CN113115439B

CN113115439B - Positioning method and related equipment

Info

Publication number: CN113115439B
Application number: CN202110427594.4A
Authority: CN
Inventors: 王泽卫
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2023-06-13
Anticipated expiration: 2041-04-20
Also published as: CN113115439A

Abstract

The embodiment of the application discloses a positioning method and related equipment, wherein the method comprises the following steps: the first equipment can determine a target distance between the first equipment and second equipment in a preset range through the Bluetooth module, wherein the target distance is determined according to a Beacon signal corresponding to the second equipment, and the Beacon signal is obtained by scanning a BLE signal sent by the Bluetooth module at preset time intervals; if the target distance is smaller than or equal to the first threshold value, starting the UWB communication module, and positioning the second equipment through the UWB communication module; if the target distance is larger than the first threshold value and smaller than the second threshold value, starting the UWB communication module and the preset positioning module, and positioning the second equipment through the UWB communication module and the preset positioning module; if the target distance is greater than or equal to the second threshold value, starting a preset positioning module, and positioning the second equipment through the Bluetooth module preset positioning module. The embodiment of the application is beneficial to improving the positioning precision.

Description

Positioning method and related equipment

Technical Field

The application relates to the technical field of electronics, in particular to a positioning method and related equipment.

Background

Ultra Wideband (UWB) is a pulse communication technology that implements wireless transmission by transmitting and receiving extremely narrow pulses, unlike conventional high frequency carrier modulated signals. The application of UWB in electronic devices and the like is receiving increasing attention from various manufacturers; however, UWB operates in a higher frequency band, and its penetration capability is extremely weak, so that its actual communication distance is limited, and in order to solve the above situation, the positioning distance is generally increased by increasing the power or the sensitivity of the receiving end is increased by decreasing the rate, so as to increase the positioning distance, where the two ways may cause the communication distance of UWB to be limited and reduce the positioning accuracy.

Disclosure of Invention

The embodiment of the application provides a positioning method and related equipment, which are beneficial to improving the positioning accuracy on the basis of improving the positioning distance.

In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a first device, where the first device includes: the method comprises the following steps of:

determining a target distance between the Bluetooth module and second equipment in a preset range, wherein the target distance is determined according to a Beacon signal corresponding to the second equipment, and the Beacon signal is obtained by scanning a BLE signal sent by the Bluetooth module at preset time intervals;

if the target distance is smaller than or equal to a first threshold value, starting the UWB communication module, and positioning the second equipment through the UWB communication module;

if the target distance is greater than the first threshold value and smaller than a second threshold value, starting the UWB communication module and the preset positioning module, and positioning the second equipment through the UWB communication module and the preset positioning module, wherein the second threshold value is greater than the first threshold value;

And if the target distance is greater than or equal to the second threshold value, starting the preset positioning module, and positioning the second equipment through the Bluetooth module and the preset positioning module.

In a second aspect, an embodiment of the present application provides a positioning device, which is applied to a first device, where the first device includes a bluetooth module, a UWB communication module, and a preset positioning module, and the device includes: a determining unit and a positioning unit, wherein,

the determining unit is configured to determine, by using the bluetooth module, a target distance between the bluetooth module and a second device within a preset range, where the target distance is determined according to a Beacon signal corresponding to the second device, and the Beacon signal is obtained by scanning a BLE signal sent by the bluetooth module in a preset time;

the positioning unit is used for starting the UWB communication module to complete positioning of the second equipment through the UWB communication module if the target distance is smaller than or equal to a first threshold value;

the positioning unit is further configured to, if the target distance is greater than the first threshold and less than a second threshold, start the UWB communication module and a preset positioning module, and complete positioning of the second device through the UWB communication module and the preset positioning module, where the second threshold is greater than the first threshold;

And the positioning unit is further used for starting a preset positioning module if the target distance is greater than or equal to the second threshold value, and positioning the second equipment through the Bluetooth module and the preset positioning module.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, the programs including instructions for performing steps in any of the methods of the first aspect of the embodiments of the present application.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program causes a computer to perform some or all of the steps as described in any of the methods of the first aspect of the embodiments of the present application.

In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in any of the methods of the first aspect of embodiments of the present application. The computer program product may be a software installation package.

It can be seen that in the embodiment of the present application, the first device may determine, through the bluetooth module, a target distance between the first device and the second device within a preset range, where the target distance is determined according to a Beacon signal corresponding to the second device, where the Beacon signal is obtained by scanning, at a preset time interval, a BLE signal sent by the bluetooth module; if the target distance is smaller than or equal to the first threshold value, starting the UWB communication module, and positioning the second equipment through the UWB communication module; if the target distance is larger than a first threshold value and smaller than a second threshold value, starting the UWB communication module and the preset positioning module, and positioning the second equipment through the UWB communication module and the preset positioning module, wherein the second threshold value is larger than the first threshold value; if the target distance is greater than or equal to the second threshold value, starting a preset positioning module, and positioning the second equipment through the Bluetooth module preset positioning module; so, can be according to the distance between the equipment, reasonable adoption different positioning mode is different from traditional single positioning mode, combines bluetooth module, UWB communication module and default positioning module to use, is favorable to improving positioning distance, is favorable to improving positioning accuracy, simultaneously, also can satisfy user's different positioning demand, is favorable to improving user experience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 2 is a schematic software structure of an electronic device according to an embodiment of the present application;

fig. 3 is a network architecture schematic diagram of a positioning method according to an embodiment of the present application;

fig. 4A is a schematic flow chart of a positioning method according to an embodiment of the present application;

fig. 4B is a schematic diagram of interaction between a first device and a second device according to an embodiment of the present application;

fig. 4C is a motion trajectory diagram corresponding to a preset positioning module provided in an embodiment of the present application;

fig. 4D is a schematic diagram of interaction between a first device and a second device according to an embodiment of the present application;

fig. 4E is a schematic diagram of a motion trajectory according to an embodiment of the present application;

Fig. 5A is a schematic structural diagram of a first device according to an embodiment of the present application;

fig. 5B is a functional unit block diagram of an electronic device according to an embodiment of the present application;

fig. 6 is a functional unit composition block diagram of a positioning device according to an embodiment of the present application.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

1) The electronic device may be a portable electronic device that also contains other functions such as personal digital assistant and/or music player functions, such as a cell phone, tablet computer, wearable electronic device with wireless communication capabilities (e.g., a smart watch), etc. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices that are equipped with IOS systems, android systems, microsoft systems, or other operating systems. The portable electronic device may also be other portable electronic devices such as a Laptop computer (Laptop) or the like. It should also be appreciated that in other embodiments, the electronic device described above may not be a portable electronic device, but rather a desktop computer. The electronic device may include the first device and/or the second device in the embodiments of the present application.

