CN114513846A

CN114513846A - Positioning communication method, terminal, communication equipment and storage medium

Info

Publication number: CN114513846A
Application number: CN202011281495.1A
Authority: CN
Inventors: 张秀生
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2022-05-17
Anticipated expiration: 2040-11-16
Also published as: CN114513846B; WO2022100344A1

Abstract

The embodiment of the application discloses a positioning communication method, a terminal, communication equipment and a storage medium, wherein the method comprises the following steps: receiving an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n ultra-wideband signals; the n ultra-wideband signals are transmitted by each of the n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers; determining a corresponding ith relative angle based on the ith ultra-wideband signal; the ith relative angle is used for representing the relative position between the terminal and the corresponding ith communication equipment for receiving the ith ultra-wideband signal; if the ith relative angle is within the first angle range, determining that the ith communication equipment is the target communication equipment; and establishing communication connection with the target interaction equipment to carry out communication.

Description

Positioning communication method, terminal, communication equipment and storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a positioning communication method, a terminal, a communication device, and a storage medium.

Background

At present, a user can be connected with intelligent home equipment through a terminal, so that interaction between the terminal and the intelligent home equipment is realized; the intelligent household equipment is controlled through the terminal; however, as the number and the types of the indoor intelligent home devices increase, a user is required to select a target home device from the plurality of intelligent home devices, and the terminal establishes connection with the target intelligent home device to start interaction with the target intelligent home device; when a user needs to interact with other intelligent home equipment, target intelligent home equipment needs to be selected again; that is to say, when a user needs to select different target smart home devices from a plurality of smart home devices for interaction, complex operations need to be performed, resulting in low communication efficiency.

Disclosure of Invention

The embodiment of the application provides a positioning communication method, a terminal, a communication device and a storage medium, so that the terminal can quickly confirm a target communication device, and the communication efficiency is improved.

The technical scheme of the application is realized as follows:

the embodiment of the application provides a positioning communication method, which is applied to a terminal and comprises the following steps:

receiving an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n UWB signals; the n UWB signals are transmitted by each of the n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers; determining a corresponding ith relative angle based on the ith UWB signal; the ith relative angle is used for representing the relative position between the terminal and a corresponding ith communication device for receiving the ith UWB signal; if the ith relative angle is within a first angle range, determining that the ith communication equipment is target communication equipment; and establishing communication connection with the target communication equipment to carry out communication.

The embodiment of the application provides a positioning communication method, which is applied to communication equipment and comprises the following steps:

transmitting a UWB signal at an ith transmission time within a current period; the current period comprises n transmission times; wherein different ones of the n communication devices transmit UWB signals at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers; and if the ith communication equipment is the target communication equipment, establishing communication connection with the terminal to carry out communication.

The embodiment of the application provides a terminal, the terminal includes:

a receiving module, configured to receive an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n UWB signals; the n UWB signals are transmitted by each of the n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

a determining module, configured to determine a corresponding ith relative angle based on the ith UWB signal; the ith relative angle is used for representing the relative position between the terminal and a corresponding ith communication device for receiving the ith UWB signal;

the determining module is further configured to determine that the ith communication device is a target communication device if the ith relative angle is within a first angle range;

and the first communication module is used for establishing communication connection with the target communication equipment and communicating.

An embodiment of the present application provides a communication device, including:

a sending module, configured to send a UWB signal at an ith transmission time in a current period; the current period comprises n transmission times; wherein different ones of the n communication devices transmit UWB signals at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

and the second communication module is used for establishing communication connection with the terminal and carrying out communication if the ith communication equipment is the target communication equipment.

The embodiment of the application provides a terminal, the terminal includes: a first processor and a first memory for storing a computer program operable on the first processor; the first processor is configured to execute the steps of the terminal-side positioning communication method when the computer program is executed.

An embodiment of the present application provides a communication device, including: a second processor and a second memory for storing a computer program operable on the second processor; the second processor is configured to execute the steps of the positioning communication method on the communication device side when the computer program is executed.

The present embodiments provide a storage medium storing one or more computer programs, which are executable by one or more processors to implement the steps of the above-mentioned positioning communication method.

According to the positioning communication method, the terminal, the communication device and the storage medium, the terminal receives an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n UWB signals; the n UWB signals are transmitted by each of the n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers; determining a corresponding ith relative angle based on the ith UWB signal; the ith relative angle is used for representing the relative position between the terminal and the corresponding ith communication equipment for receiving the ith UWB signal; if the ith relative angle is within the first angle range, determining that the ith communication equipment is the target communication equipment; establishing communication connection with target communication equipment for communication; that is to say, the terminal can receive UWB signals from all the communication devices in one cycle, and each time a UWB signal is received, the terminal can determine the relative position between the communication device corresponding to the current UWB signal and the terminal, and determine whether the communication device is the target communication device according to the relative position, so that the target communication device can be quickly determined from a plurality of communication devices, and the communication efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of a positioning communication system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a terminal according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a communication device according to an embodiment of the present application;

fig. 4 is a first flowchart illustrating a positioning communication method according to an embodiment of the present application;

fig. 5 is a timing diagram illustrating UWB signals transmitted by a communication device according to an embodiment of the present application;

fig. 6 is a schematic diagram of a relative angle according to an embodiment of the present application;

fig. 7 is a schematic diagram of a communication architecture of a target communication device according to an embodiment of the present application;

fig. 8 is a schematic flowchart of a positioning communication method according to an embodiment of the present application;

fig. 9 is a third schematic flowchart of a positioning communication method according to an embodiment of the present application;

fig. 10 is a fourth schematic flowchart of a positioning communication method according to an embodiment of the present application;

fig. 11 is a schematic diagram of a relative angle provided in the present application;

fig. 12 is a first schematic diagram illustrating a timing sequence of a positioning communication system according to an embodiment of the present application;

fig. 13 is a second schematic diagram of a timing sequence of a positioning communication system according to an embodiment of the present application;

fig. 14 is a schematic flowchart of a positioning communication method according to an embodiment of the present application;

fig. 15 is a sixth schematic flowchart of a positioning communication method according to an embodiment of the present application;

fig. 16 is a seventh flowchart illustrating a positioning communication method according to an embodiment of the present application;

fig. 17 is a schematic flowchart of an eighth positioning communication method according to an embodiment of the present application;

fig. 18 is a flowchart illustrating a method for positioning communications according to a ninth embodiment of the present application;

fig. 19 is a third schematic diagram illustrating a timing sequence of a positioning communication system according to an embodiment of the present application;

fig. 20 is a flowchart illustrating a tenth positioning communication method according to an embodiment of the present application;

fig. 21 is an eleventh flowchart of a positioning communication method according to an embodiment of the present application.

Detailed Description

In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

In the following description, references to the terms "first \ second \ third" are only to distinguish similar objects and do not denote a particular order, but rather the terms "first \ second \ third" are used to interchange specific orders or sequences, where appropriate, so as to enable the embodiments of the application described herein to be practiced in other than the order shown or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

Before further detailed description of the embodiments of the present application, terms and expressions referred to in the embodiments of the present application will be described, and the terms and expressions referred to in the embodiments of the present application will be used for the following explanation.

(1) The Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which does not adopt sinusoidal carrier, but utilizes nanosecond-level non-sinusoidal narrow pulse to transmit data, and has the advantages of simple system structure, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.

At present, based on traditional wifi/bluetooth connection, a user can select a target smart home device from a plurality of smart home devices through a terminal to connect, and start an interactive mode; in the interactive mode, the terminal can remotely control the intelligent household equipment; for example, a terminal display interface is projected on the smart television, or a remote control option of the smart television is displayed on the terminal, and the smart television is remotely controlled through the terminal; when the interaction is not needed, the interaction mode is closed, and the connection between the intelligent household equipment and the intelligent household equipment is disconnected; that is to say, when a user needs to interact with different smart home devices, the user needs to select a target smart home device through complex operations on the terminal, and the efficiency of interactive switching between multiple smart home devices by the terminal is affected.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

The embodiment of the present application provides a positioning communication system, which can improve interaction efficiency, and the positioning communication system in the embodiment of the present application includes: a terminal and at least one communication device. The terminal provided by the embodiment of the present application may be implemented as various types of user terminals such as a notebook computer, a tablet computer, a desktop computer, a set-top box, a mobile device (e.g., a mobile phone, a portable music player, a personal digital assistant, a dedicated messaging device, and a portable game device), and at least one device provided by the embodiment of the present application may be implemented as a terminal. An exemplary application of the positioning communication system provided by the embodiments of the present application is described below.

Referring to fig. 1, fig. 1 is an alternative architecture diagram of a positioning communication system 100 provided in the embodiment of the present application, in which to implement supporting a positioning communication application, a terminal 400 connects n communication devices 500 and a server 200 through a network 300. The network 300 may be a wide area network or a local area network, or a combination of both; wherein, the terminal 400 realizes information synchronization with the n communication devices 500 through the network 300.

