WO2018028073A1

WO2018028073A1 - Terminal positioning method, terminal and computer storage medium

Info

Publication number: WO2018028073A1
Application number: PCT/CN2016/105800
Authority: WO
Inventors: 王孟强; 叶建华; 高明刚
Original assignee: 中兴通讯股份有限公司
Priority date: 2016-08-09
Filing date: 2016-11-14
Publication date: 2018-02-15
Also published as: CN107743311B; CN107743311A

Abstract

Disclosed are a terminal positioning method, a terminal and a computer storage medium. The method involves: a first terminal sending a broadcast positioning request to a second terminal; the second terminal feeding back, after receiving the positioning request, a positioning request response, wherein the positioning request response fed back includes position information about the second terminal; and after receiving the positioning request response sent by the second terminal, calculating position information about the first terminal based on the position information about the second terminal.

Description

Terminal positioning method, terminal and computer storage medium

Technical field

The present invention relates to the field of communications, and in particular, to a terminal positioning method, a terminal, and a computer storage medium.

Background technique

At present, the terminal is generally provided with a satellite positioning function, but when the terminal is in an application scenario incapable of acquiring the information of the positioning satellite, it cannot use the satellite positioning function for positioning. For example, as shown in FIG. 1 , in the scenario shown in FIG. 1 , user equipment (UE, User Equipment) 0 is indoors, and terminals UE1 . . . UEi are outdoors. The terminal UE1... UEi in the outdoor can acquire the satellite signal to accurately locate itself, but the terminal UE0 in the indoor unit cannot obtain the information of the positioning satellite in the room due to the blockage of the building, which may result in the positioning failure.

Summary of the invention

The embodiment of the present invention is to provide a terminal positioning method, a terminal, and a computer storage medium, so as to solve the problem that the existing terminal cannot obtain the information of the positioning satellite, which may result in the positioning failure.

To solve the above technical problem, an embodiment of the present invention provides a terminal positioning method, including:

The first terminal sends a positioning request to the second terminal;

Receiving, by the first terminal, a positioning request response that is sent by the second terminal, where the positioning request response includes location information of the second terminal itself;

The first terminal determines its current location information based on the location information of the second terminal.

The embodiment of the invention further provides a terminal positioning method, including:

The first terminal broadcasts a positioning request to the second terminal;

Receiving, by the first terminal, a positioning request response that is sent by the second terminal, where the positioning request is The response includes the current location information of the second terminal itself, and determines a second direction angle of the second terminal opposite to the second terminal according to the receiving antenna;

The first terminal selects a positioning request response fed back by the at least one second terminal, and determines the current location information of the location according to the longitude, latitude, relative distance, and the second direction angle in the selected positioning request response.

The embodiment of the invention further provides a terminal, including:

a positioning initiation module, configured to send a broadcast positioning request to the second terminal;

An information acquiring module, configured to receive a positioning request response that is sent by the second terminal, where the positioning request response includes location information of the second terminal itself;

And a calculating module, configured to determine location information of the terminal itself based on the location information of the second terminal.

The embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores computer executable instructions, and the computer executable instructions are used to execute the terminal positioning method according to the embodiment of the present invention.

The beneficial effects of the embodiments of the present invention are:

According to the terminal positioning method, the terminal, and the computer storage medium provided by the embodiment of the present invention, the first terminal may send a positioning request to the second terminal, and after receiving the positioning request, the second terminal feeds back the positioning request response, and the feedback positioning request response includes The location information of the second terminal, after receiving the location request response sent by the second terminal, the first terminal may determine its current location information based on the location information of the second terminal. The solution provided by the embodiment of the present invention can directly acquire the location information of the second terminal by interacting with other second terminals, and then according to the obtained location information of the second terminal, even when the first terminal cannot obtain the positioning satellite information. Calculate your current location information.

DRAWINGS

1 is a schematic diagram of a terminal distribution;

2 is a schematic flowchart of a terminal positioning method according to Embodiment 1 of the present invention;

3 is a schematic diagram of a circular distribution determined by three points in the first embodiment of the present invention;

4 is a schematic diagram showing distribution of a first terminal antenna according to Embodiment 1 of the present invention;

FIG. 5 is a schematic diagram showing a circular distribution determined by two points in the first embodiment of the present invention; FIG.

6 is a schematic structural diagram of a first terminal according to Embodiment 2 of the present invention;

7 is a schematic structural diagram of a second terminal according to Embodiment 2 of the present invention;

FIG. 8 is a schematic structural diagram of another first terminal according to Embodiment 2 of the present invention; FIG.

