WO2021139435A1 - Indoor positioning method and apparatus, and electronic device - Google Patents

Abstract

An indoor positioning method and apparatus (7000), and an electronic device (1000, 8000). The indoor positioning method comprises: obtaining electromagnetic wave signals received by at least two indoor directional antennas, the electromagnetic wave signals being emitted by a target object (2000); calculating a phase difference according to the electromagnetic wave signals, and calculating incident angles of the electromagnetic wave signals with respect to the indoor directional antennas on the basis of the phase difference; calculating a distance between the target object and any indoor directional antenna on the basis of a time difference of receiving the electromagnetic wave signals by the at least two indoor directional antennas and the phase difference (2000); and thus, calculating position information of the target object on the basis of the distance and the incident angles (2400).

Description

Indoor positioning method, device and electronic equipment Technical field

The embodiments of this specification relate to the field of positioning technology, and more specifically, to an indoor positioning method, an apparatus for indoor positioning, an electronic device, and a computer-readable storage medium.

Background technique

The emergence of satellite positioning system (GPS) has greatly improved people's efficiency in tracking, navigation and rescue in science, industry, agriculture and other related fields. However, with the development of cities, high-rise buildings, shopping malls, and basements, etc., have increasingly strong demands for positioning. However, these scenarios usually have no GPS signal or only a weak GPS signal, leading to the problem of low accuracy of indoor positioning.

Therefore, it is necessary to provide a new method to improve the accuracy of indoor positioning while reducing the deployment cost and the requirements of the deployment environment.

Summary of the invention

One purpose of the embodiments of this specification is to provide a new technical solution for indoor positioning.

According to the first aspect of the embodiments of the present specification, an indoor positioning method is provided, which includes: acquiring electromagnetic wave signals received by at least two indoor directional antennas; the electromagnetic wave signals are emitted by a target object; and obtaining all the signals based on the electromagnetic wave signals The incident angle of the electromagnetic wave signal with respect to the indoor directional antenna, and the distance between the target object and any one of the indoor directional antennas; based on the distance and the incident angle, the position of the target object is calculated information.

Optionally, wherein the obtaining the incident angle of the electromagnetic wave signal with respect to the indoor directional antenna based on the electromagnetic wave signal includes: calculating a phase difference according to the electromagnetic wave signals received by the at least two indoor directional antennas; The incident angle of the electromagnetic wave signal relative to the indoor directional antenna is calculated based on the phase difference.

Optionally, wherein the calculating the phase difference according to the electromagnetic wave signal includes: analyzing the I/Q signal from the electromagnetic wave signal; and calculating the phase difference according to the I/Q signal.

Optionally, wherein obtaining the distance between the target object and any one of the indoor directional antennas includes: calculating the time difference according to the time when the electromagnetic wave signal reaches the at least two indoor directional antennas; The phase difference and the time difference are calculated to obtain the distance between the target object and any one of the indoor directional antennas.

Optionally, wherein the calculating the distance between the target object and any one of the indoor directional antennas according to the phase difference and the time difference includes: according to the distance between the two indoor directional antennas The distance between the two indoor directional antennas and the phase difference are calculated to obtain the first and second incident angles of the electromagnetic wave signal relative to the two indoor directional antennas; according to the distance between the two indoor directional antennas, the first The distance between the target object and any one of the indoor directional antennas is calculated based on the incident angle and the second incident angle, the time difference and the propagation speed of the electromagnetic wave.

Optionally, wherein the at least two indoor directional antennas include a first indoor directional antenna, a second indoor directional antenna, and a third indoor directional antenna; the electromagnetic wave signal is calculated based on the phase difference relative to the The incident angle of the indoor directional antenna includes: using the first indoor directional antenna and the second indoor directional antenna to form an xy plane, based on the electromagnetic wave signals received by the first indoor directional antenna and the second indoor directional antenna The first angle of incidence of the electromagnetic wave signal with respect to the x-axis is calculated by calculating the phase difference of the electromagnetic wave; the second indoor directional antenna and the third indoor directional antenna are used to form a yz plane, based on the second indoor directional antenna and the The phase difference of the electromagnetic wave signal received by the third indoor directional antenna is calculated to obtain the third incident angle of the electromagnetic wave signal with respect to the z-axis.

