CN117768881A

CN117768881A - Ranging positioning method, positioning system, chip and storage medium

Info

Publication number: CN117768881A
Application number: CN202311862595.7A
Authority: CN
Inventors: 银国超; 陈德坤
Original assignee: Shenzhen Goodix Technology Co Ltd
Current assignee: Shenzhen Goodix Technology Co Ltd
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-03-26

Abstract

The embodiment of the application provides a ranging positioning method, a positioning system, a chip and a storage medium, wherein the method comprises the following steps: receiving a first key sent by equipment to be positioned, and determining a second key based on the first key; transmitting the second key to the N broadcast receiving apparatuses, so that each broadcast receiving apparatus in the N broadcast receiving apparatuses decrypts the encrypted broadcast transmitted by the apparatus to be located based on the second key, to determine ranging calculation information, where the ranging calculation information of one broadcast receiving apparatus includes: encrypting the signal strength of the broadcast on the corresponding broadcast receiving device or the ranging result of the corresponding broadcast receiving device; and receiving the ranging calculation information sent by each broadcast receiving device, and calculating the position information of the device to be positioned based on the received ranging calculation information. According to the embodiment of the application, the distance measurement and positioning can be conveniently realized under the condition of avoiding the security attack problem, and the position information of the equipment to be positioned can be conveniently determined.

Description

Ranging positioning method, positioning system, chip and storage medium

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a ranging positioning method, a positioning system, a chip, and a storage medium.

Background

At present, the ranging positioning technology is widely applied to various scenes, such as positioning the key position of a digital car or positioning the position of a mobile phone; the related art generally determines location information of a device to be located by multipoint scanning RSSI (Received Signal Strength Indication, strength indication of a received signal, also referred to as signal strength) of a broadcast signal of the device to be located (also referred to as a located device or a broadcast transmitting device), resulting in being vulnerable to a relay replay attack. Based on this, how to conveniently realize ranging positioning under the condition of avoiding security attack problem has not proposed a better solution at present.

Disclosure of Invention

In view of this, the embodiments of the present application provide a ranging positioning method, a positioning system, a chip, and a storage medium, so as to solve the problems that in the related art, the signal strength of a broadcast signal of a device to be positioned is scanned by multiple points to determine the position information of the device to be positioned, which results in easy relay replay attack and the like; that is, the embodiment of the application can conveniently realize ranging and positioning under the condition of avoiding the security attack problem, and can conveniently determine the position information of the equipment to be positioned.

According to an aspect of an embodiment of the present application, there is provided a ranging positioning method, including:

Receiving a first key sent by equipment to be positioned, and determining a second key based on the first key;

transmitting the second key to N broadcast receiving apparatuses, so that each broadcast receiving apparatus in the N broadcast receiving apparatuses decrypts the encrypted broadcast transmitted by the to-be-positioned apparatus based on the second key, to determine ranging calculation information, where the ranging calculation information of one broadcast receiving apparatus includes: the signal intensity of the encrypted broadcast on the corresponding broadcast receiving equipment or the ranging result of the corresponding broadcast receiving equipment, wherein the ranging result of one broadcast receiving equipment is used for indicating the distance between the corresponding broadcast receiving equipment and the equipment to be positioned, and N is a positive integer;

and receiving the ranging calculation information sent by each broadcast receiving device, and calculating the position information of the device to be positioned based on the received ranging calculation information.

According to another aspect of embodiments of the present application, there is provided another ranging positioning method, including:

generating an initial key and determining a first key based on the initial key;

transmitting the first key to a central broadcast receiving device, so that the central broadcast receiving device transmits a second key to each of N broadcast receiving devices based on the first key, wherein N is a positive integer;

Transmitting an encrypted broadcast so that the respective broadcast receiving apparatuses receive the encrypted broadcast, and decrypting the encrypted broadcast based on the second key to determine ranging calculation information;

wherein the center broadcast receiving apparatus supports the reception of the ranging calculation information transmitted by the respective broadcast receiving apparatuses, and the ranging calculation information received by the center broadcast receiving apparatus is used for: and calculating the position information of the equipment to be positioned.

According to another aspect of embodiments of the present application, there is provided a ranging positioning method, the method including:

receiving a second key sent by the central broadcast receiving device and receiving the broadcast; wherein the second key is transmitted by the central broadcast receiving apparatus through a second secure connection;

decrypting the received broadcast based on the second key and determining ranging calculation information;

and returning the ranging calculation information to the central broadcast receiving equipment so that the central broadcast receiving equipment calculates the position information of the equipment to be positioned based on the received ranging calculation information.

According to another aspect of embodiments of the present application, there is provided a ranging and positioning device, the device including:

The first receiving unit is used for receiving a first key sent by the equipment to be positioned;

a first processing unit for determining a second key based on the first key;

a first sending unit, configured to send the second key to N broadcast receiving devices, so that each broadcast receiving device in the N broadcast receiving devices decrypts, based on the second key, the encrypted broadcast sent by the device to be located, to determine ranging calculation information, where the ranging calculation information of one broadcast receiving device includes: the signal intensity of the encrypted broadcast on the corresponding broadcast receiving equipment or the ranging result of the corresponding broadcast receiving equipment, wherein the ranging result of one broadcast receiving equipment is used for indicating the distance between the corresponding broadcast receiving equipment and the equipment to be positioned, and N is a positive integer;

the first receiving unit is further configured to receive ranging calculation information sent by each broadcast receiving device;

the first processing unit is further configured to calculate location information of the device to be located based on the received ranging calculation information.

According to another aspect of embodiments of the present application, there is provided another ranging and positioning device, the device comprising:

The second processing unit is used for generating an initial key and determining a first key based on the initial key;

a second transmitting unit configured to transmit the first key to a central broadcast receiving apparatus, so that the central broadcast receiving apparatus transmits a second key to each of N broadcast receiving apparatuses based on the first key, where N is a positive integer;

the second transmitting unit is further configured to transmit an encrypted broadcast, so that each broadcast receiving device receives the encrypted broadcast respectively, and decrypt the encrypted broadcast based on the second key to determine ranging calculation information;

According to another aspect of embodiments of the present application, there is provided a ranging and positioning device, the device comprising:

a third receiving unit for receiving the second key transmitted by the central broadcast receiving apparatus and receiving the broadcast; wherein the second key is transmitted by the central broadcast receiving apparatus through a second secure connection;

A third processing unit for decrypting the received broadcast based on the second key and determining ranging calculation information;

and a third transmitting unit for returning the ranging calculation information to the central broadcast receiving device, so that the central broadcast receiving device calculates the position information of the device to be positioned based on the received ranging calculation information.

According to another aspect of embodiments of the present application, there is provided an electronic device comprising a processor, and a memory storing a program, wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the above mentioned method.

According to another aspect of embodiments of the present application, there is provided a chip comprising a processor, and a memory storing a program, wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the above mentioned method.

According to another aspect of the embodiments of the present application, there is provided a positioning system including a central broadcast receiving apparatus and N broadcast receiving apparatuses, N being a positive integer; wherein the central broadcast receiving apparatus is configured to perform the steps of:

Wherein each of the N broadcast receiving apparatuses is configured to perform the steps of:

According to another aspect of the embodiments of the present application, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the above-mentioned method.

After the central broadcast receiving device receives the first key sent by the device to be positioned, the embodiment of the application can determine the second key based on the first key and send the second key to N broadcast receiving devices; wherein the first key is determined by the device to be located based on the generated initial key, i.e. the first key is updatable with the update of the initial key. Correspondingly, the device to be positioned can send the encrypted broadcast so that each broadcast receiving device in the N broadcast receiving devices can respectively receive the encrypted broadcast; based on this, each of the N broadcast receiving apparatuses may decrypt the encrypted broadcast transmitted by the apparatus to be located based on the second key, respectively, to determine ranging calculation information, where the ranging calculation information of one broadcast receiving apparatus includes: the signal strength of the corresponding broadcast receiving device (i.e., the signal strength of the corresponding broadcast receiving device) or the ranging result of the corresponding broadcast receiving device is encrypted, and the ranging result of one broadcast receiving device is used to indicate the distance between the corresponding broadcast receiving device and the device to be positioned, where N is a positive integer. Further, the center broadcast receiving apparatus may receive ranging calculation information transmitted from each broadcast receiving apparatus and calculate location information of the apparatus to be located based on the received ranging calculation information. Therefore, the broadcast receiving device in the embodiment of the application can decrypt the received broadcast through the second key to verify whether the received broadcast is sent by the device to be positioned, and the second key can be continuously updated, so that the replay attack by the relay can be effectively avoided; that is, the embodiment of the application can conveniently realize ranging and positioning under the condition of avoiding the security attack problem, and can conveniently determine the position information of the equipment to be positioned.

