint respectively represents working as position and electronic device 10 of the electronic device 10 before unit time t
Front position.
P in Fig. 4 A0Endpoint to Q endpoint distance r0First distance r in as Fig. 30, P in Fig. 4 A1Endpoint is to Q endpoint
Distance r1Second distance r in as Fig. 31, vector in Fig. 4 AThe first displacement d in as Fig. 31.Assuming that
P1Endpoint is vector relative to Q endpointThen vectorMeet following equation (1) and (2):
By distance r in Fig. 4 A1、r2And vectorAs three sides of triangle, then according to the equation of triangle inequality
(3):
Equation (1) and (2) are substituted into equation (3), P can be calculated1Coordinate (the P of endpointx,Py), wherein
And wherein
Then, with P1Endpoint is reference point, and the coordinate (P according to calculatingx,Py) it can be learnt that Q endpoint relative to P1Endpoint
Relative position (that is, first relative position of electronic device 20 relative to electronic device 10).Electronics is inspected for convenience of user
This first relative position can also be shown and shown by first relative position of the device 20 relative to electronic device 10, electronic device 10
On unit (not being painted), this display unit can be liquid crystal display (Liquid Crystal Display；LCD), Organic Electricity
Excite optical display unit (Organic Electro-Luminescent Display；The displays such as OELD), and it is not only restricted to this.
Electronic device 10 is for example by the display module (not being painted) that is recorded in storage element 16 with reference point (i.e. electronics
The current location of device 10) centered on, and in showing the first relative position on display unit with graphic interface.Please refer to figure
Multiple concentric circles in 4B, Fig. 4 B represent the different distance relative to electronic device 10, for example, the concentric circles near pericenter
The distance apart from 100 meters of electronic device is represented, the rest may be inferred for other concentric circles.The corresponding reality of multiple concentric circles in Fig. 4 B
Apart from merely illustrative, in other embodiments, the corresponding actual range of concentric circles can be filled according to electronic device 20 relative to electronics
It sets 10 relative position and changes, and be not only restricted to this.Point 401 in Fig. 4 B is electronic device 20 relative to electronic device 10
The first relative position.
Whereby, user can directly utilize the point-to-point of electronic device in the case where not using global positioning system
Transmission technology (for example, WiFi Direct, Bluetooth, near-field communication etc.) measures it at a distance from other devices, and utilizes
The detection of the sensor (for example, combination of the sensors such as accelerometer, gyroscope sensor and compass inductor) of electronic device
Learn the displacement of oneself, can extrapolate accordingly around other devices relative to the relative position of oneself.For example, when user with
Other friends in crowded indoor concert or sales field, user can through the embodiment of the present invention in electronic device obtain
Know the position of friend；When user is located at large-scale parking garage, user can through the embodiment of the present invention in
Electronic device and the position for learning oneself vehicle parking, such as when being separated when electronic device judgement and vehicle online, that is, represent
User, which has got off, leaves vehicle, and electronic device then starts detection and leaves displacement after vehicle at this time, to allow user can be with
Displacement path is follow to return to find the stand of vehicle；Alternatively, when user and child are the same as outdoors or department store
In, in addition to can through the embodiment of the present invention in electronic device and learn the position of child and the trajectory path of movement,
When child leaves set distance range (for example, two hectometers), the more capable of emitting alert messages of parent's electronic device are to notify to make
User's (for example, issuing the sound or in showing alert messages on display unit) or the electronic device of child issue alert messages
Child is reminded to have moved away from the distance that parent has been more than setting, parent can refer to small shown by parent's electronic device at this time
The position of child's electronic device, and child can be rapidly searched out by the motion track of child's electronic device.If parent's electronics fills
Set has movement in itself, and child position can also be found with reference to the motion track of parent's electronic device and child's electronic device
It sets.
Electronic device in above-described embodiment is via the relative position that displacement learns other positions relative to itself twice.
And in another embodiment, the determination method of the device relative position of the embodiment of the present invention more can be by being repeatedly displaced to be promoted
The accuracy of the relative position of calculating.
