WO2022057416A1 - Location service method and related apparatus - Google Patents
Location service method and related apparatus Download PDFInfo
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- WO2022057416A1 WO2022057416A1 PCT/CN2021/106077 CN2021106077W WO2022057416A1 WO 2022057416 A1 WO2022057416 A1 WO 2022057416A1 CN 2021106077 W CN2021106077 W CN 2021106077W WO 2022057416 A1 WO2022057416 A1 WO 2022057416A1
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- base station
- electronic device
- location
- data frame
- broadcast
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Definitions
- the present application relates to the field of electronic technologies, and in particular, to a positioning service method and related apparatus.
- UWB Ultra Wideband
- several fixed-position anchor devices also known as base stations
- the base station performs signaling interaction with each user's electronic equipment to measure the distance between the local end and the electronic equipment, and reports the distance and the identity information of the electronic equipment to the location server.
- the distance information of an electronic device calculates the current location of the user, thereby realizing the location service.
- Embodiments of the present application provide a positioning service method and related apparatus.
- an embodiment of the present application provides a positioning service method, which is applied to an electronic device in a positioning service system.
- the positioning service system further includes a first base station and a second base station, and the number of the second base station is at least two. each; the method includes:
- the position of the electronic device is determined based on at least two reception time differences, the position of the first base station and/or the position of the second base station, where the reception time difference is used to represent the time difference between two data frames arriving at the electronic device .
- an embodiment of the present application provides a positioning service system, where the positioning service system includes an electronic device, a first base station, and a second base station, and the number of the second base station is at least two;
- the first base station configured to broadcast a first data frame, where the first data frame carries the location of the first base station;
- the second base station configured to broadcast a second data frame, where the second data frame carries the position of the second base station that broadcasts the second data frame;
- the electronic device is configured to receive the first data frame broadcast by the first base station and receive the second data frame broadcast by the second base station, and the broadcast times of different data frames are different;
- the position of the first base station and/or the position of the second base station determines the position of the electronic device, and the reception time difference is used to represent the time difference between two data frames arriving at the electronic device.
- an embodiment of the present application provides a positioning service method, which is applied to a second base station in a positioning service system, where the positioning service system further includes a first base station and an electronic device, and the first base station in the positioning service system
- the number of two base stations is at least two; the method includes:
- the second data frame After receiving the target delay of the first data frame, broadcast a second data frame, the second data frame carries the location of the second base station broadcasting the second data frame, the first data frame and the second data frame is used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
- an embodiment of the present application provides a positioning service device, which is applied to an electronic device in a positioning service system.
- the positioning service system further includes a first base station and a second base station, and the number of the second base station is at least two. each; the device includes:
- a receiving unit configured to receive a first data frame broadcast by the first base station and a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, the first data frame Two data frames carry the location of the second base station that broadcasts the second data frame, and different data frames have different broadcast times;
- a positioning service unit configured to determine the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station, the receiving time difference being used to indicate the arrival of two data frames The time difference of the electronic device.
- an embodiment of the present application provides a positioning service apparatus, which is applied to a second base station in a positioning service system, where the positioning service system further includes a first base station and an electronic device, and the second base station in the positioning service system The number is at least two; the device includes:
- a receiving unit configured to receive a first data frame broadcast by a first base station, where the first data frame carries the location of the first base station;
- a sending unit configured to broadcast a second data frame after receiving the target delay of the first data frame, where the second data frame carries the position of the second base station that broadcasts the second data frame,
- the first data frame and the second data frame are used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
- an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and are configured to be processed by the process
- the above program includes instructions for executing steps in any method of the first aspect of the embodiments of the present application.
- an embodiment of the present application provides a base station, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured by the processor
- the above program includes instructions for executing steps in any method in the third aspect of the embodiments of the present application.
- an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the computer program as described in the first embodiment of the present application.
- the computer program enables a computer to execute the computer program as described in the first embodiment of the present application.
- part or all of the steps described in any method, or the above computer program causes the computer to execute part or all of the steps described in any method in the third aspect of the embodiments of the present application.
- an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the program as implemented in the present application.
- the computer program product may be a software installation package.
- 1A is a schematic diagram of an application scenario based on UWB technology positioning provided by an embodiment of the present application
- FIG. 1B is a schematic diagram of an SS-TWR ranging signal interaction provided by an embodiment of the present application
- 1C is a schematic diagram of the interaction of ranging signals of a DS TWR provided by an embodiment of the present application
- 1D is a schematic diagram of one-to-many interaction between a tag and a base station provided by an embodiment of the present application
- 1E is a schematic diagram of obtaining final coordinates by computing TDoA according to an embodiment of the present application.
- 1F is a schematic structural diagram of a super frame provided by an embodiment of the present application.
- 1G is a schematic structural diagram of a super frame added to a beacon frame provided by an embodiment of the present application.
- FIG. 1H is a schematic structural diagram of a positioning service system 10 provided by an embodiment of the present application.
- 1I is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
- FIG. 2A is a schematic flowchart of a positioning service method provided by an embodiment of the present application.
- 2B is a schematic diagram of a base station broadcasting a data frame provided by an embodiment of the present application
- 2C is a schematic diagram of data frame broadcast time and data frame reception time provided by an embodiment of the present application.
- 2D is a schematic diagram of a position where the intersection of the hyperbola is the position of the electronic device provided by the embodiment of the present application;
- FIG. 3 is a schematic flowchart of another positioning service method provided by an embodiment of the present application.
- FIG. 4 is a schematic structural diagram of a positioning service device provided by an embodiment of the present application.
- FIG. 5 is a schematic structural diagram of another positioning service device provided by an embodiment of the present application.
- FIG. 6 is a block diagram of functional modules of a positioning service apparatus provided by an embodiment of the present application.
- Ultra Wideband is an unloaded communication technology. According to the standards of the Federal Communications Commission (Federal Communications Commission of the United States), the working frequency band of UWB is 3.1-10.6GHz, and the -10dB bandwidth is 3.1-10.6GHz. The ratio of the system center frequency is greater than 20%, and the system bandwidth is at least 500MHz. Data is transmitted using narrow, non-sinusoidal pulses in nanoseconds to microseconds.
- the traditional ultra-wideband UWB technology positioning is used in industrial places such as mines and warehouses. Its main application scenario is to monitor the real-time position of employees and goods indoors. The base stations have been calibrated in indoor locations, and are connected to each other through wired or Wi-Fi for synchronization.
- A is a base station that supports UWB technology positioning
- CLE PC is a location server (also known as a location server, such as a location computing device)
- Ethernet LAN-TCP/IP refers to the communication between base stations. Supports the transmission control protocol/Internet protocol of the Ethernet local area network, and realizes the position monitoring of the user wearing the tag device by setting at least one base station in each area.
- the one-to-one interaction between the tag and the base station has two modes: SS-TWR and DSTWR.
- the first one, Single-sided Two-way Ranging (SS-TWR) is the first one, Single-sided Two-way Ranging (SS-TWR)
- SS-TWR is a simple measurement of the time of a single round-trip message.
- Device A actively sends data to device B, and device B responds to device A with data.
- Device A (Device A) actively sends (TX) data (corresponding to the TX time node to the starting point of Tround time in the figure), and records the sending timestamp at the same time
- Device B (Device B) records it after receiving (RX) Reception timestamp
- RMARKER indicates the time node when the data is transmitted (received or sent); after the delay Treply, device B sends the data and records the sending timestamp, while device A receives the data and records the receiving timestamp.
- the two difference times are calculated based on the local clock.
- the local clock error can be offset, but there will be a slight clock offset between different devices. Assume that the clock offsets of devices A and B are eA and eB respectively, so The resulting flight time will increase with increasing Treply, and the equation of the ranging error error is as follows:
- Tprop is the actual flight time of the wireless signal.
- DS TWR obtains two round-trip delays based on 3 message transfers between the initiating node and the responding node, and measures the distance at the responding end. As shown in Figure 1C, when device A receives the data, it returns the data immediately, and finally the following four time differences can be obtained:
- Time-of-flight error analysis of bilateral two-way ranging The above ranging mechanisms are all asymmetric ranging methods because they do not require the same response time. Even with a 20ppm crystal, the clock error is in the ps level.
- the error formula is as follows:
- k a and k b are the ratios of the actual frequency of the crystal oscillator to the nominal frequency, so k a and k b are very close to 1.
- Each employee or cargo has a tag with a unique identification, which regularly broadcasts signals to the surrounding base stations.
- RMARKER indicates the time node when the data is transmitted (received or sent); the three surrounding base stations (Anchor A, Anchor B, Anchor C) receives the signal, and sends a response signal to the tag in turn according to the synchronization information between the base stations (RespA, RespB, RespC in the figure).
- the tag receives the reply signals from three or more base stations, it sends a broadcast signal to the outside world (Final in the figure). Therefore, each base station can use the DS TWR mechanism to exchange signals to calculate the flight time of the wireless signal at its own node after the three base stations hear the final packet respectively.
- TpropA is the flight time of the wireless signal between base station A and the tag
- TpropB is the flight time of the wireless signal between base station B and the tag
- TpropC is the flight time of the wireless signal between base station C and the tag
- Ground1A is the tag.
- Ground1B is the time difference between the tag sending data and receiving data from base station B
- Ground1C is the time difference between the tag sending data and receiving data from base station C
- Treply1A is the delay of base station A
- Treply1B is the delay of base station B.
- Treply1C is the delay of base station C
- Treply2A is the delay of the tag receiving the signal of base station A to sending the final signal
- Treply2B is the delay of the tag receiving the signal of base station B to sending the final signal
- Treply2C is the delay of the tag receiving the signal of base station C Delay to send Final signal.
- Each base station uploads the calculation results to the main server.
- the three-dimensional operation TDoA is performed on the main server to obtain the final coordinates.
- X1, X2, and X3 correspond to the positions of Anchor A, Anchor B, and Anchor C, and the circle corresponds to the distance determined by the flight time of the wireless signal as the radius. range, Xu is the position of the label.
- a superframe In an indoor scene with multiple tags, a superframe needs to be set up for non-stop repetition across the entire timeline. Each tag needs to be allocated a time slot, and its position is calculated in its own slot and uploaded to the base station.
- interval represents the time interval
- scheduling interval represents the scheduled time interval
- Tag I slot represents the time slot of the tag i
- Poll TX represents the tag sending signal
- Resp-X RX represents the tag receiving base station X signal
- Resp-Y RX means that the tag receives the signal of base station Y
- Resp-Z RX means that the tag receives the signal of base station Z
- Final TX means that the tag sends the Final signal
- beacon frame (BeaCoN, BCN) time slot before the time slot for the interaction between the tag and the base station.
- BCN is the time slot that carries the beacon frame
- SVC represents the reserved time slot
- TWR Slot represents the time slot that carries the bidirectional ranging signal. wake up is the wake-up time slot
- RX represents the receiving state.