2) Beacon is a device that achieves accurate positioning by bluetooth low energy technology (Bluetooth Low energy).

3) Ultra Wideband (UWB) is a wireless carrier communication technology, which does not use a sinusoidal carrier, but uses non-sinusoidal narrow pulses of nanosecond order to transmit data, so that the spectrum occupied by the UWB is wide. The UWB has the advantages of low system complexity, low power spectrum density of the transmitted signal, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.

In the first part, the software and hardware operation environment of the technical scheme disclosed in the application is introduced as follows.

By way of example, fig. 1 shows a schematic diagram of an electronic device 100. Electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (universal serial bus, USB) interface 130, a charge 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 compass 190, a motor 191, an indicator 192, a camera 193, a display 194, a subscriber identity module (subscriber identification module, SIM) card interface 195, and the like.

It is to be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, electronic device 100 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The processor 110 may include one or more processing units, such as: the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural network processor (neural-network processing unit, NPU), etc. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some embodiments, the electronic device 100 may also include one or more processors 110. The controller can generate operation control signals according to the instruction operation codes and the time sequence signals to finish the control of instruction fetching and instruction execution. In other embodiments, memory may also be provided in the processor 110 for storing instructions and data. Illustratively, the memory in the processor 110 may be a cache memory. The memory may hold instructions or data that the processor 110 has just used or recycled. If the processor 110 needs to reuse the instruction or data, it can be called directly from the memory. This avoids repeated accesses and reduces the latency of the processor 110, thereby improving the efficiency of the electronic device 100 in processing data or executing instructions.

In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include inter-integrated circuit (inter-integrated circuit, I2C) interfaces, inter-integrated circuit audio (inter-integrated circuit sound, I2S) interfaces, pulse code modulation (pulse code modulation, PCM) interfaces, universal asynchronous receiver transmitter (universal asynchronous receiver/transmitter, UART) interfaces, mobile industry processor interfaces (mobile industry processor interface, MIPI), general-purpose input/output (GPIO) interfaces, SIM card interfaces, and/or USB interfaces, among others. The USB interface 130 is an interface conforming to the USB standard, 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 electronic device 100, and may also be used to transfer data between the electronic device 100 and a peripheral device. The USB interface 130 may also be used to connect headphones through which audio is played.

It should be understood that the interfacing relationship between the modules illustrated in the embodiments of the present application is only illustrative, and does not limit the structure of the electronic device 100. In other embodiments of the present application, the electronic device 100 may also use different interfacing manners, or a combination of multiple interfacing manners in the foregoing embodiments.

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

The power management module 141 is used for connecting the battery 142, and the charge 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 provides power to the processor 110, the internal memory 121, the external memory, the display 194, the camera 193, the wireless communication module 160, and the like. The power management module 141 may also be configured to monitor battery capacity, battery cycle times, battery health (leakage, impedance), and other parameters. In other embodiments, the power management module 141 may also be provided in the processor 110. In other embodiments, the power management module 141 and the charge management module 140 may be disposed in the same device.

The wireless communication function of the electronic 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 the electronic device 100 may be used to cover a single or multiple communication bands. Different antennas may also be multiplexed to improve the utilization of the antennas. For example: the antenna 1 may be multiplexed into 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 for wireless communication including 2G/3G/4G/5G, etc., applied to the electronic device 100. The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (low noise amplifier, LNA), etc. The mobile communication module 150 may receive electromagnetic waves from the antenna 1, perform processes such as filtering, amplifying, and the like on the received electromagnetic waves, and transmit the processed electromagnetic waves to the modem processor for demodulation. The mobile communication module 150 can amplify the signal modulated by the modem processor, and convert the signal into electromagnetic waves through the antenna 1 to radiate. 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 provided in the same device as at least some of the modules of the processor 110.

The wireless communication module 160 may provide solutions for wireless communication including wireless local area network (wireless local area networks, WLAN) (e.g., wireless fidelity (wireless fidelity, wi-Fi) network), bluetooth (BT), global navigation satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field wireless communication technology (near field communication, NFC), infrared technology (IR), UWB, etc., applied to the electronic device 100. The wireless communication module 160 may be one or more devices that integrate at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, modulates the electromagnetic wave signals, filters the 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, frequency modulate it, amplify it, and convert it to electromagnetic waves for radiation via the antenna 2.

The electronic device 100 implements display functions through a GPU, a display screen 194, an application processor, and the like. The GPU is a microprocessor for relational analysis, and is connected to the display 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

The display screen 194 is used to display images, videos, and the like. The display 194 includes a display panel. The display panel may employ a liquid crystal display (liquid crystal display, LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED) or an active-matrix organic light-emitting diode (matrix organic light emitting diode), a flexible light-emitting diode (FLED), a mini light-emitting diode (mini light-emitting diode), microLed, micro-OLED, a quantum dot light-emitting diode (quantum dot light emitting diodes, QLED), or the like. In some embodiments, the electronic device 100 may include 1 or more display screens 194.

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

The ISP is used to process data fed back by the camera 193. For example, when photographing, the shutter is opened, light is transmitted to the camera photosensitive element through the lens, the optical signal is converted into an electric signal, and the camera photosensitive element transmits the electric signal to the ISP for processing and is converted into an image visible to naked eyes. ISP can also perform algorithm optimization on noise, brightness and skin color of the image. The ISP can also optimize parameters such as exposure, color temperature, etc. of the photographed scene. In some embodiments, the ISP may be provided in the 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 onto the photosensitive element. The photosensitive element may be a charge coupled device (charge coupled device, CCD) or a Complementary Metal Oxide Semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, which is then transferred to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV, or the like format. In some embodiments, electronic device 100 may include 1 or more cameras 193.

