CN113207091A - Positioning method, intelligent wearable device and storage medium - Google Patents
Positioning method, intelligent wearable device and storage medium Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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Abstract
The embodiment of the application provides a positioning method, an intelligent wearable device and a storage medium, and the positioning method comprises the following steps: receiving at least two broadcast signals broadcasted by a signal transmitting device, and acquiring position information of the signal transmitting device from the at least two broadcast signals; acquiring transmission parameters of at least two broadcast signals, and determining relative azimuth information with the signal sending equipment based on the transmission parameters; and determining positioning information according to the position information and the relative azimuth information.
Description
Technical Field
The application relates to the field of electronic application, in particular to a positioning method, intelligent wearable equipment and a storage medium.
Background
In recent years, with the rapid development of electronic devices, functions integrated in electronic devices are also more and more abundant, wearable devices such as many smartwatches can all realize the function of Positioning, a Global Positioning System (GPS) Positioning function is provided in general wearable devices, GPS signals are searched and current position information is calculated to realize position Positioning, however, the wearable devices are small in size, so that the signal quality of a GPS antenna is low, and in closed scenes such as when the wearable devices are located in a building, the signals are shielded, which results in low Positioning accuracy of the wearable devices for Positioning through the GPS Positioning function.
Disclosure of Invention
The embodiment of the application provides a positioning method, an intelligent wearable device and a storage medium, and positioning accuracy can be improved.
The technical scheme of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a positioning method, where the method includes:
receiving at least two broadcast signals broadcasted by a signal transmitting device, and acquiring position information of the signal transmitting device from the at least two broadcast signals;
acquiring transmission parameters of the at least two broadcast signals, and determining relative azimuth information with the signal sending equipment based on the transmission parameters;
and determining positioning information according to the position information and the relative azimuth information.
In a second aspect, an embodiment of the present application provides a terminal, where the terminal includes:
a receiving unit for receiving at least two broadcast signals broadcast by the signal transmitting apparatus;
an acquisition unit configured to acquire location information of a signal transmission apparatus from the at least two broadcast signals; acquiring transmission parameters of the at least two broadcast signals;
a determination unit configured to determine relative orientation information with the signal transmission apparatus based on the transmission parameter; and determining positioning information according to the position information and the relative azimuth information.
In a third aspect, an embodiment of the present application provides a terminal, where the terminal includes: a processor, a receiver, a memory, and a communication bus; the processor, when executing the operating program stored in the memory, implements the method of any of the above.
In a fourth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, wherein the computer program is configured to, when executed by a processor, implement the method according to any one of the above.
The embodiment of the application provides a positioning method, intelligent wearable equipment and a storage medium, wherein the method comprises the following steps: receiving at least two broadcast signals broadcasted by a signal transmitting device, and acquiring position information of the signal transmitting device from the at least two broadcast signals; acquiring transmission parameters of at least two broadcast signals, and determining relative azimuth information with the signal sending equipment based on the transmission parameters; and determining positioning information according to the position information and the relative azimuth information. By adopting the implementation scheme, in a closed scene such as a building, the signal sending equipment is positioned to obtain the position information of the signal sending equipment, the intelligent wearable equipment performs signal interaction with the signal sending equipment to receive the position information of the signal sending equipment, and determines the relative position information between the signal sending equipment and the intelligent wearable equipment based on the transmission parameters in the signal interaction process.
Drawings
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present application;
fig. 2 is a first interaction diagram of an exemplary positioning method provided in an embodiment of the present application;
fig. 3 is a second interaction diagram of an exemplary positioning method provided in an embodiment of the present application;
fig. 4 is a third interaction diagram of an exemplary positioning method provided in an embodiment of the present application;
fig. 5 is a fourth interaction diagram of an exemplary positioning method provided in the embodiment of the present application;
fig. 6 is a first schematic structural diagram of an intelligent wearable device provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram ii of an intelligent wearable device provided in the embodiment of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application. And are not intended to limit the present application.
An embodiment of the present application provides a positioning method, as shown in fig. 1, the method may include:
s101, receiving at least two broadcast signals broadcasted by the signal transmitting equipment, and acquiring the position information of the signal transmitting equipment from the at least two broadcast signals.
The positioning method provided by the embodiment of the application is suitable for being used in a scene of positioning wearable equipment such as a smart watch or other intelligent wearable equipment by communicating with a terminal.
In this application embodiment, the communication function that intelligence wearing equipment possessed includes the function that can receive the broadcast signal of appointed signal type, if, broadcast signal's signal type is ultrasonic signal, then intelligence wearing equipment possesses ultrasonic transmission ability, and broadcast signal's signal type is bluetooth signal, then intelligence wearing equipment starts bluetooth function.
In the embodiment of the application, the intelligent wearable device may receive at least two broadcast signals sent by one signal sending device, and may also receive at least two broadcast signals sent by at least two signal sending devices, and the number of the specific signal sending devices assisting in realizing positioning may be determined according to the number of the receiving modules of the intelligent wearable device, which is not specifically limited in the embodiment of the application.
