CN113891242A - Positioning method, device and system of intelligent wearable equipment - Google Patents
Positioning method, device and system of intelligent wearable equipment Download PDFInfo
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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Abstract
The invention provides a positioning method, a positioning device and a positioning system of intelligent wearable equipment.A first preliminary position of first target sub-equipment is determined based on an acquired first distance between the first target sub-equipment and the first sub-equipment, a second distance between the first target sub-equipment and a preset second sub-equipment, the position of the first sub-equipment and the position of the second sub-equipment; determining a second initial position of the second target sub-device based on the acquired third distance between the second target sub-device and the first sub-device, the acquired fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device. The position of the intelligent wearable device is accurately determined in the mode, and the method is quick and effective.
Description
Technical Field
The invention relates to the technical field of Bluetooth positioning, in particular to a positioning method of intelligent wearable equipment, electronic equipment and a system.
Background
In the related art, the bluetooth positioning method for two pairs of earphones is generally: retrieving the distance between the intensity reckoning devices of the other party through the two Bluetooth devices based on the received signal intensity indications; and determines the coordinates of the fourth bluetooth device in combination with the coordinates of the three known position fixes bluetooth. However, in the process of positioning two pairs of real wireless headsets, the requirement on the coordinate positioning condition of the known bluetooth headset is high, so that the bluetooth positioning method is complex.
Disclosure of Invention
In view of this, the present invention provides a method, an apparatus, and a system for positioning a smart wearable device, so as to accurately determine a position of the smart wearable device, and accurately determine the position of the smart wearable device, which is fast and effective.
In a first aspect, an embodiment of the present invention provides a method for positioning a smart wearable device, including: the method is applied to first sub-equipment, and the first sub-equipment and preset second sub-equipment form first intelligent wearable equipment; the positions of the first sub-device and the second sub-device are known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the method comprises the following steps: determining a first preliminary position of the first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the acquired second distance between the first target sub-device and the second sub-device, the acquired position of the first sub-device and the acquired position of the second sub-device, and the acquired position of the first target sub-device and the acquired position of the second sub-device; determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the obtained fourth distance between the second target sub-device and the second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where before determining a first preliminary location of a first target sub-device based on an obtained first distance between the first target sub-device and the first sub-device, a second distance between the first target sub-device and a preset second sub-device, a location of the first sub-device, and a location of the second sub-device, the method includes: determining a first distance between the first target sub-device and the first intelligent wearable device based on the acquired first signal information of the first target sub-device; wherein the first signal information comprises a Bluetooth transmission attenuation value determined based on an actual Bluetooth transmission power of the first target sub-device and a Bluetooth power received by the first sub-device; receiving a second distance between the first target sub-device and the preset second sub-device, which is sent by the second sub-device; the second distance is determined by the second sub-device based on the acquired second signal information of the first target sub-device; the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the second sub-device.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the first preliminary location includes a first sub-location and a second sub-location; the method comprises the following steps of determining a first preliminary position of a first target sub-device based on an acquired first distance between the first target sub-device and the first sub-device, a second distance between the first target sub-device and a preset second sub-device, a position of the first sub-device and a position of the second sub-device, and comprises the following steps: and respectively determining a first sub-position and a second sub-position of the first target sub-device by taking the position of the first sub-device as a circle center, the first distance as a circle center, the position of the second sub-device as a circle center and the second distance as two intersection points of the circle of the radius.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where before determining a second preliminary location of a second target sub-device based on an obtained third distance between the second target sub-device and the first sub-device, a preset fourth distance between the second target sub-device and a second sub-device, a location of the first sub-device, and a location of the second sub-device, the method further includes: determining a third distance between the second target sub-device and the first sub-device based on the acquired third signal information of the second target sub-device; wherein the second signal information comprises a Bluetooth transmission attenuation value determined based on the actual Bluetooth transmission power of the second target sub-device and the Bluetooth power received by the first sub-device; receiving a fourth distance between a second target sub-device and a preset second sub-device, wherein the fourth distance is sent by the second sub-device; the fourth distance is determined by the second sub-device based on the acquired fourth signal information of the second target sub-device; the fourth signal information includes a bluetooth transmission attenuation value determined based on the actual bluetooth transmission power of the second target sub-device and the bluetooth power received by the second sub-device.
