CN118250629A

CN118250629A - Device positioning method, device, main device, chip and storage medium

Info

Publication number: CN118250629A
Application number: CN202211655937.3A
Authority: CN
Inventors: 周楠
Original assignee: Zeku Technology Shanghai Corp Ltd
Current assignee: Zeku Technology Shanghai Corp Ltd
Priority date: 2022-12-22
Filing date: 2022-12-22
Publication date: 2024-06-25

Abstract

The embodiment of the application provides a device positioning method, a device, a main device, a chip and a storage medium, wherein the device positioning method comprises the following steps: when the main equipment is in a first position, acquiring first ranging information of the auxiliary equipment and second ranging information of the target equipment; after the main equipment moves to the second position, obtaining third ranging information of the auxiliary equipment and fourth ranging information of the target equipment; the master device determines a location of the target device based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information. The embodiment of the application can reduce the limiting conditions of equipment positioning.

Description

Device positioning method, device, main device, chip and storage medium

Technical Field

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

Background

The proximity-aware network (neighbor awareness networking, NAN) is a wireless-fidelity (Wi-Fi) technology-based network, and has the characteristics of real-time performance and low power consumption. When a NAN device in the NAN is lost, if it is desired to locate the lost NAN device, trilateration is mainly applied. Trilateration positioning requires at least three NAN devices of known locations as positioning points, more auxiliary positioning points are required, and the positioning of the three NAN devices of known locations is required with more conditional restrictions.

Disclosure of Invention

The embodiment of the application provides a device positioning method, a device, a main device, a chip and a storage medium, and reduces the limiting conditions of device positioning.

A first aspect of an embodiment of the present application provides a device positioning method, configured to determine, by a master device, a location of a target device, where the method includes:

When the main equipment is in a first position, acquiring first ranging information of auxiliary equipment and second ranging information of the target equipment;

after the main equipment moves to the second position, obtaining third ranging information of the auxiliary equipment and fourth ranging information of the target equipment;

The master device determines a location of the target device based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information.

A second aspect of an embodiment of the present application provides a positioning device, including:

A communication unit configured to:

When the device is in a first position, acquiring first ranging information of auxiliary equipment and second ranging information of target equipment;

after the apparatus moves to the second position, obtaining third ranging information of the auxiliary device and fourth ranging information of the target device; and

A positioning unit configured to:

A location of the target device is determined based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information. A third aspect of an embodiment of the present application provides a host device comprising a processor and a memory for storing a computer program comprising program instructions, the processor being configured to invoke the program instructions to execute the step instructions as in the first aspect of the embodiment of the present application.

A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program for electronic data exchange, the computer program comprising program instructions which, when executed by a processor, cause the processor to perform the steps as in the first aspect of the embodiments of the present application.

A fifth aspect of an embodiment of the present application provides a computer program product, wherein the computer program product comprises a computer program comprising program instructions which, when executed by a processor, cause the processor to carry out the step instructions as in the first aspect of the embodiment of the present application.

A sixth aspect of the embodiments of the application provides a chip comprising a processor configured to execute the step instructions as in the first aspect of the embodiments of the application. According to the equipment positioning method, when the main equipment is located at the first position, first ranging information of the auxiliary equipment and second ranging information of the target equipment are obtained; after the main equipment moves to the second position, obtaining third ranging information of the auxiliary equipment and fourth ranging information of the target equipment; the master device determines a location of the target device based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information. In the embodiment of the application, in the process of positioning the target equipment, the main equipment can respectively obtain the distance measurement information of the auxiliary equipment and the target equipment at two different positions by moving the position of the main equipment, and the target equipment can be positioned only by two equipment (the main equipment and the auxiliary equipment), and compared with the NAN equipment with at least three known positions as positioning points, the target equipment can be positioned by using fewer equipment, and the limiting condition of equipment positioning is reduced.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a NAN network according to an embodiment of the present application;

Fig. 2 is a schematic flow chart of a device positioning method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of determining a location of a target device using a trilateration positioning method according to an embodiment of the present application;

FIG. 4 is a flowchart of another method for locating a device according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a primary device moving from a first position to a second position according to an embodiment of the present application;

FIG. 6 is a schematic illustration of another embodiment of the present application for moving a master device from a first position to a second position;

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

Fig. 8 is a schematic structural diagram of a master device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the described embodiments of the application may be combined with other embodiments.

The primary device, the auxiliary device and the target device according to the embodiment of the application are devices with communication capability and computing capability. May be a cell phone, tablet, notebook, ultra-mobile personal computer, ultra Mobile Personal Computer (UMPC), netbook, personal Digital Assistant (PDA), on Board Unit (OBU), wearable device (e.g., watch, bracelet, smart helmet, etc.), smart home device (e.g., rice cooker, stereo, home steward, etc.), augmented reality (augmented reality, AR)/Virtual Reality (VR) device, etc.

According to the device positioning method, in the process of positioning the target device, the master device can obtain the distance measurement information reported by the auxiliary device and the target device at two different positions by moving the position of the master device, the target device can be positioned only by two devices (the master device and the auxiliary device), compared with the NAN devices with at least three known positions as positioning points, the target device can be positioned by using fewer devices, and the limiting conditions of device positioning are reduced. The following will specifically explain.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a NAN network according to an embodiment of the present application. As shown in fig. 1, the NAN network includes a primary device, a secondary device, and a target device.

