CN112637758A

CN112637758A - Equipment positioning method and related equipment thereof

Info

Publication number: CN112637758A
Application number: CN202011376728.6A
Authority: CN
Inventors: 何彦杉; 许强; 刘哲; 黄雪妍
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-08-05
Filing date: 2020-11-30
Publication date: 2021-04-09
Anticipated expiration: 2040-11-30
Also published as: WO2022028362A1; CN112637758B; CN116156417A

Abstract

The embodiment of the application discloses a device positioning method, which comprises the following steps: acquiring the position change of the first terminal equipment, wherein the position change is determined according to the first data acquired by the second sensor; when the position change of the first terminal equipment exceeds a threshold value, triggering the first sensor to change from a first working state to a second working state, wherein the power consumption of the first sensor in the first working state is less than that in the second working state; and acquiring first position information of the first terminal device, wherein the first position information is determined according to second data acquired by the first sensor in the second working state. According to the method and the device, only when the position change of the first terminal equipment is determined to exceed the threshold value based on the second data acquired by the second sensor with low power consumption, the first sensor with high power consumption is started, and the power consumption of the first terminal equipment is reduced.

Description

Equipment positioning method and related equipment thereof

The present application claims priority of chinese patent application entitled "a positioning method and apparatus thereof," filed by the chinese intellectual property office of china at 8/5/2020, application number 202010780901.2, the entire contents of which are incorporated herein by reference.

Technical Field

The present application relates to the field of computers, and in particular, to a method for positioning a device and a related device.

Background

Wireless location technology refers to measurement and calculation methods, i.e., location algorithms, used to determine the location of a mobile user. The most common positioning techniques currently used are mainly: time difference of arrival (AOA) techniques, time of arrival (TOA) and time difference of arrival (TDOA) techniques, and the like. Among them, TDOA technology is the most popular scheme at present, and it is also the technology adopted by Ultra Wide Band (UWB). UWB is a carrier-less communication technology that does not use a carrier, but rather uses a sequence of short energy pulses, spread the pulses over a range of frequencies by orthogonal frequency division modulation or direct sequencing.

The spatial interaction refers to a man-machine interaction technology and method based on spatial position perception (including relative positions and angles between devices and the like), in order to achieve a better use experience, spatial perception needs to be achieved among multiple devices of a user, for example, in the prior art, a UWB technology is used to achieve an Airdrop directional sharing function. However, the power consumption of the device positioning based on the UWB implementation is high, and although good experience can be brought to the user in terms of spatial interaction, the use time of the terminal device is also reduced.

Disclosure of Invention

In a first aspect, the present application provides an apparatus positioning method, which is applied to a first terminal apparatus, where the first terminal apparatus may be a terminal apparatus in an intelligent home system or other indoor/outdoor scenarios. The data collected by the first sensor and the second sensor are used for positioning the first terminal device by the device, the data collected by the second sensor is used for determining the position change of the first terminal device, the first terminal device can start the sensor carried by the first terminal device in order to determine the relative position with other terminal devices, and the data collected by the sensor can be used for positioning the device. In order to obtain a high-precision device positioning result, the first terminal device may turn on a first sensor with higher positioning precision, and the sensor with higher positioning precision in this application does not mean that the sensor has positioning capability, but means that the calculation result of device positioning based on data collected by the sensor has higher precision. It should be understood that the first sensor may be a high-precision sensor or a combination of multiple precision sensors, and the embodiments of the present application are not limited thereto. The data collected by the second sensor is used for determining the position change of the first terminal device, that is, the data collected by the second sensor can be used for determining the displacement of the terminal device, the positioning accuracy is low when the positioning is performed based on the data collected by the second sensor, but the power consumption correspondingly required by the terminal device is also low when the sensors are turned on. It should be understood that the second sensor may also be other sensors that may have lower positioning accuracy and lower power consumption, and the application is not limited thereto.

The data collected by the second sensor is used for determining the position change of the first terminal device, however, the data collected by the first sensor can be used for determining the relative position between the terminal devices, and the data collected by the second sensor can also be used for determining the relative position between the terminal devices, or the data collected by the second sensor can be used for determining the size of the position change of the terminal device, but cannot be used for determining the relative position between the terminal devices. The power of the first sensor is greater than the power of the second sensor, that is, the power consumption required by the first terminal device to keep the first sensor turned on per unit time is greater than the power consumption required by the first terminal device to keep the second sensor turned on.

The method comprises the following steps: acquiring the position change of the first terminal equipment, wherein the position change is determined according to the first data acquired by the second sensor; when the position change of the first terminal equipment exceeds a threshold value, the first sensor is triggered to change from a first working state to a second working state, and the power consumption of the first sensor in the first working state is smaller than that in the second working state. The second operating state may be a sensor off state, or a low power consumption state in which only a part of the sensor functions are on in a standby state. The first operating state may be a sensor on state or a high power consumption state turning on most of the sensor functions. For example, the first operating state is a sensor on state and the second operating state is a sensor off state. And acquiring first position information of the first terminal equipment, wherein the first position information is determined according to second data acquired by the first sensor.

In the embodiment of the present application, the threshold may include a distance threshold and an angle threshold. It should be noted that, different threshold values may be corresponded according to different device types of the first terminal device, and for example, the first terminal device may be a mobile device, such as a mobile phone, a Pad, AR glasses, a smart watch, a smart bracelet, and the like; the first terminal equipment can be semi-mobile equipment such as an intelligent sound box, a notebook computer and the like; the first terminal equipment can be fixed equipment such as wisdom screen, desktop computer, intelligent household electrical appliances. The corresponding threshold values of the mobile equipment, the semi-mobile equipment and the fixed equipment can be gradually reduced, that is, when the first terminal equipment is the mobile equipment, when the position change of the first terminal equipment exceeds a first threshold value, the first sensor is started, when the position change of the first terminal equipment exceeds a second threshold value, when the first terminal equipment is the semi-mobile equipment, the first sensor is started, when the position change of the first terminal equipment exceeds a third threshold value, the first sensor is started, when the first terminal equipment is the fixed equipment, the first threshold value is greater than a second threshold value, and the second threshold value is greater than a third threshold value.

The first terminal device may belong to a computing system, the computing system may be the smart home system described above or other indoor/outdoor scenes, and the computing system may include a plurality of terminal devices, where the plurality of terminal devices may include a control center, and the control center is also referred to as a target terminal device in this embodiment. The computing system can comprise a first terminal device, and in order to obtain the relative position between the first terminal device and other terminal devices in the computing system, the first terminal device can obtain second data collected by a first sensor arranged on the first terminal device, and the second data can be used for calculating the relative position between the first terminal device and other terminal devices in the computing system. The first location information may indicate a relative location, which may be a relative distance and/or a relative azimuth, between the first terminal device and other terminal devices in the computing system. The first location information may be directly expressed by a relative distance and/or a relative azimuth, or may be data for calculating the relative distance and/or the relative azimuth, and regardless of the representation manner of the first location information, the first location information may directly or indirectly obtain the relative location between the first terminal device and other terminal devices in the computing system.

In this embodiment, only when it is determined that the change in the position of the first terminal device exceeds the threshold value based on the first data collected by the second sensor with low power consumption, the first sensor with high power consumption is triggered to change from the first operating state to the second operating state, so that the power consumption of the first terminal device is reduced.

In one possible implementation, the method further comprises: before the position change of the first terminal device is obtained, second position information of the first terminal device is obtained, wherein the second position information is determined according to third data collected by the first sensor in the second working state; triggering the first sensor to change from the second operating state to the first operating state.

In this embodiment, second location information of the first terminal device may be obtained, where the second location information is determined according to third data acquired by the first sensor; the first terminal device may belong to a computing system, the computing system may be the smart home system described above or other indoor/outdoor scenes, and the computing system may include a plurality of terminal devices, where the plurality of terminal devices may include a control center, and the control center is also referred to as a target terminal device in this embodiment. The computing system may include a first terminal device, and in order to obtain a relative position with another terminal device in the computing system, the first terminal device may obtain third data collected by a first sensor provided on the first terminal device, where the third data may be used to calculate a relative position between the first terminal device and another terminal device in the computing system. The second location information may indicate a relative location, which may be a relative distance and/or a relative azimuth, between the first terminal device and other terminal devices in the computing system.

It should be understood that the second location information may be directly represented by the relative distance and/or the relative azimuth, or may be data for calculating the relative distance and/or the relative azimuth, and regardless of the representation manner of the first location information, the second location information may directly or indirectly obtain the relative location between the first terminal device and other terminal devices in the computing system.

Triggering the first sensor to change from the second operating state to the first operating state; it should be understood that the application is not limited to the timing sequence between the closing of the first sensor and the obtaining of the second position information of the first terminal device, and in one implementation, after the first sensor collects the third data, the first sensor may be triggered to change from the second operating state to the first operating state before the second position information of the first terminal device is obtained, and in one implementation, the first sensor may be triggered to change from the second operating state to the first operating state after the second position information of the first terminal device is obtained.

In order to reduce power consumption, the first sensor can be triggered to change from the second working state to the first working state. In one implementation, other end devices in the computing system may trigger the first end device to change from the second operating state to the first operating state, such as turning off its first sensor. Specifically, the first terminal device may receive an indication sent by other terminal devices in the computing system to turn off the first sensor, and turn off the first sensor based on the received indication.

In one possible design, the data accuracy of the data collected by the first sensor is greater than the data accuracy of the data collected by the second sensor.

It will be appreciated that in one implementation, the data collected by the second sensor is not available for performing a location operation of the first terminal device, and only a change in location determination of the first terminal device may be determined. In another implementation, the data collected by the second sensor may be used to perform a positioning operation on the first terminal device, however, the data accuracy of the data collected by the second sensor is smaller than the data accuracy of the data collected by the first sensor.

Specifically, if the first sensor and the second sensor of the first terminal device are turned on together, after the position of the first terminal device is changed, the positioning calculation of the first terminal device can be performed according to the data collected by the first sensor, the positioning calculation of the first terminal device can be performed according to the data collected by the second sensor (the positioning algorithm performed by using the data collected by the first sensor is the same as or similar to the positioning algorithm performed by using the data collected by the second sensor), however, the calculation result of the positioning calculation of the first terminal device can be performed according to the data collected by the first sensor, and the accuracy is higher than that of the calculation result of the positioning calculation of the first terminal device can be performed according to the data collected by the second sensor.

When the position change of the first terminal equipment is determined to exceed the threshold value based on the second data acquired by the second sensor with low power consumption, the positioning calculation is carried out through the data acquired by the first sensor with higher positioning precision, and the positioning accuracy is ensured.

In one possible design, the method further includes:

after the first sensor is triggered to change from a first working state to a second working state, the first sensor is triggered to change from the second working state to the first working state.

It should be understood that the application is not limited to the timing sequence between the triggering of the first sensor to change from the second operating state to the first operating state and the obtaining of the first position information of the first terminal device, and in one implementation, after the first sensor collects the second data, the first sensor may be triggered to change from the second operating state to the first operating state before the first position information of the first terminal device is obtained, and in one implementation, the first sensor may be triggered to change from the second operating state to the first operating state after the first position information of the first terminal device is obtained.

In one possible design, the first location information is indicative of a first relative location between the first terminal device and a second terminal device; the second position information is used for indicating a second relative position between the first terminal equipment and the second terminal equipment; the second terminal device and the first terminal device belong to the same computing system.

The first terminal device belongs to a computing system, which also includes other terminal devices (second terminal devices), which may be understood as one or more terminal devices.

In one possible design, the triggering the first sensor to change from the second operating state to the first operating state includes: and receiving a second indication sent by the second terminal device and used for triggering the first sensor to change from the second working state to the first working state, and triggering the first sensor to change from the second working state to the first working state based on the second indication.

