CN116419150A

CN116419150A - Positioning method and device and electronic equipment

Info

Publication number: CN116419150A
Application number: CN202111678061.XA
Authority: CN
Inventors: 王思善; 吕森; 贾琴勇
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2023-07-11
Also published as: WO2023124813A1

Abstract

The application provides a positioning method, a positioning device and electronic equipment, and relates to the technical field of terminals. According to the method, when the distance between one device and the other device is determined, the determined distance between the two devices can be compared with the distance between one device and the other device, and the final distance between the two devices is determined based on a comparison result, so that the other devices are utilized for auxiliary positioning, the problem that the devices are difficult to accurately position due to factors such as artificial shielding is avoided, and the positioning accuracy between the devices is improved.

Description

Positioning method and device and electronic equipment

Technical Field

The present application relates to the field of terminal technologies, and in particular, to a positioning method, a positioning device, and an electronic device.

Background

With the acceleration and popularization of vehicle networking, digital vehicle keys (or digital keys) are generated, the functions of unlocking and starting an engine and the like of a vehicle are realized through a terminal (such as a mobile phone, wearable equipment and the like), and the functions of remote management of the life cycle of the digital vehicle keys, sharing of the keys and the like are realized by utilizing a wireless communication module of an intelligent networking vehicle. During use of the digital key, the vehicle can perform ranging positioning on a terminal configured with the digital key. When the vehicle detects that the terminal enters a preset range (for example, a sector area 1.5 m away from the vehicle door, etc.), and the vehicle is in a locking state (namely, the vehicle door on the vehicle is in a locking state), the vehicle can be automatically unlocked, and at the moment, the vehicle door of the vehicle is in an unlocking state, so that the control of the vehicle can be realized without the need of actively operating a key by a user, and the experience is better.

Because in the process of using the digital key, the vehicle needs to perform ranging and positioning on the terminal, and when a user carries the terminal provided with the digital key, the terminal is usually placed in a storage space such as a pocket or a bag, and the signal is shielded by the storage space such as the pocket or the bag, the signal intensity or other positioning signals sent by the terminal received by the vehicle are attenuated, so that the ranging and positioning accuracy of the vehicle on the terminal is poor, the user is close to the vehicle, the phenomenon that the vehicle cannot unlock because the vehicle detects the weak signal of the terminal and thinks that the terminal is outside an unlocking function area occurs, and the user experience is reduced.

Disclosure of Invention

The application provides a positioning method, a positioning device, electronic equipment, computer storage media and computer program products, which can assist in positioning by using equipment which is carried by a user, is in a working state and does not have factors such as shielding related to the user, and the influence that the equipment is difficult to accurately position due to the factors such as shielding related to the user is solved, so that the positioning accuracy is improved, and the user experience is improved.

In a first aspect, the present application provides a positioning method, the method comprising: the first device communicates with the second device; the first device determining a first location of the second device based on a first communication signal between the first device and the second device; the first device communicates with a third device, and the third device is selected from at least one device in the environment by the second device; the first device determining a second location of the third device based on a second communication signal between the first device and the third device; the first device determining a target location of the second device based on the first location and the second location; and when the target position is in the preset area, the first device outputs a control instruction. Like this, carry out assistance-localization real-time to the second equipment through third equipment, solved the first equipment and be difficult to carry out the problem of accurate location to the second equipment for the output control command that first equipment can be accurate has promoted user experience.

In one possible implementation, the target position is the first position or the second position when the deviation value between the first position and the second position is less than or equal to a preset deviation threshold. And when the deviation value is smaller than or equal to a preset deviation threshold value, indicating that the positioning scene corresponding to the second equipment is similar to the positioning scene corresponding to the third equipment. Because the third device is a device capable of assisting in positioning the second device by default, when the positioning scenes corresponding to the third device and the third device are similar, the positions determined by the third device and the third device can be considered to be both trusted, so that the second device can be considered to have no factors such as shielding related to a user, and at the moment, one position can be selected from the two positions as a target position. Illustratively, the first location may be location a depicted in fig. 4 or 8 and the second location may be location b depicted in fig. 4 or 8.

In one possible implementation, the target position is the second position when the deviation value between the first position and the second position is greater than the preset deviation threshold, or the positioning mode corresponding to the second position is better than the positioning mode corresponding to the first position. And when the deviation value is larger than a preset deviation threshold value, indicating that the positioning scene corresponding to the second equipment is different from the positioning scene corresponding to the third equipment. Since the third device is a device capable of assisting in positioning the second device by default, when positioning scenes corresponding to the third device and the third device are different, the first position determined by the second device can be considered to be unreliable, so that the second device can be considered to have factors such as shielding related to a user, and the second position determined by the third device can be taken as a target position at the moment, namely the first device can determine that the target position is the second position. In addition, when the positioning mode corresponding to the second position is better than the positioning mode corresponding to the first position, the second position can be considered to be more accurate because the positioning mode corresponding to the second position is better than the positioning mode corresponding to the first position, and therefore the target position can be determined to be the second position.

In one possible implementation manner, when the deviation value between the first position and the second position is greater than the preset deviation threshold, the target position is a third position, where the third position is a position obtained after the first position is compensated based on the compensation rule.

In one possible implementation, the first device determining the target location of the second device based on the first location and the second location includes: when the deviation value between the first position and the second position is larger than a preset deviation threshold value and/or the third device is in a target state, the first device determines a fourth position of the third device based on a third communication signal between the third device and the third device, and the communication time corresponding to the third communication signal is later than the communication time corresponding to the second communication signal; the first device determines the target location as a fourth location. In this way, when the deviation value between the first position and the second position is greater than the preset deviation threshold value, the third device may be repositioned, and the repositioned position of the third device may be taken as the target position. For example, the target state may refer to the third device supporting multiple positioning modes.

In one possible implementation, the fourth location corresponds to a location that is better than the location corresponding to the second location. In this way, when the third device is repositioned, the positioning can be performed in a positioning mode which is better than the positioning mode corresponding to the second position, so that a more accurate position than the second position can be obtained.

In one possible implementation, before the first device determines the second location of the third device based on the second communication signal between the first device and the third device, the method further includes: the first device determines that the second communication signal includes a location identifier, where the location identifier is used to indicate that the third device is a trusted device, and the location identifier is generated by the first device and/or the second device. The first equipment which can be the first equipment verifies the identity of the third equipment so as to ensure that the third equipment is a trusted equipment and improve the positioning safety.

In one possible implementation, the location identity is generated by one or more of the following: the method comprises the steps of generating based on shared secret negotiation between the first device and the second device, generating based on identification information of the third device, generating based on communication session information between the first device and the second device, generating based on identification information distributed to the third device by the first device or the second device, or generating based on preset identification generation rules.

In one possible implementation, the location identity includes time information, which is used to indicate the validity period of the location identity.

In one possible implementation, the third device includes one or more of the following: the device in a connection state with the second device, the device with the distance between the device and the second device being smaller than the preset distance, the device binding with the first device and/or the second device in advance, or the device belonging to the same user as the second device and being capable of verifying the identity of the user or detecting the physiological parameter of the user at present.

In one possible implementation, the first device is a vehicle, the second device is a mobile terminal, and the third device is a wearable device.

In a second aspect, the present application provides a positioning method, the method comprising: the first device communicates with the second device; determining, by the first device, a first location of the first device relative to the second device based on a first communication signal between the first device and the second device; the method comprises the steps that first data sent by third equipment are obtained by first equipment, the first data are data corresponding to second communication signals when the third equipment and second equipment are in communication, and the third equipment is selected from at least one equipment in the environment by the first equipment; the first device determining a second location of the third device relative to the second device based on the first data; the first device determining a target location of the first device relative to the second device based on the first location and the second location; the first device sends a target message to the second device, wherein the target message comprises a target position and/or a control instruction. Therefore, the first equipment is subjected to auxiliary positioning through the third equipment, the problem that the first equipment is difficult to determine the position of the first equipment relative to the second equipment is solved, the first equipment can accurately determine the position of the first equipment relative to the second equipment, the second equipment can accurately know the position of the first equipment and/or respond to the control instruction output by the first equipment, and user experience is improved.

In one possible implementation, the target position is the first position or the second position when the deviation value between the first position and the second position is less than or equal to a preset deviation threshold.

In one possible implementation, the target position is the second position when the deviation value between the first position and the second position is greater than the preset deviation threshold, or the positioning mode corresponding to the second position is better than the positioning mode corresponding to the first position.

In one possible implementation, the determining, by the first device, a target location of the first device relative to the second device based on the first location and the second location includes: when the deviation value between the first position and the second position is larger than a preset deviation threshold value, and/or when the third device is in a target state, the first device acquires second data sent by the third device, wherein the second data is data corresponding to a third communication signal when the third device communicates with the second device, and the communication time corresponding to the third communication signal is later than the communication time corresponding to the second communication signal; the first device determining a fourth location of the third device relative to the second device based on the second data; the first device determines the target location as a fourth location.

In one possible implementation, the fourth location corresponds to a location that is better than the location corresponding to the second location.

In one possible implementation, the third device includes one or more of the following: the device in a connection state with the first device, the device with the distance between the device and the first device being smaller than the preset distance, the device bound with the first device and/or the second device in advance, or the device belonging to the same user as the first device and capable of detecting the physiological parameters of the user at present.

In one possible implementation, the first device is a mobile terminal, the second device is a vehicle, and the third device is a wearable device.

In a third aspect, the present application provides a positioning device comprising: at least one memory for storing a program; at least one processor for executing a memory-stored program, the processor being for performing the method as provided in the first or second aspect when the memory-stored program is executed.

In a fourth aspect, the present application provides an electronic device comprising at least one memory for storing a program and at least one processor for executing the program stored in the memory. Wherein the processor is adapted to perform the method as provided in the first or second aspect, when the program stored in the memory is executed.

In a fifth aspect, the present application provides a computer readable storage medium storing a computer program which, when run on an electronic device, causes the electronic device to perform the method as provided in the first or second aspect.

In a sixth aspect, the present application provides a computer program product for, when run on an electronic device, causing the electronic device to perform the method as provided in the first or second aspect.

It will be appreciated that the advantages of the second to sixth aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;

fig. 2 is a schematic hardware structure of an electronic device according to an embodiment of the present application;

fig. 3 is a schematic diagram of an RSSI-based three-point positioning method according to an embodiment of the present application;

fig. 4 is a flow chart of a positioning method according to an embodiment of the present application;

fig. 5 is a schematic diagram of a communication process between an electronic device and a vehicle according to an embodiment of the present application;

fig. 6 is a schematic geometric diagram of a distance between an antenna and an electronic device in a bluetooth module on a vehicle according to an embodiment of the present application;

Fig. 7 is a schematic diagram of a communication process between an electronic device and a vehicle according to an embodiment of the present application;

FIG. 8 is a flow chart of another positioning method according to an embodiment of the present disclosure;

FIG. 9 is a flow chart of yet another positioning method according to an embodiment of the present disclosure;

FIG. 10 is a flow chart of yet another positioning method according to an embodiment of the present disclosure;

fig. 11 is an interface schematic diagram of a vehicle-mounted terminal provided in an embodiment of the present application;

FIG. 12 is a schematic diagram illustrating steps of a positioning method according to an embodiment of the present disclosure;

FIG. 13 is a schematic step diagram of a positioning method according to an embodiment of the present disclosure;

fig. 14 is a schematic hardware structure of a positioning device according to an embodiment of the present application.