For example, Fig. 5 is showing according to the determination method of device relative position depicted in another embodiment of the present invention
It is intended to.Electronic device 50 in Fig. 5 is device entrained by user, and electronic device 55 is then the device around user,
Wherein every to pass through a unit time t, electronic device 50 i.e. can be according to the method detection electronic installation 55 in above-described embodiment simultaneously
The distance between itself and electronic device 55 r are calculated accordingly1、r2、r3And r4, and it can be also calculated in each unit time t
It is displaced d1、d2And d3.And so on, after k unit time t, electronic device 50 can be by sending or receiving wireless signal
With detection electronic installation 55, and its+1 distance of kth between electronic device 55 is calculated, and calculate it when k-th of unit
Between the kth displacement moved in t, wherein k is positive integer.And according to above-mentioned kth displacement, kth distance and+1 distance of kth, electricity
When sub-device 50 can calculate-1 unit time of kth electronic device 55 relative to electronic device 50-1 relative position of kth with
And kth the relative position error the smallest value of the electronic device 55 relative to electronic device 50 after the kth unit time, it uses and determines electricity
Kth relative position of the sub-device 55 relative to electronic device 50.
Specifically, Fig. 6 A and 6B are the determination methods according to device relative position depicted in another embodiment of the present invention
Example.Referring to Fig. 5 and Fig. 6 A, Fig. 6 A be the electronic device 55 using in Fig. 5 position as Q endpoint (that is, coordinate (0,
0)), and with PkAnd Pk-1Endpoint respectively represents electronic device 50 in kth and the position of -1 unit time of kth t.
P in Fig. 6 Ak-1Endpoint and Q endpoint are apart distance rk-1, P in Fig. 6 AkEndpoint and Q endpoint are apart distance rk, Fig. 6 A
Middle vectorRepresent the displacement in 50 kth unit time of electronic device t.Assuming that PkEndpoint is vector relative to Q endpoint
Pk-1Endpoint is vector relative to Q endpointDue to distance rkWith vectorTo pass through wireless communication unit and sensor respectively
The value of measurement, therefore its error e is calculated separately by following equation (6) and (7)dAnd er:
And pooled error E is assumed according to maximum similar estimation (maximum likelihood estimation) method
Are as follows:
And error E meets following equation (9) and (10):
Finally, by minimizing this error E, and can be obtained:
Whereby, the determination method of the device relative position of the embodiment of the present invention can minimizing the error measurement, with true
Determine relative position of the electronic device 55 relative to electronic device 50.And in one embodiment, electronic device 50 can also be by display mould
All electronic devices 55 being previously calculated more are shown in relative to the relative position of electronic device 50 with graphic interface aobvious by block
Show on unit, with the motion track convenient for users to inspecting electronic device 55.
For example, electronic device 50 can access first of electronic device 55 that it is previously calculated relative to electronic device 50
Relative position to -1 relative position of kth, and it is as a reference point with the current location of electronic device 50, it is previously calculated according to it
First is moved to the displacement of kth -1 (current location with electronic device where after first to kth -1 unit time respectively
It is as a reference point), the first above-mentioned relative position to -1 relative position of kth is modified to relative to current reference point respectively
K-1 correction position.For example, if using the current location of electronic device 50 as origin (0,0), when electronic device 55 is relative to electricity
5th relative position of sub-device 50 be (7,8), electronic device 55 relative to electronic device 50 the 4th relative position be (5,
1), and the displacement of previous unit time is (2,3), then the 4th relative position can be modified to coordinate (3, -2).Remaining amendment position
Set then that the rest may be inferred, details are not described herein.
In addition, electronic device 50 can also by display module using reference point (i.e. the current location of electronic device 50) in
The heart, and in showing above-mentioned correction position on display unit with graphic interface, to indicate electronic device 55 relative to reference point
Motion track.For example, Fig. 6 B is please referred to, the point 601 in Fig. 6 B represents electronic device 55 currently relative to electronic device
10 relative position, and put 611 to 616 and respectively represent revised electronic device 55 in unit time before relative to electricity
The relative position of the current location of sub-device 50.