With reference to the third possible implementation manner of the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, where the second preliminary location includes a third sub-location and a fourth sub-location; determining a second preliminary position of the second target sub-device based on the acquired third distance between the second target sub-device and the first sub-device, the acquired fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device, wherein the step comprises the following steps: and respectively determining a third sub-position and a fourth sub-position of the second target sub-device by taking the position of the first sub-device as a circle center, the third distance as a radius circle and the position of the second sub-device as circle centers and the fourth distance as two intersection points of the radius circle.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the first preliminary location includes a first location and a second location; the second preliminary position comprises a third position and a fourth position; the first target sub-device is provided with a first attitude sensor, and the second target sub-device is provided with a second attitude sensor; determining the positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device, wherein the step comprises the following steps: determining a first position combination and a second position combination based on a preset distance relation between the first target sub-device and the second target sub-device; the first position combination comprises a first position and a third position, and the second position combination comprises a second position and a fourth position; or the first position combination comprises a first position and a fourth position, and the second position combination comprises a second position and a third position; calculating a first relative attitude position relationship of the first position combination and a second relative attitude position relationship of the second position combination; acquiring a first attitude parameter acquired by a first attitude sensor and a second attitude parameter acquired by a second attitude sensor; determining a relative attitude position relationship between the first target sub-device and the second target sub-device based on the first attitude parameter and the second attitude parameter; and determining the positions of the first target sub-device and the second target sub-device based on the relative attitude position relationship between the first target sub-device and the second sub-device and the first relative attitude position relationship and the second relative attitude position relationship.
With reference to the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the step of determining the positions of the first target sub-device and the second target sub-device based on a relative pose position relationship between the first target sub-device and the second target sub-device, and the first relative pose position relationship and the second relative pose position relationship includes: if the first relative attitude position relationship is the same as the relative attitude position relationship between the first target sub-device and the second sub-device, determining two positions in the first position combination as the position of the first target sub-device and the position of the second target sub-device respectively; and if the second relative attitude position relationship is the same as the relative attitude position relationship between the first target sub-device and the second sub-device, determining two positions in the second position combination as the position of the first target sub-device and the position of the second target sub-device respectively.
In a second aspect, an embodiment of the present invention further provides a positioning apparatus for a smart wearable device, where the apparatus is disposed on a first sub-device; the first sub-equipment and the preset second sub-equipment form first intelligent wearable equipment; the positions of the first sub-device and the second sub-device are known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the device comprises: the first preliminary positioning module is used for determining a first preliminary position of the first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the acquired second distance between the first target sub-device and the second sub-device, the acquired position of the first sub-device and the acquired position of the second sub-device; the second preliminary positioning module is used for determining a second preliminary position of the second target sub-device based on the acquired third distance between the second target sub-device and the first sub-device, the acquired fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; and the positioning module is used for determining the accurate positions of the first target sub-device and the second target sub-device based on the first initial position, the second initial position and the obtained relative position relationship between the first target sub-device and the second target sub-device.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes a processor and a memory, where the memory stores computer-executable instructions capable of being executed by the processor, and the processor executes the computer-executable instructions to implement the positioning method for the smart wearable device.
In a fourth aspect, an embodiment of the present invention further provides a positioning system, where the positioning system includes a first smart wearable device and a target smart wearable device; the first smart wearable device comprises a first sub-device; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the first target sub-device and the second target sub-device are provided with attitude sensors, and the device is arranged on the first sub-device if the attitude sensors are not used.
