CN113543310A

CN113543310A - Positioning method, positioning device, electronic equipment and computer readable storage medium

Info

Publication number: CN113543310A
Application number: CN202110807895.XA
Authority: CN
Inventors: 张烨
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2021-10-22
Also published as: WO2023284418A1

Abstract

The embodiment of the application relates to a positioning method, which comprises the steps of determining a first azimuth angle of a target object relative to electronic equipment in a first direction according to attitude information of the electronic equipment; responding to a positioning instruction, and controlling a first antenna and a second antenna to receive a UWB signal transmitted by a target object; and determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, and determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle. Because the first antenna and the second antenna only need to receive the UWB signals transmitted by the target object once, the time of the positioning process is greatly shortened, and the positioning efficiency is improved. In addition, the embodiment of the application also provides a positioning device, electronic equipment and a storage medium.

Description

Positioning method, positioning device, electronic equipment and computer readable storage medium

Technical Field

The present application relates to the field of mobile communications technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a computer-readable storage medium.

Background

With the development and progress of science and technology, the communication technology has been rapidly developed and advanced, and with the improvement of the communication technology, the popularization of intelligent electronic products has been improved to an unprecedented level, more and more intelligent terminals or electronic devices become an indispensable part of people's life, such as smart phones, smart televisions, computers and the like, and the interconnection of everything based on the intelligent electronic devices also becomes a new trend. The universal interconnection is understood to be that direct communication connection can be achieved between objects, and in current products, communication connection between two objects is generally achieved through antennas respectively configured on the two objects, signals of UWB tags need to be received from multiple directions, and in the process, time is consumed, and communication efficiency is low.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device, electronic equipment and a computer readable storage medium.

In a first aspect, an embodiment of the present application provides a positioning method, including: determining a first azimuth angle of the target object relative to the electronic equipment in a first direction according to the attitude information of the electronic equipment; responding to a positioning instruction, and controlling a first antenna and a second antenna to receive a UWB signal transmitted by a target object; determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, wherein the second direction is intersected with the first direction; and determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle.

In a second aspect, an embodiment of the present application further provides a positioning apparatus, including a receiving module, a first determining module, a second determining module, and a positioning module, where the receiving module is configured to control a first antenna and a second antenna to receive a UWB signal emitted by a target object in response to a positioning instruction; the first determining module is used for determining a first azimuth angle of the target object relative to the electronic equipment in a first direction according to the attitude information of the electronic equipment; the second determining module is used for determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, and the second direction is intersected with the first direction; the positioning module is used for determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle.

In a third aspect, an embodiment of the present application further provides an electronic device, including a first antenna, a second antenna, a processor, and a memory, where the first antenna and the second antenna are disposed at an interval and are both used for receiving UWB signals, the first antenna and the second antenna are electrically connected to the processor, and the memory is coupled to the processor; the memory stores instructions that, when executed by the processor, cause the processor to perform the positioning method described above.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the above positioning method.

According to the positioning method, the positioning device, the electronic device and the computer readable storage medium, the first azimuth angle of the target object relative to the electronic device is directly obtained through the attitude information of the electronic device, the UWB signal transmitted by the target object is obtained only through the first antenna and the second antenna, the second azimuth angle of the target object relative to the electronic device is further obtained, and the target object is further positioned according to the first azimuth angle and the second azimuth angle. Because the first antenna and the second antenna only need to receive the UWB signals transmitted by the target object once, the time of the positioning process is greatly shortened, and the positioning efficiency is improved. Further, when the communication connection between the electronic device and the target object is established in the above manner, the time consumption of the establishment process of the communication connection is shortened, and the communication efficiency between the devices can be improved.

Drawings

In order to more clearly illustrate the technical solution of the application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

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

Fig. 2 is a flowchart of a positioning method according to an embodiment of the present application.

Fig. 3 is a schematic view of a first azimuth shown in an embodiment of the present application.

Fig. 4 is a flowchart of a method for determining a second azimuth angle in an embodiment of the present application.

Fig. 5 is a schematic view of a second azimuth angle shown in the embodiment of the present application.

Fig. 6 is a schematic diagram of a mapping calibration table shown in an embodiment of the present application.

Fig. 7 is a schematic diagram of another mapping calibration table shown in the embodiment of the present application.

Fig. 8 is a schematic diagram of a principle of determining the position of a target object relative to an electronic device shown in the embodiment of the present application.

Fig. 9 is a flowchart of another positioning method provided in the embodiments of the present application.

Fig. 10 is a diagram of an application scenario for confirming a target object according to an embodiment of the present application.

Fig. 11 is a diagram of another application scenario for confirming a target object according to an embodiment of the present application.

Fig. 12 is a flowchart of another positioning method provided in an embodiment of the present application.

Fig. 13 is an application scenario diagram used in a positioning method according to an embodiment of the present application.

Fig. 14 is a flowchart of another positioning method provided in the embodiment of the present application.

Fig. 15 is an application scenario diagram used in another positioning method provided in the embodiment of the present application.

Fig. 16 is a flowchart of still another positioning method provided in the embodiment of the present application.

Fig. 17 is a flowchart of a method for acquiring sample data in yet another positioning method according to an embodiment of the present application.

Fig. 18 is an interface diagram of a prompt message display provided in an embodiment of the present application.

Fig. 19 is a flowchart of yet another positioning method according to an embodiment of the present application.

Fig. 20 is a block diagram of a positioning apparatus according to an embodiment of the present application.

Fig. 21 is a block diagram of a receiving module in a positioning apparatus according to an embodiment of the present disclosure.

Fig. 22 is a block diagram of another positioning apparatus according to an embodiment of the present disclosure.

Fig. 23 is a block diagram of an electronic device according to an embodiment of the present application.

Fig. 24 is a block diagram of a computer-readable storage medium according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As used in embodiments herein, "electronic device" includes, but is not limited to, an apparatus that is configured to receive/transmit communication signals via a wireline connection, such as via a Public Switched Telephone Network (PSTN), a Digital Subscriber Line (DSL), a digital cable, a direct cable connection, and/or another data connection/network, and/or via a wireless interface (e.g., for a cellular network, a Wireless Local Area Network (WLAN), a digital television network such as a DVB-H network, a satellite network, an AM-FM broadcast transmitter, and/or another communication terminal). A communication terminal arranged to communicate over a wireless interface may be referred to as a "wireless communication terminal", a "wireless terminal", an "electronic device", and/or a "mobile terminal". Examples of electronic devices include, but are not limited to, satellite or cellular telephones; a Personal Communications System (PCS) terminal that may combine a cellular radiotelephone with data processing, facsimile and data communications capabilities; PDAs that may include radiotelephones, pagers, internet/intranet access, Web browsers, notepads, calendars, and/or Global Positioning System (GPS) receivers; as well as conventional laptop and/or palmtop receivers, gaming consoles, or other electronic devices that include radiotelephone transceivers.

Ultra Wide Band (UWB) technology, unlike conventional communication technology, implements wireless transmission by transmitting and receiving extremely narrow pulses having a nanosecond or microsecond order or less. The ultra-wideband system has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity, capability of providing accurate positioning precision and the like compared with the traditional narrowband system.

