WO2018000968A1 - 终端定位方法及装置，和终端 - Google Patents

终端定位方法及装置，和终端 Download PDF

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Publication number
WO2018000968A1
WO2018000968A1 PCT/CN2017/084110 CN2017084110W WO2018000968A1 WO 2018000968 A1 WO2018000968 A1 WO 2018000968A1 CN 2017084110 W CN2017084110 W CN 2017084110W WO 2018000968 A1 WO2018000968 A1 WO 2018000968A1
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Prior art keywords
echo
terminal
location information
correspondence
positioning
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PCT/CN2017/084110
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English (en)
French (fr)
Inventor
周功财
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中兴通讯股份有限公司
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Publication of WO2018000968A1 publication Critical patent/WO2018000968A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target

Definitions

  • the present invention relates to the field of communications, and in particular to a terminal positioning method and apparatus, and a terminal.
  • the satellite positioning system has a GPS (Global Positioning System) system in the United States, a GLONASS system in Russia, and a Beidou satellite positioning system in China. Satellite positioning has the advantages of wide coverage and high positioning accuracy, so it is widely used in our daily life.
  • GPS Global Positioning System
  • the base station positioning refers to a positioning technology for determining the location of the terminal by acquiring the base station of the terminal accessing the mobile operator. Its advantage is that it can be positioned indoors without relying on GPS. However, its shortcoming is that the positioning accuracy is very low, and the location information of the base station is generally only known to the operator, and the general individual or enterprise cannot build such a positioning platform.
  • the satellite positioning has high precision, not all terminals can support GPS positioning, and the GPS positioning power consumption is very high, which affects the duration of use.
  • the embodiment of the invention provides a terminal positioning method and device, and a terminal, so as to at least solve the problem that the terminal positioning mode is limited by the terminal performance in the related art.
  • a terminal positioning method including: a terminal receiving an echo of one or more directions of a sound, wherein the sound is sent by the terminal; and acquiring the echo according to a correspondence relationship The position information corresponding to the echo parameter, wherein the correspondence relationship is a correspondence relationship between the echo parameter and the position information set in advance.
  • the acquiring the location information corresponding to the echo parameter of the echo according to the corresponding relationship includes: acquiring location information corresponding to the echo parameter by using a correspondence relationship pre-stored by the terminal.
  • the acquiring the location information corresponding to the echo parameter of the echo according to the corresponding relationship includes: acquiring location information corresponding to the echo parameter by using a correspondence stored in advance by the network device.
  • the echo parameter includes at least one of: a propagation duration of the echo, a direction angle of the echo.
  • a terminal positioning method including: receiving, by a network device, an echo parameter sent by a terminal; acquiring location information corresponding to the echo parameter according to a preset correspondence, and setting the location Information is sent to the terminal.
  • the method before the network receives the echo parameter sent by the terminal, the method further includes: pre-collecting the correspondence between the different echo parameters and the location information, and storing the correspondence relationship to the network device.
  • the manner of collecting the corresponding relationship between the different echo parameters and the location information in advance includes: receiving the echo parameters and the location information uploaded by the plurality of terminals, wherein the terminal acquires the echo parameters according to the echo of the sound emitted by the terminal,
  • the location information is obtained according to a GPS signal.
  • a terminal locating device which is applied to a terminal, including: first receiving a module, configured to receive an echo of one or more directions of the sound, wherein the sound is sent by the terminal; the first positioning module is configured to acquire, according to the corresponding relationship, location information corresponding to the echo parameter of the echo, The corresponding relationship is a correspondence between a preset echo parameter and location information.
  • the first positioning module is further configured to obtain location information corresponding to the echo parameter by using a correspondence relationship pre-stored by the terminal.
  • the first positioning module is further configured to obtain location information corresponding to the echo parameter by using a corresponding relationship pre-stored by the network device.
  • the echo parameter includes at least one of: a propagation duration of the echo, a direction angle of the echo.
  • a terminal locating device which is applied to a network device, and includes: a second receiving module configured to receive an echo parameter sent by the terminal; and a second positioning module configured to be configured according to a preset The relationship acquires location information corresponding to the echo parameter and transmits the location information to the terminal.
  • the second receiving module is further configured to collect a corresponding relationship between different echo parameters and location information before the network receives the echo parameters sent by the terminal, and store the corresponding relationship to the network device.
  • the manner of collecting the corresponding relationship between the different echo parameters and the location information in advance includes: receiving the echo parameters and the location information uploaded by the plurality of terminals, wherein the terminal acquires the echo parameters according to the echo of the sound emitted by the terminal,
  • the location information is obtained according to a GPS signal.
  • a terminal mounted with a sound receiver, the sound receiver capable of receiving echoes in a plurality of directions, and recording a return time and a direction angle of the echo.
  • a storage medium is also provided.
  • the storage medium is configured to store program code for performing: the terminal receiving an echo of one or more directions of sound, wherein the sound is issued by the terminal; and acquiring an echo parameter with the echo according to a correspondence relationship Corresponding location information, wherein the correspondence relationship is a correspondence between preset echo parameters and location information.
  • the storage medium is further configured to store program code for performing the following steps: the network device receives the echo parameter sent by the terminal; acquires location information corresponding to the echo parameter according to a preset correspondence, and sets the location Information is sent to the terminal.
  • the terminal is pre-installed with a sound receiver, collects echoes in multiple directions of the sound emitted by the terminal itself, acquires echo parameters of the echoes in the plurality of directions, and uses the echo parameters to correspond in a large database to find out The location information corresponding to the echo parameter, the terminal completes the positioning.
  • the above technical solution can also be implemented in a terminal that does not have a satellite positioning function, and solves the problem that the terminal positioning mode in the related art is limited by the performance of the terminal, and realizes high-precision positioning of the terminal without satellite positioning.