Detailed Description

The term "and/or" herein is an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. The symbol "/" herein indicates that the associated object is or is a relationship, e.g., A/B indicates A or B.

The terms "first" and "second" and the like in the description and in the claims are used for distinguishing between different objects and not for describing a particular sequential order of objects. For example, the first response message and the second response message, etc. are used to distinguish between different response messages, and are not used to describe a particular order of response messages.

In the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" means two or more, for example, a plurality of processing units means two or more processing units and the like; the plurality of elements means two or more elements and the like.

By way of example, fig. 1 illustrates an application scenario in some embodiments of the present application. As shown in fig. 1, the user a places the electronic device 100 equipped with the digital key in the pocket B and moves toward the vehicle 300 in the X direction. When the electronic device 100 is within the preset range P1, a bluetooth connection may be established between the vehicle 300 and the electronic device 100, and both authenticate based on a preset protocol to confirm the validity of the digital key configured in the electronic device 100. After the bluetooth connection is established between the vehicle 300 and the electronic device 100, the vehicle 300 may locate the electronic device 100 based on the wireless communication signal, for example: the electronic device 100 may be located by a ranging location method based on a strength indication (received signal strength indication, RSSI) of the received signal. When the vehicle 300 detects that the electronic device 100 is within the preset range P2, the vehicle 300 may be automatically switched from the locked state to the unlocked state, etc., so that control of the vehicle can be achieved without the user actively operating the key.

When the user a places the electronic device 100 in the pocket B, the pocket B or the human body will block the electronic device 100, so that the signal sent by the electronic device 100 will be attenuated during the transmission process, and the signal strength of the signal sent by the electronic device 100 received by the vehicle 300 will be weakened. Since the vehicle 300 cannot distinguish whether the signal strength received by the electronic device 100 is too far or the electronic device 100 is blocked, the signal is attenuated, so that an error may occur between the position of the electronic device 100 determined by the vehicle 300 based on the signal strength and the actual position of the electronic device 100, that is, a positioning deviation occurs. Therefore, in fig. 1, when the user a carries the electronic device 100 in the preset range P2, a situation may occur that the position of the electronic device 100 determined by the vehicle 300 does not reach the preset range P2 yet, which results in that the vehicle 300 cannot respond in time, and the user experience is affected.

It will be appreciated that in fig. 1, the vehicle 300 and the electronic device 100 may communicate via other wireless communication technologies besides bluetooth (bluetooth), for example: near field communication (near field communication, NFC) technology or Ultra Wideband (UWB) technology, etc. The vehicle 300 and the electronic device 200 may also communicate with each other through wireless communication technologies such as bluetooth, NFC, UWB, etc., and the electronic device 100 and the electronic device 200 may also communicate with each other through wireless communication technologies such as bluetooth, NFC, UWB, etc., and the present invention is not limited thereto. In addition, in fig. 1, the vehicle 300 may be located by other manners besides locating according to the signal strength of the communication signal between the two, such as locating by one or more of time of flight (TOF), angle of arrival (AOA), high-precision distance measurement (high-accuracy distance measurement, HADM), or phase-based ranging locating methods supported by communication technology.

Further, in order to improve the accuracy of positioning between the vehicle 300 and the electronic device 100, the present application provides a positioning method, which can assist in positioning by using the electronic device 200 that is carried by the user a, is in a working state, and has no factors such as shielding related to the user a (for example, shielding of a storage space such as a pocket or a bag of the user a, etc.), so as to solve the problem that the vehicle 300 is difficult to accurately position the electronic device 100 due to the factors such as shielding related to the user a, thereby improving the user experience of the digital key. Specifically, with continued reference to fig. 1, the arm of the user a is worn with the electronic device 200, and the electronic device 200 is in a working state and is not shielded; after the Bluetooth connection is established between the electronic device 100 and the vehicle 300, the vehicle 300 may determine both the location of the electronic device 100 and the location of the electronic device 200; then, when the determined position of the electronic device 100 and the determined position of the electronic device 200 deviate greatly, the position of the electronic device 200 is selected as the position of the electronic device 100, and/or the position of the electronic device 100 is compensated, so as to determine the more accurate position of the electronic device 100, thereby realizing accurate positioning of the electronic device 100.

By way of example, fig. 2 illustrates a hardware architecture of an electronic device 100 in some embodiments of the present application. The electronic device 100 may be, but is not limited to, a mobile terminal such as a cell phone. As shown in fig. 2, the electronic device 100 may include: a processor 110, a memory 120, and a communication module 130.

Wherein the processor 110 may be a general purpose processor or a special purpose processor. For example, the processor 110 may include a central processing unit (central processing unit, CPU) and/or a baseband processor. The baseband processor may be used to process communication data, and the CPU may be used to implement corresponding control and processing functions, execute software programs, and process data of the software programs.

Illustratively, the processor 110 may include one or more processing units. For example, the processor 110 may include one or more of an application processor (application processor, AP), a modem (modem), a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural-Network Processor (NPU), etc. In some embodiments, terminal 100 may include one or more processors 110. Wherein the different processing units may be separate devices or may be integrated in one or more processors. For example, the processor 110 may determine a distance between the electronic device 100 and the vehicle 300 based on the communication signal between the electronic device 100 and the vehicle 300; and/or determining a distance between the electronic device 200 and the vehicle 300 based on the communication signal between the electronic device 200 and the vehicle 300. Showing the

The memory 120 may store a program that may be executed by the processor 110. Memory 120 may also store data. The processor 110 may read the data stored in the memory 120. The memory 120 and the processor 110 may be separately provided. Optionally, the memory 120 may also be integrated in the processor 110. For example, the memory 120 may have stored therein a digital key, and/or compensation rules for compensating for position, etc.

The communication module 130 may include a wireless communication module. The communication module 130 may provide solutions for wireless communication including wireless local area network (wireless local area networks, WLAN) (e.g., wireless fidelity (wireless fidelity, wi-Fi) network), bluetooth (BT), global navigation satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field wireless communication technology (near field communication, NFC), infrared technology (IR), ultra wideband technology (UWB), etc., as applied on the electronic device 100. The communication module 130 may be one or more devices integrating at least one communication processing module. The communication module 130 receives electromagnetic waves via an antenna, modulates the electromagnetic wave signals and filters the signals, and transmits the processed signals to the processor 110. The communication module 130 may also receive a signal to be transmitted from the processor 110, frequency modulate it, amplify it, and convert it to electromagnetic radiation via an antenna for transmission. For example, the communication module 130 may receive data transmitted by the electronic device 200 and/or the vehicle 300, transmit data to the electronic device 200 and/or the vehicle 300, or the like. Illustratively, the communication module 130 may include N bluetooth modules, where N is a positive integer greater than or equal to 1. Illustratively, the communication module 130 may include N bluetooth modules and M UWB modules, where N and M are positive integers greater than or equal to 1; in this case, the electronic device 100 may communicate with an external device through a bluetooth module or may communicate with the external device through a UWB module.

In some embodiments, the communication module 130 may also include a mobile communication module. At this time, the communication module 130 may provide a solution including wireless communication of 2G/3G/4G/5G or the like applied to the electronic device 100. Such as global system for mobile communications (global system for mobile communications, GSM), general packet radio service (general packet radio service, GPRS), code division multiple access (code divisionmultiple access, CDMA), wideband code division multiple access (wideband code division multiple access, WCDMA), time-division code division multiple access (time-division code division multiple access, TD-SCDMA), long term evolution (long term evolution, LTE), new radio, NR), etc.

In some embodiments, at least some of the functional modules of the communication module 130 may be disposed in the same device as at least some of the modules of the processor 110.

It is to be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, electronic device 100 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

In one implementation of the present application, the electronic device 200 may also have a hardware structure similar to the electronic device 100 shown in fig. 2. It is understood that the electronic device 200 may also have a hardware structure different from the electronic device 100 shown in fig. 2. By way of example, the electronic device 200 may be, but is not limited to, a wearable device such as a headset, a watch, a bracelet, glasses, etc., and in some embodiments, the electronic device 200 may also be an accessory device on a device, e.g., the electronic device 200 may be a wristband of a watch, etc.

Optionally, the electronic device 200 has at least: wireless communication modules such as bluetooth modules, UWB modules, and the like. The wireless communication module may be used for short-range communication between the electronic device 200 and the electronic device 100 or the vehicle 300.

In one implementation of the present application, the vehicle 300 may also have a hardware structure similar to the electronic device 100 shown in fig. 2. It is to be understood that the vehicle 300 may also have a hardware configuration different from the electronic device 100 shown in fig. 2.

Alternatively, the vehicle 300 may have: a processor, a memory, and a wireless communication module. Wherein the processor in the vehicle 300 may be configured to determine a distance between the vehicle 300 and the electronic device 100 based on a communication signal between the vehicle 300 and the electronic device 100, and/or determine a distance between the vehicle 300 and the electronic device 200 based on a communication signal between the vehicle 300 and the electronic device 200, etc.

The memory in the vehicle 300 may store a program that is executable by a processor in the vehicle 300. The memory in the vehicle 300 may also store data. The processor in the vehicle 300 may read data stored in the memory in the vehicle 300. The memory and processor in the vehicle 300 may be provided separately. Alternatively, the memory in the vehicle 300 may also be integrated in the processor in the vehicle 300.

The wireless communication module in the vehicle 300 may be used for short-range communication between the vehicle 300 and the electronic device 100 or the electronic device 200.

For example, the wireless communication modules in the vehicle 300 may include N bluetooth modules, N being a positive integer greater than or equal to 1. Wherein when a plurality of bluetooth modules are included in the vehicle 300, the plurality of bluetooth modules may be arranged at different locations in the vehicle 300. At this time, according to the communication signals fed back by each bluetooth module, the processor in the vehicle 300 may determine the distance between the module and other devices, and then fuse the distances corresponding to each bluetooth module through a preset data fusion algorithm, so as to obtain the position of the device communicating with the vehicle 300. Alternatively, when at least three bluetooth modules are configured in the vehicle 300, the vehicle 300 may also determine the exact location of the device communicating with the vehicle 300 by a multi-point positioning method based on RSSI. For example, as shown in fig. 3, a bluetooth module m is configured in the

electronic device

100, 3 bluetooth modules n1, n2 and n3 are configured in the vehicle 300, the electronic device 100 determined by the vehicle 300 based on the distance between the bluetooth module n1 and the bluetooth module m is located on a circle a centered on the bluetooth module n1, the electronic device 100 determined by the vehicle 300 based on the distance between the bluetooth module n2 and the bluetooth module m is located on a circle b centered on the bluetooth module n2, and the electronic device 100 determined by the vehicle 300 based on the distance between the bluetooth module n3 and the bluetooth module m is located on a circle c centered on the bluetooth module n 3. Since the electronic device 100 is located on the circles a, b, and c at the same time, the intersection of these three circles can be regarded as the position of the electronic device 100.

Next, based on the above description, the technical solutions provided in the present application will be described. The technical solutions involved in the following embodiments may be implemented in the application scenario described in fig. 1. For convenience of description, the following will be described in terms of communication between the electronic device 100, the electronic device 200, and the vehicle 300 through bluetooth technology. Of course, the electronic device 100, the electronic device 200, and the vehicle 300 may also communicate through other communication technologies, and the technical schemes at this time are similar to those described below, and will not be described here again, where the technical schemes when the electronic device 100, the electronic device 200, and the vehicle 300 communicate through other communication technologies are still within the scope of protection of the present application.