In one embodiment, electronic device 50 can access in advance or download in real time the map of position, for example, selling
The map in the places such as field, parking lot, and it is single in display that this map can be merged to display by display module with above-mentioned motion track
In member, to go to 55 institute of electronic device in place convenient for users to being quickly found out according to this " motion track being shown on map "
The best road warp set.In this embodiment, user can select by way of clicking on map or by way of menu
The current position of user's electronic device 50 is selected, or can be shown by the current position of positioning system positioning electronic device 50
Show on the electronic map.In other embodiments, electronic device 50 can also be believed by path planning module (not being painted) according to map
Breath calculates the optimal path that user goes to 55 position of electronic device with motion track.And in other embodiments, it can also
By distance calculation module, straight line meter between user and electronic device 55 is calculated from can also be according to path planning module institute
The path computing path distance of planning.
Whereby, it is opposite to can provide other devices around user for the determination method of the device relative position of the embodiment of the present invention
Motion track in user current location, with the moving condition convenient for users to understanding other devices, and then convenient for users to
Go to the position of other devices.It should be noted that above-described embodiment all applies, and electronics fixed in electronic device 20
The mobile situation of device 10.In another embodiment, when electronic device 10 and electronic device 20 all move, the embodiment of the present invention
The determination method of device relative position can also obtain relative position of the electronic device 20 relative to electronic device 10.Below then again
It is described in detail for an embodiment.
Fig. 7 is the schematic diagram according to the determination method of device relative position depicted in yet another embodiment of the invention.In Fig. 7
Electronic device 70 be device entrained by user, and electronic device 75 is then the device around user, and wherein electronics fills
Setting 70 for example detection electronic installation 75 and can calculate itself and electronics before and after unit time t according to the method in above-described embodiment
First distance L1 and second distance L2 between device 75, while also calculating its first displacement moved in unit time t
dA,1.Unlike previous embodiment, in the present embodiment, electronic device 75 can calculate it in moved in unit time t
Two displacement dB,1, and electronic device 70 is sent to by wireless communication unit, this second displacement dB,1Calculation method also can refer to
The related description of Fig. 2 and 3, details are not described herein.Then, electronic device 70 will be as a reference point with its current location, by first
Distance L1, the first displacement dA,1With second displacement dB,1Three sides as triangle of difference and second distance L2, utilize triangle
Inequality calculates first relative position of the electronic device 75 relative to reference point (i.e. the current location of electronic device 70).
Specifically, Fig. 8 is the model according to the determination method of device relative position depicted in yet another embodiment of the invention
Example.It is the initial position of the electronic device 75 using in Fig. 7 as B referring to Fig. 7 and Fig. 8, Fig. 80Endpoint (that is, coordinate (0,
0) initial position of electronic device 70 is as A), and using in Fig. 70Endpoint.In addition, A1And B1Endpoint then respectively represents unit time t
The position of electronic device 70 and 75 afterwards.
A in Fig. 80Endpoint is to B0The distance L of endpoint1First distance L in as Fig. 71, A in Fig. 81Endpoint is to B1Endpoint
Distance L2Second distance L in as Fig. 72, vector in Fig. 8Represent the first displacement d in Fig. 7A,1, and vector in Fig. 8
The second displacement d being represented as in Fig. 7B,1.Assuming that B0Endpoint is parallel to the right A1Endpoint and B1The line of endpoint and extended distance L2
It can produce A1' endpoint, and with A0To A on the basis of endpoint1' vector of endpoint is.By A0、A1、B0And A1' endpoint line can shape
At parallelogram, and vectorFor vectorWithDifference.By distance L in Fig. 81、L2And vectorAs triangle
Three sides, then the triangle inequality illustrated according to Fig. 4 A is it can be learnt that A1' endpoint coordinate and with B0On the basis of endpoint extremely
A1' endpoint vector.Due to A0、A1、B0And A1' endpoint line is parallelogram, therefore with B1To A on the basis of endpoint1Endpoint
Vector be also.Finally, again with A1Endpoint is as a reference point, then can be derived from electronic device 75 currently relative to electronic device
70 the first relative position.