Drawings

Further details, features and advantages of the present application are disclosed in the following description of exemplary embodiments, with reference to the following drawings, wherein:

fig. 1 shows a flow diagram of a ranging positioning method according to an exemplary embodiment of the present application;

FIG. 2 illustrates a schematic diagram of a ranging positioning system according to an exemplary embodiment of the present application;

FIG. 3 illustrates a flow diagram of another ranging positioning method according to an exemplary embodiment of the present application;

FIG. 4 illustrates a flow diagram of yet another ranging positioning method according to an exemplary embodiment of the present application;

FIG. 5a shows a schematic block diagram of a ranging positioning apparatus according to an exemplary embodiment of the present application;

FIG. 5b shows a schematic block diagram of another ranging positioning apparatus according to an exemplary embodiment of the present application;

FIG. 5c shows a schematic block diagram of yet another ranging positioning device according to an exemplary embodiment of the present application;

fig. 6 shows a block diagram of an exemplary electronic device that can be used to implement embodiments of the present application.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present application are shown in the drawings, it is to be understood that the present application may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and examples of the present application are for illustrative purposes only and are not intended to limit the scope of the present application.

It should be understood that the various steps recited in the method embodiments of the present application may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present application is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.

It should be noted that references to "one" or "a plurality" in this application are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be interpreted as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present application are for illustrative purposes only and are not intended to limit the scope of such messages or information.

It should be noted that, the embodiment of the present application relates to a positioning system, where the positioning system may include: a central broadcast receiving device and N broadcast receiving devices, N being a positive integer; optionally, an embodiment of the present application may further relate to a ranging positioning system, where the ranging positioning system may include the positioning system and a device to be positioned, and the central broadcast receiving device and the N broadcast receiving devices may be used to perform ranging positioning on the device to be positioned. Optionally, the positioning system may also comprise the device to be positioned, in which case the ranging positioning system may be referred to as a positioning system. The device to be positioned, the central broadcast receiving device and the broadcast receiving device can be one electronic device; optionally, the electronic device may be a terminal, a server, or an embedded device, a chip, a module, a system, or a module in the terminal or the server, which is not limited in this embodiment of the present application.

Accordingly, the terminals referred to herein may include, but are not limited to: vehicle terminals (i.e., vehicle nodes), smart phones, tablet computers, notebook computers, desktop computers, smart watches, smart appliances, aircraft terminals, and the like. The server mentioned herein may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing (cloud computing), cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network ), and basic cloud computing services such as big data and artificial intelligence platforms, and so on.

In the embodiment of the present application, the ranging and positioning system can be applied to various scenarios, such as a digital car key positioning scenario or a mobile phone positioning scenario, which is not limited in this embodiment of the present application. It should be understood that when the ranging positioning system is applied to a car key positioning scenario, the device to be positioned may be a digital car key, and the physical device of the digital car key may be, for example, a mobile phone, a smart watch, a mobile computer, or other terminals, and the central broadcast receiving device and the N broadcast receiving devices may be electronic devices located in the corresponding vehicles (i.e. may be vehicle-mounted nodes in this case), that is, the positioning system may be located in the corresponding vehicles; accordingly, when the ranging positioning system is applied to a mobile phone positioning scene, the device to be positioned may be a mobile phone, and the positioning system may be located in a mobile phone positioner, that is, the mobile phone positioner may be composed of a central broadcast receiving device and N broadcast receiving devices, and so on.

Alternatively, the center broadcast receiving apparatus may be any one of the apparatuses in the positioning system, that is, the center broadcast receiving apparatus may be one broadcast receiving apparatus, in which case the positioning system may include n+1 broadcast receiving apparatuses, and the center broadcast receiving apparatus may be any one of the n+1 broadcast receiving apparatuses, and the N broadcast receiving apparatuses may include broadcast receiving apparatuses other than the center broadcast receiving apparatus among the n+1 broadcast receiving apparatuses, in which case the roles of the respective apparatuses among the n+1 broadcast receiving apparatuses may be interchanged; alternatively, the center broadcast receiving apparatus may be a designated apparatus in the positioning system, that is, the center broadcast receiving apparatus may be fixed as a certain apparatus in the positioning system, and so on; the embodiments of the present application are not limited in this regard.

Based on the above description, the present embodiments propose a ranging positioning method that can be performed by the above-mentioned center broadcast receiving apparatus; as shown in fig. 1, the ranging positioning method may include the following steps S101 to S103:

s101, receiving a first key sent by the equipment to be positioned, and determining a second key based on the first key.

Alternatively, the first key may be a key or a sequence of keys; that is, the first key may include one or more keys, and so on; the embodiments of the present application are not limited in this regard. Optionally, when the first key is a key sequence, the first key may or may not include a segmentation character to divide each key, which is not limited in this embodiment of the present application. Alternatively, the split character may be a space, a character "-", or the like; the embodiments of the present application are not limited in this regard.

Optionally, when the first key does not include the segmentation character, the central broadcast receiving device may determine each key included in the first key by using a preset key length; optionally, the preset key length may be set empirically, or may be set according to actual requirements, which is not limited in this embodiment of the present application; for example, assuming that the first key includes 12 characters and the preset key length is 6, the central broadcast receiving apparatus may use the first 6 characters in the first key as one key and the last 6 characters in the first key as one key.

In an embodiment of the present application, the first key may be transmitted over a first secure connection, the first secure connection supporting an encrypted connection and/or encrypted transmission. Alternatively, the first secure connection may be a BLE (Bluetooth Low Energy ) connection (also referred to as a secure BLE connection), a Bluetooth connection, etc.; the embodiments of the present application are not limited in this regard. As an example, the first secure connection may be a BLE connection; in this case, the embodiment of the present application may use the security of the BLE connection channel to establish a secure BLE connection channel between the device to be located and the central broadcast receiving device (may also be referred to as a receiving central device), where the device to be located may share the first key with the central broadcast receiving device through the BLE connection channel.

The BLE connection utilizes pairing, authentication and encryption processes supported by BLE protocol standards, so that interaction safety can be ensured; that is, when the first secure connection is a BLE connection, the first secure connection may support pairing, authentication, and encryption procedures such that the first secure connection supports encrypted connections and/or encrypted transmissions. It should be appreciated that because the entire ranging positioning system flow relies on the first secure connection and the first key is transmitted over the first secure connection channel, a replay attacker (i.e., relay) cannot perform the ranging positioning function by recording only the connection packets or broadcast packets.

Alternatively, the above-mentioned encrypted connection may refer to a connection through pairing, a connection through authentication, or the like; the embodiments of the present application are not limited in this regard. Accordingly, the above-mentioned encrypted transmission may refer to encrypting the first key to implement transmission of the encrypted first key; optionally, the central broadcast receiving device may further decrypt the encrypted first key to obtain an unencrypted first key.

Alternatively, the first key may be determined based on an initial key, the initial key may be randomly generated, and the initial key may be generated according to an initial generation frequency; the generation manner of the initial key, the determination manner of the first key, and the like can be shown below, and the embodiments of the present application are not described herein.

Alternatively, the first key may be updated at a first update frequency; and/or the second key may be updated at a second update frequency. It should be noted that, the first update frequency and the second update frequency may be set empirically, or may be set according to actual requirements, which is not limited in this embodiment of the present application; accordingly, the first update frequency and the second update frequency may be the same or different, which is not limited in the embodiment of the present application.

In an embodiment of the present application, the second key may be determined by a central key update policy, which may include at least one of: equivalent key update policies, sequence key update policies, and conversion key update policies.

In one embodiment, if the central key update policy includes an equivalent key update policy, the central broadcast receiving device may use the first key as the second key. In this case, after the central broadcast receiving apparatus receives the first key, the following step S102 may be triggered to be performed, so that the first key is transmitted to the N broadcast receiving apparatuses. Accordingly, since the second key is updated equally when the first key is updated, the first update frequency may be the same as the second update frequency.

In another embodiment, if the central key update policy includes a sequence key update policy, the central broadcast receiving device may determine a key from the first key according to a sequence order corresponding to the first key, and use the determined key as the second key. In this case, the first key may include one or more keys, and the respective keys included in the first key are arranged in a sequential order; correspondingly, the central broadcast receiving device may traverse each key in the first key in sequence according to the sequence corresponding to the first key, and use the currently traversed key as the determined key, thereby taking the determined key as the second key, and after traversing each key in the first key, each key in the first key may be respectively taken as the second key, so as to respectively send the second keys to the N broadcast receiving devices. Based on this, the central broadcast receiving apparatus may traverse each key in the first key according to the second update frequency, so that the determined key is updated with the currently traversed key according to the second update frequency, that is, the second key is updated with the currently traversed key.

Accordingly, since the first key may include one or more keys, when the first key includes one key, the second key is updated equally with the first key, and at this time, the second update frequency may be the same as the first update frequency; when the first key includes a plurality of keys, the second key may be updated multiple times by the same first key, in which case the second update frequency may be different from the first update frequency. For example, assuming that the first key is a key sequence and the first key includes key 1, key 2, and key 3, in this case, assuming that the first update frequency is once a minute, the second update frequency may be three times a minute, that is, the central broadcast receiving apparatus may sequentially use key 1, key 2, and key 3 as a second key in a minute, respectively, and so on.