In the prior art, when positioning and communication are carried out by using the ultra-wideband technology, at least three UWB antennas A1, A2 and A3 are required to be arranged on the electronic equipment, wherein among the three UWB antennas, A1 and A2 are arranged side by side at intervals along a first direction, and A1 and A3 are arranged at intervals along a second direction, wherein the first direction and the second direction are two intersecting directions. When positioning is performed, the UWB antennas a1 and a2 need to be turned on first to receive the UWB signal of the target object, and then to obtain the azimuth angle of the target object in the first direction relative to the electronic device. Then, the a2 is turned off, the UWB antennas a1 and A3 are turned on, and the UWB signal of the target object is received, so that the azimuth angle of the target object in the second direction relative to the electronic device is obtained, and finally the position of the target object can be located. In this way, the UWB antenna needs to be turned on twice, and receives UWB signals twice, and meanwhile, the target object needs to transmit UWB signals twice, so that the time consumed in the whole positioning process is long, and accordingly, the response time is long, and the rapid response of the positioning instruction of the user is not facilitated. And the three UWB antennas will occupy more internal space of the electronic device, which is not favorable for the lightness and thinness of the electronic device.

Therefore, the inventors of the present application propose a positioning method, an apparatus, an electronic device, and a storage medium in the embodiments of the present application to improve the above-mentioned problems. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Referring to fig. 1, fig. 1 shows a structure of an electronic device 100, where the electronic device 100 includes a housing 101, the electronic device 100 further includes a first antenna 103 and a second antenna 104, and both the first antenna 103 and the second antenna 104 are UWB antennas and can receive UWB signals transmitted by an external device. The first antenna 103 and the second antenna 104 are spaced apart from each other. For the UWB signal transmitted from the same signal source, both the first antenna 103 and the second antenna 104 may receive, and depending on the path of the signal source and the first antenna 103 and the second antenna 104, there may be a phase difference between the first antenna 103 and the second antenna 104 when receiving the UWB signal.

As a possible embodiment, the first antenna 103 and the second antenna 104 may be disposed inside the housing 101, and may receive UWB signals through the housing 101. The housing 101 may be configured in any shape, such as a rectangle, a rounded rectangle, etc., without limitation.

In the electronic apparatus 100 shown in fig. 1, the housing 101 has a longitudinal direction and a width direction, and the first antenna 103 and the second antenna 104 are disposed at an interval in the first direction, which may be, for example, the longitudinal direction of the housing 101. It is understood that the first antenna 103 and the second antenna 104 may also be disposed at intervals along a second direction of the casing 101, and the second direction may be, for example, a width direction of the electronic device 100. When the user holds the electronic apparatus 100, the user usually holds the electronic apparatus 100 from the width direction thereof, and in this case, the first antenna 103 and the second antenna 104 are positioned substantially in the horizontal direction, or are arranged in any other arrangement manner. Wherein the first direction and the second direction are two intersecting directions, in particular, the first direction and the second direction may be perpendicular to each other.

The electronic device 100 may further include a display screen 102, wherein the display screen 102 is disposed on the housing 101 and may be used for human-computer interaction. The display screen 102 may be various types of display screens 102 such as LCD, LED, OLED, QLED, etc. The display screen 102 may display a display interface for human-computer interaction with a user, and may receive an operation instruction of the user.

In some embodiments, the electronic device 100 may further include an inertial measurement unit 105, and the inertial measurement unit 105 may be, for example, a gyroscope, an acceleration sensor, an inertial sensor, or the like, which is not limited herein. And the inertial measurement unit 105 may be one, two, or more. The inertia measurement unit 105 may measure attitude information (e.g., an attitude angle of the electronic device 100 with a horizontal plane, an attitude angle with a vertical plane, etc.), acceleration information of the electronic device 100. The electronic device 100 may further include a processor electrically connected to the first antenna 103, the second antenna 104, the display screen 102, and the inertia measurement unit 105, and configured to receive and process information from the first antenna 103, the second antenna 104, the display screen 102, and the inertia measurement unit 105, and a memory configured to store instructions, which may be called and executed by the processor.

The electronic device 100 may receive the UWB signal of the external signal source through the first antenna 103 and the second antenna 104, and may transmit the UWB signal to the external device at the same time. External devices include, but are not limited to, televisions, stereos, air conditioners, washing machines, refrigerators, range hoods, light fixtures, motorized shades, motorized hangers, routers, and the like. The external device may be provided with a UWB tag for transmitting and/or receiving a UWB signal, and the external device may be associated with the UWB tag provided thereon in a one-to-one correspondence. The electronic device 100 can identify the external device corresponding to the UWB tag by identifying the UWB tag, and then establish communication connection with the UWB tag through the first antenna 103 and the second antenna 104, thereby implementing communication between the electronic device 100 and the external device. The UWB tag may be integrated in an external device or may be independent from the external device, which is not limited in this application.

The present embodiment provides a positioning method, referring to fig. 2, the method includes the following steps:

step S110: and responding to the positioning instruction, and controlling the first antenna and the second antenna to receive the UWB signals transmitted by the target object.

The target object refers to an external object which can emit a UWB signal, the target object may be a UWB tag, and the UWB tag can emit and/or receive the UWB signal. The target object may be associated with an external controlled device including, but not limited to, a television, a stereo, an air conditioner, a washing machine, a refrigerator, a range hood, a light fixture, a motorized window treatment, a motorized clothes hanger, a router, etc. associated with a UWB tag. In some application scenarios, there may be only one controlled device, while in other application scenarios, there may be equal to or more than two controlled devices, which is not limited herein. And the controlled device and the target object (UWB tag) set thereon may be in one-to-one correspondence, and the corresponding controlled device may be identified by identifying its UWB tag.

The positioning instruction is used for instructing the electronic equipment to execute control over the first antenna and the second antenna, and further controlling the first antenna and the second antenna to receive the UWB signals transmitted by the target object. In some embodiments, the positioning instruction may be generated based on a posture of the electronic device, wherein the positioning instruction generated based on the posture of the electronic device refers to: the current posture of the electronic device conforms to the preset posture, wherein the posture of the electronic device can be determined by user operation, for example, the user tilts the electronic device by 45 degrees in the space to conform the current posture of the electronic device to the preset posture. In some embodiments, the current posture of the electronic device may be obtained by the inertial measurement unit, for example, the electronic device calculates the current posture directly according to the angular velocity and the acceleration in the three-dimensional space measured by the inertial measurement unit; in other embodiments, the current pose of the electronic device may also be obtained by a machine vision device, for example, the electronic device may be configured with a machine vision device such as an ultrasonic sensor, an image sensor, a time-of-flight sensor, or an omnidirectional laser ranging sensor, and the electronic device may control the machine vision device to transmit signals to the surrounding environment and receive signals reflected by the surrounding environment, construct a spatial model based on the transmitted signals and the reflected signal distribution, and determine the pose of the electronic device itself in the spatial model according to the strength of the transmitted signals and the reflected signals. The preset gesture can be preset when the electronic device leaves a factory, or can be set by a user in a user-defined mode. When the user sets the preset gesture in a user-defined mode, the user can conduct the operation by keeping the electronic equipment in a certain gesture. The electronic equipment can also store a plurality of selectable preset gestures in a memory of the electronic equipment when the electronic equipment leaves a factory, and the user selects the preset gestures from the plurality of preset gestures stored in advance in the user-defined setting process, so that the preset gestures are selected. And when the electronic equipment is in the preset posture, generating a positioning instruction.

