CN114675256A - Positioning method, apparatus, system, terminal, storage medium and program product - Google Patents

Abstract

The present application relates to a positioning method, apparatus, system, terminal, storage medium and program product. The method is applied to a positioning system, the positioning system includes a first terminal and a second terminal, and the first terminal and the second terminal are used for simultaneous transmission and reception of positioning signals, and the method includes: acquiring a target receiving If the first positioning signal is the target positioning signal transmitted by the target transmitter, then according to the transmission information of the first positioning signal transmitted by the target transmitter and received by the target receiver Perform positioning processing on the received information of the first positioning signal to obtain the relative positional relationship between the first terminal and the second terminal; wherein, the target receiving end is the first terminal and the second terminal. One of the second terminals, and the target sender is the other of the first terminal and the second terminal. Using this method can improve the accuracy of terminal positioning.

Description

Positioning method, apparatus, system, terminal, storage medium and program product

technical field

The present application relates to the technical field of terminal positioning, and in particular, to a positioning method, apparatus, system, terminal, storage medium and program product.

Background technique

With the rapid development of terminal positioning technology, how to improve the accuracy of terminal positioning is becoming more and more important.

In the related art, when terminal positioning is required, one of the multiple terminals transmits a positioning signal, and another of the multiple terminals receives the positioning signal, thereby determining the relative positional relationship between the terminals.

However, if one of the multiple terminals receiving the positioning signal is interfered, the accuracy of the terminal positioning will be low.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a positioning method, apparatus, system, terminal, storage medium and program product, which can improve the accuracy of terminal positioning.

A positioning method, applied to a positioning system, wherein the positioning system includes a first terminal and a second terminal, the first terminal and the second terminal are used for simultaneous transmission and reception of positioning signals, and the method includes:

obtaining the first positioning signal received by the target receiver;

If the first positioning signal is the target positioning signal transmitted by the target transmitter, then according to the transmission information of the first positioning signal transmitted by the target transmitter and the reception of the first positioning signal received by the target receiver performing positioning processing on the information to obtain the relative positional relationship between the first terminal and the second terminal;

The target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other one of the first terminal and the second terminal.

A positioning device is applied to a positioning system, the positioning system includes a first terminal and a second terminal, the first terminal and the second terminal are used for simultaneous transmission and reception of positioning signals, and the device includes:

a signal acquisition module, used for acquiring the first positioning signal received by the target receiver;

The positioning processing module is configured to, if the first positioning signal is a target positioning signal transmitted by a target transmitter, according to the transmission information of the first positioning signal transmitted by the target transmitter and the reception of the target receiver by the target transmitter Perform positioning processing on the received information of the first positioning signal to obtain the relative positional relationship between the first terminal and the second terminal;

The target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other one of the first terminal and the second terminal.

A terminal includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the above method.

A positioning system, comprising a first terminal and a second terminal, the first terminal and the second terminal are used for simultaneous transmission and reception of positioning signals, and the first positioning signal received at a target receiving end is used as a target to transmit In the case of the target positioning signal transmitted by the target transmitter, the positioning process is performed according to the transmission information of the first positioning signal transmitted by the target transmitter and the reception information of the first positioning signal received by the target receiver, so as to obtain the target positioning signal. the relative positional relationship between the first terminal and the second terminal;

The target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other one of the first terminal and the second terminal.

A computer-readable storage medium having a computer program stored thereon, the computer program implementing the steps of the above-described method when executed by a processor.

A computer program product comprising a computer program that, when executed by a processor, implements the steps of the above-described method.

The above-mentioned positioning method, device, system, terminal, storage medium and program product, the positioning method is applied to a positioning system, and the positioning system includes a first terminal and a second terminal, and the first terminal and the second terminal are used for At the same time, the sending and receiving processing of the positioning signal is performed, and the method includes: obtaining a first positioning signal received by the target receiving end; The transmission information of the first positioning signal and the reception information of the first positioning signal received by the target receiving terminal are subjected to positioning processing to obtain the relative positional relationship between the first terminal and the second terminal; The target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other one of the first terminal and the second terminal. Since the first terminal and the second terminal simultaneously perform the sending and receiving processing of the positioning signal, if either of the first terminal and the second terminal receives the positioning signal transmitted by the other, the positioning processing can be performed to obtain the first terminal and the second terminal. The relative positional relationship between them solves the technical problem in the related art that if the party receiving the positioning signal among the multiple terminals is interfered, the accuracy of the terminal positioning will be low, and the technical effect of improving the accuracy of the terminal positioning is achieved. .

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 is a schematic diagram of an application environment of a positioning method provided by an embodiment of the present application;

2 is a schematic flowchart of a positioning method provided by an embodiment of the present application;

3 is a schematic flowchart of another positioning method provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of determining a target signal feature according to an embodiment of the present application;

FIG. 5 is a schematic flowchart of another positioning method provided by an embodiment of the present application;

6 is a schematic structural diagram of a positioning device according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a terminal according to an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of an application environment of a positioning method provided by an embodiment of the present application. As shown in FIG. 1 , the application environment includes a first terminal 110 and a second terminal 120 .