In still another embodiment, if the central key update policy includes a conversion key update policy, the central broadcast receiving device may determine a central key conversion manner and convert the first key into the second key according to the central key conversion manner. In this case, the second update frequency may be the same as the first update frequency. Alternatively, the central key conversion manner may be set empirically, or may be set according to actual requirements, which is not limited in this embodiment of the present application. For example, the central key conversion mode may be a weighted summation mode, where each value in the first key may be weighted and summed, and the weighted summation result is used as the second key; alternatively, the weights of the respective values may be set empirically or may be set according to actual requirements, which is not limited in this embodiment of the present application. For another example, the central key conversion method may be a prefix conversion method, and the central broadcast receiving apparatus may add a preset prefix before the first key, so that the second key includes the preset prefix and the first key, and so on. Alternatively, the preset prefix may be set empirically, or may be set according to actual requirements, which is not limited in this embodiment of the present application.

In still another embodiment, if the central key update policy includes a sequence key update policy and a conversion key update policy, the central broadcast receiving device may determine a key from the first key according to a sequence order corresponding to the first key, to obtain a determined key, convert the determined key into the second key according to a central key conversion manner, and so on. In this case, the central broadcast receiving apparatus may sequentially traverse the respective keys of the first keys, thereby converting the currently traversed key into the second key in a central key conversion manner.

S102, sending the second key to N broadcast receiving devices, so that each broadcast receiving device in the N broadcast receiving devices decrypts the encrypted broadcast sent by the device to be positioned based on the second key to determine ranging calculation information, wherein the ranging calculation information of one broadcast receiving device comprises: the signal intensity of the broadcast on the corresponding broadcast receiving device or the ranging result of the corresponding broadcast receiving device is encrypted, the ranging result of one broadcast receiving device is used for indicating the distance between the corresponding broadcast receiving device and the device to be positioned, and N is a positive integer.

The encrypted broadcast is obtained after the device to be located encrypts the broadcast, and the broadcast is used for ranging and locating, and may be referred to as bluetooth broadcast, where bluetooth broadcast is a broadcast data packet (may also be referred to as a broadcast packet) transmitted through a bluetooth signal.

In this embodiment of the present application, the second key may be sent to each broadcast receiving device through a second secure connection, so that each broadcast receiving device updates the local key with the second key; that is, any broadcast receiving apparatus may store the second key in the local space after receiving the second key, thereby updating the local key. Wherein a local key in one broadcast receiving device is usable for: the corresponding broadcast receiving apparatus decrypts the currently received broadcast, that is, the local key in one broadcast receiving apparatus may be updated with the update of the second key, that is, the broadcast receiving apparatus may decrypt the currently received broadcast using the currently received second key, where the currently received second key refers to: and a second key having a closest time distance between the reception time and the currently received broadcast.

Optionally, the second secure connection may be a CAN (Controller Area Network ) connection (i.e., a connection implemented via a CAN bus), a LIN (Local Interconnect Network ) connection (i.e., a connection implemented via a LIN bus), a UART2LIN (a UART-to-LIN tool) connection, a bluetooth connection, or the like; the embodiments of the present application are not limited in this regard. As an example, the second secure connection may be a CAN or LIN connection; the CAN/LIN is one of common vehicle-mounted bus protocols, so that data transmission between vehicle-mounted nodes CAN be completed through the physical protocol, namely, data transmission between the central broadcast receiving device and each broadcast receiving device is completed. Therefore, the security device (such as the broadcast receiving device) in the embodiment of the application can only identify the encrypted broadcast and filter the replay attack broadcast through the security channels of the device to be located and the central broadcast receiving device and the random key sharing between the central broadcast receiving device and the security channels of the broadcast receiving devices.

Optionally, considering the transmission bandwidth between the central broadcast receiving device and the broadcast receiving devices, the embodiment of the present application may further dynamically set the frequency of key sharing, based on this, when the central broadcast receiving device sends the second key to each broadcast receiving device, the second key may be split into multiple sub-keys, and each sub-key in the multiple sub-keys is sent to each broadcast receiving device one by one, so that after the current sub-key is sent successfully, the next sub-key may be sent continuously, so that each broadcast receiving device receives the second key when receiving all the sub-keys, so as to obtain the second key. Alternatively, the second update frequency may be dynamically set; for example, the central broadcast receiving apparatus may update the second key after the second key in each broadcast receiving apparatus is used, to transmit the current second key to each broadcast receiving apparatus; as another example, the central broadcast receiving device may update the second key upon detecting the second key update instruction, and so on. Optionally, when the central broadcast receiving device receives the first key sent by the device to be located, it may determine that a second key update instruction is detected; or when the central key updating policy comprises a sequence key updating policy, determining that a second key updating instruction is detected when a second key updating instruction sent by the device to be positioned is received, wherein the device to be positioned can send the second key updating instruction to the central broadcast receiving device when updating the encryption key, and the like; the embodiments of the present application are not limited in this regard. The encryption key support is used for encrypting the broadcast, which is shown in the following, and the embodiments of the present application will not be described herein.

Optionally, the ranging calculation information of one broadcast receiving device may further include coordinates of the corresponding broadcast receiving device; alternatively, the center broadcast receiving apparatus may store coordinates of the respective broadcast receiving apparatuses, and so on; the embodiments of the present application are not limited in this regard. Based on this, the center broadcast receiving apparatus may include coordinates of the respective broadcast receiving apparatuses; alternatively, the central broadcast receiving apparatus may also store its own coordinates, that is, coordinates of the central broadcast receiving apparatus.

S103, receiving the ranging calculation information sent by each broadcast receiving device, and calculating the position information of the device to be positioned based on the received ranging calculation information.

In this embodiment of the present application, the location information may be coordinates of the device to be located, or may be a distance between the device to be located and the target coordinates, which is not limited in this embodiment of the present application; as an example, the location information may be a distance between the device to be located and the target coordinates. Alternatively, the target coordinates may refer to coordinates of a central broadcast receiving device, coordinates of any one of N broadcast receiving devices, coordinates of any position in a carrier (e.g., a vehicle) where the positioning system is located, other than each device in the positioning system, and so on; the embodiments of the present application are not limited in this regard. It should be understood that the central broadcast receiving apparatus may also acquire the target coordinates, e.g., the central broadcast receiving apparatus may store the target coordinates.

Optionally, when the position information of the device to be positioned is the distance between the device to be positioned and the target coordinates, the position information of the device to be positioned can also be used for an automatic value-added service; for example, taking the device to be positioned as a car key (i.e. a digital car key) as an example, when the position information of the device to be positioned is smaller than or equal to the preset distance threshold, the device to be positioned can be used for providing automated value-added services such as welcome, opening a car door, starting a car and the like for customers. Alternatively, the preset distance threshold may be set empirically, or may be set according to actual requirements, which is not limited in this embodiment of the present application.

It should be understood that, when the ranging calculation information of one broadcast receiving apparatus includes the signal strength of the corresponding broadcast receiving apparatus (i.e., the signal strength of the above-described encrypted broadcast on the corresponding broadcast receiving apparatus), the center broadcast receiving apparatus may calculate the ranging result of the broadcast receiving apparatus corresponding to each ranging calculation information among the received ranging calculation information based on the received ranging calculation information, thereby calculating the position information of the apparatus to be positioned based on the ranging result of the broadcast receiving apparatus corresponding to each ranging calculation information and the coordinates of the corresponding broadcast receiving apparatus; the signal intensity is the signal intensity of the air interface signal packet, and the signal intensity has a certain relation with the distance, so that the ranging result can be calculated through the signal intensity. Accordingly, when the ranging calculation information of one broadcast receiving apparatus includes the ranging result of the corresponding broadcast receiving apparatus, the center broadcast receiving apparatus may calculate the location information of the apparatus to be located based on the received ranging calculation information and the coordinates of the broadcast receiving apparatus corresponding to each ranging calculation information in the received ranging calculation information. Optionally, after obtaining the received ranging result or the ranging result of the broadcast receiving device corresponding to each ranging calculation information in the received ranging calculation information, the calculation of the position information may be performed by a least square method, the calculation of the position information may also be performed by a trilateration method, and so on; the embodiments of the present application are not limited in this regard.

It should be noted that, if the position information is the coordinates of the device to be positioned, the position information of the device to be positioned may be calculated directly based on the received ranging calculation information; if the position information is the distance between the device to be positioned and the target coordinates, the coordinates of the device to be positioned may be calculated based on the received ranging calculation information, so that the position information of the device to be positioned is calculated based on the coordinates of the device to be positioned and the target coordinates, and so on.

In one embodiment, the central broadcast receiving apparatus may calculate the location information of the apparatus to be located based on the received M ranging calculation information, M being a positive integer less than or equal to N. For example, assuming that the value of M is 3, when the value of N is 3, the location information of the device to be located may be calculated based on the ranging calculation information of the respective broadcast receiving devices; or when the value of N is greater than 3, 3 ranging calculation information can be randomly determined from the received N ranging calculation information, or the first 3 ranging calculation information can be determined according to the sequence of the receiving time of the ranging calculation information, so that the position information of the equipment to be positioned is calculated based on the determined ranging calculation information, and the like.