Optionally, when the smart wearable device includes one receiving module, the smart wearable device receives at least two broadcast signals sent by at least two signal sending devices; when the intelligent wearable device comprises a plurality of receiving modules, the intelligent wearable device can receive at least two broadcast signals transmitted by one signal transmitting device. The scene that the intelligent wearable device comprises a plurality of receiving modules can integrate the plurality of receiving modules in the intelligent wearable device in advance; or a receiving module is integrated inside the intelligent wearable device in advance, the intelligent wearable device is connected with the second receiving device, the second receiving device is used as the receiving module of the intelligent wearable device, and the receiving module can be specifically selected according to actual conditions.
It should be noted that, the receiving module of the intelligent wearable device may be a receiving device such as a microphone that can monitor the broadcast signal.
In the embodiment of the present application, the signal sending device may be a terminal such as a mobile phone that has a function of transmitting broadcast signals. It should be noted that at least two broadcast signals may be one type of broadcast signal, or may be multiple types of broadcast signals, which may be specifically selected according to actual situations, and this embodiment of the present application is not specifically limited.
In this embodiment, the at least two broadcast signals may include a first broadcast signal and a second broadcast signal that is of a different signal type from the first broadcast signal, where the signal type of the first broadcast signal may be any one of a sound wave signal such as an ultrasonic signal or an electromagnetic wave signal such as an Ultra Wide Band (UWB) signal, and the signal type of the second broadcast signal is a short-range communication signal such as a bluetooth signal.
It should be noted that one of the first broadcast signal and the second broadcast signal may be used to carry the location information and the sending time of the signal sending device, and the other broadcast signal may be used to record the receiving time, such as an ultrasonic signal for recording the receiving time, and a bluetooth signal for carrying the location information and the sending time of the signal sending device; or one broadcast signal can be used to carry the position information of the signal sending device, and the first broadcast signal and the second broadcast signal are used together to record the transmission time, for example, a bluetooth signal is used to carry the position information of the signal sending device, and an ultrasonic signal and a bluetooth signal are used to record the receiving time respectively; here, the function division of the broadcast signal is only an exemplary function division, and the specific function division may be determined according to the actual situation, and the embodiment of the present application is not particularly limited.
The following description specifically describes the first broadcast signal as an ultrasonic signal and the second broadcast signal as a bluetooth signal.
It should be noted that, the signal transmitting device carries the location information of the signal transmitting device in at least two broadcast signals for broadcasting, and the intelligent wearable device monitors the at least two broadcast signals and extracts the location information of the signal transmitting device from the at least two broadcast signals.
In an optional embodiment, the intelligent wearable device includes a receiving module, the intelligent wearable device receives broadcast signals sent from at least two signal sending devices, where the broadcast signals may be a first broadcast signal or a second broadcast signal, and at this time, the intelligent wearable device receives at least two broadcast signals sent by the at least two signal sending devices through the receiving module, where each signal sending device corresponds to one broadcast signal, and then, at least two pieces of location information of the at least two signal sending devices are obtained from the at least two broadcast signals, respectively, and each signal sending device corresponds to one piece of location information.
Exemplarily, a microphone is arranged in the smart watch, the smart watch monitors ultrasonic signals transmitted by at least two surrounding terminals through the microphone, the at least two surrounding terminals broadcast their own GPS position information and transmission time information through the ultrasonic signals, the smart watch receives the ultrasonic signals broadcast by each surrounding terminal through ultrasonic waves, demodulates the ultrasonic signals to obtain the position information thereof, and the smart watch needs to receive the at least two ultrasonic signals transmitted by the at least two surrounding terminals.
In another optional embodiment, the smart wearable device includes a receiving module, the smart wearable device receives broadcast signals transmitted from at least two signal transmitting devices, where the broadcast signals include a first broadcast signal and a second broadcast signal, and each signal transmitting device simultaneously transmits the first broadcast signal and the second broadcast signal; at this moment, the intelligent wearable device receives at least two first broadcast signals and at least two second broadcast signals sent by the at least two signal sending devices respectively, and obtains at least two pieces of position information of the at least two signal sending devices from the at least two first broadcast signals or the at least two second broadcast signals respectively, wherein each signal sending device corresponds to one piece of position information, and the intelligent wearable device receives the at least two first broadcast signals sent by the at least two signal sending devices through a receiving module respectively. It should be noted that the signal sending device may carry the location information in the first broadcast signal for broadcasting, or may carry the location information in the second broadcast signal for broadcasting, which is specifically selected according to an actual situation, and this embodiment of the present application is not specifically limited.
Exemplarily, a microphone is arranged in the smart watch, the smart watch monitors ultrasonic signals transmitted by at least two surrounding terminals through the microphone and acquires bluetooth signals transmitted by the at least two terminals, each surrounding terminal transmits an ultrasonic signal and a bluetooth signal, the at least two surrounding terminals broadcast their own GPS positions through the ultrasonic signal or the bluetooth signal, and the smart watch demodulates the ultrasonic signal and the bluetooth signal to obtain the GPS positions of the at least two surrounding terminals.
In another optional embodiment, the smart wearable device includes a receiving module, and the smart wearable device is in communication connection with a second receiving device, and the smart wearable device receives a broadcast signal sent from a signal sending device, where the broadcast signal includes a first broadcast signal and a second broadcast signal, and at this time, the smart wearable device receives a first broadcast signal and a second broadcast signal sent by a signal sending device; and acquiring position information of a signal transmitting device from a first broadcast signal, wherein the intelligent wearable device receives the first broadcast signal transmitted by the signal transmitting device through a receiving module.