The embodiment of the invention has the following beneficial effects:
the invention provides a positioning method, a positioning device and a positioning system of intelligent wearable equipment, wherein a first preliminary position of first target sub-equipment is determined based on an acquired first distance between the first target sub-equipment and the first sub-equipment, a second distance between the first target sub-equipment and a preset second sub-equipment, a position of the first sub-equipment and a position of the second sub-equipment; determining a second initial position of the second target sub-device based on the acquired third distance between the second target sub-device and the first sub-device, the acquired fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device. The position of the intelligent wearable device is accurately determined in the mode, and the method is quick and effective.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a positioning method of a smart wearable device according to an embodiment of the present invention;
fig. 2 is a flowchart of another positioning method for a smart wearable device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a wearable smart wearable device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of positioning a smart wearable device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another smart wearable device location provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a positioning apparatus of a smart wearable device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon: 301-left earpiece; 302-right earphone.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but 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 real wireless earphone is one of bluetooth headset, and it is by controlling two earphone collocation one of ear storage box group that charges and constitutes, accomodates when the earphone does not use in the box that charges, and the people respectively wears an earphone about the people when using. The left earphone and the right earphone are internally provided with an independent Bluetooth control chip respectively, the left earphone and the right earphone are wirelessly interconnected through Bluetooth, the left earphone receives and transmits left channel audio data, and the right earphone receives and transmits right channel audio data.
The current bluetooth positioning method is generally implemented by combining a three-point positioning method with an RSSI (Received Signal Strength Indication) technique. The RSSI technique is to retrieve the signal strength of the other party from the two bluetooth devices, and to calculate the distance between the two bluetooth devices according to the attenuation characteristics of the radio frequency signal transmitted in the space. Since the distance between two bluetooth devices is only known and the direction of the other bluetooth device cannot be located, the existing locating method generally uses three bluetooth devices with known position information to locate the coordinates of the fourth bluetooth device.
Based on this, the positioning method, the positioning device and the positioning system of the intelligent wearable device provided by the embodiment of the invention can be applied to positioning in the Bluetooth positioning process of various intelligent wearable devices.
The embodiment of the invention provides a positioning method of intelligent wearable equipment. The method is applied to first sub-equipment, and the first sub-equipment and preset second sub-equipment form first intelligent wearable equipment; the positions of the first sub-device and the second sub-device are known; the target smart wearable device includes a first target sub-device and a second target sub-device. As shown in fig. 1: the method comprises the following steps:
step S100, determining a first preliminary position of the first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the acquired second distance between the first target sub-device and the second sub-device, the acquired position of the first sub-device and the acquired position of the second sub-device.
The smart wearable device may be a wireless headset, for example, the first smart wearable device may be a located wireless headset group, the first sub-device may be a left headset of the located wireless headset group, and the second sub-device may be a right headset of the located wireless headset group; the target intelligent wearable device can be a wireless earphone set to be positioned, the first target sub-device can be a left earphone of the wireless earphone set to be positioned, and the second target sub-device can be a right earphone of the wireless earphone set to be positioned; the first distance is the distance between the left earphone of the positioned wireless earphone set and the left earphone of the wireless earphone set to be positioned, and the second distance is the distance between the right earphone of the positioned wireless earphone set and the left earphone of the wireless earphone set to be positioned; the first preliminary position is a possible position of a left earphone of the wireless earphone set to be positioned, and the first preliminary position has two possibilities.
Step S102, determining a second preliminary position of the second target sub-device based on the acquired third distance between the second target sub-device and the first sub-device, the acquired fourth distance between the second target sub-device and the second sub-device, the acquired position of the first sub-device and the acquired position of the second sub-device.
The third distance is the distance between the right earphone of the earphone set to be positioned and the left earphone of the positioned earphone set, and the fourth distance is the distance between the right earphone of the earphone set to be positioned and the right earphone of the positioned earphone set; the second preliminary position is a possible position of a right earphone of the wireless earphone group to be positioned, and the second preliminary position has two possibilities.
And step S104, determining the accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device.
The first preliminary position and the second preliminary position form four position solutions of the wireless earphone set to be positioned, the relative position relation between the first target sub-device and the second target sub-device is the distance between the left earphone and the right earphone of the wireless earphone set to be positioned, the distance is a known distance, and the position solution which is larger than the known distance in the position solutions of the wireless earphone set to be positioned is eliminated according to the known distance.
The invention provides a positioning method of intelligent wearable equipment, which comprises the steps of firstly, determining a first preliminary position of first target sub-equipment based on an acquired first distance between the first target sub-equipment and the first sub-equipment, a second distance between the first target sub-equipment and a preset second sub-equipment, the position of the first sub-equipment and the position of the second sub-equipment; determining a second initial position of the second target sub-device based on the acquired third distance between the second target sub-device and the first sub-device, the acquired fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device. The position of the intelligent wearable device is accurately determined in the mode, and the method is quick and effective.