  • FIG. 1 is a block diagram showing the hardware structure of a mobile terminal according to a terminal positioning method according to an embodiment of the present invention
  • FIG. 2 is a flowchart 1 of terminal positioning according to an embodiment of the present invention.
  • FIG. 3 is a second flowchart of terminal positioning according to an embodiment of the present invention.
  • FIG. 4 is a networking diagram of a system for positioning based on sound according to an alternative embodiment of the present invention.
  • FIG. 5 is a flow chart of a method for position collection based on sound localization according to an alternative embodiment of the present invention.
  • FIG. 6 is a flow chart of a positioning method based on sound localization according to an alternative embodiment of the present invention.
  • FIG. 7 is a structural block diagram of a terminal locating device applied to a terminal according to an embodiment of the present invention.
  • FIG. 8 is a structural block diagram of a terminal locating device applied to a network device according to an embodiment of the present invention.
  • FIG. 1 is a block diagram showing a hardware structure of a mobile terminal according to a terminal positioning method according to an embodiment of the present invention.
  • the mobile terminal 10 may include one or more (only one shown) processor 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA).
  • the structure shown in FIG. 1 is merely illustrative and does not limit the structure of the above electronic device.
  • the mobile terminal 10 may also include more or fewer components than those shown in FIG. 1, or have a different configuration than that shown in FIG.
  • the memory 104 can be used to store software programs and modules of the application software, such as program instructions/modules corresponding to a terminal positioning method in the embodiment of the present invention.
  • the processor 102 executes by executing a software program and a module stored in the memory 104.
  • Memory 104 may include high speed random access memory, and may also include non-volatile memory such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
  • memory 104 may further include memory remotely located relative to processor 102, which may be connected to mobile terminal 10 over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Transmission device 106 is for receiving or transmitting data via a network.
  • the above-described network specific example may include a wireless network provided by a communication provider of the mobile terminal 10.
  • the transmission device 106 includes a Network Interface Controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet.
  • the transmission device 106 can be a Radio Frequency (RF) module for communicating with the Internet wirelessly.
  • NIC Network Interface Controller
  • RF Radio Frequency
  • FIG. 2 is a flowchart 1 of terminal positioning according to an embodiment of the present invention. As shown in FIG. 2, the process includes the following steps:
  • Step S202 the terminal receives an echo of one or more directions of the sound, where the sound is sent by the terminal;
  • Step S204 acquiring location information corresponding to the echo parameter of the echo according to the corresponding relationship, wherein the corresponding information It is the correspondence between the echo parameters and the position information set in advance.
  • the location information in this embodiment may be the latitude and longitude information described in the subsequent implementation, or may be a specific geographic location, such as No. 1 Zhichun Road, Haidian District, Beijing.
  • the terminal receives an echo of one or more directions of the sound, wherein the sound is sent by the terminal; and acquiring location information corresponding to the echo parameter of the echo according to the correspondence, wherein the correspondence is preset Correspondence between echo parameters and location information.
  • the above technical solution can also be implemented in a terminal that does not have a satellite positioning function, and solves the problem that the terminal positioning mode in the related art is limited by the performance of the terminal, and realizes high-precision positioning of the terminal without satellite positioning.
  • the terminal obtains the location information corresponding to the implementation of the echo parameter from the large database according to the corresponding relationship
  • the corresponding relationship and the large database may be stored in the terminal, or stored in the network side device, or the positioning center.
  • the corresponding relationship and the large database may be stored in one piece, or may be separately stored.
  • the two are stored as one body, that is, the corresponding echo parameters and the corresponding echo parameters are obtained. location information.
  • the location information corresponding to the echo parameter is obtained by using a correspondence stored in advance by the terminal.
  • the terminal needs to collect the corresponding relationship between different echo parameters and the location information, or directly download the corresponding relationship on the network.
  • the corresponding relationship may also be stored in another terminal, and the two terminals are connected through a Bluetooth, a data line, etc., and the terminal storing the corresponding relationship is similar to a storage medium.
  • in addition to storing the corresponding Relationship has no other substantive effect.
  • the location information corresponding to the echo parameter is obtained by using a correspondence pre-stored by the network device.
  • the echo parameter includes at least one of: a propagation duration of the echo, a direction angle of the echo.
  • the echo parameter can also be the strength of the echo, and the like.
  • FIG. 3 is a second flowchart of terminal positioning according to an embodiment of the present invention. As shown in FIG. 3, the process includes the following steps:
  • Step S302 The network device receives an echo parameter sent by the terminal.
  • Step S304 Acquire location information corresponding to the echo parameter according to a preset correspondence, and send the location information to the terminal.
  • the above technical solution can also be implemented in a terminal that does not have a satellite positioning function, and solves the problem that the terminal positioning mode in the related art is limited by the performance of the terminal, and realizes high-precision positioning of the terminal without satellite positioning.
  • the corresponding relationship between the different echo parameters and the location information is collected in advance, and the corresponding relationship is stored in the network device.
  • the manner of collecting the corresponding relationship between the different echo parameters and the location information in advance includes: receiving the echo parameters and the location information uploaded by the multiple terminals, wherein the terminal acquires the echo parameters according to the echo of the sound emitted by the terminal, according to the GPS The signal acquires the location information.
  • An object of an alternative embodiment of the present invention is to provide a sound-based positioning method and system capable of solving high-precision positioning on a GPS-free terminal.
  • the optional embodiment of the present invention includes two aspects, and one aspect is a method for collecting correspondence between echo and location information in advance, and the steps are as follows:
  • step one the position collector processes at a certain position, and emits a sound, at which time the sound is emitted.