Based on this, the center broadcast receiving apparatus may calculate the location information of the apparatus to be located based on the received M ranging calculation information and the coordinates of the broadcast receiving apparatus corresponding to each of the M ranging calculation information. For example, the location information of the device to be located may be calculated based on the received M ranging calculation information and the coordinates of the broadcast receiving device corresponding to each of the M ranging calculation information by the least square method.

In another embodiment, the central broadcast receiving apparatus may determine central ranging calculation information and calculate location information of the apparatus to be located based on the received ranging calculation information and the central ranging calculation information, the central ranging calculation information including signal strength of an encrypted broadcast on the central broadcast receiving apparatus (i.e., signal strength of the central broadcast receiving apparatus) or a central ranging result indicating a distance between the central broadcast receiving apparatus and the apparatus to be located. In this case, the central broadcast receiving apparatus may also receive the encrypted broadcast transmitted by the apparatus to be located, thereby decrypting the encrypted broadcast based on the second key and determining the central ranging calculation information; in this case, the central broadcast receiving apparatus can also be used as a broadcast receiving apparatus for receiving encrypted broadcast, and the number of apparatuses in the positioning system can be reduced, thereby reducing the cost. Alternatively, when calculating the position information of the device to be positioned based on the received ranging calculation information and the center ranging calculation information, the position information of the device to be positioned may be calculated based on the received M ranging calculation information and the center ranging calculation information.

It should be noted that, if the central ranging calculation information includes the signal strength of the encrypted broadcast on the central broadcast receiving apparatus, the central ranging result of the central broadcast receiving apparatus may be calculated based on the central ranging calculation information, so that the position information of the apparatus to be positioned is calculated based on the central ranging result, the coordinates of the central broadcast receiving apparatus, the received ranging calculation information, and the coordinates of the broadcast receiving apparatus corresponding to each ranging calculation information in the received ranging calculation information. If the center ranging calculation information includes a center ranging result, the center broadcast receiving apparatus may calculate the position information of the apparatus to be positioned based on the center ranging calculation information, the coordinates of the center broadcast receiving apparatus, the received ranging calculation information, and the coordinates of the broadcast receiving apparatus corresponding to each ranging calculation information in the received ranging calculation information; wherein the center ranging result may be calculated based on the signal strength of the center broadcast receiving apparatus.

In summary, before ranging and positioning, the to-be-positioned device may establish a first secure connection with the central broadcast receiving device, for example, establish a secure BLE channel, and the central broadcast receiving device may maintain the first secure connection with the to-be-positioned device; accordingly, a second secure connection, such as a data channel CAN/LIN, may be established between the central broadcast receiving device and each broadcast receiving device, as shown in fig. 2. Based on the data transmission, the equipment to be positioned and the central broadcast receiving equipment can be subjected to data transmission through a first safety connection; optionally, the central broadcast receiving device may also receive a broadcast (such as the encrypted broadcast described above) to be sent by the positioning device; correspondingly, the central broadcast receiving device and each broadcast receiving device can perform data transmission through a second secure connection, and each broadcast receiving device can also receive the broadcast sent by the device to be positioned. Therefore, in the embodiment of the application, a plurality of connections are not required to be established, namely, the equipment to be positioned and each broadcast receiving equipment are not required to establish the first safety connection, so that the resource requirements of the equipment to be positioned and the broadcast receiving equipment are less, and the implementation and the deployment are easier; in addition, since the broadcast reception belongs to one of the Bluetooth protocol standards, all Bluetooth devices are supported without developing additional chip support, thereby effectively saving development cost and avoiding various compatibility problems.

According to the embodiment of the application, after the central broadcast receiving device receives the first key sent by the device to be positioned, the second key is determined based on the first key, and the first key is transmitted through the first secure connection. And transmitting the second key to the N broadcast receiving apparatuses, so that each broadcast receiving apparatus in the N broadcast receiving apparatuses decrypts the encrypted broadcast transmitted by the apparatus to be located based on the second key, respectively, to determine ranging calculation information, where the ranging calculation information of one broadcast receiving apparatus includes: encrypting the signal intensity of broadcast on the corresponding broadcast receiving equipment or the ranging result of the corresponding broadcast receiving equipment, wherein the ranging result of one broadcast receiving equipment is used for indicating the distance between the corresponding broadcast receiving equipment and the equipment to be positioned, and N is a positive integer; the second key is sent to each broadcast receiving device through the second secure connection, that is, the second key is transmitted through the second secure connection, so that secure transmission of the key can be realized. Further, the center broadcast receiving apparatus may receive ranging calculation information transmitted from each broadcast receiving apparatus and calculate location information of the apparatus to be located based on the received ranging calculation information. As can be seen, in the embodiment of the present application, the second key may be sent to each broadcast receiving apparatus by using the central broadcast receiving apparatus, so as to enable the broadcast receiving apparatus to decrypt the encrypted broadcast sent by the to-be-located apparatus, thereby effectively identifying the encrypted broadcast sent by the to-be-located apparatus; in addition, the first secret key can be updated based on the first updating frequency, the second secret key can be updated based on the second updating frequency, the first secret key can be determined based on the initial secret key, and the initial secret key can be randomly generated, so that the secret key required for decryption can be continuously updated, and replay attack through replay packets can be effectively avoided; that is, the embodiment of the application can conveniently realize ranging and positioning under the condition of avoiding the security attack problem, and can conveniently determine the position information of the equipment to be positioned.

Based on the above description, the embodiments of the present application also propose another ranging positioning method, which may be performed by the above-mentioned device to be positioned; referring to fig. 3, the ranging positioning method may include the following steps S301 to S303:

s301, generating an initial key and determining a first key based on the initial key.

Optionally, when generating the initial key, the device to be located may determine a random number generation manner, and generate at least one random number according to the random number generation manner, so as to use the generated random number as the initial key. Alternatively, the random number generation mode may be a true random number generation mode (such as a mode of simulating generation of a random number such as throwing a coin), or a pseudo random number generation mode (such as a mode of randomly generating a random small number between 0 and 1, or a mode of randomly generating a random integer between 0 and 9, etc.), which is not limited in this embodiment of the present application. Optionally, the device to be located may generate an initial key according to a true random number generation manner by using true random hardware or software; correspondingly, the device to be positioned can generate an initial secret key according to a pseudo-random number generation mode through pseudo-random hardware or software. Optionally, the number of the random numbers in the at least one random number may be set empirically, may be set according to actual requirements, may be a positive integer generated randomly, and so on; the embodiments of the present application are not limited in this regard.

For example, assuming that the number of random numbers in the at least one random number is 3, and the first random number generated is 6, the second random number generated is 9, and the third random number generated is 1, the generated random number may be 691, that is, the initial key may be 691.

Optionally, when generating the initial key, the device to be located may also determine a key sequence generating manner, and generate a key sequence according to the key sequence generating manner, so that the generated key sequence is used as the initial key, and so on. Wherein the key sequence comprises one or more keys, and each key in the key sequence can be a random key; alternatively, the sequence of keys may comprise keys and the order may change from time to time. Optionally, the key sequence generating manner may be used to indicate the number of keys in the initial key, and may be used to indicate the random number generating manner; in this case, the device to be located may sequentially generate each key in the initial keys according to a random number generation manner; alternatively, the key sequence generation manner may be a limited key sequence generation manner of a bluetooth CH MAP (channelmessage access profile, for identifying currently used and unused physical channels), where the initial key may include one or more limited key sequences of the bluetooth CH MAP, and so on; the embodiments of the present application are not limited in this regard.

In summary, the method for generating the initial key is not limited in the embodiments of the present application, and the actual easy-to-use security requirement can be satisfied by ensuring a certain randomness. In the embodiment of the present application, the randomness, the update frequency, and the like of the secret key may be customized according to the security level requirement (for example, the higher the security level requirement is, the higher the update frequency may be), and the sharing cost (for example, the update frequency is reduced to reduce the sharing cost, etc.), so that the embodiment of the present application may be easier to implement.

Alternatively, the initial key may be generated according to an initial generation frequency; the initial generation frequency can be set empirically, or can be set according to actual requirements, etc.; the embodiments of the present application are not limited in this regard. Alternatively, the following first key may be updated according to a first update frequency; and/or the second key described below may be updated at a second update frequency. Alternatively, the initial generation frequency may be the same as or different from the first update frequency, which is not limited in the embodiment of the present application.

Further, the first key may be determined based on a key update policy to be located, which may include at least one of: equivalent key update policies, sequence key update policies, and conversion key update policies.

In one embodiment, if the key update policy to be located includes an equivalent key update policy, the device to be located may use the initial key as the first key. In this case, after the device to be located generates the initial key, the following step S302 may be triggered to be performed, so as to transmit the initial key to the central broadcast receiving device. Accordingly, since the first key can be updated equally after the initial key is generated, the first update frequency can be the same as the initial generation frequency.

