WO2021103729A1 - Procédé et appareil de positionnement entre terminaux - Google Patents

Procédé et appareil de positionnement entre terminaux Download PDF

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Publication number
WO2021103729A1
WO2021103729A1 PCT/CN2020/113054 CN2020113054W WO2021103729A1 WO 2021103729 A1 WO2021103729 A1 WO 2021103729A1 CN 2020113054 W CN2020113054 W CN 2020113054W WO 2021103729 A1 WO2021103729 A1 WO 2021103729A1
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WIPO (PCT)
Prior art keywords
terminal
information
coordinate system
relative
target
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PCT/CN2020/113054
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English (en)
Chinese (zh)
Inventor
岳增阳
顾燕杰
岳华伟
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华为技术有限公司
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Publication of WO2021103729A1 publication Critical patent/WO2021103729A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Definitions

  • This application relates to the field of positioning technology, and in particular to methods and devices for positioning between terminals.
  • GNSS Global Navigation Satellite System
  • GNSS satellite positioning uses the satellite navigation and positioning system to obtain the longitude and latitude position and speed information of the terminal equipment through the principle of distance measurement.
  • WiFi-based location fingerprint positioning refers to the use of WiFi access points to locate the terminal device.
  • the location fingerprint associates a location in the actual environment with a certain "fingerprint", and a location corresponds to a unique fingerprint.
  • the terminal device receives or sends a signal, then the fingerprint can be the signal strength of this signal. By sensing the signal strength, the current location of the terminal device can be matched.
  • the base station assisted positioning based on the Cell-Id is based on the positioning method of the Global System for Mobile Communications (GSM) network, that is, the GSM network obtains the cell number of the terminal device and combines this The location information corresponding to the cell is used as the location of the terminal device.
  • GSM Global System for Mobile Communications
  • the above-mentioned positioning technologies all calculate the absolute position of the terminal device through known anchor point positions (such as GNSS satellites, WiFi access points, base stations, etc.) and related measurements.
  • anchor point positions such as GNSS satellites, WiFi access points, base stations, etc.
  • Such positioning technology has requirements for positioning occasions, and the positioning accuracy is usually not high.
  • the GNSS satellite positioning accuracy is 5-20 meters, which is only suitable for outdoor scenes; the position fingerprint positioning accuracy is more than ten meters to tens of meters, and it is very dependent on the deployment of WiFi access points.
  • the cost is high and the application scenarios are more limited; base station assistance
  • the positioning accuracy is several hundred meters, and the application scenarios are further restricted.
  • the present application discloses a positioning method and device between terminals, which can realize high-precision mutual positioning between terminals without relying on anchor points, meet the requirements of various application scenarios, and improve user experience.
  • this application provides a method for positioning between terminals.
  • the method includes: a first terminal detects motion information of a first terminal, where the motion information includes direction information and acceleration information; and the first terminal determines the position according to the direction information and acceleration information.
  • the current first location information of the first terminal the first terminal receives the second location information sent by the second terminal, the second location information indicates the current location of the second terminal; the first terminal measures the first terminal and the second terminal The distance information between the first terminal; the first terminal determines the relative position of the second terminal relative to the first terminal according to the first position information, the second position information, and the distance information.
  • the first terminal According to the relative position, the first terminal generates navigation information for navigating from the first terminal to the second terminal and prompts the navigation information.
  • This article can define the first terminal as the main test equipment, and the first terminal can also be called terminal A.
  • the second terminal is the device under test, and the second terminal can also be referred to as terminal B.
  • the first terminal is referred to as a terminal for short, the second terminal may be referred to as a target terminal.
  • terminal A determines the current first location information of terminal A according to the data collected by its own sensors, and terminal A can also receive the second location information currently sent by terminal B and measure the distance between the two terminals.
  • the distance information so as to realize the positioning between the terminals according to the first position information, the second position information and the distance information. That is to say, when positioning between terminals, only the devices of terminal A and terminal B can be used in unlimited scenarios (both indoors and outdoors), independent of any anchor point, independent of external servers and In the case of basic network facilities and independent of base station communication, high-precision mutual positioning between two terminals can be realized. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
  • the sensor group includes a direction sensor and an acceleration sensor; the first terminal detects the direction information through the direction sensor; the first terminal detects the direction information through the acceleration sensor The acceleration information; the first terminal determines the first location information of the first terminal according to the direction information and the acceleration information.
  • the direction sensor may be at least one of a gyroscope sensor and a digital compass, for example.
  • terminal A’s own direction sensor and acceleration sensor can be used to detect the current direction information and acceleration information of terminal A in real time, without the need to add a new position detection device, and does not rely on external anchors. Points, base stations, servers, etc., also save costs.
  • the first terminal determining the current first position information of the first terminal according to the direction information and the acceleration information includes: the first terminal according to the The acceleration information obtains the movement step length of the first terminal; the first terminal obtains the first position information through pedestrian dead reckoning (PDR) according to the direction information and the movement step length.
  • PDR pedestrian dead reckoning
  • terminal A can use the PDR self-positioning technology. Without absolute position as a reference, terminal A can obtain position information of terminal A relative to the initial time according to the direction information and acceleration information. If the initial time of terminal A is used as the origin to establish a relative motion coordinate system, all subsequent position information of terminal A can be represented by quantified coordinate values, thereby improving the timeliness of terminal A's position information.
  • the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends the fine Time measurement (FTM) request; the first terminal receives the confirmation information returned by the second terminal in response to the FTM request, and the confirmation information indicates the first moment when the second terminal transmits the confirmation information and The time difference between the second time when the second terminal receives the FTM request; the first terminal determines the distance according to the time when the FTM request is sent, the time when the confirmation information is received, and the time difference information.
  • FTM fine Time measurement
  • fine timing measurement (FTM) ranging technology can be used to accurately transmit the signals of terminal A and terminal B through the interaction of the two terminals. With the receiving time, the precise distance between terminal A and terminal B can be obtained. There is no need to add a new distance detection device, and the distance information between the terminals can be measured more accurately, which reduces the cost.
  • FTM fine timing measurement
  • the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends light to the second terminal. Signal; the first terminal receives the optical signal reflected from the second terminal; the first terminal according to the optical signal from the time when the first terminal is sent to the first terminal The time of flight between the moments of reception determines the distance information.
  • time of flight (ToF) ranging technology can be used, and the optical transmitter is used to transmit optical pulses to the target terminal.
  • the optical pulses can be lasers, LED light, near-infrared light or infrared light, etc.
  • the light receiver is used to receive the light reflected by the target terminal.
  • the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends a signal to the second terminal Angle of Arrival (AoA) measurement request; the first terminal receives the AoA measurement signal returned from the second terminal in response to the AoA measurement request through a different antenna; the first terminal is based on all the signals received by the different antenna The phase difference of the AoA measurement signal determines the angle of arrival of the AoA measurement signal, and the first terminal determines the distance information according to the angle of arrival of the AoA measurement signal.
  • AoA Angle of Arrival
  • the terminal A can also use the angle-of-arrival (Angle-of-Arrival, AoA) measurement technology for ranging.
  • the communication module of terminal A includes two or more antennas.
  • the terminal and the target terminal perform mobile communication or wireless communication, due to the distance between different antennas of the same communication module, when electromagnetic wave signals with a certain incident angle reach different antennas, the electromagnetic waves received by the different antennas will have phases.
  • the angle of arrival (AoA) of the electromagnetic wave signal can be calculated, and then the distance between the terminals can be calculated based on the angle of arrival. Therefore, the distance information between the terminals can be measured more accurately without the need to add a new distance detection device, and the cost can be reduced.
  • the first terminal obtains the relative position of the second terminal relative to the second terminal according to the location information of the first terminal, the location information of the second terminal, and the distance information.
  • the relative position of the first terminal includes: the first terminal determines the first terminal and the second terminal according to the first position information of the first terminal and the second position information of the second terminal Position distribution in the same coordinate system; the first terminal determines the relative position of the second terminal relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system position.
  • the relative position is accurate and reliable. That is to say, real-time positioning of the relative position of the terminal B in the terminal A is realized, and the terminal A can perceive the real-time distance and orientation of the terminal B regardless of whether the terminal B is currently stationary or moving.
  • the first position information of the first terminal indicates the position of the first terminal in the first coordinate system of the first terminal; the first position of the second terminal The second position information indicates the position of the second terminal in the second coordinate system of the second terminal; the first terminal is based on the first position information of the first terminal and the second position of the second terminal Information, determining the position distribution of the first terminal and the second terminal in the same coordinate system, including: the first terminal determining the first rotation between the first coordinate system and the second coordinate system Matrix and the position information of the origin of the second coordinate system mapped in the first coordinate system; the first terminal according to the position information of the second terminal, the first rotation matrix and the second The location information of the origin of the coordinate system mapped in the first coordinate system determines the location information of the second terminal in the first coordinate system.
  • the coordinate system maintained by the terminal A itself may be called the first coordinate system
  • the coordinate system maintained by the terminal B itself may be called the second coordinate system
  • the first coordinate system of the terminal A may be used as the navigation coordinate system.