In one possible design, the triggering the first sensor to change from the first operating state to the second operating state when the change in the position of the first terminal device exceeds a threshold includes:

when the position change of the first terminal equipment exceeds a threshold value, sending a third indication for indicating that the position change of the first terminal equipment exceeds the threshold value to the second terminal equipment;

and receiving a fourth indication sent by the second terminal equipment for triggering the first sensor to change from the first working state to the second working state, and triggering the first sensor to change from the first working state to the second working state based on the fourth indication.

In one possible design, the second terminal device includes M terminal devices, each of the M terminal devices including the first sensor;

the first position information is determined according to the second data and data collected by first sensors of N terminal devices in the M terminal devices, wherein N is smaller than or equal to M; and/or the presence of a gas in the gas,

the second location information is determined according to the third data and data collected by first sensors of N terminal devices of the M terminal devices, wherein N is smaller than or equal to M.

That is, the calculation of the first position may be performed based on data collected by the first sensors of all or part of the M terminal devices, in one implementation, N is smaller than M, and the N terminal devices are N terminal devices closest to the first terminal device among the M terminal devices, and when the N terminal devices among the M terminal devices collect data for determining the second position, the first sensors of the terminal devices other than the N terminal devices among the M terminal devices are in the first operating state, for example, in a closed state. In this embodiment, N terminal devices closest to the first terminal device may be selected to be in the second operating state, and the first position information may be calculated based on data collected by the first sensors of the N terminal devices. The number of N depends on the total number of the devices in the computing system, and the positioning accuracy of the second sensor of the first terminal device is higher, namely the higher the positioning accuracy of the second sensor is, the smaller N is. In the embodiment of the application, only N pieces of terminal equipment with close positions are selected, and energy conservation and consumption reduction can be realized under the condition of ensuring the system precision.

In one possible design, N is smaller than M, and the N terminal devices are N terminal devices closest to the first terminal device among the M terminal devices.

In one possible design, the first relative position and the second relative position comprise relative distances and/or relative azimuth angles. Where the relative azimuth may also be referred to as a relative pose, e.g., a relative 3DOF pose.

In one possible design, before the obtaining the second location information of the first terminal device, the method further includes:

indicating the first sensor to change from the first operating state to the second operating state.

In one possible design, the triggering the first sensor to change from the first operating state to the second operating state includes:

establishing connection with the second terminal equipment;

receiving a first indication sent by the second terminal device for triggering the first sensor to change from the first working state to the second working state, and triggering the first sensor to change from the first working state to the second working state based on the first indication.

In one scenario, the first terminal device may maintain the first sensor in the first operating state, e.g., in an off state, until receiving a first indication for triggering the first sensor to change from the first operating state to the second operating state or determining itself that the first operating state should be changed from the first operating state to the second operating state, taking the first operating state as the off state and the second operating state as the on state as an example, the first terminal device may keep the off state of the first sensor until the first terminal device establishes a connection with at least one terminal device (the second terminal device) in the computing system, a first indication sent by a second terminal device in the computing system to turn on the first sensor may be received, and the first terminal device may turn on the first sensor based on the first indication. Taking a computing system as an example of an intelligent home system, a target terminal device may be a smart screen, a first terminal device may be a mobile phone carried by a user, when the user returns to the indoor from the outdoor, the first terminal device may establish a connection with at least one terminal device in the intelligent home system, where the establishing of the connection may be a local area network connection, such as bluetooth, WIFI, and the like.

In one possible design, the obtaining the first location information of the first terminal device includes: and second data acquired by the first sensor are acquired, and first position information of the first terminal equipment is determined according to the second data.

In one possible design, the obtaining the first location information of the first terminal device includes: acquiring second data acquired by the first sensor and data acquired by the first sensor of the N pieces of terminal equipment, and determining first position information of the first terminal equipment according to the second data and the data acquired by the first sensor of the N pieces of terminal equipment; or, acquiring second data collected by the first sensor; sending the second data to a target terminal device of the M terminal devices, so that the target terminal device determines first position information of the first terminal device according to the second data, or so that the target terminal device determines the first position information of the first terminal device according to the second data and data collected by first sensors of the N terminal devices; and receiving the first position information sent by the target terminal equipment.

In one possible design, the obtaining the second location information of the first terminal device includes: and acquiring third data acquired by the first sensor, and determining second position information of the first terminal equipment according to the third data.

In one possible design, the obtaining the second location information of the first terminal device includes: acquiring third data acquired by the first sensor and data acquired by the first sensors of the N pieces of terminal equipment, and determining second position information of the first terminal equipment according to the third data and the data acquired by the first sensors of the N pieces of terminal equipment; or, acquiring third data collected by the first sensor; sending the third data to a target terminal device of the M terminal devices, so that the target terminal device determines second location information of the first terminal device according to the third data, or so that the target terminal device determines the second location information of the first terminal device according to the third data and data collected by the first sensors of the N terminal devices; and receiving the second position information sent by the target terminal equipment.

In one possible design, the first sensor includes at least one of the following sensors: the system comprises an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor and a vision sensor; the UWB sensor may include a UWB transmitter and a UWB receiver, the ultrasonic sensor may include an ultrasonic transmitter and an ultrasonic receiver, and the laser sensor may include a laser transmitter and a laser receiver.

The second sensor includes at least one of the following sensors: accelerometer sensor, gyroscope sensor, magnetometer sensor, Bluetooth Low Energy (BLE) and wireless fidelity (WIFI).

In one possible design, the first sensor includes at least one of the following sensors: the device comprises an accelerometer sensor and a gyroscope sensor, and the positioning precision of the device during positioning according to the data collected by the first sensor is greater than a preset value. When the accelerometer sensor and the gyroscope sensor are turned on, the power consumption of the first terminal device is low, but the positioning accuracy of the data acquired by the accelerometer sensor and the gyroscope sensor is also high when the device is positioned.

In a second aspect, the present application provides a device positioning apparatus applied to a first terminal device, the first terminal device includes a first sensor and a second sensor, wherein data collected by the first sensor is used for positioning the first terminal device, data collected by the second sensor is used for determining a position change of the first terminal device, and power of the first sensor is greater than power of the second sensor, the apparatus includes:

an obtaining module, configured to obtain a position change of the first terminal device, where the position change is determined according to first data acquired by the second sensor;

the sensor state change module is used for triggering the first sensor to change from a first working state to a second working state when the position change of the first terminal equipment exceeds a threshold value, and the power consumption of the first sensor in the first working state is smaller than that in the second working state;

the acquisition module is configured to acquire first location information of the first terminal device, where the first location information is determined according to second data acquired by the first sensor in the second working state.

In a possible design, the obtaining module is configured to obtain second location information of the first terminal device before obtaining the location change of the first terminal device, where the second location information is determined according to third data collected by the first sensor in the second working state;

the sensor state change module is used for triggering the first sensor to change from the second working state to the first working state.

In one possible design, the sensor state change module is to:

after the first sensor is triggered to change from the first working state to the second working state, the first sensor is triggered to change from the second working state to the first working state.

In one possible design, the first location information is indicative of a first relative location between the first terminal device and a second terminal device;

the second position information is used for indicating a second relative position between the first terminal equipment and the second terminal equipment;

the second terminal device and the first terminal device belong to the same computing system.

In a possible design, the sensor state change module is configured to receive a second indication sent by the second terminal device to trigger the first sensor to change from the second operating state to the first operating state, and trigger the first sensor to change from the second operating state to the first operating state based on the second indication.

In one possible design, the sensor state change module is configured to send, to the second terminal device, a third indication indicating that the change in the location of the first terminal device exceeds the threshold value when the change in the location of the first terminal device exceeds the threshold value;

In one possible design, the first relative position and the second relative position comprise relative distances and/or relative azimuth angles.

In a possible design, the sensor state change module is configured to instruct the first sensor to change from the first operating state to the second operating state before acquiring the second location information of the first terminal device.

In one possible design, the sensor state change module is configured to establish a connection with the second terminal device;

In one possible design, the obtaining module is configured to:

and second data acquired by the first sensor are acquired, and first position information of the first terminal equipment is determined according to the second data.

In one possible design, the obtaining module is configured to:

acquiring second data acquired by the first sensor and data acquired by the first sensor of the N pieces of terminal equipment, and determining first position information of the first terminal equipment according to the second data and the data acquired by the first sensor of the N pieces of terminal equipment; or the like, or, alternatively,

acquiring second data collected by the first sensor; sending the second data to a target terminal device of the M terminal devices, so that the target terminal device determines first position information of the first terminal device according to the second data, or so that the target terminal device determines the first position information of the first terminal device according to the second data and data collected by first sensors of the N terminal devices; and receiving the first position information sent by the target terminal equipment.

In one possible design, the obtaining module is configured to:

and acquiring third data acquired by the first sensor, and determining second position information of the first terminal equipment according to the third data.

In one possible design, the obtaining module is configured to:

acquiring third data acquired by the first sensor and data acquired by the first sensors of the N pieces of terminal equipment, and determining second position information of the first terminal equipment according to the third data and the data acquired by the first sensors of the N pieces of terminal equipment; or the like, or, alternatively,

acquiring third data collected by the first sensor; sending the third data to a target terminal device of the M terminal devices, so that the target terminal device determines second location information of the first terminal device according to the third data, or so that the target terminal device determines the second location information of the first terminal device according to the third data and data collected by the first sensors of the N terminal devices; and receiving the second position information sent by the target terminal equipment.

In one possible design, the first sensor includes at least one of the following sensors: the system comprises an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor and a vision sensor;

In one possible design, the first sensor includes at least one of the following sensors: the device comprises an accelerometer sensor and a gyroscope sensor, and the data precision of the data collected by the first sensor is greater than a preset value.

In a third aspect, the present application provides a terminal device, where the terminal device includes a processor and a memory, and the processor acquires a code stored in the memory to execute any one of the first aspect and optional implementations thereof.

In a fourth aspect, the present application provides a non-transitory computer-readable storage medium containing computer instructions for performing any one of the first and alternative implementations thereof.

In a fifth aspect, the present application further provides a computer program product comprising code that, when executed, is configured to perform any one of the first aspect and its optional implementations.

In a sixth aspect, a chip is provided, which includes a processor configured to perform some or all of the operations of the method described in the first aspect.

The embodiment of the application provides a device positioning method, which is applied to a first terminal device, wherein the first terminal device comprises a first sensor and a second sensor, the first sensor is used for positioning the first terminal device, data collected by the second sensor is used for determining the position change of the first terminal device, and the power of the first sensor is greater than that of the second sensor, and the method comprises the following steps: acquiring the position change of the first terminal equipment, wherein the position change is determined according to the first data acquired by the second sensor; when the position change of the first terminal equipment exceeds a threshold value, triggering the first sensor to change from a first working state to a second working state, wherein the power consumption of the first sensor in the first working state is less than that in the second working state; and acquiring first position information of the first terminal device, wherein the first position information is determined according to second data acquired by the first sensor in the second working state. By the mode, the first sensor with high power consumption is started only when the position change of the first terminal equipment is determined to exceed the threshold value based on the second data collected by the second sensor with low power consumption, and the power consumption of the first terminal equipment is reduced.

Drawings

Fig. 1a is a system architecture diagram of an intelligent home system according to an embodiment of the present application;

fig. 1b is a schematic structure of a terminal device provided in the present application;

fig. 2 is a block diagram of a software structure of a terminal device according to an embodiment of the present application;

fig. 3 is a flowchart illustrating an apparatus positioning method according to an embodiment of the present application;

fig. 4 is a flowchart illustrating an apparatus positioning method according to an embodiment of the present application;

fig. 5 is a flowchart illustrating an apparatus positioning method according to an embodiment of the present application;

fig. 6 is a flowchart illustrating an apparatus positioning method according to an embodiment of the present application;

fig. 7 is a flowchart illustrating an apparatus positioning method according to an embodiment of the present application;

fig. 8 is a flowchart illustrating an apparatus positioning method according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of an apparatus positioning device according to an embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of an apparatus positioning device according to an embodiment of the present disclosure;

fig. 11 is a structural schematic diagram of a terminal device provided in the present application.