- the number of tags is limited, and the slot address of each tag has been allocated.
- the base station needs to be calibrated in advance, and the signal is synchronized by connecting by wire or in a way different from the ultra-wideband UWB technology.
- Both the base station and the tag need to send and receive signals.
- the base station side calculates the indoor coordinates of the tag and returns it to the server.
- the tag itself does not know its own coordinates.
- the tag only wakes up in its own slot cycle.
- the present application proposes a positioning service method and system, which will be described in detail below.
- an embodiment of the present application provides a positioning service system 10 , the system includes an electronic device 100 and a base station 200 , wherein the electronic device 100 receives UWB signals broadcast by the base station 200 , and the base station 200 is a server supporting UWB technology Devices, such as UWB base stations, UWB anchor devices, etc., the electronic device 200 is a client device supporting UWB technology, such as but not limited to wireless communication device 110, portal transponder device 120, household device 130, tethered tag 140, etc. .
- Other UWB devices may include other computing devices, including but not limited to laptops, desktops, tablets, personal assistants, routers, monitors, televisions, printers and electrical appliances.
- FIG. 1I shows a schematic structural diagram of the electronic device 100 .
- the electronic 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, compass 190, motor 191, indicator 192, camera 193, display screen 194 and user Identity module (subscriber identification module, SIM) card interface 195 and so on.
- SIM subscriber identification module
- the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the electronic device 100 .
- the electronic device 100 may include more or less components than shown, 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 components, or may be integrated in one or more processors.
- the electronic device 101 may also include one or more processors 110 .
- the controller can generate an operation control signal according to the instruction operation code and the 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.
- the memory in the processor 110 may be a 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. In this way, repeated access is avoided, and the waiting time of the processor 110 is reduced, thereby improving the efficiency of the electronic device 101 in processing data or executing instructions.
- the processor 110 may include one or more interfaces.
- the interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous transceiver (universal) asynchronous receiver/transmitter, UART) interface, mobile industry processor interface (mobile industry processor interface, MIPI), general-purpose input/output (GPIO) interface, SIM card interface and/or USB 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 electronic device 101, and can also be used to transmit data between the electronic device 101 and peripheral devices.
- the USB interface 130 can also be used to connect an earphone, and play audio through the earphone.
- the interface connection relationship between the modules illustrated in the embodiments of the present application is only a schematic illustration, and does not constitute a structural limitation of the electronic device 100 .
- the electronic 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.
- the charging management module 140 may receive charging input from the wired charger through the USB interface 130 .
- the charging management module 140 may receive wireless charging input through a wireless charging coil of the electronic device 100 . While the charging management module 140 charges the battery 142 , it can also supply power to the electronic 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 external memory, the display screen 194, the camera 193, the wireless communication module 160, and the like.
- the power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle times, battery health status (leakage, impedance).
- the power management module 141 may also be provided in the processor 110 .
- 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 electronic 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 electronic device 100 may be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization.
- 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 wireless communication solutions including 2G/3G/4G/5G etc. applied on the electronic 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 .
- at least part of the functional modules of the mobile communication module 150 may be provided in the processor 110 .
- 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 wireless communication module 160 can provide applications on the electronic device 100 including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation Satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field communication technology (near field communication, NFC), infrared technology (infrared, IR), UWB and other wireless communication solutions.
- WLAN wireless local area networks
- BT wireless fidelity
- GNSS global navigation Satellite system
- frequency modulation frequency modulation, FM
- NFC near field communication technology
- infrared technology infrared, IR
- UWB wireless communication solutions.
- 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,
- the electronic 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.
- the 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), mini light-emitting diode (mini light-emitting diode, miniled), MicroLed, Micro-oLed, quantum dot light-emitting diode (quantum dot light emitting diodes, QLED), etc.
- electronic device 100 may include one or more display screens 194 .
- the electronic device 100 may implement a shooting function through an ISP, a camera 193, a video codec, a GPU, a display screen 194, an application processor, and the like.
- the ISP is used to process the data fed back by the camera 193 .
- 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 parameters such as exposure and color temperature of the shooting scene.
- 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.
- CMOS complementary metal-oxide-semiconductor
- 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, YUV and other formats of image signals.
- the electronic device 100 may include one or more cameras 193 .
- 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 electronic device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy and so on.
- Video codecs are used to compress or decompress digital video.
- the electronic device 100 may support one or more video codecs.
- the electronic device 100 can play or record videos in various encoding formats, such as: Moving Picture Experts Group (moving picture experts group, MPEG) 1, MPEG2, MPEG3, MPEG4, and so on.
- MPEG Moving Picture Experts Group
- the NPU is a neural-network (NN) computing processor.
- NN neural-network
- Applications such as intelligent cognition of the electronic 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 electronic 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 one or more computer programs including instructions.
- the processor 110 may execute the above-mentioned instructions stored in the internal memory 121, thereby causing the electronic device 101 to execute the method for displaying page elements, various applications and data processing provided in some embodiments of the present application.
- the internal memory 121 may include a storage program area and a storage data area.
- the stored program area may store an operating system; the stored program area may also store one or more applications (such as a gallery, contacts, etc.) and the like.
- the storage data area may store data (such as photos, contacts, etc.) created during the use of the electronic device 101 and the like.
- the internal memory 121 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic disk storage components, flash memory components, universal flash storage (UFS), and the like.
- the processor 110 may cause the electronic device 101 to execute the instructions provided in the embodiments of the present application by executing the instructions stored in the internal memory 121 and/or the instructions stored in the memory provided in the processor 110 .
- the electronic 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 sensor module 180 may include a pressure sensor 180A, a gyro 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 an ambient light sensor 180L, bone conduction sensor 180M, etc.
- FIG. 2A is a schematic flowchart of a positioning service method provided by an embodiment of the present application, which is applied to an electronic device in a positioning service system.
- the positioning service system further includes a first base station and a second base station.
- the number of the second base stations is at least two.
- the positioning service method includes the following operations.
- Step 201 Receive a first data frame broadcast by the first base station, and receive a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, and the second data frame The frame carries the location of the second base station broadcasting the second data frame.
- the broadcast time of different data frames is different.
- the positioning service system includes a first base station, a second base station 1 and a second base station 2
- the first base station broadcasts the first data frame at broadcast time 1
- the second base station 1 broadcasts the second data frame at broadcast time 2
- the third base station broadcasts the second data frame 2 at the broadcast time 3, and the broadcast time 1, the broadcast time 2 and the broadcast time 3 are different from each other.
- the broadcast time of the first data frame is earlier than the broadcast time of the second data frame.
- the first base station broadcasts the first data frame first
- the second base station broadcasts the second data frame after receiving the target delay of the first data frame, as shown in FIG. 2B .
- the first data frame also carries the broadcast time of broadcasting the first data frame and the identifier (eg, device number) of the first base station.
- the second data frame also carries the broadcast time of broadcasting the second data frame and the identifier of the second base station that broadcasts the second data frame.
- Step 202 Determine the location of the electronic device based on at least two receiving time differences, the location of the first base station and/or the location of the second base station, where the receiving time difference is used to indicate that two data frames arrive at the electronic device. device time difference.
- the method further includes:
- the time difference between the reception time of the first data frame and the reception time of each of the second data frames is determined to obtain the at least two reception time differences.
- Example 1 assuming that the positioning service system includes a first base station, a second base station 1 and a second base station 2, if the electronic device receives the first data frame broadcast by the first base station at time 1, and receives the broadcast of the second base station 1 at time 2 If the second data frame 1 of the second data frame is received at time 3, the second data frame 2 broadcast by the second base station 2 is received, then the obtained two receiving time differences are time 1-time 2, and time 1-time 3.
- the method further includes:
- the time difference between the reception times of any two data frames is determined to obtain the at least two reception time differences.
- the positioning service system includes a first base station, a second base station 1 and a second base station 2. If the electronic device receives the first data frame broadcast by the first base station at time 1, and receives the broadcast of the second base station 1 at time 2 The second data frame 1, the second data frame 2 broadcast by the second base station 2 is received at time 3, then the three received time differences obtained are time 1-time 2, time 1-time 3, and time 2-time 3 .
- the determining the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station includes:
- At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
- the obtaining at least two modified reception time differences based on the at least two reception time differences and the at least two broadcast time differences includes: based on the at least two reception time differences, the at least two broadcast time differences and the first A formula to obtain at least two modified reception time differences.
- the broadcast time of the first data frame is broadcast time 1
- the broadcast time of the second data frame 1 is broadcast time 2
- the broadcast time of the second data frame 2 is broadcast time 3
- the obtained two broadcast time differences are broadcast time 1-broadcast time 2, and broadcast time 1-broadcast time 3
- the two corrected receiving time differences obtained are (time 1-time 2)-(broadcast time 1- broadcast time 2), and (time 1-time 3)-(air time 1-broad time 3).
- Example 4 based on Example 2, if the broadcast time of the first data frame is broadcast time 1, the broadcast time of the second data frame 1 is broadcast time 2, and the broadcast time of the second data frame 2 is broadcast time 3, then the obtained three The broadcast time differences are broadcast time 1 - broadcast time 2, broadcast time 1 - broadcast time 3, and broadcast time 2 - broadcast time 3, and then the three corrected receiving time differences obtained are (time 1 - time 2) - (broadcast time 1 - time 2) Time 1-Time 2), (Time 1-Time 3)-(Time 1-Time 3), and (Time 2-Time 3)-(Time 2-Time 3).
- the determining the position of the electronic device based on at least two modified reception time differences, the position of the first base station and/or the position of the second base station includes:
- the position of the electronic device is determined based on the at least two positioning models.
- the determining at least two distance differences based on the at least two corrected receiving time differences and the flight speed includes: determining at least two distance differences based on the at least two corrected receiving time differences, the flying speed and the second formula.
- Example 5 the positioning model is a hyperbolic function. Based on example 3, it is assumed that the location of the first base station is represented as (x1, y1), the location of the second base station 1 is represented as (x2, y3), and the location of the second base station 2 is represented as (x3, y3), the position of the electronic device is represented as (x, y), and the two hyperbolic functions established are: as well as Wherein, S1 is the distance difference determined based on (Time 1-Time 2)-(Broadcast Time 1-Broadcast Time 2), and S2 is the distance determined based on (Time 1-Time 3)-(Broadcast Time 1-Broadcast Time 3) Difference.
- Example 6 the positioning model is a hyperbolic function. Based on example 4, it is assumed that the location of the first base station is represented as (x1, y1), the location of the second base station 1 is represented as (x2, y3), and the location of the second base station 2 is represented as (x3, y3), the position of the electronic device is represented as (x, y), and the three hyperbolic functions established are: as well as Wherein, S1 is the distance difference determined based on (Time 1-Time 2)-(Broadcast Time 1-Broadcast Time 2), and S2 is the distance determined based on (Time 1-Time 3)-(Broadcast Time 1-Broadcast Time 3) The difference, S2 is the distance difference determined based on (time2-time3)-(broadcasting time2-broadcasting time3).