  • the terminal A can calculate and obtain the rotation matrix between the second coordinate system and the first coordinate system (may be referred to as the first rotation matrix), and the origin of the second coordinate system is mapped to the first coordinate system Location information in.
  • the terminal A performs calculations based on the rotation matrix and the position information of the origin of the second coordinate system in the first coordinate system, thereby converting the position information of the terminal B into the position information in the first coordinate system. location information. That is, it is realized that the position information of terminal A and the position information of terminal B are placed in the same coordinate system for description.
  • the first terminal determines that the second terminal is relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system.
  • the relative position of the terminal includes: the first terminal uses the current position of the first terminal as the origin of the coordinate system and the movement direction of the first terminal as the vertical axis of the coordinate system to establish a third coordinate system; The first terminal determines the second rotation matrix between the third coordinate system and the first coordinate system, and the location information of the origin of the first coordinate system mapped in the third coordinate system; The first terminal determines according to the position information of the second terminal in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped in the third coordinate system The position information of the second terminal in the third coordinate system; the position information of the second terminal in the third coordinate system indicates the relative position of the second terminal with respect to the first terminal.
  • terminal A can further calculate according to the position distribution of terminal A and terminal B in the same coordinate system, and the relative position of terminal B relative to terminal A can be obtained.
  • the calculation method may be: the first terminal establishes a third coordinate system with the location information of the first terminal as the origin; the terminal A uses the current position as the origin of the coordinate system, and the movement direction is the Y axis (vertical axis) , Establish a new coordinate system, which can be called a third coordinate system or a real-time relative navigation coordinate system, and then further transform the position information of the terminal B in the first coordinate system to the third coordinate
  • the terminal A obtains the rotation matrix between the third coordinate system and the first coordinate system (which may be referred to as the second rotation matrix) through calculation, and the origin of the first coordinate system is mapped to the third coordinate
  • the position information in the system the terminal A calculates according to the position information of the terminal B in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped
  • the method further includes: the first terminal obtains the relative position of the third terminal from the second terminal, where the relative position of the third terminal indicates that the third terminal is relatively The relative position of the second terminal; the first terminal determines according to the relative position of the second terminal with respect to the first terminal, and the relative position of the third terminal with respect to the second terminal The relative position of the third terminal relative to the first terminal.
  • the navigation information includes the geographic location information of the first terminal and the geographic location information of the second terminal; the first terminal displays the information from the Before the navigation information from the first terminal to the second terminal, the method further includes: the first terminal acquiring the geographic location information of the first terminal; the first terminal according to the geographic location information of the first terminal, and The relative position of the second terminal with respect to the first terminal obtains the geographic location information of the second terminal.
  • any terminal in the system architecture enables absolute positioning means such as GNSS, and the relative position involved in this application can be converted to an absolute positioning coordinate system.
  • absolute positioning coordinate system E.g. geographic coordinate system/world coordinate system
  • terminal A can obtain the geographic location information (such as latitude and longitude) of terminal A through absolute positioning means such as GNSS in real time, then, The terminal A can obtain the geographical position information of the terminal B in real time according to the geographical position information of the terminal A and the relative position of the terminal B relative to the terminal A.
  • the relative position of terminal B can be sensed on the side of terminal A, and the absolute position of terminal B can also be sensed.
  • the technical advantages of the present application can be combined with the advantages of existing absolute positioning methods such as GNSS navigation to further improve the comprehensive positioning performance of each terminal in the system architecture.
  • this application provides a terminal, including: a sensor group for detecting motion information of the terminal, the motion information including direction information and acceleration information; a transceiver, for receiving a second signal sent by the target terminal Location information, the second location information indicates the current location of the target terminal; a processor, respectively coupled to the sensor group and the transceiver, and configured to determine the location according to the direction information and the acceleration information The current first location information of the terminal; obtaining the distance information between the terminal and the target terminal; and obtaining the target terminal according to the first location information, the second location information, and the distance information Relative position with respect to the terminal; and according to the relative position, generating navigation information for navigating from the terminal to the target terminal; and an interactive device, coupled to the processor, for prompting the navigation information.
  • the terminal may be the first terminal (terminal A) described herein, and the target terminal may be the second terminal (terminal B) described herein.
  • the terminal can implement the method described in the first aspect through the foregoing hardware.
  • the terminal determines the current first position information of the terminal according to the data collected by its own sensors, the terminal can also receive the second position information currently sent by the target terminal through the transceiver, and obtain the two positions through the processor.
  • the distance information between the terminals so as to realize the positioning between the terminals according to the first position information, the second position information, and the distance information.
  • the sensor group includes at least one of a direction sensor and an acceleration sensor; at least one of the direction sensors is used to detect direction information of the terminal; the acceleration sensor Used to detect acceleration information of the terminal.
  • the processor is configured to: obtain the motion step length of the terminal according to the acceleration information; according to the direction information and the motion step length, calculate the dead position by pedestrians ( PDR) Obtain the first location information.
  • the processor is configured to: send a fine time measurement (FTM) request to the target terminal through the transceiver; receive a response from the target terminal in response to the FTM request
  • the confirmation information indicates the time difference between the first moment when the target terminal transmits the confirmation information and the second moment when the FTM request is received; the processor is configured to send the FTM request according to The distance information is determined at the time at the time, the time at which the confirmation information is received, and the time difference.
  • FTM fine time measurement
  • the terminal further includes an optical transmitter and an optical receiver; the optical transmitter is used to send an optical signal to the target terminal; the optical receiver is used to receive The optical signal reflected by the target terminal; the processor is configured to determine the flight time between the time when the optical signal is sent by the first terminal and the time when it is received by the first terminal The distance information.
  • the transceiver is further configured to send a signal angle of arrival (AoA) measurement request to the target terminal; and receive signals from the target terminal through different antennas of the transceiver.
  • AoA signal angle of arrival
  • the processor is configured to determine the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas; and according to the AoA measurement The angle of arrival of the signal determines the distance information.
  • the processor is configured to: determine that the terminal and the target terminal are at the same coordinate according to the first location information of the terminal and the second location information of the target terminal Position distribution in the system; determine the relative position of the target terminal relative to the terminal according to the position distribution of the terminal and the target terminal in the same coordinate system.
  • the first position information of the terminal indicates the position of the terminal in the first coordinate system of the terminal;
  • the second position information of the target terminal indicates the target The position of the terminal in the second coordinate system of the target terminal;
  • the processor is configured to: determine a first rotation matrix between the first coordinate system and the second coordinate system, and the second coordinate system The location information of the origin of the mapping in the first coordinate system; the location of the origin mapped in the first coordinate system according to the location information of the target terminal, the first rotation matrix, and the origin of the second coordinate system Information, determining the location information of the target terminal in the first coordinate system.
  • the processor is configured to: use the current position of the terminal as the origin of the coordinate system and use the movement direction of the terminal as the vertical axis of the coordinate system to establish a third coordinate system Determine the second rotation matrix between the third coordinate system and the first coordinate system, and the location information of the origin of the first coordinate system mapped in the third coordinate system; according to the target terminal
  • the position information in the first coordinate system, the second rotation matrix, and the position information of the origin of the first coordinate system mapped in the third coordinate system determine that the target terminal is in the third coordinate system.
  • the position information in the coordinate system; the position information of the target terminal in the third coordinate system indicates the relative position of the target terminal with respect to the terminal.
  • the processor is configured to: obtain the relative position of the third terminal from the target terminal, where the relative position of the third terminal indicates that the third terminal is relative to the target The relative position of the terminal; the relative position of the third terminal relative to the terminal is determined according to the relative position of the target terminal relative to the terminal and the relative position of the third terminal relative to the target terminal.
  • the navigation information includes geographic location information of the terminal and geographic location information of the target terminal; the transceiver is also used to obtain geographic location information of the terminal The processor is further configured to obtain the geographic location information of the target terminal according to the geographic location information of the terminal and the relative position of the target terminal with respect to the terminal.
  • the present application provides a chip.
  • the chip includes a processor and a data interface.
  • the processor reads instructions stored in a memory through the data interface, and executes the first aspect or any one of the first aspect. Methods in possible implementations.
  • the chip may further include a memory in which instructions are stored, and the processor is configured to execute instructions stored on the memory.
  • the processor is configured to execute the method in the first aspect or any possible embodiment of the first aspect.
  • the present application provides a device that can be applied to a first terminal and includes: a position detection module configured to detect the movement information of the first terminal through a sensor group to determine the position of the first terminal Information, the motion information includes direction information and acceleration information; a communication module for receiving position information of a second terminal; a distance detection module for measuring distance information between the first terminal and the second terminal; The positioning module is configured to obtain the relative position of the second terminal with respect to the first terminal according to the position information of the first terminal, the position information and the distance information of the second terminal.
  • the interaction module is configured to prompt navigation information from the first terminal to the second terminal according to the relative position.
  • the functional modules of the device can be used together to implement the method described in the first aspect or any embodiment of the first aspect.