Detailed Description

Embodiments of the present application will now be described with reference to the accompanying drawings, and it is to be understood that the described embodiments are merely illustrative of some, but not all, embodiments of the present application. As can be known to those skilled in the art, with the development of technology and the emergence of new scenarios, the technical solution provided in the embodiments of the present application is also applicable to similar technical problems.

The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus. The naming or numbering of the steps appearing in the present application does not mean that the steps in the method flow have to be executed in the chronological/logical order indicated by the naming or numbering, and the named or numbered process steps may be executed in a modified order depending on the technical purpose to be achieved, as long as the same or similar technical effects are achieved.

First, an application scenario of the application is introduced, the application can be applied to an intelligent home system or an office, a user home or the office can be provided with a plurality of terminal devices, and the plurality of terminal devices have mutual spatial awareness and form a spatial network (which may also be referred to as a computing system in the embodiment of the application).

Taking an intelligent home system as an example, fig. 1a is a system architecture diagram of an intelligent home system provided in an embodiment of the present application. As shown in fig. 1a, the smart home system includes a user terminal 11, a control center 12, and at least one screen terminal (e.g., screen terminals 13, 14); wherein the screen terminals 13, 14 are arranged at different locations. The user terminal 11 and at least one screen terminal (e.g., screen terminals 13, 14) may be in the same area or in different areas, for example, the user terminal 11 may be in a living room, and the screen terminal 13 may be in the living room or a bedroom.

In some examples, the user terminal 11 and the screen terminals (e.g., screen terminals 13, 14) may each be a mobile phone, a tablet computer, a digital camera, a Personal Digital Assistant (PDA), a wearable device, a laptop computer (laptop), a smart television, a smart screen, or other electronic device having a display screen. Exemplary embodiments of the electronic device include, but are not limited to, an electronic device that hosts an iOS, android, Windows, dammon system (Harmony OS), or other operating system. The electronic device may also be other electronic devices such as a laptop computer (laptop) with a touch sensitive surface (e.g., a touch panel), etc. The embodiment of the present application does not specifically limit the type of the electronic device.

In some examples, the control center 12 may also be a terminal device, such as an electronic device with a display screen, which may be a mobile phone, a tablet computer, a digital camera, a Personal Digital Assistant (PDA), a wearable device, a laptop computer (laptop), a smart television, a smart screen, and so on.

It should be understood that the control center 12 may not be provided in the smart home system.

Both the user terminal 11 and the screen terminals (e.g., the screen terminals 13 and 14) may be connected to the control center 12 through a Wired network (Wired network) or a wireless network (wireless network), or the user terminal 11 and the screen terminals (e.g., the screen terminals 13 and 14) may be connected to each other through a Wired network (Wired network) or a wireless network (wireless network). For example, the network may be a Local Area Network (LAN) or a Wide Area Network (WAN) (e.g., the internet). The network between the user terminal 11 and the screen terminal and the control center 12 may be implemented using any known network communication protocol, which may be various wired or wireless communication protocols, such as ethernet, Universal Serial Bus (USB), firewire (firewire), global system for mobile communications (GSM), General Packet Radio Service (GPRS), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (wideband code division multiple access, WCDMA), time division multiple access (TD-SCDMA), long term evolution (long term evolution, LTE), new air interface (new radio, NR), bluetooth (bluetooth), wireless fidelity (Wi-radio), etc.

The user terminal 11 and the screen terminals (e.g., the screen terminals 13 and 14) may be connected to each other via a network such as a Wired network (Wired network) or a wireless network (wireless network). For the detailed network types, reference is made to the above description, and details are not repeated here.

A schematic hardware structure of a terminal device in the embodiment of the present application is described below, where the terminal device may be a user terminal 11 and/or a screen terminal (e.g., screen terminals 13 and 14).

Terminal equipment, also referred to as User Equipment (UE) or electronic equipment, may be deployed on land, including indoors or outdoors, hand-held or vehicle-mounted; can also be deployed on the water surface (such as a ship and the like); and may also be deployed in the air (e.g., airplanes, balloons, satellites, etc.). The electronic device may be a mobile phone (mobile phone), a tablet computer (pad), a wearable device with a wireless communication function (e.g., a smart watch), a location tracker with a positioning function, a computer with a wireless transceiving function, a Virtual Reality (VR) device, an Augmented Reality (AR) device, a wireless device in a smart home (smart home), or the like, which is not limited in this application. In the present application, the electronic device and the chip that can be disposed on the electronic device are collectively referred to as an electronic device.

The terminal devices in the present application may include, but are not limited to: smart mobile phones, televisions, tablet computers, bracelets, Head Mounted Display (HMD), Augmented Reality (AR) devices, Mixed Reality (MR) devices, cellular phones (cellular phones), smart phones (smart phones), Personal Digital Assistants (PDAs), tablet computers, in-vehicle terminal devices, laptop computers (laptop computers), Personal Computers (PCs), monitoring devices, robots, in-vehicle terminals, autonomous vehicles, and the like. Of course, in the following embodiments, the specific form of the terminal device is not limited at all.

In this embodiment, the terminal device may include one or more sensors (which may also be referred to as a first sensor in this application) for acquiring data used for determining a relative position with another terminal device, where the first sensor may be an Ultra Wide Band (UWB) sensor, an ultrasonic sensor, a laser sensor, and a vision sensor.

The data collected by the UWB sensor can be used to accurately measure the relative distance and the relative azimuth angle between the terminal device and the terminal device. The data collected by the ultrasonic sensor can be used for accurately measuring the relative distance between the terminal equipment and the terminal equipment. The data collected by the vision sensor can be used for accurate terminal device-to-terminal device angle measurement. The positioning accuracy is higher when positioning is performed based on the data acquired by the first sensor, but the power consumption correspondingly required by the terminal equipment is higher when the sensors are turned on simultaneously.

It should be understood that the first sensor may also be other sensors that may have higher positioning accuracy, and the application is not limited thereto.

In the embodiment of the present application, the terminal device may include one or more sensors (which may also be referred to as a second sensor in the present application) for acquiring data used to determine whether the terminal device moves or how much position change occurs. The second sensor may include at least one of the following sensors: accelerometer sensors, gyroscope sensors, magnetometer sensors, Bluetooth Low Energy (BLE), and wireless fidelity (WIFI).

The data collected by the accelerometer sensor can be used for measuring the movement of the terminal device, the inertial coordinate system of the terminal device is taken as the acceleration of the reference measuring device in the x, y and z directions, and the accelerometer sensor is the main sensing mode of the pedometer. The data collected by the gyroscope sensor can be used for measuring the rotation of the terminal equipment, and the inertial coordinate system of the equipment is used as the reference for measuring the rotation of the equipment in the x, y and z directions. The data collected by the magnetometer sensors can be used for measuring the magnetic field intensity detected by the terminal equipment and eliminating the severe change of the external environment, wherein the change of the magnetic force values in the x, y and z directions can represent the change of the position of the terminal equipment. The data collected by the BLE can be used for measuring the relative distance and relative angle between the terminal equipment and the terminal equipment with low accuracy, but the BLE is used as a sensor, the Received Signal Strength (RSS) scanned by the BLE can be used as a position fingerprint, and the change of the BLE RSS can be a change representing the position of the terminal equipment. Data collected by WIFI can be used for measuring the relative distance between the terminal equipment and the terminal equipment with low accuracy, but the network card is used as a sensor, the scanned RSS can be used as a position fingerprint, and the change of the general WiFi RSS can represent the change of the position of the terminal equipment. The positioning accuracy is low when positioning is performed based on the data acquired by the second sensor, but the power consumption correspondingly required by the terminal equipment is also low when the sensors are turned on simultaneously.

It should be understood that the second sensor may also be other sensors that may have a lower positioning accuracy, and the application is not limited thereto.

Referring to fig. 1b, a specific structure is taken as an example to illustrate the structure of the terminal device provided in the present application.

The terminal device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a Universal Serial Bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, a display screen 194, a Subscriber Identification Module (SIM) card interface 195, and the like. 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, a bone conduction sensor 180M, a motion sensor 180N, and the like.

It is to be understood that the illustrated structure of the embodiment of the present invention does not specifically limit the terminal device 100. In other embodiments of the present application, terminal device 100 may include more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

Processor 110 may include one or more processing units, such as: the processor 110 may include an Application Processor (AP), a modem processor, a Graphics Processing Unit (GPU), an Image Signal Processor (ISP), a controller, a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural-Network Processing Unit (NPU), etc. The different processing units may be separate devices or may be integrated into one or more processors.

The controller can generate an operation control signal according to the instruction operation code and the timing signal to complete the control of instruction fetching and instruction execution.

A memory may also be provided in processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may hold instructions or data that have just been used or recycled by the processor 110. If the processor 110 needs to reuse the instruction or data, it can be called directly from the memory. Avoiding repeated accesses reduces the latency of the processor 110, thereby increasing the efficiency of the system.

In some embodiments, processor 110 may include one or more interfaces. The interface may include an integrated circuit (I2C) interface, an integrated circuit built-in audio (I2S) interface, a Pulse Code Modulation (PCM) interface, a universal asynchronous receiver/transmitter (UART) interface, a Mobile Industry Processor Interface (MIPI), a general-purpose input/output (GPIO) interface, a Subscriber Identity Module (SIM) interface, and/or a Universal Serial Bus (USB) interface, etc.

The I2C interface is a bi-directional synchronous serial bus that includes a serial data line (SDA) and a Serial Clock Line (SCL). In some embodiments, processor 110 may include multiple sets of I2C buses. The processor 110 may be coupled to the touch sensor 180K, the charger, the flash, the camera 193, etc. through different I2C bus interfaces, respectively. For example: the processor 110 may be coupled to the touch sensor 180K through an I2C interface, so that the processor 110 and the touch sensor 180K communicate through an I2C bus interface to implement the touch function of the terminal device 100.

The I2S interface may be used for audio communication. In some embodiments, processor 110 may include multiple sets of I2S buses. The processor 110 may be coupled to the audio module 170 via an I2S bus to enable communication between the processor 110 and the audio module 170. In some embodiments, the audio module 170 may communicate audio signals to the wireless communication module 160 via the I2S interface, enabling answering of calls via a bluetooth headset.

The PCM interface may also be used for audio communication, sampling, quantizing and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 may be coupled by a PCM bus interface. In some embodiments, the audio module 170 may also transmit audio signals to the wireless communication module 160 through the PCM interface, so as to implement a function of answering a call through a bluetooth headset. Both the I2S interface and the PCM interface may be used for audio communication.

The UART interface is a universal serial data bus used for asynchronous communications. The bus may be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, a UART interface is generally used to connect the processor 110 with the wireless communication module 160. For example: the processor 110 communicates with a bluetooth module in the wireless communication module 160 through a UART interface to implement a bluetooth function. In some embodiments, the audio module 170 may transmit the audio signal to the wireless communication module 160 through a UART interface, so as to realize the function of playing music through a bluetooth headset.

MIPI interfaces may be used to connect processor 110 with peripheral devices such as display screen 194, camera 193, and the like. The MIPI interface includes a Camera Serial Interface (CSI), a Display Serial Interface (DSI), and the like. In some embodiments, processor 110 and camera 193 communicate through a CSI interface to implement the capture function of terminal device 100. The processor 110 and the display screen 194 communicate through the DSI interface to implement the display function of the terminal device 100.