Optionally, wherein the calculating the position information of the target object based on the distance and the angle of incidence includes: calculating according to the distance, the first angle of incidence, and the third angle of incidence The x-coordinate value and the y-coordinate value of the target object; the z-coordinate value of the target object is calculated according to the height of the indoor directional antenna, the distance and the third angle of incidence; the x-coordinate value, The y coordinate value and the z coordinate value are determined as the position information of the target object.

According to the second aspect of the embodiments of the present specification, there is also provided an indoor positioning device, including: an antenna array module for receiving electromagnetic wave signals emitted by a target object; a radio frequency switch module for connecting the antenna array module at different times The electromagnetic wave signals received by different antennas are sent to the Bluetooth IC module; the Bluetooth IC module is used to receive the electromagnetic wave signal transmitted by the radio frequency switch module; the calculation module is used to receive all the signals received by the Bluetooth IC module. The electromagnetic wave signal implements the indoor positioning method according to any one of the first aspects of the embodiments of this specification.

According to the third aspect of the embodiments of the present specification, there is also provided a device for indoor positioning, including: an acquisition module for acquiring electromagnetic wave signals received by at least two indoor directional antennas; the electromagnetic wave signals are emitted by a target object A calculation module for obtaining the incident angle of the electromagnetic wave signal relative to the indoor directional antenna based on the electromagnetic wave signal, and the distance between the target object and any one of the indoor directional antenna; and, based on the The distance and the incident angle are calculated to obtain the position information of the target object.

According to the fourth aspect of the embodiment of this specification, there is also provided the device for indoor positioning as described in the second or third aspect of the embodiment of this specification, or the electronic device comprises: a memory for storing Executing the command; the processor is configured to execute the indoor positioning method as described in any one of the first aspect of the embodiments of this specification under the control of the executable command.

According to the fifth aspect of the embodiments of the present specification, there is also provided a computer-readable storage medium storing executable instructions. When the executable instructions are executed by a processor, they execute any of the first aspects of the embodiments of the present specification. The indoor positioning method described in item.

One beneficial effect of the embodiment of this specification is that the method of this embodiment obtains electromagnetic wave signals received by at least two indoor directional antennas; calculates two slaves based on electromagnetic wave signals, and calculates electromagnetic wave signals relative to indoor orientation based on phase difference. The angle of incidence of the antenna; at the same time, based on the time difference and phase difference of the electromagnetic wave signals received by at least two indoor directional antennas, the distance between the target object and any indoor directional antenna is calculated, and then based on the distance and the angle of incidence, the calculation is obtained The location information of the target object. The antenna array module composed of multiple antennas makes the measurement angle more accurate, and can avoid interference factors such as environment, multipath, and reflection, thereby improving the accuracy of indoor positioning. Moreover, the cost is low, the installation is simple, and it is convenient for large-scale deployment.

Through the following detailed description of exemplary embodiments of the embodiments of the present specification with reference to the accompanying drawings, other features and advantages of the embodiments of the present specification will become clear.

Description of the drawings

The drawings incorporated in the specification and constituting a part of the specification illustrate the embodiments of the embodiments of the specification, and together with the descriptions are used to explain the principles of the embodiments of the specification.

FIG. 1 is a schematic diagram of an actual scene of an indoor positioning method according to an embodiment of this specification;

FIG. 2 is a schematic structural diagram of an electronic device to which an indoor positioning method according to an embodiment of this specification can be applied;

Fig. 3 is a flowchart of an indoor positioning method according to an embodiment of the present specification;

Fig. 4 is a schematic diagram of calculating an incident angle according to an embodiment of the present specification;

Fig. 5 is a schematic diagram of calculating the distance between a target object and an indoor directional antenna according to an embodiment of the present specification;

Fig. 6 is a schematic structural diagram of a device for indoor positioning according to an embodiment of the present specification;

Fig. 7 is a schematic structural diagram of a device for indoor positioning according to another embodiment of the present specification;

Fig. 8 is a functional block diagram of an electronic device according to an embodiment of the present specification.