FIG. 9 is a schematic flowchart of a terminal positioning method according to Embodiment 2 of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Embodiment 1:

In this embodiment, the terminal that needs to locate itself is the first terminal, and each terminal that is said to be located by the first terminal is the second terminal. The first terminal and the second terminal in this embodiment may be terminals of the same type or terminals of different types. For example, mobile terminals such as mobile phones and tablets (Pad) are used. The first terminal in this embodiment may also have a satellite positioning function and/or a function of positioning through a base station. The first terminal in this embodiment may preferentially use the satellite positioning function and/or the base station positioning function, and may use the positioning solution provided by the present invention after the satellite positioning failure and/or the base station positioning function fails, or directly use the provided by the present invention. Program. The second terminal in the present invention also supports a satellite positioning function and/or a base station positioning function. The first terminal positioning solution provided by the embodiment of the present invention is particularly applicable to a scenario in which the first terminal itself is incapable of acquiring the positioning satellite information and wants to obtain its own accurate positioning information. For example, the application scenario shown in Figure 1. Below this The positioning scheme provided by the embodiment of the invention is exemplified.

Referring to FIG. 2, the terminal positioning method provided in this embodiment includes:

S201: The first terminal sends a positioning request to the second terminal.

In this embodiment, the first terminal and the second terminal can implement information transmission through D2D (Device to Device) communication, and the communication can be implemented through various wireless communication modes, and the broadcast can be performed by broadcasting or unicast. The way to send a location request. For example, the communication between the two includes but is not limited to RTP (Real-time Transport Protocol), Bluetooth, infrared, NFC (Near Field Communication), WIFI (WIreless-Fidelity) Any of them. The following is an example of the RTP protocol. It should be understood that other communication modes other than D2D communication may also be adopted between the first terminal and the second terminal in this embodiment.

When the positioning request is sent by using the RTP protocol, the first terminal may specifically define a frame for sending the location request information in the downlink sequence that is sent, and the second terminal may identify the frame as the positioning request after receiving the frame, and the frame is further It can carry the transmission time (T1). It is assumed that the first terminal is the terminal UE0 shown in FIG. 1, and the terminal UE0 can send a positioning request to each second terminal in the outdoor manner by means of broadcast.

S202: The first terminal receives a positioning request response fed back by the second terminal.

After receiving the positioning request sent by the positioning terminal, each second terminal can obtain its current location information by using its own positioning function, and feed back to the first terminal according to the positioning request response. The second terminal in this embodiment may adopt a satellite positioning, a base station positioning, or any other positioning manner that can acquire its own location information. When the positioning accuracy requirement is relatively high, the second terminal may be required to perform positioning by using satellite positioning, and the feedback position information includes longitude and latitude.

S203: The first terminal determines current location information of the terminal based on the location information of the second terminal.

After receiving the location information fed back by each second terminal, the first terminal may calculate its own location information by using a corresponding positioning algorithm. It should be understood that, in this embodiment, the adopted The bit algorithm is different, and the number of position information to be acquired can also be flexibly changed. In this embodiment, any positioning algorithm that can calculate its own location information based on location information of other terminals may be used. Examples include, but are not limited to, Trilateration positioning algorithms.

In this embodiment, the location information further includes a relative distance between the second terminal and the first terminal, and the relative distance is equal to the positioning request or the product of the transmission time and the transmission rate between the first terminal and the second terminal for the positioning request response. . The specific calculation method is as follows.

The positioning request sent by the first terminal to the second terminal includes a sending time T1. After receiving the positioning request, the second terminal may record the receiving time T2, where (T2-T1) is the positioning request transmission time; according to T1 and T2 and the The relative distance d between the first terminal and the second terminal can be calculated by the transmission rate C of the communication mode used by the terminal when transmitting the positioning request:

The specific calculation formula is: d=(T2-T1)×C.

It should be understood that the relative distance d in this embodiment can also be calculated by the first terminal. For example, the first terminal may record the time T1 when the positioning request is sent by itself, and the second terminal may include the time T2 when the positioning request response is received, and the first terminal may calculate the relative distance d by using the above formula. For another example, the second terminal may add a time T3 for transmitting the response in the feedback location request response, and the first terminal records the time T4 when the positioning request response is received, and (T4-T3) is the positioning request response transmission time, and then according to the following The formula can also calculate the relative distance d:

The specific calculation formula is: d=(T4-T3)×C.