  • step two the sound is transmitted back to the surrounding obstacles, and the directiond sound receiver in the position collector records the echo return time and direction angle of the plurality of obstacles. Find the echo propagation duration and direction angle of multiple obstacles
  • step 3 the position collector receives the GPS signal and calculates the latitude and longitude of the location of the current location collector.
  • step 4 the position collector sends the propagation duration and direction angle of the plurality of echoes and the position latitude and longitude to the positioning center.
  • the positioning center has a plurality of echo propagation durations and direction angles as KEY, and the position latitude and longitude is VALUE, and the data of the position is stored in the database.
  • Another aspect is the method of positioning the terminal.
  • the steps are as follows:
  • Step 1 The positioned user carries the terminal and makes a sound at a certain place.
  • Step 2 the terminal receives the sound of the sound recording time
  • Step 3 The terminal has a sound receiver with a direction to receive the echo reflected by the surrounding obstacles and record the receiving time and direction angle of the echo.
  • step 4 the terminal calculates the echo propagation duration and the direction angle of the plurality of obstacles, and sends the echo propagation time to the positioning center.
  • step 5 the positioning center uses the echo propagation duration and direction angle of the plurality of obstacles to query the located position in the database.
  • step 6 the database returns the location latitude and longitude to the positioning center.
  • step 7 the positioning center returns the position latitude and longitude to the terminal.
  • the terminal displays it.
  • a sound-based positioning system comprising:
  • a position collector for collecting latitude and longitude of a location. It emits a sound and receives the echo of the surrounding obstacles, calculates the propagation duration and direction angle of the echo, and then obtains the current position through the GPS satellite. The echo propagation duration and direction angle and current position are transmitted to the positioning center.
  • the positioning center is configured to receive the echo and location data from the location finder and record it to the database and receive the echo data from the terminal and go to the database to query the latitude and longitude of the location and then return the latitude and longitude to the terminal.
  • a database for storing echo and location data for each location.
  • the terminal is configured to receive the sound of the positioned user, and then receive the echo of the positioned user's voice reflected by the surrounding obstacle. Calculate the propagation duration and direction angle of the echo, and then request location data from the positioning center. After receiving the location data of the location center, it will be displayed for users to view.
  • the sound is used for positioning, and the terminal can be positioned anytime and anywhere.
  • the system includes: a positioned user, a terminal for positioning, and an obstacle for manufacturing an echo.
  • the location collector that previously acquired the big data, provides the positioning GPS satellite for the location collector, the mobile communication network for connecting the terminal, the location collector and the positioning center, and the positioning center and the database.
  • FIG. 5 is a flowchart of a method for position collection based on sound localization according to an alternative embodiment of the present invention. As shown in FIG. 5, the steps are as follows:
  • step S501 the position collector is located at a certain location.
  • the sound is continuously emitted from low to high within a certain frequency range (for example, 10 Hz to 200 kHz, the frequency range is adjustable), and the position collector records the frequency and time of the sound emitted at each moment. .
  • the sound that is emitted will also spread to the surroundings.
  • Step S502 a plurality of obstacles around the position collector reflect sounds of various frequencies.
  • step S503 a sound receiver facing each direction is installed in the position collector, and the number of the receivers is as large as possible.
  • the number of the receivers is as large as possible.
  • 8 directions as an example. That is, eight directions: east, south, west, north, southeast, northeast, southwest, and northwest.
  • each sound receiver After receiving the echo of the obstacle reflection, each sound receiver records the time and frequency of reception and the direction angle.
  • step S504 the position collector receives the GPS signal and calculates the latitude and longitude of the current position.
  • step S505 based on the start time in step S501 and the end time in step S503, the sound propagation time is calculated for the sound in each direction of each frequency. Then, for each frequency, the message is assembled according to multiple sets of direction angles and propagation durations of KEY and latitude and longitude of VALUE. There may or may not be multiple echoes in each direction of each frequency. For example, if there are no obstacles in the north, there is no echo. In this direction, there is no time-length data. If there are five obstacles with different distances in the east, there are 5 propagation time data in this direction.
  • the following examples illustrate the data format collected.
  • KEY frequency 10 Hz, (45 degrees (representing echo of 45 degree angle feedback, 2.03 seconds), (90 degrees, 3.12 seconds), (270 degrees, 0.05 seconds), (270 degrees, 1.12 seconds)
  • VALUE east longitude 110.43366 degrees , North latitude: 62.132365 degrees
  • KEY frequency 50 Hz, (45 degrees, 2.03 seconds), (90 degrees, 3.12 seconds), (270 degrees, 0.05 seconds), (270 degrees, 1.12 seconds)
  • VALUE east longitude 110.43366 degrees, north latitude: 62.132365 degrees
  • the echo parameter displayed by the data in the KEY corresponds to the latitude and longitude in the VALUE.
  • step S506 the location collector sends the data organized in step S505 to the positioning center according to multiple frequencies.
  • step S507 after receiving the data of the location collector, the positioning center stores each piece of data into the database.
  • FIG. 6 is a flowchart of a positioning method based on sound localization according to an alternative embodiment of the present invention. As shown in FIG. 6, the steps are as follows:
  • step S601 the user is positioned to hold the terminal and speak loudly to the terminal. At this point the sound will spread to the terminal and the surrounding environment.
  • Step S602 after detecting the location of the user voice, the terminal analyzes the frequency of the sound, analyzes each frequency of the sound, and records the sound start time.
  • step S603 a plurality of obstacles around the positioned user reflect sounds of various frequencies.
  • step S604 the terminal is installed with a sound receiver facing each direction, and the number of receivers is as large as possible.
  • the number of receivers is as large as possible.
  • 8 directions as an example. That is, eight directions: east, south, west, north, southeast, northeast, southwest, and northwest.
  • each sound receiver After receiving the echo of the obstacle reflection, each sound receiver records the time and frequency of reception and the direction angle.