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

Video codecs are used to compress or decompress digital video. The electronic device 100 may support one or more video codecs. In this way, the electronic device 100 may play or record video in a variety of encoding formats, such as: moving picture experts group (moving picture experts group, MPEG) 1, MPEG2, MPEG3, MPEG4, etc.

The NPU is a neural-network (NN) computing processor, and can rapidly process input information by referencing a biological neural network structure, for example, referencing a transmission mode between human brain neurons, and can also continuously perform self-learning. Applications such as intelligent awareness of the electronic device 100 may be implemented through the NPU, for example: image recognition, face recognition, speech recognition, text understanding, etc.

The external memory interface 120 may be used to connect an external memory card, such as a Micro SD card, to enable expansion of the memory capabilities of the electronic device 100. The external memory card communicates with the processor 110 through an external memory interface 120 to implement data storage functions. For example, files such as music, video, etc. are stored in an external memory card.

The internal memory 121 may be used to store one or more computer programs, including instructions. The processor 110 may cause the electronic device 100 to execute the method of displaying page elements provided in some embodiments of the present application, as well as various applications, data processing, and the like, by executing the above-described instructions stored in the internal memory 121. The internal memory 121 may include a storage program area and a storage data area. The storage program area can store an operating system; the storage program area may also store one or more applications (such as gallery, contacts, etc.), etc. The storage data area may store data created during use of the electronic device 100 (e.g., photos, contacts, etc.), and so on. In addition, the internal memory 121 may include high-speed random access memory, and may also include nonvolatile memory, such as one or more disk storage units, flash memory units, universal flash memory (universal flash storage, UFS), and the like. In some embodiments, processor 110 may cause electronic device 100 to perform the methods of displaying page elements provided in embodiments of the present application, as well as other applications and data processing, by executing instructions stored in internal memory 121, and/or instructions stored in a memory provided in processor 110. The electronic device 100 may implement audio functions through an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, an application processor, and the like. Such as music playing, recording, etc.

The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, and the like.

The pressure sensor 180A is used for sensing a pressure signal, and can convert 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 is of various types, such as a resistive pressure sensor, an inductive pressure sensor, a capacitive pressure sensor, and the like. The capacitive pressure sensor may be a capacitive pressure sensor comprising at least two parallel plates with conductive material. The capacitance between the electrodes changes when a force is applied to the pressure sensor 180A. The electronic device 100 determines the strength of the pressure from the change in capacitance. When a touch operation is applied to the display screen 194, the electronic apparatus 100 detects the touch operation intensity according to the pressure sensor 180A. The electronic device 100 may also calculate the location of the touch based on the detection signal of the pressure sensor 180A. In some embodiments, touch operations that act on the same touch location, but at different touch operation strengths, may correspond to different operation instructions. For example: and executing an instruction for checking the short message when the touch operation with the touch operation intensity smaller than the first pressure threshold acts on the short message application icon. And executing an instruction for newly creating the short message when the touch operation with the touch operation intensity being greater than or equal to the first pressure threshold acts on the short message application icon.

The gyro sensor 180B may be used to determine a motion gesture of the electronic device 100. In some embodiments, the angular velocity of electronic device 100 about three axes (i.e., X, Y and Z axis) may be determined by gyro sensor 180B. The gyro sensor 180B may be used for photographing anti-shake. For example, when the shutter is pressed, the gyro sensor 180B detects the shake angle of the electronic device 100, calculates the distance to be compensated by the lens module according to the angle, and makes the lens counteract the shake of the electronic device 100 through the reverse motion, so as to realize anti-shake. The gyro sensor 180B may also be used for navigating, somatosensory game scenes.

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

The ambient light sensor 180L is used to sense ambient light level. The electronic device 100 may adaptively adjust the brightness of the display 194 based on the perceived ambient light level. The ambient light sensor 180L may also be used to automatically adjust white balance when taking a photograph. Ambient light sensor 180L may also cooperate with proximity light sensor 180G to detect whether electronic device 100 is in a pocket to prevent false touches.

The fingerprint sensor 180H is used to collect a fingerprint. The electronic device 100 may utilize the collected fingerprint feature to unlock the fingerprint, access the application lock, photograph the fingerprint, answer the incoming call, etc.

The temperature sensor 180J is for detecting temperature. In some embodiments, the electronic device 100 performs a temperature processing strategy using the temperature detected by the temperature sensor 180J. For example, when the temperature reported by temperature sensor 180J exceeds a threshold, electronic device 100 performs a reduction in the performance of a processor located in the vicinity of temperature sensor 180J in order to reduce power consumption to implement thermal protection. In other embodiments, when the temperature is below another threshold, the electronic device 100 heats the battery 142 to avoid the low temperature causing the electronic device 100 to be abnormally shut down. In other embodiments, when the temperature is below a further threshold, the electronic device 100 performs boosting of the output voltage of the battery 142 to avoid abnormal shutdown caused by low temperatures.

The touch sensor 180K, also referred to as a "touch panel". 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 for detecting a touch operation acting thereon or thereabout. The touch sensor may communicate the detected touch operation to the application processor to determine the touch event type. Visual output related to touch operations may be provided through the display 194. In other embodiments, the touch sensor 180K may also be disposed on the surface of the electronic device 100 at a different location than the display 194.

By way of example, fig. 2 shows a block diagram of the software architecture of the electronic device 100. The layered architecture divides the software into several layers, each with distinct roles and branches. The layers communicate with each other through a software interface. In some embodiments, the Android system is divided into four layers, from top to bottom, an application layer, an application framework layer, an Zhuoyun row (Android run) and system libraries, and a kernel layer, respectively. The application layer may include a series of application packages.

As shown in fig. 2, the application package may include applications for cameras, gallery, calendar, phone calls, maps, navigation, WLAN, bluetooth, music, video, short messages, etc.

The application framework layer provides an application programming interface (application programming interface, API) and programming framework for application programs of the application layer. The application framework layer includes a number of predefined functions.

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

The window manager is used for managing window programs. The window manager can acquire 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 such data accessible to applications. The data may include video, images, audio, calls made and received, browsing history and bookmarks, phonebooks, 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, a display interface including a text message notification icon may include a view displaying text and a view displaying a picture.

