WO2022028362A1

WO2022028362A1 - Device positioning method and related device therefor

Info

Publication number: WO2022028362A1
Application number: PCT/CN2021/110046
Authority: WO
Inventors: 何彦杉; 许强; 刘哲; 黄雪妍
Original assignee: 华为技术有限公司
Priority date: 2020-08-05
Filing date: 2021-08-02
Publication date: 2022-02-10
Also published as: CN112637758B; CN116156417A; CN112637758A

Abstract

The embodiments of the present application disclose a device positioning method. Said method comprises: acquiring a position change of a first terminal device, the position change being determined according to first data acquired by a second sensor; when the position change of the first terminal device exceeds a threshold, triggering a first sensor to change from a first working state to a second working state, the power consumption of the first sensor in the first working state being less than the power consumption of the first sensor in the second working state; and acquiring first position information of the first terminal device, the first position information being determined according to second data acquired by the first sensor in the second working state. In the present application, only when it is determined, on the basis of the second data acquired by a second sensor with low power consumption, that the position change of the first terminal device exceeds the threshold, the first sensor with high power consumption is enabled, reducing the power consumption of the first terminal device.

Description

A device positioning method and related devices

This application claims the priority of the Chinese patent application filed on November 30, 2020, with the application number of 202011376728.6, and the application title is "A Device Positioning Method and Related Equipment", and claimed on August 2020. The priority of the Chinese patent application with the application number of 202010780901.2 and the application title of "a positioning method and device therefor" was submitted to the State Intellectual Property Office of China on May 5, the entire contents of which are incorporated in this application by reference.

technical field

The present application relates to the field of computers, and in particular, to a device positioning method and related devices.

Background technique

Wireless positioning technology refers to the measurement method and calculation method used to determine the location of a mobile user, that is, a positioning algorithm. At present, the most commonly used positioning technologies are: time difference positioning technology, signal angle of arrival (angle-of-arrival, AOA) technology, time of arrival (time of arrival, TOA) and time difference of arrival (time different of arrival, TDOA) positioning Wait. Among them, the TDOA technology is the most popular solution at present, and the ultra-wideband wireless communication technology (ultra wide band, UWB) also adopts this technology. UWB is a carrierless communication technology. UWB does not use a carrier, but a short sequence of energy pulses, and the pulses are extended to a frequency range through orthogonal frequency division modulation or direct sequencing.

Spatial interaction refers to human-computer interaction technologies and methods based on spatial position awareness (including relative position and angle between devices, etc.). In order to achieve a better user experience, users need to realize spatial awareness between multiple devices. , for example, the existing technology center uses UWB technology to realize the Airdrop directional sharing function. However, the device positioning based on UWB has high power consumption. Although it can bring a good experience to the user in spatial interaction, it also reduces the use time of the terminal device.

SUMMARY OF THE INVENTION

In a first aspect, the present application provides a device positioning method, which is applied to a first terminal device, where the first terminal device may be a terminal device in a smart home system or other indoor/outdoor scenarios. The data collected by the first sensor and the second sensor is used to locate the first terminal device by the device, and the data collected by the second sensor is used to determine the position change of the first terminal device. In order to determine the relative position with other terminal devices, the terminal device can turn on the sensor carried by itself, and the data collected by the sensor can be used for device positioning. The so-called device positioning in this application can be understood as determining the relationship between terminal devices. relative position. In order to obtain a high-precision device positioning result, the first terminal device can turn on the first sensor with high positioning accuracy. The so-called sensor with high positioning accuracy in this application does not mean that the sensor has positioning capability, but refers to The calculation result of device positioning based on the data collected by the sensor has high precision. It should be understood that the first sensor may be a high-precision sensor or a combination of multiple precision sensors, which is not limited in this embodiment of the present application. The data collected by the second sensor is used to determine the position change of the first terminal device, that is, the data collected by the second sensor can be used to determine how much displacement has occurred in the terminal device, based on the data collected by the second sensor. The positioning accuracy of the data for positioning is low, but the corresponding power consumption of the terminal device is also low when these sensors are turned on at the same time. It should be understood that the second sensor may also be other sensors with lower positioning accuracy and lower power consumption, which is not limited in this application.

The data collected by the second sensor is used to determine the position change of the first terminal device, but the data collected by the first sensor can be used to determine the relative position between the terminal devices, and the data collected by the second sensor can also It is used to determine the relative position between the terminal devices, or the data collected by the second sensor can be used to determine the size of the position change of the terminal device, but cannot be used to determine the relative position between the terminal devices. The power of the first sensor is greater than the power of the second sensor, that is, in a unit time, the power consumption required by the first terminal device to keep the first sensor turned on is greater than that of the first terminal device. The power consumption required for turning on the second sensor.

The method includes: acquiring a position change of the first terminal device, the position change being determined according to the first data collected by the second sensor; when the position change of the first terminal device exceeds a threshold, triggering the The first sensor is changed from a first working state to a second working state, and the power consumption of the first sensor in the first working state is smaller than that in the second working state. The second working state may be a sensor off state, or a low power consumption state in which only a part of the sensor functions are turned on in a standby state. The first working state may be a sensor-on state, or a high-power-consumption state in which most sensor functions are turned on. For example, the first operating state is a sensor-on state, and the second operating state is a sensor-off state. Acquire first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor.

In this embodiment of the present application, the threshold may include a distance threshold and an angle threshold. It should be noted that different thresholds may correspond to different device types of the first terminal device. Exemplarily, the first terminal device may be a mobile device, such as a mobile phone, a Pad, AR glasses, a smart watch, a smart bracelet, etc.; The first terminal device may be a semi-mobile device such as a smart speaker, a notebook computer, etc.; the first terminal device may be a fixed device such as a smart screen, a desktop computer, a smart home appliance, and the like. From mobile devices, semi-mobile devices to fixed devices, the corresponding thresholds can be gradually reduced. That is to say, when the first terminal device is a mobile device, when the position of the first terminal device changes beyond the first threshold, all The first sensor, when the first terminal device is a semi-mobile device, when the position change of the first terminal device exceeds the second threshold, the first sensor is turned on, and when the first terminal device is a fixed device, when the first When the position change of a terminal device exceeds a third threshold, the first sensor is turned on, the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

The first terminal device may belong to a computing system, the computing system may be the above-described smart home system or other indoor/outdoor scenarios, and the computing system may include multiple terminal devices, wherein the multiple terminal devices may include a control center, the control center This embodiment is also referred to as a target terminal device. The computing system may include a first terminal device, and in order to obtain a relative position with other terminal devices in the computing system, the first terminal device may obtain second data collected by a first sensor set on the first terminal device, the second data It can be used to calculate the relative position between the first terminal device and other terminal devices in the computing system. The first location information may indicate a relative location between the first terminal device and other terminal devices in the computing system, and the relative location may be a relative distance and/or a relative azimuth. The first position information may be directly represented by relative distance and/or relative azimuth, or may be data used to calculate relative distance and/or relative azimuth. Or indirectly obtain the relative position between the first terminal device and other terminal devices in the computing system.

In this embodiment, only when it is determined based on the first data collected by the second sensor with low power consumption that the position change of the first terminal device exceeds a threshold, the first sensor with high power consumption is triggered to change from the first working state to In the second working state, the power consumption of the first terminal device is reduced.

In a possible implementation, the method further includes: before acquiring the location change of the first terminal device, acquiring second location information of the first terminal device, where the second location information is based on the It is determined by the third data collected by the first sensor in the second working state; the first sensor is triggered to change from the second working state to the first working state.

In this embodiment, the second location information of the first terminal device may be acquired, and the second location information is determined according to the third data collected by the first sensor; the first terminal device may belong to a computing system, and the computing The system may be the smart home system described above or other indoor/outdoor scenarios, and the computing system may include multiple terminal devices, wherein the multiple terminal devices may include a control center, which is also referred to as the target terminal device in this embodiment. . The computing system may include a first terminal device, and in order to obtain a relative position with other terminal devices in the computing system, the first terminal device may obtain third data collected by a first sensor set on the first terminal device, the third data It can be used to calculate the relative position between the first terminal device and other terminal devices in the computing system. The second location information may indicate a relative location between the first terminal device and other terminal devices in the computing system, and the relative location may be a relative distance and/or a relative azimuth.

It should be understood that the second position information may be directly represented by relative distance and/or relative azimuth, or may be data used to calculate relative distance and/or relative azimuth, no matter what the expression of the first position information is, its The relative positions between the first terminal device and other terminal devices in the computing system can be obtained directly or indirectly.

Trigger the first sensor to change from the second working state to the first working state; it should be understood that this application does not limit the period between turning off the first sensor and acquiring the second position information of the first terminal device In an implementation, after the first sensor collects the third data, before obtaining the second position information of the first terminal device, the first sensor can be triggered to change from the second working state to the all In the first working state, in one implementation, the first sensor is triggered to change from the second working state to the first working state after acquiring the second position information of the first terminal device.

In order to reduce power consumption in the present application, the first sensor may be triggered to change from the second working state to the first working state. In one implementation, other terminal devices in the computing system may trigger the first terminal device to change from the second working state to the first working state, for example, turning off its own first sensor. Specifically, the first terminal device may receive an instruction for turning off the first sensor sent by other terminal devices in the computing system, and turn off the first sensor based on the received instruction.

In a possible design, the data accuracy of the data collected by the first sensor is greater than the data accuracy of the data collected by the second sensor.

It should be understood that, in one implementation, the data collected by the second sensor cannot be used to perform the positioning operation of the first terminal device, and can only determine the location change of the first terminal device. In another implementation, the data collected by the second sensor can be used to perform the positioning operation of the first terminal device. However, the data accuracy of the data collected by the second sensor is smaller than that of the data collected by the first sensor. data precision.

Specifically, if the first sensor and the second sensor of the first terminal device are turned on together, after the position of the first terminal device changes, the positioning calculation of the first terminal device can be performed according to the data collected by the first sensor, and according to the second sensor The collected data can also perform the positioning calculation of the first terminal device (the positioning algorithm using the data collected by the first sensor is the same as or similar to the positioning algorithm using the data collected by the second sensor), but according to the data collected by the first sensor The calculation result that can perform the positioning calculation of the first terminal device is more accurate than the calculation result that can also perform the positioning calculation of the first terminal device according to the data collected by the second sensor. The so-called high accuracy is based on the first sensor. The collected data can be used for positioning calculation of the first terminal device, and the calculation result is closer to the actual position change of the first terminal device.

When it is determined based on the second data collected by the second sensor with low power consumption that the position change of the first terminal device exceeds the threshold, the positioning calculation is performed by using the data collected by the first sensor with higher positioning accuracy, so as to ensure the positioning accuracy .

In a possible design, the method further includes:

After the first sensor is triggered to change from the first working state to the second working state, the first sensor is triggered to change from the second working state to the first working state.

It should be understood that this application does not limit the timing between triggering the change of the first sensor from the second working state to the first working state and acquiring the first position information of the first terminal device. , after the first sensor collects the second data, and before obtaining the first position information of the first terminal device, the first sensor can be triggered to change from the second working state to the first working state, and In one implementation, the first sensor is triggered to change from the second working state to the first working state after acquiring the first position information of the first terminal device.

In a possible design, the first position information is used to indicate a first relative position between the first terminal device and the second terminal device; the second position information is used to indicate the first terminal The second relative position between the device and the second terminal device; the second terminal device and the first terminal device belong to the same computing system.

The first terminal device belongs to a computing system, and the computing system further includes other terminal devices (second terminal devices), and the second terminal device may be understood as one or more terminal devices.

In a possible design, the triggering of the first sensor to change from the second working state to the first working state includes: receiving a message sent by the second terminal device for triggering the first sensor A second indication of the sensor changing from the second working state to the first working state, and triggering the first sensor to change from the second working state to the first working state based on the second indication.

