TW201538013A - Method, electronic apparatus and computer program product for determining relative position of apparatus - Google Patents

Abstract

A method, an electronic apparatus, and a computer program product for determining a relative position of an apparatus, adapted for a first electronic apparatus to determine a relative position of a second electronic apparatus, are provided. In the method, a first distance between the first and the second electronic apparatus is computed according to a wireless signal transmitted between the first and the second electronic apparatus. After one unit time and two unit time, a distance between the first and the second electronic apparatus is computed according to the wireless signal and a displacement that the first electronic apparatus moves within each unit time is computed, respectively. Finally, a current position of the first electronic apparatus is used as a reference point, and a relative position of the second electronic apparatus related to the first electronic apparatus is computed according to the distances and the displacements.

Description

Method for judging relative position of device, electronic device and computer program product

The present invention relates to a positioning technique, and in particular to a method and a device for determining the relative position of a device.

In recent years, with the continuous evolution and improvement of electronic technology and communication technology, electronic devices such as mobile phones and smart phones that do not take up space and can be carried around are also being introduced. These mobile devices in the market do not integrate multiple functions to enhance their competitiveness. In addition to the general camera, call and Internet functions, even the Global Positioning System (GPS) and electronic maps are integrated into the handheld communication device. In this way, the user can grasp the location of the mobile device by using the positioning function of the mobile device anytime and anywhere.

GPS is a positioning technology that combines satellite and wireless communications to provide accurate positioning, speed and time information. GPS can be combined with an electronic map, and the positioning information obtained by positioning it can be displayed on the electronic map to be provided to the user. Solve its current location.

However, GPS can only be used in places where satellite signals can be received, when When the user enters, for example, a GPS such as a room, where the satellite signal cannot be received, or when the user does not turn on the GPS positioning function, the positioning function is lost. At this time, if the user needs to know his or her location, or wants to know the relative position of other people in the place, usually the two parties can only observe the characteristics of the surrounding buildings or objects and inform the other party by telephone. In order for the other party to find, the result often takes a lot of time to find the process. Therefore, it is necessary to provide a positioning method that can be applied indoors to help the user know the relative position of other people relative to themselves.

The present invention provides a method for determining the relative position of a device, an electronic device, and a computer program product, which can obtain relative positions of other electronic devices relative to themselves.

The method for determining the relative position of the device in the present case is adapted to detect and determine the relative position of the second electronic device around the first electronic device. The method calculates a first distance between the second electronic device and the first electronic device based on the wireless signal with the second electronic device. After the first unit time, the second distance between the second electronic device and the first electronic device is calculated according to the wireless signal, and the first displacement of the first electronic device to move in the first unit time is calculated. After the second unit time, the third distance between the second electronic device and the first electronic device is calculated according to the wireless signal and the second displacement of the first electronic device in the second unit time is calculated. Finally, using the current position of the first electronic device as a reference point, the first distance and the first position are And shifting the second distance, and the second displacement and the third distance to calculate a first relative position of the second electronic device relative to the first electronic device.

In an embodiment of the present invention, the method further calculates a kth distance between the second electronic device and the first electronic device according to the wireless signal after k-1 unit time, after k unit time Calculating a k+1th distance between the second electronic device and the first electronic device according to the wireless signal, and calculating a kth displacement of the first electronic device moving in the kth unit time, where k is a positive integer. Calculating, according to the kth displacement, the k-1th distance, and the kth distance, the kth relative position of the second electronic device relative to the first electronic device and the second electronic device after the kth unit time The value of the smallest error between the k+1th relative positions of the first electronic device determines a kth relative position of the second electronic device relative to the first electronic device.

In an embodiment of the present invention, the method further accesses the previously calculated first relative position to the kth relative position of the second electronic device relative to the first electronic device, with the current position of the first electronic device as a reference. Point, according to the first displacement to the kth displacement, respectively correcting the first relative position to the kth relative position to k correction positions with respect to the reference point. Centering on the reference point, the modified position is displayed in a graphical interface to indicate a movement trajectory of the second electronic device relative to the reference point.

In an embodiment of the present invention, after the step of calculating the first displacement of the first electronic device in the first unit time and calculating the second distance of the second electronic device relative to the first electronic device according to the wireless signal, The method further calculates, by the second electronic device, the third displacement that is moved in the first unit time, and transmits Give the first electronic device. Then, using the first electronic device as a reference point, calculating a first relative position of the second electronic device relative to the first electronic device according to the first distance, the difference between the first displacement and the third displacement, and the second distance.

In an embodiment of the present invention, the foregoing according to the second electronic device The wireless signal, the step of calculating the first distance between the second electronic device and the first electronic device is: after transmitting the wireless signal, receiving the feedback signal sent by the second electronic device in response to the wireless signal, and calculating the self-transmitting wireless signal to receiving the above The round trip time through which the signal is fed back, and the first distance is calculated based on the round trip time and the transmission speed of the wireless signal.

In an embodiment of the present invention, the calculating the first electronic device and the second electrical The first distance step between the sub-devices is to receive the feedback signal sent back by the second electronic device in response to the wireless signal after transmitting the wireless signal, and compare the signal strength of the feedback signal with the distance comparison table to obtain the first distance.

In an embodiment of the present invention, the calculating the first electronic device and the second electrical The first distance step between the child devices further includes opening a particular application and communicating with the second device in a near field communication manner for authentication and/or pairing procedures.

In an embodiment of the present invention, the calculating the first electronic device in the unit The first displacement of the in-situ movement is to calculate the first displacement using the accelerometer, the gyroscope, and the sensing information received by the compass.

In an embodiment of the present invention, the first electronic device and the second are calculated in the above After the step of the first relative position between the electronic devices, the method further displays the first relative position in a graphical interface centered on the reference point.

In an embodiment of the present invention, after the unit time has elapsed, the method is more The first electronic device is positioned by the positioning unit to obtain a first absolute position of the first electronic device. Then, the second absolute position of the second electronic device is calculated according to the first absolute position and the first relative position.

In an embodiment of the present invention, after the unit time has elapsed, the method is more Positioning by the second electronic device by using the positioning unit to obtain the second absolute position, and transmitting the second absolute position to the first electronic device, and calculating, by the first electronic device, the second absolute position and the first relative position The first absolute position of the first electronic device.