The GPIO interface may be configured by software. The GPIO interface may be configured as a control signal and may also be configured as a data signal. In some embodiments, a GPIO interface may be used to connect the processor 110 with the camera 193, the display 194, the wireless communication module 160, the audio module 170, the sensor module 180, and the like. The GPIO interface may also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, and the like.

The USB interface 130 is an interface conforming to the USB standard specification, and may specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, or the like. The USB interface 130 may be used to connect a charger to charge the terminal device 100, and may also be used to transmit data between the terminal device 100 and a peripheral device. And the earphone can also be used for connecting an earphone and playing audio through the earphone. The interface may also be used to connect other terminal devices, such as AR devices and the like.

It should be understood that the interface connection relationship between the modules according to the embodiment of the present invention is only an exemplary illustration, and does not limit the structure of the terminal device 100. In other embodiments of the present application, the terminal device 100 may also adopt different interface connection manners or a combination of multiple interface connection manners in the above embodiments.

The charging management module 140 is configured to receive charging input from a charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from a wired charger via the USB interface 130. In some wireless charging embodiments, the charging management module 140 may receive a wireless charging input through a wireless charging coil of the terminal device 100. The charging management module 140 may also supply power to the terminal device through the power management module 141 while charging the battery 142.

The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and/or the charge management module 140, and supplies power to the processor 110, the internal memory 121, the display 194, the camera 193, the wireless communication module 160, and the like. The power management module 141 may also be used to monitor parameters such as battery capacity, battery cycle count, battery state of health (leakage, impedance), etc. In some other embodiments, the power management module 141 may also be disposed in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 may be disposed in the same device.

The wireless communication function of the terminal device 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, a modem processor, a baseband processor, and the like.

The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. Each antenna in terminal device 100 may be used to cover a single or multiple communication bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example: the antenna 1 may be multiplexed as a diversity antenna of a wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.

The mobile communication module 150 may provide a solution including 2G/3G/4G/5G wireless communication applied on the terminal device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a Low Noise Amplifier (LNA), and the like. The mobile communication module 150 may receive the electromagnetic wave from the antenna 1, filter, amplify, etc. the received electromagnetic wave, and transmit the electromagnetic wave to the modem processor for demodulation. The mobile communication module 150 may also amplify the signal modulated by the modem processor, and convert the signal into electromagnetic wave through the antenna 1 to radiate the electromagnetic wave. In some embodiments, at least some of the functional modules of the mobile communication module 150 may be disposed in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 may be disposed in the same device as at least some of the modules of the processor 110.

The modem processor may include a modulator and a demodulator. The modulator is used for modulating a low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used for demodulating the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then passes the demodulated low frequency baseband signal to a baseband processor for processing. The low frequency baseband signal is processed by the baseband processor and then transferred to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, the receiver 170B, etc.) or displays an image or video through the display screen 194. In some embodiments, the modem processor may be a stand-alone device. In other embodiments, the modem processor may be provided in the same device as the mobile communication module 150 or other functional modules, independent of the processor 110.

The wireless communication module 160 may provide a solution for wireless communication applied to the terminal device 100, including Wireless Local Area Networks (WLANs) (e.g., wireless fidelity (Wi-Fi) networks), bluetooth (bluetooth, BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), and the like. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, performs frequency modulation and filtering processing on electromagnetic wave signals, and transmits the processed signals to the processor 110. The wireless communication module 160 may also receive a signal to be transmitted from the processor 110, perform frequency modulation and amplification on the signal, and convert the signal into electromagnetic waves through the antenna 2 to radiate the electromagnetic waves.

In some embodiments, the antenna 1 of the terminal device 100 is coupled to the mobile communication module 150 and the antenna 2 is coupled to the wireless communication module 160 so that the terminal device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technologies may include, but are not limited to: a fifth Generation mobile communication technology (5th-Generation, 5G) system, a global system for mobile communications (GSM), General Packet Radio Service (GPRS), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (wideband code division multiple access, WCDMA), time division code division multiple access (time-division code division multiple access, TD-SCDMA), long term evolution (long term evolution, LTE), bluetooth (bluetooth), global navigation satellite system (global navigation satellite system, GNSS), wireless fidelity (WiFi), wireless short-range communication (near field communication, field communication (near field communication), Radio Frequency Identification (RFID), radio frequency identification (radio frequency identification), radio frequency identification (rf) technology, radio frequency identification (IR/radio frequency identification), radio frequency identification (rf) technology, radio frequency identification (rf/radio frequency identification), and the like. The GNSS may include a Global Positioning System (GPS), a global navigation satellite system (GLONASS), a beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS), and/or a Satellite Based Augmentation System (SBAS), and the like.

In some embodiments, the terminal device 100 may also include a wired communication module (not shown in fig. 1 b), or the mobile communication module 150 or the wireless communication module 160 may be replaced with a wired communication module (not shown in fig. 1 b) that enables the terminal device to communicate with other devices through a wired network. The wired network may include, but is not limited to, one or more of the following: optical Transport Network (OTN), Synchronous Digital Hierarchy (SDH), Passive Optical Network (PON), Ethernet (Ethernet), or flexible Ethernet (FlexE), and the like.

The terminal device 100 implements a display function by 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 an application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or alter display information.

The display screen 194 is used to display images, video, and the like. The display screen 194 includes a display panel. The display panel may adopt a Liquid Crystal Display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (active-matrix organic light-emitting diode, AMOLED), a flexible light-emitting diode (FLED), a miniature, a Micro-oeld, a quantum dot light-emitting diode (QLED), and the like. In some embodiments, the terminal device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

The terminal device 100 may implement a shooting function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, the application processor, and the like.

The ISP is used to process the data fed back by the camera 193. For example, when a photo is taken, the shutter is opened, light is transmitted to the camera photosensitive element through the lens, the optical signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing and converting into an image visible to naked eyes. The ISP can also carry out algorithm optimization on the noise, brightness and skin color of the image. The ISP can also optimize parameters such as exposure, color temperature and the like of a shooting scene. In some embodiments, the ISP may be provided in camera 193.

The camera 193 is used to capture still images or video. The object generates an optical image through the lens and projects the optical image to the photosensitive element. The photosensitive element may be a Charge Coupled Device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The light sensing element converts the optical signal into an electrical signal, which is then passed to the ISP where it is converted into a digital image signal. And the ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signals into image signals in the formats of a standard RGB camera, YUV and the like. In some embodiments, the terminal device 100 may include 1 or N cameras 193, N being a positive integer greater than 1.

The digital signal processor is used for processing digital signals, and can process digital image signals and other digital signals. For example, when the terminal device 100 selects a frequency point, the digital signal processor is used to perform fourier transform or the like on the frequency point energy.

Video codecs are used to compress or decompress digital video. The terminal device 100 may support one or more video codecs. In this way, the terminal device 100 can play or record video in a plurality of encoding formats, such as: moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, and the like.

The NPU is a neural-network (NN) computing processor that processes input information quickly by using a biological neural network structure, for example, by using a transfer mode between neurons of a human brain, and can also learn by itself continuously. The NPU can implement applications such as intelligent recognition of the terminal device 100, for example: image recognition, face recognition, speech recognition, text understanding, and the like.

The external memory interface 120 may be used to connect an external memory card, such as a Micro SD card, to extend the storage capability of the terminal device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function. For example, files such as music, video, etc. are saved in an external memory card.

The internal memory 121 may be used to store computer-executable program code, which includes instructions. The internal memory 121 may include a program storage area and a data storage area. The storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required by at least one function, and the like. The storage data area may store data (such as audio data, a phonebook, etc.) created during use of the terminal device 100, and the like. In addition, the internal memory 121 may include a high-speed random access memory, and may further include a nonvolatile memory, such as at least one magnetic disk storage device, a flash memory device, a universal flash memory (UFS), and the like. The processor 110 executes various functional applications of the terminal device 100 and data processing by executing instructions stored in the internal memory 121 and/or instructions stored in a memory provided in the processor.

The terminal device 100 may implement an audio function through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the earphone interface 170D, and the application processor. Such as music playing, recording, etc.

The audio module 170 is used to convert digital audio information into an analog audio signal output and also to convert an analog audio input into a digital audio signal. The audio module 170 may also be used to encode and decode audio signals. In some embodiments, the audio module 170 may be disposed in the processor 110, or some functional modules of the audio module 170 may be disposed in the processor 110.

The speaker 170A, also called a "horn", is used to convert the audio electrical signal into an acoustic signal. The terminal device 100 can listen to music through the speaker 170A, or listen to a handsfree call.

The receiver 170B, also called "earpiece", is used to convert the electrical audio signal into an acoustic signal. When the terminal device 100 answers a call or voice information, it is possible to answer a voice by bringing the receiver 170B close to the human ear.

The microphone 170C, also referred to as a "microphone," is used to convert sound signals into electrical signals. When making a call or transmitting voice information, the user can input a voice signal to the microphone 170C by speaking the user's mouth near the microphone 170C. The terminal device 100 may be provided with at least one microphone 170C. In other embodiments, the terminal device 100 may be provided with two microphones 170C, which may implement a noise reduction function in addition to collecting sound signals. In other embodiments, the terminal device 100 may further include three, four or more microphones 170C to collect sound signals, reduce noise, identify sound sources, and implement directional recording functions.

The headphone interface 170D is used to connect a wired headphone. The headset interface 170D may be the USB interface 130, or may be an Open Mobile Terminal Platform (OMTP) standard interface of 3.5mm, or a cellular telecommunications industry association (cellular telecommunications industry association of the USA, CTIA) standard interface.

The pressure sensor 180A is used for sensing a pressure signal, and converting the pressure signal into an electrical signal. In some embodiments, the pressure sensor 180A may be disposed on the display screen 194. The pressure sensor 180A can be of a wide variety, such as a resistive pressure sensor, an inductive pressure sensor, a capacitive pressure sensor, and the like. The capacitive pressure sensor may be a sensor comprising at least two parallel plates having an electrically conductive material. When a force acts on the pressure sensor 180A, the capacitance between the electrodes changes. The terminal device 100 determines the intensity of the pressure from the change in the capacitance. When a touch operation is applied to the display screen 194, the terminal device 100 detects the intensity of the touch operation based on the pressure sensor 180A. The terminal device 100 may also calculate the touched position from the detection signal of the pressure sensor 180A. In some embodiments, the touch operations that are applied to the same touch position but different touch operation intensities may correspond to different operation instructions. For example: and when the touch operation with the touch operation intensity smaller than the first pressure threshold value acts on the short message application icon, executing an instruction for viewing the short message. And when the touch operation with the touch operation intensity larger than or equal to the first pressure threshold value acts on the short message application icon, executing an instruction of newly building the short message.

The gyro sensor 180B may be used to determine the motion attitude of the terminal device 100. In some embodiments, the angular velocity of terminal device 100 about three axes (i.e., x, y, and z axes) may be determined by gyroscope sensor 180B. The gyro sensor 180B may be used for photographing anti-shake. Illustratively, when the shutter is pressed, the gyro sensor 180B detects the shake angle of the terminal device 100, calculates the distance to be compensated for by the lens module according to the shake angle, and allows the lens to counteract the shake of the terminal device 100 through a reverse movement, thereby achieving anti-shake. The gyroscope sensor 180B may also be used for navigation, somatosensory gaming scenes.

The air pressure sensor 180C is used to measure air pressure. In some embodiments, the terminal device 100 calculates an altitude from the barometric pressure measured by the barometric pressure sensor 180C, and assists in positioning and navigation.

The magnetic sensor 180D includes a hall sensor. The terminal device 100 may detect the opening and closing of the flip holster using the magnetic sensor 180D. In some embodiments, when the terminal device 100 is a folder, the terminal device 100 may detect the opening and closing of the folder according to the magnetic sensor 180D. And then according to the opening and closing state of the leather sheath or the opening and closing state of the flip cover, the automatic unlocking of the flip cover is set.