It should be noted that the second receiving device may be a device with a signal receiving function, such as a True Wireless Stereo (TWS) headset, and the second receiving device is specifically selected according to actual situations, and the embodiment of the present application is not specifically limited.
Exemplarily, a microphone is arranged in the smart watch, the smart watch is further connected with the TWS headset, the smart watch monitors an ultrasonic signal transmitted by a peripheral terminal through the microphone and receives a bluetooth signal transmitted by the peripheral terminal, at least two peripheral terminals broadcast their own GPS positions through the ultrasonic signal or the bluetooth signal, and the smart watch demodulates the ultrasonic signal and the bluetooth signal to obtain the GPS positions of the at least two peripheral terminals. The two TWS earphones also monitor ultrasonic signals transmitted by a peripheral device at the same time, and the ultrasonic signals are used for calculating the arrival time difference of the ultrasonic signals reaching the TWS earphones.
In another optional embodiment, the receiving module of the intelligent wearable device includes a first receiving module and a second receiving module, the intelligent wearable device receives a broadcast signal sent from a signal sending device, where the broadcast signal includes a first broadcast signal and a second broadcast signal, and at this time, the intelligent wearable device receives a first broadcast signal and a second broadcast signal sent by a signal sending device through the receiving module, and obtains a location information of the signal sending device from the first broadcast signal. It should be noted that, a first receiving module and a second receiving module in the intelligent wearable device both receive a first broadcast signal and a second broadcast signal, and the intelligent wearable device may determine a location information carried by the first broadcast signal from the first receiving module or the second receiving module.
Illustratively, two microphones are arranged in the smart watch, at this time, the smart watch monitors an ultrasonic signal transmitted by a surrounding terminal through the two microphones and receives a bluetooth signal transmitted by a surrounding terminal, and the smart watch demodulates the ultrasonic signal and the bluetooth signal to obtain a GPS position of the surrounding terminal.
S102, acquiring transmission parameters of at least two broadcast signals, and determining relative direction information with the signal sending equipment based on the transmission parameters.
After the intelligent wearable device acquires the position information of the signal sending device from the at least two broadcast signals, the intelligent wearable device acquires transmission parameters of the at least two broadcast signals and determines relative orientation information with the signal sending device based on the transmission parameters.
It should be noted that, when there is one receiving module of the intelligent wearable device, the relative orientation information is at least two pieces of relative position information between the at least two pieces of signal sending equipment and the intelligent wearable device; when the receiving module of the intelligent wearable device is multiple (including multiple receiving modules integrated in the intelligent wearable device, or one receiving module integrated in the intelligent wearable device and the intelligent wearable device connected to the second receiving device), the relative orientation information is the relative position information and the relative angle information between one signal sending device and the intelligent wearable device, the specific type of the relative orientation information can be determined according to the number of the receiving modules, and the embodiment of the application is not specifically limited.
In an optional embodiment, when the intelligent wearable device receives at least two first broadcast signals sent by at least two signal sending devices through the receiving module, the intelligent wearable device obtains at least two signal sending times of the at least two signal sending devices from the at least two broadcast signals; and recording at least two signal receiving times when the at least two broadcast signals are received; at least two pieces of relative position information with at least two pieces of signal sending equipment are determined according to at least two pieces of signal sending time and at least two corresponding signal receiving times.
It should be noted that the intelligent wearable device determines the transceiving time difference corresponding to each signal transmitting device according to the signal transmitting time and the signal receiving time of each signal transmitting device, and then determines the relative position information between each signal transmitting device and the intelligent wearable device according to the transceiving time difference and the signal transmission rate of the first broadcast signal.
Illustratively, the smart watch acquires transmission time information transmitted by a surrounding terminal, records reception time information of a received ultrasonic signal, calculates a time difference between the reception time information and the transmission time information, and multiplies the time difference by the transmission rate of the ultrasonic signal to obtain relative position information between the surrounding terminal and the smart watch.
In another optional embodiment, when the smart wearable device receives at least one first broadcast signal and at least one second broadcast signal sent by at least two signal sending devices, the smart wearable device acquires the at least two second broadcast signals to obtain at least two arrival times; acquiring at least two receiving times of receiving at least two first broadcast signals; determining at least two time differences according to at least two arrival times and at least two receiving times, wherein each time difference of the at least two time differences is determined according to one arrival time and one corresponding receiving time; at least two pieces of relative position information with at least two pieces of signal transmission apparatuses are obtained based on the at least two time differences and the signal transmission rate of the first broadcast signal, respectively.
Illustratively, the smart watch demodulates the received bluetooth signal to obtain an identifier, the smart watch determines time 2 when the ultrasonic wave corresponding to the identifier arrives at the smart watch, and meanwhile, the smart watch further records time 1 when the bluetooth signal is received, determines a transmission time difference between the time 2 and the time 1, and multiplies the transmission time difference by a transmission rate of the ultrasonic wave to obtain at least two pieces of relative position information between at least two surrounding terminals and the smart watch.
