CN113613165A - Position determination method and device and terminal equipment - Google Patents

Position determination method and device and terminal equipment Download PDF

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Publication number
CN113613165A
CN113613165A CN202110855066.9A CN202110855066A CN113613165A CN 113613165 A CN113613165 A CN 113613165A CN 202110855066 A CN202110855066 A CN 202110855066A CN 113613165 A CN113613165 A CN 113613165A
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China
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uwb
terminal device
terminal equipment
modules
position information
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Chinese (zh)
Inventor
郭富祥
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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Priority to CN202110855066.9A priority Critical patent/CN113613165A/en
Publication of CN113613165A publication Critical patent/CN113613165A/en
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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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H04W12/068—Authentication using credential vaults, e.g. password manager applications or one time password [OTP] applications
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The embodiment of the invention discloses a position determining method, a position determining device and terminal equipment, which are applied to the technical field of positioning and can solve the problem that the distance and direction obtained by UWB positioning are easily influenced by the environment to cause positioning deviation. The method comprises the following steps: acquiring at least three distance values between at least three UWB modules and first terminal equipment; and determining the position information of the first terminal equipment relative to at least three UWB modules according to at least three distance values so as to acquire the position information of the first terminal equipment relative to the target object.

Description

Position determination method and device and terminal equipment
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to a position determining method, a position determining device and terminal equipment.
Background
At present, more and more people select net car of making an appointment as the mode of going on a journey, so net car of making an appointment platform just need accurate positioning passenger and net distance and direction between the car of making an appointment, therefore Ultra Wide Band (UWB) location technique is popularized gradually, but through the test, when the driver of net car of making an appointment goes to the position of location passenger through the cell-phone, the distance that UWB location obtained and direction receive the influence of environment easily, lead to the location deviation to appear.
Disclosure of Invention
The embodiment of the invention provides a position determining method, a position determining device and terminal equipment, which are used for solving the problem that in the prior art, the distance and the direction obtained by UWB positioning are easily influenced by the environment, so that the positioning is deviated. In order to solve the above technical problem, the embodiment of the present invention is implemented as follows:
in a first aspect, a position determining method is provided, which is applied to a position determining apparatus that connects at least three UWB modules disposed on a target object, a distance between the at least three UWB modules is greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object are not on a straight line, the method including: acquiring at least three distance values between the at least three UWB modules and first terminal equipment;
and determining the position information of the first terminal equipment relative to the at least three UWB modules according to the at least three distance values so as to acquire the position information of the first terminal equipment relative to the target object.
As an optional implementation manner, in the first aspect of this embodiment of the present invention, before the obtaining at least three distance values between the at least three UWB modules and the first terminal device, the method further includes:
receiving a first UWB address of a first terminal device sent by a second terminal device;
and according to the first UWB address, respectively establishing UWB connection with the first terminal equipment through the at least three UWB modules.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the establishing UWB connections with the first terminal device through the at least three UWB modules respectively includes:
receiving a first key of the first terminal device and a second key of the second terminal device, which are sent by the second terminal device;
and if the first key is matched with the second key, respectively establishing UWB connection with the first terminal equipment through the at least three UWB modules.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the acquiring at least three distance values between the at least three UWB modules and the first terminal device includes:
respectively sending ranging signals to the first terminal equipment through the at least three UWB modules;
receiving a response signal and a signal response time delay of the ranging signal sent by the first terminal equipment;
determining a signal round-trip delay according to a sending time and a receiving time, wherein the sending time is the time for sending the ranging signal to the first terminal equipment, and the receiving time is the time for receiving the response signal sent by the first terminal equipment;
and obtaining at least three distance values between the at least three UWB modules and the first terminal equipment according to the signal response time delay, the signal round-trip time delay and the light speed.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the position determining apparatus is connected to a display module, and after the position information of the first terminal device relative to the target object is acquired, the method further includes:
displaying the position information through the display module;
and/or the presence of a gas in the gas,
and sending the position information to a second terminal device.
In a second aspect, a position determining method is provided, where the position determining method is applied to a second terminal device, and the method includes: receiving a first ultra-wideband UWB address of a first terminal device, which is sent by the first terminal device;
transmitting the first UWB address to a position determination device.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, before the receiving the first ultra-wideband UWB address of the first terminal device sent by the first terminal device, the method further includes:
acquiring the position of the first terminal equipment sent by a service platform;
determining the distance between the current position and the position of the first terminal equipment according to the position of the first terminal equipment;
and if the distance is smaller than a second distance threshold value, sending a UWB positioning request to the first terminal equipment, wherein the UWB positioning request is used for requesting a UWB address to the first terminal equipment.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, after the sending of the UWB location request to the first terminal device, the method further includes:
receiving a UWB positioning indication sent by the first terminal equipment;
acquiring second UWB addresses of at least three UWB modules connected with the position determination device;
and sending the second UWB address to the first terminal equipment.
As an alternative implementation, in a second aspect of the embodiments of the present invention, the sending the first UWB address to a position determination device includes:
acquiring a second key sent by the service platform;
receiving a first key of the first terminal device sent by the first terminal device;
transmitting the first key, the second key, and the first UWB address to the location determination device.
As an optional implementation, in the second aspect of the embodiment of the present invention, the method further includes:
receiving the position information sent by the position determining device;
and displaying the position information, and/or sending the position information to the first terminal equipment.
In a third aspect, there is provided a position determination apparatus that connects at least three UWB modules provided on a target object, distances between the at least three UWB modules being greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object being not on a straight line, the position determination apparatus comprising: the acquisition module is used for acquiring at least three distance values between the at least three UWB modules and the first terminal equipment;
and the processing module is used for determining the position information of the first terminal equipment relative to the at least three UWB modules according to the at least three distance values so as to acquire the position information of the first terminal equipment relative to the target object.