In this embodiment, the location information fed back by the second terminal includes longitude and latitude. When the second terminal adopts not satellite positioning but other positioning methods, the obtained specific positioning information may be converted into longitude and latitude. In this embodiment, when the first terminal calculates its current location information based on the location information of the second terminal, the number of the location information selected may be exemplified according to the specific positioning algorithm currently adopted and the specific application scenario. The following is an example of several positioning algorithms.

An example of using a trilateration positioning algorithm is as follows.

The first terminal selects location information in the at least three positioning request responses from the received multiple positioning request responses as the target location information, and calculates the current current by combining the longitude, latitude, and relative distance in the selected at least three positioning request responses. Location information. The following is an example of selecting three positioning request responses as an example.

When the first terminal determines that the received positioning request response is less than three, or if the received valid location information is less than three, the positioning request may be re-initiated, and then the above process is repeated. However, when the three times of re-initiating the N positioning request does not receive the three valid location information, the number of the second terminals that can obtain the valid location information is insufficient. The user may be prompted to move a certain distance and then retry or directly prompt the user to locate the failure. Or suggest using other targeting features for targeting. The value of N is greater than or equal to 1, and the specific value can be flexibly set according to the specific application scenario.

When the valid location information received by the first terminal exceeds three, three of the received location information may be selected according to a certain selection principle (for example, selecting the location information with the largest difference of the three locations, etc.), or according to a certain The selection principle selects three sets of three pieces of position information from the received position information, and then calculates a plurality of sets of position information of the first terminal, and takes an average of the plurality of sets of position information as the final position information of the first terminal. The process of calculating a set of three pieces of position information is described below as an example.

The first terminal calculates its current location information by combining the selected three target location information and the corresponding three relative distances, including:

The first terminal respectively uses the coordinates determined by the longitude and latitude of the three position information as a center, and respectively determines three circles by using the corresponding three relative distances as a radius;

The first terminal calculates the coordinates of the intersection of the three circles as the current position information of itself.

Referring to FIG. 3, the first terminal respectively determines coordinates (x1, y1), (x2, y2), (x3, y3) of longitude and latitude included in three pieces of position information, and respectively has corresponding three relative distances. D1, d2, and d3 determine three circles for the radius, and the coordinates (x0, y0) of the intersection of the three circles are the bits of the first terminal itself. Set the information.

Specifically, the embodiment can be illustrated by using a Trilateration positioning algorithm. Analysis as above:

Three-point positions (x1, y1), (x2, y2), (x3, y3) are known.

The unknown point (x0, y0) is known to the three-point distance d1, d2, d3.

Taking d1, d2, and d3 as the radius, three circles are obtained. According to Pythagorean theorem, the position calculation formula of the intersection point, that is, the unknown point is obtained:

(x1-x0)2+(y1-y0)2=d12........................(1)

(x2-x0)2+(y2-y0)2=d22........................(2)

(x3-x0)2+(y3-y0)2=d32........................(3)

In this embodiment, when the Trilateration positioning algorithm is selected, the selected three target position information are not on the same straight line. That is, the abscissa x or the ordinate y cannot be the same.

The above calculation process in this embodiment is applicable to the Cartesian coordinate system, and the latitude and longitude belongs to the spherical coordinate system, so the longitude and latitude can be converted to the coordinates in the Cartesian coordinate system first, and then substituted into the formula for calculation. The calculated position information is also the coordinate in the direct coordinate system. If the latitude and longitude position information is needed, only the corresponding inverse conversion is needed to obtain the corresponding latitude and longitude.

An example of a positioning algorithm combined with a direction angle is as follows.

Example 1:

The first terminal further determines, by using the receiving antenna, a direction angle of each second terminal that responds to the positioning request response;

Then, the first terminal selects a positioning request response fed back by the at least one second terminal, and determines the current position of the second terminal in response to the longitude, latitude and relative distance in the selected positioning request response, and the direction angle of the second terminal that feeds back the positioning request response. information. The following is an example of selecting a positioning request response that is fed back by two second terminals, but it should be understood that the number of positioning request responses fed back by the second terminal selected in this embodiment may be flexibly changed.

When the first terminal selects the positioning request response fed back by the two second terminals, the coordinates determined by the longitude and latitude in the selected positioning request response are the center of the circle, and the two circles are respectively determined by using the corresponding two relative distances as a radius, and then Calculating coordinates of intersections of the two circles, and selecting, from each of the obtained intersections, a second direction angle of the two centers with respect to the intersection point and a second direction angle of the two second terminals with respect to itself The intersection point, as its current location information. The above algorithm is exemplified below with reference to the accompanying drawings.