  • the sensor group includes a direction sensor and an acceleration sensor; the position detection module is configured to: use the direction sensor to detect the direction information; use the acceleration sensor to detect the Acceleration information; determining the first position information of the first terminal according to the direction information and the acceleration information.
  • the position detection module is configured to: obtain the movement step length of the first terminal according to the acceleration information; according to the direction information and the movement step length, pass the pedestrian dead position Prediction (PDR) to obtain the first position information.
  • PDR pedestrian dead position Prediction
  • the distance detection module is specifically configured to: send a fine time measurement (FTM) request to the second terminal; receive confirmation information returned by the second terminal in response to the FTM request
  • the confirmation information indicates the time difference between the first time when the second terminal transmits the confirmation information and the second time when the second terminal receives the FTM request; according to the time when the FTM request is sent , The time of receiving the confirmation information and the time difference, and determining the distance information.
  • FTM fine time measurement
  • the distance detection module is specifically configured to: send an optical signal to the second terminal; receive the optical signal reflected from the second terminal; The time of flight between the time sent by the first terminal and the time received by the first terminal determines the distance information.
  • the distance detection module is specifically configured to: send a signal angle of arrival (AoA) measurement request to the second terminal; and receive a response to the AoA from the second terminal through a different antenna.
  • the AoA measurement signal returned by the measurement request ; determine the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas, and determine the distance information according to the angle of arrival of the AoA measurement signal.
  • the positioning module is specifically configured to: determine the first terminal and the second terminal according to the first position information of the first terminal and the second position information of the second terminal.
  • the position distribution of the second terminal in the same coordinate system; and the relative position of the second terminal relative to the first terminal is determined according to the position distribution of the first terminal and the second terminal in the same coordinate system.
  • the first position information of the first terminal indicates the position of the first terminal in the first coordinate system of the first terminal; the first position of the second terminal 2.
  • the position information indicates the position of the second terminal in the second coordinate system of the second terminal;
  • the positioning module is specifically configured to determine a first rotation matrix between the first coordinate system and the second coordinate system, and the position information of the origin of the second coordinate system mapped in the first coordinate system; According to the position information of the second terminal, the first rotation matrix and the position information of the origin of the second coordinate system mapped in the first coordinate system, it is determined that the second terminal is in the first coordinate system. Location information in the department.
  • the positioning module is specifically configured to: use the current position of the first terminal as the origin of the coordinate system and the movement direction of the first terminal as the vertical axis of the coordinate system to establish A third coordinate system; determine the second rotation matrix between the third coordinate system and the first coordinate system, and the position information of the origin of the first coordinate system mapped in the third coordinate system; according to The location information of the second terminal in the first coordinate system, the second rotation matrix and the location information of the origin of the first coordinate system mapped in the third coordinate system, determine the second The position information of the terminal in the third coordinate system; the position information of the second terminal in the third coordinate system indicates the relative position of the second terminal with respect to the first terminal.
  • the positioning module is further configured to: obtain the relative position of the third terminal from the second terminal, where the relative position of the third terminal indicates that the third terminal is relative to the third terminal.
  • the relative position of the second terminal according to the relative position of the second terminal with respect to the first terminal, and the relative position of the third terminal with respect to the second terminal, it is determined that the third terminal is relative to the Describe the relative position of the first terminal.
  • the navigation information includes the geographic location information of the first terminal and the geographic location information of the second terminal; the positioning module is further configured to: obtain the information of the first terminal Geographical location information; the geographic location information of the second terminal is obtained according to the geographic location information of the first terminal and the relative position of the second terminal with respect to the first terminal.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable medium stores program code for device execution, and the program code includes the program code for executing the first aspect or any one of the first aspect.
  • an embodiment of the present invention provides a computer program product.
  • the computer program product may be a software installation package.
  • the computer program product includes program instructions. When the computer program product is executed by a terminal, the processor of the terminal Perform the method in any one of the embodiments of the foregoing first aspect.
  • the mutual positioning process of terminals only needs to use the hardware of terminal A and terminal B. It can be implemented in unlimited scenarios (both indoors and outdoors) and does not depend on any anchor point. Without relying on external servers and basic network facilities, and without relying on base station communication, high-precision mutual positioning between two terminals can be achieved. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
  • FIG. 1 is a schematic diagram of the architecture of a wireless system that can be used to implement an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a terminal shown in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a scenario of a pedestrian dead-reckoning technology related to an embodiment of the present application
  • FIG. 4 is a schematic diagram of a scene of a fine time measurement technology related to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a scenario of a time-of-flight technology related to an embodiment of the present application
  • FIG. 6 is a schematic diagram of a scene of a signal arrival angle measurement technology related to an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a scene in two coordinate systems provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a time window scenario provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a scene of a radar chart provided by an embodiment of the present application.
  • FIG. 15 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 16 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 17 is a schematic diagram of another architecture of a wireless system that can be used to implement an embodiment of the present application.
  • FIG. 18 is a schematic diagram of another architecture of a wireless system that can be used to implement an embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of the architecture of a wireless system 10 that can be used to implement an embodiment of the present application.
  • the wireless system 10 may include a terminal A and a terminal B.
  • the terminal A may also be referred to as a first terminal
  • the terminal B may also be referred to as a second terminal.
  • any one of terminal A and terminal B may also be referred to as user equipment (UE), subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, Wireless communication equipment, remote equipment, mobile subscriber station, terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handheld, user agent, mobile client, client, or some other suitable term .
  • UE user equipment
  • Wireless communication can be performed between terminal A and terminal B.
  • the wireless communication methods can include but are not limited to: WiFi (Wireless Fidelity, wireless fidelity) communication, Bluetooth (Bluetooth) communication, Zigbee communication, cellular communication, and other based on long-term evolution (Long Term Evolution, LTE) device-to-device (Device to Device, D2D) communication and so on.
  • WiFi Wireless Fidelity, wireless fidelity
  • Bluetooth Bluetooth
  • Zigbee communication Zigbee communication
  • cellular communication and other based on long-term evolution (Long Term Evolution, LTE) device-to-device (Device to Device, D2D) communication and so on.
  • LTE Long Term Evolution
  • D2D Device to Device
  • both terminal A and terminal B may include one or more transceivers, and the one or more transceivers may include WiFi transceivers, Bluetooth transceivers, cellular transceivers, and/or other suitable radio frequency (RF) transceivers.
  • RF radio frequency
  • Each transceiver can communicate with other wireless devices/terminals in different operating frequency bands and/or using different communication protocols.
  • the Wi-Fi transceiver can communicate in the 2.4 GHz frequency band, in the 5 GHz frequency band, and/or in the 60 GHz frequency band according to the IEEE 802.11 specification.
  • the cellular transceiver may be in various RF frequency bands (for example, between about 700MHz to about 3.9GHz) according to the 4G Long Term Evolution (LTE) protocol described by the 3rd Generation Partnership Project (3GPP) and/or according to other cellular protocols (For example, GSM communication protocol) communication.
  • LTE Long Term Evolution
  • 3GPP 3rd Generation Partnership Project
  • GSM communication protocol GSM communication protocol
  • the transceivers of terminal A and terminal B may also be ZigBee transceivers, WiGig transceivers, and the like described in the ZigBee specification.
  • At least one of the terminal A and the terminal B further includes a ranging system.
  • the ranging system can be formed using, for example, software modules, hardware components (such as short-range communication chips), and/or a suitable combination thereof. It is used to estimate the distance between terminal A and terminal B or information related to the distance between the two (such as signal arrival angle, signal phase, etc.).
  • the ranging system can obtain high-quality accuracy between terminal A and terminal B through fine timing measurement (FTM) or time of flight (TOF) ranging.
  • FTM fine timing measurement
  • TOF time of flight
  • the ranging system can calculate the angle of arrival (Angle of Arrival, AoA) of the signal to provide high-quality accurate angle measurement for the mutual positioning of terminals.
  • At least one of the terminal A and the terminal B further includes a self-positioning system.
  • the self-positioning system may be formed using, for example, software modules, hardware components (such as gyroscopes, inertial sensors, acceleration sensors, etc.), and/or suitable combinations thereof.
  • the self-positioning system can be used to estimate the respective location information of terminal A and/or terminal B.
  • At least one of the terminal A and the terminal B may be a mobile terminal such as a smart phone, a tablet computer, and a notebook computer, or may be a wearable device such as smart glasses, a smart watch, and a smart bracelet, Or it can be transportation equipment such as bicycles, cars, and logistics vehicles, or it can be smart home equipment such as wireless routers, TVs, smart microwave ovens, smart air conditioners, smart refrigerators, or smart water meters and smart electricity meters. , Smart gas meters, smart street lights and other Internet of Things devices.
  • Terminal A and Terminal B can be the same type of equipment (for example, both smart phones), or different types of equipment (for example, terminal A is a smart phone, terminal B is a notebook computer; for example, terminal A is a smart phone, terminal B (TV, etc.) This application is not specifically limited.