In the related art, the first terminal 110 transmits the positioning signal, and the second terminal 120 receives the positioning signal, thereby identifying the relative positional relationship between the first terminal 110 and the second terminal 120 . However, if the second terminal 120 is interfered, the second terminal 120 will receive a positioning signal transmitted by a non-matching third terminal, or even fail to receive the positioning signal, which will affect the accuracy of terminal positioning.

Take the first terminal 110 as a wearable display device and the second terminal 120 as a control handle for illustration.

Among them, the wearable display device is used for visual display as a medium for the user to interact with the virtual display. The control handle is a supporting product with the wearable display device, which is used to receive the user's touch control information. The user inputs the touch control information through the handheld control handle, and the virtual display displayed by the wearable display device changes correspondingly.

Specifically, the wearable display device can transmit a positioning signal to the handheld control handle, and the control handle can receive the positioning signal transmitted by the wearable display device, so as to transmit the transmission information of the positioning signal according to the wearable display device, and the control handle receives the wearable display device. The receiving information of the positioning signal transmitted by the device can determine the relative positional relationship between the wearable display device and the control handle, so as to determine the touch control information of the user holding the control handle, so that the virtual display displayed by the wearable display device corresponds to the corresponding occurrence. Change.

Exemplarily, the ultrasonic wave is used as the positioning signal for illustration. Generally, there are three ultrasonic receiving sensors on the wearable display device, and six ultrasonic receiving sensors and three receiving sensors on the control handle, corresponding to the front, left and right sides of 120 degrees respectively to achieve 360 degree coverage ;Six receiving sensors, respectively distributed around the handle, to ensure that more than 4 receiving sensors can be within the angular coverage of receiving sensors at any angle; ultrasonic positioning principle, single-point transmission, four-point receiving, through sound waves in The time of flight in space is used to calculate the distance between the single point of sine wave transmission and the four receiving points, and then the angle of the relative position and the relative spatial distance are calculated, so that the wearable helmet can display the spatial orientation and motion trajectory of the corresponding control handle. tracking.

However, if wearable display devices and controllers are used in scenarios such as storefronts, multi-person gatherings, and large-scale on-site immersive experiences such as exhibitions, other wearable display devices and other products of the same type as controllers are too concentrated. The control handle is interfered, and it is impossible to determine whether the positioning signal received by the control handle is sent by the supporting wearable display device or other non-supporting wearable display devices. The identification of the relative positional relationship between them is not accurate enough, thereby reducing the user's experience of the virtual display.

Therefore, the embodiments of the present application provide a positioning method, apparatus, system, terminal, storage medium and program product, so as to improve the accuracy of terminal positioning.

It should be noted that the steps of the positioning method provided in this embodiment may be executed by the first terminal 110 or the second terminal 120, or may be executed by a control terminal connected to the first terminal 110 and the second terminal 120. This embodiment Examples are not limited.

Referring to FIG. 2 , FIG. 2 is a schematic flowchart of a positioning method according to an embodiment of the present application. The application of this method to the positioning system in FIG. 1 will be described. As shown in Figure 2, the positioning method includes:

Step 210: Acquire the first positioning signal received by the target receiving end.

The target receiving end may be one of the first terminal and the second terminal. The first positioning signal refers to the positioning signal received by the target receiving end. Specifically, the first positioning signal may be a positioning signal transmitted by a target transmitting terminal matched with the target receiving terminal, or may be a positioning signal transmitted by a non-matching third terminal, which is related to the actual signal reception situation, which is not limited in this embodiment. The target transmitting end is the other of the first terminal and the second terminal. If the first terminal is the target receiver, the second terminal is the target transmitter; if the second terminal is the target receiver, the first terminal is the target transmitter. Optionally, either one of the first terminal and the second terminal in this embodiment may serve as the target receiving end. Similarly, either the first terminal or the second terminal can be used as the target transmitter.

In this embodiment, the first terminal and the second terminal are used to simultaneously perform transmission and reception processing of positioning signals. Specifically, the first terminal has the ability to transmit the positioning signal and the ability to receive the positioning signal; the second terminal also has the ability to transmit the positioning signal and the ability to receive the positioning signal. The first terminal and the second terminal are used to transmit and receive positioning signals at the same time, which means that at the same time, the first terminal and the second terminal transmit positioning signals to each other at the same time, and the first terminal and the second terminal are also waiting to receive. The positioning signal transmitted by the other party.

Step 220: Determine whether the first positioning signal is a target positioning signal transmitted by the target transmitting end.

In this embodiment, if yes, step 230 is executed.

Step 230: Perform positioning processing according to the transmission information of the first positioning signal transmitted by the target transmitter and the reception information of the first positioning signal received by the target receiver, so as to obtain the first terminal and the first positioning signal. The relative positional relationship between the second terminals.