For a second direction angle of each second terminal that determines a feedback positioning request response by the first terminal, the MIMO terminal with the first terminal being a 4×4 antenna is taken as an example for illustration. See Figure 4,

The first terminal UE_0 has four receiving antennas, which are respectively ANT1, ANT2, ANT3 and ANT4 as shown in the figure; θ1, θ2, θ3, θ4 are the angles of the ANT1 and ANT2 antennas, the angle between the ANT2 and the ANT3 antenna, and the ANT3. The angle between the ANT4 antenna and the angle between the ANT4 and the ANT1 antenna can be saved in UE_0 beforehand. It is assumed that UE_0 receives the information transmitted by UE_i, and can know the information strength received by the four receiving antennas. The following figure is an example. When the signal received by ANT2 is strong, it can be judged that UE_i is in the second quadrant, and then compare the signals of two adjacent receiving antennas. If ATNT1>ANT3, UE_i is in the direction range of UE_0θ1; if ATNT1 <ANT3, UE_i is in the direction range of UE_0θ2. Combined with the southeast-southwest direction, the second direction angle of each second terminal can be determined, for example, in the southeast direction or the northeast direction, thereby reducing the number of terminals to be positioned and improving the positioning accuracy.

Referring to FIG. 5, it is assumed that the second direction angles of the second terminal UE_1 and UE_2 relative to UE_0 of the two feedback positioning request responses are the northwest direction and the northeast direction, respectively. The relative distances of UE_1 and UE_2 and UE_0 are respectively d ₁ and d ₂ , and the latitude and longitude information of UE_1 and UE_2 are respectively represented as (x1, y1), (x2, y2), and the following formula can be obtained:

(x1-x0)2+(y1-y0)2=d12........................(4)

(x2-x0)2+(y2-y0)2=d22........................(5)

Combining the above two formulas (4) and (5) to obtain the binary quadratic equations, all the intersections of the two circles can be obtained by calculation. Assume that the intersection A and the intersection B in Fig. 5 are obtained. The intersection A is relatively (x1, y1) in the southwest direction, and the relative (x2, y2) is in the southeast direction, and is inconsistent with the second direction angle determined by the receiving antenna described above, and is eliminated. The intersection B is opposite (x1, y1) to the northwest direction, and the relative (x2, y2) is the northeast direction, which coincides with the second direction angle determined by the receiving antenna described above, and thus the intersection B is determined to be the current position of the first terminal.

Example two:

The determining of the direction angle may also be determined by the second terminal. Specifically, the second terminal may determine the first direction angle of the first terminal relative to itself according to the receiving antenna of the second terminal, and carry the first direction angle in the position. Information. Then, the first terminal selects a positioning request response fed back by the at least one second terminal from the received positioning request response, and determines the current location information according to the longitude, the latitude, the relative distance, and the first direction angle in the selected positioning request response. , similarly, the determination process is as follows:

The first terminal uses the coordinates determined by the longitude and latitude in the selected two positioning request responses as the center of the circle, and determines two circles by using the corresponding two relative distances as the radius respectively;

The first terminal calculates the coordinates of the intersection of the two circles, and selects, from each of the obtained intersection points, an intersection point of the direction angle of the two centers with respect to the intersection point and the first direction angle of the two positioning request responses as the self Current location information. Here, the matching with the first direction angle means that the intersection angle of the intersection point with respect to the two centers is the same as the first direction angle.

As described above, before the first terminal sends a positioning request to the second terminal, the first terminal may first perform positioning by using other positioning functions of the first terminal, for example, starting the satellite positioning function to locate the position thereof, and when the satellite positioning fails. Sending a location request to the second terminal. The first terminal can start timing after starting the satellite positioning function. If the positioning satellite information is not acquired within the set time, it is determined that the satellite positioning fails, and the positioning mode provided in this embodiment is started.

In this embodiment, when the first terminal sends the location request to the second terminal, the method further includes generating the The way the bit is requested. It should be understood that the manner in which the location request is generated may also be different according to different application scenarios. For example, in this embodiment, the positioning request information may be set in the optional field of the packet header of the transmission control protocol/internet protocol packet to generate a positioning request, and then sent to the second terminal according to a certain rule, and may be sent at a certain time interval according to a certain rule. Or other sending principles to send.

After the first terminal determines its current location information based on the location information of the second terminal, the method further includes stopping the broadcast of the location request to the second terminal.