By way of example, fig. 4 illustrates a positioning method in some embodiments of the present application. In fig. 4, at least one bluetooth module is configured in each of the electronic device 100, the electronic device 200, and the vehicle 300, and all of them can communicate through bluetooth technology. Further, a digital key capable of controlling the vehicle 300 is disposed in the electronic device 100. Both the electronic device 100 and the electronic device 200 are carried by the user, and the electronic device 200 is in an operating state and there are no factors such as shielding related to the user. Illustratively, the absence of user-related occlusion by the electronic device 200 may be understood as: the electronic device 200 is not placed by the user in a storage space such as a pocket or bag of the user.

As shown in fig. 4, the positioning method may include the steps of:

s401, bluetooth connection is established between the electronic device 100 and the vehicle 300, and authentication is completed to prove or confirm the validity of the digital key in the electronic device 100.

Specifically, the vehicle 300 may periodically transmit a broadcast to the outside through a bluetooth module thereon, and after the electronic device 100 scans the broadcast transmitted from the vehicle 300 through the bluetooth module thereon, the electronic device 100 may establish a bluetooth connection with the vehicle 300 through a bluetooth communication protocol. After the bluetooth connection is established between the two, authentication can be completed based on the key of the digital key and the authentication protocol, so as to prove or confirm the validity of the digital key in the electronic device 100.

S402, the electronic device 100 determines the electronic device 200 from the environment.

Specifically, when the electronic device 100 is in a connection state with the electronic device 200, the electronic device 100 may directly determine the electronic device 200, that is, determine the electronic device that is carried by the user, is in a working state, and is not blocked. For example, assuming that the electronic device 100 is a mobile phone, the electronic device 200 is a bluetooth headset, and when the headset is opened and a connection is established between the mobile phone and the headset through bluetooth, the user is generally using the bluetooth headset, so that at this time, the mobile phone can directly determine that the bluetooth headset is currently being worn by the user, is in an operating state, and is not blocked.

As one possible implementation, when the electronic device 100 does not establish a connection with the electronic device 200, the electronic device 100 may scan for broadcasts sent by electronic devices in its periphery and establish a bluetooth connection with the electronic devices in its periphery. The electronic device 100 may then determine its distance to each device in the environment based on one or more of time-of-flight ranging, angle-of-arrival ranging, safe high-precision ranging, phase-based ranging, or RSSI-based ranging. Finally, the electronic device 100 may select the electronic device closest to the electronic device as the electronic device 200, or select, among a plurality of devices belonging to a user (for example, devices that are bluetooth paired and can connect to and complete authentication and characterize a trusted relationship, or devices with the same user account number that are logged in, etc.), the electronic device closest to the electronic device as the electronic device 200. In addition, generally, when the electronic device 100 is blocked and the user is using the electronic device 200, the distance between the electronic device 100 and the electronic device 200 is often within a preset distance range, so the electronic device 100 may use all electronic devices within the preset range as the electronic device 200, and at this time, a plurality of electronic devices 200 may be determined.

As another possible implementation, if the electronic device 200 is needed for assisted positioning, the user typically needs to carry the electronic device 200 while carrying the electronic device 100. When the user carries the electronic device 200, the user generally needs to wear the electronic device 200 if the electronic device 200 is not shielded by the user's own factors. When the user wears the electronic device 200, the electronic device 200 may actively perform identity authentication, such as verifying a device password, to confirm that the user is wearing the device, and/or may perform other detection on the user, so as to determine that the electronic device 200 is in a wearing state of the user of the device, and further determine that the electronic device 200 may perform auxiliary positioning. For example, when the electronic device 200 detects a physiological parameter of the user (such as pulse, blood sugar, blood pressure, heart rate, etc.), the electronic device 200 may determine that it is currently in a wearing state of the user, i.e. it may perform auxiliary positioning; at this time, the electronic device 200 may transmit a message to the electronic device 100 through the bluetooth module thereon, which may be used to indicate that the electronic device 200 is capable of assisted positioning. In this way, the electronic device 100 may determine the electronic device 200 from the environment. In addition, the electronic device 100 may actively query the state of the electronic device 200 to determine whether the electronic device 200 satisfies the condition of assisting in positioning. For example, the electronic device 100 may send a status query instruction to the electronic device 200, and then, the electronic device 200 may detect the current status (such as whether the electronic device 200 is in a wearing state of the user, etc.), and feed back the detected status to the electronic device 100, so that the electronic device 100 may learn the status of the electronic device 200, and further determine whether to select the electronic device 200 as the auxiliary positioning device.

As yet another possible implementation, the electronic device 100 may also use a device that is previously bound to the electronic device 100 or the vehicle 300 as the electronic device 200. For example, a user may previously bind an electronic device capable of assisted positioning with the electronic device 100 and/or the vehicle 300; after binding is completed, the electronic device 100 may record the identity of the electronic device capable of performing auxiliary positioning, so that the electronic device 100 may attempt to establish connection with the electronic device recorded by the electronic device to determine whether the electronic device recorded by the electronic device is located near the electronic device, and select the electronic device recorded by the electronic device and capable of establishing connection with the electronic device as the electronic device 200 when the electronic device and the electronic device are capable of establishing connection, so as to perform auxiliary positioning through the electronic device. In addition, when the user binds only the electronic device capable of performing the auxiliary positioning with the vehicle 300, after the vehicle 300 establishes a connection with the electronic device 100, the electronic device 100 may acquire the identity of the device bound with the vehicle 300 from the vehicle 300, for example, the vehicle 300 may directly send the identity of the device bound with the vehicle to the electronic device 100, or indirectly send the identity of the device bound with the vehicle to the electronic device 100 through the server (at this time, the vehicle 300 may upload the identity of the electronic device bound with the vehicle to the server), and so on, so that the electronic device 100 may record the identity of the electronic device capable of performing the auxiliary positioning.

In some embodiments, the electronic device 100 may determine whether to treat the electronic device as a device for assisting in positioning based on the status of other electronic devices in the environment or other additional conditions.

S403, the electronic device 100 determines the location identifier.

Specifically, the electronic device 100 may determine the location identifier based on a preset identifier generation rule, for example, by generating the location identifier through a key of a digital key and/or a session key between the digital key and the vehicle 300, but is not limited to. For example, the electronic device 100 may process the related data by using a key of the digital key and/or a session key between the digital key and the vehicle 300 to obtain the location identifier. In some embodiments, the electronic device 100 may also process the identity of the electronic device 200 with a preset identity generation rule to obtain a location identifier, or process a bluetooth session related parameter (such as a bluetooth session ID) between the electronic device 100 and the vehicle 300 with a preset identity generation rule to obtain a location identifier. In addition, when the electronic device 100 generates the positioning identifier, the validity period may be set for the positioning identifier, so as to avoid the positioning identifier from being used infinitely, and improve security.

For example, a shared secret (shared secret) may be held between the electronic device 100 and the vehicle 300, where the shared secret may be one or more of a Digital Key (DK) or Session Key (SK), or a symmetric key generated based on an asymmetric Diffie-Hellman key exchange (DH) algorithm or a password-authenticated key agreement (password-authenticated key agreement, PAKE) algorithm, or the like. At this time, both can derive a location identity that can be verified based on f=dk (X1, X2, X3 …), f=sk (X1, X2, X3 …), or f=e (X1, X2, X3 …) using the shared secret. Wherein the derivation and verification algorithm is shared and can be an encryption algorithm or a hash-message authentication code (hash-based message authentication code, HMAC) algorithm; x1, X2, X3 are derived factors (or derived parameters) of the location identity, and may include an identity of the electronic device 200 (e.g., mac address, etc.), a time stamp (which may be accurate to hours, minutes), or at least one random number exchanged between the two, etc. Illustratively, f=dk (X1, X2, X3 …) can be understood as the cryptographic operation of "X1, X2, X3 …" using the digital key DK, f=sk (X1, X2, X3 …) can be understood as the cryptographic operation of "X1, X2, X3 …" using the session key SK, and f=e (X1, X2, X3 …) can be understood as the cryptographic operation of "X1, X2, X3 …" using the symmetric key E.

When the digital key is an asymmetric key, the positioning identifier may also be a digital signature obtained by performing a signature operation on preset derivative parameters such as X1, X2 by using a private key by the electronic device 100 or the vehicle 300.

In some embodiments of the application, the location identifier may also be generated by the vehicle 300 and sent by the vehicle 300 directly or indirectly to the electronic device 100. For example, the vehicle 300 may encrypt or sign the derivative parameter (i.e., the derivative factor) using the digital key of the vehicle 300 when generating the location identifier. Illustratively, after generating the location identifier, the vehicle 300 may send the location identifier to the electronic device 100 as it interacts with the electronic device 100. In addition, the vehicle 300 may upload the location identifier to the cloud server (or server), and then the cloud server (or server) may send the location identifier to the electronic device 100, so that the electronic device 100 indirectly obtains the location identifier generated by the vehicle 300 through the cloud server.

In some embodiments of the present application, S403 may also be implemented before S401, i.e. the electronic device 100 may acquire the location identifier from the vehicle 300 or the cloud server or the like in advance, and store the location identifier.

S404, the electronic device 100 sends a message including the location identifier to the electronic device 200.

Specifically, after determining the electronic device 200, the electronic device 100 may send a message including the location identifier to the electronic device 200 through the bluetooth module thereon. The message may be used to instruct the electronic device 200 to broadcast a message for positioning to the outside, for example.

In some embodiments of the present application, before implementing S404, the vehicle 300 may also actively send a message indicating to start positioning to the electronic device 100, so that after the electronic device 100 acquires the message, it may learn that positioning is currently required, and at this time, it may send a message including a positioning identifier to the electronic device 200 in response to the message. Thereby enabling the electronic device 100 to transmit a message including the location identity only when the location is required and enabling the electronic device 200 to broadcast the message to the outside, thereby saving power consumption of the electronic device 100 and/or the electronic device 200.

As a possible implementation manner, the message including the location identifier sent by the electronic device 100 to the electronic device 200 may be a communication configuration instruction, and after the electronic device 200 receives the instruction, the electronic device 200 may configure the location identifier to the radio frequency system therein, and start sending the location data packet including the location identifier.

As another possible implementation, the message including the location identifier may also include credentials for establishing a communication connection or confidential connection with the vehicle 300 so that the electronic device 200 may establish a peer-to-peer secure connection or other more complex communication data interactions with the vehicle 300, such as multiple rounds of secure ranging interactions. The credentials may be determined by the vehicle 300 and the electronic device 100 together when determining the location identity. Illustratively, the multi-round secure ranging interaction refers to a secure interaction of multiple sets of ranging messages. Illustratively, the credentials may be random numbers, serial numbers, secret data generated based on a key, or the like. The credential may be used by the vehicle 300 to verify the identity of the electronic device 200 after acquiring the message sent by the electronic device 200, so as to determine that the electronic device 200 is a legal device.

S405, the electronic device 100 communicates with the vehicle 300.

Specifically, after the electronic device 100 and the vehicle 300 establish a communication connection, communication can be performed between the two, so as to facilitate positioning of the electronic device 100 by the following vehicle 300.

As one possible implementation, the communication between the electronic device 100 and the vehicle 300 may be: the electronic device 100 periodically (e.g., at 1 second or 0.2 second intervals, etc.) sends messages containing location data packets to the vehicle 300, and the vehicle 300 may retrieve the messages sent by the electronic device 100. Thus, the vehicle 300, upon retrieving a message sent by the electronic device 100, can determine the location of the electronic device 100 based on the message, as described in more detail below. In one example, the vehicle 300 may also actively send a message to the electronic device 100 indicating the start of the positioning, such that after the electronic device 100 obtains the message, the frequency of sending messages including positioning packets may be increased in response to the message.