  • step S605 the terminal calculates the sound propagation duration for each of the sounds of each frequency based on the start time in step S602 and the end time in step S603. Then, for each frequency, the message is assembled according to multiple sets of direction angles and propagation durations as KEY. There may or may not be multiple echoes in each direction of each frequency. For example, if there are no obstacles in the north, there is no echo. In this direction, there is no time-length data. If there are five obstacles with different distances in the east, there are 5 propagation time data in this direction.
  • the following examples illustrate the echo parameters collected by the terminal:
  • KEY frequency 10 Hz, (45 degrees, 2.03 seconds), (90 degrees, 3.12 seconds), (270 degrees, 0.05 seconds), (270 degrees, 1.12 seconds)
  • KEY frequency 50 Hz, (45 degrees, 2.03 seconds), (90 degrees, 3.12 seconds), (270 degrees, 0.05 seconds), (270 degrees, 1.12 seconds)
  • step S606 the terminal sends the data organized in step S605 to the positioning center according to multiple frequencies.
  • step S607 the positioning center queries each piece of data into the database to query the latitude and longitude. That is, the frequency latitude, the direction 1, the duration 1, the direction n, and the duration n are KEY to query the latitude and longitude of the database.
  • step S608 the database returns to the latitude and longitude to the positioning center.
  • Step S609 the positioning center compares the latitude and longitude returned by each frequency query database, and if they are all the same latitude and longitude, the latitude and longitude is considered as the actual position of the user.
  • step S6010 the positioning center returns the latitude and longitude obtained in step S608 to the terminal.
  • step S6011 the terminal displays the latitude and longitude of the located user.
  • the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases, the former is A better implementation.
  • the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk,
  • the optical disc includes a number of instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of various embodiments of the present invention.
  • a terminal locating device is also provided in the embodiment, which is used to implement the above-mentioned embodiments and preferred embodiments, and has not been described again.
  • the term "module” may implement a combination of software and/or hardware of a predetermined function.
  • the apparatus described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware, is also possible and contemplated.
  • FIG. 7 is a structural block diagram of a terminal locating device applied to a terminal according to an embodiment of the present invention. As shown in FIG. 7, the device includes:
  • the first receiving module 72 is configured to receive an echo of one or more directions of the sound, where the sound is sent by the terminal;
  • the first positioning module 74 is connected to the first receiving module 72, and is configured to acquire location information corresponding to the echo parameter of the echo according to the correspondence, wherein the correspondence is a correspondence between the preset echo parameter and the location information.
  • the first positioning module 74 is further configured to obtain location information corresponding to the echo parameter by using a correspondence stored in advance by the terminal.
  • the first positioning module 74 is further configured to obtain location information corresponding to the echo parameter by using a corresponding relationship pre-stored by the network device.
  • the echo parameter includes at least one of: a propagation duration of the echo, a direction angle of the echo.
  • FIG. 8 is a structural block diagram of a terminal locating device applied to a network device according to an embodiment of the present invention. As shown in FIG. 8, the device includes:
  • the second receiving module 82 is configured to receive an echo parameter sent by the terminal.
  • the second positioning module 84 is connected to the second receiving module 82, and is configured to acquire location information corresponding to the echo parameter according to a preset correspondence, and send the location information to the terminal.
  • the second receiving module 82 is further configured to collect a corresponding relationship between the different echo parameters and the location information before the network receives the echo parameters sent by the terminal, and store the correspondence relationship in the network device.
  • the echo parameters and the location information uploaded by the multiple terminals are received, wherein the terminal acquires the echo parameters according to the echo of the sound emitted by the terminal, and acquires the location information according to the GPS signal.
  • each of the above modules may be implemented by software or hardware.
  • the foregoing may be implemented by, but not limited to, the foregoing modules are all located in the same processor; or, the above modules are in any combination.
  • the forms are located in different processors.
  • a terminal in which the terminal is equipped with a sound receiver that can receive echoes in a plurality of directions and record a return time and a direction angle of the echo.
  • Embodiments of the present invention also provide a storage medium.
  • the foregoing storage medium may be configured to store program code for performing the following steps:
  • the terminal receives an echo of one or more directions of the sound, where the sound is sent by the terminal;
  • S2 Obtain location information corresponding to the echo parameter of the echo according to the correspondence, where the correspondence is a correspondence between the preset echo parameter and the location information.
  • the storage medium is further arranged to store program code for performing the following steps:
  • the network device receives an echo parameter sent by the terminal.
  • S4 Acquire location information corresponding to the echo parameter according to a preset correspondence, and send the location information to the terminal.
  • the foregoing storage medium may include, but not limited to, a USB flash drive, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, and a magnetic memory.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • a mobile hard disk e.g., a hard disk
  • magnetic memory e.g., a hard disk
  • the processor executes the method steps described in the foregoing embodiments according to the stored program code in the storage medium.
  • modules or steps of the present invention described above can be implemented by a general-purpose computing device that can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device such that they may be stored in the storage device by the computing device and, in some cases, may be different from the order herein.
  • the steps shown or described are performed, or they are separately fabricated into individual integrated circuit modules, or a plurality of modules or steps thereof are fabricated as a single integrated circuit module.
  • the invention is not limited to any specific combination of hardware and software.