In another optional embodiment, when the intelligent wearable device comprises a receiving module, the intelligent wearable device is connected with a second receiving device, and the intelligent wearable device receives a broadcast signal sent by a signal sending device, the intelligent wearable device obtains the second broadcast signal to obtain an arrival time; then, acquiring a receiving time of receiving a first broadcast signal; and determining a first receive time difference between a receive time and an arrival time; obtaining relative position information with a signal sending device based on the first receiving time difference and a preset signal transmission rate; receiving the arrival time difference sent by the second receiving equipment; the second receiving device is in communication connection with the intelligent wearable device and comprises a plurality of receiving modules, and the arrival time difference is the time difference of the plurality of receiving modules receiving one first broadcast signal; and determining the relative angle information of the intelligent wearable device and a signal sending device according to the arrival time difference.
Illustratively, the smart watch demodulates the received bluetooth signal to obtain an identifier, the smart watch determines time 2 when the ultrasonic wave corresponding to the identifier arrives at the smart watch, and meanwhile, the smart watch further records time 1 when the bluetooth signal is received, determines a transmission time difference between the time 2 and the time 1, and multiplies the transmission time difference by the transmission rate of the ultrasonic wave to obtain relative position information between a surrounding terminal and the smart watch. Meanwhile, the intelligent watch acquires the arrival time difference from the TWS earphone, and determines the relative angle information between the intelligent watch and the surrounding terminal by using the arrival time difference based on the ultrasonic angle measuring principle.
In another optional embodiment, when the receiving module of the smart wearable device includes a first receiving module and a second receiving module, and the smart wearable device receives a broadcast signal sent by a signal sending device, the smart wearable device determines a second receiving time difference when the first receiving module and the second receiving module receive a first broadcast signal; acquiring a second broadcast signal to obtain an arrival time; then acquiring a receiving time of receiving a first broadcast signal; and determining a third receive time difference between a receive time and an arrival time; the second and third reception time differences are determined as transmission parameters of the at least two broadcast signals. Then, the intelligent wearable device determines relative angle information based on the second receiving time difference; and obtaining the relative position information of the signal sending equipment based on the third receiving time difference and the preset signal transmission rate.
Illustratively, the smart watch demodulates the received bluetooth signal to obtain an identifier, the smart watch determines time 2 when the ultrasonic wave corresponding to the identifier arrives at the smart watch, and simultaneously, the smart watch also records time 1 when the bluetooth signal is received, determines a transmission time difference between the time 2 and the time 1, and multiplies the transmission time difference by the transmission rate of the ultrasonic wave to obtain relative position information between a surrounding terminal and the smart watch; meanwhile, two microphones of the intelligent watch respectively receive ultrasonic signals sent by one surrounding terminal, the time difference that the ultrasonic signals reach the two microphones is obtained, and the relative angle information between the intelligent watch and one surrounding terminal is calculated according to the time difference.
And S103, determining positioning information according to the position information and the relative azimuth information.
After the transmission parameters of at least two broadcast signals are acquired and the relative position information of the signal sending equipment is determined based on the transmission parameters, the positioning information of the smart watch is determined according to the determined position information and the determined relative position information.
In an optional embodiment, when the number of the receiving modules of the intelligent wearable device is one, the relative orientation information is a scene of at least two pieces of relative position information between the at least two pieces of signal sending equipment and the intelligent wearable device, and the intelligent wearable device determines the positioning information according to the at least two pieces of position information and the at least two pieces of relative position information.
It should be noted that after the intelligent wearable device determines the position information of each signal sending device and the relative position information between each signal sending device and the intelligent wearable device, the intelligent wearable device may determine the positioning information of the intelligent wearable device based on a triangulation positioning principle. The intelligent wearable equipment can be positioned by the position information of the two signal sending devices and the relative position information between the two signal sending devices and the intelligent wearable equipment, and the positioning accuracy of the intelligent wearable equipment can be improved by the position information and the relative position information of more signal sending devices.
In another optional embodiment, when the number of the receiving modules of the intelligent wearable device is multiple, the relative orientation information is a scene of relative position information and relative angle information between the signal sending device and the intelligent wearable device, and the intelligent wearable device determines the positioning information according to the position information, the relative position information and the relative angle information.
The positioning method and the positioning device have the advantages that in closed scenes such as in buildings, the signal sending device is positioned to obtain the position information of the signal sending device, the intelligent wearable device performs signal interaction with the signal sending device to receive the position information of the signal sending device, and the relative position information between the signal sending device and the intelligent wearable device is determined based on the transmission parameters in the signal interaction process.
Based on the above embodiments, an embodiment of a positioning method is proposed, in which a smart watch includes a microphone, the smart watch receives ultrasonic waves transmitted by two mobile phones, a specific positioning process is shown in fig. 2,
1. the smart watch receives the ultrasonic waves transmitted by the mobile phone 1 and records the receiving time 1.
2. The smart watch demodulates the ultrasonic waves to obtain the transmitting time 1 of the ultrasonic waves transmitted by the mobile phone 1 and the GPS information 1 of the mobile phone.
3. The smart watch determines the relative position information 1 between the mobile phone 1 and the smart watch according to the receiving time 1 and the transmitting time 1.