As another possible implementation, the communication between the electronic device 100 and the vehicle 300 may be a communication manner in which the two send data to each other and/or receive data. In which, as shown in fig. 5 (a), in S511, the electronic device 100 may send a message including a positioning data packet to the vehicle 300, and record the sending time t10 of the message; at S512, the vehicle 300, after acquiring the message, may record the time t11 at which it acquired the message. At S513, the vehicle 300 may send a response message to the electronic device 100 in response to the message, and record the time t12 at which the response message is sent; at S514, after the electronic device 100 acquires the response message sent by the vehicle 300, it may record the time t13 when it acquired the message. In response to the message, the electronic device 100 may send a message including time t10 and time t13 to the vehicle 300 at S515. Thus, the vehicle 300 can determine the location of the electronic device 100 based on the times t10, t11, t12, and t13, as described in detail below.

As shown in fig. 5 (B), the vehicle 300 may transmit a message including a positioning packet to the electronic device 100 and record the transmission time t20 of the message at S521. At S522, the electronic apparatus 100 may record the time t21 when it acquired the message after acquiring the message. In S523, the electronic device 100 may transmit a response message to the vehicle 300 in response to the message, and record the time t22 at which the response message is transmitted; the response message may include times t21 and t22. At S524, after the vehicle 300 acquires the response message sent by the electronic device 100, it may record the time t23 when it acquired the message. Thus, the vehicle 300 can determine the location of the electronic device 100 based on the times t20, t21, t22, and t23, as described in detail below.

S406, the vehicle 300 determines the position a of the electronic device 100 based on the communication signal between the vehicle and the electronic device 100.

Specifically, after the electronic device 100 communicates with the vehicle 300, the vehicle 300 may determine the location a of the electronic device 100 based on a communication signal between the vehicle 300 and the electronic device 100. For example, the vehicle 300 may determine the location a of the electronic device 100 based on one or more of an RSSI-based ranging positioning method, a time-of-flight-based ranging method, an angle-of-arrival ranging method, a safe high-precision ranging positioning method, or a phase-based ranging positioning method, in combination with a multi-point distance-based fusion positioning algorithm.

For example, taking the position of the electronic device 100 determined based on the RSSI ranging positioning method as an example, after the vehicle 300 acquires the message of the electronic device 100 in the process of communicating the vehicle 300 with the electronic device 100, the vehicle 300 can determine the RSSI corresponding to the acquired message through the capability of the bluetooth module. After at least one bluetooth module on the vehicle 300 determines the RSSI corresponding to the message sent by the electronic device 100, the vehicle 300 may determine the distance between each bluetooth module and the electronic device 100 according to the RSSI corresponding to the message sent by the electronic device 100 provided by each bluetooth module. Then, the position a of the electronic device 100 is determined according to the distance between at least one bluetooth module and the electronic device 100. When one bluetooth module is disposed in the vehicle 300, the position a of the electronic device 100 may be any position on a circle centered on the bluetooth module and having a radius of a distance between the bluetooth module and the electronic device 100. When three bluetooth modules are configured in the vehicle 300, the location a may be the location of the electronic device 100 of the vehicle 300 determined by the RSSI-based multi-point positioning method described in fig. 3.

The distance between the bluetooth module and the electronic device 100 on which the vehicle 300 determines may be determined by the following "formula one", which is:

wherein d is the distance between the Bluetooth module and the electronic device 100 on the vehicle 300; abs is an absolute function; the RSSI is the RSSI corresponding to the message sent by the electronic equipment 100 and acquired by the Bluetooth module on the vehicle 300; a is the RSSI corresponding to the message sent by the electronic device 100 and acquired by the Bluetooth module on the vehicle 300 when the electronic device 100 is 1 meter away from the Bluetooth module on the vehicle 300, and the value can be calibrated in advance; n is an environmental attenuation factor, which may be an empirical value.

Taking the example of determining the location of the electronic device 100 based on time-of-flight ranging, the process of communicating the vehicle 300 with the electronic device 100 may be as shown in fig. 5. When the two are communicated by the communication process shown in fig. 5 (a), if the transmission speed of the electromagnetic wave corresponding to the signal transmitted by the bluetooth module is V, the distance between the bluetooth module and the electronic device 100 on the vehicle 300 is d=v× [ (t 13-t 10) - (t 12-t 11) ]/2. When a bluetooth module is disposed in the vehicle 300, the position a may be any position on a circle centered on the bluetooth module and having a radius of a distance between the bluetooth module and the electronic device 100. When three bluetooth modules are configured in the vehicle 300, the location a may be the location of the electronic device 100 of the vehicle 300 determined by the RSSI-based three-point positioning method described in fig. 3.

Taking the location of the electronic device 100 as an example, the bluetooth module on the vehicle 300 is configured with an antenna array, where at least one antenna may be included. After the antenna array in the bluetooth module on the vehicle 300 acquires the message sent by the electronic device 100, the bluetooth module on the vehicle 300 can determine the arrival angle of the signal corresponding to each antenna through a preset angle calculation algorithm; then, the distance between the electronic device 100 and the electronic device can be determined based on the trigonometric function. When a bluetooth module is disposed in the vehicle 300, the position a may be any position on a circle centered on the bluetooth module and having a radius of a distance between the bluetooth module and the electronic device 100. When three bluetooth modules are configured in the vehicle 300, the location a may be the location of the electronic device 100 of the vehicle 300 determined by the RSSI-based multi-point positioning method described in fig. 3.

For determining the distance between the bluetooth module and the electronic device 100 through the arrival angle, as shown in fig. 6, when the antenna P1 and the antenna P2 are disposed in the bluetooth module on the vehicle 100, if the distance between the antenna P1 and the antenna P2 is L ₀ And the arrival angle corresponding to the antenna P1 is theta ₁ The angle of arrival corresponding to the antenna P2 is θ ₂ Distance L between antenna P1 and electronic device 100 ₁ ＝L ₀ ×sinθ ₂ /sinθ ₃ Distance L between antenna P2 and electronic device 100 ₂ ＝L ₀ ×sin ₁ /sin ₃ Wherein θ ₃ ＝180-θ ₁ -θ ₂ . Since the antennas P1 and P2 are both of the same Bluetooth module, one of them can be selectedThe distance between the antenna and the electronic device 100 is used as the distance between the bluetooth module and the electronic device 100. In addition, when a plurality of bluetooth modules are configured in the vehicle 300, each bluetooth module may sense an arrival angle corresponding to the acquired message, and then the distance between each bluetooth module and the electronic device 100 may be determined by calculating the distance between each antenna in the bluetooth modules and the electronic device 100, which is described above, and then the position of the electronic device 100 may be determined by the distance between each bluetooth module and the electronic device 100.

S407, the electronic device 200 communicates with the vehicle 300.

Specifically, after the electronic device 200 obtains the first message including the positioning identifier sent by the electronic device 100, the electronic device 200 may respond to the message and communicate with the vehicle 300, so as to facilitate the subsequent vehicle 300 to position the electronic device 200.

As one possible implementation, the electronic device 200 may be in communication with the vehicle 300 by: the electronic device 200 periodically (e.g., at 1 second or 0.2 second intervals, etc.) sends a message to the outside containing the location identifier and the location data packet. And the vehicle 300 may obtain the message sent by the electronic device 200. Thus, the vehicle 300, upon acquiring the message sent by the electronic device 200, can determine the location of the electronic device 200 based on the message.

As another possible implementation, the communication between the electronic device 200 and the vehicle 300 may be a communication manner in which the two send data to each other and/or receive data. As shown in fig. 7 (a), in S711, the electronic device 200 may send a message including a location identifier and a location data packet to the vehicle 300, and record a sending time t30 of the message; at S712, after the vehicle 300 has acquired the message, it may verify the identity of the electronic device 200 by locating the identity, and may record the time t31 at which it acquired the message when the verification passed; at S713, the vehicle 300 may send a response message to the electronic device 200 in response to the message, and record the time t32 at which the response message was sent; after the electronic apparatus 200 acquires the response message transmitted from the vehicle 300, it may record the time t33 when it acquired the message at S714; in S715, the electronic device 200 may send a message including at least time t30 and time t33 to the vehicle 300 in response to the message. Thus, the vehicle 300 can determine the position of the electronic device 200 based on the times t30, t31, t32, and t 33.

As shown in fig. 7 (B), the electronic device 200 may transmit a message including at least the location identifier to the vehicle 300 in S721. At S722, the vehicle 300 may verify the identity of the electronic device 200 by locating the identity; at S723, the vehicle 300 transmits a message to the electronic device 200 upon passing of the authentication, and records the transmission time t40 of the message; at S724, the electronic device 200, after acquiring the message, may record the time t41 when it acquired the message; at S725, the electronic device 200 may send a response message to the vehicle 300 in response to the message, and record the time t42 at which the response message was sent; the response message may include times t41 and t42. After the vehicle 300 acquires the response message transmitted by the electronic device 200 at S726, it may record the time t43 at which it acquired the message. Thus, the vehicle 300 can determine the position of the electronic device 200 based on the times t40, t41, t42, and t43.

In some embodiments, if the first message further includes a credential for establishing a communication connection or a confidential connection with the vehicle 300 in S404, the credential may also be carried in a message including the location identifier and the location data packet sent by the electronic device 200 to the vehicle 300.

S408, the vehicle 300 verifies the identity of the electronic device 200 based on the location identifier in the message sent by the electronic device 200, and determines the location b of the electronic device 200 based on the communication signal between the vehicle and the electronic device 200 when the verification passes.

Specifically, after the vehicle 300 obtains the message including the positioning identifier sent by the electronic device 200, the positioning identifier in the message may be checked based on a preset verification rule, so as to verify the identity of the electronic device 200, and further determine that the message is from a legal device. For example, the location identifier included in the message sent by the electronic device 200 may be used to indicate that the electronic device 200 is a trusted device (referred to as a "trusted device"), i.e., a legitimate device.

When the vehicle 300 determines that the electronic device 200 is a legitimate device, the vehicle 300 may determine the location b of the electronic device 200 based on the communication signal between the vehicle 300 and the electronic device 200. For example, the vehicle 300 may determine the location b of the electronic device 200 based on one or more of the positioning methods described previously. The manner in which the vehicle 300 determines the position b of the electronic device 200 based on the communication signal between the vehicle 300 and the electronic device 200 is the same as the manner in which the vehicle 300 determines the position a of the electronic device 100 based on the communication signal between the vehicle 300 and the electronic device 100 described above, and detailed descriptions thereof are omitted herein.

S409, the vehicle 300 determines whether the deviation value between the position a and the position b is greater than a preset deviation threshold.

Specifically, the vehicle 300 may compare the position a and the position b to determine whether a deviation value (such as a difference value or a ratio value) between the two is greater than a preset deviation threshold value. Wherein, when being smaller than or equal to the preset deviation threshold, S410 is executed, otherwise S411 is executed.

The location b of the electronic device 200 as determined by the vehicle 300 is more accurate because the default electronic device 200 is unobstructed or the positioning conditions are better. When the electronic device 100 is not blocked or the positioning condition is better, the positioning result of the vehicle for the electronic device 100 or the electronic device 200 represents the current position of the user, and the position a and the position b should be less different. Therefore, when the deviation value (such as the ratio or the difference) between the position a and the position b is smaller than or equal to the preset deviation threshold, it may be determined that the electronic device 100 is not blocked, that is, S410 is performed, and in addition, when the positioning manner corresponding to the electronic device 200 is more preferable, S410 may also be performed; when the deviation value (e.g., ratio or difference, etc.) between the position a and the position b is greater than the preset deviation threshold, it may be determined that the electronic device 100 is blocked, i.e., S411 is performed.