Detailed ways

Various exemplary embodiments of the embodiments of the present specification will now be described in detail with reference to the accompanying drawings. It should be noted that unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the embodiments of this specification.

The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the embodiment of the specification and its application or use.

The technologies, methods, and equipment known by persons of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be regarded as part of the specification.

In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiment may have different values.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings.

<Hardware Configuration>

Fig. 1 is a schematic diagram of an actual scene of an indoor positioning method according to an embodiment of this specification.

As shown in FIG. 1, in this indoor positioning scene, multiple indoor directional antennas with a beam width of α are set to form an xy plane and a yz plane. The target object is the mobile phone as shown in Figure 1, and the electromagnetic wave signal emitted by the mobile phone is received by the indoor directional antenna. The incident angle θ between the electromagnetic wave signal and the x-axis is measured for the mobile phone, and the incident angle between the electromagnetic wave signal and the z-axis is measured for the mobile phone

As shown in Figure 3, based on the obtained incident angle θ and

The position information of the mobile phone in the coordinate value system can be obtained through different algorithms, so as to achieve the purpose of positioning. Moreover, in the indoor directional antenna array, there are multiple indoor directional antennas that can receive the electromagnetic wave signal emitted by the mobile phone to calculate the angle of incidence, which can further correct the above-mentioned angle of incidence θ and

Improve the accuracy of indoor positioning.

Fig. 2 is a schematic structural diagram of an electronic device to which an indoor positioning method according to an embodiment of the present specification can be applied.

As shown in FIG. 2, the electronic device 1000 of this embodiment may include a processor 1010, a memory 1020, an interface device 1030, a communication device 1040, a display device 1050, an input device 1060, a speaker 1070, a microphone 1080, and so on.

Among them, the processor 1010 may be a central processing unit (CPU), a microprocessor MCU, or the like. The memory 1020 includes, for example, ROM (Read Only Memory), RAM (Random Access Memory), nonvolatile memory such as a hard disk, and the like. The interface device 1030 includes, for example, a USB interface, a headphone interface, and the like. The communication device 1040 can perform wired or wireless communication, for example. The display device 1050 is, for example, a liquid crystal display, a touch display, or the like. The input device 1060 may include, for example, a touch screen, a keyboard, and the like.

The electronic device 1000 may output audio information through the speaker 1070. The electronic device 1000 can pick up the voice information input by the user through the microphone 1080.

The electronic device 1000 may be any device that can support security authentication, such as a smart phone, a portable computer, a desktop computer, or a tablet computer.

In this embodiment, the electronic device 1000 obtains electromagnetic wave signals received by at least two indoor directional antennas; the electromagnetic wave signals are sent by a target object; obtains the incident angle of the electromagnetic wave signal relative to the indoor directional antenna based on the electromagnetic wave signals, and The distance between the target object and any of the indoor directional antennas; based on the distance and the incident angle, the position information of the target object is calculated.

In this embodiment, the memory 1020 of the electronic device 1000 is used to store instructions, and the instructions are used to control the processor 1010 to operate to support the implementation of the indoor positioning method according to any embodiment of this specification. Technicians can design instructions according to the scheme disclosed in the embodiments of this specification. How the instruction controls the processor to operate is well known in the art, so it will not be described in detail here.

Those skilled in the art should understand that although multiple devices of the electronic device 1000 are shown in FIG. 2, the electronic device 1000 in the embodiment of this specification may only involve some of the devices, for example, only the processor 1010 and the memory are involved. 1020, display device 1050, input device 1060, etc.

<Method Example>

This embodiment provides an indoor positioning method. The method may be implemented by, for example, an electronic device. The electronic device may include the electronic device 1000 as shown in FIG. 2.

As shown in Fig. 3, the indoor positioning method includes steps 2000-2400.

Step 2000: Obtain electromagnetic wave signals received by at least two indoor directional antennas; the electromagnetic wave signals are emitted by the target object.