The proximity-aware network (neighbor awareness networking, NAN) is a wireless-fidelity (Wi-Fi) technology-based network, and has the characteristics of real-time performance and low power consumption. Devices joining the NAN network may be referred to as NAN devices. The primary device, the secondary device, and the target device in fig. 1 may all be referred to as NAN devices.

The primary device, the secondary device and the target device form a NAN cluster (cluster). In this NAN cluster, communication can be performed between every two devices, and ranging can be performed between every two devices based on the communication. There may be one master device in the NAN cluster, and the other devices are all auxiliary devices (such as the auxiliary device and the target device shown in fig. 1), the auxiliary devices in fig. 1 are auxiliary devices with known locations, and the target device in fig. 1 is an auxiliary device with unknown locations, that is, a target device to be found.

The master device may publish a ranging service (service) to which other devices in the NAN cluster subscribe. The ranging service requires all devices in the NAN cluster to send ranging results (periodically or when a change in distance is detected) of themselves with other devices to the service publisher (i.e., the master device). The main device can be preset, and can be changed on the main device and other auxiliary devices when needed.

In one possible scenario, if the user wants to seek the target device in the near field, and the user has a master device and another slave device with a known arbitrary location. For example, a main device (such as a mobile phone) of a user is used as a main device (anchor master), and when the main device is at a first position, the main device obtains first ranging information reported by an auxiliary device and obtains second ranging information reported by a target device; after the main equipment moves from the first position to the second position, third ranging information reported by the auxiliary equipment is obtained, and fourth ranging information reported by the target equipment is obtained; the master device determines a location of the target device based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information. In the embodiment of the application, in the process of positioning the target equipment, the main equipment can respectively obtain the distance measurement information reported by the auxiliary equipment and the target equipment at two different positions by moving the position of the main equipment, and the target equipment can be positioned only by two equipment (the main equipment and the auxiliary equipment), and compared with NAN equipment with at least three known positions as positioning points, the target equipment can be positioned by using fewer equipment, and the limiting condition of equipment positioning is reduced.

Referring to fig. 2, fig. 2 is a flowchart of a device positioning method according to an embodiment of the application. The method is for determining, by a master device, a location of a target device. As shown in fig. 2, the method may include the following steps.

And 201, when the main device is in the first position, acquiring first ranging information of the auxiliary device and second ranging information of the target device.

The device positioning method provided by the embodiment of the application can be used for a main device, an auxiliary device and a target device without a positioning module such as a global positioning system (global positioning system, GPS) and the like.

The device location method shown in fig. 2 can be applied to the NAN network of fig. 1, since the primary device, the secondary device and the target device form a NAN cluster. After the master device publishes the ranging service, after other devices (auxiliary devices and target devices) in the NAN cluster subscribe to the ranging service, the ranging results of the master device and other devices can be sent to the master device.

When the main device is at the first position, the auxiliary device can report first ranging information to the main device, and the target device can report second ranging information to the main device.

The first ranging information may include a first distance between the secondary device and the primary device, and may further include a distance between the secondary device and the target device. The second ranging information may include a first distance between the target device and the primary device, and may also include a distance between the target device and the secondary device. The first distance between the auxiliary device and the main device is the distance between the auxiliary device and the main device measured when the main device is at the first position. The first distance between the target device and the master device is a distance between the target device and the master device measured when the master device is in the first position.

Before performing step 201, the master device may negotiate a ranging principle, a ranging protocol, and a ranging parameter requirement with the slave device and the target device, and according to the negotiated ranging principle, ranging protocol, and ranging parameter requirement, the master device may obtain a distance between the master device and the slave device, and a distance between the master device and the target device. The ranging principle may include, among other things, the accurate time measurement (FTM) principle.

202, After the primary device moves to the second location, obtaining third ranging information of the secondary device and fourth ranging information of the target device.

In the embodiment of the application, when the main equipment is at the second position, the auxiliary equipment can report the third ranging information to the main equipment, and the target equipment can report the fourth ranging information to the main equipment.

The third ranging information may include a second distance between the secondary device and the primary device, and may further include a distance between the secondary device and the target device. The fourth ranging information may include a second distance between the target device and the primary device, and may also include a distance between the target device and the secondary device.

In the whole flow of steps 201 to 203, the position of the main device is changed (from the first position to the second position), the position of the auxiliary device is not changed, and the position of the target device is not changed. When the main equipment is at the first position and the second position, the distance between the auxiliary equipment and the target equipment, which are reported by the auxiliary equipment, cannot be changed, and the distance between the target equipment and the auxiliary equipment, which are reported by the target equipment, cannot be changed.

If there is no measurement error between the auxiliary device and the target device, the distance between the auxiliary device and the target device measured by the auxiliary device, and the distance between the target device and the auxiliary device measured by the target device may be equal.

203, The master device determines a location of the target device based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information.