As an example, the preset gesture may be a "one-finger" gesture, i.e., a gesture in which the electronic device points at the target object, at which time the electronic device may point at the target object in a predetermined direction, e.g., the top of the electronic device points at the target object. As another example, the preset posture may also be a posture in which the electronic device is pointed at the target object with a predetermined inclination angle with respect to the horizontal plane, and the predetermined inclination angle may be 30-80 °, for example. In other embodiments, the positioning instruction may be generated based on other operations performed by the user, and the user may issue the positioning instruction by contacting with the electronic device, such as pressing a display screen of the electronic device, pressing a key, and the like. The user may also send a positioning instruction to the electronic device in a non-contact manner, such as by scanning an iris, facial information, and the like of the user, so that the electronic device generates the positioning instruction.

Step S120: according to the attitude information of the electronic equipment, a first azimuth of the target object relative to the electronic equipment in a first direction is determined.

As mentioned above, the attitude information of the electronic device may be obtained by the inertial measurement unit, and the attitude information of the electronic device includes, but is not limited to, one or both of an attitude angle of the electronic device with respect to a horizontal plane, an attitude angle of the electronic device with respect to a vertical plane (a plane perpendicular to the horizontal plane), or an attitude angle of the electronic device with respect to an arbitrary plane. The first direction may be, for example, a vertical direction, and when a user holds the electronic device, the user usually holds the electronic device with a hand along a width direction of the electronic device, and at this time, the electronic device is usually inclined toward the first direction.

In some embodiments, when a user is using the electronic device toward the controlled device, the height difference between the electronic device and the controlled device or the UWB tag (target object) is generally small. For example: as shown in fig. 3, B in the drawing is the target object, C is the electronic device, and S1 is the position point set of the target object B. When a user aims at the television by using the electronic equipment, the electronic equipment is usually held by hands, and the electronic equipment and the television are approximately positioned at the same altitude, and the height difference between the UWB tag (target object) on the television and the electronic equipment is very small and basically negligible. The way of determining the first azimuth of the target object in the first direction (Z direction in fig. 3) relative to the electronic device at this time may be: based on the attitude information of the electronic device determined by the inertial measurement unit, an attitude angle R1 in the first direction of the electronic device is acquired as a first attitude angle from the attitude information. Further, in order to obtain the accuracy of the first azimuth, when the user performs the operation, a prompt message may be issued to prompt the user to operate the electronic device at approximately the same height as the target object. The prompt message may be a voice message, a text message, a vibration message, and the like, which is not limited herein.

In some other embodiments, the attitude angle of the electronic device relative to the other direction may also be obtained by the inertial measurement unit, the attitude angle of the electronic device relative to the first direction is calculated by the attitude angle of the electronic device relative to the other direction, and the attitude angle of the electronic device in the first direction is used as the first azimuth angle of the target object relative to the electronic device in the first direction.

In the present embodiment, the execution order of step S110 and step S120 is not limited, and step S110 may be executed before step S120, or step S120 may be executed before step S110. In some application scenarios, step S120 may also be performed synchronously with step S110.

Step S130: and determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, wherein the second direction is intersected with the first direction.

It is understood that the UWB signal received by the first antenna and the UWB signal received by the second antenna herein refer to UWB signals transmitted from the same target object.

When the first antenna and the second antenna are turned on, a UWB signal transmitted from the target object may be received. It will be appreciated that when there is more than one target object, the first antenna and the second antenna may receive UWB signals from transmissions with different target objects simultaneously. In this process, since each target object as a UWB tag is unique, the first antenna and the second antenna may discriminate the plurality of received UWB signals, perform one-to-one matching on the UWB signals transmitted from the same target object, and determine a second azimuth angle of the target object in the second direction with respect to the electronic device based on the UWB signals from the same target object.

As a more specific embodiment, referring to fig. 4, determining a second azimuth angle of the target object in the second direction relative to the electronic device according to the UWB signal received by the first antenna and the UWB signal received by the second antenna may include steps S131 to S132:

step S131: and determining the phase difference between the UWB signal received by the first antenna and the UWB signal received by the second antenna according to the UWB signal received by the first antenna and the UWB signal received by the second antenna.

Since the distances between the first antenna and the target object may not be equal to each other, the UWB signal received by the first antenna and the UWB signal received by the second antenna may have an arrival phase difference. As shown in fig. 5, a1 and a2 in fig. 5 represent a first antenna and a second antenna, respectively, B represents a target object, and since distances from B to a1 and from B to a2 are not equal, a phase difference is generated between a UWB signal received by the first antenna and a UWB signal received by the second antenna, and the phase difference can be determined by the UWB signal received by the first antenna and the UWB signal received by the second antenna.

Step S132: and determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the phase difference.

In some embodiments, the second azimuth angle may be calculated by the following formula:

wherein pdoa (phase Difference of arrival) is an arrival phase Difference, f is a frequency of the ultra-wideband radio frequency signal transmitted by the communication object, c is a propagation speed of the ultra-wideband radio frequency signal, θ is a second azimuth angle R2, and D is a linear distance between the first antenna and the second antenna. The length of the first straight line is D, wherein D and c are known quantities and can be prestored in the electronic device locally or in a server, and f can be obtained when the first antenna and the second antenna receive the UWB signal transmitted by the target object, so that θ (second azimuth angle) can be calculated through the phase difference. S1 in the graph represents a position point set of position points where the target object B may appear, and any point on the trajectory line may be the position point of the target object B.

As a more specific embodiment, a second azimuth angle of the target object in the second direction with respect to the electronic device may also be determined based on a preset mapping calibration table according to the phase difference. And the mapping relation between the phase difference and the second azimuth angle is characterized in a preset mapping calibration table. Illustratively, as shown in fig. 6, fig. 6 shows a form of a mapping calibration table, in which the horizontal axis is the second azimuth angle and the vertical axis is the phase difference PDOA obtained in step S131. Each curve represents different vertical placement angles of the electronic equipment, and a second azimuth angle corresponding to the phase difference can be obtained by inquiring in the table. The mapping calibration table can be prestored in the electronic equipment locally or in a server and is called when the query is required. It is understood that the mapping calibration table may be made in other forms, for example, in a form of a one-to-one table, which is not limited herein.