The embodiment of the invention also provides another positioning method of the intelligent wearable device, which is realized on the basis of the method shown in the figure 1. The method mainly describes a specific implementation process for determining a first distance between a first target sub-device and the first sub-device, a second distance between the first target sub-device and a preset second sub-device, a first preliminary location of the first target sub-device, a third distance between the second target sub-device and the first sub-device, a fourth distance between the second target sub-device and the preset second sub-device, and a second preliminary location of the second target sub-device. As shown in fig. 2, the steps of the method include:
step S200, determining a first distance between the first target sub-device and the first intelligent wearable device based on the acquired first signal information of the first target sub-device; wherein the first signal information comprises a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the first sub-device.
The left earphone of the wireless earphone set to be positioned sends the transmitting power of the left earphone of the wireless earphone set to be positioned to the left earphone of the wireless earphone set to be positioned, the left earphone of the wireless earphone set to be positioned calculates the power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the left earphone of the wireless earphone set to be positioned, and the first distance between the left earphone of the wireless earphone set to be positioned and the left earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
Step S202, receiving a second distance between the first target sub-device and a preset second sub-device, which is sent by the second sub-device; the second distance is determined by the second sub-device based on the acquired second signal information of the first target sub-device; the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the second sub-device.
The left earphone of the wireless earphone set to be positioned sends the transmitting power of the left earphone of the wireless earphone set to be positioned to the right earphone of the wireless earphone set to be positioned, the right earphone of the wireless earphone set to be positioned calculates the power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the left earphone of the wireless earphone set to be positioned, and the second distance between the left earphone of the wireless earphone set to be positioned and the right earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
Step S204, determining two intersections of the circle with the first distance as the center of the circle, the first distance as the radius, and the second distance as the radius, as the first sub-position and the second sub-position of the first target sub-device, respectively.
Specifically, a circle of a range from a left earphone of the wireless earphone set to be positioned to a left earphone of the wireless earphone set to be positioned is obtained by taking the position of the left earphone of the wireless earphone set to be positioned as a circle center and taking the first distance as a radius, a circle of a range from a left earphone of the wireless earphone set to be positioned to a right earphone of the wireless earphone set to be positioned is obtained by taking the position of the right earphone of the wireless earphone set to be positioned as a circle center and taking the second distance as a radius, a circle of a range from the left earphone of the wireless earphone set to be positioned to the right earphone of the wireless earphone set to be positioned is obtained, and the two circles intersect at two points to obtain a first sub-position and a second sub-position of two possible positions of the left earphone of the wireless earphone set to be positioned.
Step S206, determining a third distance between the second target sub-device and the first sub-device based on the acquired third signal information of the second target sub-device; wherein the second signal information comprises a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and the bluetooth power received by the first sub-device.
The right earphone of the wireless earphone set to be positioned sends the transmitting power of the right earphone of the wireless earphone set to be positioned to the left earphone of the wireless earphone set to be positioned, the left earphone of the wireless earphone set to be positioned calculates the power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the right earphone of the wireless earphone set to be positioned, and the third distance between the right earphone of the wireless earphone set to be positioned and the left earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
Step S208, receiving a fourth distance between the second target sub-device and the preset second sub-device, which is sent by the second sub-device; the fourth distance is determined by the second sub-device based on the acquired fourth signal information of the second target sub-device; the fourth signal information includes a bluetooth transmission attenuation value determined based on the actual bluetooth transmission power of the second target sub-device and the bluetooth power received by the second sub-device.
The right earphone of the wireless earphone set to be positioned sends the transmitting power of the right earphone of the wireless earphone set to be positioned to the right earphone of the wireless earphone set to be positioned, the right earphone of the wireless earphone set to be positioned calculates the power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the right earphone of the wireless earphone set to be positioned, and the fourth distance between the right earphone of the wireless earphone set to be positioned and the right earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
Step S210, determining a third sub-position and a fourth sub-position of the second target sub-device respectively by using the position of the first sub-device as a center of circle, the third distance as a radius of circle, the position of the second sub-device as a center of circle, and the fourth distance as two intersections of the radius of circle.
