CN114554590A

CN114554590A - Equipment positioning method, device, equipment, storage medium and system

Info

Publication number: CN114554590A
Application number: CN202011344203.4A
Authority: CN
Inventors: 肖伟
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2022-05-27

Abstract

The embodiment of the application discloses a device positioning method, a device, a storage medium and a system, wherein the method comprises the following steps: determining at least two frames based on a preset frame type; wherein only one frame of the at least two frames carries encryption time stamp sequence STS information; determining a distance value between the positioning device and the positioned device according to the transmission and the reception of the at least two frames during the communication with the positioned device; when receiving the frame carrying the STS information, determining an angle value between the positioning equipment and the positioned equipment; and positioning the positioned equipment according to the distance value and the angle value. Therefore, through the preset frame type, only one frame carries STS information, the length of other frames can be shortened, the positioning function is realized, meanwhile, the receiving time and the sending time of the equipment can be saved, and the purpose of reducing the power consumption of the equipment can be achieved.

Description

Equipment positioning method, device, equipment, storage medium and system

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a method, an apparatus, a device, a storage medium, and a system for positioning a device.

Background

With the rapid development of the information field, the Ultra Wide Band (UWB) technology has important applications in the positioning/ranging field due to its characteristics of low cost, low power consumption, good anti-interference performance, low interception capability, and the like. UWB-based positioning systems are generally composed of a positioning device and a positioned device. The device to be positioned is usually worn by a person or an article to be positioned, and positioning of the device to be positioned can be realized through the positioning device, so that positioning of the person or the article to be positioned can be completed.

Because of the requirement of portability and long service life of the located device (such as an electronic tag), the located device must have low power consumption and small volume. In the related art, although the UWB chip can be controlled to be in a sleep state for a long time, the UWB chip is periodically waken up to listen, so as to achieve the purpose of reducing power consumption during ranging. However, the current related art is limited to an application scenario where the UWB ranging data is not high, and for an application scenario (such as real-time positioning) where a high refresh rate of the UWB ranging data needs to be satisfied, power consumption cannot be effectively reduced.

Disclosure of Invention

The application provides a device positioning method, a device, a storage medium and a system, which can save the receiving time and the sending time of the device, thereby achieving the purpose of reducing the power consumption of the device.

In order to achieve the purpose, the technical scheme of the application is realized as follows:

in a first aspect, an embodiment of the present application provides an apparatus positioning method, which is applied to a positioning apparatus, and the method includes:

determining at least two frames based on a preset frame type; wherein only one frame of the at least two frames carries encryption timestamp sequence (STS) information;

determining a distance value between the positioning device and the positioned device according to the transmission and the reception of the at least two frames during the communication with the positioned device; and determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information;

and positioning the positioned equipment according to the distance value and the angle value.

In a second aspect, an embodiment of the present application provides an apparatus positioning apparatus, which is applied to positioning an apparatus, where the apparatus positioning apparatus includes a determining unit and a positioning unit; wherein the content of the first and second substances,

the determining unit is configured to determine at least two frames based on a preset frame type; wherein only one frame of the at least two frames carries encryption time stamp sequence STS information;

the determining unit is further configured to determine a distance value between the positioning device and the positioned device according to the transmission and reception of the at least two frames during the communication with the positioned device; and determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information;

the positioning unit is configured to position the positioned device according to the distance value and the angle value.

In a third aspect, an embodiment of the present application provides a positioning apparatus, including a memory and a processor; wherein the content of the first and second substances,

the memory for storing a computer program operable on the processor;

the processor, when executing the computer program, is adapted to perform the method according to the first aspect.

In a fourth aspect, embodiments of the present application provide a computer storage medium storing a computer program, which when executed by at least one processor implements the method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a positioning system, which includes at least a positioning apparatus and a positioning apparatus as described in the third aspect.

According to the equipment positioning method, the device, the equipment, the storage medium and the system, at least two frames are determined based on the preset frame type; wherein only one frame of the at least two frames carries encryption time stamp sequence STS information; determining a distance value between the positioning device and the positioned device according to the transmission and the reception of the at least two frames during the communication with the positioned device; when receiving the frame carrying the STS information, determining an angle value between the positioning equipment and the positioned equipment; and positioning the positioned equipment according to the distance value and the angle value. Therefore, through the preset frame type, only one frame carries STS information, the length of other frames can be shortened, the positioning function is realized, meanwhile, the receiving time and the sending time of the equipment can be saved, and the purpose of reducing the power consumption of the equipment can be achieved.

Drawings

Fig. 1 is a schematic view of an application scenario of positioning between an electronic tag and a base station according to the related art;

fig. 2 is a schematic diagram of a signal waveform using ultra-wideband technology provided in the related art;

fig. 3 is a schematic flowchart of a device positioning method according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of two-frame interaction according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a three-frame interaction provided in an embodiment of the present application;

fig. 6 is a schematic flowchart of a bilateral two-way ranging algorithm according to an embodiment of the present disclosure;

fig. 7 is a schematic flowchart of a unilateral two-way ranging algorithm provided in the embodiment of the present application;

fig. 8 is a schematic structural diagram illustrating a component of an apparatus positioning device according to an embodiment of the present disclosure;

fig. 9 is a schematic hardware structure diagram of a positioning apparatus according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a positioning system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for the convenience of description, only the parts related to the related applications are shown in the drawings.

The Ultra Wide Band (UWB) technology is a wireless carrier communication technology that makes a signal have a bandwidth of GHz order by directly modulating an impulse having a steep rise and fall time. In addition, the UWB technology does not adopt sinusoidal carriers, but uses non-sinusoidal narrow pulses of nanosecond (ns) level to transmit data, and generally can be used for indoor precise positioning, and the positioning precision can reach 10 centimeter (cm) level.