In the embodiment of the application, the position of the target equipment can be determined by adopting a trilateration positioning method. Referring to fig. 3, fig. 3 is a schematic diagram of determining a position of a target device by using a trilateration positioning method according to an embodiment of the present application. As shown in fig. 3, the distance between the auxiliary device and the target device can be obtained through the ranging information reported by the auxiliary device, the position of the auxiliary device is taken as the center of a circle, the distance between the auxiliary device and the target device is taken as the radius, and a first circle is made, so that the first circle passes through the target device. When the main equipment is at the first position, a first distance between the target equipment and the main equipment can be obtained through the distance measurement information reported by the target equipment, the first distance is taken as a radius by taking the main equipment at the first position as a circle center, a second circle is made by taking the first distance as a radius, and the second circle passes through the target equipment. When the main equipment is at the second position, a second distance between the target equipment and the main equipment can be obtained through the distance measurement information reported by the target equipment, the second distance is taken as a radius by taking the main equipment at the second position as a circle center, and a third circle is formed by taking the second distance as a radius, and the third circle also passes through the target equipment. The position of the target device can be determined by passing three circles (the first circle, the second circle and the third circle) through the same point (namely, the common intersection point of the three circles).

In the embodiment of the application, in the process of positioning the target equipment, the main equipment can respectively obtain the distance measurement information of the auxiliary equipment and the target equipment at two different positions by moving the position of the main equipment, and the target equipment can be positioned only by two equipment (the main equipment and the auxiliary equipment), and compared with the NAN equipment with at least three known positions as positioning points, the target equipment can be positioned by using fewer equipment, and the limiting condition of equipment positioning is reduced.

Optionally, the primary device, the secondary device and the target device are co-located in a NAN network. The NAN network is shown in fig. 1.

The equipment positioning method provided by the embodiment of the application is used for equipment positioning in the NAN network.

Optionally, the method shown in fig. 2 may further include the following steps:

and constructing a NAN network by the main equipment, the auxiliary equipment and the target equipment.

Optionally, the method shown in fig. 2 may further include the following steps:

The master device sends out a ranging service for the secondary device and/or the target device to send out one or more ranging information to the master device based on subscribing to the ranging service.

One or more ranging information may be transmitted in the same message or may be transmitted in different messages, respectively.

After the main equipment sends out the ranging service, the auxiliary equipment subscribes to the ranging service, and then the auxiliary equipment can send out ranging information between itself and the main equipment and also can send out ranging information between itself and other equipment in the NAN network. Similarly, after the target device subscribes to the ranging service, the target device may send out ranging information between itself and the master device, and may also send out ranging information between itself and other devices in the NAN network.

After the auxiliary equipment and/or the target equipment subscribe to the ranging service, the auxiliary equipment and/or the target equipment can periodically send out ranging information, and can also send out ranging information after detecting that the measured distance changes.

Optionally, the method shown in fig. 2 may further include the following steps:

indicating and/or guiding the movement of the master device from the first position to the second position.

In the embodiment of the application, the master device can be guided to move from the first position to the second position. The second location may be a predetermined location or may be a location where the user moves randomly.

Optionally, the first ranging information includes: a first distance between the secondary device and the primary device; the second ranging information includes: a first distance between the target device and the master device; the third ranging information includes: a second distance between the secondary device and the primary device; the fourth ranging information includes: a second distance between the target device and the master device; the distance between the auxiliary device and the target device is included in at least one of the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information.

The step 203 may specifically include the following steps:

(11) The main equipment calculates the distance between the first position and the second position based on a first distance between the auxiliary equipment and the main equipment, a second distance between the auxiliary equipment and the main equipment and an included angle between a first direction and a second direction; wherein the first direction comprises a direction pointing from the first location to the secondary device and the second direction comprises a direction pointing from the first location to the second location;

(12) The master device determines a location of the target device based on a first distance between the target device and the master device, a second distance between the target device and the master device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device.

In the embodiment of the application, the included angle between the first direction and the second direction can be preset, can be measured by the main equipment at the first position or the second position, or can be calculated by the main equipment at the second position. It should be noted that, in the process that the main device moves from the first position to the second position, in order to ensure that the main device can accurately measure the included angle between the first direction and the second direction at the first position or the second position, the orientation of the main device is kept unchanged when the main device is at the first position and the second position. Specifically, when the main device is at the first position or the second position, the main device may measure an included angle between the first direction and the second direction through the gyroscope. For example, when the main device is in the first position or the second position, the main device may learn the first direction, the user may fix the direction of the main device, so that the angle between the direction of the main device and the first direction is a fixed value, and may determine that the second direction is a direction perpendicular to the direction of the main device, where the angle between the first direction and the second direction=the angle between the direction of the main device and the first direction +90°. If the angle of the orientation of the master device to the first direction = 0 (the orientation of the master device coincides with the first direction), then the angle of the first direction to the second direction = 90 °.

The angle between the first direction and the second direction may be set to any value between 0 ° and 180 ° (excluding 0 ° and 180 °). For example, the angle between the first direction and the second direction may be set to 90 °.