  • FIG. 2 shows a schematic structural diagram of the terminal 100.
  • the terminal 100 may be a schematic structural diagram of at least one of the terminal A and the terminal B in FIG. 1. It should be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the terminal 100. In other embodiments of the present application, the terminal 100 may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or arrange different components.
  • the various components shown in the figure may be implemented in hardware, software, or a combination of hardware and software including one or more signal processing and/or application specific integrated circuits.
  • the terminal 100 includes a chip 110, a memory 120, a sensor 130, a display screen 140, a mobile communication module 150 and a wireless communication module 160. Both the mobile communication module 150 and the wireless communication module 160 can be used as transceivers of the terminal 100. , In order to realize the communication interaction between the terminal 100 and the outside world.
  • the chip 110, the memory 120, the sensor 130, the display screen 140, the mobile communication module 150, and the wireless communication module 160 may communicate on one or more communication buses.
  • the chip 110 may integrate: one or more processors 111, a clock module 112, and a power management module 113.
  • the clock module 112 integrated in the baseband chip 110 is mainly used to provide the processor 111 with a timer required for data transmission and timing control, and the timer can realize the clock function of data transmission and timing control.
  • the processor 111 can generate operation control signals according to the instruction operation code and timing signals, and complete the control of fetching and executing instructions.
  • the power management module 113 integrated in the chip 110 is mainly used to provide a stable and high-precision voltage for the chip 110 and other components of the terminal 100.
  • the processor 110 may also be called a central processing unit (CPU, central processing unit).
  • the processor 110 may specifically include one or more processing units.
  • the processor 110 may include an application processor (AP). Modulation processor, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor , And/or neural-network processing unit (NPU), etc.
  • AP application processor
  • Modulation processor graphics processing unit
  • ISP image signal processor
  • controller video codec
  • digital signal processor digital signal processor
  • DSP digital signal processor
  • NPU And/or neural-network processing unit
  • the different processing units may be independent devices or integrated in one or more processors.
  • a memory may also be provided in the processor 110 to store instructions and data.
  • the memory in the processor 110 is a cache memory.
  • the memory can store instructions or data that have just been used or recycled by the processor 110. If the processor 110 needs to use the instruction or data again, it can be directly called from the memory. Repeated accesses are avoided, the waiting time of the processor 110 is reduced, and the efficiency of the system is improved.
  • the processor 110 may include one or more interfaces.
  • the interface may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, and a universal asynchronous transmitter/receiver (universal asynchronous) interface.
  • I2C integrated circuit
  • I2S integrated circuit built-in audio
  • PCM pulse code modulation
  • PCM pulse code modulation
  • UART universal asynchronous transmitter/receiver
  • MIPI mobile industry processor interface
  • GPIO general-purpose input/output
  • SIM subscriber identity module
  • USB Universal Serial Bus
  • the memory 120 may be connected with the processor 111 through a bus, or may be coupled with the processor 111, and used to store various software programs and/or multiple sets of instructions.
  • the memory 120 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state storage devices.
  • the memory 120 may store an operating system, such as an embedded operating system such as ANDROID, IOS, WINDOWS, or LINUX.
  • the memory 120 may also store a communication program, which may be used to communicate with one or more terminal devices or one or more network devices.
  • the memory 120 may also store a user interface program, and the user interface program may vividly display the content of the application program through a graphical operation interface and present it on the display screen 140.
  • the memory 120 may be used to store computer executable program code, and the executable program code includes instructions.
  • the processor 111 executes various functional applications and data processing of the terminal 100 by running the instructions stored in the memory 120. Specifically, the processor 111 can execute the application for the terminal as described in the embodiment of FIG. 7 or FIG. 8 or FIG. 15 or FIG. The method of positioning between.
  • the terminal 100 may include one or more display screens 140.
  • the terminal 100 can realize the display function through the display screen 140, the graphics processing unit (GPU) in the chip 110, and the application processor (AP) together.
  • the GPU is a microprocessor used for image processing and is connected to the display screen 140 and the application processor.
  • the GPU is used to perform mathematical and geometric calculations and is used for graphics rendering.
  • the display screen 140 is used to display the interface content currently output by the system, such as displaying images, videos, etc.
  • the interface content can include the interface of the running application program and the system-level menu, etc., and can be specifically composed of the following interface elements: input interface elements, For example, buttons (Button), text input box (Text), scroll bar (Scroll Bar), menu (Menu), etc.; and output-type interface elements, such as window (Window), label (Label), and so on.
  • the display screen 140 includes a display panel.
  • the display panel can adopt liquid crystal display (LCD), organic light-emitting diode (OLED), active matrix organic light-emitting diode or active-matrix organic light-emitting diode (active-matrix organic light-emitting diode).
  • AMOLED flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, quantum dot light-emitting diode (QLED), etc.
  • the sensor module 130 is mainly used to realize the self-positioning of the terminal 110 and the mutual positioning function between the terminal 110 and other terminals.
  • the sensor module 130 may include multiple or all of the gyroscope sensor 130A, the inertial sensor 130B, the digital compass 130C, the acceleration sensor 130D, the light transmitter 130E, the light receiver 130F, and so on.
  • a collection including at least one of the gyro sensor 130A and the digital compass 130C and the acceleration sensor 130D may also be referred to as a sensor group. Both the gyro sensor 130A and the digital compass 130C are direction sensors.
  • the gyroscope sensor 130A and the digital compass 130 can be used to measure the angular velocity of the terminal movement
  • the acceleration sensor 130D is used to measure the acceleration of the terminal movement
  • the inertial sensor 130B can measure the angular velocity and acceleration of the terminal movement at the same time
  • the light transmitter 130E can be used for outward movement. Transmitting light, such as laser, infrared, radar wave, etc.
  • the light receiver 130F is used to detect the reflected light, such as reflected laser, infrared, radar wave, etc.
  • the sensor module 130 may also include more other sensors, such as barometers, magnetometers, wheel speedometers, and so on.
  • the wireless communication function of the terminal 100 may be through the mobile communication module 150 and one or more antennas 151 coupled to the mobile communication module 150, or the wireless communication module 160 and one or more antennas 152 coupled to the wireless communication module 160, and the chip 110 The modem processor and baseband processor in the implementation.
  • the mobile communication module 151 is used for enabling the terminal 100 to communicate through a data network such as 2G/3G/4G/5G, for example, communicating with other terminal devices through a data network such as 2G/3G/4G/5G.
  • the mobile communication module 151 may include a radio frequency (RF) circuit module, and the RF circuit module communicates with a data network through a radio frequency signal.
  • the RF circuit module may include, but is not limited to: at least one amplifier, tuner, one or more oscillators, subscriber identity module (SIM) card, transceiver, coupler, low noise amplifier (Low Noise Amplifier, LNA) ), duplexer, etc.
  • the communication standards or protocols supported by the RF circuit module include but are not limited to GSM (Global System of Mobile communication, Global System for Mobile Communications), GPRS (General Packet Radio Service, General Packet Radio Service), CDMA (Code Division Multiple Access, multiple code divisions) Address), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email service, SMS (Short Messaging Service, short message service), etc.
  • GSM Global System of Mobile communication, Global System for Mobile Communications
  • GPRS General Packet Radio Service, General Packet Radio Service
  • CDMA Code Division Multiple Access, multiple code divisions) Address
  • WCDMA Wideband Code Division Multiple Access
  • LTE Long Term Evolution
  • email service SMS (Short Messaging Service, short message service), etc.
  • the wireless communication module can be used to implement short-range wireless communication between the terminal 100 and other terminal devices, and supports at least one of the following short-range wireless communication methods: Bluetooth (BT) communication, wireless fidelity (Wireless Fidelity, WiFi) Communication, Near Field Communication (NFC), Infrared (IR) wireless communication, Ultra Wide Band (UWB, Ultra Wide Band) communication, ZigBee communication.
  • BT Bluetooth
  • NFC Near Field Communication
  • IR Infrared
  • UWB Ultra Wide Band
  • ZigBee communication ZigBee communication.
  • the terminal 100 may also be provided with a Global Navigation Satellite System (GNSS) to assist terminal positioning.
  • GNSS Global Navigation Satellite System
  • the GNSS is not limited to the Beidou system, the GPS system, the GLONASS system, and the Galileo system.
  • the GNSS can be deployed on a separate chip or on the wireless communication module 160.
  • the terminal 100 may also include more other hardware, for example, it may also include a buzzer, a speaker, a loudspeaker and other playback devices for sound playback.
  • a buzzer for example, it may also include a buzzer, a speaker, a loudspeaker and other playback devices for sound playback.
  • both the display screen and the playback device can be referred to as interactive devices, which are used to realize the audiovisual interaction with the user.
  • Coupled means directly connected to or connected through one or more intervening components or circuits. Any signal provided on the various buses described herein can be time-multiplexed with other signals and provided on one or more shared buses.
  • interconnection between various circuit elements or software blocks may be shown as a bus or a single signal line. Each bus may alternatively be a single signal line, and each single signal line may alternatively be a bus, and a single wire or bus may represent any one or more of a large number of physical or logical mechanisms for communication between components .