In a fourth aspect, a terminal device is provided, where the terminal device is a second terminal device, and the second terminal device includes: the receiving and sending module is used for receiving a first ultra-wideband UWB address of a first terminal device, which is sent by the first terminal device; and transmitting the first UWB address to a position determining device.
In a fifth aspect, there is provided a position determination apparatus that connects at least three UWB modules provided on a target object, distances between the at least three UWB modules being greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object being not on a straight line, the position determination apparatus comprising:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the location determination method in the first aspect of the embodiment of the present invention.
In a sixth aspect, a terminal device is provided, where the terminal device is a second terminal device, and the second terminal device includes:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the location determination method in the second aspect of the embodiment of the present invention.
In a seventh aspect, a computer-readable storage medium is provided, which stores a computer program, and the computer program causes a computer to execute the position determination method in the first aspect of the embodiment of the present invention. The computer readable storage medium includes a ROM/RAM, a magnetic or optical disk, or the like.
In an eighth aspect, there is provided a computer-readable storage medium storing a computer program for causing a computer to execute the position determination method in the second aspect according to the embodiment of the present invention. The computer readable storage medium includes a ROM/RAM, a magnetic or optical disk, or the like.
In a ninth aspect, there is provided a computer program product for causing a computer to perform part or all of the steps of any one of the methods of the first aspect or part or all of the steps of any one of the methods of the second aspect when the computer program product is run on the computer.
A tenth aspect provides an application publishing platform for publishing a computer program product, wherein the computer program product, when run on a computer, causes the computer to perform part or all of the steps of any one of the methods of the first aspect, or part or all of the steps of any one of the methods of the second aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the present invention, the position determining apparatus is connected to at least three UWB modules disposed on the target object, distances between the at least three UWB modules are greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object are not on a straight line, and the position determining apparatus may obtain at least three distance values between the at least three UWB modules and the first terminal device; and then according to the at least three distance values, determining the position information of the first terminal equipment relative to the at least three UWB modules, thereby obtaining the position information of the first terminal equipment relative to the target object. Through the scheme, at least three UWB modules are arranged on the target object, so that the position determining device can measure the distance with the first terminal equipment through the at least three UWB modules, the relative position information of the first terminal equipment is obtained, the scheme can be used for positioning through the at least three UWB modules, more accurate and unique position information can be obtained, and the condition that the position determining accuracy is lower due to the shielding problem of the environment and the UWB modules is effectively avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first scenario diagram of a position determination method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a position determination method according to an embodiment of the present invention;
fig. 3 is a scene schematic diagram ii of a position determination method according to an embodiment of the present invention;
fig. 4 is a first signal transmission diagram of a position determination method according to an embodiment of the present invention;
fig. 5 is a signal transmission diagram of a position determination method according to an embodiment of the present invention;
fig. 6 is a third schematic view of a scenario of a position determination method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a position determination apparatus according to an embodiment of the present invention;
fig. 8 is a first schematic structural diagram of a terminal device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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 invention.
The terms "first" and "second," and the like, in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first terminal device and the second terminal device, etc. are for distinguishing different terminal devices, and are not for describing a specific order of the terminal devices.
The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the correlation technique, more and more people select net car of appointment as the mode of going out, so net car of appointment platform just need accurate positioning passenger and net distance and direction between the car of appointment, so Ultra Wide Band (UWB) location technique is popularized gradually, but through the test, when net car of appointment driver passes through the cell-phone and goes to the position of location passenger, the distance that UWB location obtained and direction receive the influence of environment easily, lead to the location deviation to appear.
In order to solve the above problem, embodiments of the present invention provide a position determining method, an apparatus, and a terminal device, where the position determining apparatus is connected to at least three UWB modules disposed on a target object, distances between the at least three UWB modules are greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object are not on a straight line, and the position determining apparatus may obtain at least three distance values between the at least three UWB modules and the first terminal device; and then according to the at least three distance values, determining the position information of the first terminal equipment relative to the at least three UWB modules, thereby obtaining the position information of the first terminal equipment relative to the target object. Through the scheme, at least three UWB modules are arranged on the target object, so that the position determining device can measure the distance with the first terminal equipment through the at least three UWB modules, the relative position information of the first terminal equipment is obtained, the scheme can be used for positioning through the at least three UWB modules, more accurate and unique position information can be obtained, and the condition that the position determining accuracy is lower due to the shielding problem of the environment and the UWB modules is effectively avoided.
The position determining apparatus and the terminal device according to the embodiments of the present invention may be electronic devices such as a Mobile phone, a tablet Computer, a notebook Computer, a palmtop Computer, a vehicle-mounted terminal device, a wearable device, an Ultra-Mobile Personal Computer (UMPC), a netbook, or a Personal Digital Assistant (PDA). The wearable device may be a smart watch, a smart bracelet, a watch phone, a smart foot ring, a smart earring, a smart necklace, a smart headset, or the like, and the embodiment of the present invention is not limited.
The position determining apparatus according to the embodiment of the present invention may be communicatively connected to at least three UWB modules through data lines, where the data lines may specifically be: a Serial Peripheral Interface (SPI) line, or a Universal Serial Bus (USB), which is not limited in the embodiments of the present invention.
In an embodiment of the present invention, the position determining means may be provided in the target object, for example, the position determining means may be a processor in a control system of the vehicle, assuming that the target object is a vehicle; the position determining apparatus may also be disposed outside the target object, for example, if the target object is a terminal device, the position determining apparatus may be a cloud server connected to the terminal device, and the embodiment of the present invention is not limited thereto.