In the moving process of the main device from the first position to the second position, if the included angle between the first direction and the second direction is preset and the first direction is known, the second direction can be accurately calculated according to the included angle between the first direction and the second direction and the first direction, the second direction can be displayed on the main device, and the user is guided to move according to the set direction (the second direction).

If the included angle between the first direction and the second direction is measured by the main device at the first position or the second position, the main device keeps the orientation of the main device at the first position and the second position unchanged in the moving process, and the included angle between the first direction and the second direction is measured by the main device at the first position or the second position.

In the embodiment of the application, after the distance between the first position and the second position is determined, the position of the main equipment at the second position can be accurately positioned due to the fact that the first position and the second direction are known, and further the accurate positions of three points (the position of the auxiliary equipment, the first position and the second position) based on three-side ranging can be accurately determined, so that the position of the target equipment can be accurately positioned based on three-side ranging.

In the step (11), the calculating, by the master device, the distance between the first position and the second position based on the first distance between the slave device and the master device, the second distance between the slave device and the master device, and the included angle between the first direction and the second direction may include:

the main equipment calculates the distance between the first position and the second position according to the cosine theorem based on a first distance between the auxiliary equipment and the main equipment, a second distance between the auxiliary equipment and the main equipment and an included angle between the first direction and the second direction. When the included angle between the first direction and the second direction is larger than or equal to 90 degrees, the distance between the first position and the second position has a unique calculation result. When the included angle between the first direction and the second direction is smaller than 90 °, there may be two calculation results for the distance between the first position and the second position. The included angle between the first direction and the second direction is set to be larger than or equal to 90 degrees, so that the accurate distance between the first position and the second position can be obtained.

In the step (12), after the first distance between the target device and the main device, the second distance between the target device and the main device, the distance between the first position and the second position, and/or the distance between the auxiliary device and the target device are obtained, the position of the target device may be located. Specifically, an included angle of any two distances among the first distance, the second distance and the distance between the first position and the second position can be calculated according to the cosine law, the direction of the target device relative to the second position is determined according to the distance between the auxiliary device and the target device, and then the main device can determine the included angle of the target device relative to the second position, so that the position of the target device is determined, and a user can conveniently and rapidly find the target device.

As shown in fig. 3, in the planar coordinate system, the point of the primary device at the first position is O, the point of the primary device at the second position is C, the point of the secondary device is B, the position of the target device needs to be found, and the point of the target device is assumed to be a. Currently, the distance of line segment OB is known as L1 (first distance between the auxiliary device and the main device), the distance of line segment OA is known as R1 (first distance between the target device and the main device), the distance of line segment BC is known as L2 (second distance between the auxiliary device and the main device), the distance of line segment AC is known as R2 (second distance between the target device and the main device), and the distance of line segment AB is known as S (distance between the auxiliary device and the target device). In fig. 3, the direction in which O points B is the first direction, and the direction in which O points C is the second direction. The angle between the first direction and the second direction is θ, and the distance of the line segment OC is d (the distance between the first position and the second position).

As shown in fig. 3, in step (11), in the case where L1, L2, and θ are known, the distance d between the first position and the second position can be calculated by the cosine law (in the case where θ is 90 ° or more, d can be calculated as a unique value). In step (12), under the condition that R1, R2 and d are known, the included angle between any two line segments of OA, OC and AC can be calculated according to the cosine theorem, so that the main equipment can determine the included angle of the target equipment relative to the second position, the position of the target equipment is determined, and a user can conveniently and quickly find the target equipment. Wherein the included angle α of the target device with respect to the second position satisfies the following formula:

Where α is the angle of the target device relative to the second position, and where R1, R2 and d are known, the magnitude of α can be calculated according to the cosine law.

Optionally, the step (12) may specifically include the following steps:

(121) The master device determining two candidate locations of the target device relative to the second location based on a first distance between the target device and the master device, a second distance between the target device and the master device, and a distance between the first location and the second location;

(122) The master device selects a target candidate position from the two candidate positions as the position of the target device; the target candidate position is a candidate position, of the two candidate positions, closer to the distance between the auxiliary device and the target device than the distance between the auxiliary device and the target device.

In the embodiment of the application, after knowing the first distance between the target device and the main device, the second distance between the target device and the main device, and the distance between the first position and the second position, two candidate positions (two intersection points of the second circle and the third circle) can be determined first, and then the target candidate position can be determined from the two candidate positions according to the distance between the auxiliary device and the target device. As shown in fig. 3, the two candidate positions are a and a ', the length of the line OA is equal to the length of the line O A ', and the length of the line AC is equal to the length of the line a ' C. The lengths of line segment AB and line segment a 'B may be calculated, and the lengths of line segment AB and line segment a' B compared to see which is closer to S. As can be seen from fig. 3, the length of the line segment AB is closer to S, and the candidate position a can be determined as the position of the target device. If the calculation is error free, the length of line segment AB is equal to S.

The embodiment of the application provides a method for determining the position of target equipment, which can select an accurate candidate position from two candidate positions to serve as the position of the target equipment based on the distance between auxiliary equipment and the target equipment and can accurately position the position of the target equipment.