In the following, the first terminal is applied to LTE (Long Term Evolution), and the LTE FDD (Frequency Division Duplexing) type radio frame is taken as an example for description. The frame length of the radio frame is 10 ms, and each frame includes 10 subframes and 20 slots. In this embodiment, the positioning request may be sent on the sixth time slot, and the first time is within a certain period of time (for example, every 10 ms). The terminal transmits the positioning request information to the surrounding second terminal (that is, the auxiliary terminal) through the slot #6, and the second terminal can return the positioning request response in the eighth time slot.

The data format of the positioning request in this embodiment may adopt a packet header structure of a transmission control protocol/internet protocol packet, as shown in Table 1:

Table 1

in FIG. 1:

(1) The version number is 4 digits, which refers to the version of the IP protocol. The version of the IP protocol used by both parties must be the same.

(2) The length of the header is 4 digits, and the maximum decimal value that can be represented is 15.

(3) The service type is 8 digits for better service. This field is called the service type in the old standard, but it has never been used. In 1998, the IETF renamed this field to differentiated services (DS). This field only works when using DiffServ.

(4) The total length is 16 bits, and the total length refers to the length of the sum of the header and the data, and the unit is byte. The total length field is 16 bits, so the maximum length of the datagram is 216-1 = 65535 bytes.

(5) The identifier (16 digits). The IP software maintains a counter in memory. Each time a datagram is generated, the counter is incremented by one and the value is assigned to the identification field.

(6) The flag (flag) occupies 3 digits, but currently only 2 digits make sense.

● The lowest bit in the flag field is MF (More Fragment). MF=1 means that there is a datagram followed by "segmentation". MF=0 means that this is the last of several datagrams.

● A bit in the middle of the flag field is marked as DF (Don't Fragment), meaning "cannot be fragmented." Fragmentation is only allowed when DF=0.

(7) The slice offset accounts for 13 bits. The slice offset indicates the relative position of a slice in the original packet after the slice is sliced.

(8) The survival time is 8 digits. The English abbreviation commonly used in the survival time field is TTL (Time To Live), indicating the lifetime of the datagram in the network.

(9) The protocol occupies 8 bits. The protocol field indicates which protocol is used for the data carried in the datagram, so that the IP layer of the destination host knows which process the data part should be handed over to.

(10) The first inspection and 16 digits. This field only checks the header of the datagram, but does not include the data portion.

(11) The source IP address is 32 bits.

(12) The destination IP address is 32 bits.

(13) The optional field occupies 32 bits. In this embodiment, the positioning request information may be added.

In this embodiment, the location information of the second terminal is obtained by performing the interaction between the first terminal and the second terminal that can obtain the location information by using the D2D, and the location information of the first terminal is obtained by using the location algorithm. It is especially suitable for scenarios in which the satellite positioning function of the first terminal cannot be applied normally.

Embodiment 2:

This embodiment provides a terminal, as the first terminal, as shown in FIG. 6, the method includes:

The location initiating module 41 is configured to send a location request to the second terminal.

The information obtaining module 42 is configured to receive a positioning request response fed back by the second terminal, where the positioning request response includes location information of the second terminal itself;

The calculating module 43 is configured to determine location information of the terminal based on the location information of the second terminal.

In this embodiment, the first terminal and the second terminal can communicate through various wireless communication modes. The first terminal is provided with a first wireless communication transceiver module 44, which can send a positioning request by using a broadcast or a unicast manner. For example, the communication mode of the first wireless communication transceiver module 44 includes but is not limited to RTP (Real-time Transport Protocol) protocol, Bluetooth, infrared, NFC (Near Field Communication), WIFI (WIreless- Any of FIdelity).

When the positioning request is sent by using the RTP protocol, the first terminal may specifically define a frame for sending the location request information in the downlink sequence that is sent, and the second terminal may identify the frame as the positioning request after receiving the frame, and the frame is further It can carry the transmission time T1. It is assumed that the first terminal is the terminal UE0 shown in FIG. 1, and the terminal UE0 can send a positioning request to each second terminal in the outdoor manner by means of broadcast.

Referring to FIG. 7, the second terminal includes a second wireless communication transceiver module 54 and an information scheduling module. Block 53, control module 52 and second positioning module 51.

After receiving the location request, the second wireless communication transceiver module 54 may calculate according to the transmission time T1 included in the location request, the reception time T2 of receiving the location request, and the transmission rate C of the communication mode used when receiving the location request. Obtaining a relative distance d between the first terminal and the second terminal: a specific calculation formula is: d=(T2-T1)×C. The positioning request and the relative distance d are then sent to the information scheduling module 53.