The electronic device of the device relative position of the case, the electronic device includes wireless The communication unit, the sensor, the storage unit and the processing unit, wherein the wireless communication unit is configured to transmit a wireless signal to the second electronic device, and the storage unit is configured to record the module. The processing unit is connected to the wireless communication unit, the sensor and the storage unit for accessing and executing the module recorded in the storage unit, and the module includes a distance calculation module, a displacement calculation module and a relative position calculation module. The distance calculation module calculates a first distance between the second electronic device and the electronic device according to the wireless signal. After the first unit time, the distance calculation module calculates a second distance between the second electronic device and the electronic device according to the wireless signal, and the displacement calculation module detects and calculates the electronic device in the first unit time by using the sensor. The first displacement of the movement. After the second unit time, the distance calculation module calculates the third distance between the second electronic device and the electronic device according to the wireless signal, and the displacement calculation module detects and calculates the electronic device by using the sensor. The second displacement of the movement in two unit time. Relative position calculation module Taking the current position of the electronic device as a reference point, the first distance, the first displacement and the second distance, and the second displacement and the third distance are used to calculate a first relative position of the second electronic device relative to the electronic device.

In an embodiment of the present invention, wherein the distance calculation module passes through k orders After the bit time, the wireless communication unit sends a wireless signal to detect the second electronic device, and the distance calculation module calculates the kth distance between the second electronic device and the electronic device according to the wireless signal, and the displacement calculation module senses The detector calculates the kth displacement of the electronic device moving in the kth unit time, where k is a positive integer. And the relative position calculation module calculates the k-1th relative position and the kth unit of the second electronic device relative to the electronic device according to the kth displacement, the k-1th distance, and the kth distance, and calculates the k-1th unit time After the time, the error of the kth relative position error of the second electronic device relative to the electronic device is the smallest, and the kth relative position of the second electronic device relative to the electronic device is determined according to the calculation result.

In an embodiment of the present disclosure, the electronic device further includes a display list And the module of the electronic device further comprises a display module. The relative position calculation module accesses the first relative position of the previously calculated second electronic device relative to the electronic device to the k-1th relative position via the storage unit, with the current position of the electronic device as a reference point, according to the first Displacement to the k-1th displacement, respectively correcting the first relative position to the k-1th relative position as k-1 correction positions relative to the reference point, and the display module is centered on the reference point, and is displayed by using a graphical interface The correction position is on the display unit to indicate the movement trajectory of the second electronic device relative to the reference point.

In an embodiment of the present disclosure, the second electronic device includes calculating The second displacement moved in unit time and transmitted to the electronic device. Wherein, the relative position calculation module further uses the electronic device as a reference point, and uses the first distance, the difference between the first displacement and the second displacement, and the second distance as the three sides of the triangle, and calculates the second electronic device relative to the triangle inequality. The first relative position of the electronic device.

In an embodiment of the present invention, the distance calculation module uses wireless The communication unit transmits the wireless signal and receives the feedback message sent back by the second electronic device in response to the wireless signal, and calculates a round trip time elapsed from the time the wireless signal is transmitted to the time when the feedback signal is received. Moreover, the distance calculation module calculates the first distance based on the round trip time and the transmission speed of the wireless signal.

In an embodiment of the present invention, the distance calculation module uses wireless The communication unit transmits the wireless signal and receives a feedback signal sent back by the second electronic device in response to the wireless signal. Moreover, the distance calculation module compares the signal strength of the feedback signal with the distance comparison table to obtain the first distance.

In an embodiment of the present invention, the electronic device further includes a specific The program, wherein after the specific application is turned on, the electronic device communicates with the second device in a near field communication manner for authentication and/or pairing procedures.

In an embodiment of the present invention, the sensor includes one of an accelerometer, a gyroscope, and a compass, or a combination thereof.

In an embodiment of the present invention, the electronic device further includes a positioning system, and the positioning system is coupled to the processing unit. The positioning system locates the electronic device to obtain the first absolute position of the electronic device, and the module further includes an absolute position calculation module, and the absolute position calculation module further calculates the first absolute position and the first relative position. Calculating the second absolute position of the second electronic device.

In an embodiment of the present invention, wherein the second electronic device utilizes a positioning system Positioning to obtain a second absolute position and transmitting to the determining electronic device, and the module further includes an absolute position calculating module, and the absolute position calculating module calculates the electronic device according to the second absolute position and the first relative position The first absolute position of the device.

The present invention further provides a computer program product via a first electronic device Load to perform the following steps. First, a first distance between the second electronic device and the first electronic device is calculated according to a wireless signal with the second electronic device. After the first unit time, the second distance between the second electronic device and the first electronic device is calculated according to the wireless signal, and the first displacement of the first electronic device to move in the first unit time is calculated. After the second unit time, the third distance between the second electronic device and the first electronic device is calculated according to the wireless signal and the second displacement of the first electronic device in the second unit time is calculated. Finally, the first distance, the first displacement and the second distance, and the second displacement and the third distance are used to calculate the first electronic device relative to the first electronic device by using the current position of the first electronic device as a reference point relative position.

Based on the above, the method for determining the relative position of the device, the electronic device, and the computer program product respectively use the wireless signal to detect and calculate the distance from the second electronic device before and after the unit time, and calculate the movement of the electronic device in a unit time. Displacement, and calculating the relative position of the second electronic device relative to the electronic device based on the displacement and the distance calculated at two different time points. Thereby, the user can still know the other by using the distance from other devices and the displacement of the device without passing through the positioning system. The relative position of the device relative to itself.

In order to make the above features and advantages of the present invention more comprehensible, the following embodiments are described in detail with reference to the accompanying drawings.