The acceleration sensor 180E can detect the magnitude of acceleration of the terminal device 100 in various directions (generally, three axes). The magnitude and direction of gravity can be detected when the terminal device 100 is stationary. The method can also be used for recognizing the posture of the terminal equipment, and is applied to horizontal and vertical screen switching, pedometers and other applications.

A distance sensor 180F for measuring a distance. The terminal device 100 may measure the distance by infrared or laser. In some embodiments, shooting a scene, the terminal device 100 may range using the distance sensor 180F to achieve fast focus.

The proximity light sensor 180G may include, for example, a Light Emitting Diode (LED) and a light detector, such as a photodiode. The light emitting diode may be an infrared light emitting diode. The terminal device 100 emits infrared light to the outside through the light emitting diode. The terminal device 100 detects infrared reflected light from a nearby object using a photodiode. When sufficient reflected light is detected, it can be determined that there is an object near the terminal device 100. When insufficient reflected light is detected, the terminal device 100 can determine that there is no object near the terminal device 100. The terminal device 100 can utilize the proximity light sensor 180G to detect that the user holds the terminal device 100 close to the ear for talking, so as to automatically turn off the screen to achieve the purpose of saving power. The proximity light sensor 180G may also be used in a holster mode, a pocket mode automatically unlocks and locks the screen.

The ambient light sensor 180L is used to sense the ambient light level. The terminal device 100 may adaptively adjust the brightness of the display screen 194 according to the perceived ambient light level. The ambient light sensor 180L may also be used to automatically adjust the white balance when taking a picture. The ambient light sensor 180L may also cooperate with the proximity light sensor 180G to detect whether the terminal device 100 is in a pocket, in order to prevent accidental touches.

The fingerprint sensor 180H is used to collect a fingerprint. The terminal device 100 can utilize the collected fingerprint characteristics to realize fingerprint unlocking, access to an application lock, fingerprint photographing, fingerprint incoming call answering and the like.

The temperature sensor 180J is used to detect temperature. In some embodiments, the terminal device 100 executes a temperature processing policy using the temperature detected by the temperature sensor 180J. For example, when the temperature reported by the temperature sensor 180J exceeds the threshold, the terminal device 100 performs a reduction in performance of a processor located near the temperature sensor 180J, so as to reduce power consumption and implement thermal protection. In other embodiments, the terminal device 100 heats the battery 142 when the temperature is below another threshold to avoid the terminal device 100 being abnormally shut down due to low temperature. In other embodiments, when the temperature is lower than a further threshold, the terminal device 100 performs boosting on the output voltage of the battery 142 to avoid abnormal shutdown due to low temperature.

The touch sensor 180K is also called a "touch device". The touch sensor 180K may be disposed on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, which is also called a "touch screen". The touch sensor 180K is used to detect a touch operation applied thereto or nearby. The touch sensor can communicate the detected touch operation to the application processor to determine the touch event type. Visual output associated with the touch operation may be provided through the display screen 194. In other embodiments, the touch sensor 180K may be disposed on the surface of the terminal device 100, different from the position of the display screen 194.

The bone conduction sensor 180M may acquire a vibration signal. In some embodiments, the bone conduction sensor 180M may acquire a vibration signal of the human vocal part vibrating the bone mass. The bone conduction sensor 180M may also contact the human pulse to receive the blood pressure pulsation signal. In some embodiments, the bone conduction sensor 180M may also be disposed in a headset, integrated into a bone conduction headset. The audio module 170 may analyze a voice signal based on the vibration signal of the bone mass vibrated by the sound part acquired by the bone conduction sensor 180M, so as to implement a voice function. The application processor can analyze heart rate information based on the blood pressure beating signal acquired by the bone conduction sensor 180M, so as to realize the heart rate detection function.

The motion sensor 180N may be configured to detect a moving object within a range shot by the camera, and acquire a motion profile or a motion trajectory of the moving object. For example, the motion Sensor 180N may be an infrared Sensor, a laser Sensor, a Dynamic Vision Sensor (DVS), or the like, and the DVS may specifically include a Sensor such as a DAVIS (Dynamic and Active-pixel Vision Sensor), an ATIS (Asynchronous Time-based Image Sensor), or a CeleX Sensor. DVS takes advantage of the biological visual properties that each pixel mimics a neuron and responds independently to relative changes in illumination intensity (hereinafter "light intensity"). When the relative change in light intensity exceeds a threshold, the pixel outputs an event signal including the location of the pixel, a timestamp, and information characterizing the light intensity.

The keys 190 include a power-on key, a volume key, and the like. The keys 190 may be mechanical keys. Or may be touch keys. The terminal device 100 may receive a key input, and generate a key signal input related to user setting and function control of the terminal device 100.

The motor 191 may generate a vibration cue. The motor 191 may be used for incoming call vibration cues, as well as for touch vibration feedback. For example, touch operations applied to different applications (e.g., photographing, audio playing, etc.) may correspond to different vibration feedback effects. The motor 191 may also respond to different vibration feedback effects for touch operations applied to different areas of the display screen 194. Different application scenes (such as time reminding, receiving information, alarm clock, game and the like) can also correspond to different vibration feedback effects. The touch vibration feedback effect may also support customization.

Indicator 192 may be an indicator light that may be used to indicate a state of charge, a change in charge, or a message, missed call, notification, etc.

The SIM card interface 195 is used to connect a SIM card. The SIM card can be brought into and out of contact with the terminal device 100 by being inserted into the SIM card interface 195 or being pulled out of the SIM card interface 195. The terminal device 100 may support 1 or N SIM card interfaces, where N is a positive integer greater than 1. The SIM card interface 195 may support a Nano SIM card, a Micro SIM card, a SIM card, etc. The same SIM card interface 195 can be inserted with multiple cards at the same time. The types of the plurality of cards may be the same or different. The SIM card interface 195 may also be compatible with different types of SIM cards. The SIM card interface 195 may also be compatible with external memory cards. The terminal device 100 interacts with the network through the SIM card to implement functions such as communication and data communication. In some embodiments, the terminal device 100 employs eSIM, namely: an embedded SIM card. The eSIM card may be embedded in the terminal device 100 and cannot be separated from the terminal device 100.

The software system of the terminal device 100 may adopt a hierarchical architecture, an event-driven architecture, a micro-core architecture, a micro-service architecture, or a cloud architecture. The embodiment of the present invention takes an Android system with a layered architecture as an example, and exemplarily illustrates a software structure of the terminal device 100.

Fig. 2 is a block diagram of a software configuration of the terminal device 100 according to the embodiment of the present invention.

The layered architecture divides the software into several layers, each layer having a clear role and division of labor. The layers communicate with each other through a software interface. In some embodiments, the Android system is divided into four layers, an application layer, an application framework layer, an Android runtime (Android runtime) and system library, and a kernel layer from top to bottom.

The application layer may include a series of application packages.

As shown in fig. 2, the application package may include applications such as camera, gallery, calendar, phone call, map, navigation, WLAN, bluetooth, music, video, short message, etc.

The application framework layer provides an Application Programming Interface (API) and a programming framework for the application program of the application layer. The application framework layer includes a number of predefined functions.

As shown in FIG. 2, the application framework layers may include a window manager, content provider, view system, phone manager, resource manager, notification manager, and the like.

The window manager is used for managing window programs. The window manager can obtain the size of the display screen, judge whether a status bar exists, lock the screen, intercept the screen and the like.

The content provider is used to store and retrieve data and make it accessible to applications. The data may include video, images, audio, calls made and received, browsing history and bookmarks, phone books, etc.

The view system includes visual controls such as controls to display text, controls to display pictures, and the like. The view system may be used to build applications. The display interface may be composed of one or more views. For example, the display interface including the short message notification icon may include a view for displaying text and a view for displaying pictures.

The phone manager is used to provide the communication function of the terminal device 100. Such as management of call status (including on, off, etc.).

The resource manager provides various resources for the application, such as localized strings, icons, pictures, layout files, video files, and the like.

The notification manager enables the application to display notification information in the status bar, can be used to convey notification-type messages, can disappear automatically after a short dwell, and does not require user interaction. Such as a notification manager used to inform download completion, message alerts, etc. The notification manager may also be a notification that appears in the form of a chart or scroll bar text at the top status bar of the system, such as a notification of a background running application, or a notification that appears on the screen in the form of a dialog window. For example, text information is prompted in the status bar, a prompt tone is given, the terminal device vibrates, an indicator light flickers, and the like.

The Android Runtime comprises a core library and a virtual machine. The Android runtime is responsible for scheduling and managing an Android system.

The core library comprises two parts: one part is a function which needs to be called by java language, and the other part is a core library of android.

The application layer and the application framework layer run in a virtual machine. And executing java files of the application program layer and the application program framework layer into a binary file by the virtual machine. The virtual machine is used for performing the functions of object life cycle management, stack management, thread management, safety and exception management, garbage collection and the like.

The system library may include a plurality of functional modules. For example: surface managers (surface managers), Media Libraries (Media Libraries), three-dimensional graphics processing Libraries (e.g., OpenGL ES), 2D graphics engines (e.g., SGL), and the like.

The surface manager is used to manage the display subsystem and provide fusion of 2D and 3D layers for multiple applications.

The media library supports a variety of commonly used audio, video format playback and recording, and still image files, among others. The media library may support a variety of audio-video encoding formats, such as MPEG4, h.264, MP3, AAC, AMR, JPG, PNG, and the like.

The three-dimensional graphic processing library is used for realizing three-dimensional graphic drawing, image rendering, synthesis, layer processing and the like.

The 2D graphics engine is a drawing engine for 2D drawing.

The kernel layer is a layer between hardware and software. The inner core layer at least comprises a display driver, a camera driver, an audio driver and a sensor driver.

The following describes in detail the steps of the device positioning method provided in this embodiment with reference to fig. 3, and as shown in fig. 3, the device positioning method may include the following steps:

301. and acquiring the position change of the first terminal equipment, wherein the position change is determined according to the first data acquired by the second sensor.

In the embodiment of the application, in an intelligent home system or other indoor/outdoor scenes, the terminal equipment needs to determine the relative position with other terminal equipment based on data acquired by a sensor carried by the terminal equipment.

In order to obtain a high-precision device positioning result, the first terminal device may turn on the first sensor with higher positioning precision. It should be understood that the first sensor may be a high-precision sensor or a combination of multiple precision sensors, and the embodiments of the present application are not limited thereto. The data collected by the second sensor is used for determining the position change of the first terminal device, that is, the data collected by the second sensor can be used for determining the displacement of the terminal device, the positioning accuracy is low when the positioning is performed based on the data collected by the second sensor, but the power consumption correspondingly required by the terminal device is also low when the sensors are turned on. It should be understood that the second sensor may also be other sensors that may have lower positioning accuracy and lower power consumption, and the application is not limited thereto.

The data collected by the second sensor is used for determining the position change of the first terminal device, however, the data collected by the first sensor can be used for determining the relative position between the terminal devices, and the data collected by the second sensor can also be used for determining the relative position between the terminal devices, or the data collected by the second sensor can be used for determining the size of the position change of the terminal device, but cannot be used for determining the relative position between the terminal devices.

Specifically, in one implementation, the first sensor may include, but is not limited to, at least one of the following sensors: the system comprises an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor and a vision sensor. The data collected by the UWB sensor can be used to accurately measure the relative distance and the relative azimuth angle between the terminal device and the terminal device. The data collected by the ultrasonic sensor can be used for accurately measuring the relative distance between the terminal equipment and the terminal equipment. The data collected by the vision sensor can be used for accurate terminal device-to-terminal device angle measurement. The positioning accuracy is higher when positioning is performed based on the data acquired by the first sensor, but the power consumption correspondingly required by the terminal equipment is higher when the sensors are turned on simultaneously.