The information scheduling module 53 can identify the received message as a positioning request according to a preset rule, cache the relative distance d sent by the second wireless communication transceiver module 54, and send a positioning information request to the control module 52.

After receiving the positioning information request, the control module 52 sends a location information request to the second positioning module 51.

The second positioning module 51 determines whether the location information is acquired by itself (the satellite positioning, the base station positioning, or any other positioning method capable of acquiring the local location information may be used), and if so, the correct response including the location information is fed back to the control module 52, otherwise, Reject or locate a failed response.

After receiving the response containing the location information, the control module 52 sends the location information to the information scheduling module 53;

The information scheduling module 53 extracts the previously cached relative distance and generates a positioning request response together with the addition to the location information, and sends it to the first terminal through the second wireless communication transceiver module 54. The first wireless communication transceiver module 44 of the first terminal receives the feedback and sends the information to the information acquisition module 42.

In this embodiment, the location information fed back by the second terminal includes longitude and latitude. When the second terminal adopts not satellite positioning but other positioning methods, the obtained specific positioning information may be converted into longitude and latitude. In this embodiment, the first terminal calculates its current location information based on the location information of the second terminal, including:

The calculating module 43 in the terminal is configured to select location information in the at least three positioning request responses as the target location information from the received multiple positioning request responses, and combine the selected at least three The position information of the positioning request response is calculated by the longitude, latitude, and relative distance in the response request. The following is an example of selecting three positioning request responses as an example.

When the first terminal determines that the received positioning request response is less than three, or the received valid location information is less than three, the location initiating module 41 may re-initiate the positioning request, and then repeat the foregoing process. However, when the three times of re-initiating the N positioning request does not receive the three valid location information, the number of the second terminals that can obtain the valid location information is insufficient. The user may be prompted to move a certain distance and then retry or directly prompt the user to locate the failure. Or suggest using other targeting features for targeting. The value of N is greater than or equal to 1, and the specific value can be flexibly set according to the specific application scenario.

When the valid location information received by the first terminal exceeds three, the calculation module 43 may select three of the received location information according to a certain selection principle (for example, selecting location information with the largest difference of three locations, etc.), or The plurality of sets of three pieces of position information are selected from the received position information according to a certain selection principle, and then the plurality of sets of position information of the first terminal are calculated, and the average value of the plurality of sets of position information is taken as the final position information of the first terminal. The process of calculating a set of three pieces of position information is described below as an example.

The calculating module 43 calculates the position information of the third target position information and the corresponding three relative distances, including:

The calculation module 43 respectively determines the coordinates determined by the longitude and latitude of the three position information as a center, and respectively determines three circles by using the corresponding three relative distances as a radius;

The calculation module 43 calculates the coordinates of the intersection of the three circles as the current position information of itself.

In this embodiment, when the calculation module 43 selects the Trilateration positioning algorithm, the selected three target position information are not on the same straight line, that is, the abscissa X or the ordinate Y cannot be the same.

As shown in FIG. 6 , the first terminal in this embodiment may further include a direction angle acquiring module 48 configured to determine, by using the receiving antenna, a direction angle of each second terminal that responds to the positioning request response.

The calculating module 43 may further select a positioning request response fed back by the at least one second terminal, determine the longitude, the latitude and the relative distance in the selected positioning request response, and the direction angle of the second terminal that feeds back the positioning request response, and determine the self. Current location information. The following is an example of selecting a positioning request response that is fed back by two second terminals, but it should be understood that the number of positioning request responses fed back by the second terminal selected in this embodiment may be flexibly changed.

When the first terminal selects the positioning request response fed back by the two second terminals, the coordinates determined by the longitude and latitude in the selected positioning request response are the center of the circle, and the two circles are respectively determined by using the corresponding two relative distances as a radius, and then Calculating coordinates of the intersection of the two circles, and selecting, from each of the obtained intersection points, an intersection angle of the two centers with respect to the intersection point and an intersection angle of the two second terminals with respect to the direction angle of the second terminal, as The current location information of the first terminal.