It will be appreciated that the key to the positioning system is the error in measuring the distance, and that the smaller the error, the higher the positioning accuracy. The time of the electromagnetic wave traveling in the air is approximately the speed of light, so the error of the distance is the measured time error of the electromagnetic wave flying in the air. Here, assuming that the measurement accuracy is to be 10cm, the time error can be calculated according to the following formula, as shown below,

where Δ D represents the measurement distance accuracy, c represents the propagation speed of the electromagnetic wave in the air, and Δ t represents the time error. As can be seen from equation (1), the error in measuring the time of flight of the electromagnetic wave must be within 0.3ns, which is difficult.

In addition, if such accuracy is achieved, it is critical that the direct signal and the reflected signal be distinguished in a short time for signal capture, so as to obtain accurate time of flight. However, in an actual wireless transmission environment, electromagnetic waves are reflected by surrounding objects such as walls, glass, metal, and the like (similar to the reflection of visible light), thereby generating a multipath signal. At this time, the receiving node often receives not only the direct signal but also the reflected signal propagated by the reflected path, and the direct signal propagated by the direct path and the reflected signal propagated by the reflected path are in an additive relationship. As shown in fig. 1, it is assumed that the located device is an electronic tag and the located device is a base station, a transmitting port of the electronic tag transmits a transmitting signal, one path of the transmitting signal is directly transmitted to the base station as a direct signal, the other path of the transmitting signal encounters an object to be reflected, and then the object is transmitted to the base station as reflection information, that is, the base station receives the direct signal and the reflection signal.

Illustratively, assuming that the path length of the direct signal direct is 5m and the distance that the reflected signal needs to travel is 7m in total, the time of the direct signal is 16ns and the time of the reflected signal is 23 ns. That is to say, a direct signal and a reflected signal are distinguished in 7ns, but a traditional narrow-band signal is sinusoidal carrier communication and has a narrow bandwidth, the time required for completing signal transmission is tens of milliseconds, and the direct signal cannot be transmitted in 7 ns; therefore, the direct signal and the reflected signal are overlapped in a time domain, so that the signals are delayed and changed in amplitude, phase and the like, energy attenuation is generated, the signal-to-noise ratio is reduced, the first arriving signal is not the direct signal, a ranging error is caused, and the positioning accuracy is reduced.

In addition, the ultra-wideband (UWB) technology is a wireless carrier communication technology, i.e., nanosecond-level non-sine wave narrow pulses are used to transmit data instead of sine carriers, so that the occupied frequency spectrum range is wide, UWB time domain signals are narrow, the time resolution is enhanced, and the time difference between the received multipath reflected delay signals and direct signals is generally greater than the pulse width; thus, the signals are separable in the time domain. As shown in fig. 2, with UWB technology, the direct signal and the reflected signal are separable in the time domain in the actual received signal because data is transmitted using narrow pulses of non-sinusoidal waves in the order of nanoseconds. Thus, for the time difference of 7ns in the above example, it is enough to complete the transmission of the UWB direct signal (the transmission time length is about 2ns), so that the positioning system can quickly extract the direct signal to achieve accurate positioning. In the embodiment of the application, the positioning precision can reach the centimeter level by adopting a UWB technology for positioning.

In the related art, taking a UWB-based low power consumption electronic tag as an example, the specific examples thereof may include: the motion sensing device comprises a UWB communication module, a motion sensing module, a Micro Control Unit (MCU) module and a power supply module, wherein the MCU module is respectively connected with the UWB communication module and the motion sensing module, and the power supply module is respectively connected with the UWB communication module, the motion sensing module and the MCU module and supplies power. The UWB communication module is used for sending and receiving UWB signals; the motion sensing module is used for detecting motion state information of a person or an article wearing the low-power-consumption electronic tag and feeding the motion state information back to the MCU module; the MCU module is used for controlling the UWB communication module and the motion perception module to be in a sleep state for a long time and to be awakened periodically, adjusting the period for awakening the UWB communication module according to the motion state information, and controlling the UWB communication module to enter the sleep state and to be awakened periodically.

That is, although the current related art scheme may control a UWB Integrated Circuit (IC) chip to be in a sleep state for a long time through a controller, and then periodically wake up the UWB to listen, so as to achieve the purpose of reducing power consumption during ranging, the essence of the related art scheme is to save power consumption by controlling a duty ratio between the UWB operation and the sleep; however, the power consumption in the normal working process of the UWB cannot be optimized, that is, the power consumption cannot be effectively reduced only in an application scenario where the UWB ranging data is not high, and for an application scenario (such as real-time positioning) where the UWB ranging data needs to satisfy a high refresh rate.

Based on this, the embodiment of the present application provides an apparatus positioning method, and the basic idea of the method is: determining at least two frames based on a preset frame type; wherein only one frame of the at least two frames carries encryption time stamp sequence STS information; determining a distance value between the positioning device and the positioned device according to the transmission and the reception of the at least two frames during the communication with the positioned device; and determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information; and positioning the positioned equipment according to the distance value and the angle value. Therefore, through the preset frame type, only one frame carries STS information, the length of other frames can be shortened, the positioning function is realized, meanwhile, the receiving time and the sending time of the equipment can be saved, and the purpose of reducing the power consumption of the equipment can be achieved.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In an embodiment of the present application, referring to fig. 3, a flowchart of a device positioning method provided in an embodiment of the present application is shown. As shown in fig. 3, the method may include:

s301: determining at least two frames based on a preset frame type; wherein only one frame of the at least two frames carries encryption time stamp Sequence (STS) information.