Specifically, a circle of a range from a right earphone of the wireless earphone set to be positioned to a left earphone of the wireless earphone set to be positioned is obtained by taking the position of the left earphone of the wireless earphone set to be positioned as a circle center and the third distance as a radius, a circle of a range from the right earphone of the wireless earphone set to be positioned to the right earphone of the wireless earphone set to be positioned is obtained by taking the position of the right earphone of the wireless earphone set to be positioned as a circle center and the fourth distance as a radius, a circle of a range from the right earphone of the wireless earphone set to be positioned to the right earphone of the wireless earphone set to be positioned is obtained, and the two circles are intersected at two points to obtain a third sub-position and a fourth sub-position of two possible positions of the right earphone of the wireless earphone set to be positioned.
Step S212, determining a first position combination and a second position combination based on a preset distance relationship between the first target sub-device and the second target sub-device; the first position combination comprises a first position and a third position, and the second position combination comprises a second position and a fourth position; alternatively, the first combination of positions includes the first position and the fourth position, and the second combination of positions includes the second position and the third position.
Specifically, the possible positions of the left and right earphones of the earphone set to be positioned are combined with a first sub-position and a third sub-position, a second sub-position and a fourth sub-position, or a first sub-position and a fourth sub-position, a second sub-position and a third sub-position.
In step S214, a first relative posture position relationship of the first position combination and a second relative posture position relationship of the second position combination are calculated.
Specifically, the first relative posture position relationship of the first position combination may be a distance between the first sub-position and the third sub-position, or may be a distance between the first sub-position and the fourth sub-position, and the second relative posture position relationship of the second position combination may be a distance between the second sub-position and the fourth sub-position, or may be a distance between the second sub-position and the third sub-position.
Step S216 is to obtain a first attitude parameter collected by the first attitude sensor and a second attitude parameter collected by the second attitude sensor.
Specifically, the left earphone and the right earphone of the wireless earphone set to be positioned are both provided with attitude sensors, the left earphone of the wireless earphone set to be positioned determines the distance between the left earphone and the right earphone according to the position information from the attitude sensors to the left earphone, and the right earphone of the wireless earphone set to be positioned determines the distance between the left earphone and the right earphone according to the position information from the attitude sensors to the right earphone and the position information from the left earphone and the right earphone of the wireless earphone set to be positioned.
In step S218, a relative posture position relationship between the first target sub-device and the second target sub-device is determined based on the first posture parameter and the second posture parameter.
Step S220, determining the positions of the first target sub-device and the second target sub-device based on the relative posture and position relationship between the first target sub-device and the second sub-device, and the first relative posture and position relationship and the second relative posture and position relationship.
The distance between the left earphone and the right earphone of the wireless earphone set to be positioned is constant, the distance between the left earphone and the right earphone is compared with the first relative posture position relation and the second relative posture position relation, and the positions of the left earphone and the right earphone of the wireless earphone set to be positioned are determined, specifically as follows:
(1) and if the first relative attitude position relationship is the same as the relative attitude position relationship between the first target sub-device and the second sub-device, determining two positions in the first position combination as the position of the first target sub-device and the position of the second target sub-device respectively.
In a specific implementation process, if the distance of the first relative posture position relationship is the same as the distance of the left earphone and the right earphone of the wireless earphone set to be positioned, the first position set can be determined as the possible positions of the left earphone and the right earphone of the wireless earphone set to be positioned. The posture information of the left earphone and the right earphone of the wireless earphone set to be positioned also comprises the angle of the left earphone and the angle of the right earphone, and the final position of the wireless earphone to be positioned is determined according to the angles of the left earphone and the right earphone.
For example, if the angle acquired by the left earphone of the wireless earphone to be positioned is 135 degrees, the midpoint of the distance between the left earphone and the right earphone of the wireless earphone set to be positioned is used as the origin of coordinates, the angles of the midpoint of the distance between the first position and the third position in the first position combination and the midpoint of the distance between the first position and the fourth position with respect to the midpoint of the distance between the left earphone and the right earphone of the wireless earphone set to be positioned are calculated, and the two positions of the midpoint which are the same as the angle acquired by the left earphone of the wireless earphone to be positioned are used as the final positions of the left earphone and the right earphone of the wireless earphone set to be positioned.