4. The smart watch receives the ultrasonic waves transmitted by the mobile phone 2 and records the receiving time 2.
5. The smart watch demodulates the ultrasonic waves to obtain the transmitting time 2 of the ultrasonic waves transmitted by the mobile phone 2 and the GPS information 2 of the mobile phone.
6. The smart watch determines relative position information 2 between the mobile phone 2 and the smart watch according to the receiving time 2 and the transmitting time 2.
7. The intelligent watch positions the intelligent watch according to the GPS information 1, the GPS information 2, the relative position information 1 and the relative position information 2.
Based on the above embodiments, an embodiment of a positioning method is also provided, in which a smart watch includes a microphone, the smart watch receives ultrasonic waves and bluetooth broadcasts transmitted by two mobile phones, a specific positioning process is shown in fig. 3,
1. the intelligent watch receives the ultrasonic waves and the Bluetooth broadcast transmitted by the mobile phone 1 and records the receiving time 1 of the Bluetooth and the receiving time 2 of the ultrasonic waves.
2. The smart watch demodulates the ultrasonic wave and the Bluetooth broadcast; the GPS information 1 of the mobile phone 1 is acquired from ultrasonic waves or bluetooth broadcasting.
3. The smart watch determines the ultrasound transmission time difference 1 between time 2 and time 1.
4. The intelligent watch determines the relative position information 1 between the intelligent watch and the mobile phone 1 according to the ultrasonic transmission time difference 1.
5. The smart watch receives the ultrasonic waves and the Bluetooth broadcast transmitted by the mobile phone 2, and records the receiving time 3 of the Bluetooth and the receiving time 4 of the ultrasonic waves.
6. The smart watch demodulates the ultrasonic wave and the Bluetooth broadcast; the GPS information 2 of the mobile phone 2 is acquired from ultrasonic waves or bluetooth broadcasting.
7. The smart watch determines the ultrasound transmission time difference 2 between time 3 and time 4.
8. The intelligent watch determines the relative position information 2 between the intelligent watch and the mobile phone 2 according to the ultrasonic transmission time difference 2.
9. The intelligent watch positions the intelligent watch according to the GPS information 1, the GPS information 2, the relative position information 1 and the relative position information 2.
Based on the above embodiments, an embodiment of a positioning method is also provided, in which a smart watch includes a microphone, the smart watch is connected to a pair of TWS earphones, the smart watch receives an ultrasonic wave and a bluetooth broadcast transmitted by a mobile phone, a specific positioning process is shown in fig. 4,
1. the intelligent watch receives the ultrasonic waves and the Bluetooth broadcast transmitted by the mobile phone 1 and records the receiving time 1 of the Bluetooth and the receiving time 2 of the ultrasonic waves.
2. The smart watch demodulates the ultrasonic wave and the Bluetooth broadcast; the GPS information 1 of the mobile phone 1 is acquired from ultrasonic waves or bluetooth broadcasting.
3. The smart watch determines the ultrasound transmission time difference 1 between time 2 and time 1.
4. The intelligent watch determines the relative position information 1 between the intelligent watch and the mobile phone 1 according to the ultrasonic transmission time difference 1.
5. The TWS headset receives the ultrasonic waves transmitted by the mobile phone, and determines the receiving time difference 2 between two TWS headsets receiving one ultrasonic wave.
6. The TWS headset sends the receive time difference 2 to the smart watch.
7. And the intelligent watch determines the relative angle information 2 between the intelligent watch and the mobile phone according to the receiving time difference 2.
8. The intelligent watch positions the intelligent watch according to the GPS information 1, the relative position information 1 and the relative angle information 2.
Based on the above embodiments, an embodiment of a positioning method is also provided, in which a smart watch includes two microphones, the smart watch receives an ultrasonic wave and a bluetooth broadcast transmitted by a mobile phone, a specific positioning process is shown in fig. 5,
1. the intelligent watch receives the ultrasonic waves and the Bluetooth broadcast transmitted by the mobile phone and records the receiving time 1 of the Bluetooth and the receiving time 2 of the ultrasonic waves.
2. The smart watch demodulates the ultrasonic wave and the Bluetooth broadcast; the GPS information 1 of the mobile phone 1 is acquired from ultrasonic waves or bluetooth broadcasting.
3. The smart watch determines the ultrasound transmission time difference 1 between time 2 and time 1.
4. The intelligent watch determines the relative position information 1 between the intelligent watch and the mobile phone 1 according to the ultrasonic transmission time difference 1.
5. The smart watch determines the difference in the reception times 2 of the ultrasonic waves arriving at the two earphones.
6. And the intelligent watch determines the relative angle information 2 between the intelligent watch and the mobile phone according to the receiving time difference 2.
7. The intelligent watch positions the intelligent watch according to the GPS information 1, the relative position information 1 and the relative angle information 2.
The embodiment of the application provides an intelligence wearing equipment. As shown in fig. 6, the smart wearable device 1 includes:
a receiving unit 10 for receiving at least two broadcast signals broadcast by the signal transmitting apparatus;
an obtaining unit 11, configured to obtain location information of a signal sending device from the at least two broadcast signals; acquiring transmission parameters of the at least two broadcast signals;
a determination unit 12 for determining relative orientation information with the signal transmission apparatus based on the transmission parameters; and determining positioning information according to the position information and the relative azimuth information.