It should be noted that the device positioning method is applied to positioning devices. In a positioning system, a positioning device and a positioned device may generally be included. The positioning device may refer to a Host (Host), and in the embodiment of the present application, represents an electronic device, such as a smart phone, an unmanned aerial vehicle, a tablet computer, a notebook computer, a palm computer, a Personal Digital Assistant (PDA), and the like, for displaying and searching for the positioned device in the positioning process. The located device may refer to a Client (Client), and in the embodiment of the present application, represents an electronic device such as a sought electronic tag or a smart watch. The positioning device can be matched with a person or an article needing positioning, so that the person or the article needing positioning can be positioned through the positioning device.

It should be further noted that, in the communication technology between the positioning device and the device to be positioned in the embodiment of the present application, the UWB technology is generally adopted, specifically, data is transmitted by using nanosecond-level narrow non-sinusoidal pulses, and the positioning accuracy may reach the level of 10 cm.

It can be appreciated that when UWB technology is applied to the consumer electronics market, small volume and low power consumption are issues that must be addressed, especially in the application scenario where a smartphone is used to find UWB electronic tags. Generally, the volume of such electronic tags is designed to be very small, so as to be convenient for carrying or endowing the electronic tags to an important searched object. Here, the small size means that the battery capacity of the electronic tag is very small, the battery capacity of such consumer electronic tags is generally less than 100 ma, and the power consumption of the currently best UWB chip in the market during signal transmission and reception is generally 30-80 ma. Taking an Integrated Circuit (IC) of a certain company as an example, a current of a transmission port (TX) of the IC is 45 milliamperes, and a current of a reception port (Receive, RX) of the IC is about 75 milliamperes, in the related art, a general hardware Circuit can reduce power consumption through Direct current-Direct current (DC-DC) conversion during design, and software can help a located device (i.e., a UWB electronic tag) to save power consumption by maximally shortening the time of TX and RX in the whole communication process or reducing the number of times of ranging (which means reducing a refresh frequency but affecting the presentation of a result), thereby achieving the purpose of long-term use.

In the embodiment of the application, in order to reduce the power consumption of the device, the technical scheme of the application is that the frame type during interaction between the positioning device and the positioned device is designed and defined to shorten the time of actually using TX and RX in the communication process between the whole positioning device and the positioned device, so that the time of turning on the TX and RX by the device is saved, and the purpose of saving the power consumption of the device is achieved while the successful positioning is met.

For a preset frame type, in some embodiments, the method may further comprise:

acquiring four frame types defined in a preset protocol;

and determining the preset frame type from the four frame types.

Here, the four frame types may include: a zeroth frame type, a first frame type, a second frame type, and a third frame type. The first frame type carries data information and STS information, the second frame type carries data information and STS information and carries timeslot information, and the third frame type carries only STS information and does not carry data information.

It should be noted that the default protocol may refer to the 802.15.4z protocol. Wherein 802.15.4z is a basic standard of wireless communication of Institute of Electrical and Electronics Engineers (IEEE), and four frame (frame) structure types are defined in 802.15.4z, as shown in table 1 below.

TABLE 1

In table 1, "0" indicates a zeroth frame type, and STS information is not included in a Protocol Data Unit (PPDU); "1" indicates a first frame type, and STS information is included in the PPDU and precedes information of a Physical layer (PHY), a Physical layer Header (PHR), and Data (Data Payload); "2" indicates a second frame type, and STS information is included in the PPDU, and is located after PHY, PHR, and Data Payload, etc.; "3" indicates a third frame type, and information such as PHY, PHR, and Data Payload is not included in the PPDU.

Specifically, in each Frame type, a Start of Frame Delimiter (SFD) and a Preamble (Ipatov Preamble, also simply referred to as Preamble) may be further included. And in the second frame type, time slot (Gap) information may also be carried. The formats for these four frame types will be defined separately below.

The zeroth frame type is defined as follows,

Ipatov Preamble

SFD

PHR

Data Payload

the definition of the first frame type is as follows,

Ipatov Preamble

SFD

STS

PHR

Data Payload

the definition of the second frame type is as follows,

Ipatov Preamble

SFD

PHR

Data Payload

GAP

STS

the definition of the third frame type is as follows,

Ipatov Preamble

SFD

STS

among the four frame type formats described above, the length of Preamble is specified in the IEEE standard to be 64, 1024, or 4096; the SFD has a length of 8 or 64, the PHR has a fixed length of 19 bits (bits), and the GAP has a value of 1-127 symbols (symbols). Since the time stamp (TimeStamp) of TX or RX of each frame is obtained after SFD is successfully acquired, in order to obtain the shortest Transmission (TX) time and Reception (RX) time, in the embodiment of the present application, reference may be made to the selection of the above parameters, as shown in table 2.

TABLE 2

S302: determining a distance value between the positioning device and the positioned device according to the transmission and the reception of the at least two frames during the communication with the positioned device; and determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information.

It should be noted that after the at least two frames are determined according to the preset frame types, the positioning device and the positioned device may perform interaction (transmission and reception) of the at least two frames to determine the distance value between the positioning device and the positioned device.

Two-Way Ranging (TWR) is a Ranging technique, and is applied to UWB technology to obtain specific distance values. In the embodiment of the present application, the Two-Way Ranging may be further divided into Single-Sided Two-Way Ranging (SS-TWR) and Double-Sided Two-Way Ranging (DS-TWR).

In a possible implementation, the at least two frames may include two frames, specifically: a request Frame (Range Frame) and an end Frame (Final Frame). At this time, for S302, the determining a distance value between the positioning device and the positioned device according to the transmission and reception of the at least two frames may include:

and determining the distance value between the positioning equipment and the positioned equipment by utilizing a unilateral two-way ranging algorithm according to the transmission and the reception of the at least two frames.