- the positioning model is a hyperbolic function
- the determination as the position of the electronic device based on the at least two positioning models includes:
- the value of the intersection is determined as the position of the electronic device
- the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
- the method further includes:
- a center point is determined based on the N intersection points, and the value of the center point is determined as the position of the electronic device.
- x and y can be calculated by two hyperbolic functions, and then the position of the electronic device can be obtained, such as shown in Figure 2D.
- x1, y1, x2, y2, x3, y3, S1, S2, and S3 are known, and 3 sets of values can be calculated by 3 hyperbolic functions. If these 3 sets of values are the same, then the The value is used as the position of the electronic device. If the three groups of values are not the same, the center point is obtained through the three groups of values, and the coordinates of the center point are used as the position of the electronic device.
- a distance between any two of the electronic device, the first base station, and the second base station is less than or equal to a set distance.
- the set distance is, for example, 2m, 3m, 5m, 10m, 12m or other values.
- the electronic device in the positioning service system first receives the first data frame broadcast by the first base station in the system, and receives the second data frame broadcast by the second base station in the system. Carrying the location of the base station that broadcasts the data frame, the broadcast time of different data frames is different, and then the electronic device determines the location of the electronic device based on at least two receiving time differences, the location of the first base station and/or the location of the second base station, the receiving time difference Used to represent the time difference between two data frames reaching the electronic device. It can be seen that the electronic device only receives information and does not send information, which reduces power consumption. In addition, the location of the electronic device is determined by the electronic device, not by the location server, and the amount of data required for positioning is relatively small, which reduces the complexity of positioning calculation. to improve the positioning efficiency.
- the application running in the foreground of the electronic device is a setting application.
- the setting applications include, for example, instant messaging applications, shopping applications, taxi-hailing applications, consumer review applications, and the like.
- the position of the electronic device is determined only when the application running in the foreground is a setting application, which avoids determining the position of the electronic device in an unnecessary situation, thereby reducing the function of the electronic device. consumption.
- the interface displayed in the foreground of the electronic device is a setting interface of the setting application.
- the setting interface includes, for example, a main interface, a location sharing interface, and the like.
- the position of the electronic device is determined only when the interface displayed in the foreground operation is the setting interface of the setting application, which avoids determining the position of the electronic device in an unnecessary situation, thereby reducing the power consumption of electronic equipment.
- the method further includes:
- the location of the electronic device is re-determined.
- the determining the effective duration of the location based on the location of the electronic device includes:
- the location validity period is determined based on the target location and the current system time.
- the determining the effective duration of the location based on the target location and the current system time includes:
- the location valid duration is determined based on a first mapping relationship, the target location and the current system time, where the first mapping relationship is a mapping relationship between location, time and location valid duration.
- the first mapping relationship is shown in Table 1.
- the determining the effective duration of the location based on the target location and the current system time includes:
- T 1 k*T 2
- T 1 the effective duration of the location
- T 2 the expected duration of staying at the place
- the k is a coefficient
- the k ⁇ 1 the k is determined based on the current system time.
- the k is determined based on the current system time, including: the k is determined based on the current system time and a second mapping relationship, the second mapping relationship is a mapping relationship between time and coefficients, and the second mapping relationship is as follows: shown in Table 2.
- the estimated first duration that the electronic device stays at the target place based on the current system time includes:
- a first length of time that the electronic device stays at the target location is predicted.
- the central node of the target period is the current system time.
- the duration of the target period has, for example, 1h, 2h, 3h, or other values.
- the position of the electronic device is limited to be re-determined after a certain period of time, so as to avoid unnecessary determination of the position of the electronic device, thereby reducing the power consumption of the electronic device.
- the method further includes:
- the target environment is a setting environment and the electronic device is in a moving state, predicting a second period of time for the electronic device to stay in the target environment based on the target environment;
- the position of the electronic device is re-determined.
- the setting environment includes, for example, a shopping mall, an exhibition hall, a theater, a library, and the like.
- the predicting, based on the target environment, that the electronic device stays in the target environment for a second period of time includes: estimating that the electronic device stays in the target environment based on a third mapping relationship and the target environment.
- the second duration, the third mapping relationship is the mapping relationship between the environment and the duration.
- the third mapping relationship is shown in Table 3. As shown in Table 3, the durations corresponding to different environments may be the same or different.
- the predicting, based on the target environment, that the electronic device stays in the target environment for a second period of time includes: acquiring a motion record of the electronic device;
- the electronic device Based on the second target number of times and the length of time each time the electronic device stays in the target environment, the electronic device is expected to stay in the target environment for a second length of time.
- the motion record of the electronic device records that the electronic device stays in the target environment 3 times, and the duration of these 3 stays are 50min, 45min, and 1h respectively, then it is expected that the electronic device stays in the target environment this time.
- the position of the electronic device is re-determined only after a certain period of time, avoiding unnecessary determination of the position of the electronic device, thereby reducing the power consumption of the electronic device.
- the method further includes:
- the determining the target operation based on the target site includes: determining the target operation based on a fourth mapping relationship and the target site, where the third mapping relationship is a mapping relationship between a site and an operation, and the fourth mapping relationship is as follows: shown in Table 4.
- the target place is a first restaurant
- the target operation is recommending dishes
- the performing the target operation includes: determining the eating habits of the user who uses the electronic device, and determining the first restaurant and recommends target dishes to the user based on the eating habits and the praised dishes.
- the number of target dishes may be one or more.
- the eating habits of the user are determined based on shopping records or consumption records, or are user-defined, which is not limited herein.
- the well-reviewed dishes of the first restaurant are determined based on the reviews of the first restaurant, or are customized by the first restaurant, which is not limited herein.
- the first restaurant's well-received dishes include dish 1, dish 2, dish 3, dish 4 and dish 5. If dish 2 and dish 3 are spicy meat dishes, Then recommend dishes 2 and 3 to the user.
- the target place is a first bookstore
- the target operation is recommending books
- the performing the target operation includes: determining the reading preferences of the users who use the electronic device; Describe the use of user-recommended target books.
- the number of target books may be one or more.
- the target book may be a bestseller or not, which is not limited here.
- the reading preference of the user is determined based on reading records or book shopping records, or is user-defined, which is not limited herein.
- the electronic device after the position of the electronic device is determined, the electronic device performs corresponding operations based on the determined position, which improves the intelligence of the electronic device.
- FIG. 3 is a schematic flowchart of another positioning service method provided by an embodiment of the present application, which is applied to a second base station in a positioning service system.
- the positioning service system further includes a first base station and an electronic device.
- the number of the second base stations in the positioning service system is at least two.
- the positioning service method includes the following operations.
- Step 301 Receive a first data frame broadcast by a first base station, where the first data frame carries the location of the first base station.
- Step 302 After receiving the target delay of the first data frame, broadcast a second data frame, the second data frame carries the location of the second base station that broadcasts the second data frame, and the second data frame is broadcast.
- a data frame and the second data frame are used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
- the method further includes: determining the target delay based on the time slot number of the second base station.
- the determining the target delay based on the time slot number of the second base station includes: determining the target delay corresponding to the time slot number of the second base station based on a mapping relationship between the time slot number and the delay Time.
- the method further includes: configuring its own time slot number by listening to a data frame of at least one base station in the positioning service system.
- the configuration of its own time slot number by listening to the data frame of at least one base station in the positioning service system includes:
- time slot number report includes the correspondence between the device number of the base station and the time slot number
- the time slot number report may be the time slot numbers of all base stations directly heard by the current base station and its own time slot numbers.
- the second base station can learn more comprehensively the time slot occupancy status of other base stations in the current system through the time slot number, and provide the time slot configuration accuracy.
- the base station in the positioning service system shown in FIG. 1H may specifically include a first base station and a second base station, and the number of the second base station is at least two;
- a first base station configured to broadcast a first data frame, where the first data frame carries the location of the first base station
- a second base station configured to broadcast a second data frame, where the second data frame carries the location of the second base station that broadcasts the second data frame;
- the electronic device is configured to receive the first data frame broadcast by the first base station and receive the second data frame broadcast by the second base station, and the broadcast times of different data frames are different;
- the position of the first base station and/or the position of the second base station determines the position of the electronic device, and the reception time difference is used to represent the time difference between two data frames arriving at the electronic device.
- the second base station in terms of broadcasting the second data frame, is specifically configured to: receive the first data frame; after receiving the target delay of the first data frame, broadcast the second data frame.
- the electronic device is further configured to determine the time difference between the receiving time of the first data frame and the receiving time of each of the second data frames, to obtain the at least two receiving times Time difference.
- the electronic device is further configured to determine a time difference between reception times of any two data frames, and obtain the at least two reception time differences.
- the electronic device in terms of determining the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station, the electronic device is specifically configured to :
- At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
- the electronic device in terms of determining the location of the electronic device based on at least two corrected reception time differences, the location of the first base station and/or the location of the second base station, the electronic device Specifically for:
- the position of the electronic device is determined based on the at least two positioning models.
- the positioning model is a hyperbolic function
- the electronic device in terms of determining the position of the electronic device based on the at least two positioning models, the electronic device is specifically configured to: calculate any two the intersection of the hyperbolic function, to obtain N intersections, where N is a positive integer;
- the value of the intersection is determined as the position of the electronic device
- the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
- the electronic device is further configured to, if the N is greater than 1, determine a center point based on the N intersection points, and determine the value of the center point as the electronic device s position.
- the electronic device only receives information, but does not send information, which reduces power consumption.
- the location of the electronic device is determined by the electronic device, not by the location server, and the amount of data required for positioning Relatively few, which reduces the computational complexity of positioning, thereby improving the efficiency of positioning.
- An embodiment of the present application provides a positioning service apparatus, where the positioning service apparatus may be an electronic device 100 .
- the positioning service apparatus is configured to execute the steps of the positioning service method shown in FIG. 2A .
- the positioning service apparatus provided by the embodiments of the present application may include modules corresponding to corresponding steps.
- FIG. 4 shows a possible schematic structural diagram of the positioning service apparatus involved in the foregoing embodiment.
- the positioning service device includes a receiving unit 41 and a positioning service unit 42, wherein:
- a receiving unit 41 configured to receive a first data frame broadcast by the first base station and a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, the The second data frame carries the location of the second base station that broadcasts the second data frame, and different data frames have different broadcast times;
- a positioning service unit 42 configured to determine the position of the electronic device based on at least two reception time differences, the position of the first base station and/or the position of the second base station, where the reception time difference is used to represent two data frames time difference to the electronic device.