Specifically, in one implementation, the first sensor may further include, but is not limited to, at least one of the following sensors: the device comprises an accelerometer sensor and a gyroscope sensor, and the positioning precision of the device during positioning according to the data collected by the first sensor is greater than a preset value. When the accelerometer sensor and the gyroscope sensor are turned on, the power consumption of the first terminal device is low, but the positioning accuracy of the data acquired by the accelerometer sensor and the gyroscope sensor is also high when the device is positioned.

In this embodiment, the first terminal device may belong to a computing system, the computing system may be the smart home system described above or other indoor/outdoor scenes, and the computing system may include a plurality of terminal devices, where the plurality of terminal devices may include one control center, and the control center is also referred to as a second terminal device in this embodiment.

In the embodiment of the application, the computing system includes a first terminal device, and in order to obtain a relative position with another terminal device in the computing system, the first terminal device may obtain first data acquired by a sensor provided on the first terminal device, where the first data may be used to calculate the relative position between the first terminal device and the other terminal device in the computing system.

In this embodiment, the first terminal device may include a first sensor and a second sensor, where data collected by the first sensor and the second sensor is used to perform device-to-device positioning on the first terminal device, data collected by the second sensor is used to determine a position change of the first terminal device, and power of the first sensor is greater than power of the second sensor, that is, in a unit time, power consumption required by the first terminal device to keep the first sensor turned on is greater than power consumption required by the first terminal device to keep the second sensor turned on. For example, the second sensor may include, but is not limited to, at least one of the following sensors: accelerometer sensor, gyroscope sensor, magnetometer sensor, Bluetooth Low Energy (BLE) and wireless fidelity (WIFI).

It should be understood that the second sensor may also be other sensors that may have lower positioning accuracy and lower power consumption, and the application is not limited thereto.

In this embodiment of the application, in a unit time, power consumption required for the first terminal device to keep the first sensor turned on is greater than power consumption required for the first terminal device to keep the second sensor turned on, however, positioning accuracy when performing device positioning according to data acquired by the first sensor is greater than positioning accuracy when performing device positioning according to data acquired by the second sensor.

That is to say, the relative position between the first terminal device and the other terminal devices can be accurately calculated based on the data collected by the first sensor, however, the power consumption required by the first terminal device is high, and the relative position between the first terminal device and the other terminal devices cannot be accurately calculated based on the data collected by the second sensor, however, the power consumption required by the first terminal device is low.

It should be understood that the data collected by the first sensor and the second sensor can be used for device positioning, however, the data collected by the first sensor can be used for determining the relative position between the terminal devices, and the data collected by the second sensor can also be used for determining the relative position between the terminal devices, or the data collected by the second sensor can be used for determining the size of the position change of the terminal devices, but cannot be used for determining the relative position between the terminal devices. However, the power consumption required for the first terminal device to keep the first sensor turned on is larger than the power consumption required for the first terminal device to keep the second sensor turned on per unit time.

According to the embodiment of the application, the power consumption of the first terminal device can be reduced on the premise that the relative position between the first terminal device and other terminal devices can be accurately calculated.

In the embodiment of the present application, the first sensor may include a first operating state and a second operating state; the second operating state may be a sensor off state, or a low power consumption state in which only a part of the sensor functions are on in a standby state. The first operating state may be a sensor on state or a high power consumption state turning on most of the sensor functions. For example, the first operating state is a sensor on state and the second operating state is a sensor off state.

Next, the first operation state will be described as an example of the sensor off state, and the second operation state will be described as an example of the sensor on state.

First, the timing when the first terminal device turns on the first sensor will be described.

In one scenario, the first terminal device may maintain a normally open state of the first sensor at all times.

In one scenario, when all devices in a computing system where a first terminal device is located are in a preset state, a first sensor of the terminal device in the computing system may be turned on, and then the first sensor of the first terminal device is turned on, where the preset state may mean that all the devices simultaneously satisfy the following conditions: are all in a starting state; the self-stopping movement is detected or only within a certain distance range, and the moving speed and the rotating speed are both smaller than certain preset values, for example, the moving speed is smaller than 0.01m/min, and the rotating speed is smaller than 1 degree/min.

In one scenario, the first terminal device may maintain the off state of the first sensor until a trigger to turn on the first sensor is received or it determines itself that the first sensor should be turned on, for example, the first terminal device may maintain the off state of the first sensor until after the first terminal device establishes a connection with at least one terminal device in the computing system, a fourth indication to turn on the first sensor sent by a target end device in the computing system may be received, the first end device may turn on the first sensor based on the fourth indication, wherein the computing system comprises M-1 terminal devices, wherein M-1 is a positive integer, and under the condition that the M-1 is larger than 1, each terminal device in the M-1 terminal devices is connected with at least one terminal device except the terminal device in the M-1 terminal devices. Taking a computing system as an example of an intelligent home system, a target terminal device may be a smart screen, a first terminal device may be a mobile phone carried by a user, when the user returns to the indoor from the outdoor, the first terminal device may establish a connection with at least one terminal device in the intelligent home system, where the establishing of the connection may be a local area network connection, such as bluetooth, WIFI, and the like.

In the embodiment of the application, after the third data acquired by the first sensor is acquired, in order to acquire the accurate position of the first terminal device, the second position information of the first terminal device needs to be calculated based on the third data acquired by the first sensor. It should be understood that the second location information may indicate a relative location between the first terminal device and other terminal devices in the computing system, which may be a relative distance and/or a relative orientation angle between the terminal devices.

It should be understood that the second location information may be directly expressed by the relative distance and/or the relative azimuth, or may be data for calculating the relative distance and/or the relative azimuth, and regardless of the representation manner of the second location information, the second location information may directly or indirectly obtain the relative location between the first terminal device and other terminal devices in the computing system.

Next, how to acquire the second location information of the first terminal device is described.

In this embodiment, the second location information may indicate a relative location between the first terminal device and other devices of the computing system.

In one implementation, the first terminal device may obtain third data collected by the first sensor, and determine the second location information of the first terminal device according to the third data, that is, the first terminal device may perform calculation of the second location information based on the third data collected by the first sensor.

In one implementation, the first terminal device may obtain third data acquired by the first sensor and data acquired by the first sensors of other terminal devices in the system, and determine the second location information of the first terminal device according to the third data and the data acquired by the first sensors of other terminal devices in the system, that is, the first terminal device may calculate the second location information based on the third data acquired by the first sensor of the first terminal device and the data acquired by the first sensors of other terminal devices in the computing system.

As shown in fig. 4, the geometric center of the first terminal device is used as the midpoint of the device, and is also used as the origin of the coordinate system of the device, and the device establishes an X, Y, Z coordinate system based on its own structure. The distance between the two devices is the length d of the central connecting line of the two devices in the space, and the direction angle between the two devices comprises an altitude angle alpha, a horizontal angle beta and a flip angle gamma.

Taking the first sensor as an example of a UWB sensor, taking the simplest scenario in which the computing system includes four devices A, B, C, D as an example, the UWB sensors of the four devices are turned on. Each device searches for surrounding UWB signals. Then, between every two devices, the computing system of the device calculates the relative distance between the devices by using a TDOA positioning algorithm, a TOF positioning algorithm and a TOA positioning algorithm, such as the distance between the device A and the device B8.10 m. In the UWB positioning algorithm, the device can be used as a positioning base station of other devices, and no base station is required to be additionally added. If device A, B, C acts as a base station, the computing system locates the position of device D relative to device A, B, C based on the distance of device D from device A, B, C. Based on TOF ranging, time synchronization between a base station and a label is not relied on, so that errors caused by clock synchronization deviation do not exist, but the time of the TOF ranging method depends on clock precision, and errors are caused by clock offset. In order to reduce the ranging error caused by the clock offset, a forward and reverse measurement method is generally adopted, that is, the far-end base station sends ranging information, the tag receives and replies the ranging information, then the tag initiates the ranging information, the far-end base station replies, and the time offset between the far-end base station and the tag is reduced by calculating the average value of the flight time, so that the ranging precision is improved. TDOA-based location methods are also known as hyperbolic location, which is based on the principle of measuring the difference in the propagation time of the UWB signal from device D to two UWB base stations (e.g., device A, B) to obtain a fixed distance difference between device D and the two UWB base stations. The TOA positioning algorithm, i.e., "time of arrival", is implemented by multiple communications between the UWB base station and the UWB tag, as shown in fig. 5: the UWB base station firstly sends a packet to the UWB tag, and simultaneously records the current time information of the UWB base station as T1, the UWB tag receives the information of the base station and returns an ACK, and the UWB base station receives the ACK of the UWB tag and records the current time information as T2. The UWB base station calculates the time difference Tr-T2-T1, and from this, calculates the distance: d-c Tr/2 where c is the speed of light. When the positioning system has more than or equal to 4 devices, the relative position and the azimuth angle can be positioned by a multipoint positioning method. Through the method, the second position information of the first terminal equipment can be obtained through calculation.

Taking the first sensor as an ultrasonic sensor as an example, the ultrasonic positioning mainly adopts a reflection type distance measuring method, the position of an object is determined by methods such as multilateral positioning and the like, the system consists of a main distance measuring device and a plurality of receivers, the main distance measuring device can be placed on a target to be measured, and the receivers are fixed in an indoor environment. When positioning is carried out, signals with the same frequency are transmitted to the receiver, the receiver receives the signals and then reflects the signals to be transmitted to the main distance meter, and the distance is calculated according to the time difference between the echo and the transmitted wave, so that the position is determined. When the positioning system has more than or equal to 3 devices, the relative position between the terminal devices can be calculated by a multipoint positioning method.

Taking the first sensor as an example of a laser sensor, the basic principle is that a laser pulse is emitted to an object to be measured and timing is started, and timing is stopped when reflected light is received. This time can be converted into the distance between the laser and the target. The laser rangefinder may also emit multiple laser pulses to determine whether an object is far away or near the light source by the doppler effect.

Taking the first sensor as an example of the visual sensor, the first terminal device may obtain an azimuth angle between the other device and the first terminal device through the first data acquired by the visual sensor, and if there is a device group whose positions are known to each other to form the multi-view vision, the position of the other device relative to the device group may be obtained.

It should be understood that the above manner of calculating the first position information is merely an illustration, and the embodiment of the present application is not limited thereto.

In one implementation, the first terminal device may not calculate the second location information, but send the third data acquired by the first sensor to other terminal devices in the computing system, and the other terminal devices may serve as a distributed computing system to complete the calculation of the second location information based on the third data, or one terminal device completes the calculation of the second location information based on the third data, and after the calculation of the second location information is completed, the second location information may be sent to the first terminal device, and then the first terminal device may obtain the second location information of the first terminal device. Specifically, the first terminal device may obtain third data acquired by the first sensor; sending the third data to other terminal devices in the computing system, so that the other terminal devices in the computing system determine the second position information of the first terminal device according to the third data, or so that the other terminal devices in the computing system determine the second position information of the first terminal device according to the third data and the data collected by the first sensors of the other terminal devices in the computing system; and receiving the second position information sent by other terminal equipment in the computing system.

In one implementation, a computing system includes M terminal devices, each of the M terminal devices includes the first sensor, and accordingly, the second location information is determined according to third data collected by the first sensor and data collected by first sensors of N terminal devices among the M terminal devices, where N is less than or equal to M.

That is, the second position information may be calculated based on data collected by the first sensors of all or part of the M terminal devices, in one implementation, N is smaller than M, and the N terminal devices are N terminal devices closest to the first terminal device among the M terminal devices, and when the N terminal devices among the M terminal devices collect data for determining the second position information, the first sensors of the terminal devices other than the N terminal devices among the M terminal devices are in a closed state. In this embodiment, N terminal devices closest to the first terminal device may be selected to turn on the first sensor, and the second position information may be calculated based on data collected by the first sensors of the N terminal devices. The number of N depends on the total number of the devices in the computing system, and the positioning accuracy of the second sensor of the first terminal device is higher, namely the higher the positioning accuracy of the second sensor is, the smaller N is. In the embodiment of the application, only N pieces of terminal equipment with close positions are selected, and energy conservation and consumption reduction can be realized under the condition of ensuring the system precision.