It should be noted that, the arrangement of the UWB antenna and the UWB module may include the following two cases:
the first condition is as follows: the UWB antenna is provided in a UWB module provided on the target object.
Case two: the UWB antenna is arranged outside the UWB module, the UWB antenna and the UWB module are connected through a data line, and the UWB antenna and the UWB module are both arranged on a target object.
With the above arrangement, the position determining apparatus can detect the position information between the target object and another terminal device through the UWB module provided on the target object.
It should be noted that, at least three UWB modules are disposed on the target object, a distance between any two UWB modules is greater than or equal to the first distance threshold, and positions of the at least three UWB modules on the target object are not on a straight line.
For example, assuming that the target object is a vehicle, as shown in fig. 1, a schematic view of a scenario in which the position determining device detects position information between the vehicle and another terminal device is shown, at least three UWB antennas 12 of at least three UWB modules are respectively disposed on the top of the vehicle 11, and the position determining device 13 may be disposed inside the vehicle and connected to the at least three UWB antennas 12 through data lines 14. The position determining means 13 can detect the position information between the vehicle 11 and another terminal device 15 through at least three UWB antennas 12.
Specifically, the UWB module may send a signal to another terminal device and receive a signal returned by another terminal device, so that the Time difference between the sending of the signal and the receiving of the signal by the UWB module and the Time difference between the receiving of the signal and the sending of the signal by another terminal device are calculated to obtain the Time of Flight between the UWB module and the another terminal device, and the distance between the UWB module and the another terminal device is obtained by the UWB module according to the speed of light.
The execution subject of the position determining method provided in the embodiment of the present invention may be the position determining apparatus and the terminal device, or may also be a functional module and/or a functional entity capable of implementing the position determining method in the position determining apparatus and the terminal device, and may be specifically determined according to an actual use requirement, which is not limited in the embodiment of the present invention. The following takes a position determining apparatus and a terminal device as examples, and exemplifies a position determining method provided by the embodiment of the present invention.
As shown in fig. 2, an embodiment of the present invention provides a position determining method, which may be applied to a scenario in which a position determining apparatus needs to determine, through a second terminal device, position information of a first terminal device relative to a target object.
For example, the target object may be a vehicle, the first terminal device may be a passenger mobile phone, the second terminal device may be a driver mobile phone, the position determination device may be disposed in the vehicle or outside the vehicle, and the position determination device needs to be connected to at least three UWB modules disposed on the vehicle.
As shown in fig. 3, an embodiment of the present invention relates to interaction among the position determining apparatus 13, the first terminal device 151, and the second terminal device 152, where the first terminal device 151 and the second terminal device 152 interact specifically through the service platform 31, and the method may further include the following steps:
201. and the second terminal equipment acquires the position of the first terminal equipment sent by the service platform.
In the embodiment of the present invention, the first terminal device and the second terminal device may perform information transmission through the service platform, and the service platform may determine the position of the first terminal device through a positioning method and send the position of the first terminal device to the second terminal device.
It should be noted that the positioning method may include at least one of the following: wireless Fidelity (WiFi) positioning, satellite positioning, base station positioning, and the like. The Satellite Positioning may be Global Navigation Satellite System (GNSS) Positioning, BeiDou Navigation Satellite System (BDS) Positioning, Global Positioning System (GPS) Positioning, or other Positioning methods, and is not limited herein.
The service platform may be a server, some application programs, or an application platform.
202. The second terminal device determines a distance between the current location and the location of the first terminal device.
In the embodiment of the present invention, the second terminal device may determine, by using the above positioning method, a current location where the second terminal device is located, and determine, according to the location of the first terminal device, a distance between the current location and the location of the first terminal device.
203. The second terminal device sends a UWB location request to the first terminal device.
In the embodiment of the present invention, if the distance between the current position and the position of the first terminal device is smaller than the second distance threshold, which indicates that the second terminal device is closer to the first terminal device at this time, the second terminal device may send a UWB positioning request to the first terminal device in order to obtain a more accurate relative position.
Wherein the UWB location request is for requesting a first terminal device UWB address from a first terminal device.
Optionally, the second terminal device may send the UWB location request to the service platform, and the service platform sends the UWB location request to the first terminal device.
204. The first terminal device sends a UWB positioning indication to the second terminal device.
In the embodiment of the present invention, after receiving a UWB positioning request sent by a second terminal device, a first terminal device may display the UWB positioning request on a display screen of the first terminal device, and prompt a user to select whether to perform UWB positioning; if the user touches the control for UWB positioning, the first terminal device may send a UWB positioning indication to the second terminal device.
Optionally, the first terminal device may send the UWB positioning indication to the service platform, and the service platform sends the UWB positioning indication to the second terminal device.
205. The second terminal device acquires second UWB addresses of at least three UWB modules connected to the position determination apparatus.
In the embodiment of the present invention, when the second terminal device receives the UWB positioning instruction sent by the first terminal device, it may be said that the first terminal device agrees to perform UWB positioning, and then the second terminal device may acquire the second UWB addresses of at least three UWB modules connected to the position determination apparatus at this time.
It should be noted that, the connection between the second terminal device and the position determination apparatus may include the following modes:
the first method is as follows: the second terminal equipment and the position determining device are both provided with Bluetooth modules, and the second terminal equipment and the position determining device can be connected through the Bluetooth modules and carry out data transmission.
The second method comprises the following steps: the second terminal device and the position determining device are both provided with a Wireless local area network (WIFi) module, and the second terminal device and the position determining device can be connected through the WIFi module and perform data transmission.
The third method comprises the following steps: the second terminal equipment and the position determining device are respectively provided with a data interface, and the second terminal equipment and the position determining device can be connected through a data line and carry out data transmission.