That is, under the interaction based on two frames, the calculation of the distance value can be performed by using the one-sided two-way ranging algorithm. Here, one-sided two-way ranging is a simple measurement over a single round-trip time. Specifically, as shown in fig. 4, assuming that the positioning device is a Host (e.g., a smart phone) and the positioned device is a Client (e.g., an electronic tag), the positioning device actively sends a request frame to the positioned device, and then the positioned device receives the request frame, and then the positioned device sends an end frame to the positioning device, and according to the interaction between the request frame and the end frame, a distance value between the positioning device and the positioned device is obtained by using a one-sided two-way ranging algorithm.

In another possible implementation, the at least two frames may include three frames, specifically: a request Frame (Range Frame), a response Frame (Reply Frame), and an end Frame (Final Frame). At this time, for S302, the determining a distance value between the positioning device and the positioned device according to the transmission and reception of the at least two frames may include:

and determining a distance value between the positioning device and the positioned device by utilizing a bilateral two-way ranging algorithm according to the transmission and the reception of the at least two frames.

That is, under the three-frame-based interaction, the calculation of the distance value may be performed using the bilateral two-way ranging algorithm. Here, two-sided two-way ranging is an extended ranging method of one-sided two-way ranging, and records measurements over two round-trip times. Specifically, as shown in fig. 5, assuming that the positioning device is a Host (e.g., a smart phone) and the positioned device is a Client (e.g., an electronic tag), the positioned device sends a request frame to the positioning device, and after receiving the request frame, the positioning device sends a response frame to the positioned device; then after the positioned equipment receives the response frame, the positioned equipment sends an end frame to the positioning equipment; therefore, according to the interaction of the request frame and the ending frame, the distance value between the positioning device and the positioned device can be obtained by utilizing the bilateral two-way ranging algorithm.

It should be noted that, when a frame carrying STS information is received, an angle value between the positioning device and the positioned device can also be determined. In this embodiment, the end frame may carry STS information, or other frames (such as a request frame) may carry STS information, which is not limited herein.

In some embodiments, when the end frame carries STS information, before the positioning device receives the end frame sent by the positioning device, the method may further include:

the STS function is turned on to obtain the arrival phase difference between the locating device and the device being located.

Thus, for S302, the determining an angle value between the positioning apparatus and the positioned apparatus when receiving the frame carrying the STS information may include:

upon receiving the end frame, obtaining an arrival phase difference value between the positioning device and the positioned device;

inquiring an arrival angle value corresponding to the arrival phase difference value from a preset table, and determining the inquired arrival angle value as an angle value between the positioning equipment and the positioned equipment; the preset table is used for representing the corresponding relation between the arrival phase difference value and the arrival angle value.

Note that Phase-Difference-of-Arrival (PDOA) is a technique for measuring an angle, and is applied to UWB technology to acquire a specific angle. Angle-of-Arrival (AOA) is a positioning algorithm based on signal Angle-of-Arrival, and an Angle value between a positioning device and a positioned device can be obtained according to the AOA.

It should be further noted that a preset table is stored in the positioning device in advance, and the preset table is used for recording a corresponding relationship between the arrival phase difference value and the arrival angle value. Therefore, after the arrival phase difference value between the positioning device and the positioned device is obtained, the angle value between the positioning device and the positioned device can be obtained through table lookup.

S303: and positioning the positioned equipment according to the distance value and the angle value.

It should be noted that measuring distance and measuring angle are key to realize the positioning of the device. Thus, after the distance value and the angle value are obtained, the positioning of the positioned device by the positioning device can be realized.

That is, the present embodiment may use the STS protocol and the frame type used in a preset protocol (e.g., 802.15.4 z). In the embodiment of the application, the positioning of the positioned device can be completed by using two algorithms of TWR and PDOA. The TWR algorithm is used for completing the distance measurement of the positioned equipment, and in order to improve the positioning accuracy, the DS-TWR algorithm can be adopted for calculating the distance value; the PDOA value can be directly read from the register of the UWB IC chip by measuring the STS information, and finally converted into AOA by an algorithm (specifically, by looking up a preset table) to complete the angle measurement of the located device. Therefore, after the distance value and the angle value are obtained, the positioning of the positioned equipment can be completed. It is to be noted that, with UWB technology, a UWB communication module is provided in both the positioning apparatus and the positioned apparatus, and a UWB IC chip is integrated in the communication module, and a Reception (RX) and a Transmission (TX) function can be realized. The communication module may further include a Power Amplifier (PA)/Low Noise Amplifier (LNA), which is mainly applied to a radio frequency receiving circuit design to increase the radiation Power and improve the receiving sensitivity.

The embodiment provides an equipment positioning method, which is characterized in that at least two frames are determined based on a preset frame type; wherein only one frame of the at least two frames carries encryption time stamp sequence STS information; determining a distance value between the positioning device and the positioned device according to the transmission and the reception of the at least two frames during the communication with the positioned device; and determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information; and positioning the positioned equipment according to the distance value and the angle value. Therefore, through the preset frame type, only one frame carries STS information, the length of other frames can be shortened, the positioning function is realized, meanwhile, the receiving time and the sending time of the equipment can be saved, and the purpose of reducing the power consumption of the equipment can be achieved.

In another embodiment of the present application, an application scenario of bilateral two-way ranging is taken as an example for detailed description.

In this embodiment of the present application, the at least two frames may include three frames, specifically: a request Frame (Range Frame), a response Frame (Reply Frame), and an end Frame (Final Frame).

Here, it is assumed that neither the request frame nor the response frame carries STS information, and only the end frame carries STS information. Based on the four frame types defined in 802.15.4z, determining the preset frame type from the four frame types may include: and if the end frame carries STS information, determining that the end frame adopts a first frame type, and the request frame and the response frame adopt a zeroth frame type.

Specifically, the three frames are defined as follows,

(1) request frame: turn OFF STS function (STS OFF), Data Payload is 1 subbyte (Byte).