The telephony manager is used to provide the communication functions of the electronic device 100. Such as the management of call status (including on, hung-up, etc.).

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

The notification manager allows the application to display notification information in a status bar, can be used to communicate notification type messages, can automatically disappear after a short dwell, and does not require user interaction. Such as notification manager is used to inform that the download is complete, message alerts, etc. The notification manager may also be a notification in the form of a chart or scroll bar text that appears on the system top status bar, 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, a text message is prompted in a status bar, a prompt tone is emitted, the electronic device vibrates, and an indicator light blinks, etc.

Android run time includes a core library and virtual machines. Android run time is responsible for scheduling and management of the Android system.

The core library consists of 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. The virtual machine executes java files of the application program layer and the application program framework layer as binary files. The virtual machine is used for executing the functions of object life cycle management, stack management, thread management, security and exception management, garbage collection and the like.

The system library may include a plurality of functional modules. For example: surface manager (surface manager), media library (media library), three-dimensional graphics processing library (e.g., openGL ES), 2D graphics engine (e.g., SGL), etc.

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

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

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.

In the second section, an example application scenario disclosed in the embodiments of the present application is described below.

Fig. 3 is a schematic diagram of a network architecture of a positioning method applicable to the present application, where the schematic diagram includes a plurality of electronic devices, as shown in fig. 3, where the method may include: the first device (electronic device 100 a) and the plurality of second devices (electronic device 200a, electronic device 200b, and electronic device 200 c) may be smart phones, tablet computers, desktop computers, wearable electronic devices with wireless communication functions, etc., and the electronic devices may be the electronic device 100 shown in fig. 1, which is not limited herein.

The first device may include a bluetooth module, a UWB communication module, a preset positioning module, etc., the second device may include a UWB communication module, etc., the first device may establish a communication connection with each second device, and positioning of each second device may be achieved through the modules. Of course, each second device may also communicate with each other to achieve positioning.

For example, the electronic device 100a (first device) may determine, by using a bluetooth module, a target distance between the first device and a second device (electronic device 200a or electronic device 200b or electronic device 200 c) within a preset range, where the target distance is determined according to a Beacon signal corresponding to the second device, and the Beacon signal is obtained by sending a BLE signal by using the bluetooth module and scanning the BLE signal at preset time intervals; if the target distance is smaller than or equal to the first threshold value, starting the UWB communication module, and positioning the second equipment through the UWB communication module; if the target distance is larger than a first threshold value and smaller than a second threshold value, starting the UWB communication module and the preset positioning module, and positioning the second equipment through the UWB communication module and the preset positioning module, wherein the second threshold value is larger than the first threshold value; if the target distance is greater than or equal to the second threshold value, starting a preset positioning module, and positioning the second equipment through the Bluetooth module preset positioning module; so, can be according to the distance between the equipment, reasonable adoption different positioning mode is different from traditional single positioning mode, combines bluetooth module, UWB communication module and default positioning module to use, is favorable to improving positioning distance, is favorable to improving positioning accuracy, simultaneously, also can satisfy user's different positioning demand, is favorable to improving user experience.

In the third section, the scope of protection of the claims disclosed in the embodiments of the present application is described as follows.

Referring to fig. 4A, fig. 4A is a flow chart of a positioning method provided in the embodiment of the present application, which is applied to a first device, where the first device includes a bluetooth module, a UWB communication module and a preset positioning module, and as shown in the figure, the positioning method includes the following operations.

S401, determining a target distance between the Bluetooth module and second equipment in a preset range, wherein the target distance is determined according to a Beacon signal corresponding to the second equipment, and the Beacon signal is obtained by scanning a BLE signal sent by the Bluetooth module at preset time intervals.

The first device may include a bluetooth module, a UWB communication module, and a preset positioning module, where the preset positioning module may be set by a user or default to the system, and in this embodiment of the present application, the preset positioning module may include an auxiliary positioning technology, where the auxiliary positioning technology may refer to a positioning manner of a non-communication type, for example, may perform auxiliary positioning by an inertial navigation manner, and the principle is that angular velocity and acceleration integral of a carrier are measured by using sensors such as a gyroscope and an accelerometer, and velocity and position information of other devices are obtained through integral operation.

The preset time interval may be set by a user or default by the system, which is not limited herein, and the preset time interval may be 0.5s, 1s, 3s, 1min, 10min, etc., which is not limited herein, and the first device may send BLE signals through the bluetooth module at intervals of the preset time interval, so as to obtain Beacon signals sent by other devices.

The preset range may be set by the user or default by the system, which is not limited herein; in this embodiment of the present application, the preset range may refer to a signal area corresponding to a Beacon signal sent by the second device.

When the UWB communication module is adopted to implement positioning of the second device, since FCC (federal communications commission) regulations limit that the spectral density of transmitting power of UWB signals by the UWB communication module needs to be less than-43.3 dBm/MHz, for long-distance communication distances, the highest transmitting power of the UWB communication module must not exceed-41.3 dBm/MHz, so when the distance between the devices is far, the UWB technology is adopted to implement positioning to limit the increase of the positioning distance, which affects the positioning accuracy.

In a specific implementation, the second device may include a Beacon device, where the Beacon device may be mounted in a bluetooth module, and a Beacon signal transmitting base station may be constructed by using the bluetooth module, and send Beacon signals to the surroundings in a broadcast manner, so that a signal area may be created.

Further, the first device may include a bluetooth module, after the first device starts a positioning function, the bluetooth module may send a BLE signal, and after the first device enters a Beacon signal area established by the second device through the bluetooth module, the first device may scan through the bluetooth module to obtain a Beacon signal sent by the second device, so that a target distance between the first device and the second device may be determined through a signal strength of the received Beacon signal.

It can be seen that, in this embodiment of the present application, the bluetooth module combines the Beacon technology to determine the target distance between the first device and the second device within the preset range, because the bluetooth module generally uses ISM2.4G frequency band to send the BLE signal, the frequency is lower, and the use of the BLE technology can provide very fast communication connection, and when positioning is needed, the BLE signal can be sent to the surrounding devices, and a communication link is established, and when positioning is not needed, the communication link between the bluetooth module and the second device can be cut off fast, so that the bluetooth module is used to send the BLE signal to the surrounding devices, which is beneficial to reducing the power consumption of the devices.