In another embodiment, if the key update policy to be located includes a sequence key update policy, the device to be located may select one key from the initial keys according to the sequence order corresponding to the initial keys, and use the selected key as the first key. In this case, the initial key may include one or more keys, and the individual keys included in the initial key are arranged in a sequential order; correspondingly, the device to be positioned can traverse each key in the initial keys in sequence according to the sequence corresponding to the initial keys, and take the currently traversed key as the selected key, so that the selected key is taken as the first key, and after traversing each key in the initial keys, each key in the initial keys can be taken as the first key respectively, and then the keys are sent to the central broadcast receiving device respectively. Accordingly, since the initial key may include one or more keys, when the initial key includes one key, the first key is updated equivalently to the initial key, and at this time, the first update frequency may be the same as the initial generation frequency; when the initial key includes a plurality of keys, the first key may be updated a plurality of times by the same initial key, in which case the first update frequency may be different from the initial generation frequency.

In still another embodiment, if the key update policy to be located includes a conversion key update policy, the device to be located may determine a key conversion manner to be located, and convert the initial key into the first key according to the key conversion manner to be located. In this case, the first update frequency may be the same as the initial generation frequency. Alternatively, the key conversion mode to be located may be set empirically, or may be set according to actual requirements, which is not limited in this embodiment of the present application.

Optionally, the key conversion mode to be located may correspond to the central key conversion mode, in this case, one key is first converted by the key conversion mode to be located, then the conversion result of the corresponding key after passing through the key conversion mode to be located is converted by the central key conversion mode, and the conversion result after passing through the key conversion mode to be located may be restored to the corresponding key; that is, when the key a is converted into the key B in the to-be-located key conversion mode, the key B can be restored into the key a in the central key conversion mode. For example, assuming that the key to be located is converted by multiplication, the central key is converted by division, and the division and multiplication are both performed by using a predetermined factor, when the key a (e.g., the initial key) is converted by the key to be located, the key a may be multiplied by the predetermined factor to convert the key a by multiplication, thereby obtaining the key B (e.g., the first key); accordingly, when the key B is converted according to the central key conversion manner, the key B may be divided by a preset factor, so as to convert the key B according to the division operation manner, thereby obtaining the key a (i.e., the second key may be equal to the initial key at this time), and so on. Alternatively, the preset factor may be set empirically, or may be set according to actual requirements, which is not limited in the embodiment of the present application; illustratively, the preset factor may be 5 or 6, etc.

In still another embodiment, if the key update policy to be located includes a sequence key update policy and a conversion key update policy, the device to be located may select a key from the initial keys according to a sequence order corresponding to the initial keys, so as to obtain a selected key, and convert the selected key into the first key according to a key conversion mode to be located, and so on. In this case, the device to be located may traverse each key in the initial keys in turn, so as to convert the currently traversed key into the first key according to the key to be located conversion manner. Accordingly, when the initial key includes a key, the first update frequency may be the same as the initial generation frequency; when the initial key includes a plurality of keys, the first update frequency may be different from the initial generation frequency.

Optionally, the key update policy to be located may be the same as or different from the central key update policy, which is not limited in this embodiment of the present application. For example, when the key update policy to be located and the central key update policy are both equivalent key update policies, the first key may be equal to the initial key, and the second key may be equal to the first key, in which case, the device to be located may send the initial key to the central broadcast receiving device, and the central broadcast receiving device may send the initial key to each broadcast receiving device, that is, the key received by the broadcast receiving device in one transmission may be the same as the initial key generated by the device to be located. For another example, when the key update policy to be located is an equivalent key update policy, the central key update policy is a sequence key update policy, and the first key includes a plurality of keys, the first key may be the same as the initial key, and the second key may be different from the first key, and so on.

S302, the first key is sent to the central broadcast receiving apparatus, so that the central broadcast receiving apparatus sends the second key to each of the N broadcast receiving apparatuses based on the first key, where N is a positive integer.

Optionally, the first key may be transmitted over a first secure connection, the first secure connection supporting an encrypted connection and/or encrypted transmission; and/or the second key may be transmitted to the respective broadcast receiving device over the second secure connection, i.e. the second key may be transmitted over the second secure connection. Specifically, the first secure connection and the second secure connection may be shown in the foregoing, and the embodiments of the present application are not described herein.

S303, transmitting the encrypted broadcast so that each broadcast receiving apparatus receives the encrypted broadcast, and decrypting the encrypted broadcast based on the second key to determine the ranging calculation information.

Wherein the central broadcast receiving apparatus supports the reception of the ranging calculation information transmitted from the respective broadcast receiving apparatuses, and the ranging calculation information received by the central broadcast receiving apparatus is used for: and calculating the position information of the equipment to be positioned. The encrypted broadcast is obtained after the device to be located encrypts the broadcast, and the broadcast is used for ranging and locating, and may be referred to as bluetooth broadcast, where bluetooth broadcast is a broadcast data packet (may also be referred to as a broadcast packet) transmitted through a bluetooth signal.

In the embodiment of the application, the device to be located can encrypt the broadcast to obtain the encrypted broadcast. It should be understood that the device to be located may encrypt the broadcast by using an encryption key, and the encryption key corresponds to a decryption key determined by any broadcast receiving device based on the second key, so that the broadcast receiving device may decrypt the encrypted broadcast based on the decryption key, where the correspondence may be the same correspondence or different correspondence, and only needs to satisfy that the encrypted broadcast encrypted by the encryption key may be decrypted based on the decryption key; that is, when any broadcast receiving apparatus decrypts the encrypted broadcast based on the second key, any broadcast receiving apparatus may determine the decryption key based on the second key (i.e., determine the decryption key based on the local key), so as to decrypt the encrypted broadcast using the decryption key; the specific implementation of determining the decryption key based on the second key can be shown below, and the embodiments of the present application will not be described herein.

Alternatively, the encryption key used by the device to be located may be different each time, that is, the device to be located may use different encryption keys to encrypt different broadcasts; accordingly, the decryption key used by any broadcast receiving apparatus may be different each time it decrypts the broadcast transmitted by the to-be-located apparatus, that is, one decryption key may be used to decrypt the broadcast transmitted by the to-be-located apparatus once. Based on this, even if the broadcast of the device to be located is captured for playback, any broadcast receiving device can determine a playback attack packet based on the current decryption key, thereby filtering out the playback attack packet; that is, since the key (such as encryption key and decryption key) and the broadcast transmitting and receiving real-time binding refresh, when an attacker records and plays back, the ciphertext cannot be correctly decrypted by the real-time key, so that the broadcast receiving device can filter the replay attack packet.

Optionally, if the decryption key is the same as the first key, the first key may be used as the encryption key, e.g., the central key update policy includes an equivalent key update policy, and the decryption key is the same as the second key. Alternatively, if the decryption key is one of the first keys, the corresponding key in the first key may be used as the encryption key (e.g., the decryption key and the encryption key may be both the second key in the first key); for example, when the key update policy to be located includes an equivalent key update policy and the center key update policy includes a sequence key update policy and the decryption key is the same as the second key, or when the key update policy to be located and the center key update policy both include an equivalent key update policy and the decryption key is one of the second keys, the decryption key may be one of the first keys. Alternatively, if the decryption key is the same as the initial key, the initial key may be used as the encryption key; for example, when the key update policy to be located includes a conversion key update policy, the center key update policy includes a conversion key update policy, the key conversion mode to be located corresponds to the center key conversion mode, and the decryption key is the same as the second key, the decryption key is the same as the initial key. Or if the decryption key is obtained by converting the first key or one of the first keys according to the target key conversion method, the first key or the corresponding key in the first key may be converted according to the target key conversion method, so as to obtain an encryption key (e.g., the decryption key and the encryption key may be obtained by converting the second key in the first key according to the target key conversion method), and so on; for example, when the key update policy to be located includes an equivalent key update policy or a sequence key update policy, the center key update policy includes a conversion key update manner, and the decryption key is the same as the second key, the decryption key is obtained by converting the first key or one of the first keys according to a target key conversion manner (i.e., the center key conversion manner).

Optionally, the target key conversion mode may include a central key conversion mode, in which case the second key may be determined by the central key conversion mode, and the decryption key is the same as the second key; alternatively, the target key conversion manner may include a broadcast receiving key conversion manner, in which case the decryption key may be determined based on the second key by the broadcast receiving key conversion manner, where the broadcast receiving key conversion manner is specifically shown below, and the embodiments of the present application are not described herein in detail; alternatively, the target key conversion means may include a center key conversion means and a broadcast reception key conversion means, in which case the second key may be determined through the center key conversion means, and the decryption key may be determined through the broadcast reception key conversion means, and so on; the embodiments of the present application are not limited in this regard.