The terminal 400 is configured to receive an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n UWB signals; the n UWB signals are transmitted by each of the n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers; determining a corresponding ith relative angle based on the ith UWB signal; the ith relative angle is used to characterize the relative position between the terminal 400 and the corresponding ith communication device receiving the ith UWB signal; if the ith relative angle is within the first angle range, determining that the ith communication equipment is the target communication equipment; the terminal 400 establishes a communication connection with the target communication device to perform communication.

The i-th communication device 500-i of the n communication devices 500 is configured to transmit a UWB signal at the i-th transmission time in the current period; the current period comprises n transmission times; wherein different ones of the n communication devices are configured to transmit UWB signals at different transmission times; and if the ith communication equipment is the target communication equipment, establishing communication connection with the terminal to carry out communication.

Illustratively, when the terminal 400 is a mobile phone, a preset positioning communication application on the mobile phone may be started, the receiving module of the UWB signal is started through the preset positioning communication application, and the receiving module of the UWB signal receives UWB signals from different communication devices in the n communication devices 500 at different transmission times in the n transmission times in the current period; after receiving the ith UWB signal at the ith transmission time, the terminal 400 determines that the ith communication device 500-i is the target communication device and establishes communication connection with the ith communication device 500-i; the terminal 400 acquires the state information of the ith communication device, acquires interaction mode data corresponding to the state information of the ith communication device 500-i from the server 200, displays a corresponding interaction interface on the display interface 4001 of the terminal 400 based on the interaction mode data, further receives an operation of a user on the interaction interface, and realizes interaction with the target communication device. For example, when the status information of the ith communication device 500-i indicates that the ith communication device 500-i is in a power-off state, a power key of the ith communication device is displayed on the display interface 4001.

In some embodiments, the server 200 may be an independent physical server, may also be a server cluster or a distributed system formed by a plurality of physical servers, and may also be a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, a middleware service, a domain name service, a security service, a CDN, and a big data and artificial intelligence platform. The terminal 400 and the at least one communication device 500 may be directly or indirectly connected through wired or wireless communication, and the embodiment of the present application is not limited thereto.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a terminal provided in an embodiment of the present application, and the terminal 400 shown in fig. 2 includes: at least one first processor 410, a first memory 450, at least one first network interface 420, and a user interface 430. The various components in the terminal 400 are coupled together by a first bus system 440. It is understood that the first bus system 440 is used to enable connection communications between these components. The first bus system 440 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as a first bus system 440 in fig. 2.

The first Processor 410 may be an integrated circuit chip having Signal processing capabilities, such as a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like, wherein the general purpose Processor may be a microprocessor or any conventional Processor, or the like.

The first user interface 430 includes one or more first output devices 431, including one or more speakers and/or one or more visual display screens, that enable the presentation of media content. The first user interface 430 also includes one or more first input devices 432, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

The first memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, and the like. The first memory 450 optionally includes one or more storage devices physically located remote from the first processor 410.

The first memory 450 includes either volatile memory or nonvolatile memory, and may also include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), and the volatile Memory may be a Random Access Memory (RAM). The first memory 450 described in embodiments herein is intended to comprise any suitable type of memory.

In some embodiments, the first memory 450 is capable of storing data to support various operations, examples of which include programs, modules, and data structures, or subsets or supersets thereof, as exemplified below.

A first operating system 451 including system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

a first network communication module 452 for communicating to other computing devices via one or more (wired or wireless) first network interfaces 420, an exemplary first network interface 420 comprising: bluetooth, wireless compatibility authentication (WiFi), and Universal Serial Bus (USB), etc.;

a first rendering module 453 for enabling the rendering of information (e.g., user interfaces for operating peripherals and displaying content and information) via one or more first output devices 431 (e.g., display screens, speakers, etc.) associated with the first user interface 430;

a first input processing module 454 for detecting one or more user inputs or interactions from one of the one or more first input devices 432 and translating the detected inputs or interactions.

In some embodiments, the first positioning communication device in the terminal 400 provided by the embodiment of the present application may be implemented in a software manner, and fig. 2 illustrates the first positioning communication device 455 stored in the first memory 450, which may be software in the form of programs and plug-ins, and includes the following software modules: a receiving module 4551, a determining module 4552 and a first communication module 4553, which are logical and thus may be arbitrarily combined or further split depending on the functions implemented.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a communication device 500 provided in an embodiment of the present application, where the communication device 500 shown in fig. 3 includes: at least one second processor 510, a second memory 550, at least one second network interface 520. The various components in the communication device 500 are coupled together by a second bus system 540.

At least one second processor 510, a second memory 550, at least one second network interface 520, and a second user interface 530. The various components in the communication device 500 are coupled together by a second bus system 540. It will be appreciated that the second bus system 540 is used to enable communications among these components. The second bus system 540 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as the second bus system 540 in figure 3.

The second Processor 510 may be an integrated circuit chip having Signal processing capabilities, such as a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like, wherein the general purpose Processor may be a microprocessor or any conventional Processor, or the like.

The second user interface 530 includes one or more second output devices 531 enabling presentation of media content, including one or more speakers and/or one or more visual displays. The second user interface 530 also includes one or more second input devices 532 including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

The second memory 550 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, and the like. The second memory 550 optionally includes one or more storage devices physically located remote from the second processor 510.

The second memory 550 may comprise either volatile memory or nonvolatile memory, and may also comprise both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), and the volatile Memory may be a Random Access Memory (RAM). The second memory 550 described in embodiments herein is intended to comprise any suitable type of memory.

In some embodiments, the second memory 550 can store data to support various operations, examples of which include programs, modules, and data structures, or subsets or supersets thereof, as exemplified below.

A second operating system 551 including system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

a second network communication module 552 for communicating to other computing devices via one or more (wired or wireless) second network interfaces 520, the example second network interfaces 520 including: bluetooth, wireless compatibility authentication (WiFi), and Universal Serial Bus (USB), etc.;

a second rendering module 553 for enabling the rendering of information (e.g., user interfaces for operating peripherals and displaying content and information) via one or more second output devices 531 (e.g., display screens, speakers, etc.) associated with the second user interface 530;

a second input processing module 554 for detecting one or more user inputs or interactions from one of the one or more second input devices 532 and translating the detected inputs or interactions.

In some embodiments, the second positioning communication device in the communication apparatus 500 provided by the embodiments of the present application may be implemented in software, and fig. 3 shows a second positioning communication device 555 stored in the second memory 550, which may be software in the form of programs and plug-ins, and includes the following software modules: a sending module 5551 and a second communication module 5552, which are logical and thus can be arbitrarily combined or further split according to the implemented functions.

The functions of the respective modules will be explained below.

In other embodiments, the terminal or the communication Device provided in this embodiment may be implemented in hardware, and for example, the terminal or the communication Device provided in this embodiment may be a processor in the form of a hardware decoding processor, which is programmed to perform the positioning communication method provided in this embodiment, for example, the processor in the form of the hardware decoding processor may be one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), or other electronic components.

The service configuration method provided by the embodiment of the present application will be described in conjunction with exemplary applications and implementations of the terminal provided by the embodiment of the present application.

Based on the above system structure, an embodiment of the present application provides a positioning communication method, as shown in fig. 4, applied to a terminal, where the method includes: S101-S104.

S101, receiving an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n ultra-wideband signals; the n ultra-wideband signals are transmitted by each of the n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

in the embodiment of the present application, the terminal may receive n UWB signals at n transmission times in the current period; wherein each UWB signal is from a different communication device; n is more than or equal to 2; that is, the terminal may receive UWB signals from different communication devices at different transmission times within the current period.

Note that, information synchronization is performed between the terminal and the n communication devices.

In the embodiment of the present application, the terminal may receive an ith UWB signal at an ith transmission time of the n transmission times, the ith UWB signal being from an ith communication device of the n communication devices; wherein i is more than or equal to 1 and less than or equal to n.

In the embodiment of the present application, the number of transmission times in the current period is the same as the total number of the communication devices, and is n.

As shown in fig. 5, the positioning communication system includes the communication device 1, the communication device 2, the communication device 3, and the terminal, the communication device 1 may transmit a UWB signal at a transmission time t1, the communication device 2 may transmit a UWB signal at a transmission time t2, and the communication device 3 may transmit a UWB signal at a transmission time t 3; when all three communication devices finish transmitting the UWB signals, the next cycle is started, and the communication device 1, the communication device 2 and the communication device 3 continue to transmit the UWB signals at transmission times t4, t5 and t6 respectively; the terminal may periodically receive UWB signals from different communication devices at various transmission times.

It should be noted that the total number n of communication devices may change according to the time change; that is, the total number of devices in each cycle may be the same or different; the number of the transmission times in the current period may be the same as or different from the number of the transmission times in other periods, which is not limited in the embodiment of the present application.

S102, determining a corresponding ith relative angle based on the ith ultra-wideband signal; the ith relative angle is used for representing the relative position between the terminal and the corresponding ith communication equipment for receiving the ith ultra-wideband signal;

in the embodiment of the application, after the terminal receives the ith UWB signal at the ith transmission time, the ith relative angle may be determined according to the ith UWB signal; wherein the ith UWB signal is from the ith communication device; the ith relative angle is used to characterize the relative position between the terminal and the ith communication device.