Optionally, the determining, by the primary device, the location of the target device based on a first distance between the target device and the primary device, a second distance between the target device and the primary device, a distance between the first location and the second location, and a distance between the secondary device and the target device includes:

(123) The main device determines the position of the target device relative to a straight line based on the distance between the auxiliary device and the target device, wherein the straight line is a straight line between the first position and the second position;

(124) The master device determines a direction of the target device relative to the second location based on a first distance between the target device and the master device, a second distance between the target device and the master device, a distance between the first location and the second location, and the orientation, and determines a location of the target device based on the direction of the target device relative to the second location and a second distance between the target device and the master device.

In the embodiment of the application, after knowing the distance between the auxiliary equipment and the target equipment, the position of the target equipment relative to the straight line between the first position and the second position can be determined. As shown in fig. 3, knowing the distance S between the auxiliary device and the target device, it is obvious that the target device is above the line segment OC (the straight line between the first position and the second position), the search range of the target device can be narrowed to be above the line segment OC, so as to eliminate the interference of the point a'.

The main device may determine a direction of the target device relative to the second position based on a first distance between the target device and the main device, a second distance between the target device and the main device, a distance between the first position and the second position, and the azimuth, as shown in fig. 3, the direction of the target device relative to the second position is a direction in which an included angle between the second position and the line segment OC is α, that is, a direction of the point a. Based on the length R2 of the line segment AC and the angle α, the location of the target device may be determined to be a.

The embodiment of the application provides another method for determining the position of target equipment, which can be used for reducing the search range of the target equipment based on determining the position of the target equipment relative to a straight line between a first position and a second position, and finding the target equipment faster based on a first distance between the target equipment and a main equipment, a second distance between the target equipment and the main equipment and the distance and the position between the first position and the second position.

Optionally, in a case where a distance between the secondary device and the target device is included in the first ranging information, the distance between the secondary device and the target device is measured in advance by the secondary device;

In case that the distance between the secondary device and the target device is included in the second ranging information, the distance between the secondary device and the target device is measured in advance by the target device.

In the embodiment of the present application, the distance between the auxiliary device and the target device is obtained by the main device, and may be measured and stored in advance in the auxiliary device or the target device before executing step 201, for example, the distance between the auxiliary device and the target device may be measured in advance through daily data interaction. If the target device needs to be located, that is, when step 201 is performed, a signal strength indicator (RSSI) change between the secondary device and the target device is smaller than a certain threshold, it may be considered that the relative position between the secondary device and the target device is not changed, and the distance between the secondary device and the target device measured before is reported to the primary device. The auxiliary device or the target device can directly upload the saved data from the memory, so that the power consumption is saved, and the time required by positioning the target device is saved.

Referring to fig. 4, fig. 4 is a flowchart of another method for positioning a device according to an embodiment of the application. The method shown in fig. 4 is applied to the NAN network of fig. 1, and fig. 4 is further obtained on the basis of fig. 2. As shown in fig. 4, the method may include the following steps.

401 Obtaining first ranging information of a secondary device and second ranging information of a target device when a primary device is in a first position.

Wherein the first ranging information includes: a first distance between the secondary device and the primary device; the second ranging information includes: a first distance between the target device and the master device.

The specific implementation of step 401 may be referred to above in step 201, and will not be described herein.

402, Determining a first direction when the main device is at a first position, and displaying the first direction.

In the embodiment of the present application, when the primary device is at the first position, the first direction may be determined according to the direction of the secondary device relative to the primary device, as shown in fig. 3, where the first direction is the direction in which the first position points to the secondary device.

Optionally, in step 402, the determining, by the master device, the first direction may include the following steps:

(21) The main equipment displays a camera view frame, and the direction of the main equipment is displayed under the condition that the auxiliary equipment is positioned in the camera view frame of the main equipment;

(22) And determining the orientation of the main device as the first direction under the condition that the orientation of the main device is determined to be directed to the auxiliary device.

Referring to fig. 5, fig. 5 is a schematic diagram illustrating a movement of a master device from a first position to a second position according to an embodiment of the present application. As shown in fig. 5, when the master device is in the first position, the master device may display a camera view box and the user may operate the master device such that the slave device is located within the camera view box of the master device. The dashed arrow in fig. 5 is the orientation of the master device when the orientation of the master device is not aligned with the first direction; the solid arrow pointing to the secondary device is the first direction, i.e. the direction in which the primary device points to the secondary device (the direction in which the primary device points to the secondary device may be predefined as the only direction). The dotted line frame is a camera view frame displayed by the main device when the orientation of the main device is not aligned with the first direction; the solid line box is the camera viewfinder that the master device displays when the orientation of the master device is aligned with the first direction. When the orientation of the master device is not aligned with the first direction, the user may rotate the master device to the right so that the orientation of the master device is aligned with the first direction, at which point the orientation of the master device may be determined to be the first direction. Specifically, when the direction of the main device is aligned with the first direction, it is detected that the direction of the main device is unchanged within a period of time, and the pop-up window prompt information is used for prompting a user whether to determine whether the current direction of the main device is the first direction, and under the condition that the user confirms, the user confirms that the first direction is found.

According to the embodiment of the application, the direction of the main equipment is determined to be the first direction through the direction of the main equipment displayed by the camera view-finding frame, so that the user can conveniently determine the first direction by moving the main equipment, and the user interaction experience is improved.