Since different postures of the electronic device may affect the phase difference between the UWB signal received by the first antenna and the UWB signal received by the second antenna, the accuracy of the second azimuth angle obtained by querying the mapping calibration table is further improved. In some embodiments, step S132 may be performed as follows: and determining a second azimuth angle of the target object in the second direction relative to the electronic equipment based on a preset mapping calibration table according to the phase difference and the first azimuth angle, wherein the preset mapping calibration table represents a mapping relation among the phase difference, the first azimuth angle and the second azimuth angle. Because the first azimuth angle is obtained according to the attitude information of the electronic equipment, the accuracy of the second azimuth angle can be improved by introducing the first azimuth angle information into the mapping calibration table. Illustratively, as shown in fig. 7, fig. 7 shows a form of a mapping calibration table in which the vertical axis (Z-axis) is the phase difference, the X-axis is the second azimuth, and the Y-axis is the first azimuth. And the second azimuth angle corresponding to the phase difference can be obtained by inquiring in the table. The mapping calibration table can be prestored in the electronic equipment locally or in a server and is called when the query is required. It is understood that the mapping calibration table may be made in other forms, for example, in a form of a one-to-one table, which is not limited herein.

Step S140: and determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle.

According to the first azimuth angle and the second azimuth angle, the specific position of the target object relative to the electronic equipment can be determined. Specifically, referring again to fig. 3, a set of location points of the target object in the first direction may be determined according to the first azimuth angle. Referring to fig. 5, a set of location points of the target object in the second direction is determined based on the second azimuth angle S2. Referring to fig. 8, the intersection of the position point set in the first direction and the position point set in the second direction of the target object is taken as the position of the target object. As shown in fig. 8, the intersection of the position point set S1 and the position point set S2 is the determined position of the target object B.

According to the positioning method provided by the embodiment, in the positioning process, the first antenna and the second antenna only need to receive UWB signals transmitted by the target object once, and meanwhile, the target object also only needs to transmit UWB signals once, so that the positioning process can be completed, the positioning time is greatly shortened, and compared with the mode that UWB signals transmitted by the target object need to be received from multiple angles for multiple times in the positioning process in the prior art, the positioning efficiency is greatly accelerated, and the response time to a user is further shortened.

Based on the above positioning method, the embodiment of the present application further provides another positioning method, and referring to fig. 9, the positioning method provided in the embodiment further includes the following steps S210 to S270. It should be understood that, in the positioning method of this embodiment, the same or corresponding implementation steps as those in the above embodiment are provided, and specific descriptions of these same or corresponding implementation steps may refer to the contents provided in the above embodiment, which will not be described in detail in this embodiment.

Step S210: and responding to the positioning instruction, and controlling the first antenna and the second antenna to receive the UWB signals transmitted by the target object.

Step S220: according to the attitude information of the electronic equipment, a first azimuth of the target object relative to the electronic equipment in a first direction is determined.

Step S230: and determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, wherein the second direction is intersected with the first direction.

Step S240: and determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle.

In this embodiment, the implementation of steps S210, S220, S230, and S240 may specifically refer to the above steps S110, S120, S130, and S240, which are not described herein again.

In the execution of step S240, there may be one target object located, or a plurality of target objects located, when there is only one located target object, step S250 is executed, and when there are a plurality of target object pairs located, steps S260-S270 are executed.

Step S250: and determining controlled equipment associated with the target object, and establishing communication connection with the controlled equipment.

The association means that the target object corresponds to the controlled equipment support in a one-to-one manner, the controlled equipment associated with the target object can be determined by determining the target object, and similarly, the target object associated with the controlled equipment can be determined by determining the controlled equipment. The association between the target object and the controlled device may occur during initial startup or network access of the controlled device, or may occur when the electronic device first establishes a connection with the controlled device. For example, the electronic device scans a two-dimensional code of a body of the controlled device, obtains target object information associated with the controlled device, associates the target object with the controlled device, and stores the association relationship between the target object and the controlled device in the local electronic device or the server.

Each target object is correspondingly associated with a controlled device, for example: a mapping relationship table between a target object and a controlled device may be stored in the electronic device, where table 1 shows a form of the mapping relationship table between the target object and the controlled device, and the electronic device may obtain the controlled device associated with the target object by querying the mapping relationship table. Meanwhile, when the controlled device is added, deleted or moved in the use environment, the mapping relation table can be edited and updated in the electronic device. It can be understood that the mapping relation table may also be stored in the server, and when the electronic device needs to query the mapping relation table, the electronic device may send a query request to the server, receive information sent from the server, and further obtain the controlled device associated with the target object.

TABLE 1 mapping relationship table between target object and controlled device

And after the controlled equipment associated with the target object is obtained, communication connection can be established with the controlled equipment in a wireless mode. For example, the ultra-wideband communication is directly established through the UWB tag, or the communication connection may be established with the controlled device through a local area network or a router after the controlled device associated with the target object is acquired, or the communication connection may be established with the controlled device through bluetooth, ZigBee, hotspot, or other manners after the controlled device associated with the target object is acquired. After the electronic device is in communication connection with the controlled device, the electronic device can communicate with the controlled device, so that the electronic device can be allowed to send a control instruction to the controlled device, and the controlled device can be allowed to feed back a result to the electronic device. In some embodiments, when the electronic device establishes a communication connection with a controlled device, a priority order of communication connection modes may be set, for example, a communication connection mode is preferentially established through a router or a communication connection mode is preferentially established through a UWB tag, and further, when a communication connection mode with a higher priority is blocked, a communication connection mode with a lower priority may be selected.

Step S260: and determining an object to be controlled among the plurality of target objects based on the positions of the plurality of target objects relative to the electronic equipment, wherein the position of the object to be controlled relative to the electronic equipment is within a set range.

When there are multiple target objects, an object to be controlled needs to be determined from the multiple target objects, where the object to be controlled is a target object that a user wants to control through an electronic device. Typically, a user aims the electronic device at the controlled device when he or she views the electronic device for controlling the controlled device. For example, a user holds the electronic device in the width direction, and aligns the top of the electronic device with the controlled device, and at this time, a target object associated with the controlled device should be located within a set range, where the set range may be preset at the time of factory shipment or may be set by the user in a customized manner, which is not limited herein.

As a more specific embodiment, as shown in fig. 10, the set range may be a range within a predetermined included angle R3 with the longitudinal direction of the electronic device C as the central axis, wherein R3 may be 0 to 30 °, for example. Further, when there are a plurality of target objects located within the set range, the target object having a smaller angle with respect to the central axis may be used as the object to be controlled with the orientation (e.g., the length direction) of the electronic device as the central axis. As shown in fig. 11, an angle between the first UWB tag and the central axis is R4, an angle between the second UWB tag and the central axis is R5, where R4 and R5 are both located in the range of R3, and R4 is smaller than R5, and at this time, the target object corresponding to the first UWB tag is taken as the object to be controlled. In this arrangement, the smaller the angle between the target object and the central axis is, the more the user tends to align the electronic device with the target object, so that the user can more accurately determine the controlled device that the user wants to control by using the target object as the object to be controlled. It is to be understood that the user may also use the width direction of the electronic device to align the target object, and in this case, the width direction of the electronic device may also be used as the central axis.

Step S270: and determining controlled equipment associated with the object to be controlled, and establishing communication connection with the controlled equipment.

After the object to be controlled is determined, the controlled device associated with the object to be controlled may be further determined, and then a communication connection may be established with the controlled device, and the specific execution manner may refer to the related content in step S250, which is not described herein again.

Referring to fig. 12, in another specific embodiment, after step S250 or S270, step S280 may be further included: and calling a control interface corresponding to the controlled equipment, and sending a control instruction to the object to be controlled based on the operation received by the control interface.