The device to be positioned in the embodiment of the present application may generate an initial key, and determine the first key based on the initial key, where the initial key may be randomly generated in a random number generation manner or a key sequence generation manner, that is, the initial key may be randomly generated so as to encrypt broadcast by using the random key, thereby fundamentally avoiding replay attack. Based on this, the first key may be transmitted to the central broadcast receiving apparatus, so that the central broadcast receiving apparatus transmits the second key to each of the N broadcast receiving apparatuses based on the first key, N being a positive integer; the first key is transmitted through the first secure connection, and the second key is sent to each broadcast receiving device through the second secure connection, so that secure transmission of the keys can be realized. Correspondingly, the device to be positioned can send the encrypted broadcast so that each broadcast receiving device respectively receives the encrypted broadcast, and decrypts the encrypted broadcast based on the second key to determine the ranging calculation information; wherein the central broadcast receiving apparatus supports the reception of the ranging calculation information transmitted from the respective broadcast receiving apparatuses, and the ranging calculation information received by the central broadcast receiving apparatus is used for: and calculating the position information of the equipment to be positioned. As can be seen, the device to be located in the embodiment of the present application may generate an encrypted broadcast by using the initial key that is generated randomly, so that the broadcast receiving device may verify the received broadcast based on the second key; in addition, the first secret key can be updated based on the first updating frequency, and the second secret key can be updated based on the second updating frequency, so that the secret key required for decryption can be updated continuously, and relay replay attack can be effectively avoided; that is, the embodiment of the application can conveniently realize ranging and positioning under the condition of avoiding the security attack problem, and can conveniently determine the position information of the equipment to be positioned.

Based on the above description, the present embodiments propose still another ranging positioning method that can be performed by each of the above-mentioned N broadcast receiving apparatuses, N being a positive integer; for convenience of explanation, the following description will be made with an example in which any one of N broadcast receiving apparatuses performs; as shown in fig. 4, the ranging positioning method may include the following steps S401 to S403:

s401, receiving a second key sent by the central broadcast receiving device and receiving the broadcast; wherein the second key is transmitted by the central broadcast receiving device over the second secure connection.

Optionally, the second secure connection may support encrypted transmission, that is, the central broadcast receiving apparatus may encrypt the second key to obtain an encrypted second key, so as to send the encrypted second key to any broadcast receiving apparatus, and accordingly, any broadcast receiving apparatus may decrypt the encrypted second key to obtain the second key, that is, may obtain the unencrypted second key. Based on this, when the key is shared between the center broadcast receiving apparatus and the broadcast receiving apparatus, a function of encrypting the second key can be added according to security requirements. It should be understood that in S401, the broadcast received by each broadcast receiving apparatus may be an encrypted broadcast from the apparatus to be located, or may be a broadcast transmitted by a replay attacker, i.e., a replay attack packet.

Alternatively, the second key may be determined based on the first key; and/or the first key may be transmitted over a first secure connection that supports encrypted connections and/or encrypted transmissions. The above description of the determination manner of the second key and the specific description of the first secure connection can be seen, and the embodiments of the present application are not repeated here.

Alternatively, the first key may be determined based on an initial key, and the initial key may be randomly generated; wherein the first key may be updated according to a first update frequency; and/or the second key may be updated at a second update frequency; and/or the initial key may be generated at an initial generation frequency. Specifically, the determining manner of the first key, the generating manner of the initial key, etc. may be all as shown above, and the embodiments of the present application are not described herein again.

S402, decrypting the received broadcast based on the second key, and determining ranging calculation information.

In this embodiment of the present application, any broadcast receiving apparatus may determine a decryption key based on the second key, and decrypt the received broadcast using the decryption key, where it should be understood that the broadcast that is successfully decrypted is an encrypted broadcast sent by the apparatus to be located. Alternatively, the decryption key may be determined based on a broadcast reception key update policy, which may include at least one of an equivalent key update policy, a sequence key update policy, and a conversion key update policy. Based on this, when determining the decryption key based on the second key, if the broadcast receiving key update policy includes an equivalent key update policy, the second key may be used as the decryption key; or if the broadcast receiving key updating policy includes a sequence key updating policy, selecting one key from the second keys according to the sequence order corresponding to the second keys, and taking the selected key as a decryption key, so that each key in the second keys can be sequentially taken as the decryption key; or if the broadcast receiving key updating policy includes a conversion key updating policy, determining a broadcast receiving key conversion mode, and converting the second key into a decryption key according to the broadcast receiving key conversion mode; or if the broadcast receiving key updating policy includes a sequence key updating policy and a conversion key updating policy, one key may be selected from the second keys according to the sequence order corresponding to the second keys, so as to obtain a selected key, and the selected key may be converted into a decryption key according to a broadcast receiving key conversion manner, and so on.

Alternatively, the broadcast receiving key conversion mode may be the same as the central key conversion mode, or may be different from the central key conversion mode, which is not limited in the embodiment of the present application. It should be noted that, the broadcast receiving key conversion mode may be a weighted summation mode, a prefix removal mode, or the like; the embodiments of the present application are not limited in this regard. For example, assuming that the center key conversion mode is a prefix conversion mode, the preset prefix is ABD, and assuming that the broadcast receiving key conversion mode is a prefix removal mode, in this case, when the second key is ABD123456, any broadcast receiving apparatus may convert the second key into the decryption key according to the broadcast receiving key conversion mode, and the decryption key may be 123456 at this time.

In the embodiment of the application, the decryption key may be updated according to the decryption update frequency; optionally, the decryption update frequency may be the same as any one of the initial generation frequency, the first update frequency, and the second update frequency, or may be different from each of the initial generation frequency, the first update frequency, and the second update frequency, which is not limited in the embodiment of the present application. For example, when the decryption key, the second key, the first key, and the initial key are identical, the regeneration of the initial key may update the first key, the second key, and the decryption key, and at this time, the decryption update frequency may be identical to each of the initial generation frequency, the first update frequency, and the second update frequency; alternatively, when the initial key includes a plurality of keys, the first key is one of the initial keys, and the second key and the decryption key are identical to the first key, the decryption update frequency may be different from the initial generation frequency, and the decryption update frequency may be identical to the first update frequency and the second update frequency, and so on.

Further, when determining the ranging calculation information (i.e., the ranging calculation information of any broadcast receiving apparatus), any broadcast receiving apparatus may extract the RSSI value (i.e., the signal strength) of the broadcast, i.e., the signal strength of the encrypted broadcast on any broadcast receiving apparatus (i.e., the signal strength of any broadcast receiving apparatus). Based on this, the signal strength of any one of the broadcast receiving apparatuses may be added as the ranging calculation information, that is, the signal strength of any one of the broadcast receiving apparatuses may be added to the ranging calculation information such that the ranging calculation information includes the signal strength of any one of the broadcast receiving apparatuses, and then the ranging result of any one of the broadcast receiving apparatuses is further calculated by the center broadcast receiving apparatus based on the signal strength of any one of the broadcast receiving apparatuses in the ranging calculation information; alternatively, the signal strength of any one of the broadcast receiving apparatuses may be employed, the ranging result of any one of the broadcast receiving apparatuses may be calculated, and the ranging result of any one of the broadcast receiving apparatuses may be used as ranging calculation information, that is, the ranging result of any one of the broadcast receiving apparatuses may be added to the ranging calculation information so that the ranging calculation information includes the ranging result of any one of the broadcast receiving apparatuses, and so on.

In this embodiment of the present application, any broadcast receiving apparatus may further determine whether decryption is correct, that is, whether the current decryption key is the same as the encryption key of the received broadcast, that is, whether the current decryption key is the decryption key required for the received broadcast; if the decryption is correct, triggering and executing the determined ranging calculation information; if the decryption is incorrect, the received broadcast (i.e., the broadcast packet) is discarded, that is, it may be determined that the broadcast received at this time is a replay attack packet (i.e., a replay attack broadcast), so that the replay attack packet is discarded to avoid a replay attack. It should be understood that an attacker (i.e. a relay) may grasp the content of the broadcast packet through an air interface packet grasping device (i.e. an air interface packet grasping tool), and although the content cannot be decrypted, the content may be sent to any broadcast receiving device through a recording playback mode, and in the case that the key is not random, the broadcast receiving device cannot distinguish whether the packet is from the device to be located or the attacker; for example, in a digital key scenario, an attacker can simulate a key in this way, opening a door. Therefore, in this case, the decryption key corresponding to the replay attack packet may be the historical decryption key, that is, the current decryption key used by any broadcast receiving device is the decryption key of the broadcast of the device to be located, but not the decryption key corresponding to the replay attack packet, based on which any broadcast receiving device can effectively distinguish whether the received broadcast is from the device to be located or an attacker, so as to avoid replay attack.

S403, the ranging calculation information is returned to the central broadcast receiving apparatus, so that the central broadcast receiving apparatus calculates the position information of the apparatus to be positioned based on the received ranging calculation information.

In summary, since the secret key (such as the initial secret key, the decryption secret key, etc.) is random, the embodiment of the application can not only utilize the advantage of simple broadcast and easy deployment, but also avoid the problem of security attack.

Any broadcast receiving device in the embodiment of the present application may receive the second key sent by the central broadcast receiving device, and receive the broadcast; wherein the second key is transmitted by the central broadcast receiving device through a second secure connection, and the second key has randomness; correspondingly, the second key is determined by the central broadcast receiving device based on the first key sent by the device to be positioned, and the first key is transmitted through the first secure connection, so that secure transmission of the key can be realized. Based on this, any one of the broadcast receiving apparatuses may decrypt the received broadcast based on the second key and determine the ranging calculation information. Further, the ranging calculation information may be returned to the center broadcast receiving apparatus to cause the center broadcast receiving apparatus to calculate the position information of the apparatus to be positioned based on the received ranging calculation information. As can be seen, in the embodiment of the present application, the received broadcast may be decrypted by the second key, so as to verify whether the received broadcast is sent by the device to be located; in addition, when the received broadcast is determined not to be sent by the positioning equipment (namely, the decryption is determined to be incorrect), the received broadcast can be discarded, and the replay attack by the relay can be effectively avoided; in addition, the first key may be updated based on the first update frequency, the second key may be updated based on the second update frequency, the first key may be determined based on the initial key, and the initial key may be randomly generated, so that the key required for decryption may be updated continuously, thereby effectively improving the security of the key. Based on the above, the embodiment of the application can conveniently realize the ranging and positioning under the condition of avoiding the security attack problem, and can conveniently determine the position information of the equipment to be positioned.