10, 20, 50, 55, 70, 75, 91~99‧‧‧ electronic devices

12‧‧‧Wireless communication unit

14‧‧‧Sensor

16‧‧‧ storage unit

161‧‧‧ Distance calculation module

162‧‧‧Displacement calculation module

163‧‧‧ Relative Position Calculation Module

S210~S270‧‧‧Steps

401, 601~616‧‧ points

T‧‧‧ unit time

r ₀ ~r _k , L1, L2‧‧‧ distance

d ₁ ~d ₃ , d _A,1 ,d _B,1 ‧‧‧displacement

, ~ , , , , , , ‧‧‧vector

A ₀ , A ₁ , A ₁ ', B ₀ , B ₁ , P ₀ ~ P _k , Q‧‧‧ end points

E, e _d , e _r ‧‧‧ error

1 is a block diagram of an electronic device in accordance with an embodiment of the present invention.

2 is a flow chart of a method for determining a relative position of a device according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of a method for determining a relative position of a device according to an embodiment of the present invention.

4A and 4B are diagrams showing an example of a method for determining a relative position of a device according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a method for determining a relative position of a device according to another embodiment of the present invention.

6A and 6B are diagrams showing an example of a method for determining a relative position of a device according to another embodiment of the present invention.

FIG. 7 is a schematic diagram of a method for determining a relative position of a device according to still another embodiment of the present invention.

FIG. 8 is an illustration of a method for determining a relative position of a device according to still another embodiment of the present invention.

FIG. 9 is a schematic diagram of a method for determining a relative position of a device according to still another embodiment of the present invention.

In this case, the electronic device uses wireless signals to detect other electronic devices around. And according to the information such as the signal strength of the feedback signal of the electronic device or the round-trip time of the signal, the distance between the electronic device and the other electronic devices before and after the unit time is estimated. On the other hand, the present invention also uses an accelerometer, a gyrosensor, an electronic compass, and the like provided in the electronic device to detect and calculate the displacement of the electronic device in the above unit time, thereby Combining the distance information between the devices, the relative position of the other electronic devices relative to the electronic device itself is calculated by, for example, a triangular relationship, and finally the relative positions of the electronic devices are displayed on the screen of the electronic device in a graphical interface. The movement trajectory of these electronic devices can be displayed. Thereby, the user can know the relative position of other electronic devices from the graphical interface displayed by the electronic device, and can also refer to the moving track route, so that the user can more easily find the users of other electronic devices.

1 is a relative position of an electronic device according to an embodiment of the present invention. A block diagram of the placed electronic device. Referring to FIG. 1 , the electronic device 10 of the embodiment includes a wireless communication unit 12 , a sensor 14 , a storage unit 16 , and a processing unit 18 . The electronic device 10 can be, for example, a mobile electronic device, including an electronic device such as a mobile phone, a tablet computer, a notebook computer, or a vehicle electronic device, and is not limited herein.

The wireless communication unit 12 can support at least one of the following wireless signal transmission techniques Technology: Wireless Direct communication (WiFi Direct), Bluetooth, Near Field Communication (NFC), Device to device (D2D) communication and other wireless communication technologies, but not limited to this.

The sensor 14 can be an accelerometer, a gyroscope, an electronic compass, or the like, or a combination of these sensors for detecting information related to movement of the electronic device.

The storage unit 16 can be any type of fixed or removable random access memory (RAM), read-only memory (ROM), flash memory or the like. Or a combination of the above elements. In this embodiment, the storage unit 110 is configured to record the distance calculation module 161, the displacement calculation module 162, and the relative position calculation module 163. These modules are, for example, programs stored in the storage unit 16, which can be loaded into the processing unit 18 of the electronic device 10 to perform the determination function of the relative position of the devices.

The processing unit 18 is connected to the wireless communication unit 12, the sensor 14 and the storage unit 16, respectively. The processing unit 18 can be a central processing unit (CPU), or other programmable general purpose or special purpose microprocessor (Microprocessor), digital signal processor (DSP), programmable A controller, an Application Specific Integrated Circuit (ASIC) or other similar component or a combination of the above components. In this embodiment, the processing unit 18 is configured to access and execute the module recorded in the storage unit 16 to implement the method for determining the relative position of the device in the embodiment of the present invention.

2 is a flow chart of a method for determining a relative position of a device according to an embodiment of the present invention. 3 is a relative position of the device according to an embodiment of the present invention. Schematic diagram of the determination method. Referring to FIG. 1 , FIG. 2 and FIG. 3 , the method of the embodiment is applicable to the electronic device 10 described above, wherein FIG. 3 illustrates the positional relationship between the electronic device 10 and another electronic device 20 around it. The detailed flow of the method of this embodiment will be described below in conjunction with the components of the electronic device 10 of FIG.

In step S210, the distance calculation module 161 calculates the first distance r _{0 of the} electronic device 10 and the electronic device 20 according to the wireless signal transmitted between the wireless communication unit 12 and the electronic device 20. In an embodiment, the distance calculation module 161 can use the time between the wireless communication unit 12 to transmit the wireless signal to receive the feedback signal from the electronic device 20 or the signal strength between the electronic device 10 and the electronic device 20 . distance.

In detail, in an embodiment, the distance calculation module 161 uses the wireless communication unit 12 to transmit a wireless signal, and receives the feedback signal returned by the electronic device 20 in response to the wireless signal, thereby calculating the wireless communication unit 12 from transmitting the wireless signal to Round Trip Time (RTT) when the feedback signal is received. Finally, based on the round trip time and the transmission speed of the wireless signal, the distance calculation module 161 can calculate the first distance r ₀ between the electronic device 10 and the electronic device 20. This first distance r _{0 is,} for example, half the product of the round trip time and the transmission speed of the wireless signal. The distance calculation module 161 can transmit an internet control message protocol (ICMP) packet or other data to the electronic device 20 by using the wireless communication unit 12 to calculate the round-trip time, which is not limited herein.

In another embodiment, the distance calculation module 161 can also detect the signal strength of the feedback signal sent by the electronic device 20 in response to the wireless signal or the wireless signal actively sent by the electronic device 20 according to the wireless communication unit 12. The signal strength is obtained by, for example, comparing the distance tables to obtain a first distance r ₀ . Specifically, after receiving the feedback signal by using the wireless communication unit 12, the distance calculation module 161 can query a signal strength and distance comparison table stored in the storage module 16 according to the signal strength of the feedback signal, thereby obtaining feedback. The distance corresponding to the signal strength of the signal is used as the first distance r ₀ between the electronic device 10 and the electronic device 20.