In a possible example, the target distance is determined according to a Beacon signal corresponding to the second device, and may include the following steps: determining the signal intensity corresponding to the Beacon signal received by the first equipment according to the Beacon signal; determining a target free space loss value corresponding to the signal strength according to a mapping relation between the preset signal strength and the free space loss value; and determining a target distance corresponding to the target free space loss value according to a mapping relation between a preset distance and the free space loss value.

Wherein, because the signal strength of the signal is attenuated in the transmission process, before determining the target distance between the devices, the first device may preset a mapping relationship between the signal strength and the loss value of the free space:

P _RSSI ＝P _TX -L _S ；

where PRSSI represents the received signal strength and PTX represents the power of the transmitting end.

Thus, the target free space loss value corresponding to the signal strength can be determined according to the signal strength corresponding to the Beacon signal, and the free space loss value can be determined according to the free space loss value.

Further, since the signal is attenuated during the transmission process due to the influence of the device distance, the first device may preset a mapping relationship between the distance between the two devices and the free space loss value, and the mapping relationship may be set as follows:

L _S ＝32.45+20log ₁₀ (f _MHz )+20log ₁₀ (D _Km )

Where LS represents the free space loss value (dB), fMHz represents the frequency of operation, and Dkm represents the distance;

thus, a target distance between the first device and the second device may be determined from the obtained target free space loss value.

And S402, if the target distance is smaller than or equal to a first threshold value, starting the UWB communication module, and positioning the second equipment through the UWB communication module.

The first threshold may be set by the user or default by the system, which is not limited herein; the above first threshold value, which may be used with the UWB communication module, may be understood as the maximum distance that the first device can withstand when the above transmit power is met when the device is located with the UWB communication module.

When the positioning of the second device is achieved through the UWB communication module, a TOF flight time manner may be adopted, as shown in fig. 4B, which is a schematic diagram of interaction between the first device and the second device; when distance information is acquired, the first device sends a request carrying time stamp information to the second device, the second device receives the request and adds own time stamp information to the request and returns the request to the first device, and then the distance between the second device and the first device can be obtained by ((first device receiving time T3-first device sending time T0) - (second device sending time T2-second device receiving time T1))/2, namely, a time-of-flight mode (TOF). After the flight time is obtained, the distance between the first device and the second device can be obtained according to the propagation speed c×TOF of the electromagnetic wave, and the distance is as follows: distance=c tof=c ((T3-T0) - (T2-T1))/2.

It can be seen that, in this embodiment of the present application, when the target distance is smaller than or equal to the first threshold, it is indicated that the UWB communication technology may be used to locate the second device, and then the UWB communication module may be started, and the location of the second device is achieved through the UWB communication module.

S403, if the target distance is greater than the first threshold and smaller than a second threshold, starting the UWB communication module and the preset positioning module, and positioning the second device through the UWB communication module and the preset positioning module, wherein the second threshold is greater than the first threshold.

The second threshold may be set by the user or default by the system, which is not limited herein; the second threshold is understood to be the furthest distance the UWB communication module is capable of transmitting UWB signals, and is greater than the first threshold.

The FCC (federal communications commission) regulation limits that the emission power spectral density of the UWB signal transmitted by the UWB communication module needs to be less than-43.3 dBm/MHz, and for the long-distance communication distance, the highest emission power of the UWB communication module must not exceed-41.3 dBm/MHz, so if the UWB technology is adopted to locate the second device, and the positioning accuracy of the UWB communication module in a wide angle area is reduced, and the positioning distance is shortened when the positioning accuracy is reflected in the positioning distance, therefore, when the distance between the first device and the second device is greater than the first threshold and less than the second threshold, if the positioning accuracy of the second device is only located by the UWB communication module, the positioning accuracy error of the second device may be affected, and therefore, the UWB communication module and the UWB communication module can be combined to use, and the positioning accuracy of the UWB communication module is corrected when the second device is located by the UWB communication module, thereby being beneficial to improving the positioning accuracy.

In one possible example, the positioning of the second device by the UWB communication module and the preset positioning module may include the steps of: acquiring position information corresponding to the second equipment at a plurality of first preset moments through the UWB communication module to acquire a plurality of first position information; determining position information corresponding to the second equipment at the plurality of first preset moments through the preset positioning module to obtain a plurality of second position information; and correcting the plurality of first position information and the plurality of second position information according to a preset position correction mode to obtain a plurality of first target position information so as to finish positioning the second equipment.

The preset position correction mode can be set by a user or default by a system, and is not limited herein; and the position information determined by the UWB communication module can be corrected by a preset position correction mode so as to finish positioning the second equipment.

Wherein the above-mentioned position information may include at least one of: the device distance, angle information, etc., are not limited herein.

The first preset time may be set by a user or default by a system, which is not limited herein; and transmitting UWB signals through the UWB communication module at the first preset moment to determine the position information of the second equipment so as to obtain a plurality of first position information.

Further, when the position information of the second device at the first preset moments is collected through the UWB communication module, the preset positioning module can determine the position information corresponding to each first preset moment in the first preset moments to obtain a plurality of second position information, and further, according to a preset position correction mode, the plurality of first position information and the plurality of second position information are combined to correct or correct the plurality of first position information so as to determine a plurality of first target position information, so that the second device is positioned.

Therefore, in this embodiment of the present application, when the target distance is greater than the first threshold and less than the second threshold, because if the second device is located only by the UWB communication module, the target distance between the two devices is far, which can affect the positioning accuracy of the UWB communication module and reduce the positioning accuracy, so in this embodiment of the present application, the positioning result of the UWB communication module can be corrected by the preset positioning module, which is favorable to improving the positioning accuracy, and meanwhile, the problem limited by the communication distance is avoided, which leads to the inaccurate positioning situation, and is favorable to reducing the influence of the increase of the communication distance on the positioning.

In a possible embodiment, the correcting the plurality of first location information and the plurality of second location information according to a preset location correction manner to obtain a plurality of first target location information may include the following steps: and determining an intermediate value between the first position information corresponding to each first preset moment and the second position information as target position information according to the preset position correction mode, and obtaining a plurality of first target position information.