After the communication connection with the controlled equipment is established, the electronic equipment can perform data transmission with the controlled equipment, a user can control the controlled equipment through the electronic equipment, at the moment, a control interface corresponding to the controlled equipment is called directly on a display interface of the electronic equipment, and the user can directly operate on the control interface so as to send a control instruction to the controlled equipment. As an example only, as shown in fig. 13, in an application scenario, a user wants to control a front tv through an electronic device, after the tv establishes a communication connection, a control interface corresponding to the tv is displayed on a display interface of the electronic device, where the control interface may be a virtual remote controller of the tv, and may include, for example, "fast-off", "volume ±," channel ±, "and other virtual buttons.

Through the steps, the user can use the electronic equipment to control other controlled equipment, and the defect that the user needs to stand up to search the remote controller corresponding to the controlled equipment or walk to the controlled equipment to control the equipment is avoided. In addition, since step S210 in the positioning method of this embodiment is a positioning instruction generated in response to the posture of the electronic device, the user only needs to operate the electronic device, so that the electronic device is in the preset posture to trigger the subsequent process.

In another specific embodiment, referring to fig. 14, after step S250 or S270, step S290 may further be included: the method comprises the steps of obtaining a display interface of the electronic equipment, determining display data based on the display interface, and sending the display data to the controlled equipment.

After the communication connection with the controlled device is established, the electronic device can perform data transmission with the controlled device, and a user can project a display interface on the electronic device to the controlled device. Specifically, a current display interface of the electronic device may be obtained, display data may be determined based on the display interface, and the display data may be sent to the controlled device, where the display data may be the same as the current display interface of the electronic device in real time, that is, the display interface of the electronic device is synchronously and directly transmitted to the controlled device. The display data may also be a display interface of the electronic device in an application program, and the application program may be displayed on the display interface of the electronic device or run in the background of the electronic device. For example, the display interface may be a display interface being played by a video player of the electronic device, and the current interface of the electronic device may be another interface. .

As shown in fig. 15, in an application scenario, after the electronic device establishes a communication connection with a television, a display interface of the electronic device is projected to the television in real time, so that the display interface is enlarged, and a better viewing angle and effect are achieved. While the electronic device may perform other operations. It is understood that the controlled device includes, but is not limited to, a television, and may also be other devices with a display function, such as a computer, a tablet computer, an AR device, a VR device, an MR device, etc., which are not limited herein.

Through the steps, the user can project the display interface of the electronic equipment to the controlled equipment, so that the user can use the electronic equipment to perform other operations while watching the display interface of the electronic equipment, and the operations are not influenced by each other. In addition, since step S210 in the positioning method of this embodiment is a positioning instruction generated in response to the posture of the electronic device, the user only needs to operate the electronic device, so that the electronic device is in the preset posture to trigger the subsequent process.

According to the positioning method, in the positioning process, the first antenna and the second antenna only need to receive UWB signals transmitted by the target object once, and meanwhile, the target object also only needs to transmit UWB signals once, so that the positioning process can be completed, the positioning time is greatly shortened, and compared with the mode that UWB signals transmitted by the target object need to be received for multiple times from multiple angles in the positioning process in the prior art, the positioning efficiency is greatly accelerated, and the response time to a user is further shortened. And after the target object is positioned, the target object can be in communication connection with the controlled equipment associated with the target object, and the controlled equipment is controlled through the electronic equipment or a display interface of the electronic equipment is projected to the controlled equipment, so that the control mode of the user on the controlled equipment is simplified, and the response time of the controlled equipment is shortened.

Based on the above positioning method, the embodiment of the present application further provides another positioning method, and referring to fig. 16, the positioning method may include the following steps S310 to S380. It should be understood that, in the positioning method of this embodiment, the same or corresponding implementation steps as those in the above embodiment are provided, and specific descriptions of these same or corresponding implementation steps may refer to the contents provided in the above embodiment, which will not be described in detail in this embodiment.

Step S310: and acquiring the attitude angle of the electronic equipment based on the inertial measurement unit.

As mentioned above, the inertial measurement unit may be a gyroscope, an inertial sensor, an acceleration sensor, or the like, and the attitude angle of the electronic device may include an attitude angle of the electronic device with respect to a horizontal plane and/or an attitude angle with respect to a vertical plane. When a user holds the electronic equipment, the posture of the electronic equipment changes, the posture angle of the electronic equipment can be changed or fixed, and the posture angle of the electronic equipment can be obtained in real time based on the inertial measurement unit; or the inertial measurement unit may acquire the attitude angle information of the electronic device at intervals t.

Step S320: inputting time domain data and frequency domain data of the attitude angle signal of the electronic equipment into a neural network model, wherein the neural network model is obtained by training sample data in advance, and the sample data is the time domain data and the frequency domain data of the attitude angle signal acquired by the electronic equipment under a preset attitude.

When the inertial measurement unit acquires the attitude angle of the electronic device, an attitude angle signal is generated. The time domain data of the attitude angle signal refers to: and (3) change data of the attitude angle signal along with time. The frequency domain data of the attitude angle signal refers to: attitude angle signal and frequency variation data. After the attitude angle signal of the electronic device is input to the neural network model, the neural network model can calculate the input time domain data and frequency domain data, and output the result obtained by calculation as an output result.

It is to be understood that the neural network model is trained, and the trained neural network model may be stored locally in the electronic device after being trained in advance. Based on this, after acquiring the time domain data and the frequency domain data of the attitude angle signal, the inertial measurement unit can directly call the trained neural network model locally. For example, an instruction may be directly sent to the neural network model to instruct the trained neural network model to read the time domain data and the frequency domain data in the target storage region, or the electronic device may directly input the time domain data and the frequency domain data into the locally trained neural network model, so that the speed of inputting the time domain data and the frequency domain data into the trained neural network model due to the influence of network factors is effectively prevented from being reduced, the speed of acquiring the time domain data and the frequency domain data by the trained neural network model is increased, and user experience is improved.

In addition, the trained neural network model may be stored in a server in communication with the electronic device after being trained in advance. Based on this, after acquiring the time domain data and the frequency domain data of the attitude angle signal, the inertial measurement unit may send an instruction to the trained neural network model stored in the server through the network to instruct the trained neural network model to read the time domain data and the frequency domain data of the attitude angle signal acquired by the inertial measurement unit through the network, or the electronic device may send the acquired time domain data and the frequency domain data of the attitude angle signal to the trained neural network model stored in the server through the network, so that the occupation of the storage space of the electronic device is reduced and the influence on the normal operation of the electronic device is reduced by storing the trained neural network model in the server.

In an embodiment, the sample data may be time domain data and frequency domain data of the attitude angle signal, which are pre-stored locally in the electronic device and acquired by the server in the preset attitude by different users. In some further embodiments, the sample data may collect time domain data and frequency domain data of the gesture angle signal of the user in a preset gesture in order to be more suitable for use by the user, e.g. the holder of the electronic device. At this time, referring to fig. 17, the sample data may be collected according to the following steps S321 to S322:

step S321: and activating prompt information, wherein the prompt information is used for prompting a user to carry out preset operation on the electronic equipment.