In summary, the ranging positioning method according to the embodiments of the present application may be applied to a ranging positioning system, and the implementation process of the ranging positioning method applied to the device to be positioned, the central broadcast receiving device, and each broadcast receiving device will be further summarized below.

Firstly, the equipment to be positioned can randomly generate an initial secret key according to a random number generation mode, a secret key sequence generation mode and the like, so that a first secret key is determined based on the initial secret key; wherein the initial key may be generated at an initial generation frequency and the first key may be updated at a first update frequency. Based on this, the device to be located may transmit the first key to the central broadcast receiving device through the first secure connection. Specific processes may refer to the descriptions of the above embodiments, and are not repeated here.

Then, the central broadcast receiving apparatus may determine a second key based on the first key, and may transmit the second key to the N broadcast receiving apparatuses through the second secure connection; wherein the second key may be updated at a second update frequency. Specific processes may refer to the descriptions of the above embodiments, and are not repeated here.

Then, correspondingly, the device to be located may determine an encryption key (which may be determined based on the initial key or the first key) and encrypt a broadcast using the encryption key, the broadcast being used for ranging locations, thereby obtaining an encrypted broadcast for transmitting the encrypted broadcast; in this case, each broadcast receiving apparatus may receive an encrypted broadcast to be transmitted by the positioning apparatus. Specific processes may refer to the descriptions of the above embodiments, and are not repeated here.

It should be appreciated that any broadcast receiving device may receive any broadcast (e.g., encrypted broadcast or replay attack packet as described above, etc.), then for a currently received broadcast (i.e., received broadcast), any broadcast receiving device may determine a decryption key based on the second key (i.e., the currently received second key) to decrypt the currently received broadcast based on the decryption key; if the decryption is correct, the currently received broadcast can be determined to be the encrypted broadcast, the ranging calculation information is determined based on the encrypted broadcast, and the ranging calculation information is returned to the central broadcast receiving equipment; if the decryption is incorrect, the currently received broadcast is discarded. Specific processes may refer to the descriptions of the above embodiments, and are not repeated here.

After the central broadcast receiving device receives the ranging calculation information returned by each broadcast receiving device, the central broadcast receiving device can calculate the position information of the device to be positioned so as to realize ranging positioning. Specific processes may refer to the descriptions of the above embodiments, and are not repeated here.

Therefore, the embodiment of the application can conveniently realize the ranging and positioning under the condition of avoiding the security attack problem, and can conveniently determine the position information of the equipment to be positioned.

Based on the description of the related embodiments of the ranging positioning method, the embodiments of the present application also provide a ranging positioning device, which may be a computer program (including program code) running in an electronic device, where the electronic device may refer to the central broadcast receiving device; as shown in fig. 5a, the ranging and positioning device may include a first receiving unit 501, a first processing unit 502, and a first transmitting unit 503. The ranging positioning device may perform the ranging positioning method shown in fig. 1, i.e. the ranging positioning device may operate the above units:

a first receiving unit 501, configured to receive a first key sent by a device to be located;

a first processing unit 502 configured to determine a second key based on the first key;

a first sending unit 503, configured to send the second key to N broadcast receiving apparatuses, so that each broadcast receiving apparatus in the N broadcast receiving apparatuses decrypts, based on the second key, the encrypted broadcast sent by the to-be-located apparatus to determine ranging calculation information, where the ranging calculation information of one broadcast receiving apparatus includes: the signal intensity of the encrypted broadcast on the corresponding broadcast receiving equipment or the ranging result of the corresponding broadcast receiving equipment, wherein the ranging result of one broadcast receiving equipment is used for indicating the distance between the corresponding broadcast receiving equipment and the equipment to be positioned, and N is a positive integer;

The first receiving unit 501 is further configured to receive ranging calculation information sent by the broadcast receiving devices;

the first processing unit 502 is further configured to calculate location information of the device to be located based on the received ranging calculation information.

In one embodiment, the first key is transmitted over a first secure connection that supports encrypted connections and/or encrypted transmissions.

In another embodiment, the second key is sent to the broadcast receiving devices through a second secure connection, so that the broadcast receiving devices update the local key with the second key;

wherein a local key in one broadcast receiving apparatus is used for: the corresponding broadcast receiving apparatus decrypts the currently received broadcast.

In another embodiment, the second key is determined by a central key update policy comprising at least one of: equivalent key update policies, sequence key update policies, and conversion key update policies; the first processing unit 502 may be specifically configured to, when determining the second key based on the first key:

If the central key updating policy includes the equivalent key updating policy, taking the first key as the second key; or,

if the central key updating policy includes the sequence key updating policy, determining a key from the first key according to the sequence order corresponding to the first key, and taking the determined key as the second key; or,

if the center key updating strategy comprises the conversion key updating strategy, determining a center key conversion mode, and converting the first key into the second key according to the center key conversion mode; or,

if the central key updating policy includes the sequence key updating policy and the conversion key updating policy, determining a key from the first key according to the sequence order corresponding to the first key, so as to obtain the determined key, and converting the determined key into the second key according to the central key conversion mode.

In another embodiment, when calculating the location information of the device to be located based on the received ranging calculation information, the first processing unit 502 may be specifically configured to:

Calculating the position information of the equipment to be positioned based on the received M ranging calculation information, wherein M is a positive integer less than or equal to N; or,

and determining central ranging calculation information, and calculating the position information of the equipment to be positioned based on the received ranging calculation information and the central ranging calculation information, wherein the central ranging calculation information comprises the signal intensity or the central ranging result of the encrypted broadcast on the central broadcast receiving equipment, and the central ranging result is used for indicating the distance between the central broadcast receiving equipment and the equipment to be positioned.

In another embodiment, the first key is updated at a first update frequency; and/or the second key is updated at a second update frequency.

In another embodiment, the first key is determined based on an initial key, the initial key is randomly generated, and the initial key is generated according to an initial generation frequency.

Based on the description of the related embodiments of the ranging positioning method, another ranging positioning device is also provided, where the ranging positioning device may be a computer program (including program code) running in an electronic device, and the electronic device herein may refer to the device to be positioned; as shown in fig. 5b, the ranging positioning device may comprise a second processing unit 504 and a second transmitting unit 505. The ranging positioning device may perform the ranging positioning method shown in fig. 3, i.e. the ranging positioning device may operate the above units:

A second processing unit 504, configured to generate an initial key, and determine a first key based on the initial key;

a second transmitting unit 505, configured to transmit the first key to a central broadcast receiving device, so that the central broadcast receiving device transmits a second key to each of N broadcast receiving devices based on the first key, where N is a positive integer;

the second sending unit 505 is further configured to send an encrypted broadcast, so that each broadcast receiving device receives the encrypted broadcast, and decrypt the encrypted broadcast based on the second key to determine ranging calculation information;

In one embodiment, the second processing unit 504, when generating the initial key, may be specifically configured to:

determining a random number generation mode, and generating at least one random number according to the random number generation mode, so that the generated random number is used as the initial secret key; or,

Determining a key sequence generation mode, and generating a key sequence according to the key sequence generation mode, so that the generated key sequence is used as the initial key.

In another embodiment, the first key is determined based on a key update policy to be located, the key update policy to be located including at least one of: equivalent key update policies, sequence key update policies, and conversion key update policies; the second processing unit 504, when determining the first key based on the initial key, may be specifically configured to:

if the key updating policy to be positioned comprises the equivalent key updating policy, the initial key is used as the first key; or,

if the key to be positioned updating strategy comprises the sequence key updating strategy, selecting one key from the initial keys according to the sequence corresponding to the initial keys, and taking the selected key as the first key; or,

if the key update strategy to be positioned comprises the conversion key update strategy, determining a key conversion mode to be positioned, and converting the initial key into the first key according to the key conversion mode to be positioned; or,

If the key update policy to be located includes the sequence key update policy and the conversion key update policy, selecting a key from the initial keys according to the sequence order corresponding to the initial keys, so as to obtain the selected key, and converting the selected key into the first key according to the key conversion mode to be located.

In another embodiment, the first key is transmitted over a first secure connection, the first secure connection supporting an encrypted connection and/or encrypted transmission; and/or the second key is transmitted to the respective broadcast receiving devices through a second secure connection.

In another embodiment, the first key is updated at a first update frequency; and/or the second key is updated according to a second update frequency; and/or, the initial key is generated according to an initial generation frequency.