Wherein, the data line may specifically include: SPI line, USB line.
206. The second terminal device transmits the second UWB address to the first terminal device.
In the embodiment of the present invention, after acquiring the second UWB addresses of the at least three UWB modules, the second terminal device may transmit the second UWB addresses of the at least three UWB modules to the first terminal device.
Optionally, the second terminal device may send the second UWB address to the service platform, and the service platform sends the second UWB address to the first terminal device.
207. The first terminal device sends a first UWB address of the first terminal device to the second terminal device.
In the embodiment of the present invention, the first terminal device may transmit the first UWB address of the UWB module provided in the first terminal device to the second terminal device.
Optionally, the first terminal device sends the first UWB address of the first terminal device to the second terminal device, and the first terminal device sends the UWB positioning instruction to the second terminal device, which may be performed simultaneously or sequentially; that is, the first terminal device may send the UWB positioning instruction and the first UWB address of the first terminal device to the second terminal device at the same time, or the first terminal device may send the UWB positioning instruction to the second terminal device first, and then send the first UWB address of the first terminal device to the second terminal device.
Further, after the first terminal device receives the UWB positioning request sent by the second terminal device, if the user agrees to perform UWB positioning, the first terminal device may directly send a UWB positioning indication to the second terminal device, where the UWB positioning indication includes: a first UWB address of the first terminal device.
Optionally, the first terminal device may send the first UWB address to the service platform, and the service platform sends the first UWB address to the second terminal device.
208. The second terminal device sends the first UWB address to the position determining means.
In the embodiment of the present invention, after the second terminal device receives the first UWB address transmitted by the first terminal device, the first UWB address may be transmitted to the position determination apparatus.
209. The position determination device establishes a UWB connection with the first terminal device via at least three UWB modules, respectively.
In the embodiment of the present invention, after the position determination apparatus receives the first UWB address, the position determination apparatus may establish UWB connection with the first terminal device through at least three UWB modules connected to the position determination apparatus according to the first UWB address; the first terminal device also receives the second UWB addresses of the at least three UWB modules connected to the position determination apparatus, which are sent by the second terminal device, and then the first terminal device may also establish UWB connection with the at least three UWB modules connected to the position determination apparatus according to the second UWB addresses.
Optionally, the position determining apparatus may establish UWB connections with the first terminal device through at least three UWB modules, and specifically may include the following implementation manners:
the implementation mode is as follows: the service platform sends a first key to the first terminal device and a second key to the second terminal device respectively; the first terminal device sends the first key to the second terminal device, the second terminal device sends the first key and the second key to the position determining device, the position determining device detects the first key and the second key, and if the first key and the second key are matched, the position determining device establishes UWB connection with the first terminal device through at least three UWB modules respectively.
The implementation mode two is as follows: the service platform sends a first key to the first terminal device and a second key to the second terminal device respectively; the second terminal equipment sends the second key to the position determining device; and the position determining device carries a second key to send a UWB connection request to the first terminal equipment, and if the first terminal equipment detects that the first key is matched with the second key, UWB connection is established between at least three UWB modules connected with the position determining device.
Through the optional implementation manner, a key detection step is added before the position determination device establishes the UWB connection with the first terminal device, and the security of the UWB connection between the position determination device and the first terminal device can be ensured through the key detection.
Optionally, the position determining apparatus respectively establishes UWB connections with the first terminal device through at least three UWB modules, and specifically may include: the first terminal device sends the communication configuration information of the first terminal device to the position determination device, and the position determination device may adjust the communication configuration information of the position determination device according to the communication configuration information of the first terminal device so that the communication configuration information of the position determination device is the same as the communication configuration information of the first terminal device.
Wherein, the communication configuration information at least includes: carrier frequency band, carrier bandwidth, intra-frame coding information, etc.
It should be noted that, after the position determining apparatus adjusts the communication configuration information of the position determining apparatus to the communication configuration information of the first terminal device, the position determining apparatus may establish a UWB connection with the first terminal device to implement information output between the position determining apparatus and the first terminal device.
210. The position determining means obtains at least three distance values between the at least three UWB modules and the first terminal device.
In the embodiment of the present invention, the position determining apparatus may perform ranging through at least three UWB modules, respectively, and may obtain the distance between each UWB module and the first terminal device, that is, the position determining apparatus may obtain at least three distance values.
Optionally, the measuring distances between the at least three UWB modules and the first terminal device may specifically include the following implementation manners:
the implementation mode is as follows: the position determining device sends ranging signals to the first terminal equipment through at least three UWB modules respectively; at least three UWB modules respectively receive a response signal of a ranging signal sent by first terminal equipment and a signal response time delay; at least three UWB modules respectively determine the round-trip delay of the signal according to the sending time and the receiving time; and the at least three UWB modules respectively obtain at least three distance values between the at least three UWB modules and the first terminal equipment according to the signal response time delay, the signal round-trip time delay and the light speed.
The sending time is the time when at least three UWB modules respectively send ranging signals to the first terminal equipment, and the receiving time is the time when at least three UWB modules respectively receive response signals sent by the first terminal equipment; the signal transmission between the at least three UWB modules and the first terminal equipment is realized by the UWB module in the first terminal equipment.
It should be noted that, as shown in fig. 4, the process is mainly divided into two signal transmissions:
first signal transmission: the at least three UWB modules 12 may transmit ranging signals to the first terminal devices 151, respectively.
And (3) second signal transmission: after receiving the ranging signal, the first terminal device 151 may reply a response signal of the ranging signal and a signal response delay D to the at least three UWB modules 12, respectively; the signal response delay D is the interval duration between the first terminal device 151 receiving the ranging signal and the first terminal device 151 sending the response signal.