Ipatov Preamble

SFD

STS

PHR

Data Payload

When STS is OFF, the frame type is the zeroth frame type, as follows,

Ipatov Preamble

SFD

PHR

Data Payload

(2) and response frame: turn OFF STS function (STS OFF), Data Payload is 1 subbyte (Byte).

Ipatov Preamble

SFD

STS

PHR

Data Payload

When STS is OFF, the frame type is the zeroth frame type, as follows,

Ipatov Preamble

SFD

PHR

Data Payload

(3) and (4) ending the frame: the STS function (STS ON) is turned ON, and the Data Payload is 1+8 subbytes (Byte).

Ipatov Preamble

SFD

STS

PHR

Data Payload

When STS is ON, the frame type is the first frame type, as follows,

Ipatov Preamble

SFD

STS

PHR

Data Payload

in some embodiments, for the bilateral two-way ranging technique, refer to fig. 6, which shows a flowchart of a bilateral two-way ranging algorithm provided in an embodiment of the present application. As shown in fig. 6, the process may include:

s601: and acquiring a first receiving time after receiving the request frame sent by the positioned device.

S602: and acquiring a second sending time after the response frame is successfully sent to the positioned device.

S603: after receiving the end frame sent by the positioned device, acquiring a third receiving time; and analyzing the ending frame to obtain a first round-trip time and a second interval time.

It should be noted that the first receiving time may be denoted by RX _ Timestamp1, the second transmitting time may be denoted by TX _ Timestamp2, and the third receiving time may be denoted by RX _ Timestamp 3.

It should also be noted that the first round trip time and the second interval time are carried in the end frame. Here, the first round trip time may be denoted as round1, which is used to denote the time interval between the sending of the request frame and the receiving of the response frame by the located device; the second interval time may be represented by Treply2, which is used to indicate the time interval between the receiving of the response frame and the sending of the end frame by the located device.

S604: and determining a first interval time according to the difference value between the second sending time and the first receiving time.

S605: determining a second round trip time based on a difference between the third receive time and the second transmit time.

It should be noted that the first interval time may be denoted by Treply1, which is used to indicate a time interval between the positioning apparatus receiving the request frame and sending the response frame, as shown in the following formula,

Treply1＝TX_Timestamp2-RX_Timestamp1 (2)

it should also be noted that the second round trip time may be denoted as round2, which is used to indicate the time interval between the sending of the response frame and the receiving of the end frame by the positioning apparatus, as shown in the following formula,

Tround2＝RX_Timestamp3-TX_Timestamp2 (3)

s606: and calculating the first round-trip time, the second round-trip time, the first interval time and the second interval time by using a first calculation model to obtain the target flight time.

After the first round-trip time (Tround1), the second round-trip time (Tround2), the first interval time (Treply1), and the second interval time (Treply2) are obtained, the target flight time (T in terms of T) can be calculated by using the first calculation model_tofExpressed), the first calculation model is specifically expressed as follows,

s607: and multiplying the target flight time and a preset propagation speed to obtain a distance value between the positioning equipment and the positioned equipment.

It should be noted that c represents a preset propagation speed, that is, a propagation speed of the electromagnetic wave in the air; the Distance value is expressed by Distance, which is specifically calculated as shown in the following formula,

Distance＝T_tof×c (5)

in addition, since the end frame carries STS information, before the positioning device receives the end frame sent by the positioned device, the STS function is started, and the arrival phase difference between the positioning device and the positioned device can be obtained, so as to determine the angle value between the positioning device and the positioned device, thereby being capable of positioning (distance and angle) the positioned device by the positioning device.

Illustratively, the logic timing interaction of three frames, namely a request frame, a response frame and an end frame, will be described in detail below with reference to fig. 5 by taking a Host (smartphone) as a positioning device and a Client (electronic tag) as a positioned device as an example.

(a) The purpose of the embodiment of the application is to reduce the power consumption of the electronic tag and improve the service life of the electronic tag, and due to the characteristics of a UWB IC chip, the power consumption of the UWB IC chip in Receiving (RX) is far larger than that of Transmitting (TX). Therefore, in order to reduce the time for turning on the RX by the tag end as much as possible, before the ranging communication of the current round starts, the Host is in the RX state in advance, and waits for the TX sending request frame of the Client to initiate ranging; meanwhile, in order to reduce the TX time of the Client, the frame type of the request frame is only Data payload of Preamble + SFD + PHR +1byte, there is no STS at this time, and the Data payload of 1byte is used for identifying the frame as the request frame. After the Client successfully sends the request frame, the Client side can read TX _ Timestamp1 and control the UWB IC chip to enter an idle state, and after a first delay time (delay1) controlled precisely, the Client turns on RX of the UWB IC chip and listens for a response frame sent by Host.

(b) After receiving the request frame, the Host reads RX _ Timestamp1, enters an idle state, and after a second delay time (delay2) controlled precisely, sends a response frame, where the frame type of the response frame is Data payload with only Preamble + SFD + PHR +1byte, where there is no STS, and the Data payload with 1byte is used to identify the frame as a response frame.

(c) After receiving the response frame sent by the Host, the Client reads the RX _ Timestamp2 at this time, and calculates true 1 as RX _ Timestamp2-TX _ Timestamp 1; meanwhile, after a period of precisely controlled third delay time (delay3), the Client starts the STS function and sends an end frame, where the frame type of the end frame is Preamble + SFD + PHR +9byte Data payload, where the first byte of the Data payload is used to identify the frame as the end frame, the 2 nd to 5 th bytes are used to fill the value of Tround1, the 6 th to 9 th bytes are used to fill the value of Treply2, and here Treply2 (RX _ Timestamp2+ delay3+ antenna delay) -RX _ Timestamp2 (delay 3+ antenna delay).