It should be noted that, in an embodiment, before detecting the electronic device 20, the electronic device 10 may first utilize wireless communication technologies supported by the wireless communication unit 12 (eg, WiFi Direct, Bluetooth, near field communication, etc.). And can be used with a specific application or network service to communicate with the electronic device 20 for authentication or pairing procedures to establish a signal transmission channel. The act of communicating may represent the function of the electronic device 10 to start using the relative position of the tracking electronic device 20, that is, to determine the relative position of the electronic device 20. After pairing, the electronic device 10 and the electronic device 20 can transmit wireless signals through the channel for distance estimation. For example, two users holding the electronic device 10 and the electronic device 20 respectively can communicate in advance to complete authentication or pairing, and when it is necessary to know the relative position of the other party, start the function of determining the relative position of the other party, or can When using the function of judging the relative position of the other party, communicate again to authenticate or pair. For example, two users can open related applications, and can be paired by, for example, Near Field Communication (NFC), and directly use the position to be paired as a starting point, and start tracking the relative position of the other party. And the starting point and the movement trajectory of each other are displayed on the electronic device.

In other embodiments, if the electronic device 10 knows the device ID of the wireless communication unit of the electronic device 20, the signal strength of the feedback signal according to the response of the electronic device 20 may also be used in the pairing process. The first distance r ₀ between the electronic device 10 and the electronic device 20 is directly calculated. The method for calculating the first distance r ₀ is only an example. The method for measuring the round trip time and the signal strength may be adjusted according to the requirements of the embodiment, or the first distance r _{0 may be} calculated by using other methods. .

Returning to the flow of FIG. 2, after the unit time t has elapsed, in step S230, the distance calculation module 161 transmits the wireless signal again by the wireless communication unit 12 to detect the electronic device 20, and calculates the electronic device 10 and the electronic device accordingly. The second distance r _{1 of the} device 20. At the same time, the displacement calculation module 162 also calculates the first displacement d _{1 of the} electronic device moving within the unit time t. The method for calculating the second distance r ₁ by the distance calculation module 161 is the same as the method for calculating the first distance r ₀ , and details are not described herein again.

In this embodiment, the displacement calculation module 162 can detect the first displacement d _{1 of the} electronic device 10 moving during the unit time t by using a sensor such as an accelerometer, a gyroscope or an electronic compass provided by the electronic device 10 itself. Specifically, the accelerometer of the three-axis accelerometer can detect three axial acceleration motions, and the amount of displacement in each axial direction can be calculated by the detected acceleration. For example, the acceleration can be obtained after two integrations. In addition, the gyroscope can detect the amount of rotation of the electronic device 10, and the electronic compass can detect the orientation of the electronic device 10. Thereby, the electronic device 10 can know the moving distance and the moving direction of the first displacement d ₁ by using a positioning method such as a position estimation (DR) or an inertial navigation.

After the unit time t has elapsed (that is, after a total of 2 unit times t), in step S250, the distance calculation module 161 transmits the wireless signal again by the wireless communication unit 12 to detect the electronic device 20, and calculates The third distance r _{2 of the} electronic device 10 and the electronic device 20. At the same time, the displacement calculation module 162 also calculates a second displacement d _{2 that the} electronic device moves within the unit time t. The method for calculating the third distance r ₂ by the distance calculation module 161 is the same as the method for calculating the first distance r ₀ , and details are not described herein again.

Finally, in step S270, the relative position calculation module 163 will take the current position of the electronic device 10 as a reference point, according to the calculated first distance r ₀ , the first displacement d ₁ and the second distance r ₁ , and the second The displacement d ₂ and the third distance r ₂ calculate a first relative position of the electronic device 20 relative to the electronic device 10. The relative position calculation module 163 firstly calculates the first distance r ₀ , the first displacement d ₁ and the second distance r ₁ as the three sides of the triangle, and calculates the unit time t after the unit time t is calculated by using the triangle inequality. The relative position of the electronic device 20 relative to the electronic device 10, and then the calculated second distance r ₁ , the second displacement d ₂ and the third distance r _{2 are taken} as three sides of the triangle, and the two inversions are calculated by using the triangle inequality. The relative position of the electronic device 20 relative to the electronic device 10 after the unit time t. In this embodiment, the second distance r ₁ , the second displacement d ₂ and the third distance r _{2 are further} used to calculate the position of the electronic device 20 after the second unit time t, and then the position and the first unit time. The position of the electronic device 20 calculated after t is compared to thereby confirm the position of the electronic device 20.

Specifically, FIG. 4A and FIG. 4B are diagrams showing an example of a method for determining the relative position of the device according to an embodiment of the present invention. Please refer to FIG. 3 and FIG. 4A simultaneously. FIG. 4A shows the position of the electronic device 20 in FIG. 3 as the Q end point (ie, the coordinate (0, 0)), and represents the electronic device with the P ₀ and P ₁ end points respectively. 10 is the position before the unit time t and the current position of the electronic device 10.

Second 4A in FIG. 3 P ₀ Q endpoint to endpoint ₀ is the distance r in FIG. 3 a first distance r _0, P ₁ in the end-to-end in FIG. 4A Q r ₁ is the distance in FIG. Distance r ₁ , vector in Figure 4A =( d _x , d _y ) is the first displacement d _{1 in} FIG. Assume that the P ₁ endpoint is a vector relative to the Q endpoint Vector Comply with the following equations (1) and (2): The distances r ₁ , r ₂ and vectors in Figure 4 As the three sides of the triangle, the equation (3) is based on the triangle inequality: By substituting equations (1) and (2) into equation (3), the coordinates of the endpoints of P ₁ ( P _x , P _y ) can be calculated, where P _x = 1/2 * ( K _x d _x ± K _y d _y ) / ( d _y ² - d _x ² ) P _y = ( r ₁ ² - P _x ² ) ^1/2 (4), and wherein K _x = r ₀ ² - r ₁ ² - r _d ² K _y ={[( r ₁ ² + r _d ) ² - r ₀ ² ][ r ₀ ² -( r ₁ ² + r _d ) ² ]} ^1/2

Then, using the P ₁ end point as a reference point, and according to the calculated coordinates ( P _x , P _y ), the relative position of the Q end point relative to the P ₁ end point can be known (ie, the electronic device 20 is relative to the electronic device 10). The first relative position). The electronic device 10 can display the first relative position on the display unit (not shown), which can be a liquid crystal display (Liquid). A display such as a Crystal Display (LCD) or an Organic Electro-Luminescent Display (OELD) is not limited thereto.