After the above two signal transmissions, when the at least three UWB modules 12 receive the response signals respectively, the receiving time may be recorded, and the signal round-trip delay R of the at least three UWB modules 12 is determined according to the sending time of the ranging signals sent by the at least three UWB modules 12, that is, the signal round-trip delay R is the interval duration between the sending of the ranging signals by the at least three UWB modules 12 and the receiving of the response signals by the at least three UWB modules 12.
As shown in fig. 4, the difference between the round trip delay R and the response delay D is the time of flight T of the ranging signalfAnd time of flight T of the response signalfIn sum, since the distances between the at least three UWB modules 12 and the first terminal device 151, respectively, are not changed, the time of flight T of the ranging signal is constantfAnd a response signal TfIs equal, then the time-of-flight can be calculated as: t isf＝0.5*(R-D)。
For example, it is assumed that at least three UWB modules respectively transmit a ranging signal to the first terminal device at time 10:00:00, and after receiving the ranging signal, the first terminal device transmits a response signal to the at least three UWB modules with a delay of 950ms, and the at least three UWB modules respectively receive the response signal transmitted by the first terminal device at time 10:00:01. The position determination device may determine that the round trip delay of the signal is 1s, the response delay of the signal is 950ms, the flight time is 0.5 × 1s-950ms — 25ms, and the distance between the at least three UWB modules and the first terminal device is 25ms × 3 × 108m/s＝7.5*106m。
Further, in this implementation, the signal transceiving of the at least three UWB modules and the first terminal device may be exchanged, that is, the at least three UWB modules may transmit the ranging signal, and the first terminal device may transmit the response signal; the first terminal device may also send a ranging signal, and at least three UWB modules send response signals, which is not limited in the embodiment of the present invention.
The implementation mode two is as follows: the first terminal equipment respectively sends ranging signals to at least three UWB modules connected with the position determining device; at least three UWB modules respectively receive the ranging signals sent by the first terminal equipment and respectively send first response signals and first signal response time delays to the first terminal equipment; the first terminal equipment sends a second response signal of the first response signal, the round-trip delay of the first signal and the response delay of the second signal to at least three UWB modules respectively; at this time, at least three UWB modules may determine a second signal round trip delay of each UWB module, respectively; the position determining device obtains at least three distance values between the at least three UWB modules and the first terminal device according to the first signal response time delay, the second signal response time delay, the first signal round-trip time delay, the second signal round-trip time delay and the speed of light.
It should be noted that, as shown in fig. 5, the process is mainly divided into three signal transmissions:
first signal transmission: the first terminal device 151 may transmit ranging signals to at least three UWB modules 12, respectively, and record a first transmission time.
And (3) second signal transmission: after receiving the ranging signals, the at least three UWB modules 12 may record a first receiving time, and reply a first response signal of the ranging signal and a first signal response delay D to the first terminal device 151, respectivelybAnd recording the second transmission time, the first signal response time delay DbThe time interval between the first receiving time when the at least three UWB modules 12 receive the ranging signal and the second sending time when the at least three UWB modules 12 send the first response signal, respectively; after receiving the first response signal, the first terminal device 151 may record the second receiving time, and determine the round trip delay R of the first signal of the first terminal device 151aI.e. round trip delay R of the first signalaThe interval duration between a first transmission time instant at which the ranging signal is transmitted for the first terminal device 151 and a second reception time instant at which the first terminal device 151 receives the first response signal.
And third signal transmission: the first terminal device 151 may transmit the first response signals to at least three UWB modules 12 after receiving the first response signalsTwo response signals, first signal round trip delay RaAnd a second signal response time delay DaAnd recording the third transmission time, the response time delay D of the second signalaIs the interval duration between the second receiving time when the first terminal device 151 receives the first response signal and the third transmitting time when the first terminal device 151 transmits the second response signal.
After the three signal transmissions, when the at least three UWB modules 12 receive the second response signal, the third receiving time may be recorded, and the round-trip delay R of the second signal of each UWB module 12 may be determinedbI.e. round trip delay R of the second signalbThe interval duration between the second transmission time at which the at least three UWB modules 12 respectively transmit the first response signals and the third reception time at which the at least three UWB modules 12 respectively receive the second response signals.
As shown in FIG. 5, where the time-of-flight of three signal transmissions is equal, the position determining device may respond with a time delay D based on the first signalbA second signal response time delay DaFirst signal round trip delay RaSecond signal round trip delay RbCalculating the time of flight T of the signal transmissionf：
The position determining means may obtain: ra＝2Tf+Db；Rb＝2Tf+Da；
The position determining means may multiply the above formula: raRb＝4Tf 2+DaDb+2Tf(Da+Db)；
The position determining means may transpose the above formula: raRb-DaDb＝4Tf 2+2Tf(Da+Db)；
The position determining means may divide the equation by (D) on both sides of the equal signa+Db+Ra+Rb)：
Figure BDA0003182125700000151
The position determining means may bring and simplify the above formula:
Figure BDA0003182125700000161
thus, the position determination means may obtain: time of flight
Figure BDA0003182125700000162
Illustratively, it is assumed that the first terminal device transmits ranging signals to at least three UWB modules at time 10:00:00, respectively, and after the ranging signals are received by the at least three UWB modules, the first terminal device transmits a first response signal to the first terminal device at time 10:00:00.975 delayed by 950ms, and receives the first response signals transmitted by the at least three UWB modules at time 10:00:01, respectively; the first terminal device delays by 800ms again to send the second response signals to the at least three UWB modules respectively, and the at least three UWB modules receive the second response signals sent by the first terminal device at time 10:00:01.825 respectively. Therefore, if the first signal round-trip delay Ra is 1s, the first signal response delay Db is 950ms, the second signal round-trip delay Rb is 850ms, and the second signal response delay Da is 800ms, the position determining apparatus can obtain the time of flight according to the calculation formula of the time of flight
Figure BDA0003182125700000163
The position determination means can thus determine that the distance between the at least three UWB modules and the first terminal device is 25ms x 3 x 108m/s＝7.5*106m。
Through the optional implementation manner, the position determining device can acquire the distances between the at least three UWB modules and the first terminal device respectively through the TOF technology, and output interactive transmission between the at least three UWB modules and the first terminal device is completed, so that the intelligent degree of the position determining device is improved, and the accuracy of distance detection between the at least three UWB modules and the first terminal device is improved.