(2) And if the second relative attitude position relationship is the same as the relative attitude position relationship between the first target sub-device and the second sub-device, determining two positions in the second position combination as the position of the first target sub-device and the position of the second target sub-device respectively.
In a specific implementation process, if the distance of the second relative posture position relationship is the same as the distance between the left earphone and the right earphone of the wireless earphone set to be positioned, it may be determined that the second position set is the possible position of the left earphone and the right earphone of the wireless earphone set to be positioned. The posture information of the left earphone and the right earphone of the wireless earphone set to be positioned also comprises the angle of the left earphone and the angle of the right earphone, and the final position of the wireless earphone to be positioned is determined according to the angles of the left earphone and the right earphone.
For example, if the angle acquired by the left earphone of the wireless earphone to be positioned is 135 degrees, the midpoint of the distance between the left earphone and the right earphone of the wireless earphone set to be positioned is taken as the origin of coordinates, the angles of the midpoint of the distance between the second position and the third position in the second position combination and the midpoint of the distance between the second position and the fourth position with respect to the midpoint of the distance between the left earphone and the right earphone of the wireless earphone set to be positioned are calculated, and the two positions of the midpoint which are the same as the angle acquired by the left earphone of the wireless earphone to be positioned are taken as the final positions of the left earphone and the right earphone of the wireless earphone set to be positioned.
The invention provides a positioning method of an intelligent wearable device, which accurately determines the position of the intelligent wearable device through a specific implementation process of determining a first distance between a first target sub-device and the first sub-device, a second distance between the first target sub-device and a preset second sub-device, a first preliminary position between the first target sub-device and the first sub-device, a third distance between a second target sub-device and the first sub-device, a fourth distance between the second target sub-device and the preset second sub-device, a second preliminary position between the second target sub-device and the second target sub-device, and accurate positions of the first target sub-device and the second target sub-device.
The embodiment of the invention also provides another positioning method of the intelligent wearable device, which is realized on the basis of the method shown in the figure 1.
After the smart wearable device is worn, as shown in fig. 3, 301 represents a left earphone, and 302 represents a right earphone.
Positioning principle as shown in fig. 4, assuming that the coordinates of the left and right ears of a pair of true wireless headsets are known, the left headset is denoted by L1 and the right headset is denoted by R1 for convenience of description. The left earphone of the earphone to be positioned is denoted by L2 and the right earphone is denoted by R2.
The method comprises the following specific steps of:
1. the two pairs of earphones broadcast through the Bluetooth, and the positioned earphones are searched in a Bluetooth broadcast frequency band to judge whether the earphones to be positioned enter a positioning range. And if the earphone to be positioned is searched, sending a connection request to the earphone to be positioned, and interconnecting the two pairs of earphones after the earphone to be positioned receives the request.
2. The earphone to be positioned informs the left and right ear transmitting power values of the earphone to be positioned to the positioned earphone. The positioned earphone obtains a power attenuation value according to the actual transmitting power of the earphone to be positioned, and the distance between the positioned earphone and the earphone to be positioned is calculated. The left 1-headphone-to-left 2-headphone separation is defined as DL1L2, and the right 1-headphone-to-left 2-headphone separation is defined as DR1L 2. As shown in fig. 2, a circle is drawn with DL1L2 as the center of circle for the left headphone 1, a circle is drawn with DR1L2 as the center of circle for the right headphone 1, and the intersection point of the two circles is the coordinate of L2. Note that: there are usually two intersections, and it has not been possible to determine at which intersection L2 is located.
3. Using the same method as step 2, the coordinates (two possible positions) of R2 can be located.
4. By the positioning method, two possible positions of the headset to be positioned can be positioned as shown in fig. 3.