The prompt information is used for prompting a user to perform a preset operation on the electronic device, and activating the prompt information means that the prompt information is provided to the user in a preset manner, and the activation of the prompt information can be performed when the electronic device is started up for the first time, or when the electronic device is associated with a user account for the first time, or can be performed within a time defined by the user, which is not limited herein. The activation of the prompt message includes, but is not limited to, voice, vibration, displaying the prompt message on a display interface, and the like.

As a more specific embodiment, when the user starts sample data collection on the electronic device, the display interface displays a prompt message, the prompt message is displayed on the continuous display interface as shown in fig. 18, the user may perform a preset operation on the electronic device under the prompt of the prompt message, and the preset operation may be to aim the electronic device at a controlled device, where the controlled device may be, for example, a television, a sound, a router, and the like, which are not limited herein.

Step S322: based on the inertial measurement unit, acquiring an attitude angle signal corresponding to the electronic equipment based on preset operation, analyzing time domain data and frequency domain data of the attitude angle signal, taking the time domain data and the frequency domain data of the attitude angle signal as sample data, and using the sample data for training the neural network model to obtain a preset attitude.

In the process of the preset operation of the user, the inertia measurement unit acquires an attitude angle signal of the electronic equipment based on the preset operation, analyzes time domain data and frequency domain data of the attitude angle signal, inputs the time domain data and the frequency domain data of the attitude angle signal as sample data to the neural network model, and the neural network model trains the input data to obtain the preset attitude suitable for the user. It can be understood that sample data can be collected for a plurality of times, for example, at least 5 times is collected, that is, the user continuously performs at least 5 times of preset operations, in the process, the user performs the preset operation once, that is, the sample data is collected once, the more the sample data is, the more the obtained preset gesture can be more accurate, and the more the gesture angle of the electronic device when the user uses the gesture, so that the more accurate the gesture can be generated and the positioning instruction can be subsequently generated when the user performs the preset gesture.

In the sample data acquisition mode, the data source is the user, so that the neural network model obtained through the training of the sample data is more matched with the attitude angle signal of the electronic equipment when the user performs the preset operation, and the output result output in the subsequent step S330 is more accurate.

Step S330: and confirming whether the electronic equipment is in a preset posture or not according to the output result of the neural network model.

After the trained neural network model calculates the time domain data and the frequency domain data of the attitude angle signal of the electronic device input in step S320, a result of whether the electronic device is in the preset attitude is obtained, and the result is output. If the electronic device is in the preset posture, step S340 is executed, and if the electronic device is not in the preset posture, the step is ended.

Step S340: a positioning instruction is generated.

The positioning instruction is used for instructing the first antenna and the second antenna to receive the UWB signals transmitted by the target object, and can also be used for instructing the first antenna and the second antenna to start a receiving function.

Step S350: and responding to the positioning instruction, and controlling the first antenna and the second antenna to receive the UWB signals transmitted by the target object.

Step S360: according to the attitude information of the electronic equipment, a first azimuth of the target object relative to the electronic equipment in a first direction is determined.

Step S370: and determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, wherein the second direction intersects with the first direction.

Step S380: and determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle.

According to the positioning method, in the positioning process, the first antenna and the second antenna only need to receive the UWB signals transmitted by the target object once, and meanwhile, the target object only needs to transmit the UWB signals once, so that the positioning process can be completed, and the positioning time is greatly shortened. Compared with the prior art, the method needs to receive the UWB signals transmitted by the target object from multiple angles for multiple times during positioning, greatly accelerates the positioning efficiency, and further shortens the response time of a user. The neural network model is used for training, the attitude information of the electronic equipment is calculated and judged based on the trained neural network model, the attitude information of the electronic equipment can be recognized more accurately, a positioning instruction is generated accurately, and a target object is positioned in response to the positioning instruction.

In the process of using the electronic device by a user, the electronic device may be held, placed or fixed in any posture, and in the process, the electronic device may face a target object to further meet a preset posture and generate a positioning instruction. In fact, at this time, the user does not intend to locate the target object, and the generation of the locating instruction is actually triggered by mistake.

Based on the above positioning method, an embodiment of the present application further provides another positioning method, referring to fig. 19, fig. 19 shows a flowchart of the positioning method of the present embodiment, and the positioning method may include the following steps S410 to S500. It should be understood that, in the positioning method of this embodiment, the same or corresponding implementation steps as those in the above embodiment are provided, and specific descriptions of these same or corresponding implementation steps may refer to the contents provided in the above embodiment, which will not be described in detail in this embodiment.

Step S410: and acquiring the attitude angle of the electronic equipment based on the inertial measurement unit.

Step S420: inputting time domain data and frequency domain data of the attitude angle signal of the electronic equipment into a neural network model, wherein the neural network model is obtained by training sample data in advance, and the sample data is the time domain data and the frequency domain data of the attitude angle signal acquired by the electronic equipment under a preset attitude.

Step S430: and confirming whether the electronic equipment is in a preset posture or not according to the output result of the neural network model.

If the electronic device is in the preset posture, executing the steps S440 to S490, and if the electronic device is not in the preset posture, ending the steps.

Step S440: and acquiring the stay time of the electronic equipment in the preset posture.

The stay time of the electronic device in the preset posture refers to a time period for the electronic device to maintain the preset posture, for example, the electronic device is detected to be in the preset posture at the time t1, and the electronic device exits from the preset posture at the time t2, where the stay time of the electronic device in the preset posture is t2-t 1. The stay time may be a continuous time, that is, the electronic device is always in the preset posture during the stay time period.

The dwell time may be obtained as follows: and when the output result of the neural network model confirms that the electronic equipment is in the preset posture, the timer starts timing, at the moment, the inertia measurement unit acquires the posture angle of the electronic equipment in real time, time domain data and frequency domain data of a posture angle signal of the electronic equipment are input into the neural network model, the neural network model continuously calculates and outputs the output result, if the output result is that the electronic equipment is still in the preset posture, timing is continuously performed, and if the output result is that the electronic equipment is not in the preset posture, timing is stopped.

Step S450: and judging whether the stay time of the electronic equipment in the preset posture is greater than or equal to the preset time.

In step S440, the stay time of the electronic device in the preset posture is obtained, and when the stay time is greater than or equal to the preset time, a positioning instruction is generated. The preset duration may be set before the electronic device leaves a factory, or may be set by a user in a user-defined manner, and the preset duration may be, for example, 2 to 4 seconds, and is not limited herein. If the staying time of the electronic device in the preset posture is longer than or equal to the preset time, the step S460 is executed.

Step S460: a positioning instruction is generated.

When the stay time of the electronic equipment in the preset posture is longer than or equal to the preset time, the current posture of the electronic equipment is indicated as the operation of the user, and the misoperation is avoided. Through the steps S440 and S460, the positioning instruction can be prevented from being triggered by mistake in the process of using the electronic equipment by the user, and the accuracy of generating the positioning instruction is improved.

Step S470: and responding to the positioning instruction, and controlling the first antenna and the second antenna to receive the UWB signals transmitted by the target object.