As described above, before the first terminal sends a positioning request to the second terminal, the first terminal may first perform positioning by using other positioning functions of the first terminal, for example, starting the satellite positioning function to locate the position thereof, and when the satellite positioning fails. Sending a location request to the second terminal. The first terminal can start timing after starting the satellite positioning function. If the positioning satellite information is not acquired within the set time, it is determined that the satellite positioning fails, and the positioning mode provided in this embodiment is started. For example, referring to FIG. 8 , the first terminal may further include a first control module 45 , a first positioning module 46 , and a timing module 47 . Initially, the first control module 45 performs positioning by the first positioning module 46, and the timing module 47 starts timing. When the timing time value reaches a preset value, the first control module 45 does not receive the effective position fed back by the first positioning module. When the information is received, the first control module 45 encapsulates the location request packet and sends it to the location initiation module 41 for transmission to the second terminal.

In this embodiment, the location information of the second terminal is obtained by performing the interaction between the first terminal and the second terminal that can obtain the location information through the D2D (Device to Device, the communication between the terminal and the terminal), and is based on the location. The algorithm calculates the location information of the first terminal, which is particularly suitable for a scenario in which the satellite positioning function of the first terminal cannot be applied normally. Obviously, those skilled in the art should understand that the modules or steps of the above embodiments of the present invention can be used. Implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed over a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that Storing them in a computer storage medium (ROM/RAM, disk, optical disk) is performed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that herein, or They are fabricated as individual integrated circuit modules, or a plurality of modules or steps thereof are fabricated into a single integrated circuit module. Therefore, the invention is not limited to any particular combination of hardware and software.

For a better understanding of the present invention, the application scenario shown in FIG. 1 is taken as an example. The first terminal is UE0, and UE1, UE2, ... UEi are second terminals. UE0 first starts the satellite positioning function for positioning. The process is shown in Figure 9, including:

S701: UE0 starts the satellite positioning function to perform positioning, and starts timing.

S702: Determine whether the valid location information is acquired within the preset time, and if yes, go to S709, otherwise, go to S703.

S703: The UE0 sends a positioning request to each of the second terminals UE1, UE2, ..., UEi in the outdoor by using the D2D mode.

S704: The UE0 receives the positioning request response fed back by the second terminal.

S705: Determine whether the received positioning request response is greater than or equal to three, and if yes, go to S708; otherwise, go to S706.

S706: The count value N is increased by 1.

S707: Determine whether the count value N is greater than or equal to a preset value. If no, go to S703; otherwise, go to S709.

S708: UE0 calculates its own location information based on the location information in the received location request response and the corresponding relative distance.

S709: The positioning is over.

In the several embodiments provided by the present invention, it should be understood that the disclosed method and apparatus, It can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be another division manner, for example, multiple modules or components may be combined, or Can be integrated into another system, or some features can be ignored or not executed. In addition, the communication connections between the various components shown or discussed may be indirect coupling or communication connections through some interfaces, devices or modules, and may be electrical, mechanical or otherwise.

The modules described above as separate components may or may not be physically separated. The components displayed as modules may or may not be physical modules, that is, may be located in one place or distributed to multiple network modules; Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may be separately used as one module, or two or more modules may be integrated into one module; The module can be implemented in the form of hardware or in the form of hardware plus software function modules.

It will be understood by those skilled in the art that all or part of the steps of implementing the foregoing method embodiments may be performed by hardware related to program instructions. The foregoing program may be stored in a computer readable storage medium, and when executed, the program includes The foregoing steps of the method embodiment; and the foregoing storage medium includes: a removable storage device, a read-only memory (ROM), a magnetic disk or an optical disk, and the like, which can store program codes.

Alternatively, the above-described integrated module of the embodiment of the present invention may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as a stand-alone product. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions. Enabling a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods of the various embodiments of the present invention All or part. The foregoing storage medium includes various media that can store program codes, such as a mobile storage device, a ROM, a magnetic disk, or an optical disk.

The memory switching method and apparatus described in the embodiments of the present invention are only exemplified by the foregoing embodiments, but are not limited thereto, and those skilled in the art should understand that the technical solutions described in the foregoing embodiments may still be modified. Equivalent replacement of some or all of the technical features may be made without departing from the scope of the technical solutions of the embodiments of the present invention.

The above is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention.

Industrial applicability

When the first terminal is unable to obtain the positioning satellite information, the technical solution of the second terminal may directly acquire the location information of the second terminal by interacting with other second terminals, and further calculate the location information of the second terminal according to the obtained location information of the second terminal. Get your current location information.