5. Final confirmation of two positions: by means of the compass principle. An electronic compass chip is placed in each earphone, and the earphone can know the self orientation calculated according to the electronic compass chip. The direction information is exchanged between the two pairs of headphones. As shown in fig. 3, assuming that the headset to be positioned faces northwest, the headset to be positioned is positioned in the second quadrant, and the final position of the headset to be positioned relative to the positioned headset is shown in fig. 5.
Corresponding to the method embodiment, the embodiment of the invention also provides an intelligent wearable device positioning device. The device is arranged on the first sub-equipment; the first sub-equipment and the preset second sub-equipment form first intelligent wearable equipment; the positions of the first sub-device and the second sub-device are known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; as shown in fig. 6, the apparatus includes:
a first preliminary positioning module 600, configured to determine a first preliminary position of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the obtained second distance between the first target sub-device and the second sub-device, the obtained position of the first sub-device, and the obtained position of the second sub-device;
a second preliminary positioning module 602, configured to determine a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, a preset fourth distance between the second target sub-device and the second sub-device, the position of the first sub-device, and the position of the second sub-device;
the positioning module 604 is configured to determine accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position, and the obtained relative position relationship between the first target sub-device and the second target sub-device.
The positioning device for the intelligent wearable device provided by the embodiment of the invention has the same technical characteristics as the positioning method for the intelligent wearable device provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the invention also provides a positioning system, which comprises intelligent wearable equipment, wherein the intelligent wearable equipment comprises a first intelligent wearable equipment group and a second intelligent wearable equipment group; the first smart wearable device group comprises a first sub-device; the second smart wearable device group comprises a first target sub-device and a second target sub-device; the first target sub-device and the second target sub-device are provided with attitude sensors in a wireless mode, and the device is arranged on the first sub-device.
The positioning system provided by the embodiment of the invention has the same technical characteristics as the positioning method of the intelligent wearable device provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
An embodiment of the present invention further provides an electronic device, which is shown in fig. 7, and the electronic device includes a processor 130 and a memory 131, where the memory 131 stores machine executable instructions that can be executed by the processor 130, and the processor 130 executes the machine executable instructions to implement the positioning method of the smart wearable device described above.
Further, the electronic device shown in fig. 7 further includes a bus 132 and a communication interface 133, and the processor 130, the communication interface 133, and the memory 131 are connected through the bus 132.
The Memory 131 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used. The bus 132 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.
The processor 130 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 130. The Processor 130 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.
The embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the positioning method of the intelligent wearable device, and specific implementation may refer to method embodiments, and is not described herein again.
The positioning method, the positioning device, and the computer program product of the system of the smart wearable device provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The method for positioning the intelligent wearable device is applied to a first sub-device, and the first sub-device and a preset second sub-device form the first intelligent wearable device; the positions of the first sub-device and the second sub-device are known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the method comprises the following steps:
determining a first preliminary position of the first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the acquired second distance between the first target sub-device and the second sub-device, the acquired position of the first sub-device and the acquired position of the second sub-device;
determining a second preliminary position of a second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the obtained fourth distance between the second target sub-device and the second sub-device, the obtained position of the first sub-device and the obtained position of the second sub-device;
and determining the accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device.
2. The method according to claim 1, wherein before determining the first preliminary location of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the obtained second distance between the first target sub-device and a preset second sub-device, the location of the first sub-device, and the location of the second sub-device, the method includes:
determining a first distance between a first target sub-device and a first intelligent wearable device based on acquired first signal information of the first target sub-device; wherein the first signal information comprises a Bluetooth transmission attenuation value determined based on an actual Bluetooth transmission power of the first target sub-device and a Bluetooth power received by the first sub-device;
receiving a second distance between the first target sub-device and a preset second sub-device, which is sent by the second sub-device; the second distance is determined by the second sub-device based on the acquired second signal information of the first target sub-device; the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the second sub-device.
3. The method of claim 1, wherein the first preliminary location comprises a first sub-location and a second sub-location;
the step of determining a first preliminary location of the first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the acquired second distance between the first target sub-device and a preset second sub-device, the location of the first sub-device, and the location of the second sub-device includes:
and respectively determining a first sub-position and a second sub-position of the first target sub-device by taking the position of the first sub-device as a circle center, the first distance as a radius of the circle and the position of the second sub-device as a circle center, and the second distance as two intersection points of the radius of the circle.