211. The position determining device determines position information of the first terminal device relative to the at least three UWB modules to acquire position information of the first terminal device relative to the target object.
In the embodiment of the present invention, the position determining means may determine the position information of the first terminal device with respect to the at least three UWB modules, based on at least three distance values between the at least three UWB modules and the first terminal device; thus, the position determining means may determine the position information of the first terminal device with respect to the target object based on the positional relationship of the at least three UWB modules and the target object.
Wherein, the position information of the first terminal device relative to the at least three UWB modules comprises: at least three distance values between the at least three UWB modules and the first terminal device, and at least three directions of the first terminal device relative to the at least three UWB modules. The position information of the first terminal device relative to the target object includes: at least three distance values between the target object and the first terminal device, and a direction of the first terminal device relative to the target object.
Optionally, the method for determining the location information of the first terminal device relative to the at least three UWB modules according to the at least three distance values may specifically include: determining the relative position of the first terminal equipment according to at least three distance values; at least three directions of the first terminal device relative to the at least three UWB modules are determined from the relative position.
Further, the method for determining the relative position of the first terminal device according to the at least three distance values is a three-point positioning method. After the position determining apparatus obtains at least three distance values between the at least three UWB modules and the first terminal device, it may draw a circle by using each UWB module as a center of a circle and using a distance between each UWB module and the first terminal device as a radius, respectively, to obtain at least three circles, and then an intersection point of the at least three circles is a relative position of the first terminal device; after the position determining means determines the relative position of the first terminal device, the direction of the first terminal device with respect to each UWB module can be determined based on the relative position of the first terminal device.
It should be noted that the at least three UWB modules are not located on a straight line, and the relative position of the first terminal device may be determined according to at least three distance values between the at least three UWB modules and the first terminal device; if the at least three UWB modules are on a straight line, the position determining apparatus may draw at least three circles according to at least three distance values between the at least three UWB modules and the first terminal device, and may not determine the relative position of the first terminal device at this time.
Illustratively, as shown in fig. 6, assuming that the position determination apparatus connects three UWB modules, which are respectively located at a point a, a point B and a point C, the position determination apparatus can obtain distances r1, r2 and r3 between the three UWB modules and the first terminal device through detection. Then the position determining means may draw a circle with point a as the center and r1 as the radius, respectively; drawing a circle by taking the point B as the center of the circle and r2 as the radius; three circles can be obtained by drawing a circle with the point C as the center and r3 as the radius. The position determination means may determine that the intersection point P of the three circles is the position of the first terminal device.
Optionally, the obtaining, by the position determining apparatus, the position information of the first terminal device relative to the target object may specifically include the following optional implementation manners:
the implementation mode is as follows: if the target object is small, that is, the distance between the positions of the at least three UWB modules on the target object and the center position of the target object or the position to be measured of the target object is short, the position determining device may determine the position information of the first terminal device relative to the at least three UWB modules as the position information of the first terminal device relative to the target object.
For example, assuming that the target object is a mobile phone and three UWB modules are arranged inside the mobile phone, at this time, when the position determining device needs to detect the position information between the mobile phone and another terminal device, the position determining device may determine the position information of the another terminal device relative to the three UWB modules inside the mobile phone as the position information of the another terminal device relative to the mobile phone.
The implementation mode two is as follows: if the target object is large, that is, the distance between the position of the at least three UWB modules on the target object and the center position of the target object or the position to be measured of the target object is long, the position determining apparatus may determine the position information of the first terminal device relative to the target object according to the position information of the first terminal device relative to the at least three UWB modules and the position information between the at least three UWB modules and the center position of the target object or the position to be measured of the target object.
For example, as shown in fig. 1, assuming that the target object is a vehicle 11 and three UWB modules 12 are disposed near the trunk at the top of the vehicle 11, when the position determining device 13 needs to detect the position information between the headlights 16 of the vehicle 11 and another terminal device 15, the position determining device 13 may determine the position information of the another terminal device 15 with respect to the three UWB modules 12 inside the vehicle, and then determine the position information of the another terminal device 15 with respect to the headlights 16 of the vehicle 11 based on the position information between the three UWB modules 12 and the headlights 16 of the vehicle 11.
212. The position determination device displays the position information.
In the embodiment of the present invention, after the position determining device determines the position information of the first terminal device relative to the target object, the position information may be displayed through a display module connected to the position determining device.
213. The position determining means transmits the position information to the second terminal device.
In the embodiment of the present invention, after determining the position information of the first terminal device relative to the target object, the position determining apparatus may send the position information to the second terminal device.
It should be noted that the order in which the position determining device displays the position information and the position determining device transmits the position information to the second terminal device may be: the position determining device can display the position information firstly and then send the position information to the second terminal equipment; the position determining device may also send the position information to the second terminal device first, and then display the position information; the position determining apparatus may also display the position information and send the position information to the second terminal device, which is not limited in the embodiment of the present invention.
214. The second terminal device displays the location information.
In the embodiment of the present invention, after receiving the position information of the first terminal device relative to the target object, the second terminal device may display the position information.