The above-mentioned predetermined position correction method may be other methods, for example, an intermediate value between the first position information sn_u and the second position information sn_i may be taken as the first target position information, or may be determined according to other ratios or formulas (sn_i+sn_u)/I, where I is a positive number.

In a possible example, the determining the position information of the second device corresponding to the plurality of first preset moments to obtain a plurality of second position information may include the following steps: acquiring an initial position, wherein the initial position is determined by the UWB communication module; acquiring angle information measured at each first preset moment to acquire a plurality of angle information; obtaining distance information between a position corresponding to each first preset moment and the initial position to obtain a plurality of distance information; and determining the position information corresponding to each first preset moment according to the plurality of angle information and the plurality of distance information to obtain a plurality of second position information.

Wherein the initial position S ₀ (E ₀ ，N ₀ ) The relative position information reported by UWB when the positioning accuracy is high.

In particular implementation, as shown in the figure4C, a motion trail diagram corresponding to a preset positioning module, specifically a motion trail diagram between a second device and a first device corresponding to a plurality of first preset moments acquired by the preset positioning module, at a known initial position S ₀ (E ₀ ，N ₀ ) On the basis of the above, the angle information measured at each first preset moment is obtained by using a gyroscope to obtain a plurality of angle information theta _n Acquiring distance information d using acceleration sensor and timer _n Then, the second position information at any moment can be calculated by combining the preset formula, the plurality of angle information and the distance information as follows: sn_I (E) _k ，N _k ) Wherein n is a positive integer, and the preset formula is:

thereby obtaining the motion trail generated by the preset positioning module at a plurality of first preset moments.

Further, as shown in fig. 4D, an interaction diagram between a first device and a second device is shown, where different antennas of the first device receive signals sent from the same antenna of the second device, and phase differences are generated due to different phases of the same signal reaching different antennas. Then, the phase difference of different antennas reaching the first device can be used

The wavelength lambda of the signal and the distance d between different antennas of the first device calculate the angle information theta of the second device relative to the first device, and the specific formula is as follows:

thereby obtaining angle information measured at each first preset moment and obtaining a plurality of angle information theta _n Therefore, the distance information corresponding to the second equipment at a plurality of first preset moments can be acquired through the UWB communication module, and a plurality of first devices are obtained The specific distance acquisition mode of the position information sn_u is described above, and is not described herein, thereby obtaining a motion track corresponding to the UWB communication module.

As shown in fig. 4E, a motion trajectory schematic diagram is shown, where the motion trajectory may include a motion trajectory sn_u corresponding to a motion trajectory sn_ I, UWB communication module corresponding to a preset positioning module and a target motion trajectory Sn formed by a plurality of first target position information, and further, the first device may determine, by a preset position correction manner, that is, target position information sn= (sn_i+sn_u)/2, an intermediate value between the first position information and the second position information corresponding to each first preset time as the target position information, thereby determining a plurality of first target position information, and determining, as the target motion trajectory Sn, a trajectory formed by the plurality of first target position information, thereby positioning the second device.

S404, if the target distance is greater than or equal to the second threshold value, starting the preset positioning module, and positioning the second device through the Bluetooth module and the preset positioning module.

When the target distance between the devices is extremely far, the signals are affected by multipath and signal attenuation in the transmission process, so that the UWB positioning accuracy error through the UWB communication module is larger, and even the UWB signals sent by the second devices cannot be received, therefore, the second devices cannot be positioned by the UWB communication module at the moment, and in order to not interrupt the positioning of the second devices, the second devices can be accurately positioned by the preset positioning module under the condition of continuously positioning the second devices by the Bluetooth module, so that the positioning of the second devices is not interrupted, the positioning distance between the devices is greatly improved, and the user experience is improved.

In a possible example, the positioning of the second device by the bluetooth module and the preset positioning module may include the following steps: acquiring position information corresponding to the second equipment at a plurality of second preset moments through the Bluetooth module to acquire a plurality of third position information; determining position information corresponding to the second equipment at a plurality of second preset moments through the preset positioning module to obtain a plurality of fourth position information; and determining intermediate values between third position information and fourth position information corresponding to each second preset time as target position information, and obtaining a plurality of second target position information to finish positioning of the second equipment.

The second preset time may be set by the user or default by the system, which is not limited herein; the second preset moments can be different, and distance information and angle information between the second equipment and the first equipment at each second preset moment can be determined through the Bluetooth module, so that position information corresponding to the second equipment at the second preset moments is obtained, and a plurality of third position information is obtained; the method for determining the angle information between the second device and the first device is the same as the angle measurement method shown in fig. 4D, which is not described herein again, and the distance information between the first device and the second device may be determined by the mapping relationship between the preset signal strength and the free space loss value and the mapping relationship between the preset distance and the free space loss value, which is not described herein again.

Further, through a preset positioning module, determining position information corresponding to the second device at a plurality of second preset moments to obtain a plurality of fourth position information, where the fourth position information includes distance information and angle information, and a specific determining manner is the same as the manner of determining the first position information, and is not described herein again.

Finally, a plurality of second target position information can be obtained by determining an intermediate value between the third position information sn_b and the fourth position information sn_u corresponding to the same second preset time as the target position information, and of course, the second target position information can also be determined by the formula (sn_i+sn_u)/j, where j is a positive number.

Optionally, the method may further include the steps of: acquiring a current use environment; and if the current use environment meets the preset condition, completing positioning of the second equipment through the preset positioning module.

The preset condition can be set by a user or default by a system, and is not limited herein; for example, the preset condition may refer to a case of communication interruption.

The current use environment can be understood as a current communication environment, if the current use environment is in an elevator or closed type dense crowd environment, etc., a situation of communication interruption may occur, and at this time, the bluetooth module or the UWB communication module cannot be used, and because the preset positioning module does not need to establish a communication link with the second device, the positioning mode of non-communication is adopted, and the positioning of the second device can be completed by adopting the preset positioning module alone; the specific implementation mode is the same as the mode of completing the positioning of the second device through the preset positioning module, except that the initial position E at the moment ₀ Final location information for the UWB communication module or bluetooth module to locate before the communication is interrupted.