  • the present disclosure is applicable to the field of communications to solve the problem that the terminal positioning mode in the related art is limited by the performance of the terminal; and the terminal can be accurately positioned in the terminal without the satellite positioning function.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Acoustics & Sound (AREA)
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Abstract

一种终端定位方法及装置，和终端。该方法包括：终端（106）接收声音的一个或多个方向的回声，该声音为终端发出的（S202）。依据对应关系获取与该回声的回声参数对应的位置信息，该对应关系是预先设置的回声参数和位置信息的对应关系（S204）。该定位方法可以在不具备卫星定位功能的终端中实现，解决了终端定位方式受限于终端性能的问题，实现了无卫星定位的终端的高精度定位。

Description

终端定位方法及装置，和终端 技术领域
本发明涉及通信领域，具体而言，涉及一种终端定位方法及装置，和终端。
背景技术
在相关技术中，卫星定位系统有美国的GPS(Global Positioning System，全球定位系统)系统、俄罗斯的GLONASS(格洛纳斯)系统和中国的北斗卫星定位系统。卫星定位具有覆盖地域广、定位精度高等优点，因此被广泛应用于我们的日常生活中。
基站定位是指通过获取终端接入移动运营商的基站来确定终端的位置的一种定位技术。它的优点是不依赖于GPS，可以进行室内定位。但它的缺点是定位精度很低，而且基站位置信息一般只有运营商知道，一般的个人或企业是无法搭建这样的定位平台的。
卫星定位虽然精度高，但不是所有终端都可以支持GPS定位，而且GPS定位耗电量非常高，影响使用时长。
针对相关技术中终端定位方式受限于终端性能的问题，目前还没有有效的解决方案。
发明内容
本发明实施例提供了一种终端定位方法及装置，和终端，以至少解决相关技术中终端定位方式受限于终端性能的问题。
根据本发明的一个实施例，提供了一种终端定位方法，包括：终端接收声音的一个或多个方向的回声，其中，所述声音为所述终端发出的；依据对应关系获取与所述回声的回声参数对应的位置信息，其中，所述对应关系是预先设置的回声参数和位置信息的对应关系。
可选地，依据对应关系获取与所述回声的回声参数对应的位置信息，包括：通过所述终端预先存储的对应关系中获取与所述回声参数对应的位置信息。
可选地，依据对应关系获取与所述回声的回声参数对应的位置信息，包括：通过网络设备预先存储的对应关系中获取与所述回声参数对应的位置信息。
可选地，所述回声参数包括以下至少之一：所述回声的传播时长，所述回声的方向角。
根据本发明的另一个实施例，提供了一种终端定位方法，包括：网络设备接收终端发送的回声参数；依据预先设置的对应关系获取与所述回声参数对应的位置信息，并将所述位置信息发送到所述终端。
可选地，网络接收终端发送的回声参数之前，所述方法还包括：预先收集不同的回声参数与位置信息的对应关系，将所述对应关系存储到所述网络设备。
可选地，预先收集不同的回声参数与位置信息的对应关系的方式包括：接收多个终端上传的回声参数和位置信息，其中，所述终端依据自身发出的声音的回声获取所述回声参数，依据GPS信号获取所述位置信息。
根据本发明的另一个实施例，提供了一种终端定位装置，应用于终端，包括：第一接收 模块，设置为接收声音的一个或多个方向的回声，其中，所述声音为所述终端发出的；第一定位模块，设置为依据对应关系获取与所述回声的回声参数对应的位置信息，其中，所述对应关系是预先设置的回声参数和位置信息的对应关系。
可选地，所述第一定位模块还设置为通过所述终端预先存储的对应关系中获取与所述回声参数对应的位置信息。
可选地，所述第一定位模块还设置为通过网络设备预先存储的对应关系中获取与所述回声参数对应的位置信息。
可选地，所述回声参数包括以下至少之一：所述回声的传播时长，所述回声的方向角。
根据本发明的另一个实施例，提供了一种终端定位装置，应用于网络设备，包括：第二接收模块，设置为接收终端发送的回声参数；第二定位模块，设置为依据预先设置的对应关系获取与所述回声参数对应的位置信息，并将所述位置信息发送到所述终端。
可选地，所述第二接收模块还设置为在网络接收终端发送的回声参数之前，预先收集不同的回声参数与位置信息的对应关系，将所述对应关系存储到所述网络设备。
可选地，预先收集不同的回声参数与位置信息的对应关系的方式包括：接收多个终端上传的回声参数和位置信息，其中，所述终端依据自身发出的声音的回声获取所述回声参数，依据GPS信号获取所述位置信息。
根据本发明的另一个实施例，提供了一种终端，所述终端安装有声音接收器，所述声音接收器可以接收到多个方向的回声，并记录所述回声的返回时间和方向角。
根据本发明的又一个实施例，还提供了一种存储介质。该存储介质设置为存储用于执行以下步骤的程序代码：终端接收声音的一个或多个方向的回声，其中，所述声音为所述终端发出的；依据对应关系获取与所述回声的回声参数对应的位置信息，其中，所述对应关系是预先设置的回声参数和位置信息的对应关系。
可选地，存储介质还设置为存储用于执行以下步骤的程序代码：网络设备接收终端发送的回声参数；依据预先设置的对应关系获取与所述回声参数对应的位置信息，并将所述位置信息发送到所述终端。
通过本发明，终端预先安装有声音接收器，采集由终端自身发出的声音的多个方向的回声，获取该多个方向的回声的回声参数，使用该回声参数在大数据库中进行对应，找出与该回声参数对应的位置信息，终端完成定位。上述技术方案在不具备卫星定位功能的终端也可以实现，解决相关技术中终端定位方式受限于终端性能的问题，实现了无卫星定位的终端高精度定位。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是本发明实施例的一种终端定位方法的移动终端的硬件结构框图；