Step S480: according to the attitude information of the electronic equipment, a first azimuth of the target object relative to the electronic equipment in a first direction is determined.

Step S490: and determining a second azimuth angle of the target object relative to the electronic equipment in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, wherein the second direction intersects with the first direction.

Step S500: and determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle.

According to the positioning method, in the positioning process, the first antenna and the second antenna only need to receive the UWB signals transmitted by the target object once, and meanwhile, the target object only needs to transmit the UWB signals once, so that the positioning process can be completed, and the positioning time is greatly shortened. Compared with the prior art, the method needs to receive the UWB signals transmitted by the target object from multiple angles for multiple times during positioning, greatly accelerates the positioning efficiency, and further shortens the response time of a user. The neural network model is used for training, the attitude information of the electronic equipment is calculated and judged based on the trained neural network model, the attitude information of the electronic equipment can be recognized more accurately, a positioning instruction is generated accurately, and a target object is positioned in response to the positioning instruction. Meanwhile, the stay time of the electronic equipment in the preset posture is detected and judged, so that the positioning instruction can be generated more accurately, and the defect that the electronic equipment triggers the positioning instruction by mistake in the using process is overcome.

Referring to fig. 20, an embodiment of the present application provides a positioning apparatus 400 applied to an electronic device, where the electronic device includes a first antenna and a second antenna that are spaced apart from each other, and both the first antenna and the second antenna can be used for receiving UWB signals. In a particular embodiment, the positioning apparatus 400 includes a receiving module 410, a first determining module 420, a second determining module 430, and a positioning module 440.

The receiving module 410 is configured to control the first antenna and the second antenna to receive the UWB signal transmitted by the target object in response to the positioning instruction. Further, the receiving module 410 may include a neural network model module 411, and input the time domain data and the frequency domain data of the attitude angle signal of the electronic device to the neural network model module 411 based on the attitude angle of the electronic device acquired by the inertial measurement unit, and the neural network model module 411 is configured to output an output result. Further, the first determining module 420 may further include a sample data collecting module 412, where the sample data collecting module 412 is configured to prompt a user to perform a preset operation on the electronic device, and based on time domain data and frequency domain data of the attitude angle signal of the electronic device, which are acquired by the inertial measurement unit, as sample data, the sample data is used to train the neural network model to obtain a preset attitude.

The first determining module 420 is configured to determine a first azimuth of the target object relative to the electronic device in a first direction according to the pose information of the electronic device. Further, the electronic device may further include an inertial measurement unit, and the first determining module 420 is further configured to obtain an attitude angle of the electronic device with respect to the first direction based on the inertial measurement unit, and determine that the attitude angle with respect to the first direction is the first azimuth angle.

The second determining module 430 is configured to determine a second azimuth angle of the target object relative to the electronic device in a second direction according to the UWB signal received by the first antenna and the UWB signal received by the second antenna, where the second direction intersects with the first direction. Further, the second determining module 430 may be specifically configured to determine a phase difference between the UWB signal received by the first antenna and the UWB signal received by the second antenna according to the UWB signal received by the first antenna and the UWB signal received by the second antenna, and determine a second azimuth angle of the target object in the second direction relative to the electronic device according to the phase difference.

The positioning module 440 is configured to determine a position of the target object relative to the electronic device according to the first azimuth angle and the second azimuth angle. Further, the positioning module 440 may determine a set of location points of the target object in the first direction according to the first azimuth, determine a set of location points of the target object in the second direction according to the second azimuth, and take an intersection of the set of location points of the target object in the first direction and the set of location points in the second direction as the location of the object.

In some embodiments, the positioning apparatus 400 may further include a communication module 450, and the communication module 450 is configured to determine a controlled device associated with the target object and establish a communication connection with the controlled device. Further, the communication module 450 is further configured to determine an object to be controlled among the plurality of target objects based on the positions of the plurality of target objects, where the position of the object to be controlled is within a set range; and determining controlled equipment associated with the object to be controlled, and establishing communication connection with the controlled equipment.

In some embodiments, the positioning apparatus 400 may further include an executing module 460, and the executing module 460 is configured to call up a control interface corresponding to the controlled device, or to project a display interface of the electronic device to the controlled device.

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

In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.

The embodiment of the application provides a positioning device 400, in the positioning process, first antenna and second antenna only need receive the UWB signal of a target object transmission, simultaneously the target object also only need launch UWB signal once, can accomplish the positioning process, positioning time has been shortened greatly, compare in prior art when fixing a position, need receive the mode of the UWB signal of target object transmission many times from many angles, very big quickening positioning efficiency, and then shorten the response time to the user.

Referring to fig. 23, the present embodiment further provides an electronic device 500, and the aforementioned positioning method can be applied to the electronic device 500 of the present embodiment. The electronic device 500 includes a display 506, an inertial measurement unit 507, a first antenna 508, a second antenna 509, and one or more (only one shown) processors 502, memory 504 coupled to each other.

The display 506, the inertia measurement unit 507, the first antenna 508, and the second antenna 509 are electrically connected to the processor 502, and may perform predetermined operations under the control of the processor 502. The display 506 may display a display interface and be used for human-computer interaction with a user. The inertial measurement unit 507 may be used to measure inertial information, such as attitude angle, acceleration, etc. of the electronic device 500, and the first antenna 508 and the second antenna 509 are both UWB radio frequency antennas, may be used to receive UWB antenna signals, and further, may also be used to transmit UWB radio frequency signals. The memory 504 stores programs that can execute the content of the foregoing embodiments, and the processor 302 can execute the programs stored in the memory 504.

Processor 502 may include one or more processing cores, among other things. The processor 502 interfaces with various interfaces and circuitry throughout the electronic device 500 to perform various functions of the electronic device 500 and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 504 and by invoking data stored in the memory 504. Alternatively, the processor 502 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 502 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is to be understood that the modem may not be integrated into the processor 502, but may be implemented by a communication chip.

The Memory 504 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 504 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 504 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The data storage area may also store data created during use by the electronic device 500 (e.g., phone books, audio-visual data, chat log data), and so forth. It is understood that the electronic device 500 in the present application may be a mobile phone or smart phone (e.g., an iPhone (TM) based, Android (TM) based phone), a Portable gaming device (e.g., a Nintendo DS (TM), PlayStation Portable (TM), Game Advance (TM), iPhone (TM)), a laptop, a PDA, a Portable Internet device, a music player, and a data storage device, other handheld devices, and a Head Mounted Device (HMD) such as a watch, headset, pendant, earphone, etc., and that the electronic device 500 may also be other wearable devices (e.g., a Head Mounted Device (HMD) such as electronic glasses, electronic clothing, an electronic bracelet, an electronic necklace, an electronic tattoo, the electronic device 500, or a smart watch).

The electronic device 500 may also be any of a number of electronic devices 500, including, but not limited to, cellular phones, smart phones, other wireless communication devices, personal digital assistants, audio players, other media players, music recorders, video recorders, cameras, other media recorders, radios, medical devices, vehicle transportation equipment, calculators, programmable remote controls, pagers, laptop computers, desktop computers, printers, netbook computers, Personal Digital Assistants (PDAs), Portable Multimedia Players (PMPs), moving Picture experts group (MPEG-1 or MPEG-2) Audio layer 3(MP3) players, portable medical devices, and digital cameras, and combinations thereof.