- the positioning service apparatus further includes a first determining unit 43 .
- the first determining unit 43 is configured to determine the time difference between the receiving time of the first data frame and the receiving time of each of the second data frames, to obtain the at least two receiving time differences.
- the first determining unit 43 is configured to determine the time difference between the reception times of any two data frames, and obtain the at least two reception time differences.
- the positioning service unit 42 is specifically configured to: :
- At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
- the location service unit 42 determines the location of the electronic device based on at least two corrected reception time differences, the location of the first base station and/or the location of the second base station. Specifically for:
- the position of the electronic device is determined based on the at least two positioning models.
- the positioning model is a hyperbolic function, and in terms of determining the position of the electronic device based on the at least two positioning models, the positioning service unit 42 is specifically configured to:
- the value of the intersection is determined as the position of the electronic device
- the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
- the positioning service unit 42 is further configured to, if the N is greater than 1, determine a center point based on the N intersection points, and determine the value of the center point as the position of the electronic device.
- a distance between any two of the electronic device, the first base station, and the second base station is less than or equal to a set distance.
- the positioning service apparatus further includes a second determination unit 44 and a control unit 45;
- a second determining unit 44 configured to determine the location valid duration based on the location of the electronic device
- control unit 45 for starting a timer
- the positioning service unit 42 is further configured to re-determine the location of the electronic device when the time duration of the timer is greater than or equal to the location valid duration.
- the second determining unit 44 is specifically configured to:
- the location validity period is determined based on the target location and the current system time.
- the positioning service apparatus includes, but is not limited to, the foregoing modules.
- the positioning service apparatus may further include a storage unit 46 .
- the storage unit 46 may be used to store program codes and data of the location service device.
- An embodiment of the present application provides a positioning service apparatus, and the positioning service apparatus may be a base station 200 .
- the positioning service apparatus is configured to execute the steps of the positioning service method shown in FIG. 3 .
- the positioning service apparatus provided by the embodiments of the present application may include modules corresponding to corresponding steps.
- FIG. 5 shows a possible schematic structural diagram of the positioning service apparatus involved in the foregoing embodiment.
- the positioning service device includes a receiving unit 51 and a sending unit 52, wherein:
- a receiving unit 51 configured to receive a first data frame broadcast by the first base station, and receive a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, the The second data frame carries the location of the second base station that broadcasts the second data frame, and different data frames have different broadcast times;
- a sending unit 52 configured to determine the location of the electronic device based on at least two receiving time differences, the location of the first base station and/or the location of the second base station, where the receiving time difference is used to indicate the arrival of two data frames The time difference of the electronic device.
- the positioning service apparatus further includes a determining unit 53;
- a determining unit 53 configured to determine the target delay based on the time slot number of the second base station.
- the positioning service apparatus further includes a time slot configuration unit 54;
- the time slot configuration unit 54 is configured to configure its own time slot number by listening to the data frame of at least one base station in the positioning service system.
- the positioning service apparatus includes, but is not limited to, the foregoing modules.
- the positioning service apparatus may further include a storage unit 55 .
- the storage unit 55 may be used to store program codes and data of the location service device.
- the location service apparatus includes: a processing module 61 and a communication module 62 .
- the processing module 61 is used to control and manage the actions of the location service device, for example, the steps performed by the location service unit 42, the first determination unit 43, the second determination unit 44 and the control unit 45, or the determination unit 53 and the time slot configuration steps performed by unit 54; and/or other processes for performing the techniques described herein.
- the communication module 62 is used to support the interaction between the location service apparatus and other devices.
- the location service device may further include a storage module 63 for storing program codes and data of the location service device, such as the content stored in the above-mentioned storage unit 46 or the above-mentioned storage unit 55 .
- the processing module 61 may be a processor or a controller, such as a central processing unit (Central Processing Unit, CPU), a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), ASIC, FPGA or other programmable Logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure.
- the processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.
- the communication module 62 may be a transceiver, an RF circuit or a communication interface or the like.
- the storage module 63 may be a memory.
- Embodiments of the present application further provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes the computer to execute part or all of the steps of any method described in the above method embodiments , the above computer includes electronic equipment.
- Embodiments of the present application further provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of the method embodiments described above. some or all of the steps of the method.
- the computer program product may be a software installation package, and the computer includes an electronic device.
- the disclosed apparatus may be implemented in other manners.
- the device embodiments described above are only illustrative.
- the division of the above-mentioned units is only a logical function division.
- multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.
- 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 or other forms.
- the units described above as separate components may or may not be physically separated, and components shown 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.
- 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 above-mentioned integrated units if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable memory.
- the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory.
- a computer device which may be a personal computer, a server, or a network device, etc.
- the aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.
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Abstract
Disclosed by the present application are a location service method and a related apparatus, applicable to an electronic device in a location service system; said location service system further comprises a first base station and a second base station, the quantity of second base stations being at least two, the method comprising: receiving a first data frame broadcast by said first base station, and receiving a second data frame broadcast by said second base station, said first data frame carrying the location of the first base station, said second data frame carrying the location of the second base station that broadcasts the second data frame, the broadcast times being different for different data frames; on the basis of at least two reception time differences, the location of the first base station, and/or the location of the second base station, determining the location of the electronic device, the reception time difference being used for indicating the time difference between the arrivals of the two data frames at the electronic device. The efficiency of positioning is improved by using the embodiments of the present application.
Description
本申请涉及电子技术领域,尤其涉及一种定位服务方法及相关装置。The present application relates to the field of electronic technologies, and in particular, to a positioning service method and related apparatus.
目前,基于超宽带(Ultra Wideband,UWB)的室内定位技术中,一般会在用户移动的空间内通过有线方式设置若干个位置固定的锚点设备(又称为基站),用户佩戴支持UWB技术的电子设备,基站与每个用户的电子设备进行信令交互以测定本端与电子设备的距离,并将该距离和电子设备身份信息上报给位置服务器,由位置服务器根据至少三个基站上报的同一个电子设备的距离信息计算出用户当前所处的位置,从而实现定位服务。At present, in the indoor positioning technology based on Ultra Wideband (UWB), several fixed-position anchor devices (also known as base stations) are generally set up in the space where the user moves by wire. Electronic equipment, the base station performs signaling interaction with each user's electronic equipment to measure the distance between the local end and the electronic equipment, and reports the distance and the identity information of the electronic equipment to the location server. The distance information of an electronic device calculates the current location of the user, thereby realizing the location service.
发明内容SUMMARY OF THE INVENTION
本申请实施例提供一种定位服务方法及相关装置。Embodiments of the present application provide a positioning service method and related apparatus.
第一方面,本申请实施例提供一种定位服务方法,应用于定位服务系统中的电子设备,所述定位服务系统还包括第一基站和第二基站,所述第二基站的数量为至少两个;所述方法包括:In a first aspect, an embodiment of the present application provides a positioning service method, which is applied to an electronic device in a positioning service system. The positioning service system further includes a first base station and a second base station, and the number of the second base station is at least two. each; the method includes:
接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,所述第一数据帧携带所述第一基站的位置,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,不同数据帧的广播时间不同;Receive a first data frame broadcast by the first base station, and receive a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, and the second data frame carries the broadcast The location of the second base station of the second data frame, the broadcast time of different data frames is different;
基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。The position of the electronic device is determined based on at least two reception time differences, the position of the first base station and/or the position of the second base station, where the reception time difference is used to represent the time difference between two data frames arriving at the electronic device .
第二方面,本申请实施例提供一种定位服务系统,所述定位服务系统包括电子设备、第一基站和第二基站,所述第二基站的数量为至少两个;In a second aspect, an embodiment of the present application provides a positioning service system, where the positioning service system includes an electronic device, a first base station, and a second base station, and the number of the second base station is at least two;
所述第一基站,用于广播第一数据帧,所述第一数据帧携带所述第一基站的位置;the first base station, configured to broadcast a first data frame, where the first data frame carries the location of the first base station;
所述第二基站,用于广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置;the second base station, configured to broadcast a second data frame, where the second data frame carries the position of the second base station that broadcasts the second data frame;
所述电子设备,用于接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,不同数据帧的广播时间不同;基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。The electronic device is configured to receive the first data frame broadcast by the first base station and receive the second data frame broadcast by the second base station, and the broadcast times of different data frames are different; The position of the first base station and/or the position of the second base station determines the position of the electronic device, and the reception time difference is used to represent the time difference between two data frames arriving at the electronic device.
第三方面,本申请实施例提供一种定位服务方法,应用于定位服务系统中的第二基站,所述定位服务系统还包括第一基站和电子设备,所述定位服务系统中的所述第二基站的数量为至少两个;所述方法包括:In a third aspect, an embodiment of the present application provides a positioning service method, which is applied to a second base station in a positioning service system, where the positioning service system further includes a first base station and an electronic device, and the first base station in the positioning service system The number of two base stations is at least two; the method includes:
接收第一基站广播的第一数据帧,所述第一数据帧携带所述第一基站的位置;receiving a first data frame broadcast by a first base station, where the first data frame carries the location of the first base station;
在接收到所述第一数据帧的目标延时后,广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,所述第一数据帧和所述第二数据帧用于所述电子设备确定所述电子设备的位置,不同数据帧的广播时间不同。After receiving the target delay of the first data frame, broadcast a second data frame, the second data frame carries the location of the second base station broadcasting the second data frame, the first data frame and the second data frame is used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
第四方面,本申请实施例提供一种定位服务装置,应用于定位服务系统中的电子设备,所述定位服务系统还包括第一基站和第二基站,所述第二基站的数量为至少两个;所述装置包括:In a fourth aspect, an embodiment of the present application provides a positioning service device, which is applied to an electronic device in a positioning service system. The positioning service system further includes a first base station and a second base station, and the number of the second base station is at least two. each; the device includes:
接收单元,用于接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,所述第一数据帧携带所述第一基站的位置,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,不同数据帧的广播时间不同;a receiving unit, configured to receive a first data frame broadcast by the first base station and a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, the first data frame Two data frames carry the location of the second base station that broadcasts the second data frame, and different data frames have different broadcast times;
定位服务单元,用于基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。a positioning service unit, configured to determine the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station, the receiving time difference being used to indicate the arrival of two data frames The time difference of the electronic device.