The relative positional relationship may include, but is not limited to, a distance relationship, an angular relationship, and the like, which is not limited in this embodiment. Optionally, the transmission information includes but is not limited to at least one of transmission intensity and transmission time. Correspondingly, the reception information includes but is not limited to at least one of reception strength and reception time. Optionally, the transmission intensity may be determined by the power of the positioning signal transmitted by the target transmitting end.

In this embodiment, if the first positioning signal is a target positioning signal transmitted by the target transmitter, the process is performed according to the transmission information of the first positioning signal transmitted by the target transmitter and the reception information of the first positioning signal received by the target receiver. The positioning process is performed to obtain the relative positional relationship between the first terminal and the second terminal.

Optionally, the transmission information may include, but is not limited to, transmission intensity and transmission time. The reception information may include, but is not limited to, reception strength and reception time.

In the technical solution of this embodiment, since the first terminal and the second terminal simultaneously perform the receiving and sending processing of the positioning signal, if either of the first terminal and the second terminal receives the positioning signal transmitted by the other side, it can perform the positioning processing to obtain The relative positional relationship between the first terminal and the second terminal, even if one of them is interfered, will not affect the identification of the relative positional relationship between the first terminal and the second terminal, which improves the technical effect of improving the accuracy of terminal positioning .

It should be noted that, only the first positioning signal received by one of the first terminal and the second terminal may be acquired. If the obtained first positioning signal received by the other party is transmitted by the other party, the positioning processing is performed directly; if the first positioning signal received by the obtained party is the positioning signal transmitted by the third terminal, then the first positioning signal received by the other party is obtained. A positioning signal to perform positioning processing.

In addition, the positioning signals received by the first terminal and the second terminal may also be acquired simultaneously. If one of the parties receives the first positioning signal transmitted by the other party, the positioning process is performed based on the reception information of the first positioning signal transmitted by the other party and the transmission information of the first positioning signal transmitted by the other party. If both parties receive the first positioning signal transmitted by the other party, according to the first transmission information of the first positioning signal transmitted by the first terminal, the first reception information of the first positioning signal received by the second terminal, and the first transmission information of the second terminal transmitted by the second terminal. The second transmission information of a positioning signal and the second reception information of the first positioning signal received by the first terminal perform positioning processing.

It can be understood that, if both parties receive the first positioning signal transmitted by the other party, according to the first transmission information of the first positioning signal transmitted by the first terminal, the first reception information of the first positioning signal received by the second terminal, and the first positioning signal received by the second terminal. The second terminal transmits the second transmission information of the first positioning signal and the first terminal receives the second reception information of the first positioning signal to perform positioning processing. Since there is more information for positioning processing, the terminal positioning result is also more accurate.

In a possible implementation, if there are multiple first positioning signals received by the target receiving end, it is determined whether each received first positioning signal is a target positioning signal; The transmission information of the positioning signal and the reception information of the target receiving end receiving the target positioning signal are used for positioning processing.

In a possible implementation manner, judging whether the first positioning signal is the target positioning signal transmitted by the target transmitting end includes:

identifying a first signal characteristic of the first positioning signal;

If the first signal characteristic is consistent with the target signal characteristic corresponding to the target positioning signal, the first positioning signal is the target positioning signal transmitted by the target transmitting end.

The first signal feature refers to the feature of the first positioning signal. Optionally, the first signal characteristic may be a channel occupied by the first positioning signal, and may also be a receiving interval of the first positioning signal, which is not limited in this embodiment. The target signal feature refers to the feature of the target positioning signal. Correspondingly, the target signal characteristic may be the channel occupied by the target positioning signal, or may be the transmission interval time of the target positioning signal.

In this embodiment, if the first signal characteristic is consistent with the target signal characteristic, it can be determined that the first positioning signal is the target positioning signal transmitted by the target transmitting end.

Referring to FIG. 3 , FIG. 3 is a schematic flowchart of another positioning method provided by an embodiment of the present application. This embodiment is applicable to the case where the first terminal and the second terminal are respectively controlled to transmit the positioning signal. In one embodiment, as shown in Figure 3, the positioning method includes:

Step 310: Acquire second signal characteristics of each second positioning signal, where the second positioning signal includes the first terminal monitored within the preset range of the first terminal and/or within the preset range of the second terminal. The positioning signal transmitted by the three terminals.

Wherein, the third terminal refers to a terminal capable of transmitting a positioning signal but not matched with the first terminal and the second terminal. It should be noted that the third terminal does not refer to a specific terminal. All terminals that are not matched with the first terminal and the third terminal and can transmit positioning signals to cause interference to the first terminal and the second terminal may be regarded as the third terminal. The second positioning signal refers to the monitored positioning signal transmitted by the third terminal. Specifically, the second positioning signal may be regarded as an interference signal for the first terminal and the second terminal.