  • At least one of the terminal A and the terminal B is provided with a sensor group, and the sensor group includes at least one of a gyroscope sensor, a digital compass, and an acceleration sensor. From the initial moment, at least one of the gyro sensor and the digital compass is used to determine the real-time direction of movement (heading) of the terminal, for example, to determine the angular velocity of the terminal around three axes (ie, x-axis, y-axis, and z-axis).
  • the acceleration sensor is used to detect pedestrian gait and calculate the step length to obtain the step length of the pedestrian.
  • the user's natural walking movement includes three movements in the direction of the forward axis, the direction of the lateral axis, and the direction of the vertical axis.
  • the coordinate axis of terminal A (as shown in the figure is a mobile phone) includes x axis, y axis and z axis. If the user places the terminal A in the palm of the hand with the screen facing up, the corresponding relationship between the user’s 3 motion components and the coordinate axis of the terminal A can be, for example, the vertical axis coincides with the Z axis, the forward axis coincides with the Y axis, and the lateral The axis coincides with the X axis.
  • the gait detection may be: the acceleration sensor of the terminal A may be used to record the acceleration trajectory of the terminal A in the x-axis, y-axis and z-axis directions, and then obtain multiple acceleration values from the acceleration trajectory.
  • the step length calculation may be: according to these acceleration values, a step length calculation model (for example, a linear frequency model) is used to perform a step length calculation, so as to obtain the current motion step length.
  • a step length calculation model for example, a linear frequency model
  • k represents the k- th step of pedestrian movement
  • ⁇ i represents the movement direction of the i-th step
  • s i represents the movement step length of the i-th step.
  • the position trajectory of the terminal relative to the initial time can be obtained without the absolute position as a reference. If the initial time of the terminal is used as the origin to establish a relative motion coordinate system, all subsequent relative positions Pk can obtain the quantified coordinate values (x k , y k ). In this paper, the coordinate position Pk( x k , y k ) can also be called PDR position.
  • FTM fine timing measurement
  • both terminal A and terminal B support the 802.11mc protocol of WiFi. Through the interaction of the two terminals, the signal transmission and reception time of terminal A and terminal B can be accurately obtained, and the communication between terminal A and terminal B can be obtained. Precise distance.
  • terminal A can request or initiate an inter-terminal ranging operation by transmitting an FTM (FTM_REQ) frame to terminal B, and record the time t1 when the FTM frame is transmitted.
  • the terminal B receives the FTM frame, records the time t2 of receiving the FTM frame (for example, indicated by a timestamp), and then can confirm the requested ranging operation by transmitting an acknowledgement (ACK) frame to the terminal A.
  • the ACK frame may indicate the time t2 when the terminal B captures the FTM and the time t3 when the ACK frame is transmitted, or the ACK frame may indicate the time difference (t3-t2) between the time t3 when the ACK frame is transmitted and the time t2 when the FTM is captured.
  • Terminal A receives the ACK frame and records the time t4 when the ACK frame is received. In this way, in an implementation, terminal A calculates the one-way flight time t of the signal and the distance d between the two terminals, as shown in the following equations (3)(4):
  • ToF time of flight
  • the terminal A and the terminal B is provided with a light transmitter and a light receiver.
  • the light transmitter is used to emit light pulses to the target terminal.
  • the light pulses may be laser, LED light, near-infrared light or infrared.
  • the light receiver is used to receive the light reflected back by the target terminal.
  • the light emitter may be an infrared light emitting diode, and the light receiver is a detector for detecting infrared light; for another example, the light emitter may be an illumination source of a ToF camera, and the light receiver may be a photosensitive element of a ToF camera.
  • the terminal A is provided with a light transmitter and a light receiver.
  • the light transmitter may be an infrared light emitting diode for emitting infrared light to the outside.
  • the infrared light emitted by terminal A is reflected by terminal B back to terminal A, and is detected by terminal A.
  • Terminal A uses the timer in the chip to determine that the time difference between transmitting infrared light and receiving the infrared light is T, then the distance d between terminal A and terminal B can be expressed by the following formula (5):
  • the communication module of the terminal has two or more antennas. As shown in the aforementioned embodiment in FIG. 2, the mobile communication module 150 can be connected to two or more antennas 151, and the wireless communication module 160 can also be connected. Two or more antennas 161.
  • the phase difference estimation can be used to calculate the angle of arrival (AoA) of the electromagnetic wave signal, thereby providing high-quality accurate angle measurement for mutual positioning between terminals.
  • the communication module of the terminal A has two antennas, and the terminal A is communicating with the terminal B.
  • Figure 6 shows the incident angle ⁇ of the terminal A receiving the signal from the terminal B.
  • the relationship with the antenna of terminal A is shown. From the figure, it can be seen that when ⁇ is equal to 0° (that is, the signal is vertically incident downward), the distance between the signal and the two antennas will be the same, that is, the two antennas receive The phase of the received signal is the same.
  • the terminal A measures the phase difference ⁇ and the ratio d, the signal incident angle ⁇ can be solved, and AoA can be obtained.
  • terminal A is defined as the main test device, and terminal A in this document can also be called the first terminal.
  • terminal B is defined as the device under test.
  • Terminal B can also be referred to as the second terminal in this article.
  • the first terminal is referred to as a terminal for short
  • the second terminal may be referred to as a target terminal.
  • D2D end-to-end
  • Terminal A detects location information of terminal A through a sensor.
  • the sensors in terminal A may include a gyroscope sensor, a digital compass, an acceleration sensor, etc.
  • the terminal can be detected by at least one of the gyroscope sensor and the digital compass.
  • the angular velocity of the current motion of the terminal A thereby determining the current motion direction (direction information) of the terminal A; the acceleration information of the current motion of the terminal A can be detected by the acceleration sensor.
  • the processor of the terminal A can calculate the position information of the terminal A.
  • the position information Represents the relative position between the current location of the terminal and the initial geographic location.
  • terminal A can also detect the location information of terminal A in real time through other types of sensors (such as inertial sensors, magnetometers, speedometers, odometers, etc.).
  • Terminal A receives the location information of terminal B.
  • the location information of the terminal B is location information that belongs to the same time stamp as the location information of the terminal A in S201. That is to say, in a specific implementation, terminal A and terminal B can detect and obtain their respective location information through their respective sensors at the same time.
  • the process of the terminal B detecting the location information of the terminal B through the sensor may be similar to that of the first terminal.
  • terminal B After terminal B obtains the location information of terminal B, it sends the location information of terminal B to terminal A.
  • the communication mode of the two can be 2G/3G/4G/5G, or Bluetooth (BT), WiFi, Zigbee, etc. Make a limit.
  • Terminal A measures the distance information between terminal A and terminal B.
  • the distance information between the terminal A and the terminal B is the location information that belongs to the same time stamp as the location information of the terminal A in S201.
  • Terminal A can obtain the distance information in real time through the ranging system.
  • terminal A can measure the position information between terminal A and terminal B by means of wireless communication measurement.
  • terminal A and terminal B can be obtained by means of WiFi measurement or AOA measurement. Location information between.
  • the terminal can measure the position information between the terminal A and the terminal B by means of a sensor (for example, an infrared sensor, a ToF camera, etc.).
  • a sensor for example, an infrared sensor, a ToF camera, etc.
  • terminal A can also obtain the distance between the two in real time through other more methods, such as UWB ranging, radar ranging, lidar ranging, etc. And this way also does not depend on the existence of anchor points.
  • the terminal A obtains the relative position of the terminal B with respect to the terminal A according to the position information of the terminal A, the position information of the terminal B, and the distance information between the two.
  • terminal A can convert the respective data of the terminal A and the terminal B to the same coordinate system through calculation, and the so-called same coordinate system in this article can also be referred to as a navigation coordinate system.
  • the terminal A may perform calculations based on the location information of the terminal A and the location information of the terminal B to obtain the location distribution of the terminal A and the terminal B in the same coordinate system.
  • the coordinate system maintained by the terminal A itself may be called the first coordinate system
  • the coordinate system maintained by the terminal B itself may be called the second coordinate system
  • the first coordinate system of the terminal A may be used as the navigation coordinate system.
  • the terminal A can calculate and obtain the rotation matrix between the second coordinate system and the first coordinate system (may be referred to as the first rotation matrix), and the origin of the second coordinate system is mapped to the first coordinate system Location information in.
  • the terminal A performs calculations based on the rotation matrix and the position information of the origin of the second coordinate system in the first coordinate system, thereby converting the position information of the terminal B into the position information in the first coordinate system. location information. That is, it is realized that the position information of terminal A and the position information of terminal B are placed in the same coordinate system for description.
  • terminal A can further calculate according to the position distribution of terminal A and terminal B in the same coordinate system, and the relative position of terminal B relative to terminal A can be obtained.