第五方面,本申请实施例提供定位服务装置,应用于定位服务系统中的第二基站,所述定位服务系统还包括第一基站和电子设备,所述定位服务系统中的所述第二基站的数量为至少两个;所述装置包括:In a fifth aspect, an embodiment of the present application provides a positioning service apparatus, which is applied to a second base station in a positioning service system, where the positioning service system further includes a first base station and an electronic device, and the second base station in the positioning service system The number is at least two; the device includes:
接收单元,用于接收第一基站广播的第一数据帧,所述第一数据帧携带所述第一基站的位置;a receiving unit, configured to receive a first data frame broadcast by a first base station, where the first data frame carries the location of the first base station;
发送单元,用于在接收到所述第一数据帧的目标延时后,广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,所述第一数据帧和所述第二数据帧用于所述电子设备确定所述电子设备的位置,不同数据帧的广播时间不同。a sending unit, configured to broadcast a second data frame after receiving the target delay of the first data frame, where the second data frame carries the position of the second base station that broadcasts the second data frame, The first data frame and the second data frame are used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
第六方面,本申请实施例提供一种电子设备,包括处理器、存储器、通信接口以及一个或多个程序,其中,上述一个或多个程序被存储在上述存储器中,并且被配置由上述处理器执行,上述程序包括用于执行本申请实施例第一方面任一方法中的步骤的指令。In a sixth aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and are configured to be processed by the process The above program includes instructions for executing steps in any method of the first aspect of the embodiments of the present application.
第七方面,本申请实施例提供一种基站,包括处理器、存储器、通信接口以及一个或多个程序,其中,上述一个或多个程序被存储在上述存储器中,并且被配置由上述处理器执行,上述程序包括用于执行本申请实施例第三方面任一方法中的步骤的指令。In a seventh aspect, an embodiment of the present application provides a base station, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured by the processor For execution, the above program includes instructions for executing steps in any method in the third aspect of the embodiments of the present application.
第八方面,本申请实施例提供了一种计算机可读存储介质,其中,上述计算机可读存储介质存储用于电子数据交换的计算机程序,其中,上述计算机程序使得计算机执行如本申请实施例第一方面任一方法中所描述的部分或全部步骤,或者上述计算机程序使得计算机执行如本申请实施例第三方面任一方法中所描述的部分或全部步骤。In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the computer program as described in the first embodiment of the present application. In one aspect, part or all of the steps described in any method, or the above computer program causes the computer to execute part or all of the steps described in any method in the third aspect of the embodiments of the present application.
第九方面,本申请实施例提供了一种计算机程序产品,其中,上述计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质,上述计算机程序可操作来使计算机执行如本申请实施例第一方面任一方法中所描述的部分或全部步骤,上述计算机程序可操作来使计算机执行如本申请实施例第三方面任一方法中所描述的部分或全部步骤。该计算机程序产品可以为一个软件安装包。In a ninth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the program as implemented in the present application. For example, some or all of the steps described in any method in the first aspect, the above computer program is operable to cause the computer to execute some or all of the steps described in any of the methods in the third aspect of the embodiments of the present application. The computer program product may be a software installation package.
为了更清楚地说明本申请实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1A是本申请实施例提供的基于UWB技术定位的应用场景示意图;1A is a schematic diagram of an application scenario based on UWB technology positioning provided by an embodiment of the present application;
图1B是本申请实施例提供的一种SS-TWR的测距信号交互示意图;FIG. 1B is a schematic diagram of an SS-TWR ranging signal interaction provided by an embodiment of the present application;
图1C是本申请实施例提供的一种DS TWR的测距信号交互示意图;1C is a schematic diagram of the interaction of ranging signals of a DS TWR provided by an embodiment of the present application;
图1D是本申请实施例提供的一种标签与基站一对多交互的示意图;1D is a schematic diagram of one-to-many interaction between a tag and a base station provided by an embodiment of the present application;
图1E是本申请实施例提供的一种运算TDoA得出最后坐标的示意图;1E is a schematic diagram of obtaining final coordinates by computing TDoA according to an embodiment of the present application;
图1F是本申请实施例提供的一种超级帧的示意结构图;1F is a schematic structural diagram of a super frame provided by an embodiment of the present application;
图1G是本申请实施例提供的一种加入信标帧的超级帧的示意结构图;1G is a schematic structural diagram of a super frame added to a beacon frame provided by an embodiment of the present application;
图1H是本申请实施例提供的一种定位服务系统10的架构示意图;FIG. 1H is a schematic structural diagram of a positioning service system 10 provided by an embodiment of the present application;
图1I是本申请实施例提供的一种电子设备的结构示意图;1I is a schematic structural diagram of an electronic device provided by an embodiment of the present application;
图2A是本申请实施例提供的一种定位服务方法的流程示意图;2A is a schematic flowchart of a positioning service method provided by an embodiment of the present application;
图2B是本申请实施例提供的基站广播数据帧的示意图;2B is a schematic diagram of a base station broadcasting a data frame provided by an embodiment of the present application;
图2C是本申请实施例提供的数据帧广播时间和数据帧接收时间的示意图;2C is a schematic diagram of data frame broadcast time and data frame reception time provided by an embodiment of the present application;
图2D是本申请实施例提供的双曲线的交点为电子设备的位置的示意图;2D is a schematic diagram of a position where the intersection of the hyperbola is the position of the electronic device provided by the embodiment of the present application;
图3是本申请实施例提供的另一种定位服务方法的流程示意图;3 is a schematic flowchart of another positioning service method provided by an embodiment of the present application;
图4是本申请实施例提供的一种定位服务装置的结构示意图;FIG. 4 is a schematic structural diagram of a positioning service device provided by an embodiment of the present application;
图5是本申请实施例提供的另一种定位服务装置的结构示意图;5 is a schematic structural diagram of another positioning service device provided by an embodiment of the present application;
图6是本申请实施例提供的一种定位服务装置的功能模块组成框图。FIG. 6 is a block diagram of functional modules of a positioning service apparatus provided by an embodiment of the present application.
为了使本技术领域的人员更好地理解本申请方案,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象,而不是用于描述特定顺序。此外,术语“包括”和“具有”以及它们任何变形,意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元,而是可选地还包括没有列出的步骤或单元,或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。The terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. 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 units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.
在本文中提及“实施例”意味着,结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例,也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是,本文所描述的实施例可以与其它实施例相结合。Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
为了更好地理解本申请实施例的方案,下面先对本申请实施例可能涉及的相关术语和概念进行介绍。In order to better understand the solutions of the embodiments of the present application, related terms and concepts that may be involved in the embodiments of the present application are first introduced below.
(1)超宽带(Ultra Wideband,UWB)是一种无载通信技术,根据美国联邦通信委员会(Federal Communications Commission of the United States)的标准,UWB的工作频段为3.1-10.6GHz,-10dB带宽与系统中心频率的比值大于20%,系统带宽至少为500MHz。利用纳秒至微秒级的非正弦波窄脉冲传输数据。传统的超宽带UWB技术定位用于矿井,仓库等工业场所,其主要的应用场景是监控员工、货物在室内的实时位置。其中基站已在室内场所标定好,通过有线或Wi-Fi的方式相互连接进行同步。如图1A所示的示例应用场景中,A为支持UWB技术定位的基站,CLE PC为位置服务器(又称为定位服务器,例如:位置计算设备),Ehternet LAN-TCP/IP是指基站之间支持以太网局域网的传输控制协议/网际协议,通过在每个区域设置至少一个基站实现针对佩戴标签设备的用户的位置监测。(1) Ultra Wideband (UWB) is an unloaded communication technology. According to the standards of the Federal Communications Commission (Federal Communications Commission of the United States), the working frequency band of UWB is 3.1-10.6GHz, and the -10dB bandwidth is 3.1-10.6GHz. The ratio of the system center frequency is greater than 20%, and the system bandwidth is at least 500MHz. Data is transmitted using narrow, non-sinusoidal pulses in nanoseconds to microseconds. The traditional ultra-wideband UWB technology positioning is used in industrial places such as mines and warehouses. Its main application scenario is to monitor the real-time position of employees and goods indoors. The base stations have been calibrated in indoor locations, and are connected to each other through wired or Wi-Fi for synchronization. In the example application scenario shown in Figure 1A, A is a base station that supports UWB technology positioning, CLE PC is a location server (also known as a location server, such as a location computing device), and Ethernet LAN-TCP/IP refers to the communication between base stations. Supports the transmission control protocol/Internet protocol of the Ethernet local area network, and realizes the position monitoring of the user wearing the tag device by setting at least one base station in each area.
标签一对一与基站的交互有SS-TWR与DSTWR两种模式。The one-to-one interaction between the tag and the base station has two modes: SS-TWR and DSTWR.
第一种,单边双向测距(Single-sided Two-way Ranging,SS-TWR)The first one, Single-sided Two-way Ranging (SS-TWR)
SS-TWR是对单个往返消息时间上的简单测量,设备A主动发送数据到设备B,设备B返回数据响应设备A。如图1B所示,设备A(Device A)主动发送(TX)数据(对应图中TX时间节点到Tround时间起点),同时记录发送时间戳,设备B(Device B)接收到(RX)之后记录接收时间戳,RMARKER表示数据完成传输(接收或发送)的时间节点;延时Treply之后,设备B发送数据,同时记录发送时间戳,设备A接收数据,同时记录接收时间戳。SS-TWR is a simple measurement of the time of a single round-trip message. Device A actively sends data to device B, and device B responds to device A with data. As shown in Figure 1B, Device A (Device A) actively sends (TX) data (corresponding to the TX time node to the starting point of Tround time in the figure), and records the sending timestamp at the same time, and Device B (Device B) records it after receiving (RX) Reception timestamp, RMARKER indicates the time node when the data is transmitted (received or sent); after the delay Treply, device B sends the data and records the sending timestamp, while device A receives the data and records the receiving timestamp.
所以可以拿到两个时间差数据,设备A的时间差Tround(发送数据和接收数据的时间差)和设备B的时间差Treply,最终得到无线信号的飞行时间
如下:
Therefore, two time difference data can be obtained, the time difference Tround of device A (the time difference between sending data and receiving data) and the time difference Treply of device B, and finally the flight time of the wireless signal is obtained. as follows:
两个差值时间都是基于本地的时钟计算得到的,本地时钟误差可以抵消,但是不同设备之间会存在微小的时钟偏移,假设设备A和B的时钟偏移分别为eA和eB,因此得到的飞行时间会随着Treply的增加而增加,测距误差error的方程如下:The two difference times are calculated based on the local clock. The local clock error can be offset, but there will be a slight clock offset between different devices. Assume that the clock offsets of devices A and B are eA and eB respectively, so The resulting flight time will increase with increasing Treply, and the equation of the ranging error error is as follows:
其中,Tprop为无线信号的实际飞行时间。Among them, Tprop is the actual flight time of the wireless signal.