In a possible design, when the position change of the first terminal device exceeds a threshold, triggering the first sensor to change from the first working state to the second working state includes:

When the position change of the first terminal device exceeds a threshold, sending a third indication to the second terminal device for indicating that the position change of the first terminal device exceeds the threshold;

Receive a fourth instruction sent by the second terminal device for triggering the first sensor to change from a first working state to a second working state, and trigger the first sensor to change from the first working state to the first working state based on the fourth instruction The state changes to the second working state.

In a possible design, the second terminal device includes M terminal devices, and each terminal device in the M terminal devices includes the first sensor;

The first location information is determined according to the second data and data collected by first sensors of N terminal devices among the M terminal devices, where N is less than or equal to the M; and/or,

The second location information is determined according to the third data and data collected by first sensors of N terminal devices among the M terminal devices, where N is less than or equal to the M.

That is to say, the calculation of the first position may be performed based on the data collected by the first sensors of all or part of the M terminal devices. In one implementation, the N is less than the M, and the N The terminal devices are N terminal devices that are closest to the first terminal device among the M terminal devices, and N terminal devices in the M terminal devices collect data for determining the second position is in the first working state, for example, in an off state, among the M terminal devices except the N terminal devices. In this embodiment, N terminal devices closest to the first terminal device may be selected to be in the second working state, and the calculation of the first position information is performed based on data collected by the first sensors of the N terminal devices. The number of N depends on the total number of devices in the computing system, the positioning accuracy of the second sensor of the first terminal device itself, that is, the higher the positioning accuracy of the second sensor, the smaller N is. In the embodiment of the present application, only N terminal equipments located close to each other are selected, which can save energy and reduce consumption under the condition of ensuring system accuracy.

In a possible design, the N is less than the M, and the N terminal devices are the N terminal devices that are closest to the first terminal device among the M terminal devices.

In a possible design, the first relative position and the second relative position include relative distances and/or relative azimuths. The relative azimuth angle can also be referred to as a relative pose, such as a relative 3DOF pose.

In a possible design, before the acquiring the second location information of the first terminal device, the method further includes:

Instructing the first sensor to change from the first operating state to the second operating state.

In a possible design, the triggering of the first sensor to change from the first working state to the second working state includes:

establishing a connection with the second terminal device;

Receive a first indication sent by the second terminal device for triggering the first sensor to change from the first working state to the second working state, and trigger the first sensor based on the first indication Change from the first working state to the second working state.

In one scenario, the first terminal device may keep the first sensor in the first working state, for example, in an off state, until receiving a trigger for the first sensor to change from the first working state to the first working state The first indication of the second working state or the self-determination should be changed from the first working state to the second working state. Taking the first working state as the off state and the second working state as the on state as an example, the first terminal The device can keep the off state of the first sensor until after the first terminal device establishes a connection with at least one terminal device (second terminal device) in the computing system, it can receive the opening said device sent by the second terminal device in the computing system. The first indication of the first sensor, the first terminal device may turn on the first sensor based on the first indication. Taking the computing system as a smart home system as an example, the target terminal device can be a smart screen, and the first terminal device can be a mobile phone carried by the user. When the user returns indoors from the outdoors, the first terminal device can be connected to at least one of the smart home system. A terminal device is established. The so-called established connection can be a local area network connection, such as Bluetooth, WIFI, etc. In this case, the smart screen can capture the first terminal device and return to the smart home system, then the second terminal device can send to the smart home system. The first terminal device sends a first instruction to turn on the first sensor.

In a possible design, the acquiring the first location information of the first terminal device includes: acquiring second data collected by the first sensor, and determining the first terminal according to the second data The first location information of the device.

In a possible design, the acquiring the first location information of the first terminal device includes: acquiring second data collected by the first sensor and data collected by the first sensors of the N terminal devices , and determine the first location information of the first terminal device according to the second data and the data collected by the first sensors of the N terminal devices; or, obtain the second data collected by the first sensor; The target terminal device among the M terminal devices sends the second data, so that the target terminal device can determine the first location information of the first terminal device according to the second data, or the target terminal device can determine the first location information of the first terminal device according to the second data. Determine the first location information of the first terminal device according to the second data and the data collected by the first sensors of the N terminal devices; and receive the first location information sent by the target terminal device.

In a possible design, the acquiring the second location information of the first terminal device includes: acquiring third data collected by the first sensor, and determining the first terminal according to the third data Second location information of the device.

In a possible design, the acquiring the second position information of the first terminal device includes: acquiring third data collected by the first sensor and data collected by the first sensors of the N terminal devices , and determine the second position information of the first terminal device according to the third data and the data collected by the first sensors of the N terminal devices; or, obtain the third data collected by the first sensor; The target terminal device among the M terminal devices sends the third data, so that the target terminal device can determine the second location information of the first terminal device according to the third data, or so that the target terminal device can determine the second location information of the first terminal device according to the third data. Determine the second location information of the first terminal device according to the third data and the data collected by the first sensors of the N terminal devices; and receive the second location information sent by the target terminal device.

In a possible design, the first sensor includes at least one of the following sensors: an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor, and a vision sensor; wherein the UWB sensor may include a UWB transmitter and a UWB receiver, and the ultrasonic sensor The sensor may include an ultrasonic transmitter and an ultrasonic receiver, and the laser sensor may include a laser transmitter and a laser receiver.

The second sensor includes at least one of the following sensors: an accelerometer sensor, a gyroscope sensor, a magnetometer sensor, a low-power bluetooth BLE, and a wireless fidelity WIFI.

In a possible design, the first sensor includes at least one of the following sensors: an accelerometer sensor and a gyroscope sensor, and the positioning accuracy when positioning the device according to the data collected by the first sensor is greater than a preset value . When the accelerometer sensor and the gyroscope sensor are turned on, the power consumption of the first terminal device is also low. However, the positioning accuracy of the data collected by some accelerometer sensors and the gyroscope sensor for device positioning is also high.

In a second aspect, the present application provides a device positioning apparatus, which is applied to a first terminal device, where the first terminal device includes a first sensor and a second sensor, wherein the data collected by the first sensor is used for all The first terminal device is positioned, the data collected by the second sensor is used to determine the position change of the first terminal device, and the power of the first sensor is greater than the power of the second sensor, and the device includes:

an acquisition module, configured to acquire a position change of the first terminal device, where the position change is determined according to the first data collected by the second sensor;

A sensor state change module, configured to trigger the first sensor to change from a first working state to a second working state when the position change of the first terminal device exceeds a threshold, and the first sensor is in the first working state The power consumption is less than the power consumption in the second working state;

The acquiring module is configured to acquire first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor in the second working state.

In a possible design, the acquiring module is configured to acquire second location information of the first terminal device before acquiring the location change of the first terminal device, where the second location information is based on the determined by the third data collected by the first sensor in the second working state;

The sensor state changing module is configured to trigger the first sensor to change from the second working state to the first working state.

In a possible design, the sensor state change module is used to:

In a possible design, the first position information is used to indicate a first relative position between the first terminal device and the second terminal device;

The second position information is used to indicate a second relative position between the first terminal device and the second terminal device;

The second terminal device and the first terminal device belong to the same computing system.

In a possible design, the sensor state change module is configured to receive a message sent by the second terminal device for triggering the first sensor to change from the second working state to the first working state a second indication, and triggering the first sensor to change from the second working state to the first working state based on the second indication.

In a possible design, the sensor state change module is configured to, when the position change of the first terminal device exceeds a threshold, send a message indicating the position change of the first terminal device to the second terminal device a third indication that the threshold is exceeded;

In a possible design, the first relative position and the second relative position include relative distances and/or relative azimuths.

In a possible design, the sensor state change module is configured to instruct the first sensor to change from the first working state to the first working state before acquiring the second position information of the first terminal device 2. Working status.

In a possible design, the sensor state change module is used to establish a connection with the second terminal device;

In a possible design, the acquisition module is used to:

Second data collected by the first sensor is acquired, and first location information of the first terminal device is determined according to the second data.

In a possible design, the acquisition module is used to:

Acquire second data collected by the first sensor and data collected by the first sensors of the N terminal devices, and determine the the first location information of the first terminal device; or,

acquiring second data collected by the first sensor; sending the second data to a target terminal device among the M terminal devices, so that the target terminal device determines the first terminal device according to the second data the first location information of the first terminal device, or so that the target terminal device can determine the first location information of the first terminal device according to the second data and the data collected by the first sensors of the N terminal devices; receive the target The first location information sent by the terminal device.

In a possible design, the acquisition module is used to:

The third data collected by the first sensor is acquired, and the second position information of the first terminal device is determined according to the third data.

In a possible design, the acquisition module is used to:

Acquire third data collected by the first sensor and data collected by the first sensors of the N terminal devices, and determine the second location information of the first terminal device; or,

acquiring third data collected by the first sensor; sending the third data to a target terminal device among the M terminal devices, so that the target terminal device determines the first terminal device according to the third data the second location information of the first terminal device, or so that the target terminal device can determine the second location information of the first terminal device according to the third data and the data collected by the first sensors of the N terminal devices; receive the target the second location information sent by the terminal device.

In a possible design, the first sensor includes at least one of the following sensors: an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor, and a vision sensor;

In a possible design, the first sensor includes at least one of the following sensors: an accelerometer sensor and a gyroscope sensor, and the data accuracy of the data collected by the first sensor is greater than a preset value.

In a third aspect, the present application provides a terminal device, the terminal device includes a processor and a memory, and the processor acquires code stored in the memory to execute any one of the first aspect and its optional implementation manners kind.

In a fourth aspect, the present application provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium containing computer instructions for executing any of the first aspect and its optional implementation manners A sort of.

In a fifth aspect, the present application further provides a computer program product, which includes code, and when the code is executed, is used to implement any one of the first aspect and its optional implementation manners.

In a sixth aspect, a chip is provided, the chip includes a processor, and the processor is configured to perform some or all of the operations in the method described in the first aspect above.

An embodiment of the present application provides a device positioning method, which is applied to a first terminal device, where the first terminal device includes a first sensor and a second sensor, wherein the first sensor is used to locate the first terminal device positioning, the data collected by the second sensor is used to determine the position change of the first terminal device, and the power of the first sensor is greater than the power of the second sensor, the method includes: acquiring the first The position of the terminal device changes, and the position change is determined according to the first data collected by the second sensor; when the position change of the first terminal device exceeds a threshold, triggering the first sensor to change from the first working state is a second working state, and the power consumption of the first sensor in the first working state is smaller than that in the second working state; acquiring the first location information of the first terminal device, the first The location information is determined according to second data collected by the first sensor in the second working state. In the above manner, the first sensor with high power consumption is turned on only when it is determined based on the second data collected by the second sensor with low power consumption that the position change of the first terminal device exceeds the threshold, which reduces the power consumption of the first terminal device. power consumption.

Description of drawings

1a is a system architecture diagram of a smart home system provided by an embodiment of the application;

FIG. 1b is a schematic structural diagram of a terminal device provided by this application;

2 is a block diagram of a software structure of a terminal device according to an embodiment of the application;

FIG. 3 is a schematic flowchart of a device positioning method provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of a device positioning method provided by an embodiment of the present application;

FIG. 5 is a schematic flowchart of a device positioning method provided by an embodiment of the present application;

FIG. 6 is a schematic flowchart of a device positioning method provided by an embodiment of the present application;

FIG. 7 is a schematic flowchart of a device positioning method provided by an embodiment of the present application;

FIG. 8 is a schematic flowchart of a device positioning method provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a device positioning apparatus provided by an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a device positioning apparatus provided by an embodiment of the application;

FIG. 11 is a schematic structural diagram of a terminal device provided by this application.

detailed description

The embodiments of the present application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Those of ordinary skill in the art know that with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

The terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or modules is not necessarily limited to those expressly listed Rather, those steps or modules may include other steps or modules not expressly listed or inherent to the process, method, product or apparatus. The naming or numbering of the steps in this application does not mean that the steps in the method flow must be executed in the time/logical sequence indicated by the naming or numbering, and the named or numbered process steps can be implemented according to the The technical purpose is to change the execution order, as long as the same or similar technical effects can be achieved.