图2是根据本发明实施例的一种终端定位的流程图一；
图3是根据本发明实施例的一种终端定位的流程图二；
图4是根据本发明可选实施例的一种基于声音进行定位的系统组网图；
图5是根据本发明可选实施例的一种基于声音定位的位置采集方法流程图；
图6是根据本发明可选实施例的一种基于声音定位的定位方法流程图；
图7是根据本发明实施例的一种应用于终端的终端定位装置的结构框图；
图8是根据本发明实施例的一种应用于网络设备的终端定位装置的结构框图。
具体实施方式
下文中将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
实施例1
本申请实施例一所提供的方法实施例可以在移动终端、计算机终端或者类似的运算装置中执行。以运行在移动终端上为例，图1是本发明实施例的一种终端定位方法的移动终端的硬件结构框图。如图1所示，移动终端10可以包括一个或多个(图中仅示出一个)处理器102(处理器102可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)、用于存储数据的存储器104、以及用于通信功能的传输装置106。本领域普通技术人员可以理解，图1所示的结构仅为示意，其并不对上述电子装置的结构造成限定。例如，移动终端10还可包括比图1中所示更多或者更少的组件，或者具有与图1所示不同的配置。
存储器104可用于存储应用软件的软件程序以及模块，如本发明实施例中的一种终端定位方法对应的程序指令/模块，处理器102通过运行存储在存储器104内的软件程序以及模块，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至移动终端10。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输装置106用于经由一个网络接收或者发送数据。上述的网络具体实例可包括移动终端10的通信供应商提供的无线网络。在一个实例中，传输装置106包括一个网络适配器(Network Interface Controller，NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输装置106可以为射频(Radio Frequency，RF)模块，其用于通过无线方式与互联网进行通讯。
在本实施例中提供了一种运行于上述移动终端的终端定位方法，图2是根据本发明实施例的一种终端定位的流程图一，如图2所示，该流程包括如下步骤：
步骤S202，终端接收声音的一个或多个方向的回声，其中，该声音为该终端发出的；
步骤S204，依据对应关系获取与该回声的回声参数对应的位置信息，其中，该对应关 系是预先设置的回声参数和位置信息的对应关系。本实施例中的位置信息可以是后续实施中记载的经纬度信息，也可以是具体的地理位置，例如北京市海淀区知春路1号。
通过上述步骤，终端接收声音的一个或多个方向的回声，其中，该声音为该终端发出的；依据对应关系获取与该回声的回声参数对应的位置信息，其中，该对应关系是预先设置的回声参数和位置信息的对应关系。上述技术方案在不具备卫星定位功能的终端也可以实现，解决相关技术中终端定位方式受限于终端性能的问题，实现了无卫星定位的终端高精度定位。
在上述实施例中，终端依据对应关系从大数据库中获取与实施回声参数对应的位置信息，对应关系和大数据库可以存储于终端中，或者存储于网络侧设备，或者是定位中心等。需要说明的是，对应关系和大数据库可以存储在一块，也可以分别存储，在本申请文件中为便于描述，将二者作为一体存储，即获取到对应关系即可获取到相应的回声参数和位置信息。
可选地，通过该终端预先存储的对应关系中获取与该回声参数对应的位置信息。在执行本可选实施例的定位方式之前，终端要自己收集不同回声参数与位置信息的对应关系，或者直接去网络上下载对应关系。可选地，对应关系还可以存储于别的终端，两个终端之间通过蓝牙，数据线等连接，存储对应关系的终端类似一个存储介质，在执行本申请文件的技术方案中，除了存储对应关系，并无其他实质作用。
可选地，通过网络设备预先存储的对应关系中获取与该回声参数对应的位置信息。
可选地，该回声参数包括以下至少之一：该回声的传播时长，该回声的方向角。可选的，回声参数还可以是回声的强度等。
图3是根据本发明实施例的一种终端定位的流程图二，如图3所示，该流程包括如下步骤：
步骤S302，网络设备接收终端发送的回声参数；
步骤S304，依据预先设置的对应关系获取与该回声参数对应的位置信息，并将该位置信息发送到该终端。
上述技术方案在不具备卫星定位功能的终端也可以实现，解决相关技术中终端定位方式受限于终端性能的问题，实现了无卫星定位的终端高精度定位
可选地，网络接收终端发送的回声参数之前，预先收集不同的回声参数与位置信息的对应关系，将该对应关系存储到该网络设备。
可选地，预先收集不同的回声参数与位置信息的对应关系的方式包括：接收多个终端上传的回声参数和位置信息，其中，该终端依据自身发出的声音的回声获取该回声参数，依据GPS信号获取该位置信息。
本发明可选实施例的目的在于提供一种基于声音的定位方法及系统，能够解决在无GPS的终端上进行高精度定位。本发明可选实施例包括两个方面，一个方面是预先收集回声与位置信息的对应关系采集方法，步骤如下：
步骤一，位置采集器在某一位置处理，发出声音，此时记录声音的发出时间。
步骤二，声音传播到周围的障碍物上反射回来，位置采集器中的带有方向的声音接收器记录多个障碍物的回声返回时间和方向角。求出多个障碍物的回声传播时长及方向角
步骤三，位置采集器接收GPS信号，并算出当前位置采集器所在位置的经纬度。
步骤四，位置采集器将多个回声的传播时长和方向角以及位置经纬度发送给定位中心。
步骤五，定位中心以多个回声的传播时长和方向角为KEY，位置经纬度为VALUE，将此位置的数据存入数据库中。
另一个方面是终端进行定位的方法，步骤如下：
步骤一，被定位用户在某一地点携带终端并发出声音
步骤二，终端收到发出的声音记录声音发出时间