第二种,双边双向测距(Double-sided Two-way Ranging,DS TWR)The second type, Double-sided Two-way Ranging (DS TWR)
DS TWR基于发起节点和响应节点之间的3次消息传送,获得两次往返延迟,在响应端测量出距离。如图1C所示,当设备A收到数据之后,立刻返回数据,最终也可以得到如下四个时间差:DS TWR obtains two round-trip delays based on 3 message transfers between the initiating node and the responding node, and measures the distance at the responding end. As shown in Figure 1C, when device A receives the data, it returns the data immediately, and finally the following four time differences can be obtained:
①设备A的第一次时间差Tround1(发送数据和接收数据的时间差)①The first time difference Tround1 of device A (the time difference between sending data and receiving data)
②设备B第一次接收数据后的延时Treply1(接收第一数据后的延时)② Delay Treply1 after device B receives data for the first time (delay after receiving the first data)
③设备B的时间差Tround2(发送数据和接收数据的时间差)③The time difference Tround2 of device B (the time difference between sending data and receiving data)
④设备A第一次接收数据后的延时Treply2(接收第二数据后的延时)④ Delay Treply2 after device A receives data for the first time (delay after receiving the second data)
双边双向测距飞行时间误差分析:以上测距的机制都是非对称的测距方法,因为他们对于响应时间不要求是相同的。即便使用20ppm的晶体,时钟误差也是在ps级别的。误差公式如下:Time-of-flight error analysis of bilateral two-way ranging: The above ranging mechanisms are all asymmetric ranging methods because they do not require the same response time. Even with a 20ppm crystal, the clock error is in the ps level. The error formula is as follows:
其中k
a和k
b为晶振实际频率与标称频率之比,因此k
a和k
b非常接近于1。
where k a and k b are the ratios of the actual frequency of the crystal oscillator to the nominal frequency, so k a and k b are very close to 1.
标签与基站一对多交互One-to-many interaction between tags and base stations
每个员工或货物上都有含有唯一标识的标签Tag,定期对周围基站广播信号。如图1D所示,标签(图中Tag)对外广播信号(图中poll)后,RMARKER表示数据完成传输(接收或发送)的时间节点; 周围的三个基站(图中Anchor A、Anchor B、Anchor C)收到信号,根据基站之间的同步信息依次对标签发送回复response信号(图中RespA、RespB、RespC)。当标签收到三个基站或以上的回复信号后,再对外发送一次广播信号(图中Final)。因此每个基站可以通过如此DS TWR机制交互信号算出三个基站分别听到final包后在自身节点计算出无线信号的飞行时间。Each employee or cargo has a tag with a unique identification, which regularly broadcasts signals to the surrounding base stations. As shown in Figure 1D, after the tag (Tag in the figure) broadcasts the signal (pol in the figure), RMARKER indicates the time node when the data is transmitted (received or sent); the three surrounding base stations (Anchor A, Anchor B, Anchor C) receives the signal, and sends a response signal to the tag in turn according to the synchronization information between the base stations (RespA, RespB, RespC in the figure). When the tag receives the reply signals from three or more base stations, it sends a broadcast signal to the outside world (Final in the figure). Therefore, each base station can use the DS TWR mechanism to exchange signals to calculate the flight time of the wireless signal at its own node after the three base stations hear the final packet respectively.
其中,TpropA为基站A与标签之间的无线信号的飞行时间,TpropB为基站B与标签之间的无线信号的飞行时间,TpropC为基站C与标签之间的无线信号的飞行时间,Tround1A为标签发送数据和接收基站A数据的时间差,Tround1B为标签发送数据和接收基站B数据的时间差,Tround1C为标签发送数据和接收基站C数据的时间差,Treply1A为基站A的延时,Treply1B为基站B的延时,Treply1C为基站C的延时,Treply2A为标签接收基站A的信号到发送Final信号的延时,Treply2B为标签接收基站B的信号到发送Final信号的延时,Treply2C为标签接收基站C的信号到发送Final信号的延时。Among them, TpropA is the flight time of the wireless signal between base station A and the tag, TpropB is the flight time of the wireless signal between base station B and the tag, TpropC is the flight time of the wireless signal between base station C and the tag, and Ground1A is the tag. The time difference between sending data and receiving data from base station A, Ground1B is the time difference between the tag sending data and receiving data from base station B, Ground1C is the time difference between the tag sending data and receiving data from base station C, Treply1A is the delay of base station A, and Treply1B is the delay of base station B. , Treply1C is the delay of base station C, Treply2A is the delay of the tag receiving the signal of base station A to sending the final signal, Treply2B is the delay of the tag receiving the signal of base station B to sending the final signal, Treply2C is the delay of the tag receiving the signal of base station C Delay to send Final signal.
每个基站将计算结果上传到主服务器。如图1E所示,主服务器上进行三维运算TDoA得出最后坐标,X1、X2、X3对应Anchor A、Anchor B、Anchor C的位置,圆圈对应以无线信号的飞行时间确定的距离为半径的位置范围,Xu为标签的位置。Each base station uploads the calculation results to the main server. As shown in Figure 1E, the three-dimensional operation TDoA is performed on the main server to obtain the final coordinates. X1, X2, and X3 correspond to the positions of Anchor A, Anchor B, and Anchor C, and the circle corresponds to the distance determined by the flight time of the wireless signal as the radius. range, Xu is the position of the label.
(2)超级帧(2) Super frame
在室内场景中有多个标签,需要在整个时间轴上设置一个超级帧进行不停的重复。每个标签需要分配一个时隙slot,在各自的slot中完成各自的位置计算并上传到基站。In an indoor scene with multiple tags, a superframe needs to be set up for non-stop repetition across the entire timeline. Each tag needs to be allocated a time slot, and its position is calculated in its own slot and uploaded to the base station.
如图1F所示的超级帧示意结构,interval表示时间间隔,scheduling interval表示被调度的时间间隔,Tag I slot表示标签i的时隙,Poll TX表示标签发送信号,Resp-X RX表示标签接收基站X的信号,Resp-Y RX表示标签接收基站Y的信号,Resp-Z RX表示标签接收基站Z的信号,Final TX表示标签发送Final信号,The schematic structure of the super frame shown in Figure 1F, interval represents the time interval, scheduling interval represents the scheduled time interval, Tag I slot represents the time slot of the tag i, Poll TX represents the tag sending signal, Resp-X RX represents the tag receiving base station X signal, Resp-Y RX means that the tag receives the signal of base station Y, Resp-Z RX means that the tag receives the signal of base station Z, Final TX means that the tag sends the Final signal,
如果基站之间的同步也通过超宽带UWB技术无线实现,需要在标签与基站交互的时隙前加入信标帧(BeaCoN,BCN)时隙,在此时隙内标签之间相互通信,确定各自的顺序。如图1G所示,Superframe(n)表示超级帧n,Idle Time为空闲时间,BCN为承载信标帧的时隙,SVC表示预留时隙,TWR Slot表示承载双向测距信号的时隙,wake up为唤醒时隙,RX表示接收状态。If the synchronization between the base stations is also realized wirelessly through the ultra-wideband UWB technology, it is necessary to add a beacon frame (BeaCoN, BCN) time slot before the time slot for the interaction between the tag and the base station. Order. As shown in Figure 1G, Superframe(n) represents superframe n, Idle Time is idle time, BCN is the time slot that carries the beacon frame, SVC represents the reserved time slot, and TWR Slot represents the time slot that carries the bidirectional ranging signal. wake up is the wake-up time slot, and RX represents the receiving state.
以上传统toB的超宽带UWB技术场景中,可以概括为以下几个特点:The above traditional toB ultra-wideband UWB technology scenarios can be summarized as the following features:
标签数量有限,每个标签的时隙地址已经分配完毕。The number of tags is limited, and the slot address of each tag has been allocated.
基站需提前标定好位置,通过有线或区别于超宽带UWB技术的方式相连进行信号同步。The base station needs to be calibrated in advance, and the signal is synchronized by connecting by wire or in a way different from the ultra-wideband UWB technology.
基站和标签都需要收发信号。Both the base station and the tag need to send and receive signals.
基站侧计算出标签的室内坐标并返回给服务器,标签本身并不清楚自身的坐标。The base station side calculates the indoor coordinates of the tag and returns it to the server. The tag itself does not know its own coordinates.
标签只在属于自己的slot周期内唤醒。The tag only wakes up in its own slot cycle.
基于目前UWB定位技术中存在的问题,本申请提出一种定位服务方法和系统,下面进行详细说明。Based on the problems existing in the current UWB positioning technology, the present application proposes a positioning service method and system, which will be described in detail below.
请参考图1H,本申请实施例提供了一种定位服务系统10,该系统包括电子设备100和基站200,其中,电子设备100接收基站200广播的UWB信号,基站200为支持UWB技术的服务端设备,例如UWB基站、UWB锚点设备等,电子设备200为支持UWB技术的用户端设备,例如可以包括但不限于无线通信设备110、入口应答器设备120、家用设备130、系带标签140等。其他UWB设备(其为了简单起见而未在图1H中示出)可以包括其他计算设备,包括但不限于膝上型计算机、台式计算机、平板电脑、个人助理、路由器、监视器、电视机、打印机和电器。Referring to FIG. 1H , an embodiment of the present application provides a positioning service system 10 , the system includes an electronic device 100 and a base station 200 , wherein the electronic device 100 receives UWB signals broadcast by the base station 200 , and the base station 200 is a server supporting UWB technology Devices, such as UWB base stations, UWB anchor devices, etc., the electronic device 200 is a client device supporting UWB technology, such as but not limited to wireless communication device 110, portal transponder device 120, household device 130, tethered tag 140, etc. . Other UWB devices (which are not shown in Figure 1H for simplicity) may include other computing devices, including but not limited to laptops, desktops, tablets, personal assistants, routers, monitors, televisions, printers and electrical appliances.
示例性的,图1I示出了电子设备100的结构示意图。电子设备100可以包括处理器110、外部存储器接口120、内部存储器121、通用串行总线(universal serial bus,USB)接口130、充电管理模块140、电源管理模块141、电池142、天线1、天线2、移动通信模块150、无线通信模块160、音频模块170、扬声器170A、受话器170B、麦克风170C、耳机接口170D、传感器模块180、指南针190、马达191、指示器192、摄像头193、显示屏194以及用户标识模块(subscriber identification module,SIM)卡接口195等。Exemplarily, FIG. 1I shows a schematic structural diagram of the electronic device 100 . The electronic 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, compass 190, motor 191, indicator 192, camera 193, display screen 194 and user Identity module (subscriber identification module, SIM) card interface 195 and so on.
可以理解的是,本申请实施例示意的结构并不构成对电子设备100的具体限定。在本申请另一些实施例中,电子设备100可以包括比图示更多或更少的部件,或者组合某些部件,或者拆分某些部件,或者不同的部件布置。图示的部件可以以硬件,软件或软件和硬件的组合实现。It can be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the electronic device 100 . In other embodiments of the present application, the electronic device 100 may include more or less components than shown, 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.