Claims

A terminal positioning method includes:

The first terminal broadcasts a positioning request to the second terminal;

Receiving, by the first terminal, a location request response that is sent by the second terminal, where the location request response includes location information of the second terminal itself;

The first terminal determines its current location information based on the location information of the second terminal.
The terminal locating method according to claim 1, wherein the location information includes a longitude and a latitude of the second terminal, and a relative distance between the second terminal and the first terminal, where the relative distance is equal to the positioning request or The positioning request is responsive to a product of a transmission time between the first terminal and the second terminal and a transmission rate.
The terminal locating method according to claim 2, wherein the determining, by the first terminal, the location information of the second terminal based on the location information of the second terminal comprises:

Selecting location information in at least three positioning request responses from the received plurality of positioning request responses as the target location information;

The position information of the self is calculated in combination with the longitude, latitude and relative distance in the at least three target position information.
The terminal locating method according to claim 3, wherein the first terminal selects location information in three positioning request responses as target location information from the received plurality of positioning request responses;

Combining the longitude, latitude and relative distance in the three target position information, the current position information is calculated by the trilateration positioning algorithm.
The terminal positioning method according to claim 2, wherein the location information further comprises a first direction angle of the first terminal relative to itself determined by the second terminal according to the receiving antenna;

Determining, by the first terminal, a location information packet of the second terminal based on the location information of the second terminal include:

The first terminal selects a positioning request response fed back by the at least one second terminal, and determines the location information of the location according to the longitude, the latitude, the relative distance, and the first direction angle in the selected positioning request response.
The terminal positioning method according to claim 5, wherein the first terminal selects a positioning request response fed back by two second terminals;

Determining, by the first terminal, a coordinate determined by longitude and latitude in the selected two positioning request responses as a center, and determining two circles by using the corresponding two relative distances as a radius;

The first terminal calculates coordinates of intersections of the two circles, and selects, from among the obtained intersection points, a direction angle of the two centers with respect to the intersection point and a first direction angle of the two positioning request responses The matching intersection is used as its own location information.
The terminal locating method according to any one of claims 1-6, wherein the first terminal sends a positioning request to the second terminal by using a real-time transmission protocol, Bluetooth, infrared, NFC or WIFI.
The terminal locating method according to any one of claims 1-6, wherein before the first terminal sends the location request to the second terminal, the method further includes:

The satellite positioning function is activated to locate its own position, and a positioning request is sent to the second terminal when the satellite positioning fails.
The terminal locating method according to any one of claims 1-6, wherein before the first terminal sends the location request to the second terminal, the method further includes: generating a location request, including:

Setting a positioning request information to generate a positioning request in an optional field of a packet header of a Transmission Control Protocol/Internet Protocol packet;

After the first terminal determines its current location information based on the location information of the second terminal, the method further includes:

Stop broadcasting a positioning request to the second terminal.
A terminal positioning method includes:

The first terminal broadcasts a positioning request to the second terminal;

Receiving, by the first terminal, a positioning request response that is sent by the second terminal, where the positioning request response includes location information of the second terminal itself, and determining, according to the receiving antenna, a second direction angle of the second terminal opposite to the second terminal;

The first terminal selects a positioning request response fed back by the at least one second terminal, and determines the current location information of the location according to the longitude, latitude, relative distance, and the second direction angle in the selected positioning request response.
A terminal comprising:

a positioning initiation module configured to broadcast a positioning request to the second terminal;

An information acquiring module, configured to receive a positioning request response that is sent by the second terminal, where the positioning request response includes location information of the second terminal itself;

And a calculating module, configured to determine location information of the terminal itself based on the location information of the second terminal.
The terminal according to claim 11, wherein the location information includes a longitude, a latitude of the second terminal, and a relative distance between the second terminal and the terminal, the relative distance being equal to the positioning request or the positioning request. Responding to the product of the transmission time between the terminal and the second terminal and the transmission rate.
The terminal according to claim 12, wherein the calculation module is configured to select location information in at least three location request responses from the received plurality of location request responses as target location information, in combination with the at least three targets The longitude, latitude, and relative distance in the location information calculate the location information of the terminal itself.
The terminal according to claim 12, further comprising a direction angle acquiring module configured to determine, by the receiving antenna, a direction angle of each second terminal that feeds back the positioning request response;

The calculating module is configured to select a positioning request response fed back by at least one second terminal, and The longitude, latitude and relative distance in the selected positioning request response, and the direction angle of the second terminal that feeds back the positioning request response, determine its own position information.
A computer storage medium having stored therein computer executable instructions for performing the terminal positioning method of any one of claims 1 to 9.
A computer storage medium having stored therein computer executable instructions for performing the terminal positioning method of claim 10.