In this embodiment of the present application, the ith relative angle may be an included angle between the terminal orientation and the ith communication device direction, or may also be a complementary angle of the included angle, and this is not limited in this embodiment of the present application.

Exemplarily, the terminal is a mobile phone, the ith communication device is a television, as shown in fig. 6, the mobile phone may be set to face the y direction in a direction parallel to the side edge of the mobile phone, the vertical direction in which the mobile phone faces is the x direction, and the x direction is the parallel direction of the upper and lower edges of the mobile phone; the ith relative angle may be the complement of the angle between the y-direction and the r-direction.

S103, if the ith relative angle is within the first angle range, determining that the ith communication equipment is the target communication equipment;

in the embodiment of the application, after determining the ith relative angle according to the ith UWB signal, the terminal may determine whether the ith relative angle is within the first angle range, and determine whether the ith communication device is the target communication device according to the determination result.

In this embodiment, if the ith relative angle is within the first angle range, the terminal may determine the ith communication device as the target communication device. The target communication equipment is real-time target communication equipment determined at the ith transmission time.

Exemplarily, as shown in fig. 7, the positioning communication system includes 1 terminal and 7 communication devices; the terminal is implemented as a mobile phone 70; the 7 communication devices are respectively implemented as: a television 71, a desk lamp 72, a sweeping robot 73, an electric cooker 74, an air conditioner 75, a computer 76 and a refrigerator 77. The mobile phone 70 can sequentially receive UWB signals sent by the television 71, the desk lamp 72, the sweeping robot 73, the electric cooker 74, the air conditioner 75, the computer 76 and the refrigerator 77 at 7 transmission times in a cycle; when the mobile phone 70 faces the television 71, the mobile phone 70 may determine that the relative angle corresponding to the television 71 is within the first angle range after receiving the UWB signal of the television 71 at the 1 st transmission time, and further determine that the television 71 is the target communication device.

It should be noted that, in the current period, the terminal determines a corresponding relative angle for the UWB signal received at each transmission time, and obtains a real-time relative position between each communication device and the terminal; that is, the terminal may determine, at each transmission time, whether each corresponding communication device is the current real-time target communication device.

In the embodiment of the present application, the first angle range is an angle range centered on the target relative angle, and is used for representing a target relative position where the communication device is located at the terminal; the communication device located at the target relative position of the terminal is the target communication device.

Wherein the first angular range may be set according to the target relative position; the embodiments of the present application are not limited thereto.

Illustratively, as shown in FIG. 6, the relative angle is α; if the target communication device is a communication device towards which the terminal faces, the target relative angle is 90 degrees, and the first angle range is an angle range with 90 degrees as a center; if the target communication device is a device oriented perpendicular to the terminal, the target relative angle is 0 degrees, and the first angle range is an angle range centered at 0 degrees.

In this embodiment of the present application, a transmission sequence in which n communication devices transmit UWB signals in a current period is preset, and a terminal may obtain the transmission sequence in which n communication devices transmit UWB signals in the current period, and when it is determined that an ith relative angle is within a first angle range, it may determine which communication device of the n communication devices the ith communication device is according to the transmission sequence.

In the embodiment of the application, after the terminal determines the target communication device, the terminal may stop processing the UWB signal at the subsequent transmission time in the current period until entering the next period, and continue processing the UWB signal in the next period; or the UWB signal can be received continuously in the subsequent transmission time in the current period until entering the next period, and the UWB signal in the next period is processed continuously; processing of the (i + 1) th ultra-wideband signal can be continued until the next target communication device is determined in the current period; or, after the next target communication device is not determined in the current period, the processing of the ultra-wideband signal of the next period is continued; the embodiments of the present application are not limited thereto.

Wherein, the processing of the UWB signals comprises: and determining a corresponding relative angle based on the UWB signal, and determining whether the device corresponding to the UWB signal is the target communication device based on the relative angle.

And S104, establishing communication connection with the target communication equipment and carrying out communication.

In the embodiment of the application, after the terminal determines the target communication device, the terminal can establish communication connection with the target communication device to perform communication.

In the embodiment of the application, the communication between the terminal and the target communication device may include a plurality of communication modes; for example, files are transmitted between the terminal and the target communication device; interaction is carried out between the terminal and the communication equipment; establishing voice call connection between the terminal and the communication equipment, and the like; the communication between the terminal and the target communication device may be set as needed, and the embodiment of the present application is not limited thereto.

For example, as shown in fig. 7, the mobile phone 70 establishes a communication connection with the television 71 to perform communication, after a period of time, if the user holds the mobile phone 70 to rotate the direction, the mobile phone 70 receives UWB signals of the television 71 at the 1 st transmission time of a certain period after the current period and determines that the relative angle corresponding to the television 71 is not within the first angle range, thereby determining that the television 71 is not the target communication device; the handset 70 may disconnect the communication connection with the television 71.

It can be understood that, at the ith transmission time of the current cycle, the terminal determines the relative angle between the terminal and the ith communication device according to the received ith UWB signal, and further determines whether the ith communication device is the target communication device according to the relative angle; that is to say, the terminal can periodically and quickly determine the target communication device from the plurality of communication devices, establish communication connection with the target communication device, and perform communication, thereby improving the communication efficiency.

In some embodiments of the present application, the establishing a communication connection with the target communication device in S104, and implementing after the communication, as shown in fig. 8, may include: S301-S302.

S301, after the (i + 1) th transmission time to the nth transmission time in the current period, continuously processing the ultra-wideband signal in the next period until the h period, and determining the next target communication device; the h period is any period after the current period; h is more than or equal to 1 and is a positive integer;

in the embodiment of the present application, the (i + 1) th transmission time to the nth transmission time are transmission times after the ith transmission time in the current period.

In this embodiment, after the terminal determines the i-th communication device as the target communication device and communicates with the target communication device, the terminal may stop processing the UWB signal at the subsequent transmission time in the current cycle until entering the next cycle, and then start processing the UWB signal in the next cycle.

In the embodiment of the present application, the terminal may determine the next target communication device in the h-th period; wherein, the h period is any one period after the current period; h is more than or equal to 1.

For example, as shown in fig. 7, after a period of time elapses after the mobile phone 70 is turned by holding the mobile phone 70 in hand, so that the mobile phone 70 faces the refrigerator 77, the mobile phone 70 may disconnect the communication connection from the television 71 and establish the communication connection with the refrigerator 77 for communication, thereby implementing communication switching between multiple communication devices.

S302, the communication connection with the target communication equipment is disconnected, and the next communication connection with the next target communication equipment is established for communication.

In this embodiment of the application, if the terminal determines that the other communication device is the next target communication device at the transmission time after the ith transmission time in the current period, the terminal may disconnect the communication connection with the ith communication device, establish the communication connection with the next target communication device, and perform communication.

It can be understood that, after the terminal determines the target communication device in the current period, if the terminal determines the next target communication device in the subsequent period, the terminal switches the communication with the ith communication device to the next target communication device; that is to say, the terminal can periodically update the target communication device, so as to discover a new target communication device in time and switch to the new target communication device, thereby improving the communication efficiency.

In some embodiments of the application, after the terminal determines the corresponding ith relative angle based on the ith ultra-wideband signal, if the ith relative angle is not within the first angle range and i is smaller than n, the terminal continues to process the (i + 1) th ultra-wideband signal in the current period until the target communication device is determined from the communication devices corresponding to the n ultra-wideband signals.

In this embodiment of the present application, if the ith relative angle corresponding to the ith UWB signal in the current period is not within the first angle range, the terminal may determine that the ith communication device is not the target communication device, the terminal may determine whether i is smaller than n, if i is smaller than n, it indicates that the ith transmission time is not the last transmission time in the current period, and the terminal may continue to receive UWB signals from other devices after the ith transmission time in the current period; wherein the other device is a device that transmits the UWB signal at a transmission time subsequent to the ith transmission time; the terminal may determine whether there is a target communication device from the other communication devices.

In some embodiments of the present application, after determining the corresponding ith relative angle based on the ith ultra-wideband signal, if the ith relative angle is not within the first angle range and i is equal to n, continuing to process the ultra-wideband signal in the next period until the target communication device is determined in the mth period; the mth period is any period after the current period; m is more than or equal to 1 and is a positive integer.

In the embodiment of the present application, if the ith relative angle is not within the first angle range and i is equal to n, it indicates that the ith transmission time is the last transmission time in the current period.

In the embodiment of the application, if the ith transmission time is the last transmission time in the current period, the terminal enters the next period to receive the UWB signal; therefore, the terminal can determine the target communication equipment in the mth period; wherein, the mth period is a period after the current period; m is an integer greater than 1.

It can be understood that, if the terminal determines that the corresponding communication device is not the target communication device at the last transmission time in the current period, the terminal may determine the target communication device in a subsequent period of the current period; that is, the terminal can confirm the target communication device in each period, so that the target communication device can be timely confirmed from a plurality of communication devices, and the communication efficiency is improved.

In some embodiments of the present application, the implementation after determining the corresponding ith relative angle based on the ith UWB signal in S102, as shown in fig. 9, may include: S401-S404.