Therefore, in the embodiment of the application, in a special environment, if communication is interrupted, the positioning module can be independently preset, namely, positioning is realized through inertial navigation assistance, so that the positioning distance between devices is further improved, and the user experience is improved.

In accordance with the embodiment shown in fig. 4A, referring to fig. 5A, fig. 5A is a schematic structural diagram of a first device according to an embodiment of the present application, where the first device may include a bluetooth module, a UWB communication module and a predetermined location module, and in this embodiment,

the Bluetooth module determines a target distance between the Bluetooth module and second equipment in a preset range, wherein the target distance is determined according to a Beacon signal corresponding to the second equipment, and the Beacon signal is obtained by scanning a BLE signal sent by the Bluetooth module at preset time intervals;

if the target distance is smaller than or equal to a first threshold value, starting the UWB communication module, wherein the UWB communication module finishes positioning the second equipment;

if the target distance is greater than the first threshold and smaller than a second threshold, starting the UWB communication module and the preset positioning module, wherein the UWB communication module and the preset positioning module finish positioning the second equipment, and the second threshold is greater than the first threshold;

and if the target distance is greater than or equal to the second threshold value, starting the preset positioning module, wherein the Bluetooth module and the preset positioning module finish positioning the second equipment.

In accordance with the embodiment shown in fig. 4A, fig. 5B is a schematic structural diagram of an electronic device provided in the embodiment of the present application, as shown in fig. 5B, where the electronic device includes a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the electronic device may be a first device or a second device.

In one possible example, when the electronic device is a first device, the first device may include: the Bluetooth module, the UWB communication module and the preset positioning module, wherein the program comprises instructions for executing the following steps:

It can be seen that, in the electronic device described in the embodiments of the present application, the target distance between the electronic device and the second device within the preset range may be determined by using the bluetooth module, where the target distance is determined according to a Beacon signal corresponding to the second device, and the Beacon signal is obtained by sending a BLE signal by using the bluetooth module and scanning the BLE signal at preset time intervals; if the target distance is smaller than or equal to the first threshold value, starting the UWB communication module, and positioning the second equipment through the UWB communication module; if the target distance is larger than a first threshold value and smaller than a second threshold value, starting the UWB communication module and the preset positioning module, and positioning the second equipment through the UWB communication module and the preset positioning module, wherein the second threshold value is larger than the first threshold value; if the target distance is greater than or equal to the second threshold value, starting a preset positioning module, and positioning the second equipment through the Bluetooth module preset positioning module; so, can be according to the distance between the equipment, reasonable adoption different positioning mode is different from traditional single positioning mode, combines bluetooth module, UWB communication module and default positioning module to use, is favorable to improving positioning distance, is favorable to improving positioning accuracy, simultaneously, also can satisfy user's different positioning demand, is favorable to improving user experience.

In one possible example, in terms of the target distance being determined according to the Beacon signal corresponding to the second device, the above-mentioned program includes instructions for performing the steps of:

determining the signal intensity corresponding to the Beacon signal received by the first equipment according to the Beacon signal;

determining a target free space loss value corresponding to the signal strength according to a mapping relation between the preset signal strength and the free space loss value;

and determining a target distance corresponding to the target free space loss value according to a mapping relation between a preset distance and the free space loss value.

In one possible example, in terms of said positioning of said second device being accomplished by said UWB communication module and said preset positioning module, the above-mentioned program comprises instructions for performing the steps of:

acquiring position information corresponding to the second equipment at a plurality of first preset moments through the UWB communication module to acquire a plurality of first position information;

determining position information corresponding to the second equipment at the plurality of first preset moments through the preset positioning module to obtain a plurality of second position information;

and correcting the plurality of first position information and the plurality of second position information according to a preset position correction mode to obtain a plurality of first target position information so as to finish positioning the second equipment.

In one possible example, in the correcting the plurality of first position information and the plurality of second position information according to the preset position correction manner, a plurality of first target position information is obtained, and the program includes instructions for executing the following steps:

and determining an intermediate value between the first position information corresponding to each first preset moment and the second position information as target position information according to the preset position correction mode, and obtaining a plurality of first target position information.

In one possible example, in terms of the positioning of the second device being accomplished by the bluetooth module and the preset positioning module, the above-mentioned program includes instructions for performing the steps of:

acquiring position information corresponding to the second equipment at a plurality of second preset moments through the Bluetooth module to acquire a plurality of third position information;

determining position information corresponding to the second equipment at a plurality of second preset moments through the preset positioning module to obtain a plurality of fourth position information;

and determining intermediate values between third position information and fourth position information corresponding to each second preset time as target position information, and obtaining a plurality of second target position information to finish positioning of the second equipment.

In one possible example, in the determining the position information of the second device corresponding to the plurality of first preset moments, obtaining a plurality of second position information, the program includes instructions for executing the following steps:

acquiring an initial position, wherein the initial position is determined by the UWB communication module;

acquiring angle information measured at each first preset moment to acquire a plurality of angle information;

obtaining distance information between a position corresponding to each first preset moment and the initial position to obtain a plurality of distance information;

and determining the position information corresponding to each first preset moment according to the plurality of angle information and the plurality of distance information to obtain a plurality of second position information.

In one possible example, the above-described program further includes instructions for performing the steps of:

acquiring a current use environment;

and if the current use environment meets the preset condition, completing positioning of the second equipment through the preset positioning module.

The foregoing description of the embodiments of the present application has been presented primarily in terms of a method-side implementation. It will be appreciated that the electronic device, in order to achieve the above-described functions, includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied as hardware or a combination of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The embodiment of the application may divide the functional units of the electronic device according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.

In the case of dividing each functional module by corresponding each function, fig. 6 shows a schematic diagram of a positioning apparatus, and as shown in fig. 6, the positioning apparatus 600 is applied to an electronic device, the electronic device includes a first device, and the positioning apparatus 600 may include: a determination unit 601 and a positioning unit 602, wherein,

the determination unit 601 may be used to support the electronic device to perform the above-described step 401, and/or other processes for the techniques described herein.

The positioning unit 602 may be used to support the electronic device to perform steps 402-403 described above, and/or other processes for the techniques described herein.