First, the application scenarios of this application are introduced. This application can be applied in smart home systems or offices. Multiple terminal devices can be set up in a user's home or office. Multiple terminal devices have mutual spatial awareness and form a spatial network. (It may also be referred to as a computing system in this embodiment of the present application).

Taking a smart home system as an example, FIG. 1a is a system architecture diagram of a smart home system provided by an embodiment of the present application. As shown in FIG. 1a, the smart home system includes a user terminal 11, a control center 12, and at least one screen terminal (eg, screen terminals 13, 14); wherein, the screen terminals 13, 14 are set at different positions. The user terminal 11 and at least one screen terminal (eg, screen terminals 13 and 14) may be located in the same area or in different areas. For example, the user terminal 11 may be in the living room, and the screen terminal 13 may be located in the living room or the bedroom.

In some examples, both the user terminal 11 and the screen terminals (eg, screen terminals 13, 14) may be mobile phones, tablet computers, digital cameras, personal digital assistants (PDAs), wearable devices, laptop computers (laptops) ), smart TVs, Huawei smart screens and other electronic devices with display screens. Exemplary embodiments of electronic devices include, but are not limited to, electronic devices equipped with iOS, android, Windows, Harmony OS, or other operating systems. The electronic device described above may also be other electronic devices, such as a laptop or the like having a touch-sensitive surface (eg, a touch panel). The embodiment of the present application does not specifically limit the type of the electronic device.

In some examples, the control center 12 may also be a terminal device, such as a mobile phone, a tablet computer, a digital camera, a personal digital assistant (PDA), a wearable device, a laptop computer (laptop), a smart TV, Electronic devices with display screens such as Huawei Smart Screens.

It should be understood that the control center 12 may not be provided in the above-mentioned smart home system.

Both the user terminal 11 and the screen terminals (such as the screen terminals 13, 14) can be connected to the control center 12 through a network such as a wired network (wired network) or a wireless network (wireless network), or the user terminal 11 and the screen terminals (for example, the screen terminal 13) , 14) can be connected through a wired network (Wired network) or a wireless network (wireless network) and other networks. For example, the network may be a local area network (LAN) or a wide area network (WAN) (eg, the Internet). The network between the user terminal 11 and the screen terminal and the control center 12 can be implemented using any known network communication protocol, which can be various wired or wireless communication protocols, such as Ethernet, Universal Serial Bus ( universal serial bus, USB), firewire (firewire), global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (WCDMA), time division code division multiple access (time-division code division multiple access, TD-SCDMA), long term evolution (long term evolution, LTE), new air interface ( New radio, NR), Bluetooth (bluetooth), wireless fidelity (wireless fidelity, Wi-Fi) and other communication protocols.

In addition, a wired network (Wired

network) or a wireless network. For detailed network types, refer to the above description, which will not be repeated here.

The following describes a schematic diagram of a hardware structure of a terminal device in an embodiment of the present application, where the terminal device may be a user terminal 11 and/or a screen terminal (eg, screen terminals 13 and 14 ).

Terminal equipment, also known as user equipment (UE) or electronic equipment, can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; it can also be deployed on water (such as ships, etc.); it can also be deployed on In the air (eg on airplanes, balloons and satellites, etc.). Electronic devices can be mobile phones, tablet computers (pads), wearable devices with wireless communication functions (such as smart watches), location trackers with positioning functions, computers with wireless transceiver functions, virtual reality (virtual reality) , VR) equipment, augmented reality (augmented reality, AR) equipment, wireless equipment in a smart home (smart home), etc., which are not limited in this application. In this application, the aforementioned electronic devices and chips that can be provided in the aforementioned electronic devices are collectively referred to as electronic devices.

Terminal devices in this application may include, but are not limited to: smart mobile phones, TVs, tablet computers, wristbands, head mounted display devices (Head Mount Display, HMD), augmented reality (augmented reality, AR) devices, mixed reality (mixed reality) reality, MR) equipment, cellular phone (cellular phone), smart phone (smart phone), personal digital assistant (personal digital assistant, PDA), tablet computer, vehicle terminal equipment, laptop computer (laptop computer), personal computer (personal computer, PC), monitoring equipment, robots, in-vehicle terminals, autonomous vehicles, etc. Of course, in the following embodiments, no limitation is imposed on the specific form of the terminal device.

In this embodiment of the present application, the terminal device may include one or more sensors that collect data for determining relative positions with other terminal devices (also referred to as the first sensor in this application), and the first sensor may be Ultra wide band (UWB) sensors, ultrasonic sensors, laser sensors and vision sensors.

Among them, the data collected by the UWB sensor can be used for accurate measurement of the relative distance and relative azimuth between the terminal device and the terminal device. The data collected by the ultrasonic sensor can be used to make accurate terminal-to-terminal relative distance measurements. Data collected by vision sensors can be used to make precise end-to-end angle measurements. The positioning accuracy is high when positioning based on the data collected by the first sensor, but the corresponding power consumption of the terminal device is also high when these sensors are turned on at the same time.

It should be understood that the first sensor may also be other sensors with higher positioning accuracy, which is not limited in the present application.

In this embodiment of the present application, the terminal device may include one or more sensors (which may also be referred to as second sensors in this application) for collecting data for determining whether the terminal device moves or how much position change has occurred. The second sensor may include at least one of the following sensors: an accelerometer sensor, a gyroscope sensor, a magnetometer sensor, bluetooth low energy (BLE) and wireless fidelity (WIFI).

Among them, the data collected by the accelerometer sensor can be used to measure the movement of the terminal device itself. The acceleration of the device in the x, y, and z directions is measured based on the inertial coordinate system of the terminal device. The accelerometer sensor is the main component of the pedometer. sensing modality. The data collected by the gyroscope sensor can be used to measure the rotation of the terminal device itself, and the rotation of the device in the three directions of x, y, and z is measured based on the inertial coordinate system of the device. The data collected by the magnetometer sensor can be used to measure the magnetic field strength detected by the terminal device, excluding drastic changes in the external environment, where the changes in the magnetic force values in the three directions of x, y, and z can represent the change in the position of the terminal device. The data collected by BLE can be used to measure the relative distance and relative angle between the terminal device and the terminal device. Changes in BLE RSS can be indicative of changes in the location of the end device. The data collected by WIFI can be used to measure the relative distance between the terminal device and the terminal device which is not very accurate, but the network card is used as a sensor, and the scanned RSS can be used as the location fingerprint. Generally, the change of WiFi RSS can indicate the location of the terminal device. The change. The positioning accuracy is low when positioning based on the data collected by the second sensor, but the corresponding power consumption of the terminal device is also low when these sensors are turned on at the same time.

It should be understood that the second sensor may also be other sensors that may have lower positioning accuracy, which is not limited in this application.

Exemplarily, referring to FIG. 1b, the following takes a specific structure as an example to illustrate the structure of the terminal device provided by the present application.

The terminal device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2 , mobile communication module 150, wireless communication module 160, audio module 170, speaker 170A, receiver 170B, microphone 170C, headphone jack 170D, sensor module 180, buttons 190, motor 191, indicator 192, camera 193, display screen 194, and Subscriber identification module (subscriber identification module, SIM) card interface 195 and so on. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, and ambient light. Sensor 180L, bone conduction sensor 180M, motion sensor 180N, etc.

It can be understood that, the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the terminal device 100 . In other embodiments of the present application, the terminal device 100 may include more or less components than those shown in the drawings, or combine some components, or separate some components, or arrange different components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural-network processing unit (neural-network processing unit, NPU), etc. Wherein, different processing units may be independent devices, or may be integrated in one or more processors.

The controller can generate an operation control signal according to the instruction operation code and timing signal, and complete the control of fetching and executing instructions.

A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in processor 110 is cache memory. This memory may hold 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 called directly from the memory. Repeated accesses are avoided and the latency of the processor 110 is reduced, thereby increasing the efficiency of the system.

In some embodiments, 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, a universal asynchronous transceiver (universal asynchronous transmitter) receiver/transmitter, UART) interface, mobile industry processor interface (MIPI), general-purpose input/output (GPIO) interface, subscriber identity module (SIM) interface, and / or universal serial bus (universal serial bus, USB) interface, etc.

The I2C interface is a bidirectional synchronous serial bus that includes a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may contain multiple sets of I2C buses. The processor 110 can be respectively coupled to the touch sensor 180K, the charger, the flash, the camera 193 and the like through different I2C bus interfaces. For example, the processor 110 may couple the touch sensor 180K through the I2C interface, so that the processor 110 and the touch sensor 180K communicate with each other through the I2C bus interface, so as to realize the touch function of the terminal device 100 .

The I2S interface can be used for audio communication. In some embodiments, the processor 110 may contain multiple sets of I2S buses. The processor 110 may be coupled with the audio module 170 through an I2S bus to implement communication between the processor 110 and the audio module 170 . In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 through the I2S interface, so as to realize the function of answering calls through a Bluetooth headset.

The PCM interface can also be used for audio communications, sampling, quantizing and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 may be coupled through a PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 through the PCM interface, so as to realize the function of answering calls through the Bluetooth headset. Both the I2S interface and the PCM interface can be used for audio communication.

The UART interface is a universal serial data bus used for asynchronous communication. The bus may be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, a UART interface is typically used to connect the processor 110 with the wireless communication module 160 . For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 through the UART interface to implement the Bluetooth function. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 through the UART interface, so as to realize the function of playing music through the Bluetooth headset.

The MIPI interface can be used to connect the processor 110 with peripheral devices such as the display screen 194 and the camera 193 . MIPI interfaces include camera serial interface (CSI), display serial interface (DSI), etc. In some embodiments, the processor 110 communicates with the camera 193 through the CSI interface, so as to realize the shooting function of the terminal device 100 . The processor 110 communicates with the display screen 194 through the DSI interface to implement the display function of the terminal device 100 .

The GPIO interface can be configured by software. The GPIO interface can be configured as a control signal or as a data signal. In some embodiments, the GPIO interface may be used to connect the processor 110 with the camera 193, the display screen 194, the wireless communication module 160, the audio module 170, the sensor module 180, and the like. The GPIO interface can also be configured as I2C interface, I2S interface, UART interface, MIPI interface, etc.

The USB interface 130 is an interface that conforms to the USB standard specification, and may specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, and the like. The USB interface 130 can be used to connect a charger to charge the terminal device 100, and can also be used to transmit data between the terminal device 100 and peripheral devices. It can also be used to connect headphones to play audio through the headphones. This interface can also be used to connect other terminal devices, such as AR devices.

It can be understood that the interface connection relationship between the modules illustrated in the embodiment of the present invention is only a schematic illustration, and does not constitute a structural limitation of the terminal device 100 . In other embodiments of the present application, the terminal device 100 may also adopt different interface connection manners in the foregoing embodiments, or a combination of multiple interface connection manners.

The charging management module 140 is used to receive charging input from the charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from the wired charger through the USB interface 130 . In some wireless charging embodiments, the charging management module 140 may receive wireless charging input through the wireless charging coil of the terminal device 100 . While the charging management module 140 charges the battery 142 , it can also supply power to the terminal device through the power management module 141 .

The power management module 141 is used for connecting the battery 142 , the charging management module 140 and the processor 110 . The power management module 141 receives input from the battery 142 and/or the charging management module 140, and supplies power to the processor 110, the internal memory 121, the display screen 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle times, battery health status (leakage, impedance). In some other embodiments, the power management module 141 may also be provided in the processor 110 . In other embodiments, the power management module 141 and the charging management module 140 may also be provided in the same device.

The wireless communication function of the terminal device 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modulation and demodulation processor, the baseband processor, and the like.

Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in terminal device 100 may be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, the antenna 1 can be multiplexed as a diversity antenna of the wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.