(d) After the Host finishes sending the response frame, the idle state is entered, the state wakes up after a period of precisely controlled fourth delay time (delay4), the TX _ Timestamp2 of the last time of sending the response frame is read out, the STS function is started, the state enters the RX state to receive the ending frame, and when the Host successfully receives the Host, the RX _ Timestamp3 is read out, and the following operations are carried out:

(i) resolving Tround1 and Treply2 from Data payload of the end frame;

(ii) calculating Treply1 and Tround2 according to the formula (2) and the formula (3) respectively;

(iii) since the currently received end frame carries STS information, the UWB IC chip automatically calculates the PDOA value, and thus the PDOA value can be directly read.

(e) Calculating a Distance value (Distance) according to the formula (4) and the formula (5); and looking up a table through a preset table according to the value of PDOA to obtain a specific angle (AOA).

Thus, through the interaction of the three frames, the Host can position the Client (distance and angle) to the greatest extent of saving power consumption.

In another embodiment of the present application, if the requirement for the ranging accuracy is not high, a single-sided two-way ranging technique may be further used in the embodiment of the present application, and an application scenario of single-sided two-way ranging will be described in detail below as an example.

In this embodiment of the present application, the at least two frames may include two frames, specifically: a request Frame (Range Frame) and an end Frame (Final Frame).

Here, it is assumed that the request frame does not carry STS information, and only the end frame carries STS information. Based on the four frame types defined in 802.15.4z, determining the preset frame type from the four frame types may include: and if the end frame carries STS information, determining that the end frame adopts a first frame type and the request frame adopts a zeroth frame type.

Specifically, the three frames are defined as follows,

Ipatov Preamble

SFD

STS

PHR

Data Payload

When STS is OFF, the frame type is the zeroth frame type, as follows,

Ipatov Preamble

SFD

PHR

Data Payload

(2) and (4) ending the frame: the STS function (STS ON) is turned ON, and the Data Payload is 1+8 subbytes (Byte).

Ipatov Preamble

SFD

STS

PHR

Data Payload

When STS is ON, the frame type is the first frame type, as follows,

Ipatov Preamble

SFD

STS

PHR

Data Payload

in some embodiments, for the one-sided two-way ranging technique, refer to fig. 7, which shows a flowchart of a one-sided two-way ranging algorithm provided in an embodiment of the present application. As shown in fig. 7, the process may include:

s701: and acquiring unilateral transmission time after the request frame is successfully transmitted to the positioned equipment.

S702: acquiring unilateral receiving time after receiving the end frame sent by the positioned equipment; and analyzing the end frame to obtain unilateral interval time.

It should be noted that the single-side transmission time may be denoted by TX _ Timestamp, and the single-side reception time may be denoted by RX _ Timestamp.

It should be noted that the single-edge interval is carried in the end frame. Here, the unilateral interval time may be denoted by Treply, which is used to denote a time interval between the reception of the request frame and the transmission of the end frame by the located device.

S703: and determining the unilateral round trip time according to the difference between the unilateral receiving time and the unilateral sending time.

It should be noted that, a single-sided round trip time can be denoted by "round" and is used to indicate a time interval between the sending of the request frame and the receiving of the end frame by the positioning apparatus, as shown in the following formula,

Tround＝RX_Timestamp-TX_Timestamp (6)

s704: and calculating the unilateral round trip time and the unilateral interval time by utilizing a second calculation model to obtain the target flight time.

It should be noted that after obtaining the one-sided round trip time (round) and the one-sided interval time (Treply), the target flight time (using T) can be calculated by using the second calculation model_tofExpressed), the second calculation model is specifically expressed as follows,

s705: and multiplying the target flight time and a preset propagation speed to obtain a distance value between the positioning equipment and the positioned equipment.

It should be noted that c represents a preset propagation speed, that is, a propagation speed of the electromagnetic wave in the air; after the target time of flight is obtained, the Distance value (Distance) can still be calculated by using the above equation (5).

In the embodiment of the present application, taking a Host (smart phone) as a positioning device and a Client (electronic tag) as a positioned device as an example, the logic timing sequence interaction between two frames, namely a request frame and an end frame, can be seen in combination with fig. 4. The Host actively sends a request frame, and the request frame does not carry STS information; after a period of delay time elapses until a Client opens an RX at a certain time and receives a request frame, the Client opens an STS function and sends an end frame, where the end frame carries STS information and also carries a single-side interval time (value of Treply); then Host turns on the STS function and enters the RX state to receive the end frame. Here, the positioning function can be completed only by the interaction of two frames.

It should be further noted that, compared with the two-sided two-way ranging technique, in order to reduce the power consumption of the Client, the Host needs to actively send the request frame all the time, and the RX is turned on by the Client at a certain time, so that the interaction between the two frames can be completed.

The embodiment provides an apparatus positioning method, and the specific implementation of the foregoing embodiment is described in detail through the foregoing embodiment, from which it can be seen that, through the technical solution of the foregoing embodiment, the technical solution is used to complete ranging by defining a frame type and a logic time sequence of at least two frame interactions in a ranging process; meanwhile, only when the last frame is received and sent, the STS function is started to complete the calculation of the angle; namely, through the interaction of at least two frames, the power consumption of the Client is reduced while the positioning function is completed. In other words, according to the technical scheme, the problem that the Host locates the Client is solved, the time for the Client to turn on the TX and the RX is greatly shortened, the transceiving power consumption is reduced, the purpose of reducing the power consumption of equipment can be achieved, the service life of a battery of the located equipment (such as an electronic tag) is prolonged, and the competitiveness of a product is improved.

In yet another embodiment of the present application, referring to fig. 8, a schematic structural diagram of a device positioning apparatus 80 provided in the embodiment of the present application is shown. Wherein the device positioning means 80 may be integrated in the positioning device. As shown in fig. 8, the device positioning apparatus 80 may include: a determination unit 801 and a positioning unit 802; wherein the content of the first and second substances,

a determining unit 801 configured to determine at least two frames based on a preset frame type; wherein only one frame of the at least two frames carries STS information;

a determining unit 801, further configured to determine a distance value between the positioning device and the positioned device according to the transmission and reception of the at least two frames during a communication process with the positioned device; and determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information;

a positioning unit 802 configured to position the positioned device according to the distance value and the angle value.