Optionally, the receiving unit 10 is further configured to receive, through a receiving module of the intelligent wearable device, the at least two broadcast signals sent by at least two signal sending devices respectively, where each signal sending device corresponds to one broadcast signal;
the obtaining unit 11 is further configured to obtain at least two pieces of location information of the at least two signal transmitting devices from the at least two broadcast signals, respectively, where each signal transmitting device corresponds to one piece of location information.
Optionally, the relative orientation information is at least two pieces of relative position information, the transmission parameters include signal sending time and signal receiving time,
the obtaining unit 11 is further configured to obtain at least two signal sending times of the at least two signal sending devices from the at least two broadcast signals; and recording at least two signal receiving times at which the at least two broadcast signals are received;
the determining unit 12 is further configured to determine at least two pieces of relative location information with the at least two signal transmitting devices according to the at least two signal transmitting times and the corresponding at least two signal receiving times.
Optionally, the broadcast signal includes: a first broadcast signal and a second broadcast signal, a signal type between the first broadcast signal and the second broadcast signal being different.
Optionally, the receiving unit 10 is further configured to receive at least two first broadcast signals and at least two second broadcast signals sent by at least two signal sending devices, respectively, where each signal sending device corresponds to one first broadcast signal and one second broadcast signal;
the obtaining unit 11 is further configured to obtain at least two pieces of location information of the at least two signal sending devices from the at least two first broadcast signals or the at least two second broadcast signals.
Optionally, the relative orientation information is relative position information,
the obtaining unit 11 is further configured to obtain the at least two second broadcast signals, and obtain at least two arrival times; acquiring at least two receiving times of receiving the at least two first broadcast signals;
the determining unit 12 is further configured to determine at least two time differences according to the at least two arrival times and the at least two receiving times, where each of the at least two time differences is determined according to one arrival time and a corresponding one receiving time; and respectively obtaining at least two pieces of relative position information of the at least two signal sending devices based on the at least two time differences and the signal transmission rate of the first broadcast signal.
Optionally, the receiving unit 10 is further configured to receive a first broadcast signal and a second broadcast signal sent by a signal sending device;
the obtaining unit 11 is further configured to obtain location information of the signal sending device from the first broadcast signal.
Optionally, the relative orientation information includes relative position information and relative angle information,
the obtaining unit 11 is further configured to obtain the second broadcast signal to obtain an arrival time; acquiring a reception time at which the one first broadcast signal is received;
the determining unit 12 is further configured to determine a first receiving time difference between a receiving time and an arrival time; obtaining relative position information with the signal sending equipment based on the first receiving time difference and a preset signal transmission rate; determining relative angle information of the intelligent wearable device and the signal sending device according to the arrival time difference;
the receiving unit 10 is further configured to receive a time difference of arrival sent by a second receiving device; the second receiving device is in communication connection with the intelligent wearable device, the second receiving device comprises a plurality of receiving modules, and the arrival time difference is a time difference of the plurality of receiving modules receiving the first broadcast signal.
Optionally, the receiving unit 10 is further configured to receive, through the receiving module, a first broadcast signal and a second broadcast signal sent by a signal sending device;
the obtaining unit 11 is further configured to obtain location information of the signal sending device from the first broadcast signal.
Optionally, the receiving module includes a first receiving module and a second receiving module, and the relative orientation information includes relative position information and relative angle information;
the determining unit 12 is further configured to determine a second receiving time difference between the first receiving module and the second receiving module receiving the first broadcast signal;
the obtaining unit 11 is further configured to obtain the second broadcast signal to obtain an arrival time; acquiring a reception time at which the one first broadcast signal is received;
the determining unit 12 is further configured to determine a third receiving time difference between one receiving time and one arrival time; determining the second and third reception time differences as transmission parameters of the at least two broadcast signals; determining relative angle information based on the second receive time difference; and obtaining the relative position information of the signal sending equipment based on the third receiving time difference and a preset signal transmission rate.
The intelligent wearable device provided by the embodiment of the application receives at least two broadcast signals broadcasted by the signal sending device, and acquires the position information of the signal sending device from the at least two broadcast signals; acquiring transmission parameters of at least two broadcast signals, and determining relative azimuth information with the signal sending equipment based on the transmission parameters; and determining positioning information according to the position information and the relative azimuth information. Therefore, according to the intelligent wearable device provided by the embodiment, in a closed scene such as a building, the signal sending device performs positioning to obtain the position information of the signal sending device, the intelligent wearable device performs signal interaction with the signal sending device to receive the position information of the signal sending device, and determines the relative orientation information between the signal sending device and the intelligent wearable device based on the transmission parameters in the signal interaction process.
Fig. 7 is a schematic diagram of a composition structure of an intelligent wearable device 1 provided in an embodiment of the present application, and in practical application, based on the same disclosure concept of the above embodiment, as shown in fig. 7, the intelligent wearable device 1 of the present embodiment includes: a receiver 13, a processor 14, a memory 15, and a communication bus 16.
In a Specific embodiment, the obtaining unit 11 and the determining unit 12 may be implemented by a Processor 14 located on the smart wearable Device 1, the receiving unit 10 may be implemented by a receiver 13 located on the smart wearable Device 1, and the Processor 14 may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic image Processing Device (PLD), a Field Programmable Gate Array (FPGA), a CPU, a controller, a microcontroller, and a microprocessor. It is understood that the electronic device for implementing the above-mentioned processor function may be other devices, and the embodiment is not limited in particular.