Step 2200: Obtain the incident angle of the electromagnetic wave signal relative to the indoor directional antenna and the distance between the target object and any indoor directional antenna based on the electromagnetic wave signal.

Specifically, when the incident angle of the electromagnetic wave signal with respect to the indoor directional antenna is obtained based on the electromagnetic wave signal, the phase difference may be calculated according to the electromagnetic wave signals received by the at least two indoor directional antennas; and the phase difference may be calculated based on the phase difference. The incident angle of the electromagnetic wave signal relative to the indoor directional antenna.

Wherein, calculating the phase difference according to the electromagnetic wave signal includes: analyzing the I/Q signal from the electromagnetic wave signal, and calculating the phase difference ψ according to the analyzed I/Q signal.

When calculating the angle of incidence, as shown in FIG. 4, the at least two indoor directional antennas include a first indoor directional antenna, a second indoor directional antenna, and a third indoor directional antenna as an example for description.

Specifically, the first indoor directional antenna and the second indoor directional antenna are used to form an xy plane. Based on the phase difference between the electromagnetic wave signals received by the first indoor directional antenna and the second indoor directional antenna, the electromagnetic wave signal relative to the The first incident angle of the x-axis, specifically, can be based on the formula

The first angle of incidence is calculated. Where ψ ₁ is the phase difference, d ₁ is the distance between the first indoor directional antenna and the second indoor directional antenna, and λ is the electromagnetic wave wavelength.

The second indoor directional antenna and the third indoor directional antenna are used to form a yz plane, and the electromagnetic wave signal relative to the z-axis is calculated based on the phase difference between the electromagnetic wave signal received by the second indoor directional antenna and the third indoor directional antenna The third angle of incidence, specifically, can be based on the formula

The third angle of incidence is calculated. Where ψ ₂ is the phase difference, d ₂ is the distance between the second indoor directional antenna and the third indoor directional antenna, and λ is the electromagnetic wave wavelength.

After the phase difference is calculated, the distance between the target object and any indoor directional antenna is obtained. Specifically, the time difference can be calculated according to the time when the electromagnetic wave signal reaches the at least two indoor directional antennas; and then the distance between the target object and any one of the indoor directional antennas can be calculated according to the phase difference and the time difference .

Wherein, when the distance between the target object and any one of the indoor directional antennas is calculated, the relative distance between the two indoor directional antennas and the phase difference can be calculated to obtain the relative electromagnetic wave signal. The first incident angle and the second incident angle of the two indoor directional antennas; then according to the distance between the two indoor directional antennas, the first incident angle and the second incident angle, the time difference and the propagation of electromagnetic waves Speed, calculate the distance between the target object and any one of the indoor directional antennas.

For example, as shown in Figure 5, it is known that the selected electromagnetic wave wavelength is λ, the distance between two indoor directional antennas set up is d, and the propagation speed of electromagnetic waves in the air is approximately equal to the speed of light c. Therefore, the formula

The distance L between the target object and any one of the indoor directional antennas is calculated. Among them, d is the distance between the two indoor directional antennas, c is the propagation speed of electromagnetic waves in the air, ΔT is the time difference, and θ and γ are the first incident angle and the first incident angle of the electromagnetic wave signal with respect to different indoor directional antennas. Two angle of incidence.

After the distance and the incident angle are calculated, step 2400 is entered.

In step 2400, based on the distance and the incident angle, the position information of the target object is calculated.

In this step, specifically, the x-coordinate value and the y-coordinate value of the target object can be calculated according to the distance, the first angle of incidence, and the third angle of incidence; according to the height of the indoor directional antenna, the The distance and the third angle of incidence are calculated to obtain the z-coordinate value of the target object; the x-coordinate value, the y-coordinate value, and the z-coordinate value are determined as the position information of the target object.