步骤三，终端内置带方向的声音接收器，接收周围障碍物反射的回声并记录该回声的接收时间及方向角。
步骤四，终端算出多个障碍物的回声传播时长及方向角，并将其发送给定位中心。
步骤五，定位中心用多个障碍物的回声传播时长和方向角到数据库中查询被定位的位置。
步骤六，数据库返回位置经纬度给定位中心。
步骤七，定位中心将位置经纬度返回给终端。终端将其显示出来。
将上述可选实施例中记载的两个方面结合描述，得到一种基于声音的定位系统，该系统包括：
位置采集器，用于采集某一地点的经纬度。它发出声音并接收周围障碍特的回声，计算出回声的传播时长及方向角，然后通过GPS卫星，获取当前位置。将回声传播时长及方向角和当前位置传给定位中心。
定位中心，用于接收来自位置采信器的回声及位置数据并将其记录到数据库和接收来自终端的回声数据并到数据库查询定位的经纬度然后将经纬度返回给终端。
数据库，用于存储各个地点的回声及位置数据。
终端，用于接收被定位用户的声音，然后接收被定位用户的声音通过周围障碍物反射后的回声。计算出回声的传播时长及方向角，然后向定位中心请求位置数据。收到定位中心的位置数据后，展示出来供用户查看。
使用上述定位系统，利用声音进行定位，终端可以随时随地进行定位。
图4是根据本发明可选实施例的一种基于声音进行定位的系统组网图，如图4所示，该系统包括：被定位用户，用于定位的终端，用于制造回声的障碍物，先前采集大数据的位置采集器，为位置采集器提供定位的GPS卫星，用于连接终端、位置采集器和定位中心的移动通信网络，还有定位中心和数据库。
图5是根据本发明可选实施例的一种基于声音定位的位置采集方法流程图，如图5所示，步骤如下：
步骤S501，位置采集器位于某一地点，此时在一定频率范围内(比如10Hz～200kHz，频率范围可调)从低到高连续发出声音，位置采集器记录每一时刻发出的声音频率和时间。发出的声音同时会向周围传播。
步骤S502，位置采集器周围的多个障碍物反射各种不同频率的声音。
步骤S503，位置采集器中安装有正对各个方向的声音接收器，接收器的数量越多越好。这里以8个方向为例。即东、南、西、北、东南、东北、西南、西北8个方向。每个声音接收器接收到障碍物反射的回声后，记录接收的时间及频率以及方向角。
步骤S504，位置采集器接收GPS信号并算出当前位置的经纬度。
步骤S505，根据步骤S501中的开始时间和步骤S503中的结束时间，对每一频率的每一个方向的声音算出声音传播时长。然后对每一频率，按多组方向角和传播时长为KEY，经纬度为VALUE，组装消息。每一频率的每一个方向有可能有多个回声，也可能没有。比如北方没有障碍物，则没有回声，则这个方向没有传播时长数据，如果东方有5个距离不等的障碍物，则这个方向有5个传播时长数据。下面举例说明采集的数据形式，
KEY：频率10赫兹，(45度(表示45度角反馈的回声，2.03秒)，(90度，3.12秒)，(270度，0.05秒)，(270度，1.12秒)VALUE：东经110.43366度，北纬：62.132365度
KEY：频率50赫兹，(45度，2.03秒)，(90度，3.12秒)，(270度，0.05秒)，(270度，1.12秒)VALUE：东经110.43366度，北纬：62.132365度
即KEY中的数据显示的回声参数与VALUE中的经纬度对应。
步骤S506，位置采集器将步骤S505组织的数据按频率多条发给定位中心。
步骤S507，定位中心收到位置采集器的数据后，将每条数据存入到数据库中。
图6是根据本发明可选实施例的一种基于声音定位的定位方法流程图，如图6所示，步骤如下：
步骤S601，被定位用户手持终端，并对着终端大声说话。此时声音会向终端和周围环境传播。
步骤S602，终端检测到被定位用户声音后，分析声音的频率，将声音的每一频率分析出来，并记录声音开始时间。
步骤S603，被定位用户周围的多个障碍物反射各种不同频率的声音。
步骤S604，终端安装有正对各个方向的声音接收器，接收器的数量越多越好。这里以8个方向为例。即东、南、西、北、东南、东北、西南、西北8个方向。每个声音接收器接收到障碍物反射的回声后，记录接收的时间及频率以及方向角。
步骤S605，终端根据步骤S602中的开始时间和步骤S603中的结束时间，对每一频率的每一个方向的声音算出声音传播时长。然后对每一频率，按多组方向角和传播时长为KEY组装消息。每一频率的每一个方向有可能有多个回声，也可能没有。比如北方没有障碍物，则没有回声，则这个方向没有传播时长数据，如果东方有5个距离不等的障碍物，则这个方向有5个传播时长数据。下面举例说明终端采集的回声参数：
KEY：频率10赫兹，(45度，2.03秒)，(90度，3.12秒)，(270度，0.05秒)，(270度，1.12秒)
KEY：频率50赫兹，(45度，2.03秒)，(90度，3.12秒)，(270度，0.05秒)，(270度，1.12秒)
步骤S606，终端将步骤S605组织的数据按频率多条发给定位中心。
步骤S607，定位中心将每条数据到数据库中去查询经纬度。即以频率n，方向1，时长1，方向n，时长n为KEY到数据库查询经纬度。
步骤S608，数据库向定位中心返回经纬度。
步骤S609，定位中心将每一频率查询数据库返回的经纬度进行比较，如果都是同一经纬度，则认为此经纬度为用户的实际位置。
步骤S6010，定位中心将步骤S608中得到的经纬度返回给终端。
步骤S6011，终端显示被定位用户的经纬度。
综上该，通过执行本申请文件的技术方案，实现了以下技术效果，很多终端都没有GPS定位功能，通过采用本发明的技术方案，可以使不具有GPS定位功能的终端进行高精度定位。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例该的方法。
实施例2
在本实施例中还提供了一种终端定位装置，该装置用于实现上述实施例及优选实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图7是根据本发明实施例的一种应用于终端的终端定位装置的结构框图，如图7所示，该装置包括：
第一接收模块72，用于接收声音的一个或多个方向的回声，其中，该声音为该终端发出的；