Optionally, the determining, by the master device, the first direction may include:

After the auxiliary device is positioned in the camera view frame of the main device, the main device determines at least one target in the camera view frame through a target detection algorithm, selects the auxiliary device from the at least one target in response to an auxiliary device selection instruction of a user, and determines the direction of the main device pointing to the auxiliary device as a first direction based on the position of the auxiliary device in the camera view frame.

In fig. 5, the direction in which the primary device points to the secondary device may be abstracted into the directions of two points.

403, The master device determines a second direction based on an angle between the first direction and the second direction, and displays the second direction, where the second direction is used to guide the master device to move in the second direction.

Wherein the second direction comprises a direction of movement of the first position to the second position.

In the embodiment of the present application, the included angle between the first direction and the second direction may be predetermined. For example, if the angle between the first direction and the second direction is 90 ° (90 ° in fig. 5 is 90 ° clockwise in the first direction, or 90 ° counterclockwise in one direction), the second direction is as shown in fig. 5. The second direction may be displayed on the master device, guiding the user to move the master device in the second direction. As shown in fig. 5, when the main device is in the second position, the main device is still aligned with the first direction due to the movement of the main device along the second direction, and the position of the auxiliary device in the camera viewfinder is changed relative to the main device due to the movement of the main device along the second direction by a distance.

In fig. 5, after determining the first direction, the angle of the direction of the main device (i.e., the first direction) may be set to 0 ° by using a gyroscope, and other angular directions, such as a 90 ° direction (i.e., the second direction), may be displayed on the display interface, so that the user may conveniently move the main device along the second direction, thereby improving the operability of ranging.

In the process that the main device moves from the first position to the second position, the included angle between the moving direction of the main device and the first direction can be kept to be a fixed value, namely, the moving direction of the main device is kept unchanged along the second direction.

Referring to fig. 6, fig. 6 is a schematic diagram illustrating another embodiment of moving a master device from a first position to a second position. As shown in fig. 6, when the master device is in the first position, the master device may display a camera view box and the user may operate the master device such that the slave device is located within the camera view box of the master device. The camera view box may record a position of the auxiliary device in the camera view box when the orientation of the main device is the first direction. When the primary device is in the second position, the primary device may be rotated along the z-axis to cause the secondary device to coincide with the dashed box, depending on the position of the secondary device in the camera viewfinder when the primary device is in the first position (e.g., the dashed box in the camera viewfinder in fig. 6). Wherein, as the coordinate system is established in fig. 6, the x-axis direction is the width direction of the main device, the y-axis direction is the thickness direction of the main device, and the z-axis direction is the length direction of the main device.

In the embodiment of the present application, the included angle between the first direction and the second direction may be calculated when the main device is at the second position. For example, when the main device is moved from the first position to the second position, the first direction is known at this time, and the main device is rotated along the z-axis until the auxiliary device in the camera viewfinder coincides with the dashed-line frame, and the angle at which the main device is rotated along the z-axis is recorded as γ. The distance d between the first position and the second position can be calculated by ranging L1, L2 and γ. As shown in fig. 6, the line segment od=l2×cos γ -L1, the line segment cd=l2×sin γ, since the line segment OD is perpendicular to the line segment CD, the size of the line segment OC (i.e., the distance d between the first position and the second position) can be obtained according to the pythagorean theorem, and the size of the included angle β between the line segment OC and the line segment CD can be calculated. The size of α can be obtained according to d, R1, and R2, and then the included angle of the line segment AC with respect to the x axis (the included angle of the target device and the x axis of the main device) is (α+β). Similarly, if point C is above the x-axis, then there is a target device at an angle (α - β) from the x-axis of the master device.

404, After the primary device moves to the second location, obtaining third ranging information of the secondary device and fourth ranging information of the target device.

The third ranging information includes: a second distance between the secondary device and the primary device; the fourth ranging information includes: a second distance between the target device and the master device; the distance between the auxiliary device and the target device is included in at least one of the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information.

The primary device calculates 405 a distance between the first location and the second location based on a first distance between the secondary device and the primary device, a second distance between the secondary device and the primary device, and an angle between the first direction and the second direction.

Wherein the first direction comprises a direction pointing from the first location to the secondary device and the second direction comprises a direction pointing from the first location to the second location.

406, The primary device determines a location of the target device based on a first distance between the target device and the primary device, a second distance between the target device and the primary device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device.

The specific implementation of step 404 to step 406 may be referred to above in steps 202 to 203, and will not be described herein.

Based on the NAN network of fig. 1, an embodiment of the present application provides a specific method flow for device location, which may include the following steps.

1) The user takes the user as the origin of the coordinate system (point O shown in fig. 3), and the main device (such as a mobile phone) is opposite to the auxiliary device (point B shown in fig. 3), so that the auxiliary device is arranged on the y-axis in the plane, as shown in fig. 3, and the distance between the user and the auxiliary device is L1.