The mobile communication module 150 may provide a wireless communication solution including 2G/3G/4G/5G, etc. applied on the terminal device 100 . The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA) and the like. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, filter and amplify the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and then turn it into an electromagnetic wave for radiation through the antenna 1 . In some embodiments, at least part of the functional modules of the mobile communication module 150 may be provided in the processor 110 . In some embodiments, at least part of the functional modules of the mobile communication module 150 may be provided in the same device as at least part of the modules of the processor 110 .

The modem processor may include a modulator and a demodulator. Wherein, the modulator is used to modulate the low frequency baseband signal to be sent into a medium and high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low frequency baseband signal. Then the demodulator transmits the demodulated low-frequency baseband signal to the baseband processor for processing. The low frequency baseband signal is processed by the baseband processor and passed to the application processor. The application processor outputs sound signals through audio devices (not limited to the speaker 170A, the receiver 170B, etc.), or displays images or videos through the display screen 194 . In some embodiments, the modem processor may be a stand-alone device. In other embodiments, the modem processor may be independent of the processor 110, and may be provided in the same device as the mobile communication module 150 or other functional modules.

The wireless communication module 160 can provide applications on the terminal device 100 including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellites Wireless communication solutions such as global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared technology (IR). The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2 , frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110 . The wireless communication module 160 can also receive the signal to be sent from the processor 110 , perform frequency modulation on it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2 .

In some embodiments, the antenna 1 of the terminal device 100 is coupled with the mobile communication module 150, and the antenna 2 is coupled with the wireless communication module 160, so that the terminal device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include but is not limited to: the fifth generation mobile communication technology (5th-Generation, 5G) system, the global system for mobile communications (global system for mobile communications, GSM), the general packet radio service (general packet radio service, GPRS), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (WCDMA), time division code division multiple access (time-division code division multiple access, TD-SCDMA) ), long term evolution (LTE), Bluetooth (bluetooth), global navigation satellite system (the global navigation satellite system, GNSS), wireless fidelity (wireless fidelity, WiFi), near field communication (near field communication, NFC), FM (also known as FM radio), Zigbee, radio frequency identification (radio frequency identification, RFID) and/or infrared (infrared, IR) technology, etc. The GNSS may include global positioning system (global positioning system, GPS), global navigation satellite system (global navigation satellite system, GLONASS), Beidou navigation satellite system (beidou navigation satellite system, BDS), quasi-zenith satellite system (quasi -zenith satellite system, QZSS) and/or satellite based augmentation systems (SBAS), etc.

In some embodiments, the terminal device 100 may also include a wired communication module (not shown in FIG. 1 b ), or the mobile communication module 150 or the wireless communication module 160 here may be replaced by a wired communication module (not shown in FIG. 1 b ) out), the wired communication module can enable the terminal device to communicate with other devices through the wired network. The wired network may include, but is not limited to, one or more of the following: optical transport network (OTN), synchronous digital hierarchy (SDH), passive optical network (PON), Ethernet network (Ethernet), or flexible Ethernet (flex Ethernet, FlexE).

The terminal device 100 implements a display function through a GPU, a display screen 194, an application processor, and the like. The GPU is a microprocessor for image processing, and is connected to the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or alter display information.

Display screen 194 is used to display images, videos, and the like. Display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (active-matrix organic light). emitting diode, AMOLED), flexible light-emitting diode (flex light-emitting diode, FLED), Miniled, MicroLed, Micro-oLed, quantum dot light-emitting diode (quantum dot light emitting diodes, QLED) and so on. In some embodiments, the terminal device 100 may include one or N display screens 194 , where N is a positive integer greater than one.

The terminal device 100 can realize the shooting function through the ISP, the camera 193, the video codec, the GPU, the display screen 194 and the application processor.

The ISP is used to process the data fed back by the camera 193 . For example, when taking a photo, the shutter is opened, the light is transmitted to the camera photosensitive element through the lens, the light signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing, and converts it into an image visible to the naked eye. ISP can also perform algorithm optimization on image noise, brightness, and skin tone. ISP can also optimize the exposure, color temperature and other parameters of the shooting scene. In some embodiments, the ISP may be provided in the camera 193 .

Camera 193 is used to capture still images or video. The object is projected through the lens to generate an optical image onto the photosensitive element. The photosensitive element may be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then transmits the electrical signal to the ISP to convert it into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. DSP converts digital image signals into standard RGB camera, YUV and other formats of image signals. In some embodiments, the terminal device 100 may include 1 or N cameras 193 , where N is a positive integer greater than 1.

A digital signal processor is used to process digital signals, in addition to processing digital image signals, it can also process other digital signals. For example, when the terminal device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy, and the like.

Video codecs are used to compress or decompress digital video. The terminal device 100 may support one or more video codecs. In this way, the terminal device 100 can play or record videos in various encoding formats, for example, moving picture experts group (moving picture experts group, MPEG) 1, MPEG2, MPEG3, MPEG4 and so on.

The NPU is a neural-network (NN) computing processor. By drawing on the structure of biological neural networks, such as the transfer mode between neurons in the human brain, it can quickly process the input information, and can continuously learn by itself. Applications such as intelligent cognition of the terminal device 100 can be implemented through the NPU, such as image recognition, face recognition, speech recognition, text understanding, and the like.

The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the terminal device 100 . The external memory card communicates with the processor 110 through the external memory interface 120 to realize the data storage function. For example to save files like music, video etc in external memory card.

Internal memory 121 may be used to store computer executable program code, which includes instructions. The internal memory 121 may include a storage program area and a storage data area. The storage program area can store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.), and the like. The storage data area may store data (such as audio data, phone book, etc.) created during the use of the terminal device 100 and the like. In addition, the internal memory 121 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, universal flash storage (UFS), and the like. The processor 110 executes various functional applications and data processing of the terminal device 100 by executing instructions stored in the internal memory 121 and/or instructions stored in a memory provided in the processor.

The terminal device 100 may implement audio functions through an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, an application processor, and the like. Such as music playback, recording, etc.

The audio module 170 is used for converting digital audio information into analog audio signal output, and also for converting analog audio input into digital audio signal. Audio module 170 may also be used to encode and decode audio signals. In some embodiments, the audio module 170 may be provided in the processor 110 , or some functional modules of the audio module 170 may be provided in the processor 110 .

Speaker 170A, also referred to as a "speaker", is used to convert audio electrical signals into sound signals. The terminal device 100 can listen to music through the speaker 170A, or listen to a hands-free call.

The receiver 170B, also referred to as "earpiece", is used to convert audio electrical signals into sound signals. When the terminal device 100 answers a call or a voice message, the voice can be answered by placing the receiver 170B close to the human ear.

The microphone 170C, also called "microphone" or "microphone", is used to convert sound signals into electrical signals. When making a call or sending a voice message, the user can make a sound by approaching the microphone 170C through a human mouth, and input the sound signal into the microphone 170C. The terminal device 100 may be provided with at least one microphone 170C. In other embodiments, the terminal device 100 may be provided with two microphones 170C, which may implement a noise reduction function in addition to collecting sound signals. In other embodiments, the terminal device 100 may further be provided with three, four or more microphones 170C to collect sound signals, reduce noise, identify sound sources, and implement directional recording functions.

The earphone jack 170D is used to connect wired earphones. The earphone interface 170D may be the USB interface 130, or may be a 3.5mm open mobile terminal platform (OMTP) standard interface, a cellular telecommunications industry association of the USA (CTIA) standard interface.

The pressure sensor 180A is used to sense pressure signals, and can convert the pressure signals into electrical signals. In some embodiments, the pressure sensor 180A may be provided on the display screen 194 . There are many types of pressure sensors 180A, such as resistive pressure sensors, inductive pressure sensors, capacitive pressure sensors, and the like. The capacitive pressure sensor may be comprised of at least two parallel plates of conductive material. When a force is applied to the pressure sensor 180A, the capacitance between the electrodes changes. The terminal device 100 determines the intensity of the pressure according to the change in capacitance. When a touch operation acts on the display screen 194, the terminal device 100 detects the intensity of the touch operation according to the pressure sensor 180A. The terminal device 100 may also calculate the touched position according to the detection signal of the pressure sensor 180A. In some embodiments, touch operations acting on the same touch position but with different touch operation intensities may correspond to different operation instructions. For example, when a touch operation whose intensity is less than the first pressure threshold acts on the short message application icon, the instruction for viewing the short message is executed. When a touch operation with a touch operation intensity greater than or equal to the first pressure threshold acts on the short message application icon, the instruction to create a new short message is executed.

The gyro sensor 180B may be used to determine the motion attitude of the terminal device 100 . In some embodiments, the angular velocity of the end device 100 about three axes (ie, the x, y and z axes) may be determined by the gyro sensor 180B. The gyro sensor 180B can be used for image stabilization. Exemplarily, when the shutter is pressed, the gyro sensor 180B detects the shaking angle of the terminal device 100, calculates the distance to be compensated by the lens module according to the angle, and allows the lens to offset the shaking of the terminal device 100 through reverse motion to achieve anti-shake. The gyro sensor 180B can also be used for navigation and somatosensory game scenarios.

The air pressure sensor 180C is used to measure air pressure. In some embodiments, the terminal device 100 calculates the altitude through the air pressure value measured by the air pressure sensor 180C to assist in positioning and navigation.

The magnetic sensor 180D includes a Hall sensor. The terminal device 100 can detect the opening and closing of the flip holster using the magnetic sensor 180D. In some embodiments, when the terminal device 100 is a flip machine, the terminal device 100 can detect the opening and closing of the flip according to the magnetic sensor 180D. Further, according to the detected opening and closing state of the leather case or the opening and closing state of the flip cover, characteristics such as automatic unlocking of the flip cover are set.

The acceleration sensor 180E can detect the magnitude of the acceleration of the terminal device 100 in various directions (generally three axes). The magnitude and direction of gravity can be detected when the terminal device 100 is stationary. It can also be used to identify the posture of terminal devices, and can be used in applications such as horizontal and vertical screen switching, pedometers, etc.

Distance sensor 180F for measuring distance. The terminal device 100 can measure the distance through infrared or laser. In some embodiments, when shooting a scene, the terminal device 100 can use the distance sensor 180F to measure the distance to achieve fast focusing.

Proximity light sensor 180G may include, for example, light emitting diodes (LEDs) and light detectors, such as photodiodes. The light emitting diodes may be infrared light emitting diodes. The terminal device 100 emits infrared light to the outside through the light emitting diode. The terminal device 100 detects infrared reflected light from nearby objects using a photodiode. When sufficient reflected light is detected, it can be determined that there is an object near the terminal device 100 . When insufficient reflected light is detected, the terminal device 100 may determine that there is no object near the terminal device 100 . The terminal device 100 can use the proximity light sensor 180G to detect that the user holds the terminal device 100 close to the ear to talk, so as to automatically turn off the screen to save power. Proximity light sensor 180G can also be used in holster mode, pocket mode automatically unlocks and locks the screen.

The ambient light sensor 180L is used to sense ambient light brightness. The terminal device 100 can adaptively adjust the brightness of the display screen 194 according to the perceived ambient light brightness. The ambient light sensor 180L can also be used to automatically adjust the white balance when taking pictures. The ambient light sensor 180L can also cooperate with the proximity light sensor 180G to detect whether the terminal device 100 is in a pocket, so as to prevent accidental touch.

The fingerprint sensor 180H is used to collect fingerprints. The terminal device 100 can use the collected fingerprint characteristics to realize fingerprint unlocking, accessing application locks, taking photos with fingerprints, answering incoming calls with fingerprints, and the like.

The temperature sensor 180J is used to detect the temperature. In some embodiments, the terminal device 100 uses the temperature detected by the temperature sensor 180J to execute the temperature processing strategy. For example, when the temperature reported by the temperature sensor 180J exceeds a threshold value, the terminal device 100 reduces the performance of the processor located near the temperature sensor 180J, so as to reduce power consumption and implement thermal protection. In other embodiments, when the temperature is lower than another threshold, the terminal device 100 heats the battery 142 to avoid abnormal shutdown of the terminal device 100 caused by the low temperature. In some other embodiments, when the temperature is lower than another threshold, the terminal device 100 boosts the output voltage of the battery 142 to avoid abnormal shutdown caused by low temperature.