S410, the vehicle 300 determines the position a or the position b as the position of the electronic device 100.

Specifically, when the deviation value between the position a and the position b is less than or equal to the preset deviation threshold value, it indicates that the electronic device 100 is not blocked, and at this time, the vehicle 300 may select one of the position a and the position b as the position of the electronic device 100. In addition, when the positioning manner corresponding to the electronic device 200 is more preferable, the position b may be selected as the position of the electronic device 100.

S411, the vehicle 300 determines that the position b is the position of the electronic device 100, or compensates the position a based on a preset compensation rule, and takes the compensated position a as the position of the electronic device 100.

Specifically, when the deviation value between the position a and the position b is greater than the preset deviation threshold, it indicates that the electronic device 100 is blocked, and since the default electronic device 200 is not blocked, the vehicle 300 may take the position b (i.e., the position of the electronic device 200) as the position of the electronic device 100/user. In addition, the vehicle 300 may compensate the position a based on a preset compensation rule, and the compensated position a may be used as the position of the electronic device 100. For example, the preset compensation rule may be an algorithm model determined in advance in a scene where the analog electronic device 100 is blocked. Illustratively, the algorithm model determined in advance in the scene where the analog electronic device 100 is occluded may be L _Compensation =l- Δθ, where L is the position a, Δθ is the compensation amount, L _Compensation To the compensated position a. For example, when determining the distance between the bluetooth module in the vehicle 300 and the bluetooth module on the electronic device 100 through the above-mentioned "formula one", the parameters in the "formula one" may be compensated, thereby obtaining the compensated distance, and determining the location of the electronic device 100 based on the compensated distance. Of course, when the first position is obtained by using another positioning method, parameters related to the other positioning method can be compensated to obtain a required position.

And S412, when the vehicle 300 determines that the position of the electronic device 100 is within the preset range, outputting a control instruction.

Specifically, after the vehicle 300 determines the position of the electronic device 100, the vehicle 300 may output a control instruction, for example, input a control instruction to unlock, etc., when the position of the electronic device 100 is within a preset range.

In some embodiments of the present application, the positioning data packet mentioned in the above steps may be, but is not limited to, a null packet, i.e., a data packet with a message payload (payload) field being null.

In some embodiments of the present application, when the positioning manner when the vehicle 300 determines the position of the electronic device 200 is better than the positioning manner when the position of the electronic device 100 is determined, the vehicle 300 may directly select the position of the electronic device 200 as the position of the electronic device 100. For example, the level of each positioning mode may be preset, so that it may be determined which positioning mode is better.

Therefore, the electronic equipment 200 which is carried by the user, is in a working state and has no factors such as shielding related to the user is utilized to assist in positioning, the problem that the vehicle 300 is difficult to accurately position the electronic equipment 100 due to the factors such as shielding related to the user is solved, and therefore the user experience of the digital key is improved.

By way of example, fig. 8 illustrates another positioning method in some embodiments of the present application. In fig. 8, at least one bluetooth module is configured in each of the electronic device 100, the electronic device 200, and the vehicle 300, and all of them can communicate through bluetooth technology. Further, a digital key capable of controlling the vehicle 300 is disposed in the electronic device 100. Both the electronic device 100 and the electronic device 200 are carried by the user, and the electronic device 200 is in an operating state and there are no factors such as shielding related to the user. In addition, at least two different positioning modes may be supported between the vehicle 300 and the electronic device 200. In fig. 8, S801 to S810, S812 are identical to S401 to S410, S412 in fig. 4, and detailed descriptions in fig. 4 are omitted herein. The main differences between fig. 8 and fig. 4 are: in fig. 8, when it is determined that the positional deviation between the electronic device 100 and the electronic device 200 is large, the vehicle 300 may switch another positioning manner to position the electronic device 200, and take the position of the electronic device 200 obtained by repositioning as the position of the electronic device 100/the user; in fig. 4, when it is determined that the positional deviation between the electronic device 100 and the electronic device 200 is large, the position of the electronic device 200 is directly used as the position of the electronic device 100/the user, or the position of the electronic device 100 is compensated.

As shown in fig. 8, the positioning method may include the steps of:

s801, a bluetooth connection is established between the electronic device 100 and the vehicle 300, and authentication is completed to prove or confirm the validity of the digital key in the electronic device 100.

S802, the electronic device 100 determines the electronic device 200 from the environment.

S803, the electronic device 100 determines a positioning identifier.

S804, the electronic device 100 sends a message including the location identifier to the electronic device 200.

S805, the electronic device 100 communicates with the vehicle 300.

S806, the vehicle 300 determines the position a of the electronic device 100 based on the communication signal with the electronic device 100.

S807, communication is performed between the electronic apparatus 200 and the vehicle 300. In the communication process of the two, respective device capability information and the like can be exchanged between the two, so that the vehicle 300 can determine that the vehicle and the electronic device 200 both support at least two positioning modes.

S808, the vehicle 300 verifies the identity of the electronic device 200 based on the location identity in the message sent by the electronic device 200, and determines the location b of the electronic device 200 in a first location-determining manner based on the communication signal between the vehicle and the electronic device 200. The first positioning method may be any one of an RSSI-based ranging positioning method, a time-of-flight-based ranging method, an angle-of-arrival ranging method, a safe high-precision ranging method, or a phase-based ranging positioning method.

S809, the vehicle 300 determines whether the deviation value between the position a and the position b is greater than a preset deviation threshold.

Specifically, the vehicle 300 may compare the position a and the position b to determine whether a deviation value (such as a difference value or a ratio value) between the two is greater than a preset deviation threshold value. Wherein, when less than or equal to the preset deviation threshold, S810 is performed, otherwise S811 is performed.

S810, the vehicle 300 determines the position a or the position b as the position of the electronic device 100.

S811, the vehicle 300 determines the position c of the electronic device 200 in the second positioning manner based on the communication signal between the vehicle and the electronic device 200, and takes the position c as the position of the electronic device 100. The second positioning mode may be any one of an RSSI-based ranging positioning method, a time-of-flight-based ranging method, an angle-of-arrival ranging method, a safe high-precision ranging method, or a phase-based ranging positioning method, and the second positioning mode is different from the first positioning mode. Illustratively, the second positioning method may be superior to the first positioning method. For example, the first positioning method may be an RSSI-based ranging positioning method and the second positioning method may be a time-of-flight-based ranging method.

Specifically, when it is determined that the deviation value between the position a and the position b is greater than the preset deviation threshold, the vehicle 300 may switch another positioning manner to position the electronic device 200, so as to obtain a position c of the electronic device 200, and take the position c as the position of the electronic device 100.

S812, the vehicle 300 outputs a control instruction when determining that the position of the electronic device 100 is within the preset range.

Therefore, when a more accurate positioning mode is provided between the vehicle and the electronic equipment capable of carrying out auxiliary positioning on the electronic equipment, under the condition that the use condition is met, the vehicle can adopt other more accurate positioning modes with the electronic equipment to realize more accurate position measurement, the problem that the vehicle is difficult to accurately position the electronic equipment due to factors such as shielding related to a user is solved, and therefore the user experience of the digital key is improved.

By way of example, fig. 9 illustrates yet another positioning method in some embodiments of the present application. In fig. 9, at least one bluetooth module is configured in each of the electronic device 100, the electronic device 200, and the vehicle 300, and all of them can communicate through bluetooth technology. Further, a digital key capable of controlling the vehicle 300 is disposed in the electronic device 100. Both the electronic device 100 and the electronic device 200 are carried by the user, and the electronic device 200 is in an operating state and there are no factors such as shielding related to the user.

As shown in fig. 9, the positioning method may include the steps of:

s901, a bluetooth connection is established between the electronic device 100 and the vehicle 300, and authentication is completed to prove or confirm the validity of the digital key in the electronic device 100.

S902, the vehicle 300 periodically transmits a message including the positioning packet to the outside.

After the vehicle 300 establishes a bluetooth connection with the electronic device 100, the vehicle 300 transmits a message including a positioning data packet to the outside periodically (e.g., at intervals of 1 second or 0.2 seconds, etc.) through a bluetooth module thereon.

In some embodiments, after the bluetooth connection is established between the vehicle 300 and the electronic device 100, it indicates that the distance between the two is within a preset range, that is, the distance between the two is relatively close, and at this time, the vehicle 300 may actively send a message including the positioning data packet to the outside.

In addition, after the bluetooth connection is established between the vehicle 300 and the electronic device 100, the electronic device 100 may trigger the ranging and positioning at a suitable time (for example, when the vehicle 300 and the electronic device 100 complete authentication, or when the vehicle 300 and the electronic device complete authentication for a preset time, or when the vehicle 300 and the electronic device are estimated to be relatively close based on the RSSI reaching the threshold, etc.), and send an indication message to the vehicle 300 to instruct the vehicle 300 to send a message containing the positioning data packet to the outside. In this way, the vehicle 300 transmits the message including the positioning data packet to the outside when the instruction of the electronic device 100 is acquired, so as to avoid the vehicle 300 from transmitting the message including the positioning data packet prematurely, and reduce the power consumption of the vehicle 300.

S903, the electronic device 100 determines the position a of the electronic device relative to the vehicle 300 based on the acquired message including the positioning data packet.

Specifically, the electronic device 100 may determine its location a relative to the vehicle 300 based on the message that includes the positioning data packet. For example, the electronic device 100 may determine its location a relative to the vehicle 300 based on one or more of the positioning methods described above, in combination with a positioning algorithm based on single or multi-point distances. For example, when one bluetooth module is provided in the vehicle 300, the position a may be any position on a circle having the vehicle 300 as a center and the distance between the vehicle 300 and the electronic device 100 as a radius. When three bluetooth modules are configured in the vehicle 300, the position a may be a position of the electronic device 100 relative to the vehicle 300 determined by the three-point positioning method based on RSSI. For example, a positioning algorithm for the vehicle may be preconfigured in the electronic device 100.

In some embodiments, S903 may be understood as a process by which the electronic device 100 determines its position relative to the vehicle 300 based on a communication signal between it and the vehicle 300.

S904, the electronic device 200 sends a message a to the electronic device 100, where the message a includes data corresponding to the message including the positioning data packet received by the electronic device 200.

Specifically, after acquiring the message including the positioning data packet sent by the vehicle 300, the electronic device 200 may analyze the message through the capability of the bluetooth module on the electronic device to determine data for determining the position of the electronic device relative to the vehicle 300, such as RSSI, angle of arrival, or directly converted distance value. Thereafter, the electronic device 200 may send data corresponding to the message including the positioning data to the electronic device 100, so that the electronic device 100 determines the position of the electronic device 200 relative to the vehicle 300 based on the data.

For example, the data sent by the electronic device 200 to the electronic device 100 may include, but is not limited to, RSSI, distance between the electronic device 200 and the vehicle 300, and the like.

The electronic device 200 may be an electronic device determined from the environment based on the electronic device 100 in S402 in fig. 4 above, for example.

S905, the electronic device 100 determines the position b of the electronic device 200 relative to the vehicle 300 based on the acquired message sent by the electronic device 200.