In this embodiment, only the positioning signal transmitted by the third terminal within the preset range of the first terminal may be monitored, or the positioning signal transmitted by the third terminal within the preset range of the second terminal may be monitored, or It is to simultaneously monitor the positioning signals transmitted by the third terminal within the preset range of the first terminal and within the preset range of the second terminal, which is not limited in this embodiment.

Optionally, the positioning signal transmitted by the third terminal may be monitored by receiving sensors provided on the first terminal and the second terminal. The size of the preset range may depend on the range that the receiving sensor can monitor.

It should be noted that the positioning signal transmitted by the third terminal can be monitored when the first terminal and the second terminal are in a standby state; for example, the monitoring signal transmitted by the third terminal can be monitored when the first terminal and the second terminal are powered on or after the initialization is completed. positioning signal. In addition, it is also possible to monitor the positioning signal transmitted by the third terminal when the first terminal and the second terminal are in a working state, which is not limited in this embodiment.

Step 320: Determine the target signal feature according to the second signal feature of each second positioning signal.

In this embodiment, the target signal feature is used to indicate that the interference of the positioning signal interacted between the first terminal and the second terminal is reduced.

Step 330: Control the first terminal and the second terminal respectively to transmit a positioning signal according to the characteristics of the target signal.

In this embodiment, the first terminal and the second terminal are respectively controlled to transmit the positioning signal according to the characteristics of the target signal, so that the signal characteristics of the target positioning signal transmitted by the first terminal and the second terminal are consistent with the characteristics of the target signal.

Optionally, the target signal feature in this embodiment may include, but is not limited to, at least one of a channel occupied by the target positioning signal and a transmission interval time of the target positioning signal.

It should be noted that if the target signal characteristic is the transmission interval, the frequency of the signals transmitted by the first terminal and the second terminal can be adjusted by adjusting the duty cycle of the signal transmission, so that the positioning of the transmission by the first terminal and the second terminal can be achieved. The signal characteristics of the signal are presented as the target signal characteristics.

Step 340: Acquire the first positioning signal received by the target receiving end.

Step 350: Identify the first signal feature of the first positioning signal.

Step 360: Determine whether the first signal feature is consistent with the target signal feature.

In this embodiment, if yes, step 370 is executed.

Step 370: Perform positioning processing according to the transmission information of the first positioning signal transmitted by the target transmitter and the reception information of the first positioning signal received by the target receiver to obtain the first terminal and the first positioning signal. The relative positional relationship between the second terminals.

In this embodiment, if the first signal characteristic of the first positioning signal is consistent with the target signal characteristic of the target positioning signal, then according to the transmission information of the first positioning signal transmitted by the target transmitter and the data of the target receiver receiving the first positioning signal Receive information for positioning processing.

In some exemplary cases, the signal characteristics of the targeting signal are fixed. However, the signal characteristics of the target positioning signal are fixed. If the third terminal around the first terminal and the second terminal are products of the same type, the third terminal will also transmit the positioning signal with the same signal characteristics. It is impossible to know whether the first positioning signal received by one of the two terminals is transmitted by the other side of the matching terminal or transmitted by a third terminal of the same type of product that is not matched, thereby reducing the accuracy of terminal positioning.

In the technical solution of this embodiment, the second positioning signal transmitted by the third terminal within the preset range of the first terminal and/or the preset range of the second terminal is monitored, and then the second positioning signal is determined according to the second signal characteristic of the second positioning signal. The target signal characteristics are obtained, thereby controlling the first terminal and the second terminal to transmit the positioning signal according to the target signal characteristics. Since the target signal characteristics are determined according to the signal characteristics of the interference signals around the first terminal and/or the second terminal, it is determined that The characteristic of the target signal can make the target positioning signal and the interference signal sent between the first terminal and the second terminal as different as possible, so as to make the interference between the first terminal and the second terminal as small as possible, and further improve the positioning accuracy.

The following embodiments further describe how to determine the characteristics of the target signal on the basis of any of the above-mentioned embodiments.

Referring to FIG. 4 , FIG. 4 is a schematic flowchart of determining a feature of a target signal according to an embodiment of the present application. In one embodiment, the second signal characteristic includes a channel occupied by the second positioning signal, and the channel occupied by the second positioning signal is one of a plurality of preset channels. As shown in FIG. 4 , according to each second positioning signal The second signal characteristics of determine the target signal characteristics, including:

Step 410: Determine candidate channels among multiple preset channels according to the channels occupied by each second positioning signal, where the number of second positioning signals in the candidate channels is less than or equal to the second positioning signal in any one of the preset channels. number of signals.

In this embodiment, it is exemplarily assumed that the plurality of preset channels include channel 1, channel 2, and channel 3. If the number of second positioning signals in channel 1 < the number of second positioning signals in channel 2 < the number of second positioning signals in channel 3, then channel 1 is a candidate channel; if the number of second positioning signals in channel 1 = the number of second positioning signals in channel 2 < the number of second positioning signals in channel 3, then channel 1 and channel 2 are candidate channels.