Whereby, in the case where user and its friend have mobile, user still can through the embodiment of the present invention
The determination method of device relative position obtains relative position of its friend relative to oneself.
It should be noted that above-described embodiment obtains other devices relative to oneself in the case where not using positioning system
Relative position.However, in one embodiment, electronic device or surrounding other devices entrained by the user wherein one
A positioning system that is able to use is come when positioning, the determination method of the device relative position of the embodiment of the present invention can also be by above-mentioned acquirement
Relative position position resulting absolute position (for example, latitude and longitude coordinates) with device herein and combine, to deduce all devices
Absolute position.
For example, Fig. 9 is the determination method according to application apparatus relative position depicted in yet another embodiment of the invention
Schematic diagram.Fig. 9 is please referred to, electronic device 91 to 99 can detect respectively neighbouring electronic device using the method for above-described embodiment
And its relative position with these electronic devices is obtained, obtain the method for relative position referring to figure 2. to the related description of Fig. 8,
Details are not described herein.In one embodiment, it is assumed that electronic device 91 entrained by user (is not painted) equipped with positioning system,
This positioning system can support at least one following system: global positioning system (Global Positioning System, GPS),
Auxiliary global satellite positioning system (Assisted Global Positioning System, AGPS), GALILEO positioning system
(Galileo Positioning System) or Global Navigation Satellite System (GLObal NAvigation Satellite
System, GLONASS), but it is not only restricted to this, base station can also be used or Wi-Fi hotspot is positioned.Wherein, electronic device 91
It can be positioned by positioning system, to obtain the absolute position (for example, GPS latitude and longitude coordinates) where it, and electronic device 91
Can absolute position as where absolute position computing module (not being painted) according to it and electronic device 95 relative to electronic device 91
Relative position, calculate electronic device 95 absolute position (for example, the coordinate of relative position is converted into latitude and longitude coordinates, then
It is mutually added and subtracted according to direction with absolute position).The rest may be inferred for remaining electronic device, can also obtain respective absolute position.
In another embodiment, it is assumed that the electronic device 91 that user carries is not available positioning system, but electronic device
92 have positioning system.Then electronic device 92 can be positioned using positioning system, to obtain the absolute position where it, and will
This absolute position sends electronic device 91 to.Whereby, electronic device 91 (can not be painted) basis by absolute position computing module
Received electronic device 92 absolute position and relative position of the electronic device 92 relative to electronic device 91, calculate electronics
The absolute position of device 91 is (for example, the coordinate of relative position is converted into latitude and longitude coordinates, then according to direction and the first absolute position
It sets and mutually adds and subtracts).The rest may be inferred for remaining electronic device, can also obtain respective absolute position.
In another embodiment, it is assumed that the user of electronic device 91 to 99 is not available, but electronic device 91 to 99
One of user knows the absolute position where it at present, then this user can by way of being clicked on map or
Current position to be selected by way of menu, and send this current absolute position to remaining electronic device, then remaining
Electronic device can also obtain respective absolute position.
Whereby, it after electronic device establishes line each other by wireless signal (for example, WiFi), can be formed such as Fig. 9
In topological network, it is only necessary to wherein electronic device can position by positioning system or receive the letter of current absolute position
Breath, then other electronic devices in topological network also deduce the absolute position at respective place.
In addition, in another embodiment, holding user's starting of electronic device 10 and electronic device 20 respectively when two
After judging the function of other side relative position and completing card card or pairing using such as NFC, what electronic device 10 and 20 can be current
It detects respectively as starting point, and using sensor, such as accelerometer, gyroscope and compass etc. and calculates displacement in position
Trajectory path, then the deformation trace path of itself is shared with mutually another electronic device, such electronic device 10 and 20 is
The relative position of other side can be calculated by the information and electronic device 10 of starting point and 20 deformation trace routing information；Or
The deformation trace path of oneself uni-directionally can be shared with electronic device 10 by electronic device 20, then electronic device 10 can push away
Calculate the relative position of electronic device 20.In this way, other side merely can be calculated using the deformation trace path of two electronic devices
Relative position, without being calculated with triangulation.