第一定位模块74，与第一接收模块72连接，用于依据对应关系获取与该回声的回声参数对应的位置信息，其中，该对应关系是预先设置的回声参数和位置信息的对应关系。
可选地，该第一定位模块74还用于通过该终端预先存储的对应关系中获取与该回声参数对应的位置信息。
可选地，该第一定位模块74还用于通过网络设备预先存储的对应关系中获取与该回声参数对应的位置信息。
可选地，该回声参数包括以下至少之一：该回声的传播时长，该回声的方向角。
图8是根据本发明实施例的一种应用于网络设备的终端定位装置的结构框图，如图8所示，该装置包括：
第二接收模块82，用于接收终端发送的回声参数；
第二定位模块84，与第二接收模块82连接，用于依据预先设置的对应关系获取与该回声参数对应的位置信息，并将该位置信息发送到该终端。
可选地，该第二接收模块82还用于在网络接收终端发送的回声参数之前，预先收集不同的回声参数与位置信息的对应关系，将该对应关系存储到该网络设备。
可选地，接收多个终端上传的回声参数和位置信息，其中，该终端依据自身发出的声音的回声获取该回声参数，依据GPS信号获取该位置信息。
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，对于后者，可以通过以下方式实现，但不限于此：上述模块均位于同一处理器中；或者，上述各个模块以任意组合的形式分别位于不同的处理器中。
实施例3
根据本发明的另一个实施例，提供了一种终端，其中，该终端安装有声音接收器，该声音接收器可以接收到多个方向的回声，并记录该回声的返回时间和方向角。
实施例4
本发明的实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
S1，终端接收声音的一个或多个方向的回声，其中，该声音为该终端发出的；
S2，依据对应关系获取与该回声的回声参数对应的位置信息，其中，该对应关系是预先设置的回声参数和位置信息的对应关系。
可选地，存储介质还被设置为存储用于执行以下步骤的程序代码：
S3，网络设备接收终端发送的回声参数；
S4，依据预先设置的对应关系获取与该回声参数对应的位置信息，并将该位置信息发送到该终端。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
可选地，在本实施例中，处理器根据存储介质中已存储的程序代码执行上述实施例中记载的方法步骤。
可选地，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员 来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
工业实用性
本公开适用于通信领域，用以解决现有技术中相关技术中终端定位方式受限于终端性能的问题；使得在不具备卫星定位功能的终端也可以实现的终端高精度定位。

Claims (15)

  1. 一种终端定位方法，包括：
    终端接收声音的一个或多个方向的回声，其中，所述声音为所述终端发出的；
    依据对应关系获取与所述回声的回声参数对应的位置信息，其中，所述对应关系是预先设置的回声参数和位置信息的对应关系。
  2. 根据权利要求1所述的方法，其中，依据对应关系获取与所述回声的回声参数对应的位置信息，包括：
    通过所述终端预先存储的对应关系中获取与所述回声参数对应的位置信息。
  3. 根据权利要求1所述的方法，其中，依据对应关系获取与所述回声的回声参数对应的位置信息，包括：
    通过网络设备预先存储的对应关系中获取与所述回声参数对应的位置信息。
  4. 根据权利要求1至3任一项所述的方法，其中，所述回声参数包括以下至少之一：
    所述回声的传播时长，所述回声的方向角。
  5. 一种终端定位方法，包括：
    网络设备接收终端发送的回声参数；
    依据预先设置的对应关系获取与所述回声参数对应的位置信息，并将所述位置信息发送到所述终端。
  6. 根据权利要求5所述的方法，网络接收终端发送的回声参数之前，所述方法还包括：
    预先收集不同的回声参数与位置信息的对应关系，将所述对应关系存储到所述网络设备。
  7. 根据权利要求6所述的方法，其中，预先收集不同的回声参数与位置信息的对应关系的方式包括：
    接收多个终端上传的回声参数和位置信息，其中，所述终端依据自身发出的声音的回声获取所述回声参数，依据GPS信号获取所述位置信息。
  8. 一种终端定位装置，应用于终端，包括：
    第一接收模块，设置为接收声音的一个或多个方向的回声，其中，所述声音为所述终端发出的；
    第一定位模块，设置为依据对应关系获取与所述回声的回声参数对应的位置信息，其中，所述对应关系是预先设置的回声参数和位置信息的对应关系。
  9. 根据权利要求8所述的装置，其中，所述第一定位模块还设置为通过所述终端预先存储的对应关系中获取与所述回声参数对应的位置信息。
  10. 根据权利要求8所述的装置，其中，所述第一定位模块还设置为通过网络设备预先存储的对应关系中获取与所述回声参数对应的位置信息。
  11. 根据权利要求8至10任一项所述的装置，其中，所述回声参数包括以下至少之一： 所述回声的传播时长，所述回声的方向角。
  12. 一种终端定位装置，应用于网络设备，包括：
    第二接收模块，设置为接收终端发送的回声参数；
    第二定位模块，设置为依据预先设置的对应关系获取与所述回声参数对应的位置信息，并将所述位置信息发送到所述终端。
  13. 根据权利要求12所述的装置，其中，所述第二接收模块还设置为在网络接收终端发送的回声参数之前，预先收集不同的回声参数与位置信息的对应关系，将所述对应关系存储到所述网络设备。
  14. 根据权利要求13所述的装置，其中，预先收集不同的回声参数与位置信息的对应关系的方式包括：
    接收多个终端上传的回声参数和位置信息，其中，所述终端依据自身发出的声音的回声获取所述回声参数，依据GPS信号获取所述位置信息。
  15. 一种终端，所述终端安装有声音接收器，所述声音接收器设置为接收到多个方向的回声，并记录所述回声的返回时间和方向角。
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