Touch sensor 180K, also called "touch device". The touch sensor 180K may be disposed on the display screen 194 , and the touch sensor 180K and the display screen 194 form a touch screen, also called a “touch screen”. The touch sensor 180K is used to detect a touch operation on or near it. The touch sensor can pass the detected touch operation to the application processor to determine the type of touch event. Visual output related to touch operations may be provided through display screen 194 . In other embodiments, the touch sensor 180K may also be disposed on the surface of the terminal device 100 , which is different from the position where the display screen 194 is located.

The bone conduction sensor 180M can acquire vibration signals. In some embodiments, the bone conduction sensor 180M can acquire the vibration signal of the vibrating bone mass of the human voice. The bone conduction sensor 180M can also contact the pulse of the human body and receive the blood pressure beating signal. In some embodiments, the bone conduction sensor 180M can also be disposed in the earphone, combined with the bone conduction earphone. The audio module 170 can analyze the voice signal based on the vibration signal of the vocal vibration bone block obtained by the bone conduction sensor 180M, so as to realize the voice function. The application processor can analyze the heart rate information based on the blood pressure beat signal obtained by the bone conduction sensor 180M, and realize the function of heart rate detection.

The motion sensor 180N can be used to detect moving objects within the range captured by the camera, and collect the motion contours or motion trajectories of the moving objects. For example, the motion sensor 180N may be an infrared sensor, a laser sensor, a dynamic vision sensor (DVS), etc. The DVS may specifically include DAVIS (Dynamic and Active-pixel Vision Sensor), ATIS (Asynchronous Time-based Image Sensor) ) or sensors such as CeleX sensors. DVS draws on the properties of biological vision, where each pixel simulates a neuron that responds independently to relative changes in light intensity (hereafter referred to as "light intensity"). When the relative change in light intensity exceeds a threshold, the pixel outputs an event signal that includes the pixel's position, timestamp, and characteristic information about the light intensity.

The keys 190 include a power-on key, a volume key, and the like. Keys 190 may be mechanical keys. It can also be a touch key. The terminal device 100 may receive key input and generate key signal input related to user settings and function control of the terminal device 100 .

Motor 191 can generate vibrating cues. The motor 191 can be used for vibrating alerts for incoming calls, and can also be used for touch vibration feedback. For example, touch operations acting on different applications (such as taking pictures, playing audio, etc.) can correspond to different vibration feedback effects. The motor 191 can also correspond to different vibration feedback effects for touch operations on different areas of the display screen 194 . Different application scenarios (for example: time reminder, receiving information, alarm clock, games, etc.) can also correspond to different vibration feedback effects. The touch vibration feedback effect can also support customization.

The indicator 192 can be an indicator light, which can be used to indicate the charging state, the change of the power, and can also be used to indicate a message, a missed call, a notification, and the like.

The SIM card interface 195 is used to connect a SIM card. The SIM card can be contacted and separated from the terminal device 100 by inserting into the SIM card interface 195 or pulling out from the SIM card interface 195 . The terminal device 100 may support 1 or N SIM card interfaces, where N is a positive integer greater than 1. The SIM card interface 195 can support Nano SIM card, Micro SIM card, SIM card and so on. Multiple cards can be inserted into the same SIM card interface 195 at the same time. The types of the plurality of cards may be the same or different. The SIM card interface 195 can also be compatible with different types of SIM cards. The SIM card interface 195 is also compatible with external memory cards. The terminal device 100 interacts with the network through the SIM card to realize functions such as calls and data communication. In some embodiments, the terminal device 100 adopts an eSIM, that is, an embedded SIM card. The eSIM card can be embedded in the terminal device 100 and cannot be separated from the terminal device 100 .

The software system of the terminal device 100 may adopt a layered architecture, an event-driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture. The embodiments of the present invention take an Android system with a layered architecture as an example to exemplarily describe the software structure of the terminal device 100 .

FIG. 2 is a block diagram of a software structure of a terminal device 100 according to an embodiment of the present invention.

The layered architecture divides the software into several layers, and each layer has a clear role and division of labor. Layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, which are, from top to bottom, an application layer, an application framework layer, an Android runtime (Android runtime) and a system library, and a kernel layer.

The application layer can include a series of application packages.

As shown in Figure 2, the application package can include applications such as camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message and so on.

The application framework layer provides an application programming interface (application programming interface, API) and a programming framework for applications in the application layer. The application framework layer includes some predefined functions.

As shown in Figure 2, the application framework layer may include window managers, content providers, view systems, telephony managers, resource managers, notification managers, and the like.

A window manager is used to manage window programs. The window manager can get the size of the display screen, determine whether there is a status bar, lock the screen, take screenshots, etc.

Content providers are used to store and retrieve data and make these data accessible to applications. The data may include video, images, audio, calls made and received, browsing history and bookmarks, phone book, etc.

The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, and so on. View systems can be used to build applications. A display interface can consist of one or more views. For example, the display interface including the short message notification icon may include a view for displaying text and a view for displaying pictures.

The telephony manager is used to provide the communication function of the terminal device 100 . For example, the management of call status (including connecting, hanging up, etc.).

The resource manager provides various resources for the application, such as localization strings, icons, pictures, layout files, video files and so on.

The notification manager enables applications to display notification information in the status bar, which can be used to convey notification-type messages, and can disappear automatically after a brief pause without user interaction. For example, the notification manager is used to notify download completion, message reminders, etc. The notification manager can also display notifications in the status bar at the top of the system in the form of graphs or scroll bar text, such as notifications of applications running in the background, and notifications on the screen in the form of dialog windows. For example, text information is prompted in the status bar, a prompt sound is issued, the terminal device vibrates, and the indicator light flashes.

Android Runtime includes core libraries and a virtual machine. Android runtime is responsible for scheduling and management of the Android system.

The core library consists of two parts: one is the function functions that the java language needs to call, and the other is the core library of Android.

The application layer and the application framework layer run in virtual machines. The virtual machine executes the java files of the application layer and the application framework layer as binary files. The virtual machine is used to perform functions such as object lifecycle management, stack management, thread management, safety and exception management, and garbage collection.

A system library can include multiple functional modules. For example: surface manager (surface manager), media library (Media Libraries), 3D graphics processing library (eg: OpenGL ES), 2D graphics engine (eg: SGL), etc.

The Surface Manager is used to manage the display subsystem and provides a fusion of 2D and 3D layers for multiple applications.

The media library supports playback and recording of a variety of commonly used audio and video formats, as well as still image files. The media library can support a variety of audio and video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, compositing, and layer processing.

2D graphics engine is a drawing engine for 2D drawing.

The kernel layer is the layer between hardware and software. The kernel layer contains at least display drivers, camera drivers, audio drivers, and sensor drivers.

The steps of the device positioning method provided by this embodiment are described in detail below with reference to FIG. 3 . As shown in FIG. 3 , the device positioning method may include the following steps:

301. Acquire a position change of the first terminal device, where the position change is determined according to first data collected by the second sensor.

In the embodiments of the present application, in a smart home system or other indoor/outdoor scenarios, the terminal device needs to determine the relative position with other terminal devices based on data collected by the sensor carried by the terminal device.

Among them, in order to obtain a high-precision device positioning result, the first terminal device can turn on the first sensor with higher positioning accuracy. The so-called sensor with higher positioning accuracy in this application does not mean that the sensor has positioning capability, but It means that the calculation result of device positioning based on the data collected by the sensor has high accuracy. It should be understood that the first sensor may be a high-precision sensor or a combination of multiple precision sensors, which is not limited in this embodiment of the present application. The data collected by the second sensor is used to determine the position change of the first terminal device, that is, the data collected by the second sensor can be used to determine how much displacement has occurred in the terminal device, based on the data collected by the second sensor. The positioning accuracy of the data for positioning is low, but the corresponding power consumption of the terminal device is also low when these sensors are turned on at the same time. It should be understood that the second sensor may also be other sensors with lower positioning accuracy and lower power consumption, which is not limited in this application.

The data collected by the second sensor is used to determine the position change of the first terminal device, but the data collected by the first sensor can be used to determine the relative position between the terminal devices, and the data collected by the second sensor can also It is used to determine the relative position between the terminal devices, or the data collected by the second sensor can be used to determine the size of the position change of the terminal device, but cannot be used to determine the relative position between the terminal devices.

Specifically, in one implementation, the first sensor may include, but is not limited to, at least one of the following sensors: an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor, and a visual sensor. Among them, the data collected by the UWB sensor can be used for accurate measurement of the relative distance and relative azimuth between the terminal device and the terminal device. The data collected by the ultrasonic sensor can be used to make accurate terminal-to-terminal relative distance measurements. Data collected by vision sensors can be used to make precise end-to-end angle measurements. The positioning accuracy is high when positioning based on the data collected by the first sensor, but the corresponding power consumption of the terminal device is also high when these sensors are turned on at the same time.

Specifically, in one implementation, the first sensor may also include, but is not limited to, at least one of the following sensors: an accelerometer sensor and a gyroscope sensor, and the device positioning is performed according to the data collected by the first sensor. The positioning accuracy is greater than the preset value. When the accelerometer sensor and the gyroscope sensor are turned on, the power consumption of the first terminal device is also low. However, the positioning accuracy of the data collected by some accelerometer sensors and the gyroscope sensor for device positioning is also high.

In this embodiment of the present application, the first terminal device may belong to a computing system, the computing system may be the smart home system described above or other indoor/outdoor scenarios, and the computing system may include multiple terminal devices, wherein the multiple terminal devices may include one A control center, which is also referred to as a second terminal device in this embodiment.

In the embodiment of the present application, the computing system includes a first terminal device. In order to obtain the relative position with other terminal devices in the computing system, the first terminal device can obtain the first data collected by the sensor set on the first terminal device. The first data can be used to calculate the relative position between the first terminal device and other terminal devices in the computing system.

In this embodiment of the present application, the first terminal device may include a first sensor and a second sensor, wherein the data collected by the first sensor and the second sensor are used to locate the first terminal device by the device , the data collected by the second sensor is used to determine the position change of the first terminal device, the power of the first sensor is greater than the power of the second sensor, that is, within a unit time, the first terminal The power consumption required by the device to keep the first sensor turned on is greater than the power consumption required by the first terminal device to keep the second sensor turned on. For example, the second sensor may include, but is not limited to, at least one of the following sensors: an accelerometer sensor, a gyroscope sensor, a magnetometer sensor, Bluetooth Low Energy (BLE), and Wi-Fi.

Among them, the data collected by the accelerometer sensor can be used to measure the movement of the terminal device itself. The acceleration of the device in the x, y, and z directions is measured based on the inertial coordinate system of the terminal device. The accelerometer sensor is the main component of the pedometer. sensing modality. The data collected by the gyroscope sensor can be used to measure the rotation of the terminal device itself, and the rotation of the device in the three directions of x, y, and z is measured based on the inertial coordinate system of the device. The data collected by the magnetometer sensor can be used to measure the magnetic field strength detected by the terminal device, excluding drastic changes in the external environment, wherein the changes of the magnetic force values in the three directions of x, y, and z can represent the changes in the position of the terminal device. The data collected by BLE can be used to measure the relative distance and relative angle between the terminal device and the terminal device. Changes in BLE RSS can be indicative of changes in the location of the end device. The data collected by WIFI can be used to measure the relative distance between the terminal device and the terminal device, which is not very accurate, but the network card is used as a sensor, and the RSS scanned by it can be used as a location fingerprint. Generally, the change of WiFi RSS can indicate the location of the terminal device. The change. The positioning accuracy is low when positioning based on the data collected by the second sensor, but the corresponding power consumption of the terminal device is also low when these sensors are turned on at the same time.

It should be understood that the second sensor may also be other sensors with lower positioning accuracy and lower power consumption, which is not limited in this application.