The electronic device 10 is, for example, centered on a display module (not shown) recorded in the storage unit 16 at a reference point (ie, the current position of the electronic device 10), and displays a first relative position on the display unit in a graphical interface. Referring to FIG. 4B, the plurality of concentric circles in FIG. 4B represent different distances relative to the electronic device 10. For example, the concentric circles closest to the center point represent the distance of 10 meters from the electronic device, and the other concentric circles and so on. The actual distance corresponding to the plurality of concentric circles in FIG. 4B is only an example. In other embodiments, the actual distance corresponding to the concentric circles may vary according to the relative position of the electronic device 20 relative to the electronic device 10, and is not limited thereto. The point 401 in FIG. 4B is the first relative position of the electronic device 20 relative to the electronic device 10.

Thereby, the user can directly measure the distance from other devices by using the point-to-point transmission technology of the electronic device (for example, WiFi Direct, Bluetooth, near field communication, etc.) without using the global positioning system, and utilize the electronic device. The detection of a sensor (for example, a combination of an accelerometer, a gyro sensor, and a sensor such as a compass sensor) detects its own displacement, from which it can calculate the relative position of other devices around itself. . For example, when users and other friends are in a crowded room In the singer or the store, the user can know the location of the friend by the electronic device in the embodiment of the present invention; when the user is located in the large indoor parking lot, the user can use the electronic device in the embodiment of the present invention. Knowing the location where the vehicle is parked, for example, when the electronic device determines that the connection with the vehicle is separated, that is, the user has got off the vehicle and left the vehicle. At this time, the electronic device starts to detect the displacement after leaving the vehicle, so that the user can follow The displacement path is returned to find the parking position of the vehicle; or, when the user is outdoors or in the department store, the position of the child and the path of the movement can be known by the electronic device in the embodiment of the present invention. When the child leaves the set distance range (for example, two hundred meters), the parent electronic device can issue a warning message to notify the user (for example, sounding or displaying a warning message on the display unit), or the child's electronic device. Send a warning message to remind the child that the child has moved away from the set distance. At this time, the parent can refer to the parent electronic device. The position of the child's electronic device is shown, and the child can be quickly found by the movement track of the child's electronic device. If the parent electronic device itself moves, it is also possible to refer to the parent electronic device and the movement track of the child electronic device to find the child's position.

The electronic device in the above embodiment is aware of other positions via two displacements. Relative position relative to itself. In another embodiment, the method for determining the relative position of the device in the embodiment of the present invention can improve the accuracy of the calculated relative position by multiple displacements.

For example, FIG. 5 is a schematic diagram of a method for determining a relative position of a device according to another embodiment of the present disclosure. The electronic device 50 in FIG. 5 is a device carried by the user, and the electronic device 55 is a device around the user. In each unit time t, the electronic device 50 detects the electronic device according to the method in the above embodiment. The device 55 then calculates the distances r ₁ , r ₂ , r ₃ and r ₄ between it and the electronic device 55 and also calculates its displacements d ₁ , d ₂ and d ₃ per unit time t. By analogy, after k unit time t, the electronic device 50 can detect the electronic device 55 by transmitting or receiving a wireless signal, and calculate the k+1th distance between the electronic device 55 and the electronic device 55, and calculate the The kth displacement of the kth unit time t, where k is a positive integer. According to the kth displacement, the kth distance, and the k+1th distance, the electronic device 50 can calculate the k-1th relative position of the electronic device 55 relative to the electronic device 50 at the k-1th unit time and the kth The value of the k-th relative position error of the electronic device 55 relative to the electronic device 50 after the unit time is determined to determine the k-th relative position of the electronic device 55 with respect to the electronic device 50.

Specifically, FIG. 6A and FIG. 6B are diagrams showing an example of a method for determining the relative position of the device according to another embodiment of the present invention. Please refer to FIG. 5 and FIG. 6A simultaneously. FIG. 6A is the position of the electronic device 55 in FIG. 5 as the Q end point (ie, coordinate (0, 0)), and represents the electron at the end points of P _k and P _k-1 respectively. The device 50 is at the position of the kth and k-1th unit time t.

In Fig. 6A, the P _k-1 end point is separated from the Q end point by a distance r _k-1 , and the P _k end point and the Q end point in Fig. 6A are separated by a distance r _k , the vector in Fig. 6A That is, it represents the displacement in the kth unit time t of the electronic device 50. Assume that the P _k endpoint is a vector relative to the Q endpoint , P _k-1 endpoint is a vector relative to the Q endpoint . Due to the distance r _k and vector For the values measured by the wireless communication unit and the sensor respectively, the errors e _d and e _r are respectively calculated by the following equations (6) and (7): And according to the maximum likelihood estimation method, the combined error E is assumed to be: E = e _d ² + e _r ² (8), and the error E meets the following equations (9) and (10): Finally, by minimizing this error E , we get:

Thereby, the method for determining the relative position of the device in the embodiment of the present invention can The measured error is minimized to determine the relative position of the electronic device 55 relative to the electronic device 50. In an embodiment, the electronic device 50 can further display the relative positions of all the previously calculated electronic devices 55 relative to the electronic device 50 on the display unit by the display module, so that the user can view the electronic device 55. The movement track.

For example, the electronic device 50 can access the first relative position of the previously calculated electronic device 55 relative to the electronic device 50 to the k-1th relative position, and the current position of the electronic device 50 as a reference point, according to the The previously calculated first displacement to the k-1th displacement (the current position of the electronic device after the unit time elapsed from the first to the k-1th respectively as a reference point), respectively, the first relative position to the kth - 1 relative position is corrected to k-1 corrected positions with respect to the current reference point. For example, if the current position of the electronic device 50 is taken as the origin (0, 0), when the electronic device 55 is opposite The fifth relative position of the electronic device 50 is (7, 8), the fourth relative position of the electronic device 55 relative to the electronic device 50 is (5, 1), and the displacement of the previous unit time is (2, 3), Then the fourth relative position can be corrected to coordinates (3, -2). The rest of the correction positions are the same, and will not be described here.