In some embodiments, the at least two frames comprise a request frame, a response frame, and an end frame;

the determining unit 801 is specifically configured to determine a distance value between the positioning device and the positioned device by using a bilateral two-way ranging algorithm according to the transmission and reception of the at least two frames.

In some embodiments, the at least two frames comprise a request frame and an end frame;

the determining unit 801 is specifically configured to determine a distance value between the positioning device and the positioned device by using a one-sided two-way ranging algorithm according to the transmission and reception of the at least two frames.

In some embodiments, referring to fig. 8, the device-locating apparatus 80 may further include an obtaining unit 803 and a calculating unit 804; wherein the content of the first and second substances,

an obtaining unit 803, configured to obtain a first receiving time after receiving the request frame sent by the located device; and after the response frame is successfully sent to the positioned equipment, acquiring second sending time; and acquiring a third receiving time after receiving the end frame sent by the positioned device; analyzing the end frame to obtain a first round-trip time and a second interval time; wherein the first round trip time represents a time interval between the sending of the request frame and the receiving of the response frame by the located device, and the second interval time represents a time interval between the receiving of the response frame and the sending of the end frame by the located device;

a determining unit 801, further configured to determine a first interval time according to a difference between the second sending time and the first receiving time, where the first interval time represents a time interval between the receiving of the request frame and the sending of the response frame by the positioning device; and determining a second round trip time from a difference between the third receive time and the second transmit time, the second round trip time representing a time interval between the sending of the response frame and the receiving of the end frame by the positioning device;

a calculating unit 804, configured to calculate the first round trip time, the second round trip time, the first interval time, and the second interval time by using a first calculation model, so as to obtain a target flight time; and performing multiplication operation on the target flight time and a preset propagation speed to obtain a distance value between the positioning equipment and the positioned equipment.

In some embodiments, the obtaining unit 803 is further configured to obtain the one-sided transmission time after the request frame is successfully transmitted to the located device; after receiving the end frame sent by the positioned equipment, acquiring unilateral receiving time; analyzing the end frame to obtain unilateral interval time; wherein the unilateral interval time represents a time interval between the reception of the request frame and the transmission of the end frame by the positioned device;

a determining unit 801, further configured to determine a single-sided round trip time according to a difference between the single-sided receiving time and the single-sided transmitting time, where the single-sided round trip time represents a time interval between the positioning device transmitting the request frame and receiving the end frame;

the calculating unit 804 is further configured to calculate the single-sided round trip time and the single-sided interval time by using a second calculation model to obtain a target flight time; and multiplying the target flight time and a preset propagation speed to obtain a distance value between the positioning equipment and the positioned equipment.

In some embodiments, referring to fig. 8, the device locating apparatus 80 may further include a starting unit 805 configured to, when the end frame carries STS information, start an STS function before receiving the end frame sent by the located device, so as to obtain an arrival phase difference value between the located device and the located device.

In some embodiments, referring to fig. 8, the device-locating apparatus 80 may further include a querying element 806; wherein the content of the first and second substances,

an obtaining unit 803, further configured to obtain an arrival phase difference value between the positioning apparatus and the positioned apparatus when receiving the end frame;

a querying unit 806, configured to query an arrival angle value corresponding to the arrival phase difference value from a preset table, and determine the queried arrival angle value as an angle value between the positioning device and the positioned device; the preset table is used for representing the corresponding relation between the arrival phase difference value and the arrival angle value.

In some embodiments, the obtaining unit 803 is further configured to obtain four frame types defined in a preset protocol;

the determining unit 801 is further configured to determine the preset frame type from the four frame types.

In some embodiments, the four frame types include a zeroth frame type, a first frame type, a second frame type, and a third frame type; the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries timeslot information, and the third frame type carries only STS information and does not carry data information.

In some embodiments, the determining unit 801 is further configured to, when the at least two frames include a request frame, a response frame, and an end frame, determine that the end frame adopts the first frame type if the end frame carries STS information, and determine that the request frame and the response frame adopt the zeroth frame type.

In some embodiments, the determining unit 801 is further configured to, when the at least two frames include a request frame and an end frame, determine that the end frame adopts the first frame type and the request frame adopts the zeroth frame type if the end frame carries STS information.

It is understood that in this embodiment, a "unit" may be a part of a circuit, a part of a processor, a part of a program or software, etc., and may also be a module, or may also be non-modular. Moreover, each component in the embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware or a form of a software functional module.

Based on the understanding that the technical solution of the present embodiment essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method of the present embodiment. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Accordingly, the present embodiments provide a computer storage medium storing a computer program which, when executed by at least one processor, performs the steps of the method of any of the preceding embodiments.

Based on the above-mentioned components of the device positioning apparatus 80 and the computer storage medium, refer to fig. 9, which shows a specific hardware structure diagram of the positioning device 90 provided in the embodiment of the present application. As shown in fig. 9, may include: a communication interface 901, a memory 902, and a processor 903; the various components are coupled together by a bus system 904. It is understood that the bus system 904 is used to enable communications among the components. The bus system 904 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration the various buses are labeled as bus system 904 in figure 9. The communication interface 901 is used for receiving and sending signals in the process of receiving and sending information with other external network elements;

a memory 902 for storing a computer program operable on the processor 903;

a processor 903 for executing, when running the computer program, the following:

determining at least two frames based on a preset frame type; wherein only one frame of the at least two frames carries encryption time stamp sequence STS information;

It will be appreciated that the memory 902 in the subject embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (ddr Data Rate SDRAM, ddr SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous chained SDRAM (Synchronous link DRAM, SLDRAM), and Direct memory bus RAM (DRRAM). The memory 902 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

And the processor 903 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 903. The Processor 903 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 902, and the processor 903 reads information in the memory 902 and performs the steps of the above method in combination with hardware thereof.