In an example, the height of the indoor directional antenna in the known coordinate value system, that is, the installation height of the indoor directional antenna is a, then the formula

Calculate the x-coordinate value of the target object; through the formula

Calculate the y coordinate value of the target object; through the formula

The z coordinate value of the target object is calculated.

among them,

ψ ₁ and ψ _{2 are} the phase differences, d ₁ is the distance between the first indoor directional antenna and the second indoor directional antenna, and d ₂ is the distance between the second indoor directional antenna and the third indoor directional antenna. Distance, λ is the wavelength of electromagnetic wave.

In practical applications, according to the design of the indoor directional antenna array, there are multiple indoor directional antennas that can receive the electromagnetic wave signal emitted by the target object. Repeat the above steps to get more incident angles θ and

Furthermore, the above-mentioned incident angle θ and

Improve the accuracy of indoor positioning.

The method of this embodiment obtains the electromagnetic wave signals received by at least two indoor directional antennas; calculates two slaves based on the electromagnetic wave signals, and calculates the incident angle of the electromagnetic wave signal relative to the indoor directional antenna based on the phase difference; at the same time, based on at least The time difference and phase difference between the electromagnetic wave signals received by the two indoor directional antennas are calculated to obtain the distance between the target object and any indoor directional antenna, and the position information of the target object is calculated based on the distance and the incident angle. The antenna array module composed of multiple antennas makes the measurement angle more accurate, and can avoid interference factors such as environment, multipath, and reflection, thereby improving the accuracy of indoor positioning. Moreover, the cost is low, the installation is simple, and it is convenient for large-scale deployment.

<Device Example>

Fig. 6 is a schematic structural diagram of a device for indoor positioning according to an embodiment of the present specification.

As shown in FIG. 6, the device for indoor positioning of the user may include: an antenna array module, a radio frequency switch module, a Bluetooth IC module, and a calculation module for running algorithms.

Among them, the antenna array module is used to receive the electromagnetic wave signal emitted by the target object.

The radio frequency switch module is used to send electromagnetic wave signals received by different antennas in the antenna array module to the Bluetooth IC module at different times. For example, suppose that 4 antennas are connected to a receiving link through a radio frequency switch module. Time t1 receives the electromagnetic wave signal of antenna 1, and time t2 receives the electromagnetic wave signal of antenna 2, and so on, there are t3, t4, and the interval Δt between each time is fixed. When the regular modulation signal is determined by Δt, the Δt can be complemented by an algorithm at the back end to obtain different phases at the same time.

The Bluetooth IC module is used to receive the electromagnetic wave signal transmitted by the radio frequency switch module.

The calculation module is configured to execute the indoor positioning method described in any method embodiment of this specification according to the electromagnetic wave signal received by the Bluetooth IC module, which will not be repeated here.

Further, FIG. 7 is a schematic structural diagram of an apparatus for indoor positioning according to another embodiment of this specification. The device is, for example, the device for indoor positioning shown in FIG. 6; or, the device is, for example, the device 7000 for indoor positioning shown in FIG. Module 7200.

Wherein, the acquisition module 7100 can be used to acquire electromagnetic wave signals received by at least two indoor directional antennas; the electromagnetic wave signals are sent by the target object.

The calculation module 7200 is configured to obtain the incident angle of the electromagnetic wave signal relative to the indoor directional antenna based on the electromagnetic wave signal, and the distance between the target object and any indoor directional antenna; and, based on the distance and the incident angle , Calculate the position information of the target object.

Specifically, the calculation module 7200 may calculate the phase difference based on the electromagnetic wave signals received by the at least two indoor directional antennas; and calculate the incident angle of the electromagnetic wave signal relative to the indoor directional antenna based on the phase difference.

The calculation module 7200 can analyze the I/Q signal from the electromagnetic wave signal; calculate the phase difference according to the I/Q signal.

Specifically, the calculation module 7200 may calculate the time difference according to the time when the electromagnetic wave signal reaches the at least two indoor directional antennas; according to the phase difference and the time difference, calculate the difference between the target object and any one of the indoor directional antennas. distance.

Wherein, the calculation module 7200 specifically calculates the first incident angle and the second incident angle of the electromagnetic wave signal relative to the two indoor directional antennas according to the distance between the two indoor directional antennas and the phase difference; According to the distance between the two indoor directional antennas, the first and second incident angles, the time difference and the propagation speed of electromagnetic waves, the distance between the target object and any one of the indoor directional antennas is calculated distance.