S401, if the ith relative angle is not in the first angle range and i is equal to n, acquiring n relative angles in the current period;

in this embodiment, if the ith relative angle is not within the first angle range and i is equal to n, the terminal may obtain n relative angles in the current period.

In the embodiment of the application, the terminal can receive a UWB signal at each transmission time in the current period, and determine a corresponding relative angle until the nth transmission time in the current period, and after the nth UWB signal is obtained, determine the nth relative angle; that is, after the terminal receives all UWB signals in the current period, n relative angles may be obtained.

In the embodiment of the application, after the terminal obtains the nth relative angle, if it is determined that the nth relative angle is no longer within the first angle range, the terminal obtains n relative angles in the current period.

S402, determining n difference angles between the n relative angles and the target relative angle;

in this embodiment, after the terminal obtains n relative angles, the terminal may subtract the target relative angle from each of the n relative angles to obtain a difference between each relative angle and the target relative angle, that is, n difference angles.

In this embodiment of the present application, the ith difference angle of the n difference angles is used to characterize a difference between a corresponding ith communication device and a target relative position.

S403, determining a minimum value from the n difference angles as a minimum difference angle;

in this embodiment of the application, after the terminal obtains the n difference angles, a minimum value can be determined from the n difference angles, so as to obtain a minimum difference angle.

S404, if the relative angle corresponding to the minimum difference angle is within the second angle range, determining the communication device corresponding to the relative angle as the target communication device.

In the embodiment of the application, after determining the minimum difference angle, the terminal can determine whether the relative angle corresponding to the minimum difference angle is within a second angle range; if so, determining that the communication device corresponding to the relative angle is the target communication device.

It should be noted that the second angular range is larger than the first angular range.

It can be understood that, if the ith relative angle determined by the terminal at the ith transmission time is not within the first angle range, but may be extremely close to the first angle range, since there may be fluctuation in the accuracy of the ith relative angle, the ith communication device corresponding to the ith relative angle may be the target communication device, so that the terminal does not confirm the target communication device in the current period; therefore, at the last transmission time in the current period, the terminal can also comprehensively judge the n relative angles, determine the relative angle in the second angle range from the n relative angles, and select the communication device corresponding to the relative angle closest to the target relative angle from the relative angles as the target communication device, so that the accuracy of determining the target communication device by the terminal is improved.

It should be noted that, if the terminal has determined that the ith communication device is the target communication device at the ith transmission time in the current period, and the minimum difference angle determined by integrating the n angles at the nth transmission time is still the ith relative angle, the terminal still maintains communication with the ith communication device.

In some embodiments of the present application, after determining the minimum value from the n difference angles in S403, if the relative angle corresponding to the minimum difference angle is not within the second angle range after the minimum difference angle is taken as the minimum difference angle, the terminal may continue to process the UWB signal in the next cycle until the m-th cycle, and determine the target communication device; the mth period is a period after the current period; m is more than or equal to 1 and is a positive integer.

In this embodiment of the application, if the relative angle corresponding to the minimum difference angle is not within the second angle range, the terminal may continue to search for the target communication device in the next period until the target communication device is determined in a certain period after the current period; and a certain period after the current period is the m-th period, wherein m is more than or equal to 1 and is a positive integer.

It can be understood that the terminal determines that the nth communication device is not the target communication device at the nth transmission time in the current period, and continues to search for the target communication device in the next period if the target communication device is not found after comprehensively evaluating the n communication devices in the current period; and furthermore, the target communication equipment can be confirmed in each period, so that the target communication equipment can be timely confirmed, and the communication efficiency is improved.

In some embodiments of the present application, the terminal is provided with a receiving module of a UWB signal, the receiving module of the UWB signal including a first receiving module and a second receiving module; in S102, determining implementation of the corresponding ith relative angle based on the ith UWB signal may include, as shown in fig. 10: S501-S504.

S501, obtaining a first phase and a second phase of a received ith ultra-wideband signal; the first phase is the phase of the ith ultra-wideband signal received by the first receiving module; the second phase is the phase of the ith ultra-wideband signal received by the second receiving module;

in the embodiment of the application, the terminal can receive the ith UWB signal through the first receiving module and the second receiving module respectively; the phase of the ith UWB signal received by the first receiving module is different from the phase of the ith UWB signal received by the first receiving module; the phase of the ith UWB signal received by the first receiving module is taken as a first phase, and the phase of the ith UWB signal received by the second receiving module is taken as a second phase.

S502, determining a phase difference value of the first phase and the second phase to obtain an ith phase difference value;

in this embodiment, after determining the first phase and the second phase, the terminal may determine a difference between the first phase and the second phase to obtain an ith phase difference value.

S503, determining an ith distance difference value based on the ith phase difference value; the ith distance difference is used for representing the difference between the first distance and the second distance; the first distance is the distance between the first receiving module and the ith communication device; the second distance is the distance between the second receiving module and the ith communication device;

in the embodiment of the application, after the terminal determines the ith phase difference value, the ith distance difference value can be determined according to the ith phase difference value; the ith distance difference value represents the distance between the ith UWB signal and the first receiving module and the distance between the ith UWB signal and the second receiving module;

in the embodiment of the present application, the distance difference may be calculated by formula (1).

Wherein p represents the current distance difference, and delta phi represents the current phase difference and is converted into the wavelength of the UWB signal.

It should be noted that, if the module distance between the first receiving module and the second receiving module is smaller than the wavelength of UWB, the ith distance difference is also smaller than the wavelength of UWB; thus, the ith phase difference value is less than 360 degrees; that is, the ith phase difference value and the ith distance difference value are in one-to-one correspondence, and the terminal may determine the ith distance difference value based on the ith phase difference value; further, in order to ensure the accuracy of the ith distance difference, the module distance should not be too small, and the module distance should be set to be greater than one quarter of the wavelength of UWB.

S504, determining the ith relative angle based on the ith distance difference.

In this embodiment of the application, after determining the ith distance difference, the terminal may determine the ith relative angle according to the ith distance difference.

In some embodiments of the present application, the terminal may calculate an ith relative angle from the ith distance difference and the ith phase difference.

In this embodiment of the application, after determining the ith distance difference value, the terminal may determine the ith relative angle according to the ith phase difference value, the module distance between the first module and the second module, and the arccosine function.

Illustratively, as shown in fig. 11, the ith communication device is configured with a transmitting module, which may be implemented as a transmitting antenna T that transmits UWB signals at corresponding transmission times; the terminal is provided with two receiving modules, wherein the first receiving module can be implemented as an antenna A, the second receiving module can be implemented as an antenna B, and the distance between the antenna A and the antenna B is d; the ith distance difference is p, the distance from the antenna A to the antenna T is r, and the distance from the antenna B to the antenna T is r-p; making a vertical line a from the antenna B to r to form a right triangle; because d is smaller than lambda, the hypotenuse of the right triangle is d, one of the catheti is a, and the other catheti can be similar to p; thus, the ith relative angle α can be obtained by equation (2).

It can be understood that, after the terminal receives the UWB module through the first receiving module and the second receiving module, the terminal may obtain an ith phase difference value of the UWB signals received by the two receiving modules, and determine an ith relative angle according to the ith phase difference value and a module distance between the first receiving module and the second receiving module.

In some embodiments of the present application, the terminal may determine an ith relative angle corresponding to the ith distance difference according to a preset corresponding relationship between the relative angle and the distance difference.

In the embodiment of the application, the terminal can acquire a plurality of relative angles and corresponding distance differences in advance to obtain the corresponding relation between the relative angles and the distance differences.

For example, the preset corresponding relationship between the distance difference p and the orientation angle α may be a corresponding table, as shown in table 1, after the terminal obtains the ith distance difference p, the terminal queries a relative angle corresponding to the ith distance difference p in table 1 as the ith relative angle α; for example, if the terminal calculates the ith distance difference p to be 0.6cm, it may determine that the ith relative angle is 88 degrees.

TABLE 1

Distance difference p (cm)	Relative angle alpha (°)
		0.5	89
0.6	88
		0.7	86.5
0.8	85
		1	83
1.5	81

It should be noted that, if the ith distance difference p calculated by the terminal is not in the list, the relative angle corresponding to the distance difference in the table is selected as the ith relative angle. For example, p is 0.72, the orientation angle is determined to be 86.5; p is equal to 2, 3, 4, the orientation angle is determined to be 81.

It can be understood that the terminal may determine the ith relative angle according to the preset corresponding relationship between the relative angle and the distance difference after acquiring the ith distance difference, thereby improving the efficiency of acquiring the ith relative angle.

In some embodiments of the present application, after acquiring n relative angles in a current period, the terminal in S401 may determine n communication distances based on the n relative angles; each of the n communication distances is used for representing the distance from the terminal to the corresponding communication equipment in the n communication equipment; then, the terminal may select a minimum communication distance from the n communication distances, and use the communication device corresponding to the minimum communication distance as the target communication device.