2) After guiding the user to translate a distance along the x-axis (the x-axis being perpendicular to the y-axis), ranging is again performed between NAN devices. As shown in fig. 3, at this time, the distance between the user and the auxiliary device is L2, and the distance d (the distance from the first position to the second position) of the user translation can be obtained through the mathematical relationship (pythagorean theorem).

3) The distance between the secondary device and the target device (point a shown in fig. 3) is known due to the ranging service issued by the primary device, and the distance R1 between the user and the target device before moving can be measured. As shown in fig. 3, the target device is located at one of two intersections of the first circle and the second circle. After the user moves the distance d, the distance between the user and the target device is R2. The angle alpha between the user and the target equipment can be obtained according to the triangular relation.

4) Having the angle α and the distance R2, the user may be guided to search for the target device.

In the embodiment of the application, the main equipment of the user is used as the origin of the Cartesian coordinate system, the auxiliary equipment and the target are arranged at the positions which are centered by the user, so that the interactivity with the user is easier for the upper layer, and the user interaction experience can be improved. The auxiliary equipment is flexible to select, and any equipment supporting the NAN protocol at any position can be used as the auxiliary equipment. The distance measurement service between the auxiliary equipment and the target equipment can be acquired through the release of the main equipment, so that the possible positions of the target equipment in the space are greatly converged.

For the user, the embodiment of the application has simpler positioning conditions, the user can flexibly select the NAN equipment, such as the wearable equipment, the internet of things (Internet of things, IOT) equipment and the like, as auxiliary equipment, and a point determined in space, such as an Access Point (AP) with unchanged position, is not needed. The position of the auxiliary equipment is established relative to the user, the exact position of the auxiliary equipment is not required to be known, namely, the auxiliary equipment is not required to be provided with a global positioning system (global positioning system, GPS) and other modules to participate in distance measurement, the requirement on the auxiliary equipment is low, and the auxiliary equipment meeting the conditions is easy to find.

The foregoing description of the embodiments of the present application has been presented primarily in terms of a method-side implementation. It will be appreciated that the host device, in order to implement the above-described functions, includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The embodiment of the application can divide the functional units of the main device according to the method example, for example, each functional unit can be divided corresponding to each function, and two or more functions can be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a positioning device according to an embodiment of the application, where the positioning device 700 includes:

a communication unit 701 configured to:

A positioning unit 702 configured to:

a location of the target device is determined based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information. Optionally, the primary device, the secondary device and the target device are co-located in a NAN network.

Optionally, the communication unit 701 is further configured to:

And sending out a ranging service to enable the auxiliary device and/or the target device to send out one or more ranging information to the main device based on subscribing to the ranging service.

Optionally, the positioning device 700 further includes:

an indication unit 703 configured to:

Optionally, the determining, by the positioning unit 702, the location of the target device based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information includes: the main equipment calculates the distance between the first position and the second position based on a first distance between the auxiliary equipment and the main equipment, a second distance between the auxiliary equipment and the main equipment and an included angle between a first direction and a second direction; wherein the first direction comprises a direction pointing from the first location to the secondary device and the second direction comprises a direction pointing from the first location to the second location; the master device determines a location of the target device based on a first distance between the target device and the master device, a second distance between the target device and the master device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device.

Optionally, the determining, by the positioning unit 702, the location of the target device based on a first distance between the target device and the primary device, a second distance between the target device and the primary device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device includes: determining two candidate locations of the target device relative to the second location based on a first distance between the target device and the master device, a second distance between the target device and the master device, and a distance between the first location and the second location; selecting a target candidate position from the two candidate positions as the position of the target device; the target candidate position is a candidate position, of the two candidate positions, closer to the distance between the auxiliary device and the target device than the distance between the auxiliary device and the target device.

Optionally, the determining, by the positioning unit 702, the location of the target device based on a first distance between the target device and the primary device, a second distance between the target device and the primary device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device includes: determining a position of the target device relative to a straight line based on a distance between the auxiliary device and the target device, the straight line being a straight line between the first position and the second position; a direction of the target device relative to the second location is determined based on a first distance between the target device and the master device, a second distance between the target device and the master device, a distance between the first location and the second location, and the orientation, and a location of the target device is determined based on the direction of the target device relative to the second location and a second distance between the target device and the master device.

Alternatively to this, the method may comprise,

The positioning unit 702 is further configured to determine a first direction when the master device is in a first position;

A display unit 703 for displaying the first direction;

The positioning unit 702 is further configured to determine a second direction based on an angle between the first direction and the second direction;

the indication unit 703 is further configured to display the second direction, where the second direction is used to guide the main device to move in the second direction.

Optionally, the positioning unit 702 is shown to determine a first direction, including: displaying a camera view frame, and displaying the orientation of the main device under the condition that the auxiliary device is positioned in the camera view frame of the main device; and determining the orientation of the main device as the first direction under the condition that the orientation of the main device is determined to be directed to the auxiliary device.

The positioning unit 702 in the embodiment of the present application may be a processor in the host device. The communication unit 701 may be a communication module in the host device, and the indication unit 703 may be a display module in the host device.