In this embodiment of the present application, in a unit time, the power consumption required by the first terminal device to keep the first sensor turned on is greater than the power consumption required by the first terminal device to keep the second sensor turned on , however, the positioning accuracy when the device is positioned according to the data collected by the first sensor is greater than the positioning accuracy when the device is positioned according to the data obtained by the second sensor.

That is to say, the relative position between the first terminal device and other terminal devices can be accurately calculated based on the data collected by the first sensor. However, the power consumption required by the first terminal device is relatively high. Based on the data collected by the second sensor The relative position between the first terminal device and other terminal devices cannot be accurately calculated, but the power consumption required by the first terminal device is low.

It should be understood that both the data collected by the first sensor and the second sensor can be used for device positioning, but the data collected by the first sensor can be used to determine the relative position between terminal devices, while the data collected by the second sensor The data can also be used to determine the relative position between the terminal devices, or the data collected by the second sensor can be used to determine the size of the position change of the terminal device, but cannot be used to determine the relative position between the terminal devices. Sure. However, in a unit time, the power consumption required by the first terminal device to keep the first sensor turned on is greater than the power consumption required by the first terminal device to keep the second sensor turned on.

The embodiments of the present application can reduce the power consumption of the first terminal device on the premise that the relative position between the first terminal device and other terminal devices can be accurately calculated.

In the embodiment of the present application, the first sensor may include a first working state and a second working state; wherein, the second working state may be a sensor off state, or a low power consumption state in standby and only part of sensor functions are turned on. The first working state may be a sensor-on state, or a high-power-consumption state in which most sensor functions are turned on. For example, the first operating state is a sensor-on state, and the second operating state is a sensor-off state.

Next, the first working state is the sensor-off state, and the second working state is the sensor-on state as an example for description.

First, the timing when the first terminal device turns on the first sensor is introduced.

In one scenario, the first terminal device may keep the always-on state of the first sensor all the time.

In one scenario, when the devices in the computing system where the first terminal device is located are all in a preset state, the first sensor of the terminal device in the computing system may be turned on, and then the first sensor of the first terminal device is turned on, wherein , the preset state can mean that all devices meet the following conditions at the same time: they are all powered on; they detect that they have stopped moving or are only within a certain distance range, and the moving speed and rotation speed are both less than a certain preset value, such as the moving speed Less than 0.01m/min, rotation speed less than 1°/min.

In one scenario, the first terminal device may keep the first sensor off until it receives a trigger to turn on the first sensor or determines itself that the first sensor should be turned on, for example, the first terminal device may keep the first sensor off state, until the first terminal device establishes a connection with at least one terminal device in the computing system, it can receive the fourth instruction to turn on the first sensor sent by the target terminal device in the computing system, and the first terminal device can be based on the The fourth instruction turns on the first sensor, wherein the computing system includes M-1 terminal devices, the M-1 is a positive integer, and when the M-1 is greater than 1, the M - Each of the 1 terminal devices is connected to at least one terminal device other than itself among the M-1 terminal devices. Taking the computing system as a smart home system as an example, the target terminal device can be a smart screen, and the first terminal device can be a mobile phone carried by the user. When the user returns indoors from the outdoors, the first terminal device can be connected to at least one of the smart home system. When a terminal device is established, the so-called established connection can be a local area network connection, such as Bluetooth, WIFI, etc. In this case, the smart screen can capture the first terminal device and return to the smart home system, then the first terminal device can be sent to the first terminal device. A first instruction to turn on the first sensor is sent.

In this embodiment of the present application, after the third data collected by the first sensor is obtained, in order to obtain the precise position where the first terminal device is located, it is necessary to perform the second data analysis of the first terminal device based on the third data collected by the first sensor Calculation of location information. It should be understood that the second position information may indicate a relative position between the first terminal device and other terminal devices in the computing system, and the relative position may be a relative distance and/or a relative direction angle between the terminal devices.

It should be understood that the second location information may be directly represented by relative distance and/or relative azimuth, or may be data used to calculate relative distance and/or relative azimuth, no matter what the representation of the second location information is, its The relative positions between the first terminal device and other terminal devices in the computing system can be obtained directly or indirectly.

Next, it is described how to obtain the second location information of the first terminal device.

In this embodiment of the present application, the second location information may represent a relative location between the first terminal device and other devices in the computing system.

In one implementation, the first terminal device may acquire third data collected by the first sensor, and determine the second location information of the first terminal device according to the third data, that is, the first terminal device The calculation of the second position information can be performed by itself based on the third data collected by the first sensor.

In one implementation, the first terminal device may acquire third data collected by the first sensor and data collected by first sensors of other terminal devices in the system, and obtain third data and data collected by other terminal devices in the system according to the third data and data collected by the first sensors of other terminal devices in the system. The data collected by the first sensor determines the second position information of the first terminal device, that is, the first terminal device may be based on third data collected by its own first sensor and first sensors collected by other terminal devices of the computing system data, and calculate the second position information.

Wherein, as shown in Figure 4, the geometric center of the first terminal device is taken as the midpoint of the device, and at the same time as the origin of the coordinate system of the device, the device establishes an X, Y, Z coordinate system based on its own structure. The distance between the two devices is the length d of the center line connecting the two devices in space, and the direction angle between the two devices includes a height angle α, a horizontal angle β and a flip angle γ.

Taking the first sensor as an UWB sensor as an example, and taking the simplest scenario in which the computing system includes four devices A, B, C, and D as an example, the UWB sensors of the four devices are turned on. Each device searches for surrounding UWB signals. Then, between every two devices, the computing system of the device uses the TDOA positioning algorithm, the TOF positioning algorithm, and the TOA positioning algorithm to calculate the relative distance between the devices, for example, the distance between device A and device B is 8.10m. In the UWB positioning algorithm, all devices can be used as positioning base stations for other devices, and no additional base stations are required. For example, if devices A, B, and C are used as base stations, the computing system locates the position of device D relative to devices A, B, and C based on the distance from device D to devices A, B, and C. The TOF-based ranging method does not depend on the time synchronization between the base station and the tag, so there is no error caused by clock synchronization deviation, but the time of the TOF ranging method depends on the clock accuracy, and the clock offset will bring errors. In order to reduce the ranging error caused by the clock offset, the measurement method in both positive and negative directions is usually used, that is, the remote base station sends the ranging information, the tag receives the ranging information and replies, and then the tag initiates the ranging information, and the remote base station sends the ranging information. The end base station replies, and reduces the time offset between the two by calculating the average value of the flight time, thereby improving the ranging accuracy. The positioning method based on TDOA is also called hyperbolic positioning. Fixed distance difference between. The TOA positioning algorithm is "time of arrival". This method of positioning is achieved through multiple communications between the UWB base station and the UWB tag, as shown in Figure 5: The UWB base station first sends a packet to the UWB tag, and records the UWB base station at the same time. The current time information is recorded as T1, the UWB tag receives the information from the base station and returns an ACK, and the UWB base station receives the ACK of the UWB tag and records the current time information, recorded as T2. The UWB base station calculates the time difference Tr=T2-T1, and calculates the distance according to this: d=c*Tr/2 where c is the speed of light. When there are more than or equal to 4 devices in the positioning system, the relative position and azimuth angle can be located by the multi-point positioning method. In the above manner, the second location information of the first terminal device can be obtained by calculation.

Taking the first sensor as an ultrasonic sensor as an example, the ultrasonic positioning mainly adopts the reflective ranging method, and determines the position of the object through multilateral positioning and other methods. The system consists of a main rangefinder and several receivers. The main rangefinder can be placed in the waiting area. On the measurement target, the receiver is fixed in the indoor environment. When positioning, the signal of the same frequency is transmitted to the receiver, and after the receiver receives it, it is reflected and transmitted to the main rangefinder, and the distance is calculated according to the time difference between the echo and the transmitted wave, thereby determining the position. When there are more than or equal to 3 devices in the positioning system, the relative positions between the terminal devices can be calculated by the multi-point positioning method.

Taking the first sensor as a laser sensor as an example, the basic principle is to emit laser pulses to the object to be ranged and start timing, and stop timing when the reflected light is received. This time can be converted to the distance between the laser and the target. Laser rangefinders can also fire multiple laser pulses, using the Doppler effect to determine whether an object is moving away or approaching the light source.

Taking the first sensor as a visual sensor as an example, the first terminal device can obtain the azimuth angle between other devices and the first terminal device through the first data collected by the visual sensor. Visually, you can get the position of other devices relative to the device group.

It should be understood that the foregoing manner of calculating the first position information is merely an illustration, and is not limited in the embodiments of the present application.

In one implementation, the first terminal device may not calculate the second position information, but send the third data collected by the first sensor to other terminal devices in the computing system, and the other terminal devices may act as a distributed computing system based on The third data completes the calculation of the second position information, or a terminal device completes the calculation of the second position information based on the third data. After the calculation of the second position information is completed, the second position information can be sent to the first terminal device. , so that the first terminal device can obtain the second location information of the first terminal device. Specifically, the first terminal device may acquire the third data collected by the first sensor, and send the third data to other terminal devices in the computing system, so that other terminal devices in the computing system can determine the The second location information of the first terminal device, or so that other terminal devices in the computing system can determine the second location information of the first terminal device according to the third data and data collected by the first sensors of other terminal devices in the computing system ; Receive the second location information sent by other terminal devices in the computing system.

In one implementation, the computing system includes M terminal devices, each of the M terminal devices includes the first sensor, and correspondingly, the second location information is based on the first sensor. The third data collected and the data collected by the first sensors of N terminal devices among the M terminal devices are determined, and the N is less than or equal to the M.

That is to say, the calculation of the second position information may be performed based on data collected by the first sensors of all or part of the M terminal devices. In one implementation, the N is smaller than the M, and the N The terminal devices are the N terminal devices that are closest to the first terminal device among the M terminal devices, and the N terminal devices in the M terminal devices collect information for determining the second location When the data is received, the first sensors of the terminal devices other than the N terminal devices among the M terminal devices are in an off state. In this embodiment, N terminal devices closest to the first terminal device may be selected to turn on the first sensor, and the second position information may be calculated based on data collected by the first sensors of the N terminal devices. The number of N depends on the total number of devices in the computing system, the positioning accuracy of the second sensor of the first terminal device itself, that is, the higher the positioning accuracy of the second sensor, the smaller N is. In the embodiment of the present application, only N terminal equipments located close to each other are selected, which can save energy and reduce consumption under the condition of ensuring system accuracy.

It should be understood that a certain terminal device in the computing system may trigger the N terminal devices among the M terminal devices to turn on the first sensor.

In this embodiment of the present application, the first position may be shared with each terminal device in the computing system, so that each terminal device in the computing system knows the relative position with the first terminal device.

It should be understood that, for each terminal device in the computing system, the relative position between itself and other terminal devices in the computing system can be obtained based on the foregoing manner.

It should be understood that the first terminal device may also acquire other location information other than the second location information, such as relative locations between other terminal devices, which is not limited in this application.

In this embodiment of the present application, the first sensor may be triggered to change from the second working state to the first working state, for example, the first sensor may be turned off.

In this embodiment of the present application, the position change of the first terminal device may be acquired, and the position change is determined according to the first data collected by the second sensor.

In this embodiment of the present application, each terminal device in the computing system includes a second sensor, and each terminal device may keep the second sensor turned on all the time, wherein the second sensor may include at least one of the following sensors: an accelerometer sensor , gyroscope sensor, magnetometer sensor, low energy bluetooth BLE and wireless fidelity WIFI.

In this embodiment of the present application, the data accuracy of the data collected by the first sensor is greater than the data accuracy of the data collected by the second sensor. It should be understood that, in one implementation, the data collected by the second sensor cannot be used to perform the positioning operation of the first terminal device, and can only determine the location change of the first terminal device. In another implementation, the data collected by the second sensor can be used to perform the positioning operation of the first terminal device. However, the data accuracy of the data collected by the second sensor is smaller than that of the data collected by the first sensor. data precision.