  • the calculation method may be: the first terminal establishes a third coordinate system with the location information of the first terminal as the origin; the terminal A uses the current position as the origin of the coordinate system, and the movement direction is the Y axis (vertical axis) , Establish a new coordinate system, which can be called a third coordinate system or a real-time relative navigation coordinate system, and then further transform the position information of the terminal B in the first coordinate system to the third coordinate
  • the terminal A obtains the rotation matrix between the third coordinate system and the first coordinate system (which may be referred to as the second rotation matrix) through calculation, and the origin of the first coordinate system is mapped to the third coordinate
  • the terminal A calculates according to the position information of the terminal B in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped
  • the relative position is accurate and reliable. That is to say, real-time positioning of the relative position of the terminal B in the terminal A is realized, and the terminal A can perceive the real-time distance and orientation of the terminal B regardless of whether the terminal B is currently stationary or moving.
  • S205 The terminal A prompts the navigation information from the terminal A to the terminal B according to the relative position.
  • S205 is an optional step.
  • Navigation information indicates information used for positioning between terminals.
  • the navigation information may be a relative navigation radar chart.
  • FIG. 14 after obtaining the relative position of terminal B relative to terminal A in real time, terminal A can directly use the radar on the display of terminal A.
  • the figure shows the relative position of terminal B. That is to say, no matter where the terminal A moves, the center of the radar chart is always the current position of the terminal A, and the positioning point displayed in the radar chart is always the position of the current terminal B relative to the current terminal A.
  • the terminal A may also broadcast the navigation information according to a playback device such as a buzzer, a horn, and a loudspeaker.
  • a playback device such as a buzzer, a horn, and a loudspeaker.
  • the navigation information may also be information used for positioning between terminals in other application scenarios, such as augmented reality (Augmented Reality, AR) applications, virtual reality (Virtual Reality, VR) applications, electrical appliance control, device search and other application scenarios are not limited here.
  • augmented reality Augmented Reality, AR
  • virtual reality Virtual Reality, VR
  • electrical appliance control device search and other application scenarios are not limited here.
  • the terminal may also send the relative position to the terminal B, so that the terminal B can obtain the relative position of the terminal A relative to the terminal B. That is to say, real-time positioning of the relative position of the terminal A in the terminal B is achieved. No matter if the terminal A is currently stationary or moving, the terminal B can perceive the real-time distance and orientation of the terminal A.
  • the above positioning process only needs to use the electronic equipment of terminal A and terminal B. It can be implemented in unlimited scenarios (both indoors and outdoors), independent of any anchor point, and independent of External servers and basic network facilities do not rely on base station communication to achieve high-precision mutual positioning between two terminals. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
  • terminal A as the main device under test and define terminal B as the device under test.
  • the following takes the combination of PDR self-positioning and FTM ranging as an example to introduce a device-to-device (D2D) mutual positioning method between terminals provided in an embodiment of the present application. As shown in Figure 8, the method is described as follows:
  • the terminal A On the one hand, in S301, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR).
  • PDR pedestrian dead reckoning
  • the terminal A turns on the sensor to detect the movement direction and the movement step length of the terminal A.
  • terminal A turns on at least one of the gyro sensor and the digital compass to record the direction of movement of terminal A in real time; turns on the acceleration sensor, uses the acceleration sensor to obtain acceleration information in real time, and then performs pedestrian gait detection based on the acceleration information to obtain the movement step length.
  • the initial position of terminal A is P01
  • the coordinate value is (0,0)
  • the initial speed and initial movement direction are both 0.
  • the terminal A performs the PDR algorithm calculation on the processor of the terminal A according to the continuously obtained movement direction and the movement step length of the terminal A.
  • the PDR position trajectory of the terminal A relative to the position point P01 at the initial time can be obtained. That is, a new PDR location point P10 can be obtained subsequently at t0, a new PDR location point P11 can be obtained at t1, a new PDR location point P12 can be obtained at t2, and a new PDR location point can be obtained at t3. P13, and so on. If the relative motion coordinate system is established with the initial time of terminal A as the origin, the relative position P1k of each subsequent step can obtain the coordinate value (x 1k , y 1k ) described in quantification.
  • terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR).
  • terminal B receives the PDR request.
  • terminal B starts its own PDR.
  • terminal B also turns on the sensor to detect the movement direction and movement step length of terminal B.
  • terminal B turns on at least one of the gyro sensor and the digital compass to record the direction of movement of terminal B in real time; turns on the acceleration sensor, uses the acceleration sensor to obtain acceleration information in real time, and then performs pedestrian gait detection based on the acceleration information to obtain the movement step length.
  • the initial position of terminal B is P02
  • the coordinate value is (0,0)
  • the initial speed and initial movement direction are both 0.
  • the terminal B performs the PDR algorithm calculation on the processor of the terminal B according to the continuously obtained movement direction and the movement step length of the terminal B.
  • the PDR position trajectory of the terminal B relative to the position point P02 at the initial time can be obtained. That is, a new PDR position point P20 can be obtained at time t0, a new PDR position point P21 can be obtained at time t1, a new PDR position point P22 can be obtained at time t2, and a new PDR position point can be obtained at time t3. P23, and so on.
  • the relative position P2k of each subsequent step can obtain the coordinate value (x 2k , y 2k ) described in quantification.
  • terminal B sends the current PDR position P2k (x 2k , y 2k ) to terminal A (as shown in the figure S304-0 ⁇ S304- 3). That is, the terminal A can continuously receive the PDR location points P20, P21, P22, P23, etc. of the terminal B corresponding to the time t0, t1, t2, and t3.
  • terminal A initiates FTM ranging.
  • terminal A sends an FTM request (for example, FTM frame FTM_REQ) to terminal B to request continuous measurement of the distance between terminal A and terminal B, and record the moment when the FTM request is transmitted .
  • terminal B receives the FTM request, and in the subsequent process continues to send an acknowledgement (ACK) frame to terminal A to feed back the current determined timestamp, that is, each ACK frame can indicate that terminal B captures the FTM frame
  • ACK acknowledgement
  • terminal B can subsequently send an ACK frame to terminal A at time t0 (i.e. S306-0), at time t1, it can send an ACK frame to terminal A (i.e. S306-1), and at time t2, it can send an ACK frame to terminal A. (Ie S306-2), an ACK frame (ie S306-3) can be sent to terminal A at time t3, and so on.
  • terminal A obtains the ACK frame from terminal B at each time, it records the time when each ACK frame is received. In this way, terminal A can respectively calculate the distance between the two terminals at each time according to the FTM algorithm.
  • FTM algorithm for example, refer to the relevant description of formulas (3) and (4) in the embodiment of FIG.
  • the distance d0 between the two terminals at t0, the distance d1 between the two terminals at t1, the distance d2 between the two terminals at t2, the distance d3 between the two terminals at t3, and so on can be obtained.
  • S301, S302, and S305 there is no inevitable sequence between the above steps S301, S302, and S305. That is to say, S301, S302, and S305 may be performed synchronously, or may be performed in a predefined sequence, which is not done in this application. Specific restrictions.
  • steps S304-0 and S306-0 may be performed synchronously, or may be performed in a pre-defined sequence, which is not specifically limited in this application.
  • terminal A can continuously calculate the positions of terminal A and terminal B in the navigation coordinate system based on the obtained PDR position information of terminal A, PDR position information of terminal B, and the distance information between terminal A and terminal B. .
  • terminal A and terminal B are moving in the same plane
  • the PDR position information of terminal A is based on the coordinate system of terminal A
  • the PDR position information of terminal B is based on the coordinate system of terminal B.
  • the integration of the PDR location information of the two terminals can be implemented in the following manner.
  • the self-positioning coordinate system A-XY of terminal A is established.
  • the origin of the coordinate system is the position point corresponding to the initial time of terminal A (ie position point P01).
  • the X-axis direction of the system is the direction when the terminal A starts to move from the position point P01.
  • (1) in Figure 9 exemplarily shows that in A-XY, a series of PDR positions corresponding to the terminal A at each time Schematic.
  • the self-positioning coordinate system B-XY of the terminal B is established, wherein the origin of the coordinate system is the position point corresponding to the initial time of the terminal B (that is, the position point P02).
  • the X-axis direction of the coordinate system is the direction when the terminal B starts to move from the position point P02. (2) in Figure 9 exemplarily shows that in B-XY, a series of PDR positions of the terminal B corresponding to each moment Schematic diagram.
  • the A-XY coordinate system of terminal A can be defined as the navigation coordinate system, so a series of PDRs of terminal A
  • the positions of the positions P10, P11, P12, P13...P1k in the navigation coordinate system are themselves, and it is only necessary to solve the representation of a series of PDR positions of the terminal B in the navigation coordinate system (ie, the A-XY coordinate system).
  • the terminal A has obtained the distance measurement values between P10 and P20, P11 and P21, P12 and P22, P13 and P23...P1k and P2k respectively as d0, d1,...dk. Then, according to the distances d0, d1,...dk and the navigation coordinate system (A-XY coordinate system), the following formula (8) can be obtained:
  • ⁇ ... ⁇ means modulo operation.