215. And the second terminal equipment sends the position information to the first terminal equipment.
In the embodiment of the present invention, after receiving the position information of the first terminal device relative to the target object, the second terminal device may send the position information to the first terminal device.
It should be noted that, the order in which the second terminal device displays the location information and the second terminal device sends the location information to the first terminal device may be: the second terminal device may display the position information first and then transmit the position information to the first terminal device; the second terminal device may also send the location information to the first terminal device first, and then display the location information; the second terminal device may also display the location information and send the location information to the first terminal device, which is not limited in the embodiment of the present invention.
Optionally, after the first terminal device receives the position information of the first terminal device relative to the target object, which is sent by the second terminal device, the position information may be displayed.
For example, assuming that the target object is a vehicle, the first terminal device is a passenger mobile phone, and the second terminal device is a driver mobile phone, after the position determining device determines the position information of the passenger mobile phone relative to the vehicle, the position information may be displayed in the vehicle through the display module, and the position information may be sent to the driver mobile phone; the driver's mobile phone can display the location information and send the location information to the passenger's mobile phone. Thus, a driver can drive the vehicle to receive passengers according to the position information in the vehicle or displayed by the mobile phone; the passenger can also check the distance between the vehicle and the passenger on the mobile phone in real time.
The embodiment of the invention provides a position determining method, and when a position determining device and first terminal equipment carry out distance measurement, interaction can be carried out through second terminal equipment. When the distance between the second terminal device and the first terminal device is short, the position determining apparatus may establish the UWB connection with the first terminal device, and after determining the position information of the first terminal device relative to the target object, the position determining apparatus may display the position information or send the position information to the second terminal device, and the second terminal device may also display the position information or send the position information to the first terminal device. The scheme increases the position information output mode of the position determining device; the position determining device starts to detect the position information between the target object and the first terminal equipment when the distance is close, so that the UWB positioning accuracy can be effectively improved, and the condition of power consumption increase caused by long-time long-distance positioning can be avoided; the position determining device is used for positioning through at least three UWB modules, more accurate and unique position information can be obtained, and the condition that the position determining accuracy is low due to the fact that the environment and the UWB modules are shielded is effectively avoided.
EXAMPLE III
As shown in fig. 7, an embodiment of the present invention provides a position determining apparatus, where the position determining apparatus connects at least three ultra-wideband UWB modules disposed on a target object, a distance between the at least three UWB modules is greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object are not on a straight line, the position determining apparatus including:
an obtaining module 701, configured to obtain at least three distance values between the at least three UWB modules and a first terminal device;
a processing module 702, configured to determine, according to the at least three distance values, position information of the first terminal device relative to the at least three UWB modules, so as to obtain position information of the first terminal device relative to the target object.
Optionally, the position determining apparatus further includes:
a transceiver module 703, configured to receive a first UWB address of the first terminal device sent by a second terminal device;
the processing module 702 is further configured to establish UWB connection with the first terminal device through the at least three UWB modules according to the first UWB address.
Optionally, the transceiver module 703 is specifically configured to receive a first key of the first terminal device and a second key of the second terminal device, where the first key and the second key are sent by the second terminal device;
a processing module 702, configured to establish UWB connection with the first terminal device through the at least three UWB modules, if the first key is matched with the second key.
Optionally, the transceiver module 703 is specifically configured to send a ranging signal to the first terminal device through the at least three UWB modules respectively;
a transceiver module 703, configured to specifically receive a response signal of the ranging signal and a signal response delay sent by the first terminal device;
a processing module 702, configured to determine a round-trip delay of a signal according to a sending time and a receiving time, where the sending time is a time when the ranging signal is sent to the first terminal device, and the receiving time is a time when the response signal sent by the first terminal device is received;
the processing module 702 is specifically configured to obtain at least three distance values between the at least three UWB modules and the first terminal device according to the signal response delay, the signal round-trip delay, and the speed of light.
Optionally, the processing module 702 is further configured to display the position information through the display module;
and/or the presence of a gas in the gas,
the transceiver module 703 is further configured to send the location information to a second terminal device.
In the embodiment of the present invention, each module may implement the position determining method provided in the above method embodiment, and may achieve the same technical effect, and in order to avoid repetition, details are not described here.
As shown in fig. 8, an embodiment of the present invention provides a terminal device, where the terminal device is a second terminal device, and the second terminal device includes:
a transceiver module 801, configured to receive a first ultra wideband UWB address of a first terminal device, where the first ultra wideband UWB address is sent by the first terminal device;
the transceiver module 801 is further configured to send the first UWB address to a position determination device.
Optionally, the terminal device further includes:
an obtaining module 802, configured to obtain a location of the first terminal device sent by a service platform;
a processing module 803, configured to determine, according to the location of the first terminal device, a distance between the current location and the location of the first terminal device;
the transceiver module 801 is further configured to send a UWB location request to the first terminal device if the distance is smaller than a second distance threshold, where the UWB location request is used to request a UWB address from the first terminal device.
Optionally, the transceiver module 801 is further configured to receive a UWB positioning indication sent by the first terminal device;
an obtaining module 802, further configured to obtain second UWB addresses of at least three UWB modules connected to the position determination apparatus;
the transceiver module 801 is further configured to send the second UWB address to the first terminal device.
Optionally, the obtaining module 802 is specifically configured to obtain a second key sent by the service platform;
a transceiver module 801, specifically configured to receive a first key of the first terminal device sent by the first terminal device;
the transceiver module 801 is specifically configured to send the first key, the second key, and the first UWB address to the position determining apparatus.
Optionally, the transceiver module 801 is further configured to receive location information sent by the location determining apparatus;
a processing module 803, further configured to display the location information,
and/or the presence of a gas in the gas,
the transceiver module 801 is further configured to send the location information to the first terminal device.