Specifically, after the electronic device 100 obtains the message including the data corresponding to the message of the positioning data packet sent by the electronic device 200, the position b of the electronic device 200 relative to the vehicle 300 may be determined based on the data corresponding to the message of the positioning data packet and the positioning algorithm included in the message. For example, when the data corresponding to the message of the positioning data packet is RSSI, the electronic device 100 may determine the position of the electronic device 200 relative to the vehicle 300 based on the RSSI ranging positioning method; when the data corresponding to the message of the positioning data packet is the angle of arrival, the electronic device 100 may determine the position of the electronic device 200 relative to the vehicle 300 based on the angle of arrival ranging positioning method.

For example, the vehicle 300 may be configured with one or more bluetooth modules. When one bluetooth module is provided in the vehicle 300, the position b may be any position on a circle having the vehicle 300 as a center and the distance between the vehicle 300 and the electronic device 200 as a radius. When three bluetooth modules are configured in the vehicle 300, the position b may be a position of the electronic device 200 relative to the vehicle 300 determined by the three-point positioning method of the electronic device 100 based on RSSI. For example, the electronic device 100 may be preconfigured with the installation positions of the bluetooth modules on the vehicle 300, so that after the electronic device 100 determines the distances between the bluetooth modules on the electronic device 200 and the bluetooth modules on the vehicle 300, the position of the electronic device 200 relative to the vehicle 300 may be determined by a preset algorithm (such as a three-point positioning algorithm based on RSSI, etc.).

In some embodiments, S905 may be understood as a process in which the electronic device 100 determines the position of the electronic device 200 relative to the vehicle 300 based on a communication signal between the electronic device 200 and the vehicle 300.

S906, the electronic device 100 determines whether the deviation value between the position a and the position b is greater than a preset deviation threshold.

Specifically, the electronic device 100 may compare the position a and the position b to determine whether a deviation value (such as a difference value or a ratio value) between the two is greater than a preset deviation threshold. Wherein, when being smaller than or equal to the preset deviation threshold, S907 is executed, otherwise S908 is executed.

Since the default electronic device 200 is not occluded or the positioning condition is better, the position of the electronic device 100 relative to the vehicle 300 is more accurate, and the position a and the position b should differ less when the electronic device 100 is not occluded or the positioning condition is better. Therefore, when the deviation value (such as the ratio or the difference) between the position a and the position b is smaller than or equal to the preset value, it may be determined that the electronic device 100 is not blocked, that is, S907 is performed, and in addition, when the positioning manner corresponding to the electronic device 200 is more preferable, S907 may also be performed; when the deviation value (e.g., ratio or difference value, etc.) between the position a and the position b is greater than the preset value, it may be determined that the electronic device 100 is blocked, i.e., S908 is performed.

S907, the electronic device 100 determines the position a or the position b as the position of the electronic device 100 relative to the vehicle 300.

Specifically, when the deviation value between the position a and the position b is less than or equal to the preset deviation threshold, it indicates that the electronic device 100 is not blocked, and at this time, the electronic device 100 may select one of the position a and the position b as the position of the electronic device 100 with respect to the vehicle 300. In addition, when the positioning manner corresponding to the electronic device 200 is more preferable, the position b may be selected as the position of the electronic device 100.

S908, the electronic device 100 determines the position b as the position of the electronic device 100 relative to the vehicle 300, or compensates the position a based on a preset compensation rule, and takes the compensated position a as the position of the electronic device 100 relative to the vehicle 300.

Specifically, when the deviation value between the position a and the position b is greater than the preset deviation threshold, it indicates that the electronic device 100 is blocked, and since the default electronic device 200 is not blocked, the electronic device 100 may determine the position b as the position of the electronic device 100 with respect to the vehicle 300. In addition, the electronic device 100 may compensate the position a based on a preset compensation rule, and take the compensated position a as the position of the electronic device 100 relative to the vehicle 300. The compensation method is described in detail above, and will not be described in detail here.

S909, the electronic device 100 transmits a message including the position of the electronic device 100 relative to the vehicle 300 and/or the control instruction to the vehicle 300.

Specifically, after determining the position of the electronic device 100 relative to the vehicle 300, the electronic device 100 may send the position and/or the control command of the electronic device 100 relative to the vehicle 300. Thus, the vehicle 300 may learn the location of the electronic device 100 and/or the control commands issued by the electronic device 100.

S910, the vehicle 300 outputs a control instruction when determining that the position of the electronic device 100 is within the preset range.

In some embodiments, if the electronic apparatus 100 transmits only the control instruction in S909, the vehicle 300 may directly output the control instruction after acquiring the control instruction in S910.

In some embodiments of the present application, when the electronic device 100 determines the position b (i.e., the position of the electronic device 200 relative to the vehicle 300) in a positioning manner that is better than the positioning manner when the electronic device 100 determines the position a (i.e., the position of the electronic device 100 relative to the vehicle 300), the electronic device 100 may directly select the position b as the position of the electronic device 100 relative to the vehicle 300. For example, the level of each positioning mode may be preset, so that it may be determined which positioning mode is better.

By way of example, fig. 10 illustrates yet another positioning method in some embodiments of the present application. In fig. 10, at least one bluetooth module is configured in each of the electronic device 100, the electronic device 200, and the vehicle 300, and all of them can communicate through bluetooth technology. Further, a digital key capable of controlling the vehicle 300 is disposed in the electronic device 100. Both the electronic device 100 and the electronic device 200 are carried by the user, and the electronic device 200 is in an operating state and there are no factors such as shielding related to the user. In addition, at least two different positioning modes may be supported between the vehicle 300 and the electronic device 200. In fig. 10, S1001 to S1006, S1008, S1009 are identical to S801 to S807, S809, S810 in fig. 9, and detailed description in fig. 9 is omitted here. The main difference between fig. 10 and fig. 9 is that: in fig. 10, when it is determined that the position of the electronic device 100 relative to the vehicle 300 and the position of the electronic device 200 relative to the vehicle 300 deviate greatly, the electronic device 100 may switch another positioning manner to position the electronic device 200 relative to the vehicle 300, and take the position of the electronic device 200 relative to the vehicle 300 obtained by repositioning as the position of the electronic device 100 relative to the vehicle 300; in fig. 9, when it is determined that the deviation between the position of the electronic device 100 relative to the vehicle 300 and the position of the electronic device 200 relative to the vehicle 300 is large, the position of the electronic device 200 relative to the vehicle 300 is directly used as the position of the electronic device 100 relative to the vehicle 300, or the position of the electronic device 100 relative to the vehicle 300 is compensated.

As shown in fig. 10, the positioning method may include the steps of:

s1001, a bluetooth connection is established between the electronic device 100 and the vehicle 300, and authentication is completed to prove or confirm the validity of the digital key in the electronic device 100.

S1002, the vehicle 300 periodically transmits a message including the positioning packet to the outside.

S1003, the electronic device 100 determines the position a of the electronic device relative to the vehicle 300 based on the acquired message including the positioning data packet.

S1004, the electronic device 200 sends a message a to the electronic device 100, where the message a includes data corresponding to the message including the positioning data packet received by the electronic device 200.

S1005, the electronic device 100 determines the position b of the electronic device 200 relative to the vehicle 300 in the first positioning manner based on the message sent by the electronic device 200.

S1006, the electronic device 100 determines whether the deviation value between the position a and the position b is greater than a preset deviation threshold.

Specifically, the electronic device 100 may compare the position a and the position b to determine whether a deviation value (such as a difference value or a ratio value) between the two is greater than a preset deviation threshold. Wherein, when being smaller than or equal to the preset deviation threshold, S1008 is executed, otherwise S1009 is executed.

S1007, the electronic device 100 determines the position a or the position b as the position of the electronic device 100 relative to the vehicle 300.

S1008, the electronic device 100 determines, based on the message sent by the electronic device 200, the position c of the electronic device 200 relative to the vehicle 300 in the second positioning manner, and uses the position c as the position of the electronic device 100 relative to the vehicle 300. The second positioning mode may be any one of an RSSI-based ranging positioning method, an arrival angle ranging method, a safe high-precision ranging method, or a phase-based ranging positioning method, and the second positioning mode is different from the first positioning mode. For example, the first positioning method may be an RSSI-based ranging positioning method, and the second positioning method may be an angle-of-arrival-based ranging method.

S1009, the electronic device 100 transmits a message including the position of the electronic device 100 with respect to the vehicle 300.

S1010, the vehicle 300 outputs a control instruction when determining that the position of the electronic device 100 is within the preset range.

Therefore, the electronic equipment 200 which is carried by the user, is in a working state, does not have factors such as shielding related to the user and/or supports a more accurate ranging positioning mode with the vehicle 300 is used for assisting in positioning, so that the vehicle 300 can more accurately position the user, and the user experience of the digital key is improved.

In some embodiments, in fig. 9 and 10, the process of the vehicle 300 transmitting a message and the electronic device 100 acquiring the message transmitted by the vehicle 300 may be understood as a process of communication between the electronic device 100 and the vehicle 300; the process of the vehicle 300 transmitting a message and the electronic device 200 acquiring the message transmitted by the vehicle 300 may be understood as a process of communication between the electronic device 200 and the vehicle 300.

In some embodiments, an "assist in locating" on/off key may be configured in the vehicle 300. The key may be a physical key, such as a mechanical key, which may be configured on a steering wheel or other location in the vehicle 300. In addition, the key may be a virtual key, which may be disposed on an in-vehicle terminal in the vehicle 300; at this time, as shown in fig. 11, the user may select to turn on "the assist positioning" or select to turn off "the assist positioning on the in-vehicle terminal 310 in the vehicle 300. After the user selects to turn on "auxiliary positioning", auxiliary positioning may be performed by the electronic device 200 described in the positioning method provided in the embodiment of the present application.

In some embodiments, an "auxiliary positioning" on/off key may also be configured in the electronic device 100. The key may be, but is not limited to, a virtual key.

Next, another positioning method provided by the embodiments of the present application is described based on the positioning methods described in the respective embodiments above. The method is based on the positioning method described in the above embodiments, and some or all of the method may be referred to in some or all of the above embodiments.

Referring to fig. 12, fig. 12 is a schematic diagram illustrating steps of another positioning method according to an embodiment of the present application. At least three devices, namely a first device, a second device and a third device, may be involved in the method. Illustratively, the first device may be a vehicle (such as vehicle 300 depicted in fig. 1, etc.), the second device may be a mobile terminal (such as electronic device 100 depicted in fig. 1, etc.), and the third device may be a wearable device (such as electronic device 200 depicted in fig. 1, etc.). The third device may be a device capable of assisting in locating the second device.

As shown in fig. 12, the positioning method may include:

s1201, the first device communicates with the second device.

Specifically, communication may be performed between the first device and the second device. For example, the first device may communicate with the second device in a unidirectional manner, that is, one party sends information to the second device and the other party receives information, for example: the first equipment sends information to the second equipment, the second equipment acquires the information sent by the first equipment, or the second equipment sends information to the first equipment, and the first equipment acquires the information sent by the second equipment. In addition, the first device and the second device may communicate in a bidirectional manner, that is, the first device and the second device send information and/or receive information to each other, for example: the first device sends the information a to the second device first, the second device can send the information b to the first device after obtaining the information a, or the second device sends the information a to the first device first, the first device can send the information b to the second device after obtaining the information a, or the like. In one example, the communication between the first device and the second device may also be a broadcast communication, i.e. a broadcast message is sent around one direction between the two, and the other party receives the broadcast message. For example, the first device broadcasts a message a to its surroundings, the second device acquires the message a, or the second device broadcasts a message b to its surroundings, the first device acquires the message b.