  • the above equations (7) and (8) are combined to establish the overdetermined equations, and the optimal solution of the above overdetermined equations can be obtained through the least square method or other optimization methods, that is, ⁇ and P03 can be solved.
  • a series of PDR positions of the terminal A and the terminal B can be expressed in the navigation coordinate system (ie, the A-XY coordinate system), as shown in FIG. 10 exemplarily.
  • the PDR position of terminal A, the PDR position of terminal B, and the distance between the two terminals corresponding to n times before tk and tk (that is, a total of n+1 times) can be obtained, according to these
  • the data establishes the overdetermined equations to solve, and then the optimal solution ⁇ and P03 corresponding to the current time tk can be obtained, and then the position of the terminal B corresponding to the current time tk in the navigation coordinate system (A-XY coordinate system) according to the optimal solution
  • the specific coordinate value of P3k The specific coordinate value of P3k.
  • the embodiment of the present application can ensure that by continuously solving the overdetermined equations
  • the terminal A continuously updates the optimal solution ⁇ and P03, so that it can continuously correct the representation of the terminal B in the navigation coordinate system based on the distance data between the terminals, ensuring that the two terminals achieve high-precision mutual positioning and are robust.
  • the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
  • the coordinate position of terminal A is P1k
  • the coordinate position of terminal B is P3k
  • the specific coordinate value of P1k can be recorded as (x 1k ,y 1k )
  • the specific coordinate value of P3k can be recorded as (x 3k , y 3k ).
  • transition coordinate system AX”Y The horizontal and vertical axes of the transition coordinate system AX”Y” are parallel to and in the same direction as the navigation coordinate system (A-XY). The difference is that AX”Y” is based on the terminal A
  • the coordinate value (x 1k , y 1k ) is the origin.
  • the coordinate position P3k(x 3k ,y 3k ) of terminal B in the coordinate system A-XY can be converted to the transition coordinate system AX”Y” to obtain the coordinate position P5k( x 5k ,y 5k ), the conversion formula is shown in the following formula (9):
  • the rotation matrix CTM is shown in the following equation (10):
  • ⁇ represents the rotation angle between A-X"Y" and A-X'Y', that is, the angle between Y" and Y'.
  • the terminal A can obtain the relative position of the terminal B relative to the terminal A at each moment in real time.
  • the relative position of terminal B relative to terminal A contains both distance information and angle information, so it is complete relative position information.
  • terminal A after obtaining the relative position P4k (x 4k , y 4k ) of terminal B relative to terminal A in real time, terminal A can directly display terminal B's information on the display screen of terminal A with a radar chart. relative position. That is to say, no matter where the terminal A moves, the center of the radar chart is always the current position of the terminal A, and the positioning point displayed in the radar chart is always the position of the current terminal B relative to the current terminal A.
  • the terminal can also be applied to other application scenarios according to the relative position, such as augmented reality (Augmented Reality). , AR) applications, virtual reality (Virtual Reality, VR) applications, electrical control, device search and other application scenarios are not limited here.
  • augmented reality Augmented Reality
  • VR Virtual Reality
  • terminal A after terminal A obtains the relative position (x 4k , y 4k ) of terminal B, it may also send the relative position (x 4k , y 4k ) to terminal B in real time, for example, via WiFi, Bluetooth, If it is sent to terminal B by means of mobile communication, then terminal B can obtain the relative position of terminal A relative to terminal B (-x 4k , -y 4k ). such.
  • the terminal B can also use the radar chart to display the relative position of the terminal A in real time according to the relative position (-x 4k , -y 4k ), or apply it to other application scenarios, which is not specifically limited in this application.
  • FIG. 15 uses the combination of PDR self-positioning and ToF ranging as an example to describe the end-to-end mutual positioning method between terminals. The method is described as follows:
  • terminal A For the terminal A, on the one hand, in S401, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR).
  • terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR).
  • terminal B receives the PDR request.
  • terminal B starts its own PDR. After the terminal B obtains a new PDR position at each step, the terminal B sends the current PDR position to the terminal A (S404-0 to S404-3 in the figure).
  • terminal A can initiate ToF ranging at different times.
  • terminal A is provided with an optical transmitter and an optical receiver.
  • the optical transmitter may be an infrared light-emitting diode for emitting infrared light outward.
  • terminal A sends infrared light to terminal B (for example, S405-0 in the figure for time t0), and the infrared light emitted by terminal A is reflected by terminal B and returns to terminal A (for example, for time t0, the figure S406-0) in the display, and is detected by terminal A.
  • Terminal A uses the timer in the chip to determine the time difference between transmitting infrared light and receiving the infrared light.
  • terminal A can calculate the distance between the two terminals at this time according to the ToF algorithm.
  • ToF algorithm for example, refer to Figure 5 above. Description of formula (5) in the embodiment.
  • the distance d0 between the two terminals can be obtained at time t0
  • the distance d1 between the two terminals can be obtained at time t1
  • the distance d2 between the two terminals can be obtained at time t2
  • the two terminals can be obtained at time t3.
  • terminal A can continuously calculate the positions of terminal A and terminal B in the navigation coordinate system based on the obtained PDR position information of terminal A, PDR position information of terminal B, and the distance information between terminal A and terminal B. .
  • the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
  • terminal A after terminal A obtains the relative position of terminal B, it can also send the relative position to terminal B in real time. For example, by sending it to terminal B via Bluetooth, mobile communication, etc., terminal B can obtain the terminal accordingly.
  • the relative position of A relative to terminal B is the relative position of terminal B.
  • FIG. 16 Based on the aforementioned system architecture shown in FIG. 1, another method for end-to-end mutual positioning between terminals provided by an embodiment of the present application is introduced below, as shown in FIG. 16.
  • the main difference between this method and the method described in the aforementioned embodiment in FIG. 8 is that the AoA measurement method is used to replace the FTM ranging method. That is, Figure 15 uses the combination of PDR self-positioning and AoA measurement as an example to describe the end-to-end mutual positioning method between terminals. The method is described as follows:
  • terminal A For the terminal A, on the one hand, in S501, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR). On the other hand, in S502, terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR). Correspondingly, terminal B receives the PDR request. And in S503, terminal B starts its own PDR. After the terminal B obtains a new PDR position at each step, the terminal B sends the current PDR position to the terminal A (S504-0 to S504-3 in the figure).
  • PDR pedestrian dead reckoning
  • terminal A initiates AoA ranging, and in S505, terminal A sends an AoA request (ie, AoA measurement request) to terminal B to request continuous measurement of the incident angle of the measurement signal from terminal B.
  • the terminal B receives the AoA request, and continuously transmits the AoA measurement signal to the terminal A in the subsequent process.
  • terminal B can subsequently send an AoA measurement signal to terminal A at time t0 (ie S506-0), at time t1, it can send an AoA measurement signal to terminal A (ie S506-1), and at time t2, it can send an AoA measurement signal to terminal A
  • the AoA measurement signal (ie S506-2) can be sent to the terminal A at the time t3 (ie S506-3), and so on.
  • terminal A can receive the AoA measurement signal from terminal B at each time through two or more antennas. When the AoA measurement signal with a certain incident angle arrives at different antennas, the AoA measurement signals received by the different antennas will have a phase difference.
  • the angle of arrival (AoA) of the AoA measurement signal can be calculated.
  • the calculation algorithm is for example Reference may be made to the related description of formula (6) in the aforementioned embodiment of FIG. 6.
  • time t0 may be calculated to obtain an incident angle signal ⁇ 0, t1 timing signal incident angle ⁇ 1, t2 timing signal incident angle ⁇ 2, t3 timing signal incident angle ⁇ 3, and the like.
  • steps S504-0 and S506-0 may be performed synchronously, or may be performed in a predefined sequence, which is not specifically limited in this application.
  • terminal A can continue to calculate that terminal A and terminal B are respectively navigating based on the obtained PDR location information of terminal A, PDR location information of terminal B, and the incident angle information of the AoA measurement signal measured by terminal A from terminal B. The position in the coordinate system.
  • terminal A and terminal B are moving in the same plane
  • the PDR position information of terminal A is based on the coordinate system of terminal A
  • the PDR position information of terminal B is based on the coordinate system of terminal B.
  • the integration of the PDR location information of the two terminals can be implemented in the following manner.
  • the self-positioning coordinate system A-XY of terminal A is established.
  • the origin of the coordinate system is the position point corresponding to the initial time of terminal A (ie position point P01).
  • the X-axis direction of the system is the direction when the terminal A starts to move from the position point P01, as shown in (1) in the aforementioned FIG. 9.
  • the self-positioning coordinate system B-XY of the terminal B is established, wherein the origin of the coordinate system is the position point corresponding to the initial time of the terminal B (that is, the position point P02).
  • the X-axis direction of the coordinate system is the direction when the terminal B starts to move from the position point P02, as shown in (2) in the aforementioned FIG. 9.
  • the A-XY coordinate system of terminal A can be defined as the navigation coordinate system, so a series of PDRs of terminal A
  • the positions of the positions P10, P11, P12, P13...P1k in the navigation coordinate system are themselves, and it is only necessary to solve the representation of a series of PDR positions of the terminal B in the navigation coordinate system (ie, the A-XY coordinate system).