It should be understood that the turning on of the first sensor by the N of the M terminal devices may be triggered by a terminal device in the computing system.

In the embodiment of the application, the first location may be shared to each terminal device in the computing system, so that each terminal device in the computing system knows the relative location with the first terminal device.

It should be understood that, for each terminal device in the computing system, the relative position between itself and other terminal devices in the computing system may be obtained based on the above manner.

It should be understood that the first terminal device may also obtain other location information besides the second location information, for example, a relative location between other terminal devices, and the application is not limited thereto.

In this embodiment, the first sensor may be triggered to change from the second operating state to the first operating state, for example, the first sensor may be turned off.

In the embodiment of the present application, a position change of the first terminal device may be obtained, where the position change is determined according to the first data acquired by the second sensor.

In this embodiment, each terminal device in the computing system includes a second sensor, and each terminal device may keep the second sensor turned on all the time, where the second sensor may include at least one of the following sensors: accelerometer sensor, gyroscope sensor, magnetometer sensor, Bluetooth Low Energy (BLE) and wireless fidelity (WIFI).

In the embodiment of the application, the data precision of the data collected by the first sensor is greater than that of the data collected by the second sensor. It will be appreciated that in one implementation, the data collected by the second sensor is not available for performing a location operation of the first terminal device, and only a change in location determination of the first terminal device may be determined. In another implementation, the data collected by the second sensor may be used to perform a positioning operation on the first terminal device, however, the data accuracy of the data collected by the second sensor is smaller than the data accuracy of the data collected by the first sensor.

302. When the position change of the first terminal device exceeds a threshold value, the first sensor is triggered to change from the first working state to the second working state, for example, the first sensor can be turned on.

In this embodiment of the application, the data acquired by the second sensor may be used to determine whether the first terminal device has a location change and a location change amount. Specifically, the criterion for determining that the position change of the first terminal device exceeds the threshold may be a change of a signal acquired by the second sensor, taking the second sensor as WIFI as an example, the signal strength of multiple received WIFI signals may be changed, and it may be determined that the position of the first terminal device has changed, and the position change amount of the first terminal device may be determined according to the change size of the signal strength of the WIFI signals, where the signal of the WIFI may be WIFI RSS, and if the signal quantity change of the WIFI RSS exceeds the threshold, it may be determined that the position change of the first terminal device exceeds the threshold; the second sensor is used as the magnetometer sensor, the position change of the first terminal device can be determined according to the change of the signal strength received by the magnetometer sensor, and if the signal strength change received by the magnetometer sensor exceeds a threshold value, the position change of the first terminal device can be considered to exceed the threshold value.

It should be noted that, different threshold values may be corresponded according to different device types of the first terminal device, and for example, the first terminal device may be a mobile device, such as a mobile phone, a Pad, AR glasses, a smart watch, a smart bracelet, and the like; the first terminal equipment can be semi-mobile equipment such as an intelligent sound box, a notebook computer and the like; the first terminal equipment can be fixed equipment such as wisdom screen, desktop computer, intelligent household electrical appliances. The corresponding threshold values of the mobile equipment, the semi-mobile equipment and the fixed equipment can be gradually reduced, that is, when the first terminal equipment is the mobile equipment, when the position change of the first terminal equipment exceeds a first threshold value, the first sensor is started, when the position change of the first terminal equipment exceeds a second threshold value, when the first terminal equipment is the semi-mobile equipment, the first sensor is started, when the position change of the first terminal equipment exceeds a third threshold value, the first sensor is started, when the first terminal equipment is the fixed equipment, the first threshold value is greater than a second threshold value, and the second threshold value is greater than a third threshold value.

In the embodiment of the present application, the threshold may include a distance threshold and an angle threshold. For example, if the second sensor is an accelerometer sensor, the accelerometer threshold may be set based on the integral of the accelerometer value over time, i.e., distance, e.g., 0.2m, 0.5 m; if the second sensor is a gyroscope sensor, a gyroscope threshold value, for example, 20 °, 10 °; if the second sensor is a magnetometer sensor, a threshold of the magnetometer, such as 10%, may be set based on the strength of change of the magnetometer; if the second sensor is BLE, the RSS based on BLE may be used, if the RSS variation rate exceeds a certain percentage, i.e. exceeds a threshold, e.g. 20%; if the second sensor is WIFI, the RSS based on WIFI may be used, and if the RSS variation rate exceeds a certain ratio, it is determined that the RSS variation rate exceeds the threshold, for example, 20%.

For a mobile device, such as a mobile phone, considering that the user sits on a sofa and holds and uses the mobile phone all the time, some movement of the hand is not considered as the user moving the mobile phone, the threshold for the distance of the mobile phone is set to 0.5m, and the angle threshold is set to 30 °.

For a semi-mobile device, for example, the smart speaker distance threshold is set to 0.3m and the angle threshold is set to 20 °. For a stationary device, such as a smart large screen, the distance threshold is set to 0.1m and the angle threshold is set to 10 °.

In the embodiment of the application, if it is determined that the position change of the first terminal device exceeds the threshold value based on the first data acquired by the second sensor, the first sensor is triggered to change from the first working state to the second working state.

In this embodiment of the application, the first sensor may be triggered to be turned on by another terminal device in the computing system, specifically, if it is determined that the change in the position of the first terminal device exceeds the threshold value based on the first data acquired by the second sensor, the first terminal device may send, to the another terminal device in the computing system, a third indication indicating that the change in the position of the first terminal device exceeds the threshold value; the first terminal device may then receive a fourth indication sent by other terminal devices in the computing system to turn on the first sensor, and turn on the first sensor based on the fourth indication.

303. And acquiring first position information of the first terminal equipment, wherein the first position information is determined according to second data acquired by the first sensor.

In one implementation, a first terminal device may obtain second data collected by the first sensor, and determine first location information of the first terminal device according to the second data.

In one implementation, a first terminal device may obtain second data collected by the first sensor and data collected by the first sensors of the N terminal devices, and determine first location information of the first terminal device according to the second data and the data collected by the first sensors of the N terminal devices.

In one implementation, the first terminal device may obtain second data collected by the first sensor; sending the second data to a target terminal device of the M terminal devices, so that the target terminal device determines first position information of the first terminal device according to the second data, or so that the target terminal device determines the first position information of the first terminal device according to the second data and data collected by first sensors of the N terminal devices; and receiving the first position information sent by the target terminal equipment.

In one implementation, the first terminal device may not calculate the first location information by itself, but send the second data acquired by the first sensor to other terminal devices in the computing system, and the other terminal devices may be used as a distributed computing system to complete the calculation of the first location information based on the second data, or one terminal device completes the calculation of the first location information based on the second data, and after the calculation of the first location information is completed, the first location information may be sent to the first terminal device, and then the first terminal device may obtain the first location information of the first terminal device. Specifically, the first terminal device may obtain second data acquired by the first sensor; sending the second data to other terminal devices in the computing system, so that the other terminal devices in the computing system determine the second position where the first terminal device is located according to the second data, or so that the other terminal devices in the computing system determine first position information of the first terminal device according to the second data and data collected by the first sensors of the N terminal devices; and receiving the first position information sent by other terminal equipment in the computing system.

How to acquire the first location information of the first terminal device may refer to the related description of how to acquire the second location information of the first terminal device in the foregoing embodiment, and similar parts are not described herein again.

In one implementation, the first sensor may include, but is not limited to, at least one of the following: the device comprises an accelerometer sensor and a gyroscope sensor, and the positioning precision of the device during positioning according to the data collected by the first sensor is greater than a preset value. Taking the first sensor as an accelerometer sensor and a gyroscope sensor as an example, the first terminal device may integrate the signal of the accelerometer sensor over time according to the signal of the accelerometer sensor, that is, obtain a moving distance since the last time the accelerometer of the first terminal device was set to zero (that is, the first terminal device was stationary), where the moving distance is based on the coordinate system of the device itself. And according to the signal of the gyroscope sensor, integrating the signal of the gyroscope sensor in time to obtain the rotation angle after the gyroscope of the first terminal equipment is set to zero in the last time, wherein the rotation angle is based on the self coordinate system of the equipment.

In the embodiment of the present application, the second location may be shared to each terminal device in the computing system, so that each terminal device in the computing system knows the relative location with the first terminal device.

Referring to fig. 6, fig. 6 is a flow schematic of a device positioning method provided in this embodiment, the device positioning method provided in this embodiment may be applied to a target terminal device, the target terminal device belongs to a computing system, the computing system includes M terminal devices, the M terminal devices include a first terminal device, the first terminal device includes a first sensor and a second sensor, where the first sensor is used to position the first terminal device, data collected by the second sensor is used to determine a change in position of the first terminal device, and power of the first sensor is greater than power of the second sensor; the device positioning method provided by the embodiment of the application comprises the following steps:

601. and acquiring second position information of the first terminal device, wherein the second position information is determined according to third data acquired by the first sensor in the second working state.

In the embodiment of the application, the first location information may be shared to each terminal device in the computing system, so that each terminal device in the computing system knows the relative location with the first terminal device.

For the detailed description of step 601, reference may be made to the description of the relevant step in step 301, and the description thereof is omitted here for brevity.

602. And sending a second indication for triggering the first sensor to change from the second working state to the first terminal equipment, so that the first terminal equipment triggers the first sensor to change from the first working state to the second working state based on the second indication.

Taking the first operating state as a sensor off state and the second operating state as a sensor on state as an example, in one implementation, a target terminal device in the computing system may trigger the first terminal device to turn off its own first sensor. Specifically, the first terminal device may receive a first indication used for turning off the first sensor, which is sent by a target terminal device of the M terminal devices, and turn off the first sensor based on the first indication.

For the detailed description of step 602, reference may be made to the description of the relevant step in step 302, and the description thereof is omitted here for brevity.

603. If a third indication which is sent by the first terminal device and used for indicating that the position change of the first terminal device exceeds a threshold value is received, sending a fourth indication which is used for triggering the first sensor to change from the first working state to the second working state to the first terminal device, so that the first terminal device triggers the first sensor to change from the first working state to the second working state based on the third indication.

In this embodiment of the application, the first sensor may be triggered to be turned on by the target terminal device, and specifically, if it is determined that the change in the position of the first terminal device exceeds the threshold value based on the first data acquired by the second sensor, the first terminal device may send, to the target terminal device among the M terminal devices, a third indication indicating that the change in the position of the first terminal device exceeds the threshold value; the second terminal device may then receive a fourth indication sent by the target terminal device to turn on the first sensor, and turn on the first sensor based on the fourth indication.

Step 603 may refer to step 303 for detailed description, and the details are not repeated here.

604. And acquiring first position information of the first terminal equipment, wherein the first position information is determined according to second data acquired by the first sensor.

In one possible design, the target terminal device may send, to the first terminal device and N terminal devices of the M terminal devices, a fourth indication for triggering the first sensor to change from the first operating state to the second operating state, so that the first terminal device and the N terminal devices trigger the first sensor to change from the first operating state to the second operating state based on the fourth indication, where N is less than or equal to M;

in one possible design, the first location information is determined based on the second data collected by the first sensor and data collected by the first sensors of N of the M terminal devices.

In a possible design, N is smaller than M, and the target terminal device may determine the N terminal devices from the M terminal devices, where the N terminal devices are the N terminal devices closest to the first terminal device in the M terminal devices.