In an example, the at least two indoor directional antennas include a first indoor directional antenna, a second indoor directional antenna, and a third indoor directional antenna. The calculation module 7200 may use the first indoor directional antenna and the second indoor directional antenna to form an xy plane, and calculate the electromagnetic wave signal based on the phase difference between the electromagnetic wave signal received by the first indoor directional antenna and the second indoor directional antenna The first angle of incidence relative to the x-axis; and the second indoor directional antenna and the third indoor directional antenna are used to form a yz plane, based on the phase of the electromagnetic wave signals received by the second indoor directional antenna and the third indoor directional antenna The difference is calculated to obtain the third incident angle of the electromagnetic wave signal with respect to the z-axis.

Specifically, when calculating the position information of the target object, the calculation module 7200 may specifically calculate the x-coordinate value and the y-coordinate value of the target object according to the distance, the first angle of incidence, and the third angle of incidence. Calculate the z-coordinate value of the target object according to the height of the indoor directional antenna, the distance and the third angle of incidence; determine the x-coordinate value, the y-coordinate value and the z-coordinate value Is the location information of the target object.

The apparatus for indoor positioning in this embodiment can be used to implement the technical solutions of the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

<Equipment Example>

In this embodiment, an electronic device is also provided, which includes the device for indoor positioning described in the device embodiment shown in FIG. 6 or FIG. 7 of this specification; or, the electronic device is the electronic device shown in FIG. 8 The device 8000 includes a memory 8100 and a processor 8200.

The memory 8100 is used to store executable commands.

The processor 8200 is configured to execute the method described in any method embodiment in this specification under the control of the executable command stored in the memory 8100.

<Computer-readable storage medium embodiment>

This embodiment provides a computer-readable storage medium in which an executable command is stored, and when the executable command is executed by a processor, the method described in any method embodiment in this specification is executed.

The embodiments of this specification may be systems, methods and/or computer program products. The computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the embodiments of the present specification.

The computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon The protruding structure in the hole card or the groove, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.

The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .

The computer program instructions used to perform the operations of the embodiments of this specification may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or one or more programming Source code or object code written in any combination of languages. Programming languages include object-oriented programming languages-such as Smalltalk, C++, etc., and conventional procedural programming languages-such as "C" language or similar programming languages. Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to access the Internet connection). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions. The computer-readable program instructions are executed to realize various aspects of the embodiments of this specification.

Here, various aspects of the embodiments of the present specification are described with reference to the flowcharts and/or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present specification. It should be understood that each block of the flowcharts and/or block diagrams, and combinations of blocks in the flowcharts and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner. Thus, the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

It is also possible to load computer-readable program instructions on a computer, other programmable data processing device, or other equipment, so that a series of operation steps are executed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , So that the instructions executed on the computer, other programmable data processing apparatus, or other equipment realize the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions, and operations of the system, method, and computer program product according to multiple embodiments of the embodiments of this specification. In this regard, each block in the flowchart or block diagram can represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more executables for realizing the specified logic function. instruction. In some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that realization by hardware, realization by software, and realization by a combination of software and hardware are all equivalent.

The various embodiments of the embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and spirit of the described embodiments, many modifications and changes are obvious to those of ordinary skill in the art. The choice of terms used herein is intended to best explain the principles, practical applications, or technical improvements in the market of the embodiments, or to enable other ordinary technical persons in the technical field to understand the embodiments disclosed herein. The scope of the embodiments of this specification is defined by the appended claims.