As shown in fig. 11, after the terminal determines the relative angle α, r can be determined according to α, d, and p by using the cosine theorem, and the terminal can use r as the communication distance between the terminal and the communication device; or the terminal can also take r-p as the communication distance between the terminal and the communication equipment; the embodiments of the present application are not limited thereto.

It can be understood that, when the terminal determines that the relative angle corresponding to each of the n communication devices is not within the first angle range in the current period, the communication device closest to the terminal may also be selected from the n communication devices in the current period as the target communication device.

In some embodiments of the present application, the terminal turns on a receiving module of the UWB signal in an ith transmission time in a current period, and receives an ith UWB signal through the receiving module of the UWB signal; the opening time of the receiving module in the ith transmission time is less than or equal to the ith transmission time.

In the embodiment of the application, the terminal starts a receiving module of a UWB signal at the ith transmission time, so that the ith UWB signal can be received by the receiving module at the ith transmission time; and the opening time of the receiving module in the ith transmission time is less than or equal to the ith transmission time.

In some embodiments of the present application, the on-time of the receiving module within the ith transmission time is equal to the ith transmission time; that is, the terminal may continuously turn on the receiving module at the ith transmission time, and the receiving time of the terminal for the ith UWB signal is equal to the ith transmission time.

Fig. 12 is a timing diagram of a positioning communication system, as shown in fig. 12, the positioning communication system includes a communication device 1, a communication device 2 and a communication device 3, TXi indicates that the communication device i transmits a UWB signal; RX denotes a terminal receiving a UWB signal; wherein the communication device 1, the communication device 2, and the communication device 3 transmit UWB signals over two cycles; the first period comprises transmission times t1-t3, and the second period comprises transmission times t4-t 6; the terminal receives UWB signals at all transmission time in two periods; the time that the terminal receives each UWB is the same as the corresponding transmission time.

It can be understood that the terminal may turn on the receiving module according to the transmission time, and turn off the receiving module at other times except the transmission time, so as to save power consumption of the terminal.

In some embodiments of the present application, the on-time of the receiving module in the ith transmission time is less than the ith transmission time; that is, the terminal may also turn on the receiving module within a preset time period within the ith transmission time.

Based on fig. 12, fig. 13 shows a timing diagram of a positioning communication system, and as shown in fig. 13, the time for the terminal to receive the UWB signal at each transmission time is less than the corresponding transmission time.

It can be understood that, the terminal starts the receiving module in the preset time period within the ith transmission time, and closes the receiving module at other times except the preset time period within the ith transmission time, so that the power consumption of the terminal is further reduced while the terminal is ensured to be capable of correctly receiving the UWB signal.

In some embodiments of the present application, the ith UWB signal carries device information of the ith communication device; the device information of the ith communication device includes: a device identification of the ith communication device; if the ith relative angle is within the first angle range in S103, determining that the ith communication device is implemented as the target communication device, as shown in fig. 14, the determining may include: S601-S602.

S601, if the ith relative angle is within the first angle range, acquiring a device identifier of the ith communication device from the ith ultra-wideband signal;

in this embodiment of the present application, the terminal receives the ith UWB signal at the ith transmission time, and may acquire the device information of the ith communication device from the ith UWB signal.

In an embodiment of the present application, the device information of the ith communication device may include at least one of: the device identifier of the ith communication device, the device state of the ith communication device, the type of the ith communication device, and the like may be set as needed for the device information of the ith communication device, which is not limited in the embodiment of the present application.

It can be understood that, since the total number of the communication devices in each period may change, the terminal carries the device information of the corresponding ith communication device in the ith UWB signal in the current period, so that the terminal can acquire the device information of the communication device transmitting the UWB signal in the current period in real time.

In this embodiment of the application, the device information of the ith communication device includes a device identifier of the ith communication device, and the terminal may acquire the device identifier of the ith communication device from the ith UWB signal when the ith relative angle is within a first preset range.

S602, determining a target communication device from the n communication devices based on the device identification of the ith communication device.

In this embodiment of the application, after acquiring the device identifier of the ith communication device, the terminal may determine, from the n communication devices, a communication device corresponding to the device identifier of the ith communication device, and use the communication device as a target communication device.

Exemplarily, the terminal may receive UWB signals of 3 communication devices in a current period, where the 3 communication devices are a television 01, a television 02, and an air conditioner, respectively; after the terminal receives the 2 nd UWB signal, the 2 nd relative angle corresponding to the 2 nd UWB signal is determined to meet the first angle range, the device information of the 2 nd communication device is obtained, and if the device information of the 2 nd communication device is the television 01, the terminal determines the television 01 as the target communication device.

It can be understood that the ith UWB signal carries the device identifier of the ith communication device, and the terminal can determine in real time which communication device of the n communication devices the ith UWB signal comes from in each period; in this way, in the case where the ith relative angle is within the first angle range, the target communication apparatus can be determined from the n communication apparatuses.

In some embodiments of the present application, if the relative angle corresponding to the minimum difference angle in S404 is within the second angle range, determining that the communication device corresponding to the relative angle is the implementation of the target communication device, as shown in fig. 15, may include: S701-S703.

S701, if the minimum difference angle in the n difference angles is within a second angle range, acquiring n device identifications of n communication devices in the current period;

in the embodiment of the application, the ith UWB signal carries an equipment identifier; the terminal determines n relative angles in the current period in the nth transmission time, and then determines n difference angles, and if the minimum difference angle of the n difference angles is within the second angle range, the terminal can respectively obtain the device identifiers of n communication devices from n UWB signals in the current period.

S702, determining the equipment identifier corresponding to the minimum difference angle as a target equipment identifier;

s703, determining the target communication equipment from the n communication equipment based on the target equipment identification.

In this embodiment of the application, after acquiring the device identifiers of the n communication devices, the terminal takes the device identifier corresponding to the minimum difference angle in the n communication devices as the target device identifier, and then the communication device corresponding to the target device identifier in the n communication devices is the target communication device.

In the embodiment of the application, the device identifiers of n communication devices correspond to n transmission times; after determining which relative angle of the n relative angles corresponds to the minimum difference angle, the terminal may determine the device identifier corresponding to the minimum difference angle.

Illustratively, the device identifiers of n communication devices in the current period obtained by the terminal are respectively a television 01, an air conditioner 02 and a refrigerator 03, and if the minimum difference angle corresponds to the 2 nd relative angle, the device identifier carried in the 2 nd UWB signal received at the 2 nd transmission time is the device identifier corresponding to the minimum difference angle, that is, the target device identifier; if the target device is identified as refrigerator 03, then refrigerator 03 is the target communication device.

It can be understood that the terminal may obtain the device identifier carried by each transmission signal in the current period, obtain the device identifiers of the n communication devices, further determine the target device identifier therefrom, and determine the target communication device from the n communication devices based on the target device identifier.

In some embodiments of the present application, establishing a communication connection with a target communication device in S104 to implement communication, as shown in fig. 16, may include: S801-S802.

S801, sending a communication request to target communication equipment;

in the embodiment of the application, after determining the target communication equipment, the terminal sends a communication request to the target communication equipment; the communication request is for requesting establishment of a communication connection with a target communication device.

S802, based on the response of the target communication device to the communication request, the communication connection is established with the target communication device, and communication is carried out.

In the embodiment of the application, after the terminal sends the communication request to the target communication device, the terminal can receive the response of the target communication device to the communication request, and further establish communication connection with the target communication device to perform communication.

In some embodiments of the present application, the device information of the ith communication device includes a device status of the ith communication device; the implementation of sending the communication request to the target communication device in S801, as shown in fig. 17, may include: S901-S902.

S901, determining a communication mode based on the equipment state of the ith communication equipment;

in the embodiment of the application, after receiving the ith UWB signal, the terminal may acquire the device state of the ith communication device from the ith UWB signal; in this way, after the terminal determines that the ith communication device is in the target communication state, the terminal can determine the communication mode corresponding to the target communication device state according to the device state of the ith communication device.

Exemplarily, if the terminal determines that the device state of the ith communication device is that a video is being played, determining that the corresponding communication mode is that the terminal controls the video to pause, fast forward or rewind; and if the terminal determines that the equipment state of the ith communication equipment is shutdown, determining that the corresponding communication mode is that the terminal controls the ith communication equipment to be started.

S902, sending a communication request to the target equipment; the communication request carries the communication mode.

In the embodiment of the application, after the terminal determines the communication mode corresponding to the state of the target communication equipment, the communication mode corresponding to the state of the target communication equipment is carried in the communication request, and the communication request is sent to the target communication equipment.

In some embodiments of the present application, after the terminal carries the communication mode corresponding to the state of the target communication device in the communication request and sends the communication request to the target communication device, the terminal may receive a response of the target communication device to the communication request, and thus, the terminal establishes a communication connection with the target communication device and performs communication according to the communication mode.

In an exemplary embodiment, the communication mode corresponding to the target communication device determined by the terminal is to control the target communication device to start, and then after the target communication device establishes the communication connection, a start control interface for the target communication device is displayed on the terminal, and a start instruction for the target communication device from a user is received through the start control interface.

It can be understood that the terminal can automatically determine the corresponding communication mode according to the communication state of the target communication device, so that the communication between the terminal and the target communication device is more intelligent, and the user experience is improved.