302. When the position change of the first terminal device exceeds a threshold, trigger the first sensor to change from a first working state to a second working state, for example, the first sensor may be turned on.

In this embodiment of the present application, the data collected by the second sensor can be used to determine whether the first terminal device has a position change and the amount of the position change. Specifically, the determination basis for determining that the position change of the first terminal device exceeds the threshold value may be based on the change of the signal collected by the second sensor. Taking the second sensor as WIFI as an example, it may be based on the received signal strengths of multiple WIFIs. If there is a change, it can be determined that the position of the first terminal device has changed, and the amount of change in the position of the first terminal device can be determined according to the change in the signal strength of the WIFI. The signal of the WIFI can be WIFI RSS. If the signal of the WIFI RSS If the amount change exceeds the threshold value, it can be considered that the position change of the first terminal device exceeds the threshold value; taking the second sensor as the magnetometer sensor, it can be determined that the position of the first terminal device has changed according to the signal strength received by the magnetometer sensor. change, and the amount of change in the position of the first terminal device can be determined according to the change in the signal strength received by the magnetometer sensor. If the change in the signal strength received by the magnetometer sensor exceeds the threshold, it can be considered that the position change of the first terminal device exceeds the threshold. .

It should be noted that different thresholds may correspond to different device types of the first terminal device. Exemplarily, the first terminal device may be a mobile device, such as a mobile phone, a Pad, AR glasses, a smart watch, a smart bracelet, etc.; The first terminal device may be a semi-mobile device such as a smart speaker, a notebook computer, etc.; the first terminal device may be a fixed device such as a smart screen, a desktop computer, a smart home appliance, and the like. From mobile devices, semi-mobile devices to fixed devices, the corresponding thresholds can be gradually reduced. That is to say, when the first terminal device is a mobile device, when the position of the first terminal device changes beyond the first threshold, all The first sensor, when the first terminal device is a semi-mobile device, when the position change of the first terminal device exceeds the second threshold, the first sensor is turned on, and when the first terminal device is a fixed device, when the first When the position change of a terminal device exceeds a third threshold, the first sensor is turned on, the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

In this embodiment of the present application, the threshold may include a distance threshold and an angle threshold. Exemplarily, if the second sensor is an accelerometer sensor, the threshold value of the accelerometer can be set based on the time integration of the accelerometer value, that is, the distance, for example, 0.2m, 0.5m; if the second sensor is a gyroscope sensor , the threshold value of the gyroscope can be set based on the integral of the gyroscope value in time, that is, the angle, such as 20°, 10°; if the second sensor is a magnetometer sensor, it can be set based on the change intensity of the magnetometer. The threshold of the magnetometer, such as 10%; if the second sensor is BLE, it can be based on BLE's RSS, if the RSS change rate exceeds a certain percentage, that is, it exceeds the threshold, such as 20%; if the second sensor is WIFI, it can be based on WIFI. RSS, if the rate of change of RSS exceeds a certain percentage, that is, it exceeds the threshold, such as 20%.

For mobile devices, such as mobile phones, considering that the user is sitting on the sofa, holding and using the mobile phone all the time, some movement of the hand is not regarded as the user moving the mobile phone. °.

For semi-mobile devices, such as smart speakers, the distance threshold is set to 0.3m, and the angle threshold is set to 20°. For fixed devices, such as smart screens, the distance threshold is set to 0.1m, and the angle threshold is set to 10°.

In the embodiment of the present application, if it is determined based on the first data collected by the second sensor that the position change of the first terminal device exceeds a threshold, the first sensor is triggered to change from the first working state to the second working state .

In this embodiment of the present application, the first sensor may be triggered and turned on by other terminal devices in the computing system. Specifically, if it is determined based on the first data collected by the second sensor that the position change of the first terminal device exceeds a threshold , the first terminal device can send a third indication to other terminal devices in the computing system to indicate that the position change of the first terminal device exceeds the threshold; after that, the first terminal device can receive messages sent by other terminal devices in the computing system. the fourth indication for turning on the first sensor, and turning on the first sensor based on the fourth indication.

303. Acquire first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor.

In one implementation, the first terminal device may acquire the second data collected by the first sensor, and determine the first location information of the first terminal device according to the second data.

In one implementation, the first terminal device may acquire the second data collected by the first sensor and the data collected by the first sensors of the N terminal devices, and obtain the second data and the N terminals according to the second data and the data collected by the first sensors of the N terminal devices. The data collected by the first sensor of the device determines the first location information of the first terminal device.

In one implementation, the first terminal device may acquire the second data collected by the first sensor; and send the second data to a target terminal device among the M terminal devices, so that the target terminal device can The second data determines the first location information of the first terminal device, or the target terminal device determines the first terminal according to the second data and the data collected by the first sensors of the N terminal devices. The first location information of the device; and the first location information sent by the target terminal device is received.

In one implementation, the first terminal device may not calculate the first location information by itself, but may send the second data collected by the first sensor to other terminal devices in the computing system, and the other terminal devices may serve as a distributed computing system The calculation of the first position information is completed based on the second data, or a terminal device completes the calculation of the first position information based on the second data. After the calculation of the first position information is completed, the first position information may be sent to the first terminal. device, and then the first terminal device can obtain the first location information of the first terminal device. Specifically, the first terminal device may acquire the second data collected by the first sensor; send the second data to other terminal devices in the computing system, so that other terminal devices in the computing system can determine according to the second data The second position where the first terminal device is located, or so that other terminal devices in the computing system can determine the location of the first terminal device according to the second data and the data collected by the first sensors of the N terminal devices. first location information; receiving the first location information sent by other terminal devices in the computing system.

For how to acquire the first location information of the first terminal device, reference may be made to the relevant description of how to acquire the second location information of the first terminal device in the foregoing embodiment, and the similarities are not repeated here.

In one implementation, the first sensor may include, but is not limited to, at least one of the following sensors: an accelerometer sensor and a gyroscope sensor, and the positioning accuracy when positioning the device according to the data collected by the first sensor is greater than a predetermined value set value. Taking the first sensor as an accelerometer sensor and a gyroscope sensor as an example, the first terminal device can integrate the signal of the accelerometer sensor over time according to the signal of its accelerometer sensor, that is, to obtain the acceleration from the last first terminal device. Calculate the moving distance after zeroing (that is, the first terminal device is stationary), and this moving distance is based on the coordinate system of the device itself. According to the signal of its gyroscope sensor, integrate the signal of the gyroscope sensor in time, that is, to obtain the rotation angle since the last time the gyroscope of the first terminal device was zeroed, and this rotation angle is based on the device's own coordinate system.

In this embodiment of the present application, the second position may be shared with each terminal device in the computing system, so that each terminal device in the computing system knows the relative position with the first terminal device.

Referring to FIG. 6 , FIG. 6 is a schematic flowchart of a device positioning method provided by an embodiment of the present application. The device positioning method provided by the embodiment of the present application can be applied to a target terminal device. The target terminal device belongs to a computing system, and the computing The system includes M terminal devices, the M terminal devices include a first terminal device, and the first terminal device includes a first sensor and a second sensor, wherein the first sensor is used to monitor the first terminal device Positioning, the data collected by the second sensor is used to determine the position change of the first terminal device, and the power of the first sensor is greater than the power of the second sensor; the device positioning method provided by the embodiment of the present application:

601. Acquire second location information of the first terminal device, where the second location information is determined according to third data collected by the first sensor in the second working state.

In this embodiment of the present application, the first location information may be shared with each terminal device in the computing system, so that each terminal device in the computing system knows the relative position with the first terminal device.

For the specific description of step 601, reference may be made to the description of the relevant steps in step 301, and the similarities will not be repeated here.

602. Send, to the first terminal device, a second indication for triggering the first sensor to change from a second working state to a first working state, so that the first terminal device triggers the first working state based on the second indication The first sensor changes from the first working state to the second working state.

Taking the first working state as the sensor off state and the second working state as the sensor on state as an example, in one implementation, the target terminal device in the computing system can trigger the first terminal device to turn off its own first sensor. Specifically, the first terminal device may receive a first instruction for turning off the first sensor sent by a target terminal device among the M terminal devices, and turn off the first sensor based on the first instruction.

For the specific description of step 602, reference may be made to the description of the relevant steps in step 302, and the similarities are not repeated here.

603. If receiving a third indication sent by the first terminal device and used to indicate that the position change of the first terminal device exceeds a threshold, send a message to the first terminal device for triggering the first sensor to be sent by The first working state is changed to the fourth indication of the second working state, so that the first terminal device triggers the first sensor to change from the first working state to the second working state based on the third indication.

In this embodiment of the present application, the first sensor may be triggered to be turned on by the target terminal device. Specifically, if it is determined based on the first data collected by the second sensor that the position change of the first terminal device exceeds a threshold, the first sensor The terminal device may send a third indication to the target terminal device among the M terminal devices, which is used to indicate that the position change of the first terminal device exceeds a threshold; then the second terminal device may receive the information sent by the target terminal device. In response to a fourth instruction to turn on the first sensor, the first sensor is turned on based on the fourth instruction.

The specific description of step 603 can refer to step 303, and the similarities are not repeated here.

604. Acquire first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor.

In a possible design, the target terminal device may send a message to the first terminal device and N terminal devices among the M terminal devices for triggering the first sensor to change from the first working state to the second The fourth indication of the working state, so that the first terminal device and N terminal devices trigger the first sensor to change from the first working state to the second working state based on the fourth indication, and the N is less than or equal to the said M;

In a possible design, the first location information is determined according to the second data collected by the first sensor and data collected by the first sensors of N terminal devices among the M terminal devices.

In a possible design, the N is less than the M, and the target terminal device may determine the N terminal devices from the M terminal devices, where the N terminal devices are the M terminals N terminal devices that are closest to the first terminal device in the device.

In a possible design, the first location information and the second location information are used to indicate the first terminal device and terminal devices other than the first terminal device among the M terminal devices relative position between.

In one possible design, the relative positions include relative distances and/or relative azimuths.

Next, taking the computing system as an intelligent home system as an example, the device positioning method provided by the embodiment of the present application will be described in combination with an actual scenario.

Referring to FIG. 7, FIG. 7 is a schematic flowchart of a device positioning method provided by an embodiment of the present application. As shown in FIG. 7, a computing system may include a target terminal device, a first terminal device, and at least one terminal device. The device positioning method provided by the embodiment includes:

701. The target terminal device determines that the first terminal device and at least one terminal device are in place.

The so-called in-position can mean that both the first terminal device and at least one terminal device meet the following conditions at the same time: both are in the power-on state; it is detected that they have stopped moving or are only within a certain distance range, and the moving speed and rotation speed are both less than a certain preset. The value of , for example, the moving speed is less than 0.01m/min, and the rotation speed is less than 1°/min.

702. The target terminal device triggers the first terminal device and at least one terminal device to turn on the first sensor.

703. The first terminal device and the at least one terminal device acquire relative positions between the terminal devices based on the data collected by the first sensor.

The description of step 703 may refer to the description of step 301, and the similarities will not be repeated.

704. The target terminal device triggers the first terminal device and at least one terminal device to turn off the first sensor.

The description of step 704 may refer to the description of step 302, and the similarities will not be repeated.

705. The first terminal device determines, based on the data collected by the second sensor, that the position change exceeds a threshold.

706. The first terminal device sends information indicating that the position change exceeds a threshold value to the target terminal device.

707. The target terminal device triggers the first terminal device and at least one terminal device to turn on the first sensor.

708. The first terminal device and at least one terminal device acquire relative positions between the terminal devices based on the data collected by the first sensor.

709. Trigger to turn off the first sensor.

The description of step 705 to step 709 may refer to the description of step 303, and the similarities will not be repeated.