Referring to fig. 24, an embodiment of the present application provides a block diagram of a computer-readable storage medium. The computer-readable medium 1000 has stored therein a program code that can be invoked by a processor to perform the positioning method described in any of the above-described method embodiments. The computer-readable storage medium 1000 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 1000 includes a non-volatile computer-readable storage medium. The computer readable storage medium 1000 has storage space for program code 1100 for performing any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 1100 may be compressed, for example, in a suitable form.

In this specification, particular features or characteristics described may be combined in any one or more embodiments or examples as appropriate. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A positioning method is applied to an electronic device, wherein the electronic device comprises a first antenna and a second antenna, and the first antenna and the second antenna are arranged at intervals, and the method comprises the following steps:

determining a first azimuth angle of a target object relative to the electronic equipment in a first direction according to the attitude information of the electronic equipment;

in response to a positioning instruction, controlling the first antenna and the second antenna to receive a UWB signal transmitted by the target object;

determining a second azimuth angle of the target object relative to the electronic device in a second direction according to the UWB signals received by the first antenna and the UWB signals received by the second antenna, wherein the second direction is intersected with the first direction; and

and determining the position of the target object relative to the electronic equipment according to the first azimuth angle and the second azimuth angle.

2. The positioning method of claim 1, wherein said determining a second azimuth angle of said target object in a second direction relative to said electronic device based on said UWB signal received by said first antenna and said UWB signal received by said second antenna comprises:

determining a phase difference between the UWB signal received by the first antenna and the UWB signal received by the second antenna according to the UWB signal received by the first antenna and the UWB signal received by the second antenna; and

determining a second azimuth angle of the target object relative to the electronic device in a second direction according to the phase difference.

3. The method of claim 2, wherein said determining a second azimuth angle of the target object in a second direction relative to the electronic device based on the phase difference comprises:

and determining a second azimuth angle of the target object in a second direction relative to the electronic equipment based on a preset mapping calibration table according to the phase difference, wherein the mapping calibration table represents a mapping relation between the phase difference and the second azimuth angle.

4. The method of claim 2, wherein said determining a second azimuth angle of the target object in a second direction relative to the electronic device based on the phase difference comprises:

and determining a second azimuth angle of the target object in a second direction relative to the electronic equipment based on a preset mapping calibration table according to the phase difference and the first azimuth angle, wherein the mapping calibration table represents a mapping relation among the phase difference, the first azimuth angle and the second azimuth angle.

5. The positioning method of claim 1, wherein the electronic device further comprises an inertial measurement unit, and wherein determining a first azimuth angle of the target object and the electronic device in a first direction according to the attitude information of the electronic device comprises:

determining attitude information of the electronic device based on the inertial measurement unit; and

and acquiring the attitude angle of the electronic equipment in the first direction according to the attitude information, and determining the attitude angle of the electronic equipment and the first direction as the first azimuth angle.

6. The method of claim 1, wherein said determining the position of the target object based on the first azimuth angle and the second azimuth angle comprises:

determining a position point set of the target object in a first direction according to the first azimuth;

determining a set of location points of the target object in a second direction according to the second azimuth; and

and taking the intersection point of the position point set of the target object in the first direction and the position point set of the target object in the second direction as the position of the target object.

7. The method of claim 1, wherein after determining the position of the target object according to the first azimuth angle and the second azimuth angle, further comprising:

and determining controlled equipment associated with the target object, and establishing communication connection with the controlled equipment.

8. The positioning method according to claim 1, wherein when the target object is plural; after determining the position of the target object according to the first azimuth angle and the second azimuth angle, the method further includes:

determining an object to be controlled among a plurality of target objects based on positions of the target objects relative to the electronic device, wherein the position of the object to be controlled relative to the electronic device is within a set range; and

and determining controlled equipment associated with the object to be controlled, and establishing communication connection with the controlled equipment.

9. The method according to claim 7 or 8, wherein after establishing the communication connection with the device, further comprising:

calling a control interface corresponding to the controlled equipment, and sending a control instruction to the object to be controlled based on the operation received by the control interface;

and/or the first and/or second light-emitting diodes are arranged in the light-emitting diode,

and acquiring a display interface of the electronic equipment, determining display data based on the display interface, and sending the display data to the controlled equipment.

10. The positioning method according to any one of claims 1-4, 6-8, wherein the electronic device further includes an inertial measurement unit, and the controlling the first antenna and the second antenna to receive the UWB signal transmitted from the target object in response to the positioning instruction generated based on the attitude of the electronic device includes:

acquiring an attitude angle of the electronic equipment based on the inertial measurement unit;

inputting time domain data and frequency domain data of the attitude angle signal of the electronic equipment into a neural network model, wherein the neural network model is obtained by training sample data in advance, and the sample data is the time domain data and the frequency domain data of the attitude angle signal acquired by the electronic equipment in a preset attitude;

according to the output result of the neural network model, whether the electronic equipment is in a preset posture or not is confirmed;

if the electronic equipment is in the preset posture, generating a positioning instruction; and

and responding to the positioning instruction, controlling the first antenna and the second antenna to receive UWB signals transmitted by a target object.

11. The positioning method according to claim 10, wherein the responding to the positioning instruction generated based on the posture of the electronic device is preceded by:

activating prompt information, wherein the prompt information is used for prompting a user to carry out preset operation on the electronic equipment;

acquiring an attitude angle signal corresponding to the preset operation based on the electronic equipment based on the inertial measurement unit, and analyzing time domain data and frequency domain data of the attitude angle signal; and

and training the neural network model by taking the time domain data and the frequency domain data of the attitude angle signal as sample data to obtain a preset attitude.

12. The method of claim 10, wherein generating the positioning command if the electronic device is in the predetermined posture comprises:

if the electronic equipment is in a preset posture, acquiring the stay time of the electronic equipment in the preset posture; and

and if the stay time of the electronic equipment in the preset posture is longer than or equal to the preset time, generating a positioning instruction.

13. A positioning device is applied to an electronic device, the electronic device comprises a first antenna and a second antenna, the first antenna and the second antenna are arranged at intervals, and the positioning device comprises:

the first determining module is used for determining a first azimuth angle of the target object relative to the electronic equipment in a first direction according to the attitude information of the electronic equipment;

the receiving module is used for responding to a positioning instruction and controlling the first antenna and the second antenna to receive UWB signals emitted by a target object;

a second determining module, configured to determine, according to the UWB signal received by the first antenna and the UWB signal received by the second antenna, a second azimuth angle of the target object in a second direction with respect to the electronic device, where the second direction intersects with the first direction; and

a positioning module; the electronic device is used for determining the position of the target object relative to the electronic device according to the first azimuth angle and the second azimuth angle.

14. An electronic device, comprising:

a first antenna;

the first antenna and the second antenna are arranged at intervals and are used for receiving UWB signals;

the first antenna and the second antenna are electrically connected with the processor; and

a memory coupled with the processor; the memory stores instructions that, when executed by the processor, cause the processor to perform the method of any of claims 1-12.

15. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 12.