In some embodiments of the present application, the ith UWB signal carries a value of n; the terminal may determine n based on the ith UWB signal.

In the embodiment of the application, each UWB signal received by the terminal in the current period carries a value of the total number n of the devices in the current period; wherein the value of n carried in the ith UWB signal is determined by the ith communication device.

It can be understood that the terminal can obtain the total number n of devices in the current period in each UWB signal in the current period, so that when the total number of devices changes, the terminal can timely obtain n, and further obtain the time for comprehensively judging n relative angles, so that the target communication device can be correctly identified from n communication devices.

In the embodiment of the application, the ith UWB signal carries synchronization information; the terminal can maintain synchronization with the ith communication device according to the synchronization information.

In the embodiment of the application, the terminal can acquire the synchronization information of the corresponding communication device in each UWB signal, and further adjust the synchronization between the terminal and all the communication devices in real time.

In some embodiments of the present application, the synchronization information may be a timestamp of the communication device, and thus, the terminal may maintain synchronization with the communication device according to the timestamp of the communication device.

In some embodiments of the present application, the synchronization information may be a transmission frequency of the communication device for transmitting the UWB signal, and after acquiring the transmission frequency of the communication device, the terminal adjusts a frequency at which the terminal receives the UWB signal according to the total number in the current period and the transmission frequency of the communication device, so as to maintain synchronization with the communication device.

It should be noted that the communication devices are kept synchronized, and the terminal receives the synchronization information of the communication devices in order to keep synchronization with the communication devices.

An embodiment of the present application provides a positioning communication method, as shown in fig. 18, which is applied to a communication device, where the communication device is an ith communication device among n communication devices, and the method includes: S1001-S1002.

S1001, sending an ultra-wideband signal at the ith transmission time in the current period; the current period comprises n transmission times; wherein different communication devices of the n communication devices transmit the ultra-wideband signals at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

in the embodiment of the application, if n communication devices exist in a positioning communication system in the current period, n transmission time exists in the current period, n is greater than or equal to 2, and n is a positive integer; the ith communication equipment is communication equipment for sending UWB signals at the ith transmission time in the current period; i is more than or equal to 1 and less than or equal to n, and i is a positive integer; that is, each of the n communication devices transmits a UWB signal at a different transmission time in the current period.

And S1002, if the ith communication equipment is the target communication equipment, establishing communication connection with the terminal to carry out communication.

In the embodiment of the application, if the ith communication device is the target communication device, a communication connection needs to be established with the terminal, and communication is performed with the terminal based on the communication connection.

In the embodiment of the application, the ith communication device sends a UWB signal at the ith transmission time in the current period, so that the terminal determines the target communication device from each communication device after periodically receiving the UWB signal of each communication device; the process of determining the target communication device by the terminal is described in detail in the embodiment of the positioning communication method on the terminal side, and is not described herein again.

It can be understood that, n communication devices in the current period send UWB signals at different transmission times in the current period, so that the terminal can periodically receive UWB signals of different communication devices, and further, a target communication device is quickly determined from the n communication devices, thereby improving communication efficiency.

In some embodiments of the present application, the UWB signal of the ith communication device may carry at least one of the following information: device information of the ith communication device, a value of n, and synchronization information of the ith communication device.

In an embodiment of the present application, the device information of the ith communication device includes at least one of: the device identification of the ith communication device, the device state of the ith communication device, the device type of the ith communication device and the like; the method can be set as required, and the embodiment of the application is not limited.

In the embodiment of the present application, the synchronization information of the ith communication device may be a timestamp of the ith communication device, may also be a frequency at which the ith communication device transmits a UWB signal, may also be a period at which the ith communication device transmits a UWB signal, and the like, and the embodiment of the present application is not limited thereto.

In some embodiments of the present application, the ith communication device receives n-1 UWB signals at n-1 transmission times within the current period other than the ith transmission time; the value of n is determined based on n-1 UWB signals, the value of n being carried in the UWB signals.

In the embodiment of the application, the ith communication device sends a UWB signal at the ith transmission time in the current period, and other n-1 communication devices in the n communication devices send the UWB signals at other n-1 transmission times except the ith transmission time; thus, the ith communication device may receive the UWB signal at n-1 transmission times other than the ith transmission time.

In the embodiment of the present application, the ith communication device carries the value of n in the UWB signal, and the terminal may determine the total number n of devices in the current period through the UWB signal.

Based on fig. 12, fig. 19 provides a timing diagram of a positioning communication system, as shown in fig. 19, RXi denotes that the ith communication device receives a UWB signal; TXi denotes that the ith communication device transmits a UWB signal; RX denotes a terminal receiving a UWB signal; wherein, the first period comprises transmission times t1-t 3; the second cycle includes transmission times t4-t 6. The communication apparatus 1 in the first cycle is taken as an example for explanation. The communication device 1 transmits the UWB signal at t1, receives the UWB signal of the communication device 2 at t2, and receives the UWB signal of the communication device 3 at t3 in the first cycle; thus, in one cycle, the communication device 1 completes transmitting its own UWB signal and receiving UWB signals of other communication devices.

It is to be understood that, since the ith communication device may receive UWB signals transmitted by other communication devices, when the total number n of devices in the positioning communication system changes, the ith communication device may determine the total number of devices in the current period according to the number of received UWB signals of other communication devices.

In the embodiment of the application, each communication device in the current period carries the value of n when sending the UWB signal to the terminal, so that if a communication device in the n communication devices does not send the UWB signal any more, the terminal can still obtain the value of n from the UWB signals of other communication devices.

In some embodiments of the present application, the UWB signal carries synchronization information of the ith communication device; after the ith communication device receives n-1 UWB signals in n-1 transmission time except the ith transmission time in the current cycle, the synchronization information of other communication devices except the ith communication device can be determined based on the n-1 UWB signals; based on the synchronization information, synchronization is maintained with the other communication device.

In the embodiment of the application, the ith communication device receives UWB signals at n-1 transmission times except the ith transmission time in the current period; the UWB signals received at other n-1 transmission time are sent by other n-1 communication devices except the ith communication device; because the UWB signal carries the synchronization information of the corresponding communication device, the ith communication device can acquire the synchronization information of the n-1 communication devices in the current period, thereby maintaining synchronization with the other n-1 communication devices.

It will be appreciated that each communication device in the positioning communication system receives UWB signals from the other communication devices, and therefore, synchronization can be maintained between all communication devices in the positioning communication system.

In some embodiments of the present application, if the ith communication device is the target communication device in S1002, establishing a communication connection with the terminal to implement communication, as shown in fig. 20, the implementing may include: S1101-S1102.

S1101, receiving a communication request from a terminal;

and S1102, responding to the communication request, establishing communication connection with the terminal and carrying out communication.

In the embodiment of the application, if the ith communication device is the target communication device, the communication request from the terminal can be received; after the ith communication device responds to the communication request, the communication connection can be established with the terminal, and communication can be carried out based on the communication connection.

In some embodiments of the present application, the communication request carries a communication mode; the ith communication device responds to the communication request, establishes communication connection with the terminal, and then can perform communication according to the communication mode.

In this embodiment of the present application, the terminal establishes a communication connection with the ith communication device, and a process of performing communication is described in detail at the terminal side, which is not described herein again.

It can be understood that, if the communication request carries a communication mode, the ith communication device automatically communicates according to the communication mode after establishing communication connection with the terminal, so that the communication between the terminal and the target communication device is more intelligent, and the user experience is improved.

Exemplarily, an embodiment of the present application provides a flowchart of a positioning communication method, which is applied to a terminal, and as shown in fig. 21, the method includes: S1-S13.

S1, the terminal starts to receive UWB signals;

in the embodiment of the application, the terminal starts the receiving module, receives the UWB signal in each period in sequence through the receiving module, and processes the UWB signal.

S2, receiving the ith UWB signal based on the ith transmission time of the n transmission times in the current cycle, and determining the corresponding ith relative angle; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both i and n are positive integers;

in the embodiment of the present application, after the terminal receives the ith UWB signal at the ith transmission time, the ith relative angle may be determined.

S3, judging whether the ith relative angle is in a first angle range; if yes, executing S4-S5; otherwise, go to S6;

s4, determining the ith communication device as a target communication device, establishing connection with the target communication device, and communicating;

s5, stopping processing the kth ultra-wideband signal at the kth transmission time in the current period until entering the next period of the current period; k is not less than i and not more than n, and k is a positive integer;

in the embodiment of the application, after the terminal determines that the ith communication device is the target communication device, the terminal stops processing the UWB signal at the subsequent transmission time in the current period until entering the next period, and starts processing the UWB signal in the next period.

S6, judging whether i is smaller than n, if yes, switching to S7; otherwise, go to S8;

in the embodiment of the application, i is smaller than n, which means that the ith transmission time is not the last transmission time in the current period; and when i is not less than n, i is equal to n, and the ith transmission time is the last transmission time in the current period.