For example, when there is one-way communication between the two, the first device communicating with the second device may be understood as the first device obtaining information sent by the second device. When two-way communication is between the two, the first device and the second device can be understood as: the first device sends information to the second device and obtains information sent by the second device, or the first device obtains information sent by the second device and sends information to the second device, etc.

In some embodiments, the connection between the first device and the second device may be established via bluetooth. Of course, the connection between the two may be established by other communication methods, such as near field communication technology or ultra wideband technology.

S1202, the first device determines a first location of the second device based on a first communication signal between the first device and the second device.

Specifically, after the first device and the second device communicate, the first device may determine the first location of the second device based on the first communication signal between the first device and the second device using one or more of the positioning methods described above. The first location may be, for example, location a described above in fig. 4 or fig. 8.

And S1203, the first device communicates with a third device, and the third device is selected from at least one device in the environment by the second device.

Specifically, communication may be performed between the first device and the third device. The communication between the first device and the third device is similar to the communication between the first device and the second device described above, and detailed descriptions thereof are omitted herein.

In this embodiment, the third device is selected by the second device from at least one device in the environment. The detailed process of determining the third device from the environment by the second device is described in S402 in fig. 4, which is not described in detail herein. Wherein the third device may comprise one or more of: the device in a connection state with the second device, the device with the distance between the device and the second device being smaller than the preset distance, the device which is bound with the first device and/or the second device in advance, or the device which belongs to the same user (for example, the same user account number and the like is logged in with the second device) and can verify the identity of the user or detect the physiological parameters (for example, pulse, blood sugar, blood pressure, heart rate and the like) of the user currently.

S1204, the first device determines a second location of the third device based on a second communication signal between the first device and the third device.

Specifically, after the first device and the third device communicate, the first device may determine the second location of the third device based on the first communication signal between the first device and the third device using one or more of the positioning methods described above. The second position may be, for example, position b described above in fig. 4 or fig. 8.

S1205, the first device determines a target location of the second device based on the first location and the second location.

Specifically, after the first device obtains the first location of the second device and the second location of the third device, the first device may determine the target location of the second device based on the first location and the second location.

As a possible implementation, the first device may compare the first location and the second location to determine a deviation value therebetween. And when the deviation value is smaller than or equal to a preset deviation threshold value, indicating that the positioning scene corresponding to the second equipment is similar to the positioning scene corresponding to the third equipment. Because the third device is a device capable of assisting in positioning the second device by default, when the positioning scenes corresponding to the third device and the third device are similar, the positions determined by the third device and the third device can be considered to be both trusted, so that the second device can be considered to have no factors such as shielding related to a user, and at the moment, one position can be selected from the two positions as a target position, namely the first device can determine that the target position is the first position or the second position.

And when the deviation value is larger than a preset deviation threshold value, indicating that the positioning scene corresponding to the second equipment is different from the positioning scene corresponding to the third equipment. Since the third device is a device capable of assisting in positioning the second device by default, when positioning scenes corresponding to the third device and the third device are different, the first position determined by the second device can be considered to be unreliable, so that the second device can be considered to have factors such as shielding related to a user, and the second position determined by the third device can be taken as a target position at the moment, namely the first device can determine that the target position is the second position.

In addition, when the deviation value is greater than the preset deviation threshold, the first device may further compensate the first position based on the compensation rule to obtain a third position, and use the third position as the target position, which is described in fig. 4, and will not be described in detail herein.

As another possible implementation, the second location may be taken as the target location when the positioning manner corresponding to the second location is better than the positioning manner corresponding to the first location. Because the positioning mode corresponding to the second position is better than the positioning mode corresponding to the first position, the second position can be considered to be more accurate, and the target position can be determined to be the second position. The level of each positioning mode can be preset, so that after the position is determined, the level of the positioning mode adopted by the determined position can determine which position corresponds to the better positioning mode.

As yet another possible implementation, when the deviation value between the first location and the second location is greater than a preset deviation threshold, communication may be continued between the first device and the third device. Then, the first device may determine a fourth location of the third device based on a third communication signal between the first device and the third device, where a communication time corresponding to the third communication signal is later than a communication time corresponding to the second communication signal. Finally, the first device may determine the target location as a fourth location. That is, when the deviation value between the first position and the second position is greater than the preset deviation threshold, the third device may be repositioned, and the repositioned position of the third device may be taken as the target position. In some embodiments, when the third device is repositioned, a positioning may be performed in a more optimal manner than the positioning corresponding to the second location, thereby obtaining a more accurate location than the second location.

As yet another possible implementation, when the third device is in the target state, communication may continue between the first device and the third device; the target state may refer to that the third device supports multiple positioning manners. For example, during communication between the first device and the third device, the third device may inform the first device whether it supports multiple positioning modes. Then, the first device may determine a fourth location of the third device based on a third communication signal between the first device and the third device, where a communication time corresponding to the third communication signal is later than a communication time corresponding to the second communication signal. Finally, the first device may determine the target location as a fourth location. That is, when the third device supports multiple positioning methods, the third device may be repositioned, and the repositioned position of the third device is taken as the target position. In some embodiments, when the third device is repositioned, a positioning may be performed in a more optimal manner than the positioning corresponding to the second location, thereby obtaining a more accurate location than the second location.

In some embodiments, the above ways of determining the target position may be combined arbitrarily, and the combined solution is still within the scope of the present application.

S1206, when the target position is in the preset area, the first device outputs a control instruction.

Specifically, after determining the target position, the first device may output a control instruction when the target position is in a preset area.

Therefore, the second equipment is subjected to auxiliary positioning through the third equipment, the problem that the first equipment is difficult to accurately position the second equipment is solved, the control instruction can be accurately output by the first equipment, and the user experience is improved.

In some embodiments, prior to S1204 described above, the first device may also verify the identity of the third device to ensure that the third device is a trusted device. In particular, the first device may determine whether a location identifier generated by the first device and/or the second device is included in the second communication signal when the first device communicates with the third device, where the location identifier is used to indicate that the third device is a trusted device. When the location identity is included in the second communication signal, the first device may determine that the third device is a trusted device.

Illustratively, the location identity is generated by one or more of: the method comprises the steps of generating based on shared secret negotiation between the first device and the second device, generating based on identification information of the third device, generating based on communication session information between the first device and the second device, generating based on identification information distributed to the third device by the first device or the second device, or generating based on preset identification generation rules. For example, the location identity may include time information indicating the validity period of the location identity.

Referring to fig. 13, fig. 13 is a schematic diagram illustrating steps of another positioning method according to an embodiment of the present application. At least three devices, namely a first device, a second device and a third device, may be involved in the method. By way of example, the first device may be a mobile terminal (such as the electronic device 100 depicted in fig. 1, etc.), the second device may be a vehicle (such as the vehicle 300 depicted in fig. 1, etc.), and the third device may be a wearable device (such as the electronic device 200 depicted in fig. 1, etc.). The third device may be a device capable of assisting in positioning the first device.

As shown in fig. 13, the positioning method may include:

s1301, the first device communicates with the second device.

Specifically, communication may be performed between the first device and the second device. The communication between the first device and the second device is similar to the communication between the first device and the second device described in fig. 12, and is not described in detail herein.

S1302, the first device determines a first location of the first device relative to the second device based on a first communication signal between the first device and the second device.

Specifically, after the first device and the second device communicate, the first device may determine a first location of the first device relative to the second device based on a first communication signal between the first device and the second device using one or more positioning methods described above. The first position may be, for example, position a described above in fig. 9 or fig. 10.

S1303, the first device acquires first data sent by the third device, the first data is data corresponding to a second communication signal when the third device communicates with the second device, and the third device is selected from at least one device in the environment by the first device.

Specifically, the first device may communicate with the third device to obtain the first data sent by the third device. Wherein the third device is selected by the first device from at least one device in the environment. The detailed process of determining the third device from the environment by the first device is described in S402 in fig. 4, which is not described in detail herein. Wherein the third device may comprise one or more of: the device in a connection state with the second device, the device with the distance between the device and the second device being smaller than the preset distance, the device which is bound with the first device and/or the second device in advance, or the device which belongs to the same user (for example, the same user account number and the like is logged in with the second device) and can verify the identity of the user or detect the physiological parameters (for example, pulse, blood sugar, blood pressure, heart rate and the like) of the user currently.

The first data is data corresponding to a second communication signal when the third device communicates with the second device. The communication between the third device and the second device is similar to the communication between the first device and the second device described in fig. 12, and is not described in detail herein. For example, the data corresponding to the second communication signal may include data such as RSSI, a distance between the third device and the second device, and the like.

S1304, the first device determines a second location of the third device relative to the second device based on the first data.

Specifically, after the first device obtains the first data, the first device may determine, based on the first data, a second location of the third device relative to the second device using one or more positioning methods described above. The second position may be, for example, position b described above in fig. 9 or fig. 10.

S1305, the first device determines a target location of the first device relative to the second device based on the first location and the second location.

Specifically, after the first device acquires the first location and the second location, the first device may determine a target location of the first device relative to the second device based on the first location and the second location.

As a possible implementation, the first device may compare the first location and the second location to determine a deviation value therebetween. And when the deviation value is smaller than or equal to a preset deviation threshold value, indicating that the positioning scene corresponding to the first equipment is similar to the positioning scene corresponding to the third equipment. Because the third device is a device capable of assisting in positioning the first device by default, when the positioning scenes corresponding to the third device and the third device are similar, the positions determined by the third device and the third device can be considered to be both trusted, so that the first device can be considered to have no factors such as shielding related to a user, and at the moment, one position can be selected from the two positions as a target position, namely the first device can determine that the target position is the first position or the second position.

And when the deviation value is larger than a preset deviation threshold value, indicating that the positioning scene corresponding to the first equipment is different from the positioning scene corresponding to the third equipment. Since the third device is a device capable of assisting in positioning the first device by default, when positioning scenes corresponding to the third device and the third device are different, the first position determined by the first device can be considered to be unreliable, so that the first device can be considered to have factors such as shielding related to a user, and the second position determined by the third device can be taken as a target position at the moment, namely the first device can determine that the target position is the second position.

As yet another possible implementation, the communication between the second device and the third device may continue when the deviation value between the first location and the second location is greater than a preset deviation threshold. The third device may then send second data (e.g., RSSI, distance between the third device and the second device, etc.) corresponding to the third communication signal when it communicates with the second device to the first device. Wherein, the communication time corresponding to the third communication signal is later than the communication time corresponding to the second communication signal. After the first device obtains the second data sent by the third device, a fourth position of the third device relative to the second device may be determined based on the second data. Finally, the first device may determine the target location as a fourth location. That is, when the deviation value between the first position and the second position is greater than the preset deviation threshold, the position of the third device relative to the second device may be redetermined, and the redetermined position of the third device relative to the second device may be taken as the target position. In some embodiments, when the position of the third device relative to the second device is redetermined, positioning may be performed in a positioning manner that is better than the positioning manner corresponding to the second position, thereby obtaining a more accurate position than the second position.

As yet another possible implementation, when the third device is in the target state, communication may continue between the second device and the third device; the target state means that the third device supports multiple positioning modes. For example, during communication between the second device and the third device, the third device may inform the first device whether it supports multiple positioning modes. The third device may then send second data (e.g., RSSI, distance between the third device and the second device, etc.) corresponding to the third communication signal when it communicates with the second device to the first device. Wherein, the communication time corresponding to the third communication signal is later than the communication time corresponding to the second communication signal. After the first device obtains the second data sent by the third device, a fourth position of the third device relative to the second device may be determined based on the second data. Finally, the first device may determine the target location as a fourth location. That is, when the deviation value between the first position and the second position is greater than the preset deviation threshold, the position of the third device relative to the second device may be redetermined, and the redetermined position of the third device relative to the second device may be taken as the target position. In some embodiments, when the position of the third device relative to the second device is redetermined, positioning may be performed in a positioning manner that is better than the positioning manner corresponding to the second position, thereby obtaining a more accurate position than the second position.