And when needing to know other side relative position, starting judges the function of other side relative position, or can need
When using the function of judging other side relative position, then carries out ditch and pass to certification or pairing.For example, two users can open phase
The application program of pass, and being matched for example, by the mode of NFC, and directly using the position matched as starting point, and
Start the relative position of tracking other side, and starting point and mutual motion track can be shown on the electronic device.
In conclusion the determination method and electronic device of apparatus of the present invention relative position are by electronic device in two differences
Time point is respectively transmitted or receives wireless signal to detect other devices around, and the signal for measuring these device return path signals is strong
Degree or two-way time, so as to calculate the distance between electronic device and other devices.In addition, detecting electronics by sensor
The displacement of device itself can be combined the distance of above-mentioned calculating to calculate other devices relative to electronic device with this displacement
Relative position is finally shown the relative position of these electronic devices on the screen of electronic device with graphic interface.Whereby,
User can learn that around other devices are relative to oneself indoors or other places can not or being not intended to using positioning system
Relative position.
Although the present invention has been disclosed by way of example above, it is not intended to limit the present invention., any those skilled in the art
Member, without departing from the spirit and scope of the present invention, when can make some changes and embellishment, therefore protection scope of the present invention is when view
Subject to scope of the appended claims institute defender.
Claims (13)
1. a kind of determination method of device relative position, for determining a phase of a second electronic device by one first electronic device
To position, this method includes the following steps:
According to the wireless signal between the second electronic device, calculate the second electronic device and first electronic device it
Between a first distance；
After one first unit time, according to the wireless signal with calculate the second electronic device and first electronic device it
Between a second distance and calculate first electronic device in moved in first unit time one first displacement；
The second electronic device calculates it in the third displacement moved in first unit time, and sends first electricity to
Sub-device；And
Using first electronic device as a reference point, according to the first distance, this first displacement with the third displacement difference with
And the second distance calculates one first relative position of the second electronic device relative to first electronic device.
2. according to the method described in claim 1, further include:
Open an application-specific；And
It is passed in a manner of near-field communication with second device progress ditch and carries out certification and/or matcher.
3. according to the method described in claim 1, wherein calculating being somebody's turn to do between first electronic device and the second electronic device
The step of first distance includes:
Send the wireless signal；
Receive the feedback signal that the second electronic device responds wireless signal passback；And
According to a signal strength of the feedback signal, a distance collation table is compared to obtain the first distance.
4. according to the method described in claim 1, wherein calculating first electronic device in moving in first unit time
This first displacement the step of include:
First displacement is calculated using the received sensitive information of accelerometer, gyroscope, electronic compass or combinations thereof institute.
5. according to the method described in claim 1, wherein calculating being somebody's turn to do between first electronic device and the second electronic device
After the step of first relative position, further includes:
Centered on the reference point, which is shown with graphic interface.
6. according to the method described in claim 1, wherein after first unit time, further includes:
First electronic device is positioned using a positioning system, to obtain one first absolute position of first electronic device；With
And
According to first absolute position and first relative position, one second absolute position of the second electronic device is calculated.
7. according to the method described in claim 1, wherein after first unit time, further includes:
The second electronic device is positioned using a positioning system, to obtain one second absolute position, and send to this first
Electronic device；And
First electronic device calculates the one of first electronic device according to second absolute position and first relative position
One absolute position.
8. a kind of electronic device, comprising:
One distance calculation module, according to a wireless communication of a wireless communication unit of the electronic device and the transmission of another electronic device
Number, the first distance between another electronic device and the electronic device is calculated, after one first unit time, according to this
Wireless signal calculates a second distance of another electronic device Yu the electronic device；
One displacement computing module, is detected using an at least sensor and calculates the electronic device and moved in first unit time
One first displacement；And
One relative position computing module,
Wherein another electronic device calculates it in the third displacement moved in first unit time, and sends the electricity to
Sub-device, wherein
The relative position computing module by the first distance, first displacement and is somebody's turn to do also using the electronic device as a reference point
Three sides of the difference and the second distance of third displacement as a triangle, calculate another electronics using a triangle inequality
One first relative position of the device relative to the electronic device.