It should be noted that the frequency band of the preset channel can be set as required. For example, the frequency band of channel 1 is 1MHz (Hertz)-1.5MHz; the frequency band of channel 2 is 1.5MHz (Hertz)-2MHz; the frequency band of channel 3 is 2MHz (Hertz)-2.5MHz, here for the specific number of preset channels And the frequency band interval of the preset channel is not specifically limited.

In a possible implementation manner, before determining a candidate channel among the multiple preset channels according to the channel occupied by each second positioning signal, the method includes:

Obtain the signal frequency of each first positioning signal and the channel frequency band corresponding to each preset channel, and the channel frequency bands between any two preset channels do not overlap each other; according to the channel frequency band matched by the signal frequency of each first positioning signal, determine Channel occupied by each first positioning signal.

In this embodiment, it is exemplarily assumed that the multiple preset channels include channel 1, channel 2, and channel 3, and multiple second positioning signals, which are signal A, signal B, and signal C, are monitored. The frequency band of channel 1 is 1MHz (Hertz)-1.5MHz; the frequency band of channel 2 is 1.5MHz (Hertz)-2MHz; the frequency band of channel 3 is 2MHz (Hertz)-2.5MHz. If the frequency of signal A is 1.3MHz, then signal A occupies channel 1; if the frequency of signal B is 1.8MHz, then signal B occupies channel 2; if the frequency of signal C is 2.2MHz, then signal C occupies channel 3.

Step 420: Select one of the candidate channels as the target channel occupied by the target positioning signal, where the target channel is one of the characteristics of the target signal.

In this embodiment, one of the candidate channels may be used as the target channel occupied by the target positioning signal. For example, if the candidate channel includes channel 1, channel 1 is used as the target channel; if the candidate channel includes channel 1 and channel 2, one of channel 1 and channel 2 is used as the target channel.

It can be understood that, by selecting the channel with the least number of interference signals as the signal characteristic of the target positioning signal for positioning between the first terminal and the second terminal, the number of interference signals in the channel occupied by the target positioning signal is the least, The possibility of being interfered can be kept as low as possible, thereby improving the accuracy of terminal positioning.

In a possible implementation manner, the selecting one of the candidate channels as the target channel occupied by the target positioning signal includes:

If the number of second positioning signals in the candidate channels is zero, any one of the candidate channels is selected as the target channel.

In this embodiment, if the number of second positioning signals in the candidate channels is zero, no matter the number of candidate channels, the interference of each candidate channel is almost non-existent, and any one of the candidate channels is as the target channel.

In a possible implementation manner, if the number of candidate channels is one, the candidate channel may be used as the target channel.

In a possible implementation manner, the selecting one of the candidate channels as the target channel occupied by the target positioning signal includes:

If there are multiple candidate channels and the number of second positioning signals in the candidate channels is greater than zero, select one of the candidate channels as the signal strength of each second positioning signal in the candidate channels the target channel.

Wherein, the average signal strength of the second positioning signal in the target channel is less than or equal to the average signal strength of the second positioning signal in any candidate channel; and/or each second positioning signal in the target channel The signal strength of is less than or equal to the signal strength of each second positioning signal in any candidate channel.

In this embodiment, if there are multiple candidate channels and the number of second positioning signals in the candidate channels is greater than zero, in order to minimize the interference, the signal strength of each second positioning signal in each candidate channel needs to be determined according to the signal strength of each second positioning signal in each candidate channel. One of the candidate channels is selected as the target channel.

Optionally, the signal strength of each second positioning signal in each candidate channel may be detected first, and then the average signal strength of all second positioning signals in each candidate channel may be determined, so that the candidate channel with the smallest signal average value is selected as the target. channel.

In addition, it can also be determined whether there is a preset candidate channel whose maximum signal strength is lower than the minimum signal strength of other candidate channels. If there is, it means that the signal strength of the interference signal of the preset candidate channel is the smallest. The candidate channel is used as the target channel. If the preset candidate channel does not exist, then determine the average value of the signal strengths of all the second positioning signals in each candidate channel, so as to select the candidate channel with the smallest signal average value as the target channel.

In a possible implementation manner, the second signal characteristic includes a monitoring interval time, and the monitoring interval time is the interval time between two consecutive monitoring of the same second positioning signal, and the target signal characteristic is determined according to the second signal characteristic of each second positioning signal ,include:

The signal transmission interval time of the target positioning signal is determined according to the monitoring interval time of each second positioning signal, the signal transmission interval time is different from the monitoring interval time, and the signal transmission interval is an item of the characteristics of the target signal .

In this embodiment, the signal transmission interval time of the target positioning signal is distinguished from the monitoring interval time, and whether the first positioning signal is the target positioning signal can be determined according to the reception interval time of the received first positioning signal. Specifically, if the reception interval between the current reception of the first positioning signal and the last reception of the target positioning signal is the determined signal transmission interval, it can be determined that the first positioning signal is the target positioning signal.

Exemplarily, the target transmitter sends a positioning signal every 10us. If the interval between the first positioning signal received by the target receiver and the last time the target positioning signal is received is 10us, then it can be determined that the first positioning signal is The target positioning signal transmitted by the target transmitting end is used for positioning processing.