Referring to FIG. 8, FIG. 8 is a schematic flowchart of a device positioning method provided by an embodiment of the application. As shown in FIG. 8, a computing system may include a target terminal device, a first terminal device, and at least one terminal device. The device positioning method provided by the embodiment includes:

801. The target terminal device determines that at least one terminal device is in place.

The so-called in-position can mean that at least one terminal device satisfies the following conditions: it is all powered on; it detects that it has stopped moving or is only within a certain distance range, and the moving speed and rotation speed are both less than a certain preset value, for example, the moving speed is less than 0.01m/min, the rotation speed is less than 1°/min.

802. The target terminal device triggers the first terminal device and at least one terminal device to turn on the first sensor.

803. At least one terminal device acquires relative positions between terminal devices based on the data collected by the first sensor.

The description of step 803 may refer to the description of step 301, and the similarities will not be repeated.

804. The target terminal device triggers at least one terminal device to turn off the first sensor.

The description of step 804 may refer to the description of step 302, and the similarities will not be repeated.

805. The target terminal device determines that the first terminal device is connected to the computing system.

In one scenario, the first terminal device may keep the first sensor off until it receives a trigger to turn on the first sensor or determines itself that the first sensor should be turned on, for example, the first terminal device may keep the first sensor off until the first terminal device establishes a connection with at least one terminal device in the computing system, it can receive an instruction to turn on the first sensor sent by the target terminal device in the computing system, and the first terminal device can start the first sensor based on the first terminal device. Four indicates that the first sensor is turned on.

806. The target terminal device triggers the first terminal device and at least one terminal device to turn on the first sensor.

807. The first terminal device and at least one terminal device acquire relative positions between the terminal devices based on the data collected by the first sensor.

808. Trigger to turn off the first sensor.

The description of step 805 to step 808 may refer to the description of step 303, and the similarities will not be repeated.

Referring to FIG. 9, FIG. 9 is a schematic structural diagram of a device positioning apparatus provided by an embodiment of the present application. The device positioning apparatus provided by an embodiment of the present application may be applied to a first terminal device, where the first terminal device includes a first sensor and a A second sensor, wherein the data collected by the first sensor is used to locate the first terminal device, the data collected by the second sensor is used to determine the position change of the first terminal device, and the first sensor The power of one sensor is greater than the power of the second sensor. As shown in FIG. 9 , the device positioning apparatus 900 provided in this embodiment of the present application may include:

an acquisition module 901, configured to acquire a position change of the first terminal device, where the position change is determined according to the first data collected by the second sensor;

For the steps performed by the obtaining module 901, reference may be made to the description in step 301 and the corresponding embodiments, and details are not repeated here.

A sensor state change module 902, configured to trigger the first sensor to change from a first working state to a second working state when the position change of the first terminal device exceeds a threshold, and the first sensor is in the first working state The power consumption of the state is less than the power consumption of the second working state;

For the steps performed by the sensor state change module 902, reference may be made to the description in step 302 and the corresponding embodiments, and details are not repeated here.

The acquiring module 901 is configured to acquire first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor in the second working state.

For the steps performed by the obtaining module 901, reference may be made to the description in step 303 and the corresponding embodiments, and details are not repeated here.

In a possible design, in a possible design, the acquiring module is configured to acquire the second location information of the first terminal device before acquiring the location change of the first terminal device, so The second position information is determined according to third data collected by the first sensor in the second working state;

In a possible design, the sensor state change module is used to:

In a possible design, the acquisition module is used to:

Referring to FIG. 10 , FIG. 10 is a schematic structural diagram of a device positioning apparatus provided by an embodiment of the present application. The device positioning apparatus provided by the embodiment of the present application may be applied to a target terminal device, where the target terminal device belongs to a computing system, and the computing The system includes M terminal devices, the M terminal devices include a first terminal device, and the first terminal device includes a first sensor and a second sensor, wherein the data collected by the second sensor is used to determine the first terminal device. The position of a terminal device changes, and the power of the first sensor is greater than the power of the second sensor; a device positioning apparatus 1000 provided by an embodiment of the present application may include:

The obtaining module 1001 is configured to obtain second position information of the first terminal device, wherein the second position information is determined according to third data collected by the first sensor in the second working state.

For the steps performed by the obtaining module 1001, reference may be made to the descriptions in step 601, step 604 and the corresponding embodiments, which will not be repeated here.

A sending module 1002, configured to send, to the first terminal device, a second indication for triggering the first sensor to change from a second working state to a first working state, so that the first terminal device is based on the second The instruction triggers the first sensor to change from the first working state to the second working state.

If receiving a third indication sent by the first terminal device and used to indicate that the position change of the first terminal device exceeds a threshold, sending a third indication to the first terminal device for triggering the first sensor to be detected by the first terminal device. The working state is changed to the fourth indication of the second working state, so that the first terminal device triggers the first sensor to change from the first working state to the second working state based on the third indication.

For the steps performed by the sending module 1002, reference may be made to the descriptions in step 602, step 603 and corresponding embodiments, and details are not repeated here.

The acquiring module 1001 is configured to acquire first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor.

Referring to FIG. 11 , FIG. 11 is a schematic structural diagram of a terminal device 1500 provided by the present application, and the terminal device 1500 may be the device positioning apparatus 900 described in FIG. Device positioning apparatus 1000, as shown in FIG. 11 , the terminal device includes a processor 1501 and a memory 1502, and the processor 1501 is used to obtain the code of the memory 1502 to execute the codes in the corresponding embodiments of FIG. 3 and FIG. 6 . Describes the device location method.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above may refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

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

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions to cause a computer device (which may be a personal computer, a server, or other network device, etc.) to execute all or part of the steps of the method described in the embodiment of FIG. 2 of the present application. The aforementioned storage medium includes: U disk, removable hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program codes .

Claims

A device positioning method, characterized by being applied to a first terminal device, the first terminal device comprising a first sensor and a second sensor, wherein the first sensor is used for positioning the first terminal device, The data collected by the second sensor is used to determine the position change of the first terminal device, and the power of the first sensor is greater than the power of the second sensor, and the method includes:

acquiring a position change of the first terminal device, where the position change is determined according to the first data collected by the second sensor;

When the position change of the first terminal device exceeds a threshold, the first sensor is triggered to change from a first working state to a second working state, and the power consumption of the first sensor in the first working state is smaller than that in the first working state The power consumption of the second working state;

Obtain first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor in the second working state.
The method according to claim 1, wherein the method further comprises:

Before acquiring the location change of the first terminal device, acquire second location information of the first terminal device, where the second location information is the third location information collected according to the first sensor in the second working state data determined;

Triggering the first sensor to change from the second working state to the first working state.
The method according to claim 1 or 2, wherein the data accuracy of the data collected by the first sensor is greater than the data accuracy of the data collected by the second sensor.
The method according to claim 2 or 3, characterized in that,

The first position information is used to indicate the first relative position between the first terminal device and the second terminal device;

The second position information is used to indicate a second relative position between the first terminal device and the second terminal device;

The second terminal device and the first terminal device belong to the same computing system.
The method according to claim 4, wherein the second terminal device includes M terminal devices, and each terminal device in the M terminal devices includes the first sensor;

The first location information is determined according to the second data and data collected by first sensors of N terminal devices among the M terminal devices, where N is less than or equal to the M; and/or,

The second location information is determined according to the third data and data collected by first sensors of N terminal devices among the M terminal devices, where N is less than or equal to the M.
The method according to claim 5, wherein the N is less than the M, and the N terminal devices are the N terminal devices that are closest to the first terminal device among the M terminal devices.
The method according to any one of claims 4 to 6, wherein the first relative position and the second relative position comprise relative distances and/or relative azimuths.
The method according to any one of claims 2 to 7, wherein before acquiring the second location information of the first terminal device, the method further comprises:

Instructing the first sensor to change from the first operating state to the second operating state.
The method according to claim 8, wherein the triggering the first sensor to change from the first working state to the second working state comprises:

establishing a connection with the second terminal device;

Receive a first indication sent by the second terminal device for triggering the first sensor to change from the first working state to the second working state, and trigger the first sensor based on the first indication Change from the first working state to the second working state.
The method according to any one of claims 1 to 9, wherein the first sensor comprises at least one of the following sensors: an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor and a visual sensor;

The second sensor includes at least one of the following sensors: an accelerometer sensor, a gyroscope sensor, a magnetometer sensor, a low-power bluetooth BLE, and a wireless fidelity WIFI.
The method according to any one of claims 1 to 9, wherein the first sensor comprises at least one of the following sensors: an accelerometer sensor and a gyroscope sensor, and the data accuracy of the data collected by the first sensor is greater than the preset value.
A device positioning device, characterized in that, it is applied to a first terminal device, the first terminal device includes a first sensor and a second sensor, wherein the data collected by the first sensor is used for the first terminal Device positioning, the data collected by the second sensor is used to determine the position change of the first terminal device, and the power of the first sensor is greater than the power of the second sensor, and the device includes:

an acquisition module, configured to acquire a position change of the first terminal device, where the position change is determined according to the first data collected by the second sensor;

A sensor state change module, configured to trigger the first sensor to change from a first working state to a second working state when the position change of the first terminal device exceeds a threshold, and the first sensor is in the first working state The power consumption is less than the power consumption in the second working state;

The acquiring module is configured to acquire first location information of the first terminal device, where the first location information is determined according to second data collected by the first sensor in the second working state.
The apparatus according to claim 12, wherein the acquiring module is configured to acquire the second location information of the first terminal device before acquiring the location change of the first terminal device, the second The location information is determined according to third data collected by the first sensor in the second working state;

The sensor state changing module is configured to trigger the first sensor to change from the second working state to the first working state.
The device according to claim 12 or 13, wherein the data accuracy of the data collected by the first sensor is greater than the data accuracy of the data collected by the second sensor.
The apparatus according to claim 13 or 14, wherein the first position information is used to indicate a first relative position between the first terminal device and the second terminal device;

The second position information is used to indicate a second relative position between the first terminal device and the second terminal device;

The second terminal device and the first terminal device belong to the same computing system.
The apparatus according to claim 15, wherein the second terminal device includes M terminal devices, and each terminal device in the M terminal devices includes the first sensor;

The first location information is determined according to the second data and data collected by first sensors of N terminal devices among the M terminal devices, where N is less than or equal to the M; and/or,

The second location information is determined according to the third data and data collected by first sensors of N terminal devices among the M terminal devices, where N is less than or equal to the M.
The apparatus according to claim 16, wherein the N is less than the M, and the N terminal devices are the N terminal devices that are closest to the first terminal device among the M terminal devices.
The device according to any one of claims 15 to 17, wherein the first relative position and the second relative position comprise relative distances and/or relative azimuths.
The apparatus according to any one of claims 14 to 18, wherein the sensor state change module is configured to instruct the first sensor to be controlled by the first terminal before acquiring the second position information of the first terminal device The first working state is changed to the second working state.
The apparatus according to claim 19, wherein the sensor state change module is configured to establish a connection with the second terminal device;

Receive a first indication sent by the second terminal device for triggering the first sensor to change from the first working state to the second working state, and trigger the first sensor based on the first indication Change from the first working state to the second working state.
The device according to any one of claims 12 to 20, wherein the first sensor comprises at least one of the following sensors: an ultra-wideband UWB sensor, an ultrasonic sensor, a laser sensor and a visual sensor;

The second sensor includes at least one of the following sensors: an accelerometer sensor, a gyroscope sensor, a magnetometer sensor, a low-power bluetooth BLE, and a wireless fidelity WIFI.
The device according to any one of claims 12 to 20, wherein the first sensor comprises at least one of the following sensors: an accelerometer sensor and a gyroscope sensor, and the data accuracy of the data collected by the first sensor is greater than the preset value.
A non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium contains computer instructions for executing the device positioning method according to any one of claims 1 to 11.
A terminal device, characterized in that the computing device includes a memory and a processor, the memory stores a code, and the processor is used to obtain the code to execute the device according to any one of claims 1 to 11 positioning method.
A computer program product, characterized in that the computer program product includes codes, which, when executed, are used to implement the device positioning method according to any one of claims 1 to 11 .