In one possible design, the first location information and the second location information are used to indicate a relative location between the first terminal device and a terminal device other than the first terminal device among the M terminal devices.

In one possible design, the relative position includes a relative distance and/or a relative azimuth.

Next, a computing system is taken as an example of an intelligent home system, and a description is given of the device positioning method provided in the embodiment of the present application in combination with an actual scene.

Referring to fig. 7, fig. 7 is a flowchart illustrating a device location method according to an embodiment of the present disclosure, and as shown in fig. 7, a computing system may include a target terminal device, a first terminal device, and at least one terminal device, where the device location method according to the embodiment of the present disclosure includes:

701. the target terminal device determines that the first terminal device and the at least one terminal device are in place.

By in-position, it may be meant that both the first terminal device and the at least one terminal device satisfy the following condition: are all in a starting state; the self-stopping movement is detected or only within a certain distance range, and the moving speed and the rotating speed are both smaller than certain preset values, for example, the moving speed is smaller than 0.01m/min, and the rotating speed is smaller than 1 degree/min.

702. The target terminal device triggers the first terminal device and at least one terminal device to start the first sensor.

703. The first terminal device and the at least one terminal device acquire relative positions between the terminal devices based on data acquired by the first sensor.

The description of step 703 may refer to the description of step 301, and the description of the similarities is not repeated.

704. The target terminal device triggers the first terminal device and the at least one terminal device turns off the first sensor.

The description of step 704 may refer to the description of step 302, and the description of the similarities is not repeated.

705. The first terminal device determines that the change in position exceeds a threshold based on data collected by the second sensor.

706. The first terminal device transmits information indicating that the position change exceeds the threshold to the target terminal device.

707. The target terminal device triggers the first terminal device and at least one terminal device to start the first sensor.

708. The first terminal device and the at least one terminal device acquire relative positions between the terminal devices based on data acquired by the first sensor.

709. Triggering the first sensor to be closed.

The description of step 705 to step 709 may refer to the description of step 303, and the similar parts are not repeated.

Referring to fig. 8, fig. 8 is a flowchart illustrating a device location method according to an embodiment of the present disclosure, and as shown in fig. 8, a computing system may include a target terminal device, a first terminal device, and at least one terminal device, where the device location method according to the embodiment of the present disclosure includes:

801. the target terminal device determines that at least one terminal device is in place.

By in-position, it may be meant that at least one terminal device satisfies the following condition: are all in a starting state; the self-stopping movement is detected or only within a certain distance range, and the moving speed and the rotating speed are both smaller than certain preset values, for example, the moving speed is smaller than 0.01m/min, and the rotating speed is smaller than 1 degree/min.

802. The target terminal device triggers the first terminal device and at least one terminal device to start the first sensor.

803. And at least one terminal device acquires the relative position between the terminal devices based on the data acquired by the first sensor.

The description of step 803 may refer to the description of step 301, and the description of the similarity is not repeated.

804. The target terminal device triggers at least one terminal device to turn off the first sensor.

The description of step 804 may refer to the description of step 302, and the description of the similarities is not repeated.

805. The target terminal device determines that the first terminal device is connected to the computing system.

In one scenario, the first terminal device may maintain the off state of the first sensor until receiving a trigger to turn on the first sensor or determining that the first sensor should be turned on by itself, for example, the first terminal device may maintain the off state of the first sensor until receiving an indication to turn on the first sensor sent by a target terminal device in the computing system after the first terminal device establishes a connection with at least one terminal device in the computing system, and the first terminal device may turn on the first sensor based on the fourth indication.

806. The target terminal device triggers the first terminal device and at least one terminal device to start the first sensor.

807. The first terminal device and the at least one terminal device acquire relative positions between the terminal devices based on data acquired by the first sensor.

808. Triggering the first sensor to be closed.

The description of steps 805 to 808 may refer to the description of step 303, and the description of the similarities is not repeated.

Referring to fig. 9, fig. 9 is a structural schematic diagram of a device positioning apparatus provided in an embodiment of the present application, where the device positioning apparatus provided in the embodiment of the present application may be applied to a first terminal device, the first terminal device includes a first sensor and a second sensor, where data collected by the first sensor is used for positioning the first terminal device, data collected by the second sensor is used for determining a position change of the first terminal device, and power of the first sensor is greater than power of the second sensor, as shown in fig. 9, the device positioning apparatus 900 provided in the embodiment of the present application may include:

an obtaining module 901, configured to obtain a position change of the first terminal device, where the position change is determined according to first data acquired by the second sensor;

the steps executed by the obtaining module 901 may refer to the description in step 301 and the corresponding embodiments, and are not described herein again.

A sensor state change module 902, configured to trigger the first sensor to change from a first operating state to a second operating state when a change in the position of the first terminal device exceeds a threshold, where power consumption of the first sensor in the first operating state is less than power consumption of the first sensor in the second operating state;

the steps performed by the sensor state change module 902 may refer to step 302 and the description in the corresponding embodiment, which are not described herein again.

The obtaining module 901 is configured to obtain first location information of the first terminal device, where the first location information is determined according to second data acquired by the first sensor in the second working state.

The steps executed by the obtaining module 901 may refer to the description in step 303 and the corresponding embodiments, and are not described herein again.

In one possible design, the obtaining module is configured to obtain second location information of the first terminal device before obtaining the location change of the first terminal device, where the second location information is determined according to third data collected by the first sensor in the second operating state;

In one possible design, the sensor state change module is to:

In one possible design, the obtaining module is configured to:

Referring to fig. 10, fig. 10 is a structural schematic diagram of a device positioning apparatus provided in an embodiment of the present application, where the device positioning apparatus provided in the embodiment of the present application may be applied to a target terminal device, the target terminal device belongs to a computing system, the computing system includes M terminal devices, the M terminal devices include a first terminal device, the first terminal device includes a first sensor and a second sensor, where data acquired by the second sensor is used to determine a change in a position of the first terminal device, and a power of the first sensor is greater than a power of the second sensor; an apparatus positioning device 1000 provided in an embodiment of the present application may include:

an obtaining module 1001, configured to obtain second location information of the first terminal device, where the second location information is determined according to third data acquired by the first sensor in the second working state.

The steps executed by the obtaining module 1001 may refer to the descriptions in step 601, step 604 and the corresponding embodiments, and are not described herein again.

A sending module 1002, configured to send, to the first terminal device, a second instruction for triggering the first sensor to change from the second operating state to the first operating state, so that the first terminal device triggers the first sensor to change from the first operating state to the second operating state based on the second instruction.

If a third indication which is sent by the first terminal device and used for indicating that the position change of the first terminal device exceeds a threshold value is received, sending a fourth indication which is used for triggering the first sensor to change from the first working state to the second working state to the first terminal device, so that the first terminal device triggers the first sensor to change from the first working state to the second working state based on the third indication.

The steps executed by the sending module 1002 may refer to the description in step 602, step 603 and the corresponding embodiments, and are not described herein again.

The obtaining module 1001 is configured to obtain first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a terminal device 1500 provided in this application, where the terminal device 1500 may be the device locating apparatus 900 described in fig. 9 in the foregoing embodiment, or the device locating apparatus 1000 described in fig. 10 in the foregoing embodiment, as shown in fig. 11, the terminal device includes a processor 1501 and a memory 1502, and the processor 1501 is configured to obtain codes of the memory 1502 to execute the device locating methods described in the corresponding embodiments of fig. 3 and fig. 6.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or other network devices) to execute all or part of the steps of the method described in the embodiment of fig. 2 of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A device positioning method is applied to a first terminal device, the first terminal device comprises a first sensor and a second sensor, wherein the first sensor is used for positioning the first terminal device, data collected by the second sensor is used for determining position change of the first terminal device, and power of the first sensor is larger than that of the second sensor, the method comprises the following steps:

acquiring the position change of the first terminal equipment, wherein the position change is determined according to the first data acquired by the second sensor;

when the position change of the first terminal equipment exceeds a threshold value, triggering the first sensor to change from a first working state to a second working state, wherein the power consumption of the first sensor in the first working state is less than that in the second working state;

and acquiring first position information of the first terminal device, wherein the first position information is determined according to second data acquired by the first sensor in the second working state.

2. The method of claim 1, further comprising:

before the position change of the first terminal device is obtained, second position information of the first terminal device is obtained, wherein the second position information is determined according to third data collected by the first sensor in the second working state;

triggering the first sensor to change from the second operating state to the first operating state.

3. The method of claim 1 or 2, wherein the data collected by the first sensor has a data accuracy greater than the data accuracy of the data collected by the second sensor.

4. The method according to claim 2 or 3,

the first position information is used for indicating a first relative position between the first terminal equipment and second terminal equipment;

5. The method of claim 4, wherein the second terminal device comprises M terminal devices, each of the M terminal devices comprising the first sensor;

6. The method according to claim 5, wherein N is smaller than M, and the N terminal devices are N terminal devices closest to the first terminal device among the M terminal devices.

7. The method according to any one of claims 4 to 6, wherein the first relative position and the second relative position comprise relative distances and/or relative azimuth angles.

8. The method according to any of claims 2 to 7, wherein before the obtaining of the second location information of the first terminal device, the method further comprises:

9. The method of claim 8, wherein said triggering the first sensor to change from the first operating state to the second operating state comprises:

establishing connection with the second terminal equipment;

10. The method of any one of claims 1 to 9, wherein the first sensor comprises at least one of: the system comprises an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor and a vision sensor;

11. The method of any one of claims 1 to 9, wherein the first sensor comprises at least one of: the device comprises an accelerometer sensor and a gyroscope sensor, and the data precision of the data collected by the first sensor is greater than a preset value.

12. An apparatus for locating a device, the apparatus being applied to a first terminal device, the first terminal device including a first sensor and a second sensor, wherein data collected by the first sensor is used for locating the first terminal device, data collected by the second sensor is used for determining a position change of the first terminal device, and power of the first sensor is greater than power of the second sensor, the apparatus comprising:

13. The apparatus according to claim 12, wherein the obtaining module is configured to obtain second location information of the first terminal device before obtaining the location change of the first terminal device, where the second location information is determined according to third data collected by the first sensor in the second operating state;

14. The apparatus of claim 12 or 13, wherein the data accuracy of the data collected by the first sensor is greater than the data accuracy of the data collected by the second sensor.

15. The apparatus according to claim 13 or 14, wherein the first location information is used to indicate a first relative location between the first terminal device and a second terminal device;

16. The apparatus of claim 15, wherein the second terminal device comprises M terminal devices, each of the M terminal devices comprising the first sensor;

17. The apparatus according to claim 16, wherein N is smaller than M, and the N terminal devices are N terminal devices closest to the first terminal device among the M terminal devices.

18. The apparatus of any one of claims 15 to 17, wherein the first relative position and the second relative position comprise relative distances and/or relative azimuth angles.

19. The apparatus of any one of claims 14 to 22, wherein the sensor state change module is configured to instruct the first sensor to change from the first operating state to the second operating state before acquiring the second location information of the first terminal device.

20. The apparatus of claim 19, wherein the sensor state change module is configured to establish a connection with the second terminal device;

21. The apparatus of any one of claims 12 to 20, wherein the first sensor comprises at least one of: the system comprises an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor and a vision sensor;

22. The apparatus of any one of claims 12 to 20, wherein the first sensor comprises at least one of: the device comprises an accelerometer sensor and a gyroscope sensor, and the data precision of the data collected by the first sensor is greater than a preset value.

23. A non-transitory computer readable storage medium containing computer instructions for performing the device location method of any one of claims 1 to 11.

24. A terminal device, characterized in that the computing device comprises a memory and a processor, the memory having stored therein a code, the processor being configured to retrieve the code to perform the device location method according to any one of claims 1 to 11.

25. A computer program product comprising code for implementing a device location method as claimed in any one of claims 1 to 11 when executed.