It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.

For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.

Optionally, as another embodiment, the processor 903 is further configured to execute the steps of the method of any one of the preceding embodiments when running the computer program.

Referring to fig. 10, a schematic structural diagram of a positioning system provided in an embodiment of the present application is shown. As shown in fig. 10, the positioning system 100 may include at least a positioned device 1001 and a positioning device 1002. The positioning device 1002 may be the positioning device 90 described in the foregoing embodiment, or may be a device integrated with the device positioning apparatus 80 described in the foregoing embodiment.

In this embodiment of the present application, the positioning device 1002 may implement positioning of the positioned device 1001, and since only one frame carries the STS information, the length of other frames may be shortened, thereby implementing the positioning function, saving the receiving time and sending time of the device, and achieving the purpose of reducing the power consumption of the device.

It should be noted that, in the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.

Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.

The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A device positioning method is applied to positioning devices, and the method comprises the following steps:

2. The method of claim 1, wherein the at least two frames comprise a request frame, a response frame, and an end frame, and wherein determining the distance value between the positioning device and the positioned device based on the transmission and reception of the at least two frames comprises:

3. The method of claim 1, wherein the at least two frames comprise a request frame and an end frame, and wherein determining the distance value between the positioning device and the positioned device based on the transmission and reception of the at least two frames comprises:

determining a distance value between the positioning device and the positioned device by using a one-sided two-way ranging algorithm according to the transmission and reception of the at least two frames.

4. The method of claim 2, wherein determining the distance value between the positioning device and the positioned device using a bilateral two-way ranging algorithm based on the transmission and reception of the at least two frames comprises:

after receiving the request frame sent by the positioned equipment, acquiring first receiving time;

after the response frame is successfully sent to the positioned device, acquiring second sending time;

after receiving the end frame sent by the positioned device, acquiring a third receiving time; analyzing the end frame to obtain a first round-trip time and a second interval time; wherein the first round trip time represents a time interval between the sending of the request frame and the receiving of the response frame by the located device, and the second interval time represents a time interval between the receiving of the response frame and the sending of the end frame by the located device;

determining a first interval time representing a time interval between the reception of the request frame and the transmission of the response frame by the positioning device, based on a difference between the second transmission time and the first reception time;

determining a second round trip time from a difference between the third receive time and the second transmit time, the second round trip time representing a time interval between the sending of the response frame and the receiving of the end frame by the positioning device;

calculating the first round trip time, the second round trip time, the first interval time and the second interval time by using a first calculation model to obtain target flight time;

and multiplying the target flight time and a preset propagation speed to obtain a distance value between the positioning equipment and the positioned equipment.

5. The method of claim 3, wherein determining the distance value between the positioning device and the positioned device using a one-sided two-way ranging algorithm based on the transmission and reception of the at least two frames comprises:

acquiring unilateral sending time after the request frame is successfully sent to the positioned equipment;

acquiring unilateral receiving time after receiving the end frame sent by the positioned equipment; analyzing the end frame to obtain unilateral interval time; wherein the unilateral interval time represents a time interval between the reception of the request frame and the transmission of the end frame by the positioned device;

determining a one-sided round trip time according to a difference between the one-sided receiving time and the one-sided transmitting time, wherein the one-sided round trip time represents a time interval between the sending of the request frame and the receiving of the end frame by the positioning device;

calculating the unilateral round trip time and the unilateral interval time by using a second calculation model to obtain target flight time;

6. The method according to claim 4 or 5, wherein when the end frame carries STS information, before the receiving the end frame sent by the positioned device, the method further comprises:

the STS function is turned on to obtain an arrival phase difference value between the locating device and the located device.

7. The method as claimed in claim 6, wherein said determining an angle value between the positioning device and the positioned device upon receiving the frame carrying STS information comprises:

inquiring an arrival angle value corresponding to the arrival phase difference value from a preset table, and determining the inquired arrival angle value as an angle value between the positioning equipment and the positioned equipment;

the preset table is used for representing the corresponding relation between the arrival phase difference value and the arrival angle value.

8. The method of claim 1, further comprising:

acquiring four frame types defined in a preset protocol;

and determining the preset frame type from the four frame types.

9. The method of claim 8, wherein the four frame types comprise a zeroth frame type, a first frame type, a second frame type, and a third frame type; the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries timeslot information, and the third frame type carries only STS information and does not carry data information.

10. The method of claim 9, wherein when the at least two frames include a request frame, a response frame, and an end frame, the determining the preset frame type from among the four frame types comprises:

and if the end frame carries STS information, determining that the end frame adopts the first frame type, and the request frame and the response frame adopt the zeroth frame type.

11. The method of claim 9, wherein when the at least two frames include a request frame and an end frame, the determining the preset frame type from the four frame types comprises:

and if the end frame carries STS information, determining that the end frame adopts the first frame type and the request frame adopts the zeroth frame type.

12. The equipment positioning device is applied to positioning equipment and comprises a determining unit and a positioning unit; wherein the content of the first and second substances,

13. A positioning device, characterized in that the positioning device comprises a memory and a processor; wherein the content of the first and second substances,

the memory for storing a computer program operable on the processor;

the processor, when running the computer program, is configured to perform the method of any of claims 1 to 11.

14. A computer storage medium, characterized in that the computer storage medium stores a computer program which, when executed by at least one processor, implements the method of any one of claims 1 to 11.

15. A positioning system, characterized in that it comprises at least a positioning device and a positioning device according to claim 13.