S1306, the first device sends a target message to the second device, wherein the target message comprises a target position and/or a control instruction.

Specifically, after the first device determines the target location, the first device may send a target message including the target location and/or the control instruction to the second device. Thus, the second device may obtain the position of the first device relative to the second device, and/or the second device may execute the control instruction sent by the first device.

Therefore, the first equipment is subjected to auxiliary positioning through the third equipment, the problem that the first equipment is difficult to determine the position of the first equipment relative to the second equipment is solved, the first equipment can accurately determine the position of the first equipment relative to the second equipment, the second equipment can accurately know the position of the first equipment and/or respond to the control instruction output by the first equipment, and user experience is improved.

It should be understood that, the sequence number of each step in the foregoing embodiment does not mean the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way. In addition, in some possible implementations, each step in the foregoing embodiments may be selectively performed according to practical situations, and may be partially performed or may be performed entirely, which is not limited herein; for example: the steps in fig. 4 may be all executed, or step 403 may be omitted, and when step 403 is omitted, electronic device 100 may directly instruct electronic device 200 to communicate with vehicle 300 after electronic device 200 is determined. Furthermore, all or part of any feature of any embodiment of the present application may be freely, and arbitrarily combined without conflict. The combined technical scheme is also within the scope of the application.

In some possible implementations, the steps in the foregoing embodiments may be adaptively adjusted to the execution subject according to the actual situation, which is not limited herein. In one example, in fig. 9 and 10, the process of determining the location of the electronic device 200 relative to the vehicle 300 may be performed by, but is not limited to, the electronic device 200 when the electronic device 200 is provided with computing processing capabilities.

In some embodiments of the present application, the communication between devices described in the present application may be that one party only signals and the other party only receives signals; or both parties may send and/or receive signals to each other. Where communication between devices is one party only signaling and the other party only receiving signals, communication signals between devices may refer to, but are not limited to, signals received by the other party. When communication between devices is a signal that two parties send and/or receive to each other, the communication signal between devices may refer to, but is not limited to, a signal that two parties send and/or receive. In some embodiments, device a may communicate with device B by: the device A sends a message to the device B, and the device B receives the message; it may also be: the device B sends a message to the device A, and the device A receives the message; it is also possible that: the device A sends a message to the device B, the device B can send a feedback message to the device A after receiving the message, and the like; it is also possible that: device B first sends a message to device a, which may send a feedback message to device B after receiving the message, etc.

Based on the method described in the above embodiment, the embodiment of the application further provides a positioning device. Referring to fig. 14, fig. 14 is a schematic structural diagram of a positioning device according to an embodiment of the present application. As shown in fig. 14, the positioning device 1400 includes one or more processors 1401 and interface circuitry 1402. Optionally, the positioning device 1400 may also include a bus 1403. Wherein:

the processor 1401 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry of hardware in the processor 1401 or instructions in the form of software. The processor 1401 as described above may be a general purpose processor, a neural network processor (Neural Network Processing Unit, NPU), a digital communicator (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic devices, discrete hardware components. The methods and steps 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. For example, when the positioning apparatus 1400 is applied to the electronic device 100 described above, the processor 1401 may perform some or all of the steps performed by the electronic device 100 in the above-described respective embodiments. When the positioning apparatus 1400 is applied to the electronic device 200 described above, the processor 1401 may perform some or all of the steps performed by the electronic device 200 in the above-described respective embodiments. When the positioning device 1400 is applied to the vehicle 300 described above, the processor 1401 may perform some or all of the steps performed by the vehicle 300 in the various embodiments described above.

The interface circuit 1402 may be used for transmitting or receiving data, instructions or information, and the processor 1401 may process using the data, instructions or other information received by the interface circuit 1402 and may transmit processing completion information through the interface circuit 1402. For example, when the positioning apparatus 1400 is applied to the electronic device 100 described above, the interface circuit 1402 may be used to receive a message transmitted from the vehicle 300 or the electronic device 200, or transmit a message to the vehicle 300 or the electronic device 200, or the like. When the positioning apparatus 1400 is applied to the electronic device 200 described above, the interface circuit 1402 may be used to receive a message transmitted from the vehicle 300 or the electronic device 140, or transmit a message or the like to the vehicle 300 or the electronic device 140. When the positioning apparatus 1400 is applied to the vehicle 300 described above, the interface circuit 1402 may be used to receive a message transmitted from the electronic device 100 or the electronic device 200, or transmit a message or the like to the electronic device 100 or the electronic device 200.

Optionally, the positioning device 1400 also includes memory, which may include read-only memory and random access memory, and provides operating instructions and data to the processor. A portion of the memory may also include non-volatile random access memory (NVRAM). Wherein the memory may be coupled to the processor 1401.

Optionally, the memory stores executable software modules or data structures and the processor 1401 may perform corresponding operations by invoking operational instructions stored in the memory (which may be stored in an operating system).

Alternatively, the interface circuit 1402 may be used to output the execution result of the processor 1401.

It should be noted that, the functions corresponding to the processor 1401 and the interface circuit 1402 may be implemented by a hardware design, a software design, or a combination of hardware and software, which is not limited herein.

It will be appreciated that the steps of the method embodiments described above may be performed by logic circuitry in the form of hardware in a processor or instructions in the form of software.

It is to be appreciated that the processor in embodiments of the present application may be a central processing unit (central processing unit, CPU), but may also be other general purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), field programmable gate arrays (field programmable gate array, FPGA) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general purpose processor may be a microprocessor, but in the alternative, it may be any conventional processor.

The method steps in the embodiments of the present application may be implemented by hardware, or may be implemented by a processor executing software instructions. The software instructions may be comprised of corresponding software modules that may be stored in random access memory (random access memory, RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable programmable PROM (EPROM), electrically erasable programmable EPROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

It will be appreciated that the various numerical numbers referred to in the embodiments of the present application are merely for ease of description and are not intended to limit the scope of the embodiments of the present application.

Claims

1. A method of positioning, the method comprising:

the first device communicates with the second device;

the first device determining a first location of the second device based on a first communication signal between the first device and the second device;

the first device communicates with a third device selected by the second device from at least one device in the environment;

the first device determining a second location of the third device based on a second communication signal between the first device and the third device;

the first device determining a target location of the second device based on the first location and the second location;

and when the target position is in a preset area, the first device outputs a control instruction.

2. The method of claim 1, wherein the target location is the first location or the second location when a deviation value between the first location and the second location is less than or equal to a preset deviation threshold.

3. The method of claim 1, wherein the target location is the second location when a deviation value between the first location and the second location is greater than a preset deviation threshold or a positioning manner corresponding to the second location is better than a positioning manner corresponding to the first location.

4. The method of claim 1, wherein the target position is a third position when a deviation value between the first position and the second position is greater than a preset deviation threshold, wherein the third position is a position obtained after compensating the first position based on a compensation rule.

5. The method of claim 1, wherein the first device determining a target location of the second device based on the first location and the second location comprises:

when the deviation value between the first position and the second position is larger than a preset deviation threshold value, and/or the third device is in a target state, the first device determines a fourth position of the third device based on a third communication signal between the first device and the third device, and the communication time corresponding to the third communication signal is later than the communication time corresponding to the second communication signal;

The first device determines the target location as the fourth location.

6. The method of claim 5, wherein the fourth location corresponds to a better positioning than the second location.

7. The method of any of claims 1-6, wherein prior to the first device determining the second location of the third device based on the second communication signal between the first device and the third device, the method further comprises:

the first device determines that the second communication signal comprises a positioning identifier, wherein the positioning identifier is used for indicating that the third device is a trusted device, and the positioning identifier is generated by the first device and/or the second device.

8. The method of claim 7, wherein the location identity is generated by one or more of:

the method comprises the steps of generating based on shared secret negotiation between the first device and the second device, generating based on identification information of the third device, generating based on communication session information between the first device and the second device, generating based on identification information distributed to the third device by the first device or the second device, or generating based on preset identification generation rules.

9. A method according to claim 7 or 8, wherein the location identity comprises time information representing the validity period of the location identity.

10. The method of any one of claims 1-9, wherein the third device comprises one or more of:

the device in a connection state with the second device, the device with the distance between the device and the second device being smaller than a preset distance, the device bound with the first device and/or the second device in advance, or the device belonging to the same user as the second device and being capable of verifying the identity of the user or detecting the physiological parameter of the user at present.

11. The method of any of claims 1-10, wherein the first device is a vehicle, the second device is a mobile terminal, and the third device is a wearable device.

12. A method of positioning, the method comprising:

the first device communicates with the second device;

the first device determining a first location of the first device relative to the second device based on a first communication signal between the first device and the second device;

The first device acquires first data sent by a third device, wherein the first data is data corresponding to a second communication signal when the third device communicates with the second device, and the third device is selected from at least one device in the environment by the first device;

the first device determining a second location of the third device relative to the second device based on the first data;

the first device determining a target location of the first device relative to the second device based on the first location and the second location;

the first device sends a target message to the second device, wherein the target message comprises the target position and/or the control instruction.

13. The method of claim 12, wherein the target location is the first location or the second location when a deviation value between the first location and the second location is less than or equal to a preset deviation threshold.

14. The method of claim 12, wherein the target location is the second location when a deviation value between the first location and the second location is greater than a preset deviation threshold or the second location corresponds to a better positioning than the first location.

15. The method of claim 12, wherein the target position is a third position when a deviation value between the first position and the second position is greater than a preset deviation threshold, wherein the third position is a position obtained after compensating the first position based on a compensation rule.

16. The method of claim 12, wherein the first device determining a target location of the first device relative to the second device based on the first location and the second location comprises:

when the deviation value between the first position and the second position is greater than a preset deviation threshold value, and/or the third device is in a target state, the first device acquires second data sent by the third device, wherein the second data is data corresponding to a third communication signal when the third device communicates with the second device, and the communication time corresponding to the third communication signal is later than the communication time corresponding to the second communication signal;

the first device determining a fourth location of the third device relative to the second device based on the second data;

the first device determines the target location as the fourth location.

17. The method of claim 16, wherein the fourth location corresponds to a better positioning than the second location.

18. The method of any one of claims 12-17, wherein the third device comprises one or more of:

the device in a connection state with the first device, the device with the distance between the device and the first device being smaller than a preset distance, the device bound with the first device and/or the second device in advance, or the device belonging to the same user as the first device and capable of detecting the physiological parameter of the user at present.

19. The method of any of claims 12-18, wherein the first device is a mobile terminal, the second device is a vehicle, and the third device is a wearable device.

20. A positioning device, comprising:

at least one memory for storing a program;

at least one processor for executing the memory-stored program, which processor is adapted to perform the method of any of claims 1-19 when the memory-stored program is executed.

21. An electronic device, comprising:

at least one memory for storing a program;

22. A computer readable storage medium storing a computer program which, when run on an electronic device, causes the electronic device to perform the method of any one of claims 1-19.

23. A computer program product, characterized in that the computer program product, when run on an electronic device, causes the electronic device to perform the method of any of claims 1-19.