处理器110可以包括一个或多个处理单元,例如:处理器110可以包括应用处理器(application processor,AP),调制解调处理器,图形处理器(graphics processing unit,GPU),图像信号处理器(image signal processor,ISP),控制器,视频编解码器,数字信号处理器(digital signal processor,DSP),基带处理器,和/或神经网络处理器(neural-network processing unit,NPU)等。其中,不同的处理单元可以是独立的部件,也可以集成在一个或多个处理器中。在一些实施例中,电子设备101也可以包括一个或多个处理器110。其中,控制器可以根据指令操作码和时序信号,产生操作控制信号,完成取指令和执行指令的控制。在其他一些实施例中,处理器110中还可以设置存储器,用于存储指令和数据。示例性地,处理器110中的存储器可以为高速缓冲存储器。该存储器可以保存处理器110刚用过或循环使用的指令或数据。如果处理器110需要再次使用该指令或数据,可从所述存储器中直接调用。这样就避免了重复存取,减少了处理器110的等待时间,因而提高了电子设备101处理数据或执行指令的效率。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 components, or may be integrated in one or more processors. In some embodiments, the electronic device 101 may also include one or more processors 110 . The controller can generate an operation control signal according to the instruction operation code and the timing signal, and complete the control of fetching and executing instructions. In some other embodiments, a memory may also be provided in the processor 110 for storing instructions and data. Illustratively, the memory in the processor 110 may be a 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. In this way, repeated access is avoided, and the waiting time of the processor 110 is reduced, thereby improving the efficiency of the electronic device 101 in processing data or executing instructions.
在一些实施例中,处理器110可以包括一个或多个接口。接口可以包括集成电路间(inter-integrated circuit,I2C)接口、集成电路间音频(inter-integrated circuit sound,I2S)接口、脉冲编码调制(pulse code modulation,PCM)接口、通用异步收发传输器(universal asynchronous receiver/transmitter,UART)接口、移动产业处理器接口(mobile industry processor interface,MIPI)、用输入输出(general-purpose input/output,GPIO)接口、SIM卡接口和/或USB接口等。其中,USB接口130是符合USB标准规范的接口,具体可以是Mini USB接口、Micro USB接口、USB Type C接口等。USB接口130可以用于连接充电器为电子设备101充电,也可以用于电子设备101与外围设备之间传输数据。该USB接口130也可以用于连接耳机,通过耳机播放音频。In some embodiments, the processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous transceiver (universal) asynchronous receiver/transmitter, UART) interface, mobile industry processor interface (mobile industry processor interface, MIPI), general-purpose input/output (GPIO) interface, SIM card interface and/or USB interface, etc. Among them, 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 electronic device 101, and can also be used to transmit data between the electronic device 101 and peripheral devices. The USB interface 130 can also be used to connect an earphone, and play audio through the earphone.
可以理解的是,本申请实施例示意的各模块间的接口连接关系,只是示意性说明,并不构成对电子设备100的结构限定。在本申请另一些实施例中,电子设备100也可以采用上述实施例中不同的接口连 接方式,或多种接口连接方式的组合。It can be understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is only a schematic illustration, and does not constitute a structural limitation of the electronic device 100 . In other embodiments of the present application, the electronic device 100 may also adopt different interface connection manners in the foregoing embodiments, or a combination of multiple interface connection manners.
充电管理模块140用于从充电器接收充电输入。其中,充电器可以是无线充电器,也可以是有线充电器。在一些有线充电的实施例中,充电管理模块140可以通过USB接口130接收有线充电器的充电输入。在一些无线充电的实施例中,充电管理模块140可以通过电子设备100的无线充电线圈接收无线充电输入。充电管理模块140为电池142充电的同时,还可以通过电源管理模块141为电子设备供电。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 a wireless charging coil of the electronic device 100 . While the charging management module 140 charges the battery 142 , it can also supply power to the electronic device through the power management module 141 .
电源管理模块141用于连接电池142,充电管理模块140与处理器110。电源管理模块141接收电池142和/或充电管理模块140的输入,为处理器110、内部存储器121、外部存储器、显示屏194、摄像头193和无线通信模块160等供电。电源管理模块141还可以用于监测电池容量、电池循环次数、电池健康状态(漏电,阻抗)等参数。在其他一些实施例中,电源管理模块141也可以设置于处理器110中。在另一些实施例中,电源管理模块141和充电管理模块140也可以设置于同一个器件中。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 external memory, the display screen 194, the camera 193, the wireless communication module 160, and the like. 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.
电子设备100的无线通信功能可以通过天线1、天线2、移动通信模块150、无线通信模块160、调制解调处理器以及基带处理器等实现。The wireless communication function of the electronic 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.
天线1和天线2用于发射和接收电磁波信号。电子设备100中的每个天线可用于覆盖单个或多个通信频带。不同的天线还可以复用,以提高天线的利用率。例如:可以将天线1复用为无线局域网的分集天线。在另外一些实施例中,天线可以和调谐开关结合使用。 Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic 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.
移动通信模块150可以提供应用在电子设备100上的包括2G/3G/4G/5G等无线通信的解决方案。移动通信模块150可以包括至少一个滤波器,开关,功率放大器,低噪声放大器(low noise amplifier,LNA)等。移动通信模块150可以由天线1接收电磁波,并对接收的电磁波进行滤波,放大等处理,传送至调制解调处理器进行解调。移动通信模块150还可以对经调制解调处理器调制后的信号放大,经天线1转为电磁波辐射出去。在一些实施例中,移动通信模块150的至少部分功能模块可以被设置于处理器110中。在一些实施例中,移动通信模块150的至少部分功能模块可以与处理器110的至少部分模块被设置在同一个器件中。The mobile communication module 150 may provide wireless communication solutions including 2G/3G/4G/5G etc. applied on the electronic 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 .
无线通信模块160可以提供应用在电子设备100上的包括无线局域网(wireless local area networks,WLAN)(如无线保真(wireless fidelity,Wi-Fi)网络)、蓝牙(blue tooth,BT),全球导航卫星系统(global navigation satellite system,GNSS)、调频(frequency modulation,FM)、近距离无线通信技术(near field communication,NFC)、红外技术(infrared,IR)、UWB等无线通信的解决方案。无线通信模块160可以是集成至少一个通信处理模块的一个或多个器件。无线通信模块160经由天线2接收电磁波,将电磁波信号调频以及滤波处理,将处理后的信号发送到处理器110。无线通信模块160还可以从处理器110接收待发送的信号,对其进行调频,放大,经天线2转为电磁波辐射出去。The wireless communication module 160 can provide applications on the electronic device 100 including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation Satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field communication technology (near field communication, NFC), infrared technology (infrared, IR), UWB and other wireless communication solutions. 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 .
电子设备100通过GPU,显示屏194,以及应用处理器等实现显示功能。GPU为图像处理的微处理器,连接显示屏194和应用处理器。GPU用于执行数学和几何计算,用于图形渲染。处理器110可包括一个或多个GPU,其执行程序指令以生成或改变显示信息。The electronic 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.
显示屏194用于显示图像、视频等。显示屏194包括显示面板。显示面板可以采用液晶显示屏(liquid crystal display,LCD)、有机发光二极管(organic light-emitting diode,OLED)、有源矩阵有机发光二极体或主动矩阵有机发光二极体(active-matrix organic light emitting diode的,AMOLED)、柔性发光二极管(flex light-emitting diode,FLED)、迷你发光二极管(mini light-emitting diode,miniled)、MicroLed、Micro-oLed、量子点发光二极管(quantum dot light emitting diodes,QLED)等。在一些实施例中,电子设备100可以包括1个或多个显示屏194。The 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), mini light-emitting diode (mini light-emitting diode, miniled), MicroLed, Micro-oLed, quantum dot light-emitting diode (quantum dot light emitting diodes, QLED), etc. In some embodiments, electronic device 100 may include one or more display screens 194 .
电子设备100可以通过ISP、摄像头193、视频编解码器、GPU、显示屏194以及应用处理器等实现拍摄功能。The electronic device 100 may implement a shooting function through an ISP, a camera 193, a video codec, a GPU, a display screen 194, an application processor, and the like.
ISP用于处理摄像头193反馈的数据。例如,拍照时,打开快门,光线通过镜头被传递到摄像头感光元件上,光信号转换为电信号,摄像头感光元件将所述电信号传递给ISP处理,转化为肉眼可见的图像。ISP还可以对图像的噪点、亮度、肤色进行算法优化。ISP还可以对拍摄场景的曝光、色温等参数优化。在一些实施例中,ISP可以设置在摄像头193中。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 parameters such as exposure and color temperature of the shooting scene. In some embodiments, the ISP may be provided in the camera 193 .
摄像头193用于捕获静态图像或视频。物体通过镜头生成光学图像投射到感光元件。感光元件可以是电荷耦合器件(charge coupled device,CCD)或互补金属氧化物半导体(complementary metal-oxide-semiconductor,CMOS)光电晶体管。感光元件把光信号转换成电信号,之后将电信号传递给ISP转换成数字图像信号。ISP将数字图像信号输出到DSP加工处理。DSP将数字图像信号转换成标准的RGB,YUV等格式的图像信号。在一些实施例中,电子设备100可以包括1个或多个摄像头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, YUV and other formats of image signals. In some embodiments, the electronic device 100 may include one or more cameras 193 .
数字信号处理器用于处理数字信号,除了可以处理数字图像信号,还可以处理其他数字信号。例如,当电子设备100在频点选择时,数字信号处理器用于对频点能量进行傅里叶变换等。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 electronic device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy and so on.
视频编解码器用于对数字视频压缩或解压缩。电子设备100可以支持一种或多种视频编解码器。这样,电子设备100可以播放或录制多种编码格式的视频,例如:动态图像专家组(moving picture experts group,MPEG)1、MPEG2、MPEG3、MPEG4等。Video codecs are used to compress or decompress digital video. The electronic device 100 may support one or more video codecs. In this way, the electronic device 100 can play or record videos in various encoding formats, such as: Moving Picture Experts Group (moving picture experts group, MPEG) 1, MPEG2, MPEG3, MPEG4, and so on.
NPU为神经网络(neural-network,NN)计算处理器,通过借鉴生物神经网络结构,例如借鉴人脑神经元之间传递模式,对输入信息快速处理,还可以不断的自学习。通过NPU可以实现电子设备100的智能认知等应用,例如:图像识别、人脸识别、语音识别、文本理解等。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 electronic device 100 can be implemented through the NPU, such as image recognition, face recognition, speech recognition, text understanding, and the like.
外部存储器接口120可以用于连接外部存储卡,例如Micro SD卡,实现扩展电子设备100的存储能力。外部存储卡通过外部存储器接口120与处理器110通信,实现数据存储功能。例如将音乐,视频等文件保存在外部存储卡中。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 electronic 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.