S7, continuously receiving the (i + 1) th signal, and processing the (i + 1) th signal;

in this embodiment of the present application, if the target communication device is not determined at the ith transmission time, and the ith transmission time is not the last transmission time in the current cycle, the terminal continues to receive the (i + 1) th UWB signal in the current cycle, and processes the (i + 1) th UWB signal.

S8, acquiring n relative angles in the current period;

in this embodiment of the present application, if the target communication device is not determined at the ith transmission time, and the ith transmission time is the last transmission time in the current period, the terminal needs to acquire n relative angles in the current period, perform comprehensive judgment on the n relative angles, and determine whether the target communication device exists in the current period.

S9, determining n difference angles based on the n relative angles;

s10, determining the minimum difference angle from the n difference angles;

s11, judging whether the relative angle corresponding to the minimum difference angle is in a second angle range; if yes, go to S12; otherwise, go to S13;

s12, determining the communication equipment corresponding to the angle as target communication equipment, establishing communication connection with the target communication equipment, and communicating;

s13, the process of the UWB signal of the next cycle is continued.

It is understood that the terminal may confirm whether the target communication device exists or not at each cycle in turn; if the terminal determines the target communication equipment in the current period, the UWB signal is stopped being processed continuously in the current period until the next period, and the target communication equipment in the next period is confirmed again, so that the power consumption of the terminal is reduced; and when the terminal does not find the target communication equipment in the current period, the terminal can comprehensively judge all the communication equipment based on n relative angles in the current period to determine whether the target communication equipment exists or not, so that the accuracy of communication is improved.

Continuing with the exemplary architecture in which the server provided by the embodiments of the present application is implemented as a software module, in some embodiments, as shown in fig. 2, the software module stored in the first positioning communication device 455 of the first memory 450 may include: a receiving module 4551, a determining module 4552 and a first communication module 4553, wherein,

a receiving module 4551, configured to receive an ith ultra wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n ultra-wideband signals; the n ultra-wideband signals are transmitted by each of n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

a determining module 4552, configured to determine an ith relative angle based on the ith ultra-wideband signal; the ith relative angle is used for representing the relative position between the terminal and the corresponding ith communication equipment for receiving the ith ultra-wideband signal;

the determining module 4552 is further configured to determine that the ith communication device is the target communication device if the ith relative angle is within the first angle range;

a first communication module 4553, configured to establish a communication connection with the target communication device to perform communication.

In some embodiments, the determining module 4552 is further configured to establish a communication connection with the target interaction device, after the communication is performed, after the i +1 th transmission time to the nth transmission time in the current period, continue to process the ultra wideband signal in the next period until the next target communication device is determined in the h period; the h period is any period after the current period; h is more than or equal to 1 and is a positive integer; the first communication module 4553 is further configured to disconnect the communication connection with the target communication device, and establish the next communication connection with the next target communication device to perform communication.

In some embodiments, the determining module 4552 is further configured to, if the i-th relative angle is not within the first angle range and i is smaller than n, continue to process the i + 1-th ultra wideband signal in the current period until the target communication device is determined from the communication devices corresponding to the n ultra wideband signals.

In some embodiments, the determining module 4552 is further configured to, if the i-th relative angle is not within the first angle range and i is equal to n, continue processing of an ultra wideband signal in a next cycle until the target communication device is determined in an m-th cycle; the mth period is any period after the current period; m is more than or equal to 1 and is a positive integer.

In some embodiments, the determining module 4552 is further configured to obtain n relative angles in the current period if the ith relative angle is not within the first angle range and i is equal to n; determining n difference angles of the n relative angles and a target relative angle; determining the minimum value from the n difference angles as the minimum difference angle; and if the relative angle corresponding to the minimum difference angle is within a second angle range, determining that the communication equipment corresponding to the relative angle is the target communication equipment.

In some embodiments, the determining module 4552 is further configured to, if a minimum difference angle of the n difference angles is not within the second angle range, continue processing of an ultra wideband signal in a next period until the target communication device is determined in an m-th period; the mth period is any period after the current period; m is more than or equal to 1 and is a positive integer.

In some embodiments, the terminal is configured with a receiving module for ultra-wideband signals; the receiving module comprises a first receiving module and a second receiving module; the determining module 4552 is further configured to obtain a first phase and a second phase of the received ith ultra-wideband signal; the first phase is the phase of the ith ultra-wideband signal received by the first receiving module; the second phase is a phase of the ith ultra-wideband signal received by the second receiving module; determining a phase difference value of the first phase and the second phase to obtain an ith phase difference value; determining an ith distance difference value based on the ith phase difference value; the ith distance difference is used for representing the difference between the first distance and the second distance; the first distance is the distance between the first receiving module and the ith communication device; the second distance is the distance between the second receiving module and the ith communication device; determining the ith relative angle based on the ith distance difference.

In some embodiments, the receiving module 4551 is further configured to turn on the receiving module of the ultra-wideband signal within the ith transmission time in the current period, and receive the ith ultra-wideband signal through the receiving module of the ultra-wideband signal; the opening time of the receiving module in the ith transmission time is less than or equal to the ith transmission time.

In some embodiments, the ith ultra-wideband signal carries device information of the ith communication device; the device information of the ith communication device includes: a device identification of the ith communication device; the determining module 4552 is further configured to, if the ith relative angle is within a first angle range, obtain a device identifier of the ith communication device from the ith ultra wideband signal; determining the target communication device from the n communication devices based on the device identification of the ith communication device.

In some embodiments, the ith ultra-wideband signal carries device information of the ith communication device; the device information of the ith communication device includes: a device identification of the ith communication device; the determining module 4552 is further configured to, if a minimum difference angle of the n difference angles is within the second angle range, obtain n device identifiers of the n communication devices in the current period; determining the equipment identifier corresponding to the minimum difference angle as a target equipment identifier; determining the target communication device from the n communication devices based on the target device identification.

In some embodiments, the first communication module 4553 is further configured to send a communication request to the target communication device; and establishing a communication connection with the target communication equipment based on the response of the target communication equipment to the communication request, and carrying out communication.

In some embodiments, the communication module 4553 is further configured to determine a communication manner based on a device state of the ith communication device; sending a communication request to the target communication device; the communication request carries the communication mode.

In some embodiments, the first communication module 4553 is further configured to establish a communication connection with the target communication device based on a response of the target communication device to the communication request, and perform communication in the communication manner.

In some embodiments, the value of n is carried in the ith ultra-wideband signal; the determining module 4552 is further configured to determine the n based on the ith ultra-wideband signal.

In some embodiments, the ith ultra-wideband signal carries synchronization information; the receiving module 4551 is further configured to maintain information synchronization with the ith communication device according to the synchronization information.

Continuing with the exemplary structure of the communication device implemented as a software module provided by the embodiments of the present application, in some embodiments, as shown in fig. 3, the software module stored in the second positioning communication device 555 in the second memory 550 may include: a transmission module 5551 and a second communication module 5552, wherein,

a transmitting module 5551, configured to transmit an ultra wideband signal at an ith transmission time in a current period; the current period comprises n transmission times; wherein different communication devices of the n communication devices transmit the ultra-wideband signals at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

a second communication module 5552, configured to establish a communication connection with the terminal to perform communication if the ith communication device is a target communication device.

In some embodiments, the ultra-wideband signal carries at least one of: device information of the ith communication device, a value of the n, and synchronization information of the ith communication device.

In some embodiments, the value of n is carried in the ultra-wideband signal; the communication device further comprises a third receiving module; the third receiving module is configured to receive n-1 ultra wideband signals at n-1 transmission times in the current period, except for the ith transmission time; determining a value for the n based on the n-1 ultra-wideband signals.

In some embodiments, the third receiving module is further configured to determine synchronization information of other communication devices other than the ith communication device based on the n-1 ultra-wideband signals; maintaining information synchronization with the other communication device based on the synchronization information.

In some embodiments, the second communication module 5552 is further configured to receive a communication request from the terminal; and responding to the communication request, establishing communication connection with the terminal and carrying out communication.

In some embodiments, the communication request carries a communication mode; the second communication module 5552 is further configured to respond to the communication request, establish a communication connection with the terminal, and perform communication according to the communication method.

Embodiments of the present application provide a computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform a method provided by embodiments of the present application, for example, the method as illustrated in fig. 4-16.

In some embodiments, the computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash, magnetic surface memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories.

In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

By way of example, executable instructions may, but need not, correspond to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).

By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.

In summary, according to the embodiment of the present application, the terminal can receive UWB signals of multiple devices in each period, and further determine a target communication device from the multiple communication devices; by periodically receiving UWB signals of a plurality of communication devices, the target communication device is updated in time, and the communication efficiency is improved. Moreover, after the terminal determines that the ith communication equipment is the target communication equipment at the ith transmission time in the current period, the terminal stops processing the UWB signals at the subsequent transmission time in the current period, so that the power consumption of the terminal is saved; furthermore, the time for the terminal to start the receiving module in each transmission time is less than the transmission time, so that the power consumption of the terminal is further reduced; according to the embodiment of the application, the communication equipment can determine the total number of the equipment in the current positioning communication system by receiving UWB signals of other communication equipment, so that each communication equipment can send respective UWB signals at respective transmission time in the current period, the terminal can receive UWB signals of different equipment at different transmission time, and the communication accuracy is improved; and the terminal can confirm the device information of the corresponding communication device through the UWB signal, so that the terminal can identify the target communication device from the plurality of communication devices, is further connected with the target communication device, and communicates according to the communication mode corresponding to the device information, and the intelligence of communication is improved.