In addition, the electronic device 50 may further display, by the display module, a reference point (ie, a current position of the electronic device 50), and display the modified position on the display unit in a graphical interface to indicate that the electronic device 55 is relative to the reference point. Move the track. For example, referring to FIG. 6B, point 601 in FIG. 6B represents the relative position of the electronic device 55 with respect to the electronic device 10, and points 611 to 616 respectively represent the corrected electronic device 55 relative to the electronic unit in the previous unit time. The relative position of the current position of device 50.

In an embodiment, the electronic device 50 can pre-access or instantly download a map of the location, for example, a map of a store, a parking lot, etc., and the map can be combined with the moving track to be displayed on the display by the display module. On the unit, the user can quickly find the best way to go to the location of the electronic device 55 according to the "moving track displayed on the map". In this embodiment, the user can select the current location of the user electronic device 50 by clicking on the map or by way of a menu, or can locate the current location of the electronic device 50 by using the positioning system. Displayed on the electronic map. In other embodiments, the electronic device 50 can further calculate an optimal path for the user to go to the location of the electronic device 55 according to the map information and the movement track by the path planning module (not shown). In other embodiments, the distance calculation module can also calculate the linear separation between the user and the electronic device 55, or according to the path. The path planned by the planning module calculates the path distance.

Thereby, the method for determining the relative position of the device in the embodiment of the present invention can be provided. The movement track of other devices around the user relative to the current position of the user, so that the user can understand the moving state of other devices, thereby facilitating the user to go to the location of other devices. It should be noted that the above embodiments are applied to the case where the electronic device 20 is fixed and the electronic device 10 is moved. In another embodiment, when the electronic device 10 and the electronic device 20 are both moved, the method for determining the relative position of the device in the embodiment of the present invention can also obtain the relative position of the electronic device 20 relative to the electronic device 10. The following is a detailed description of an embodiment.

FIG. 7 is a schematic diagram of a method for determining a relative position of a device according to still another embodiment of the present invention. The electronic device 70 in FIG. 7 is a device carried by the user, and the electronic device 75 is a device around the user. The electronic device 70 detects the electronic device 75 before and after the unit time t according to the method in the above embodiment. The first distance L1 and the second distance L2 between the electronic device 75 and the electronic device 75 are calculated, and the first displacement d _A,1 which is moved in the unit time t is also calculated. The difference from the foregoing embodiment is that, in this embodiment, the electronic device 75 calculates the second displacement d _B,1 that is moved within the unit time t and is transmitted to the electronic device 70 by the wireless communication unit. The calculation method of the displacement d _B,1 can also refer to the related descriptions of FIGS. 2 and 3, and details are not described herein again. Next, the electronic device 70 uses the current position as a reference point, and uses the first distance L1, the difference between the first displacement d _A,1 and the second displacement d _B,1 and the second distance L2 as the three sides of the triangle. The triangular inequality calculates a first relative position of the electronic device 75 relative to the reference point (ie, the current position of the electronic device 70).

Specifically, FIG. 8 is an example of a method for determining a relative position of a device according to still another embodiment of the present disclosure. Please refer to FIG. 7 and FIG. 8 simultaneously. FIG. 8 is the initial position of the electronic device 75 in FIG. 7 as the B ₀ end point (ie, coordinate (0, 0)), and is taken as the initial position of the electronic device 70 in FIG. A ₀ endpoint. In addition, the A ₁ and B ₁ endpoints respectively represent the positions of the electronic devices 70 and 75 after the unit time t.

The distance L ₁ from the end of A _{0 to the} end of B ₀ in FIG. 8 is the first distance L ₁ in FIG. 7 , and the distance L ₂ from the end point of A _{1 to the} end point of B _{1 in} FIG. 8 is the same as in FIG. 7 . Second distance L ₂ , vector in Figure 8 Represents the first displacement d _A,1 in Figure 7, and the vector in Figure 8 Representative is the second displacement d _{B,1 in} Figure 7. Assume that the B ₀ endpoint is parallel to the line connecting the A ₁ end point and the B ₁ end point, and the extension distance L ₂ can generate the A ₁ 'end point, and the vector from the A ₀ end point to the A ₁ 'end point for . A parallel line can be formed by the line connecting A ₀ , A ₁ , B ₀ and A ₁ ', and the vector Vector versus Difference. The distances L ₁ , L ₂ and vectors in Figure 8 As the three sides of the triangle, the coordinates of the A ₁ 'end point and the vector from the end point of B _{0 to the} end point of A ₁ ' can be known from the triangle inequality illustrated in Fig. 4A. . Since the A ₀ , A ₁ , B ₀ and A ₁ 'end lines are parallelograms, the vector from the endpoint of B _{1 to the} endpoint of A ₁ is also . Finally, using the A ₁ endpoint as a reference point, the first relative position of the electronic device 75 relative to the electronic device 70 can be derived.

Thereby, in the case that both the user and the friend move, the user can still obtain the relative position of the friend relative to himself by the method for determining the relative position of the device in the embodiment of the present invention.

It should be noted that the above embodiments are all without using a positioning system. Get the relative position of other devices relative to yourself. However, in an embodiment, when one of the electronic devices carried by the user or other devices around the user can be positioned using the positioning system, the method for determining the relative position of the device in the embodiment of the present invention can further obtain the relative position obtained. The absolute position (eg, latitude and longitude coordinates) resulting from the positioning of the device herein is combined to infer the absolute position of all devices.