9. electronic device according to claim 8 further includes an application-specific, wherein being opened in the application-specific
Qi Hou, the electronic device are passed to second device progress ditch in a manner of near-field communication and carry out certification and/or matcher.
10. electronic device according to claim 8, wherein the distance calculation module also utilizes the wireless communication unit to send
The wireless signal simultaneously receives the feedback signal that another electronic device responds wireless signal passback, and according to the feedback letter
Number a signal strength, compare a distance collation table to obtain the first distance.
11. electronic device according to claim 8, wherein the sensor include accelerometer, gyroscope, compass wherein
One or a combination set of.
12. electronic device according to claim 8, further includes:
One absolute position computing module positions the electronic device using a positioning system, to obtain the one first of the electronic device
Absolute position calculates one second absolute position of another electronic device according to first absolute position and first relative position
It sets.
13. electronic device according to claim 8, wherein another electronic device is also determined using a positioning system
Position, to obtain one second absolute position, and sends the electronic device to, and the electronic device further include:
One absolute position computing module calculates the one of the electronic device according to second absolute position and first relative position
First absolute position.
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| CN110196046B (en) * | 2015-11-16 | 2022-11-22 | 华为终端有限公司 | Positioning method and device |
| CN108141835B (en) * | 2015-12-31 | 2020-06-16 | 华为技术有限公司 | Positioning method of communication equipment and communication equipment |
| CN107170298A (en) * | 2016-03-07 | 2017-09-15 | 群光电子股份有限公司 | The collision avoidance system and its method of unmanned vehicle |
| CN106781250A (en) * | 2016-12-25 | 2017-05-31 | 佛山潮伊汇服装有限公司 | Dynamic distance monitoring method and terminal |
| CN106705978A (en) * | 2016-12-25 | 2017-05-24 | 佛山潮伊汇服装有限公司 | Dynamic distance early warning method and wearable terminal |
| CN109387809B (en) * | 2017-08-02 | 2021-01-15 | 中国移动通信有限公司研究院 | Method for positioning terminal and positioning terminal |
| CN110198517B (en) * | 2018-05-10 | 2021-07-20 | 腾讯科技（深圳）有限公司 | Port scanning method and system based on self-learning path selection |
| CN109618280A (en) * | 2019-01-03 | 2019-04-12 | 广州杰赛科技股份有限公司 | Localization method, device, equipment and storage medium based on dynamic reference node |
| CN111624546A (en) * | 2019-02-28 | 2020-09-04 | 黄暐皓 | Object positioning method |
| CN111757261B (en) * | 2019-05-31 | 2022-09-23 | 广东小天才科技有限公司 | Method for determining indoor position and terminal equipment |
| CN110677807B (en) * | 2019-09-29 | 2021-12-21 | 歌尔股份有限公司 | TWS double-wireless earphone searching method and system and TWS double-wireless earphone |
| CN112887914A (en) * | 2019-11-30 | 2021-06-01 | 深圳市海思半导体有限公司 | Method and device for positioning between terminals |
| CN111356228A (en) * | 2020-03-03 | 2020-06-30 | 上海万位数字技术有限公司 | Bluetooth positioning system and Bluetooth positioning method of travel equipment |
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| JP2865043B2 (en) * | 1996-02-02 | 1999-03-08 | 日本電気株式会社 | Mobile radio telephone equipment |
| GB0324098D0 (en) * | 2003-10-15 | 2003-11-19 | Koninkl Philips Electronics Nv | Method and apparatus for indicating the location of an object |
| JP3870952B2 (en) * | 2004-04-15 | 2007-01-24 | セイコーエプソン株式会社 | Monitoring system, terminal device, moving body monitoring method, terminal device control method, terminal device control program, computer-readable recording medium recording terminal device control program, management device, management device control method, management device Control program |
| CN101094024A (en) * | 2006-06-19 | 2007-12-26 | 康舒科技股份有限公司 | Method and device for pointing to strong or weak of radio signal power in use for wireless communication device |
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