Optionally, the signal transmission interval time may be set to be smaller than the monitoring interval time. Therefore, accurate positioning can be ensured, and the relative positional relationship between the first terminal and the second terminal can also be updated in time.

It should be noted that the determination of the same second positioning signal may be determined by the frequency of the second positioning signal, and if two second positioning signals with the same frequency are received, it may be regarded as the same second positioning signal. In addition, it can also be determined by the channel occupied by the second positioning signal. For example, two second positioning signals occupying the same channel can be considered to be the same second positioning signal, as long as it can be determined by a specific marker feature. The same second positioning signal is sufficient, and this embodiment does not limit the manner of how to determine whether it is the same second positioning signal.

In a possible implementation, the target signal characteristics include target channel and signal transmission interval time.

In this embodiment, the first positioning signal may be regarded as a target positioning signal only when all the first signal characteristics of the first positioning signal satisfy the corresponding target signal characteristics. Specifically, when the channel occupied by the first positioning signal is the target channel, and the reception interval of the first positioning signal is the same as the signal transmission interval, the first positioning signal is the target positioning signal. In addition, it may also be that one of the signal characteristics of the first positioning signal satisfies the corresponding target signal characteristics, which is not limited in this embodiment.

Referring to FIG. 5 , FIG. 5 is a schematic flowchart of another positioning method provided by an embodiment of the present application. As shown in Figure 5, the positioning method includes:

Step 501: The first terminal performs initialization, and monitors a second positioning signal within a preset range of the first terminal after the initialization is completed.

Step 502 , the second terminal is initialized synchronously with the first terminal, and after the initialization is completed, a second positioning signal within a preset range of the second terminal is monitored.

Step 503: The control terminal acquires second signal characteristics of each second positioning signal.

Step 504: Determine the target signal feature according to the second signal feature of each second positioning signal.

Step 505 , respectively control the first terminal and the second terminal to transmit a positioning signal according to the characteristics of the target signal.

Step 506, the first terminal receives the first positioning signal;

Step 507: Determine whether the first signal feature of the first positioning signal received by the first terminal is the target signal feature.

In this step, if yes, step 508 is executed.

Step 508: Perform positioning processing according to the reception information of the first positioning signal received by the first terminal and the transmission information of the first positioning signal transmitted by the second terminal.

Step 509, the second terminal receives the first positioning signal;

Step 510: Determine whether the first signal feature of the first positioning signal received by the second terminal is the target signal feature.

In this step, if yes, step 511 is executed.

Step 511: Perform positioning processing according to the reception information of the first positioning signal received by the second terminal and the transmission information of the first positioning signal transmitted by the first terminal.

It can be understood that, in this embodiment, after the control terminal determines the characteristics of the target signal, the characteristics of the target signal are not changed, and the first terminal and the second terminal transmit the positioning signal according to the characteristics of the target signal. At the same time, if the first terminal and the second terminal receive the first positioning signal, the first positioning signal is sent to the control terminal, and the control terminal determines whether it is the target positioning signal according to the first positioning signal, and if so, performs positioning processing. , so as to update the relative position relationship between the first terminal and the second terminal in time.

In addition, since there may be newly added interfering devices in the periphery of the first terminal and the second terminal from time to time, it is also possible to update the target signal characteristics periodically, that is, step 503 is re-executed at a preset update time, to regularly Update the target signal characteristics to further improve the accuracy of terminal positioning.

In the technical solution of this embodiment, since the first terminal and the second terminal simultaneously perform the receiving and sending processing of the positioning signal, if either of the first terminal and the second terminal receives the positioning signal transmitted by the other side, it can perform the positioning processing to obtain The relative positional relationship between the first terminal and the second terminal, even if one of them is interfered, will not affect the identification of the relative positional relationship between the first terminal and the second terminal, which improves the technical effect of improving the accuracy of terminal positioning .

It should be noted that, the first positioning signal received by the first terminal and the first positioning signal received by the second terminal may be obtained respectively, so as to obtain the relative positional relationship between the first terminal and the second terminal.

It should be understood that, although the steps in the flowcharts involved in the above embodiments are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but may be performed at different times The execution order of these steps or phases is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or phases in the other steps.

Based on the same inventive concept, an embodiment of the present application also provides a positioning device for implementing the above-mentioned positioning method. The solution to the problem provided by the device is similar to the solution described in the above method, so the specific limitations in one or more positioning device embodiments provided below can refer to the limitations on the positioning method above, here No longer.

Referring to FIG. 6 , FIG. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application. In one embodiment, as shown in FIG. 6, a positioning device is provided, including a signal acquisition module 610 and a positioning processing module 620, wherein,

The signal acquisition module 610 is configured to acquire the first positioning signal received by the target receiving end; the positioning processing module 620 is configured to, if the first positioning signal is the target positioning signal transmitted by the target transmitter, transmit the signal according to the target transmitter. The transmission information of the first positioning signal and the reception information of the first positioning signal received by the target receiving terminal are subjected to positioning processing to obtain the relative positional relationship between the first terminal and the second terminal; wherein , the target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other one of the first terminal and the second terminal.