As can be seen, in the positioning device provided in the embodiment of the present application, the target distance between the positioning device and the second device in the preset range may be determined by using the bluetooth module, where the target distance is determined according to the Beacon signal corresponding to the second device, and the Beacon signal is obtained by sending a BLE signal by using the bluetooth module and scanning the BLE signal at a preset time interval; if the target distance is smaller than or equal to the first threshold value, starting the UWB communication module, and positioning the second equipment through the UWB communication module; if the target distance is larger than a first threshold value and smaller than a second threshold value, starting the UWB communication module and the preset positioning module, and positioning the second equipment through the UWB communication module and the preset positioning module, wherein the second threshold value is larger than the first threshold value; if the target distance is greater than or equal to the second threshold value, starting a preset positioning module, and positioning the second equipment through the Bluetooth module preset positioning module; so, can be according to the distance between the equipment, reasonable adoption different positioning mode is different from traditional single positioning mode, combines bluetooth module, UWB communication module and default positioning module to use, is favorable to improving positioning distance, is favorable to improving positioning accuracy, simultaneously, also can satisfy user's different positioning demand, is favorable to improving user experience.

In one possible example, in terms of determining the target distance according to the Beacon signal corresponding to the second device, the determining unit 601 is specifically configured to:

In one possible example, in terms of the positioning of the second device by the UWB communication module and the preset positioning module, the positioning unit 602 is specifically configured to:

In one possible example, in the aspect of correcting the plurality of first location information and the plurality of second location information according to the preset location correction manner to obtain a plurality of first target location information, the positioning unit 602 is specifically configured to:

In one possible example, in terms of the positioning of the second device by the bluetooth module and the preset positioning module, the positioning unit 602 is specifically configured to:

In one possible example, in the determining the position information of the second device corresponding to the plurality of first preset moments, the positioning unit 602 is specifically configured to:

It should be noted that, all relevant contents of each step related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein.

The electronic device provided in this embodiment is configured to execute the positioning method, so that the same effects as those of the implementation method can be achieved.

In case an integrated unit is employed, the electronic device may comprise a processing module, a storage module and a communication module. The processing module may be configured to control and manage actions of the electronic device, for example, may be configured to support the electronic device to perform the steps performed by the determining unit 601 and the positioning unit 602. The memory module may be used to support the electronic device to execute stored program code, data, etc. And the communication module can be used for supporting the communication between the electronic device and other devices.

Wherein the processing module may be a processor or a controller. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. A processor may also be a combination that performs computing functions, e.g., including one or more microprocessors, digital signal processing (digital signal processing, DSP) and microprocessor combinations, and the like. The memory module may be a memory. The communication module can be a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip and other equipment which interact with other electronic equipment.

In one embodiment, when the processing module is a processor and the storage module is a memory, the electronic device according to this embodiment may be a device having the structure shown in fig. 1.

The embodiment of the application also provides a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, where the computer program causes a computer to execute part or all of the steps of any one of the methods described in the embodiments of the method, where the computer includes an electronic device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any one of the methods described in the method embodiments above. The computer program product may be a software installation package, said computer comprising an electronic device.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.

The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A positioning method applied to a first device, wherein the first device comprises: the method comprises the following steps of:

if the target distance is greater than the first threshold value and smaller than the second threshold value, starting the UWB communication module and the preset positioning module, acquiring position information corresponding to the second equipment at a plurality of first preset moments through the UWB communication module to obtain a plurality of first position information, determining the position information corresponding to the second equipment at the plurality of first preset moments through the preset positioning module to obtain a plurality of second position information, and determining intermediate values between the first position information corresponding to each first preset moment and the second position information as target position information according to the preset position correction mode to obtain a plurality of first target position information so as to finish positioning the second equipment, wherein the second threshold value is greater than the first threshold value;

if the target distance is greater than or equal to the second threshold value, starting the preset positioning module, and positioning the second equipment through the Bluetooth module and the preset positioning module;

The target distance is determined according to a Beacon signal corresponding to the second device, and the method comprises the following steps:

determining a target free space loss value corresponding to the signal strength according to a mapping relation between the preset signal strength and the free space loss value; the mapping relation is specifically as follows:

P _RSSI ＝P _TX -L _S ；

wherein P is _RSSI Representing received signal strength, P _TX Representing the power of the transmitting end, L _S Representing a free space loss value (dB);

determining a target distance corresponding to the target free space loss value according to a mapping relation between a preset distance and the free space loss value; the mapping relation between the distance and the free space loss value is specifically as follows:

L _s ＝32.45+20log ₁₀ (f _MHz )+20log ₁₀ (D _Km )

wherein L is _S Representing the free space loss value (dB), f _MHz Indicating the frequency of operation, D _Km Representing distance.

2. The method of claim 1, wherein the locating the second device is accomplished by the bluetooth module and the preset locating module, comprising:

3. The method of claim 1, wherein the determining the location information of the second device corresponding to the plurality of first preset moments to obtain a plurality of second location information includes:

4. The method according to claim 1, wherein the method further comprises:

Acquiring a current use environment;

5. A positioning device for a first device, wherein the first device includes a bluetooth module, a UWB communication module, and a preset positioning module, the device comprising: a determining unit and a positioning unit, wherein,

the positioning unit is further configured to, if the target distance is greater than the first threshold and less than a second threshold, start the UWB communication module and a preset positioning module, complete positioning of the second device through the UWB communication module and the preset positioning module, obtain, through the UWB communication module, position information corresponding to a plurality of first preset moments of the second device, obtain a plurality of first position information, determine, through the preset positioning module, position information corresponding to the plurality of first preset moments of the second device, obtain a plurality of second position information, determine, according to the preset position correction manner, an intermediate value between the first position information corresponding to each first preset moment and the second position information as target position information, and obtain a plurality of first target position information, so as to complete positioning of the second device, where the second threshold is greater than the first threshold;

The positioning unit is further configured to start a preset positioning module if the target distance is greater than or equal to the second threshold value, and complete positioning of the second device through the bluetooth module and the preset positioning module;

P _RSSI ＝P _TX -L _S ；

L _S ＝32.45+20log ₁₀ (f _MHz )+20log ₁₀ (D _Km )

6. An electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-4.

7. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any of claims 1-4.