4. The method according to claim 1, wherein before determining the second preliminary location of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the obtained fourth distance between the second target sub-device and a preset second sub-device, the location of the first sub-device, and the location of the second sub-device, the method further includes:
determining a third distance between the second target sub-device and the first sub-device based on the acquired third signal information of the second target sub-device; wherein the second signal information comprises a Bluetooth transmission attenuation value determined based on an actual Bluetooth transmission power of the second target sub-device and a Bluetooth power received by the first sub-device;
receiving a fourth distance between the second target sub-device and a preset second sub-device, which is sent by the second sub-device; the fourth distance is determined by the second sub-device based on the acquired fourth signal information of the second target sub-device; the fourth signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and a bluetooth power received by the second sub-device.
5. The method of claim 1, wherein the second preliminary location comprises a third sub-location and a fourth sub-location; the step of determining a second preliminary location of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the obtained fourth distance between the second target sub-device and a preset second sub-device, the location of the first sub-device, and the location of the second sub-device includes:
and respectively determining a third sub-position and a fourth sub-position of the second target sub-device by taking the position of the first sub-device as a circle center, the third distance as a radius circle and the position of the second sub-device as a circle center, and the fourth distance as two intersection points of the radius circle.
6. The method of claim 1, wherein the first preliminary location comprises a first location and a second location; the second preliminary location comprises a third location and a fourth location; the first target sub-device is provided with a first attitude sensor, and the second target sub-device is provided with a second attitude sensor;
determining the positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relationship between the first target sub-device and the second target sub-device, including:
determining a first position combination and a second position combination based on a preset distance relation between the first target sub-device and the second target sub-device; the first position combination comprises a first position and a third position, and the second position combination comprises a second position and a fourth position; or, the first position combination comprises a first position and a fourth position, and the second position combination comprises a second position and a third position;
calculating a first relative attitude position relationship of the first position combination and a second relative attitude position relationship of the second position combination;
acquiring a first attitude parameter acquired by the first attitude sensor and a second attitude parameter acquired by the second attitude sensor;
determining a relative attitude position relationship of the first target sub-device and the second target sub-device based on the first attitude parameter and the second attitude parameter;
determining the positions of the first target sub-device and the second target sub-device based on the relative attitude position relationship between the first target sub-device and the second sub-device, and the first relative attitude position relationship and the second relative attitude position relationship.
7. The method of claim 6, wherein determining the positions of the first target sub-device and the second target sub-device based on the relative pose positional relationship of the first target sub-device and the second target sub-device, and the first relative pose positional relationship and the second relative pose positional relationship comprises:
if the first relative attitude position relationship is the same as the relative attitude position relationship between the first target sub-device and the second sub-device, determining two positions in the first position combination as the position of the first target sub-device and the position of the second target sub-device respectively;
and if the second relative attitude position relationship is the same as the relative attitude position relationship between the first target sub-device and the second sub-device, determining two positions in the second position combination as the position of the first target sub-device and the position of the second target sub-device respectively.
8. The positioning device of the intelligent wearable equipment is characterized in that the device is arranged on a first piece of sub-equipment; the first sub-equipment and the preset second sub-equipment form first intelligent wearable equipment; the positions of the first sub-device and the second sub-device are known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the device comprises:
the first preliminary positioning module is used for determining a first preliminary position of a first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the acquired second distance between the first target sub-device and a second sub-device, the acquired position of the first sub-device and the acquired position of the second sub-device;
the second preliminary positioning module is used for determining a second preliminary position of a second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the obtained fourth distance between the second target sub-device and a preset second sub-device, the position of the first sub-device and the position of the second sub-device;
and the positioning module is used for determining the accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the obtained relative position relation between the first target sub-device and the second target sub-device.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the positioning method of the smart wearable device of any of claims 1 to 7.
10. A positioning system, comprising a first smart wearable device and a target smart wearable device; the first smart wearable device comprises a first sub-device; the target smart wearable device comprises a first target sub-device and a second target sub-device; the first target sub-device and the second target sub-device are provided with attitude sensors, the apparatus of claim 8 being provided on the first sub-device.
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