The above description is only an example of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, and improvement made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. A positioning communication method is applied to a terminal and comprises the following steps:

receiving an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n ultra-wideband signals; the n ultra-wideband signals are transmitted by each of n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

determining a corresponding ith relative angle based on the ith ultra-wideband signal; the ith relative angle is used for representing the relative position between the terminal and the corresponding ith communication equipment for receiving the ith ultra-wideband signal;

if the ith relative angle is within a first angle range, determining that the ith communication equipment is target communication equipment;

and establishing communication connection with the target communication equipment to carry out communication.

2. The method of claim 1, wherein after establishing the communication connection with the target communication device, the method further comprises:

after the (i + 1) th transmission time to the nth transmission time in the current period, continuously processing the ultra-wideband signal in the next period until the h period, and determining the next target communication device; the h period is any period after the current period; h is more than or equal to 1 and is a positive integer;

and disconnecting the communication connection with the target communication equipment, and establishing next communication connection with the next target communication equipment for communication.

3. The method of claim 1, wherein after determining the corresponding ith relative angle based on the ith ultra-wideband signal, the method further comprises:

if the ith relative angle is not in the first angle range and i is smaller than n, continuing to process the (i + 1) th ultra-wideband signal in the current period until the target communication equipment is determined from the communication equipment corresponding to the n ultra-wideband signals.

4. The method of claim 1, wherein after determining the corresponding ith relative angle based on the ith ultra-wideband signal, the method further comprises:

if the ith relative angle is not in the first angle range and i is equal to n, continuing to process the ultra-wideband signal of the next period until the target communication equipment is determined in the mth period; the mth period is any period after the current period; m is more than or equal to 1 and is a positive integer.

5. The method of claim 2, wherein after determining the corresponding ith relative angle based on the ith ultra-wideband signal, the method further comprises:

if the ith relative angle is not in the first angle range and i is equal to n, acquiring n relative angles in the current period;

determining n difference angles of the n relative angles and a target relative angle;

determining the minimum value from the n difference angles as the minimum difference angle;

and if the relative angle corresponding to the minimum difference angle is within a second angle range, determining that the communication equipment corresponding to the relative angle is the target communication equipment.

6. The method of claim 5, wherein after determining the n difference angles of the n relative angles and the target relative angle, the method further comprises:

if the minimum difference angle in the n difference angles is not within the second angle range, continuing to process the ultra-wideband signal of the next period until the target communication equipment is determined in the mth period; the mth period is a period after the current period; m is more than or equal to 1 and is a positive integer.

7. The method of claim 1, wherein the terminal is configured with a receiving module for ultra-wideband signals; the receiving module comprises a first receiving module and a second receiving module; determining a corresponding ith relative angle based on the ith ultra-wideband signal comprises:

acquiring a first phase and a second phase of the received ith ultra-wideband signal; the first phase is the phase of the ith ultra-wideband signal received by the first receiving module; the second phase is a phase of the ith ultra-wideband signal received by the second receiving module;

determining a phase difference value of the first phase and the second phase to obtain an ith phase difference value;

determining an ith distance difference value based on the ith phase difference value; the ith distance difference is used for representing the difference between the first distance and the second distance; the first distance is the distance between the first receiving module and the ith communication device; the second distance is the distance between the second receiving module and the ith communication device;

determining the ith relative angle based on the ith distance difference.

8. The method of any of claim 1, wherein receiving the ith ultra-wideband signal at an ith transmission time of the n transmission times in the current cycle comprises:

starting a receiving module of the ultra-wideband signal within the ith transmission time in the current period, and receiving the ith ultra-wideband signal through the receiving module of the ultra-wideband signal; the opening time of the receiving module in the ith transmission time is less than or equal to the ith transmission time.

9. The method according to claim 1, wherein the ith ultra-wideband signal carries device information of the ith communication device; the device information of the ith communication device includes: a device identification of the ith communication device;

if the ith relative angle is within a first angle range, determining that the ith communication device is a target communication device, including:

if the ith relative angle is within a first angle range, acquiring a device identifier of the ith communication device from the ith ultra-wideband signal;

determining the target communication device from the n communication devices based on the device identification of the ith communication device.

10. The method of claim 5, wherein the ith ultra-wideband signal carries device information for the ith communication device; the device information of the ith communication device includes: a device identification of the ith communication device;

if the minimum difference angle of the n difference angles is within the second angle range, determining that the communication device corresponding to the minimum difference angle is the target communication device, including:

if the minimum difference angle of the n difference angles is within the second angle range, acquiring n device identifiers of n communication devices in the current period;

determining the equipment identifier corresponding to the minimum difference angle as a target equipment identifier;

determining the target communication device from the n communication devices based on the target device identification.

11. The method of claim 1, wherein establishing a communication connection with the target communication device for communication comprises:

sending a communication request to the target communication device;

and establishing communication connection with the target communication equipment to communicate based on the response of the target communication equipment to the communication request.

12. The method of claim 11, wherein the device information of the ith communication device comprises: a device status of the ith communication device; the sending of the communication request to the target device includes:

determining a communication mode based on the equipment state of the ith communication equipment;

sending a communication request to the target communication device; the communication request carries the communication mode.

13. The method of claim 12, wherein the establishing a communication connection with the target communication device for communication based on the response of the target communication device to the communication request comprises:

and establishing communication connection with the target communication equipment based on the response of the target communication equipment to the communication request, and carrying out communication according to the communication mode.

14. The method according to any of claims 1-13, wherein said i-th ultra-wideband signal carries said value of n; the method further comprises the following steps:

determining the n based on the ith ultra-wideband signal.

15. The method of any one of claims 1-14, wherein the i-th ultra-wideband signal carries synchronization information; the method comprises the following steps:

and keeping information synchronization with the ith communication equipment according to the synchronization information.

16. A positioning communication method is applied to communication equipment; the communication device is an ith communication device among n communication devices, and includes:

transmitting an ultra-wideband signal at the ith transmission time in the current period; the current period comprises n transmission times; wherein different communication devices of the n communication devices transmit the ultra-wideband signals at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

and the terminal establishes communication connection and carries out communication.

17. The method of claim 16, wherein the ultra-wideband signal carries at least one of the following information:

device information of the ith communication device, a value of the n, and synchronization information of the ith communication device.

18. The method of claim 17, wherein the value of n is carried in the ultra-wideband signal; the method further comprises the following steps:

receiving n-1 ultra-wideband signals at n-1 transmission times in the current period except the ith transmission time;

determining a value for the n based on the n-1 ultra-wideband signals.

19. The method of claim 18, wherein after receiving n-1 ultra-wideband signals at n-1 transmission times other than the ith transmission time in a current period, the method further comprises:

determining synchronization information of other communication devices except the ith communication device based on the n-1 ultra-wideband signals;

maintaining information synchronization with the other communication device based on the synchronization information.

20. The method according to claim 16, wherein if the ith communication device is a target communication device, establishing a communication connection with a terminal to perform communication, comprises:

receiving a communication request from the terminal;

and responding to the communication request, establishing communication connection with the terminal and carrying out communication.

21. The method according to claim 20, wherein the communication request carries a communication mode; the responding the communication request, establishing communication connection with the terminal, and performing communication, including:

and responding to the communication request, establishing communication connection with the terminal, and communicating according to the communication mode.

22. A terminal, comprising:

a receiving module, configured to receive an ith ultra-wideband signal at an ith transmission time of n transmission times in a current period; wherein, n transmission times correspond to n ultra-wideband signals; the n ultra-wideband signals are transmitted by each of n communication devices at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

a determining module, configured to determine an ith relative angle based on the ith ultra-wideband signal; the ith relative angle is used for representing the relative position between the terminal and the corresponding ith communication equipment for receiving the ith ultra-wideband signal;

23. A communication device, characterized in that the communication device is an ith communication device among n communication devices, the ith communication device comprising:

the transmitting module is used for transmitting the ultra-wideband signal at the ith transmission time in the current period; the current period comprises n transmission times; wherein different communication devices of the n communication devices transmit the ultra-wideband signals at different transmission times; n is more than or equal to 2, i is more than or equal to 1 and less than or equal to n, and both n and i are positive integers;

24. A terminal, characterized in that the terminal comprises: a first processor and a first memory for storing a computer program operable on the first processor;

wherein the first processor is adapted to perform the steps of the method of any one of claims 1-15 when running the computer program.

25. A communication device, characterized in that the communication device comprises: a second processor and a second memory for storing a computer program capable of running on the second processor;

wherein the second processor is adapted to perform the steps of the method of any of claims 16-21 when running the computer program.

26. A storage medium having one or more computer programs stored thereon that are executable by one or more processors to perform the steps of the method of any one of claims 1-15 or any one of claims 16-21.