Claims (11)

1. An indoor positioning method, including:

   Acquiring electromagnetic wave signals received by at least two indoor directional antennas; the electromagnetic wave signals are emitted by a target object;

   Obtaining, based on the electromagnetic wave signal, the incident angle of the electromagnetic wave signal with respect to the indoor directional antenna, and the distance between the target object and any one of the indoor directional antenna;

   Based on the distance and the incident angle, the position information of the target object is calculated.
2. The method according to claim 1, wherein obtaining the incident angle of the electromagnetic wave signal with respect to the indoor directional antenna based on the electromagnetic wave signal comprises:

   Calculating the phase difference according to the electromagnetic wave signals received by the at least two indoor directional antennas;

   The incident angle of the electromagnetic wave signal relative to the indoor directional antenna is calculated based on the phase difference.
3. The method according to claim 2, wherein calculating the phase difference according to the electromagnetic wave signal comprises:

   Resolve the I/Q signal from the electromagnetic wave signal;

   The phase difference is calculated according to the I/Q signal.
4. The method according to claim 2, wherein obtaining the distance between the target object and any one of the indoor directional antennas comprises:

   Calculate the time difference according to the time when the electromagnetic wave signal reaches the at least two indoor directional antennas;

   According to the phase difference and the time difference, the distance between the target object and any one of the indoor directional antennas is calculated.
5. The method according to claim 4, wherein, according to the phase difference and the time difference, calculating the distance between the target object and any one of the indoor directional antennas comprises:

   According to the distance between the two indoor directional antennas and the phase difference, respectively calculating the first incident angle and the second incident angle of the electromagnetic wave signal relative to the two indoor directional antennas;

   According to the distance between the two indoor directional antennas, the first and second incident angles, the time difference and the propagation speed of electromagnetic waves, the distance between the target object and any one of the indoor directional antennas is calculated distance.
6. The method according to claim 2, wherein the at least two indoor directional antennas include a first indoor directional antenna, a second indoor directional antenna, and a third indoor directional antenna;

   The calculating the incident angle of the electromagnetic wave signal relative to the indoor directional antenna based on the phase difference includes:

   The first indoor directional antenna and the second indoor directional antenna are used to form an xy plane, and the electromagnetic wave signal is calculated based on the phase difference between the electromagnetic wave signals received by the first indoor directional antenna and the second indoor directional antenna The first angle of incidence relative to the x-axis;

   The second indoor directional antenna and the third indoor directional antenna are used to form a yz plane, and the electromagnetic wave signal is calculated based on the phase difference between the electromagnetic wave signals received by the second indoor directional antenna and the third indoor directional antenna The third angle of incidence relative to the z-axis.
7. The method according to claim 6, wherein calculating the position information of the target object based on the distance and the incident angle comprises:

   Calculating the x-coordinate value and the y-coordinate value of the target object according to the distance, the first incident angle, and the third incident angle;

   Calculating the z coordinate value of the target object according to the height of the indoor directional antenna, the distance, and the third angle of incidence;

   The x coordinate value, the y coordinate value, and the z coordinate value are determined as the position information of the target object.
8. A device for indoor positioning, including:

   Antenna array module, used to receive the electromagnetic wave signal emitted by the target object;

   The radio frequency switch module is used to send electromagnetic wave signals received by different antennas in the antenna array module to the Bluetooth IC module at different times;

   The Bluetooth IC module is configured to receive the electromagnetic wave signal transmitted by the radio frequency switch module;

   The calculation module is configured to execute the indoor positioning method according to any one of claims 1-7 according to the electromagnetic wave signal received by the Bluetooth IC module.
9. A device for indoor positioning, including:

   The acquisition module is used to acquire electromagnetic wave signals received by at least two indoor directional antennas; the electromagnetic wave signals are emitted by a target object;

   A calculation module for obtaining the incident angle of the electromagnetic wave signal relative to the indoor directional antenna and the distance between the target object and any one of the indoor directional antenna based on the electromagnetic wave signal; and, based on the distance And the incident angle, the position information of the target object is calculated.
10. An electronic device, comprising the device for indoor positioning according to claim 8 or 9, or, the electronic device comprising:

    Memory, used to store executable commands;

    The processor is configured to execute the indoor positioning method according to any one of claims 1-7 under the control of the executable command.
11. A computer-readable storage medium storing executable instructions, and when the executable instructions are executed by a processor, the indoor positioning method according to any one of claims 1-7 is executed.

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