Based on the description of the related embodiments of the ranging positioning method, the embodiments of the present application also propose another ranging positioning device, which may be a computer program (including program code) running in an electronic device, where the electronic device may refer to any one of the N broadcast receiving devices; as shown in fig. 5c, the ranging positioning device may include a third receiving unit 506, a third processing unit 507, and a third transmitting unit 508. The ranging positioning device may perform the ranging positioning method shown in fig. 4, i.e. the ranging positioning device may operate the above units:

A third receiving unit 506, configured to receive the second key sent by the central broadcast receiving device, and receive a broadcast; wherein the second key is transmitted by the central broadcast receiving apparatus through a second secure connection;

a third processing unit 507, configured to decrypt the received broadcast based on the second key, and determine ranging calculation information;

and a third transmitting unit 508, configured to return the ranging calculation information to the central broadcast receiving apparatus, so that the central broadcast receiving apparatus calculates the location information of the apparatus to be located based on the received ranging calculation information.

In one embodiment, the third processing unit 507 is further operable to:

judging whether decryption is correct;

if the decryption is correct, triggering and executing the determined ranging calculation information;

and discarding the received broadcast if the decryption is incorrect.

In another embodiment, the second key is determined based on the first key; and/or the first key is transmitted over a first secure connection supporting encrypted connections and/or encrypted transmissions.

In another embodiment, the first key is determined based on an initial key, and the initial key is randomly generated; wherein the first key is updated according to a first update frequency; and/or the second key is updated according to a second update frequency; and/or, the initial key is generated according to an initial generation frequency.

According to one embodiment of the present application, the steps involved in the method shown in fig. 1 may be performed by the units in the ranging and positioning device shown in fig. 5a, the steps involved in the method shown in fig. 3 may be performed by the units in the ranging and positioning device shown in fig. 5b, the steps involved in the method shown in fig. 4 may be performed by the units in the ranging and positioning device shown in fig. 5c, and so on.

According to another embodiment of the present application, each unit in the ranging and positioning device shown in fig. 5a, 5b and 5c may be separately or all combined into one or several other units, or some unit(s) thereof may be further split into a plurality of units with smaller functions, which may achieve the same operation without affecting the implementation of the technical effects of the embodiments of the present application. The above units are divided based on logic functions, and in practical applications, the functions of one unit may be implemented by a plurality of units, or the functions of a plurality of units may be implemented by one unit. In other embodiments of the present application, any ranging positioning device may also include other units, and in practical applications, these functions may also be implemented with assistance from other units, and may be implemented by cooperation of multiple units.

According to another embodiment of the present application, the ranging positioning apparatus as shown in fig. 5a may be constructed by running a computer program (including program code) capable of executing the steps involved in the respective methods as shown in fig. 1 on a general-purpose electronic device such as a computer including a processing element such as a Central Processing Unit (CPU), a random access storage medium (RAM), a read only storage medium (ROM), and the like, and a storage element, and implementing the ranging positioning method of the embodiments of the present application; and the ranging positioning apparatus as shown in fig. 5b may be constructed by running a computer program (including a program code) capable of executing the steps involved in the respective method as shown in fig. 3 on a general-purpose electronic device such as a computer including a processing element such as a central processing unit, a random access storage medium, a read-only storage medium, and the like, and a storage element, and the ranging positioning method of the embodiments of the present application may be implemented; and, the ranging positioning apparatus as shown in fig. 5c may be constructed by running a computer program (including a program code) capable of executing the steps involved in the respective method as shown in fig. 4 on a general-purpose electronic device such as a computer including a processing element such as a central processing unit, a random access storage medium, a read-only storage medium, and a storage element, and the ranging positioning method of the embodiments of the present application may be implemented. The computer program may be recorded on, for example, a computer storage medium, and loaded into and run in the above-described electronic device through the computer storage medium.

Based on the description of the method embodiment and the apparatus embodiment, the exemplary embodiment of the present application further provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor. The memory stores a computer program executable by the at least one processor for causing the electronic device to perform a method according to an embodiment of the present application when executed by the at least one processor.

The exemplary embodiment of the application also provides a chip, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor. The memory stores a computer program executable by the at least one processor for causing the chip to perform a method according to an embodiment of the present application when executed by the at least one processor.

The exemplary embodiment of the application also provides a positioning system, which comprises a central broadcast receiving device and N broadcast receiving devices, wherein N is a positive integer; wherein the central broadcast receiving apparatus is configured to perform the method provided in the various optional manners of the aspect of the ranging positioning method embodiment shown in fig. 1 and each of the N broadcast receiving apparatuses is configured to perform the method provided in the various optional manners of the aspect of the ranging positioning method embodiment shown in fig. 4.

The present exemplary embodiments also provide a non-transitory computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is for causing the computer to perform a method according to an embodiment of the present application.

The present exemplary embodiments also provide a computer program product comprising a computer program, wherein the computer program, when being executed by a processor of a computer, is for causing the computer to perform a method according to embodiments of the present application.

Referring to fig. 6, a block diagram of an electronic device 600 that may be a server or terminal of the present application, which is an example of a hardware device that may be applied to aspects of the present application, will now be described. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the application described and/or claimed herein.

As shown in fig. 6, the electronic device 600 includes a computing unit 601 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The computing unit 601, ROM 602, and RAM 603 are connected to each other by a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

A number of components in the electronic device 600 are connected to the I/O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 may be any type of device capable of inputting information to the electronic device 600, and the input unit 606 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. The output unit 607 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 608 may include, but is not limited to, magnetic disks, optical disks. The communication unit 609 allows the electronic device 600 to exchange information/data with other devices through a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth (TM) devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.

The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above. For example, in some embodiments, the ranging positioning method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 600 via the ROM 602 and/or the communication unit 609. In some embodiments, the computing unit 601 may be configured to perform the ranging positioning method by any other suitable means (e.g., by means of firmware).

Program code for carrying out methods of the present application may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable ranging positioning apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It is also to be understood that the foregoing is merely illustrative of the presently preferred embodiments of the present invention, and is not to be construed as limiting the scope of the appended claims, which are intended to cover all such modifications as fall within the true scope of the invention.

Claims

1. A ranging positioning method, comprising:

2. The method according to claim 1, characterized in that the first key is transmitted over a first secure connection supporting an encrypted connection and/or encrypted transmission.

3. A method according to claim 1 or 2, wherein the second key is sent to the respective broadcast receiving device over a second secure connection to cause the respective broadcast receiving device to update a local key with the second key;

4. The method according to claim 1 or 2, wherein the second key is determined by a central key update policy comprising at least one of: equivalent key update policies, sequence key update policies, and conversion key update policies; the determining a second key based on the first key includes:

5. The method according to claim 1 or 2, wherein the calculating the location information of the device to be located based on the received ranging calculation information comprises:

6. A method according to claim 1 or 2, wherein the first key is updated at a first update frequency; and/or the second key is updated at a second update frequency.

7. The method of claim 1 or 2, wherein the first key is determined based on an initial key, the initial key is randomly generated, and the initial key is generated according to an initial generation frequency.

8. A ranging positioning method, comprising:

generating an initial key and determining a first key based on the initial key;

9. The method of claim 8, wherein the generating the initial key comprises:

10. The method of claim 8 or 9, wherein the first key is determined based on a key update policy to be located, the key update policy to be located comprising at least one of: equivalent key update policies, sequence key update policies, and conversion key update policies; the determining a first key based on the initial key includes:

11. The method according to claim 8 or 9, characterized in that the first key is transmitted over a first secure connection supporting an encrypted connection and/or encrypted transmission; and/or the second key is transmitted to the respective broadcast receiving devices through a second secure connection.

12. The method according to claim 8 or 9, wherein the first key is updated at a first update frequency; and/or the second key is updated according to a second update frequency; and/or, the initial key is generated according to an initial generation frequency.

13. A ranging positioning method, comprising:

14. The method of claim 13, wherein the method further comprises:

judging whether decryption is correct;

and discarding the received broadcast if the decryption is incorrect.

15. The method of claim 13 or 14, wherein the second key is determined based on the first key; and/or the first key is transmitted over a first secure connection supporting encrypted connections and/or encrypted transmissions.

16. The method of claim 15, wherein the first key is determined based on an initial key, and wherein the initial key is randomly generated;

wherein the first key is updated according to a first update frequency; and/or the second key is updated according to a second update frequency; and/or, the initial key is generated according to an initial generation frequency.

17. A positioning system, characterized in that the positioning system comprises a central broadcast receiving device and N broadcast receiving devices, N being a positive integer;

wherein the central broadcast receiving device is adapted to perform the method according to any of claims 1-7, each of the N broadcast receiving devices being adapted to perform the method according to any of claims 13-16.

18. A chip, comprising:

a processor; and

a memory in which a program is stored,

wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method according to any one of claims 1-7; alternatively, the instructions, when executed by the processor, cause the processor to perform the method of any one of claims 8-12; alternatively, the instructions, when executed by the processor, cause the processor to perform the method according to any of claims 13-16.

19. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-7; alternatively, the computer instructions are for causing a computer to perform the method according to any one of claims 8-12; alternatively, the computer instructions are for causing a computer to perform the method according to any one of claims 13-16.