In the embodiment of the present application, the communication bus 16 is used for realizing connection communication among the receiver 13, the processor 14 and the memory 15; the receiver 13 is configured to receive at least two broadcast signals broadcast by the signal transmitting apparatus; the processor 14 executes the operating program stored in the memory 15 to implement the following positioning method:
acquiring position information of a signal transmitting device from the at least two broadcast signals; acquiring transmission parameters of the at least two broadcast signals, and determining relative azimuth information with the signal sending equipment based on the transmission parameters; and determining positioning information according to the position information and the relative azimuth information.
Further, in the above embodiment, the receiver 13 is configured to receive, through a receiving module of the smart wearable device, the at least two broadcast signals sent by at least two signal sending devices respectively, where each signal sending device corresponds to one broadcast signal;
the processor 14 is configured to obtain at least two pieces of location information of the at least two signal sending devices from the at least two broadcast signals, respectively, where each signal sending device corresponds to one piece of location information.
Further, in the above embodiment, the processor 14 is configured to obtain at least two signal transmission times of the at least two signal transmission devices from the at least two broadcast signals; and recording at least two signal receiving times at which the at least two broadcast signals are received; and determining at least two pieces of relative position information of the at least two signal sending devices according to the at least two signal sending times and the corresponding at least two signal receiving times.
Further, in the above embodiment, the broadcast signal includes: a first broadcast signal and a second broadcast signal, a signal type between the first broadcast signal and the second broadcast signal being different.
Further, in the above embodiment, the receiver 13 is configured to receive at least two first broadcast signals and at least two second broadcast signals respectively transmitted by at least two signal transmitting devices, where each signal transmitting device corresponds to one first broadcast signal and one second broadcast signal;
the processor 14 is configured to obtain at least two pieces of location information of the at least two signal sending devices from the at least two first broadcast signals or the at least two second broadcast signals.
Further, in the above embodiment, the processor 14 is configured to obtain the at least two second broadcast signals, and obtain at least two arrival times; acquiring at least two receiving times of receiving the at least two first broadcast signals; determining at least two time differences according to the at least two arrival times and the at least two receiving times, wherein each time difference of the at least two time differences is determined according to one arrival time and one corresponding receiving time; and respectively obtaining at least two pieces of relative position information of the at least two signal sending devices based on the at least two time differences and the signal transmission rate of the first broadcast signal.
Further, in the above embodiment, the receiver 13 is configured to receive a first broadcast signal and a second broadcast signal transmitted by a signal transmitting apparatus;
the processor 14 is configured to obtain a location information of the signal transmitting apparatus from the first broadcast signal.
Further, in the above embodiment, the processor 14 is configured to obtain the second broadcast signal to obtain an arrival time; acquiring a reception time at which the one first broadcast signal is received; and determining a first receive time difference between a receive time and an arrival time; obtaining relative position information with the signal sending equipment based on the first receiving time difference and a preset signal transmission rate; receiving the arrival time difference sent by the second receiving equipment; the second receiving device is in communication connection with the intelligent wearable device, the second receiving device comprises a plurality of receiving modules, and the arrival time difference is a time difference of the plurality of receiving modules receiving the first broadcast signal; and determining the relative angle information of the intelligent wearable device and the signal sending device according to the arrival time difference.
Further, in the above embodiment, the receiver 13 is configured to receive, through the receiving module, a first broadcast signal and a second broadcast signal transmitted by a signal transmitting apparatus;
the processor 14 is configured to obtain a location information of the signal transmitting apparatus from the first broadcast signal.
Further, in the above embodiment, the processor 14 is configured to determine a second receiving time difference between the first receiving module and the second receiving module receiving the one first broadcast signal; acquiring the second broadcast signal to obtain an arrival time; acquiring a reception time at which the one first broadcast signal is received; and determining a third receive time difference between a receive time and an arrival time; determining the second and third reception time differences as transmission parameters of the at least two broadcast signals; determining relative angle information based on the second receive time difference; and obtaining the relative position information of the signal sending equipment based on the third receiving time difference and a preset signal transmission rate.
The embodiment of the present application provides a storage medium, on which a computer program is stored, where the computer readable storage medium stores one or more programs, and the one or more programs are executable by one or more processors and applied to a terminal, and the computer program implements the positioning method as described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling an image display device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present disclosure.
The above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application.
Claims (13)
1. A method of positioning, the method comprising:
receiving at least two broadcast signals broadcasted by a signal transmitting device, and acquiring position information of the signal transmitting device from the at least two broadcast signals;
acquiring transmission parameters of the at least two broadcast signals, and determining relative azimuth information with the signal sending equipment based on the transmission parameters;
and determining positioning information according to the position information and the relative azimuth information.
2. The method of claim 1, wherein the receiving at least two broadcast signals broadcast by the signal transmitting device and obtaining the location information of the signal transmitting device from the at least two broadcast signals comprises:
the method comprises the steps that at least two broadcast signals sent by at least two signal sending devices are respectively received through a receiving module of the intelligent wearable device, wherein each signal sending device corresponds to one broadcast signal;
and respectively acquiring at least two pieces of position information of the at least two signal transmitting devices from the at least two broadcast signals, wherein each signal transmitting device corresponds to one piece of position information.