  • a series of PDR positions P20, P21, P22, P23...P2k can all be converted to points P30, P31, P32, P33...P3k in the A-XY coordinate system.
  • the conversion formula can refer to the aforementioned formula (7) description of.
  • the terminal A since it is based on the AoA measurement, the terminal A obtains a series of signal incident angle measurement values ⁇ 0 , ⁇ 1 ... ⁇ k corresponding to different moments. Then, according to ⁇ 0 , ⁇ 1 ... ⁇ k and the navigation coordinate system (A-XY coordinate system), the following formula (12) can be obtained:
  • dot((7) represents the inner product of two vectors, and ⁇ ... ⁇ represents the modulo operation.
  • the specific coordinate value of the position P3k of the PDR position P2k of the terminal B in the navigation coordinate system (A-XY coordinate system) can be obtained. That is to say, through the above calculation, a series of PDR positions of the terminal A and the terminal B can be expressed in the navigation coordinate system (ie, the A-XY coordinate system), which is exemplarily shown in FIG. 10 above.
  • the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
  • terminal A after terminal A obtains the relative position of terminal B, it can also send the relative position to terminal B in real time. For example, by sending it to terminal B via Bluetooth, mobile communication, etc., terminal B can obtain the terminal accordingly.
  • the relative position of A relative to terminal B is the relative position of terminal B.
  • the foregoing embodiment mainly uses the system architecture shown in FIG. 1 to achieve high-precision mutual positioning between the terminals through the interaction between the two terminals.
  • high-precision mutual positioning between terminals can also be implemented based on a more complex system architecture.
  • FIG. 13 includes a terminal C, a terminal N, etc., and the types of each intermediate device may be different or the same.
  • the types between the terminal A/terminal B and the intermediate device can be different or the same.
  • Each intermediate device can be a moving device or a stationary device.
  • Each of the intermediate devices may also be referred to as user equipment (UE), subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, Terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handset, user agent, mobile client, client, or some other suitable term.
  • UE user equipment
  • subscriber station mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, Terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handset, user agent, mobile client, client, or some other suitable term.
  • wireless communication can be performed between terminal A and the intermediate device, and wireless communication can be performed between terminal B and the intermediate device.
  • each intermediate device, and terminal B can present a form of chain communication, that is, terminal A and its neighboring intermediate devices perform wireless communication.
  • the neighboring intermediate device can wirelessly communicate with the next intermediate device, and so on, the terminal B and its neighboring intermediate device wirelessly communicate.
  • Fig. 18 shows the system architecture 30.
  • Fig. 18 takes the intermediate device as the terminal C as an example. Then, based on the implementation scheme of the embodiment in Fig. 7, Fig. 8, Fig. 15 or Fig. 16, the terminal B can be obtained on the terminal C side. With respect to the relative position of the terminal C, the relative position of the terminal C relative to the terminal A is obtained on the terminal A side. Then, by combining the relative position of the terminal B with respect to the terminal C, and the relative position of the terminal C with respect to the terminal A, the relative position of the terminal B with respect to the terminal A can be obtained.
  • the position of the terminal B in the coordinate system of the terminal C obtained on the side of the terminal C can be recorded as (c, d).
  • the rotation matrix of the coordinate system of the terminal C relative to the coordinate system of the terminal A can be obtained
  • the origin of the coordinate system of terminal C corresponds to the position of the coordinate system of terminal A
  • terminal A can calculate the position (e, f) of terminal B in the coordinate system of terminal A after obtaining the (c, d) from terminal C, so as to obtain the relative position of terminal B with respect to terminal A.
  • the calculation formula can be As shown in the following formula (13):
  • terminal A obtains the relative position of terminal B
  • the relative position can also be sent to terminal B in real time, and terminal B can obtain the relative position of terminal A relative to terminal B accordingly.
  • the framework shown in Figure 1 or Figure 17 in this article may be applied to two-dimensional positioning scenarios between terminals (that is, different terminals are moving in the same plane), or it may be applied to three-dimensional positioning scenarios between terminals ( That is, the different terminals are not all located on the same plane). There is no limitation in the embodiments of this application.
  • the above-mentioned embodiments of the present application mainly take the scenario of no anchor point participation as an example to describe the technical solution, but in practical applications, it is also possible to implement the scheme of the present application in combination with the existing anchor point solution.
  • absolute positioning means such as GNSS navigation
  • any terminal in the system architecture enables absolute positioning means such as GNSS, and the relative position involved in this application can be converted to an absolute positioning coordinate system. (E.g. geographic coordinate system/world coordinate system) to form a network with absolute positioning systems such as GNSS.
  • terminal A can obtain the geographic location information (such as latitude and longitude) of terminal A through absolute positioning means such as GNSS in real time, then, The terminal A can obtain the geographical position information of the terminal B in real time according to the geographical position information of the terminal A and the relative position of the terminal B relative to the terminal A. Therefore, the relative position of terminal B can be sensed on the side of terminal A, and the absolute position of terminal B can also be sensed.
  • the technical advantages of the present application can be combined with the advantages of existing absolute positioning methods such as GNSS navigation to further improve the comprehensive positioning performance of each terminal in the system architecture.
  • the device 60 includes a position detection module 601, a distance detection module 602, a positioning module 603, a communication module 604, and an interaction module 605.
  • the device 60 can be applied to the terminal 100 described in the embodiment in FIG. 2, the position detection module 601, the distance detection module 602, the positioning module 603, and the communication module 604, and the interaction module 605 can run on the processor of the terminal 100.
  • the position detection module 601 can use the data collected by the sensor 130 to calculate the terminal position
  • the distance detection module 602 can use the sensor 130 or the mobile communication module 150 or the wireless communication module 160 to calculate the distance between the terminals.
  • the communication module 604 The mobile communication module 150 and the antenna 151, or the wireless communication module 160 and the antenna 161 may be used to implement data/signal transmission and reception.
  • the interaction module 605 can use the display screen 140 to display content.
  • the device 60 can be applied to the terminal A (ie, the first terminal) described above, and the specific description is as follows:
  • the position detection module 601 is configured to detect the movement information of the first terminal through a sensor group to determine the position information of the first terminal, where the movement information includes direction information and acceleration information;
  • the communication module 604 is configured to receive location information of the second terminal
  • the distance detection module 602 is configured to measure the distance information between the first terminal and the second terminal;
  • the positioning module 603 is configured to obtain the relative position of the second terminal relative to the first terminal according to the position information of the first terminal, the position information of the second terminal, and the distance information between the two. position.
  • the interaction module 605 is configured to prompt navigation information from the first terminal to the second terminal according to the relative position.
  • the position detection module 601, the distance detection module 602, the positioning module 603, the communication module 604, and the interaction module 605 can be specifically used to implement the relevant method steps in the method embodiments shown in FIG. 7, FIG. 8, FIG. 15, and FIG. Concise, I won't repeat it here.
  • any functional module of the apparatus shown in FIG. 19 when any functional module of the apparatus shown in FIG. 19 is implemented by software, it may be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions, and when the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium.
  • the computer-readable storage medium may be any available medium that can be accessed by the terminal/computing device.
  • the usable medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape, etc.), an optical medium (such as a DVD, etc.), or a semiconductor medium (such as a solid state hard disk), and so on.
  • any functional module of the device shown in FIG. 19 may exemplarily include one of the following hardware: one or more digital signal processors (DSP), general-purpose microprocessors, application-specific integrated circuits (ASIC), and dedicated Instruction set processor (ASIP), field programmable gate array (FPGA), or other equivalent integrated or discrete logic circuit systems, etc.
  • DSP digital signal processors
  • ASIC application-specific integrated circuits
  • ASIP dedicated Instruction set processor
  • FPGA field programmable gate array

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Abstract

Un procédé et un appareil de positionnement entre terminaux sont divulgués. Le procédé comprend : la détection, par un premier terminal, des informations de mouvement du premier terminal, et la détermination, selon les informations de mouvement, des premières informations de position actuelles du premier terminal ; la réception des secondes informations de position envoyées par un second terminal, les secondes informations de position indiquant la position actuelle du second terminal ; la mesure des informations relatives à la distance entre le premier terminal et le second terminal ; selon les premières informations de position, les secondes informations de position et les informations relatives à la distance, la détermination d'une position relative du second terminal par rapport au premier terminal ; et la génération, par le premier terminal, selon la position relative, des informations de navigation utilisées pour effectuer une navigation depuis le premier terminal vers le second terminal, et l'invite des informations de navigation. Par l'application de la présente invention, un positionnement réciproque de haute précision entre terminaux peut être obtenu sans dépendre d'un point d'ancrage, de telle sorte que les exigences de divers scénarios d'application sont satisfaites, et l'expérience d'utilisation d'utilisateurs est améliorée.
PCT/CN2020/113054 2019-11-30 2020-09-02 Procédé et appareil de positionnement entre terminaux WO2021103729A1 (fr)

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