The implementation of the positioning device 700 shown in fig. 7 may refer to the method embodiment shown in fig. 2 or fig. 4, and will not be described herein.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a main device according to an embodiment of the present application, and as shown in fig. 8, the main device 800 includes a processor 801 and a memory 802, where the processor 801 and the memory 802 may be connected to each other through a communication bus 803. The communication bus 803 may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus or an extended industry standard architecture (extended industry standard architecture, EISA) bus, or the like. The communication bus 803 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus. The memory 802 is used to store a computer program comprising program instructions, the processor 801 being configured to invoke the program instructions, the program comprising instructions for performing part or all of the steps of the method shown in fig. 2 or 3.

The memory 802 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disc storage, a compact disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be stand alone and coupled to the processor via a bus. The memory may also be integrated with the processor.

The host device 800 may also include a communication module 804 and a display module 805. Wherein, the communication module 804 may include: radio frequency modules, antennas, etc. The communication module 804 may support NAN protocols to enable communication and ranging with other devices in the NAN network.

The display module 805 may include: display panels, backlight modules (backlight sources and backlight driving circuits), and the like. The display module 805 may be configured to display the first direction and the second direction, and may also be configured to display an angle between the first direction and the second direction.

The embodiment of the application also provides a chip, which comprises a processor, wherein the processor is configured to execute part or all of the steps of any one of the device positioning methods described in the embodiment of the method. The embodiment of the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, the computer program causing a computer to execute part or all of the steps of any one of the device positioning methods described in the above method embodiments.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional manners of dividing the actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units described above may be implemented either in hardware or in software program modules.

The integrated units, if implemented in the form of software program modules, may be stored in a computer-readable memory for sale or use as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or partly in the form of a software product, or all or part of the technical solution, which is stored in a memory, and includes several instructions for causing a computer device (which may be a personal computer, a host device, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned memory includes: a U-disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-only memory, random access memory, magnetic or optical disk, etc.

The foregoing has outlined rather broadly the more detailed description of embodiments of the application, wherein the principles and embodiments of the application are explained in detail using specific examples, the above examples being provided solely to facilitate the understanding of the method and core concepts of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A device positioning method for determining a location of a target device by a master device, the method comprising:

2. The method of claim 1, wherein the primary device, secondary device, and target device are co-located in a NAN network.

3. The method of claim 1, wherein the method further comprises:

4. The method of claim 1, wherein the method further comprises:

5. The method of claim 1, wherein the method further comprises:

6. The method of any of claims 1-5, wherein the master device determining the location of the target device based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information comprises:

The main equipment calculates the distance between the first position and the second position based on a first distance between the auxiliary equipment and the main equipment, a second distance between the auxiliary equipment and the main equipment and an included angle between a first direction and a second direction; wherein the first direction comprises a direction pointing from the first location to the secondary device and the second direction comprises a direction pointing from the first location to the second location;

The master device determines a location of the target device based on a first distance between the target device and the master device, a second distance between the target device and the master device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device.

7. The method of claim 6, wherein the primary device determining the location of the target device based on a first distance between the target device and the primary device, a second distance between the target device and the primary device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device, comprises:

The master device determining two candidate locations of the target device relative to the second location based on a first distance between the target device and the master device, a second distance between the target device and the master device, and a distance between the first location and the second location;

The master device selects a target candidate position from the two candidate positions as the position of the target device; the target candidate position is a candidate position, of the two candidate positions, closer to the distance between the auxiliary device and the target device than the distance between the auxiliary device and the target device.

8. The method of claim 6, wherein the primary device determining the location of the target device based on a first distance between the target device and the primary device, a second distance between the target device and the primary device, a distance between the first location and the second location, and/or a distance between the secondary device and the target device, comprises:

The main device determines the position of the target device relative to a straight line based on the distance between the auxiliary device and the target device, wherein the straight line is a straight line between the first position and the second position;

The master device determines a direction of the target device relative to the second location based on a first distance between the target device and the master device, a second distance between the target device and the master device, a distance between the first location and the second location, and the orientation, and determines a location of the target device based on the direction of the target device relative to the second location and a second distance between the target device and the master device.

9. The method of claim 6, wherein,

In the case that the distance between the secondary device and the target device is included in the first ranging information, the distance between the secondary device and the target device is measured in advance by the secondary device;

10. The method according to any one of claims 6 to 9, further comprising:

when the main equipment is positioned at a first position, determining a first direction, and displaying the first direction;

The main equipment determines a second direction based on an included angle between the first direction and the second direction, the second direction is displayed, and the second direction is used for guiding the main equipment to move towards the second direction.

11. The method of claim 10, wherein the determining the first direction comprises:

the main equipment displays a camera view frame, and the direction of the main equipment is displayed under the condition that the auxiliary equipment is positioned in the camera view frame of the main equipment;

and determining the orientation of the main device as the first direction under the condition that the orientation of the main device is determined to be directed to the auxiliary device.

12. A host device comprising a processor and a memory, the memory for storing a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of any of claims 1-11.

13. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-11.

14. A chip comprising a processor configured to perform the method of any one of claims 1-11.

15. A positioning device, comprising:

A communication unit configured to:

A positioning unit configured to:

a location of the target device is determined based on the first ranging information, the second ranging information, the third ranging information, and the fourth ranging information.