3. The method according to claim 2, wherein the relative position information is at least two pieces of relative position information, the transmission parameters include a signal transmission time and a signal reception time, the transmission parameters of the at least two broadcast signals are acquired, and the relative position information with the signal transmission apparatus is determined based on the transmission parameters; the method comprises the following steps:
acquiring at least two signal transmission times of the at least two signal transmission devices from the at least two broadcast signals; and recording at least two signal receiving times at which the at least two broadcast signals are received;
and determining at least two pieces of relative position information of the at least two signal sending devices according to the at least two signal sending times and the corresponding at least two signal receiving times.
4. The method of claim 1, wherein the broadcast signal comprises: a first broadcast signal and a second broadcast signal, a signal type between the first broadcast signal and the second broadcast signal being different.
5. The method of claim 4, wherein the receiving at least two broadcast signals broadcast by the signal transmitting device and obtaining the location information of the signal transmitting device from the at least two broadcast signals further comprises:
receiving at least two first broadcast signals and at least two second broadcast signals respectively transmitted by at least two signal transmitting devices, wherein each signal transmitting device corresponds to one first broadcast signal and one second broadcast signal;
at least two pieces of location information of the at least two signal transmission apparatuses are acquired from the at least two first broadcast signals or the at least two second broadcast signals.
6. The method of claim 5, wherein the relative position information is relative position information, and wherein the obtaining transmission parameters of the at least two broadcast signals and determining the relative position information with the signal transmitting device based on the transmission parameters comprises:
acquiring the at least two second broadcast signals to obtain at least two arrival times;
acquiring at least two receiving times of receiving the at least two first broadcast signals; determining at least two time differences according to the at least two arrival times and the at least two receiving times, wherein each time difference of the at least two time differences is determined according to one arrival time and one corresponding receiving time;
and respectively obtaining at least two pieces of relative position information of the at least two signal sending devices based on the at least two time differences and the signal transmission rate of the first broadcast signal.
7. The method of claim 4, wherein the receiving at least two broadcast signals and obtaining the location information of the signal transmitting device from the at least two broadcast signals comprises:
receiving a first broadcast signal and a second broadcast signal transmitted by a signal transmitting apparatus;
acquiring a location information of the one signal transmitting apparatus from the one first broadcast signal.
8. The method of claim 7, wherein the relative position information comprises relative position information and relative angle information, and wherein the obtaining of the transmission parameters of the at least two broadcast signals and the determining of the relative position information with the signal transmitting device based on the transmission parameters are performed; the method comprises the following steps:
acquiring the second broadcast signal to obtain an arrival time;
acquiring a reception time at which the one first broadcast signal is received; and determining a first receive time difference between a receive time and an arrival time;
obtaining relative position information with the signal sending equipment based on the first receiving time difference and a preset signal transmission rate;
receiving the arrival time difference sent by the second receiving equipment; the second receiving device is in communication connection with the intelligent wearable device, the second receiving device comprises a plurality of receiving modules, and the arrival time difference is the time difference of the plurality of receiving modules receiving the first broadcast signal;
and determining the relative angle information of the intelligent wearable device and the signal sending device according to the arrival time difference.
9. The method of claim 4, wherein the receiving at least two broadcast signals and obtaining the location information of the signal transmitting device from the at least two broadcast signals comprises:
receiving a first broadcast signal and a second broadcast signal transmitted by a signal transmitting apparatus through a receiving module;
acquiring a location information of the one signal transmitting apparatus from the one first broadcast signal.
10. The method of claim 9, wherein the receiving module comprises a first receiving module and a second receiving module, and the relative orientation information comprises relative position information and relative angle information; the transmission parameters of the at least two broadcast signals are obtained, and the relative direction information with the signal sending equipment is determined based on the transmission parameters; the method comprises the following steps:
determining a second receiving time difference between the first receiving module and the second receiving module receiving the one first broadcast signal;
acquiring the second broadcast signal to obtain an arrival time;
acquiring a reception time at which the one first broadcast signal is received; and determining a third receive time difference between a receive time and an arrival time;
determining the second and third reception time differences as transmission parameters of the at least two broadcast signals;
determining relative angle information based on the second receive time difference;
and obtaining the relative position information of the signal sending equipment based on the third receiving time difference and a preset signal transmission rate.
11. The utility model provides an intelligence wearing equipment which characterized in that, intelligence wearing equipment includes:
a receiving unit for receiving at least two broadcast signals broadcast by the signal transmitting apparatus;
an acquisition unit configured to acquire location information of a signal transmission apparatus from the at least two broadcast signals; acquiring transmission parameters of the at least two broadcast signals;
a determination unit configured to determine relative orientation information with the signal transmission apparatus based on the transmission parameter; and determining positioning information according to the position information and the relative azimuth information.
12. The utility model provides an intelligence wearing equipment which characterized in that, intelligence wearing equipment includes: a processor, a receiver, a memory, and a communication bus; the processor, when executing the execution program stored in the memory, implements the method of any of claims 1-10.
13. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-10.
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