For example, FIG. 9 is an application device according to still another embodiment of the present disclosure. A schematic diagram of a method of determining the relative position. Referring to FIG. 9 , the electronic devices 91 to 99 can respectively detect adjacent electronic devices by using the methods in the foregoing embodiments and obtain relative positions with the electronic devices. For the method of obtaining relative positions, please refer to the related descriptions of FIG. 2 to FIG. 8 . , will not repeat them here. In an embodiment, it is assumed that the electronic device 91 carried by the user is equipped with a positioning system (not shown), and the positioning system can support at least one of the following systems: Global Positioning System (GPS), assisted global satellite positioning Assisted Global Positioning System (AGPS), Galileo Positioning System or GLObal NAvigation Satellite System (GLONASS), but not limited to this, can also be used to locate by base station or WiFi hotspot . The electronic device 91 can be positioned by the positioning system to obtain an absolute position (for example, a GPS latitude and longitude coordinate), and the electronic device 91 can be an absolute position calculation module (not shown) according to the absolute position of the device and the electronic device. With respect to the relative position of the electronic device 91, the absolute position of the electronic device 95 is calculated (for example, the coordinates of the relative position are converted into latitude and longitude coordinates, and then added and subtracted according to the direction and the absolute position). The rest of the electronic devices and so on, can also obtain their absolute position.

In another embodiment, it is assumed that the electronic device 91 carried by the user cannot use the positioning system, but the electronic device 92 is provided with a positioning system. The electronic device 92 can be positioned by the positioning system to obtain the absolute position where it is located, and transmit the absolute position to the electronic device 91. Therefore, the absolute position calculation module (not shown) of the electronic device 91 can calculate the absolute position of the electronic device 91 according to the absolute position of the received electronic device 92 and the relative position of the electronic device 92 with respect to the electronic device 91 ( For example, the coordinates of the relative position are converted into latitude and longitude coordinates, and then added and subtracted according to the direction and the first absolute position). The rest of the electronic devices and so on, can also obtain their absolute position.

In another embodiment, assuming that the user of the electronic devices 91 to 99 is unusable, but one of the users of the electronic devices 91 to 99 knows the absolute position at which they are currently located, the user can be on the map. By clicking the method or selecting the current position through the menu, and transmitting the current absolute position to the remaining electronic devices, the remaining electronic devices can also obtain their absolute positions.

Thereby, when the electronic devices are connected to each other by a wireless signal (for example, WiFi), a topology network like that in FIG. 9 can be formed, and only one of the electronic devices can be positioned or accepted by the positioning system. For absolute location information, other electronic devices in the topology network also infer the absolute location of each location.

In addition, in another embodiment, when the two users respectively holding the electronic device 10 and the electronic device 20 initiate the function of determining the relative position of the other party and complete the verification or pairing by using, for example, NFC, the electronic devices 10 and 20 may be present. The position is used as a starting point and uses sensors such as accelerometers, gyroscopes, and compasses. Do not detect and calculate the trajectory path of the displacement, and then share the path of the displacement trajectory with each other to another electronic device, so that the electronic device 10 and 20 can use the information of the starting point and the displacement trajectory path of the electronic devices 10 and 20. The information can be used to estimate the relative position of the other party; or the electronic device 20 can share the relative position of the electronic device 20 by the electronic device 20 in a single direction. In this way, the relative position of the other party can be estimated by simply using the displacement trajectory path of the two electronic devices without the need of triangulation.

And when you need to know the relative position of the other party, start to judge the relative The function of the location, or when you need to use the function to determine the relative position of the other party, then communicate to authenticate or pair. For example, two users can open related applications, and can be paired by, for example, NFC, and directly use the position to be paired as a starting point, and start tracking the relative position of the other party, and can move the starting point and each other. The track is displayed on the electronic device.

The present invention further provides a computer program product for performing the above device In the steps of the relative position determination method, the computer program product is composed of a plurality of code segments (for example, creating an organization chart code segment, signing a form code segment, setting a code segment, and deploying a code segment). And after the code segments are loaded into the electronic device and executed, the steps of the method for determining the relative position of the devices can be completed.

In summary, the method for determining the relative position of the device in this case, the electronic device and The computer program product transmits or receives wireless signals at two different time points by the electronic device to detect other surrounding devices, and measures the signal strength of the device back signals. Degree or round trip time, so that the distance between the electronic device and other devices can be calculated. In addition, by detecting the displacement of the electronic device itself by the sensor, the calculated distance can be combined with the displacement to calculate the relative positions of the other devices relative to the electronic device, and finally the relative positions of the electronic devices are graphically interfaced. Displayed on the screen of the electronic device. Thereby, the user can know the relative position of other surrounding devices relative to himself indoors or other places where the positioning system cannot or does not need to be used.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present case. Any person having ordinary knowledge in the technical field can protect the case without making any changes or refinements without departing from the spirit and scope of the present case. The scope is subject to the definition of the scope of the patent application.

S210~S270‧‧‧Steps

Claims (20)