In one embodiment, the device further includes: a judgment module for identifying a first signal feature of the first positioning signal; if the first signal feature is consistent with the target signal feature corresponding to the target positioning signal, then The first positioning signal is a target positioning signal transmitted by the target transmitting end.

In one embodiment, the signal acquisition module 610 is further configured to acquire second signal characteristics of each second positioning signal, where the second positioning signal is included in the preset range of the first terminal and/or the first The positioning signal transmitted by the third terminal monitored within the preset range of the two terminals; the device further includes: a feature determining module, configured to determine the target signal feature according to the second signal feature of each second positioning signal; a control module, It is used to respectively control the first terminal and the second terminal to transmit a positioning signal according to the characteristics of the target signal.

In one embodiment, the second signal characteristic includes a channel occupied by the second positioning signal, and the channel occupied by the second positioning signal is one of a plurality of preset channels, and the characteristic determining module includes: A channel determination unit, configured to determine a candidate channel among a plurality of preset channels according to the channel occupied by each second positioning signal, where the number of the second positioning signals in the candidate channel is less than or equal to the number of the second positioning signals in any one of the preset channels. The number of second positioning signals; and a first feature determining unit, configured to select one of the candidate channels as a target channel occupied by the target positioning signal, where the target channel is an item of the target signal feature.

In an embodiment, the first feature determining unit is specifically configured to select any one of the candidate channels as the target channel if the number of the second positioning signals in the candidate channel is zero.

In one embodiment, the first feature determining unit is specifically configured to, if there are multiple candidate channels and the number of second positioning signals in the candidate channels is greater than zero, determine the The signal strength of the positioning signal selects one of the candidate channels as the target channel; wherein, the average value of the signal strength of the second positioning signal in the target channel is less than or equal to the second positioning signal in any candidate channel. The average value of signal strength; and/or the signal strength of each second positioning signal in the target channel is less than or equal to the signal strength of each second positioning signal in any candidate channel.

In one embodiment, the second signal characteristic includes a monitoring interval, and the monitoring interval is an interval between two consecutive monitoring of the same second positioning signal, and the characteristic determining module includes: a second characteristic determining unit, which uses In order to determine the signal transmission interval of the target positioning signal according to the monitoring interval of each second positioning signal, the signal transmission interval is different from the monitoring interval, and the signal transmission interval is one of the characteristics of the target signal. item.

Each module in the above positioning device may be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

Referring to FIG. 7 , FIG. 7 is a schematic structural diagram of a terminal according to an embodiment of the present application. In one embodiment, a terminal is provided, and its internal structure diagram may be as shown in FIG. 7 . The terminal includes a processor, a memory, an input/output interface, a communication interface, a display unit and an input device. Wherein, the processor, the memory and the input/output interface are connected through the system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. The processor of the terminal is used to provide computing and control capabilities. The memory of the terminal includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The input/output interface of the terminal is used to exchange information between the processor and external equipment. The communication interface of the terminal is used for wired or wireless communication with an external terminal, and the wireless communication can be realized by WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program when executed by a processor implements a positioning method. The display unit of the terminal is used to form a visually visible picture, which may be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the terminal can be a touch layer covered on the display screen, a button, a trackball or a touchpad set on the terminal shell, or an external device. Keyboard, trackpad or mouse, etc.

It should be noted that terminals can include but are not limited to personal computers, notebook computers, smart phones, tablet computers, control terminals, IoT devices and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart Vehicle equipment, etc. Portable wearable devices can be smart watches, smart bracelets, and head-mounted devices.

Those skilled in the art can understand that the structure shown in FIG. 7 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the terminal to which the solution of the present application is applied. More or fewer components are shown in the figures, either in combination or with different arrangements of components.

Embodiments of the present application also provide a computer-readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions, when executed by one or more processors, cause the processors to perform the steps of the positioning method.

Embodiments of the present application also provide a computer program product containing instructions, which, when executed on a computer, cause the computer to execute the positioning method.

An embodiment of the present application further provides a positioning system, including a first terminal and a second terminal. The first terminal and the second terminal are used to perform receiving and sending processing of positioning signals at the same time, so that the first terminal and the second terminal received at the target receiving end In the case where a positioning signal is a target positioning signal transmitted by a target transmitter, according to the transmission information of the first positioning signal transmitted by the target transmitter and the reception information of the first positioning signal received by the target receiver positioning processing to obtain the relative positional relationship between the first terminal and the second terminal;

The target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other one of the first terminal and the second terminal.