As shown in fig. 9, an embodiment of the present invention further provides a terminal device, where the terminal device may include:
a memory 901 in which executable program code is stored;
a processor 902 coupled to a memory 901;
the processor 902 calls the executable program code stored in the memory 901 to execute the position determining method executed by the terminal device in each of the above-mentioned method embodiments.
Optionally, an embodiment of the present invention may further provide a location determining apparatus, where the location determining apparatus may be a terminal device. When the position determining apparatus is a terminal device, the position determining apparatus may include a memory 901 and a processor 902 as shown in fig. 9, and the processor 902 calls an executable program code stored in the memory 901 to execute the position determining method executed by the position determining apparatus in the above-mentioned embodiments of the methods.
Embodiments of the present invention provide a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute some or all of the steps of the method as in the above method embodiments.
Embodiments of the present invention also provide a computer program product, wherein the computer program product, when run on a computer, causes the computer to perform some or all of the steps of the method as in the above method embodiments.
Embodiments of the present invention further provide an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product, when running on a computer, causes the computer to perform some or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

Claims (14)

1. A position determination method applied to a position determination device, the position determination device being connected to at least three ultra-wideband UWB modules provided on a target object, distances between the at least three UWB modules being greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object being not on a straight line, the method comprising:
acquiring at least three distance values between the at least three UWB modules and first terminal equipment;
and determining the position information of the first terminal equipment relative to the at least three UWB modules according to the at least three distance values so as to acquire the position information of the first terminal equipment relative to the target object.
2. The method of claim 1, wherein prior to said obtaining at least three distance values between said at least three UWB modules and a first terminal device, said method further comprises:
receiving a first UWB address of a first terminal device sent by a second terminal device;
and according to the first UWB address, respectively establishing UWB connection with the first terminal equipment through the at least three UWB modules.
3. The method according to claim 2, wherein said establishing UWB connections with said first terminal device through said at least three UWB modules, respectively, comprises:
receiving a first key of the first terminal device and a second key of the second terminal device, which are sent by the second terminal device;
and if the first key is matched with the second key, respectively establishing UWB connection with the first terminal equipment through the at least three UWB modules.
4. The method of claim 1, wherein said obtaining at least three distance values between said at least three UWB modules and a first terminal device comprises:
respectively sending ranging signals to the first terminal equipment through the at least three UWB modules;
receiving a response signal and a signal response time delay of the ranging signal sent by the first terminal equipment;
determining a signal round-trip delay according to a sending time and a receiving time, wherein the sending time is the time for sending the ranging signal to the first terminal equipment, and the receiving time is the time for receiving the response signal sent by the first terminal equipment;
and obtaining at least three distance values between the at least three UWB modules and the first terminal equipment according to the signal response time delay, the signal round-trip time delay and the light speed.
5. The method according to claim 1, wherein the position determining apparatus is connected to a display module, and after the obtaining of the position information of the first terminal device relative to the target object, the method further comprises:
displaying the position information through the display module;
and/or the presence of a gas in the gas,
and sending the position information to a second terminal device.
6. A method for determining a location, the method being applied to a second terminal device, the method comprising:
receiving a first ultra-wideband UWB address of a first terminal device, which is sent by the first terminal device;
transmitting the first UWB address to a position determination device.
7. The method of claim 6, wherein prior to said receiving a first ultra-wideband UWB address of said first terminal device sent by a first terminal device, said method further comprises:
acquiring the position of the first terminal equipment sent by a service platform;
determining the distance between the current position and the position of the first terminal equipment according to the position of the first terminal equipment;
and if the distance is smaller than a second distance threshold value, sending a UWB positioning request to the first terminal equipment, wherein the UWB positioning request is used for requesting a UWB address to the first terminal equipment.
8. The method of claim 7, wherein after said transmitting a UWB location request to said first terminal device, said method further comprises:
receiving a UWB positioning indication sent by the first terminal equipment;
acquiring second UWB addresses of at least three UWB modules connected with the position determination device;
and sending the second UWB address to the first terminal equipment.
9. The method of claim 6, wherein said transmitting said first UWB address to a position determination device comprises:
acquiring a second key sent by the service platform;
receiving a first key of the first terminal device sent by the first terminal device;
transmitting the first key, the second key, and the first UWB address to the location determination device.
10. The method of claim 6, further comprising:
receiving the position information sent by the position determining device;
and displaying the position information, and/or sending the position information to the first terminal equipment.
11. A position determining apparatus, wherein the position determining apparatus is connected to at least three UWB modules provided on a target object, a distance between the at least three UWB modules is greater than or equal to a first distance threshold, and positions of the at least three UWB modules on the target object are not on a straight line, the position determining apparatus comprising:
the acquisition module is used for acquiring at least three distance values between the at least three UWB modules and the first terminal equipment;
and the processing module is used for determining the position information of the first terminal equipment relative to the at least three UWB modules according to the at least three distance values so as to acquire the position information of the first terminal equipment relative to the target object.
12. A terminal device, wherein the terminal device is a second terminal device, and the second terminal device comprises:
the receiving and sending module is used for receiving a first ultra-wideband UWB address of a first terminal device, which is sent by the first terminal device; and transmitting the first UWB address to a position determining device.
13. A computer-readable storage medium, comprising: the computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the position determination method of any of claims 1 to 5.
14. A computer-readable storage medium, comprising: the computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the position determination method of any of claims 6 to 10.
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CN112399334A (en) * 2020-10-20 2021-02-23 北京嘀嘀无限科技发展有限公司 Ultra-wideband-based positioning method and device, electronic equipment and readable storage medium

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