A method for determining a relative position of a device is adapted to determine a relative position of a second electronic device by a first electronic device, the method comprising the steps of: calculating the number according to a wireless signal between the second electronic device and the second electronic device a first distance between the second electronic device and the first electronic device; after a first unit time, calculating a second distance between the second electronic device and the first electronic device according to the wireless signal and Calculating a first displacement of the first electronic device in the first unit time; and after a second unit time, calculating a one between the second electronic device and the first electronic device according to the wireless signal a third distance and calculating a second displacement of the first electronic device in the second unit time; and using a current position of the first electronic device as a reference point, according to the first distance, the first displacement Calculating a first relative position of the second electronic device relative to the first electronic device from the second distance, and the second displacement and the third distance. The method of claim 1, further comprising: after k-1 unit time, calculating a kth distance between the second electronic device and the first electronic device according to the wireless signal; After k unit time, calculating a k+1th distance between the second electronic device and the first electronic device according to the wireless signal, and calculating one of the movements of the first electronic device in the kth unit time a kth displacement, where k is a positive integer; and calculating k-1 based on the kth displacement, the kth distance, and the k+1th distance An error between the kth relative position of the second electronic device relative to the first electronic device and a k+1 relative position of the second electronic device relative to the first electronic device after the kth unit time per unit time a minimum value to determine the kth relative position of the second electronic device relative to the first electronic device. The method of claim 2, further comprising: accessing the previously calculated first relative position of the second electronic device relative to the first electronic device to the kth relative position; Using the current position of the electronic device as the reference point, respectively correcting the first relative position to the kth relative position as k correction positions relative to the reference point according to the first displacement to the kth displacement; The reference point is centered, and the modified position is displayed in a graphical interface to indicate a movement trajectory of the second electronic device relative to the reference point. The method of claim 1, wherein the first displacement of the first electronic device moved in the first unit time is calculated, and the second electronic device is calculated relative to the first electronic device according to the wireless signal After the step of the second distance of the electronic device, the method further includes: the second electronic device calculating a third displacement that is moved in the first unit time, and transmitting the third displacement to the first electronic device; As the reference point, the electronic device calculates the first relative position of the second electronic device relative to the first electronic device according to the first distance, the difference between the first displacement and the third displacement, and the second distance. For example, the method described in claim 1 of the patent scope further includes: Opening a particular application; and communicating with the second device in near field communication for authentication and/or pairing procedures. The method of claim 1, wherein the calculating the first distance between the first electronic device and the second electronic device comprises: transmitting the wireless signal; receiving the second electronic device in response to the wireless a feedback signal returned by the signal; and based on a signal strength of the feedback signal, the distance table is compared to obtain the first distance. The method of claim 1, wherein the step of calculating the first displacement of the first electronic device in the first unit time comprises: receiving by using an accelerometer, a gyroscope, an electronic compass, or a combination thereof The sensing information calculates the first displacement. The method of claim 1, wherein the step of calculating the first relative position between the first electronic device and the second electronic device further comprises: graphically centering the reference point The interface displays the first relative position. The method of claim 1, wherein after the first unit time, the method further comprises: positioning the first electronic device by using a positioning system to obtain a first absolute position of the first electronic device; as well as And calculating a second absolute position of the second electronic device according to the first absolute position and the first relative position. The method of claim 1, wherein after the first unit time, the second electronic device is positioned by using a positioning system to obtain a second absolute position and transmitted to the first An electronic device; and the first electronic device calculates a first absolute position of the first electronic device according to the second absolute position and the first relative position. An electronic device comprising: a wireless communication unit that transmits a wireless signal with a second electronic device; at least one sensor; a storage unit that records a plurality of modules; and one or more processing units that connect the wireless communication a unit, the sensor, and the storage unit to access and execute the module recorded in the storage unit, the module comprising: a distance calculation module, calculating the second electronic according to the wireless signal a first distance between the device and the electronic device, after a first unit time, calculating a second distance between the second electronic device and the electronic device according to the wireless signal, and after a second unit time And calculating, according to the wireless signal, a third distance between the second electronic device and the electronic device; a displacement calculation module, wherein the first electronic device is detected and calculated by the sensor One of the first displacements per unit time and the second unit a second displacement of the in-between movement; and a relative position calculation module, the first distance, the first displacement and the second distance, and the second The displacement and the third distance calculate a first relative position of the second electronic device relative to the electronic device. The electronic device of claim 11, wherein after the k-1 unit time, the distance calculation module calculates a k-th distance between the second electronic device and the electronic device according to the wireless signal. After k unit time, the distance calculation module calculates a k+1th distance between the second electronic device and the electronic device according to the wireless signal, and the displacement calculation module is configured by the sensing Detecting and calculating a kth displacement of the electronic device in the kth unit time, wherein k is a positive integer; and the relative position calculation module is based on the kth displacement, the kth distance, and the k+1th a distance between the kth unit time and a kth relative position of the second electronic device relative to the electronic device and a k+1th relative position of the second electronic device relative to the electronic device after the kth unit time The minimum error is between the values to determine the kth relative position of the second electronic device relative to the electronic device. The electronic device of claim 12, wherein the electronic device further comprises a display unit, the module further comprising a display module, wherein the relative position calculation module accesses the previously calculated second electronic The first relative position of the device relative to the electronic device to the kth relative position, the relative position calculation module using the current position of the first electronic device as the a reference point, according to the first displacement to the kth displacement, respectively correcting the first relative position to the kth relative position as k correction positions relative to the reference point, and the display module is The center displays the correction position on the display unit in a graphical interface to indicate a movement trajectory of the second electronic device relative to the reference point. The electronic device of claim 13, wherein the second electronic device comprises calculating a second displacement that is moved in the first unit time and transmitting the second displacement to the electronic device, wherein the relative position calculation mode Taking the electronic device as the reference point, the first distance, the difference between the first displacement and the second displacement, and the second distance are used as three sides of the triangle, and the second electron is calculated by using the triangular inequality The first relative position of the device relative to the electronic device. The electronic device of claim 11, further comprising a specific application, wherein after the specific application is turned on, the electronic device communicates with the second device in a near field communication manner for authentication and/or pairing program. The electronic device of claim 11, wherein the distance calculation module further uses the wireless communication unit to transmit the wireless signal and receive a feedback signal sent by the second electronic device in response to the wireless signal, and according to the A signal strength of the feedback signal is compared to a distance map to obtain the first distance. The electronic device of claim 11, wherein the sensor comprises one of an accelerometer, a gyroscope, a compass, or a combination thereof. The electronic device of claim 11, further comprising: a positioning system, connecting the processing unit, positioning the electronic device to obtain a first absolute position of the electronic device, and the module further comprises: an absolute position calculation module, according to the first absolute position and the The first relative position calculates a second absolute position of the second electronic device. The electronic device of claim 11, wherein the second electronic device is further positioned by a positioning system to obtain a second absolute position and transmitted to the electronic device, and the mode of the electronic device The group further includes: an absolute position calculation module, and calculating a first absolute position of the electronic device according to the second absolute position and the first relative position. A computer program product is loaded via a first electronic device to perform the following steps: calculating a first distance between the second electronic device and the first electronic device according to a wireless signal between the second electronic device and the second electronic device; After a first unit time, calculating a second distance between the second electronic device and the first electronic device according to the wireless signal, and calculating one of the first electronic devices to move in the first unit time Displacement; after a second unit time, calculating a third distance between the second electronic device and the first electronic device according to the wireless signal, and calculating that the first electronic device moves in the second unit time a second displacement; and calculating, by the current position of the first electronic device as a reference point, the first distance, the first displacement and the second distance, and the second displacement and the third distance a first relative position of the second electronic device relative to the first electronic device.