It should be noted that the execution of the positioning process may be performed by one of the first terminal and the second terminal, or may be performed by a control terminal matched with the first terminal and the second terminal, which is not limited in this embodiment.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to a memory, a database or other media used in the various embodiments provided in this application may include at least one of a non-volatile memory and a volatile memory. Non-volatile memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Memory) Access Memory, MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, and the like. As an illustration and not a limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The database involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a blockchain-based distributed database, etc., but is not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., and are not limited to this.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the present application should be determined by the appended claims.

Claims (12)

1. A positioning method is applied to a positioning system, the positioning system includes a first terminal and a second terminal, the first terminal and the second terminal are used for simultaneously performing transceiving processing of positioning signals, and the method includes:

acquiring a first positioning signal received by a target receiving end;

if the first positioning signal is a target positioning signal transmitted by a target transmitting terminal, positioning according to transmitting information of the first positioning signal transmitted by the target transmitting terminal and receiving information of the first positioning signal received by a target receiving terminal, so as to obtain a relative position relationship between the first terminal and the second terminal;

the target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other of the first terminal and the second terminal.

2. The method of claim 1, wherein after acquiring the first positioning signal received by the target receiving end, the method comprises:

identifying a first signal characteristic of the first positioning signal;

and if the first signal characteristic is consistent with the target signal characteristic corresponding to the target positioning signal, the first positioning signal is a target positioning signal transmitted by a target transmitting terminal.

3. The method of claim 2, wherein prior to the acquiring the first positioning signal received by the target receiving end, the method comprises:

acquiring second signal characteristics of each second positioning signal, wherein the second positioning signal comprises a positioning signal transmitted by a third terminal monitored in a preset range of the first terminal and/or a preset range of the second terminal;

determining the target signal characteristic according to the second signal characteristic of each second positioning signal;

and respectively controlling the first terminal and the second terminal to transmit positioning signals according to the target signal characteristics.

4. The method of claim 3, wherein the second signal characteristics include a channel occupied by the second positioning signal, the channel occupied by the second positioning signal is one of a plurality of preset channels, and the determining the target signal characteristics according to the second signal characteristics of each second positioning signal includes:

determining candidate channels in a plurality of preset channels according to channels occupied by the second positioning signals, wherein the number of the second positioning signals in the candidate channels is less than or equal to that of the second positioning signals in any one of the preset channels;

and selecting one of the candidate channels as a target channel occupied by the target positioning signal, wherein the target channel is one item of the target signal characteristic.

5. The method as claimed in claim 4, wherein said selecting one of said candidate channels as the target channel occupied by said target positioning signal comprises:

and if the number of the second positioning signals in the candidate channels is zero, selecting any one of the candidate channels as the target channel.

6. The method as claimed in claim 4, wherein said selecting one of said candidate channels as the target channel occupied by said target positioning signal comprises:

if the candidate channels are multiple and the number of the second positioning signals in the candidate channels is greater than zero, selecting one of the candidate channels as the target channel according to the signal strength of each second positioning signal in each candidate channel;

wherein the average value of the signal strength of the second positioning signal in the target channel is less than or equal to the average value of the signal strength of the second positioning signal in any one of the candidate channels; and/or the signal strength of each second positioning signal in the target channel is less than or equal to the signal strength of each second positioning signal in any candidate channel.

7. The method of claim 3, wherein the second signal characteristic comprises a listening interval, the listening interval is an interval between two consecutive times of listening to the same second positioning signal, and the determining the target signal characteristic according to the second signal characteristic of each second positioning signal comprises:

and determining the signal transmission interval time of the target positioning signal according to the monitoring interval time of each second positioning signal, wherein the signal transmission interval time is different from the monitoring interval time, and the signal transmission interval is one item of the characteristics of the target signal.

8. A positioning apparatus, applied to a positioning system, where the positioning system includes a first terminal and a second terminal, and the first terminal and the second terminal are configured to perform transceiving processing on a positioning signal simultaneously, the apparatus comprising:

the signal acquisition module is used for acquiring a first positioning signal received by a target receiving end;

a positioning processing module, configured to perform positioning processing according to transmission information of the first positioning signal transmitted by a target transmitting end and reception information of the first positioning signal received by the target receiving end if the first positioning signal is a target positioning signal transmitted by a target transmitting end, so as to obtain a relative position relationship between the first terminal and the second terminal;

the target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other of the first terminal and the second terminal.

9. A terminal comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when executed by the processor, causes the processor to carry out the steps of the method according to any of claims 1 to 7.

10. A positioning system is characterized by comprising a first terminal and a second terminal, wherein the first terminal and the second terminal are used for simultaneously carrying out receiving and sending processing on positioning signals, so that under the condition that a first positioning signal received by a target receiving terminal is a target positioning signal transmitted by a target transmitting terminal, positioning processing is carried out according to transmitting information of the first positioning signal transmitted by the target transmitting terminal and receiving information of the first positioning signal received by the target receiving terminal, and the relative position relation between the first terminal and the second terminal is obtained;

the target receiving end is one of the first terminal and the second terminal, and the target transmitting end is the other of the first terminal and the second terminal.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

12. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 7 when executed by a processor.

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