内部存储器121可以用于存储一个或多个计算机程序,该一个或多个计算机程序包括指令。处理器110可以通过运行存储在内部存储器121的上述指令,从而使得电子设备101执行本申请一些实施例中所提供的显示页面元素的方法,以及各种应用以及数据处理等。内部存储器121可以包括存储程序区和存储数据区。其中,存储程序区可存储操作系统;该存储程序区还可以存储一个或多个应用(比如图库、联系人等)等。存储数据区可存储电子设备101使用过程中所创建的数据(比如照片,联系人等)等。此外,内部存储器121可以包括高速随机存取存储器,还可以包括非易失性存储器,例如一个或多个磁盘存储部件,闪存部件,通用闪存存储器(universal flash storage,UFS)等。在一些实施例中,处理器110可以通过运行存储在内部存储器121的指令,和/或存储在设置于处理器110中的存储器的指令,来使得电子设备101执行本申请实施例中所提供的显示页面元素的方法,以及其他应用及数据处理。电子设备100可以通过音频模块170、扬声器170A、受话器170B、麦克风170C、耳机接口170D、以及应用处理器等实现音频功能。例如音乐播放、录音等。Internal memory 121 may be used to store one or more computer programs including instructions. The processor 110 may execute the above-mentioned instructions stored in the internal memory 121, thereby causing the electronic device 101 to execute the method for displaying page elements, various applications and data processing provided in some embodiments of the present application. The internal memory 121 may include a storage program area and a storage data area. Wherein, the stored program area may store an operating system; the stored program area may also store one or more applications (such as a gallery, contacts, etc.) and the like. The storage data area may store data (such as photos, contacts, etc.) created during the use of the electronic device 101 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 one or more magnetic disk storage components, flash memory components, universal flash storage (UFS), and the like. In some embodiments, the processor 110 may cause the electronic device 101 to execute the instructions provided in the embodiments of the present application by executing the instructions stored in the internal memory 121 and/or the instructions stored in the memory provided in the processor 110 . Methods for displaying page elements, as well as other applications and data processing. The electronic 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.
传感器模块180可以包括压力传感器180A、陀螺仪传感器180B、气压传感器180C、磁传感器180D、加速度传感器180E、距离传感器180F、接近光传感器180G、指纹传感器180H、温度传感器180J、触摸传感器180K、环境光传感器180L、骨传导传感器180M等。The sensor module 180 may include a pressure sensor 180A, a gyro 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 an ambient light sensor 180L, bone conduction sensor 180M, etc.
请参阅图2A,图2A是本申请实施例提供了一种定位服务方法的流程示意图,应用于定位服务系统中的电子设备,所述定位服务系统还包括第一基站和第二基站,所述第二基站的数量为至少两个,如图所示, 本定位服务方法包括以下操作。Please refer to FIG. 2A. FIG. 2A is a schematic flowchart of a positioning service method provided by an embodiment of the present application, which is applied to an electronic device in a positioning service system. The positioning service system further includes a first base station and a second base station. The number of the second base stations is at least two. As shown in the figure, the positioning service method includes the following operations.
步骤201:接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,所述第一数据帧携带所述第一基站的位置,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置。Step 201: Receive a first data frame broadcast by the first base station, and receive a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, and the second data frame The frame carries the location of the second base station broadcasting the second data frame.
其中,不同数据帧的广播时间不同。例如,假设定位服务系统包括第一基站、第二基站1和第二基站2,假如第一基站在广播时间1广播第一数据帧、第二基站1在广播时间2广播第二数据帧1、第三基站在广播时间3广播第二数据帧2,广播时间1、广播时间2和广播时间3互不相同。The broadcast time of different data frames is different. For example, assuming that the positioning service system includes a first base station, a second base station 1 and a second base station 2, if the first base station broadcasts the first data frame at broadcast time 1, and the second base station 1 broadcasts the second data frame at broadcast time 2, The third base station broadcasts the second data frame 2 at the broadcast time 3, and the broadcast time 1, the broadcast time 2 and the broadcast time 3 are different from each other.
其中,第一数据帧的广播时间早于第二数据帧的广播时间。具体地,第一基站先广播第一数据帧,第二基站在接收到第一数据帧的目标延时后,再广播第二数据帧,如图2B所示。The broadcast time of the first data frame is earlier than the broadcast time of the second data frame. Specifically, the first base station broadcasts the first data frame first, and the second base station broadcasts the second data frame after receiving the target delay of the first data frame, as shown in FIG. 2B .
其中,第一数据帧还携带广播所述第一数据帧的广播时间和所述第一基站的标识(如设备编号)。Wherein, the first data frame also carries the broadcast time of broadcasting the first data frame and the identifier (eg, device number) of the first base station.
其中,第二数据帧还携带广播所述第二数据帧的广播时间和广播所述第二数据帧的所述第二基站的标识。Wherein, the second data frame also carries the broadcast time of broadcasting the second data frame and the identifier of the second base station that broadcasts the second data frame.
步骤202:基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。Step 202: Determine the location of the electronic device based on at least two receiving time differences, the location of the first base station and/or the location of the second base station, where the receiving time difference is used to indicate that two data frames arrive at the electronic device. device time difference.
在本申请的一实现方式中,所述方法还包括:In an implementation of the present application, the method further includes:
确定所述第一数据帧的接收时间分别与每个所述第二数据帧的接收时间的时间差,得到所述至少两个接收时间差。The time difference between the reception time of the first data frame and the reception time of each of the second data frames is determined to obtain the at least two reception time differences.
举例1,假设定位服务系统包括第一基站、第二基站1和第二基站2,假如电子设备在时间1接收到第一基站广播的第一数据帧,在时间2接收到第二基站1广播的第二数据帧1,在时间3接收到第二基站2广播的第二数据帧2,那么得到的两个接收时间差为时间1-时间2,以及时间1-时间3。Example 1, assuming that the positioning service system includes a first base station, a second base station 1 and a second base station 2, if the electronic device receives the first data frame broadcast by the first base station at time 1, and receives the broadcast of the second base station 1 at time 2 If the second data frame 1 of the second data frame is received at time 3, the second data frame 2 broadcast by the second base station 2 is received, then the obtained two receiving time differences are time 1-time 2, and time 1-time 3.
在本申请的一实现方式中,所述方法还包括:In an implementation of the present application, the method further includes:
确定任意两个数据帧的接收时间的时间差,得到所述至少两个接收时间差。The time difference between the reception times of any two data frames is determined to obtain the at least two reception time differences.
举例2,假设定位服务系统包括第一基站、第二基站1和第二基站2,假如电子设备在时间1接收到第一基站广播的第一数据帧,在时间2接收到第二基站1广播的第二数据帧1,在时间3接收到第二基站2广播的第二数据帧2,那么得到的三个接收时间差为时间1-时间2、时间1-时间3、以及时间2-时间3。For example 2, it is assumed that the positioning service system includes a first base station, a second base station 1 and a second base station 2. If the electronic device receives the first data frame broadcast by the first base station at time 1, and receives the broadcast of the second base station 1 at time 2 The second data frame 1, the second data frame 2 broadcast by the second base station 2 is received at time 3, then the three received time differences obtained are time 1-time 2, time 1-time 3, and time 2-time 3 .
在本申请的一实现方式中,所述基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,包括:In an implementation manner of the present application, the determining the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station includes:
获取所述第一数据帧的广播时间和所述第二数据帧的广播时间,基于每个所述接收时间差对应的两个数据帧的广播时间,得到至少两个广播时间差;Obtain the broadcast time of the first data frame and the broadcast time of the second data frame, and obtain at least two broadcast time differences based on the broadcast times of the two data frames corresponding to each of the receiving time differences;
基于所述至少两个接收时间差和所述至少两个广播时间差得到至少两个修正后的接收时间差,基于所述至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置。At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
其中,所述基于所述至少两个接收时间差和所述至少两个广播时间差得到至少两个修正后的接收时间差,包括:基于所述至少两个接收时间差、所述至少两个广播时间差和第一公式,得到至少两个修正后的接收时间差,第一公式为:T1=(T2-T3),所述T1为修正后的接收时间差,所述T2为接收时间差,所述T3为广播时间差。The obtaining at least two modified reception time differences based on the at least two reception time differences and the at least two broadcast time differences includes: based on the at least two reception time differences, the at least two broadcast time differences and the first A formula to obtain at least two modified reception time differences. The first formula is: T1=(T2-T3), where T1 is the modified reception time difference, T2 is the reception time difference, and T3 is the broadcast time difference.
举例3,请参见图2C以及基于举例1,假如第一数据帧的广播时间为广播时间1、第二数据帧1的 广播时间为广播时间2、第二数据帧2的广播时间为广播时间3,那么得到的两个广播时间差为广播时间1-广播时间2、以及广播时间1-广播时间3,进而得到的两个修正后的接收时间差为(时间1-时间2)-(广播时间1-广播时间2)、以及(时间1-时间3)-(广播时间1-广播时间3)。For example 3, please refer to FIG. 2C and based on example 1, if the broadcast time of the first data frame is broadcast time 1, the broadcast time of the second data frame 1 is broadcast time 2, and the broadcast time of the second data frame 2 is broadcast time 3 , then the obtained two broadcast time differences are broadcast time 1-broadcast time 2, and broadcast time 1-broadcast time 3, and then the two corrected receiving time differences obtained are (time 1-time 2)-(broadcast time 1- broadcast time 2), and (time 1-time 3)-(air time 1-broad time 3).
举例4,基于举例2,假如第一数据帧的广播时间为广播时间1、第二数据帧1的广播时间为广播时间2、第二数据帧2的广播时间为广播时间3,那么得到的三个广播时间差为广播时间1-广播时间2、广播时间1-广播时间3、以及广播时间2-广播时间3,进而得到的三个修正后的接收时间差为(时间1-时间2)-(广播时间1-广播时间2)、(时间1-时间3)-(广播时间1-广播时间3)、以及(时间2-时间3)-(广播时间2-广播时间3)。Example 4, based on Example 2, if the broadcast time of the first data frame is broadcast time 1, the broadcast time of the second data frame 1 is broadcast time 2, and the broadcast time of the second data frame 2 is broadcast time 3, then the obtained three The broadcast time differences are broadcast time 1 - broadcast time 2, broadcast time 1 - broadcast time 3, and broadcast time 2 - broadcast time 3, and then the three corrected receiving time differences obtained are (time 1 - time 2) - (broadcast time 1 - time 2) Time 1-Time 2), (Time 1-Time 3)-(Time 1-Time 3), and (Time 2-Time 3)-(Time 2-Time 3).
在本申请的一实现方式中,所述基于至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,包括:In an implementation manner of the present application, the determining the position of the electronic device based on at least two modified reception time differences, the position of the first base station and/or the position of the second base station includes:
基于所述至少两个修正后的接收时间差与飞行速度,确定至少两个距离差;determining at least two distance differences based on the at least two corrected reception time differences and the flight speed;
基于所述至少两个距离差、所述第一基站的位置和/或所述第二基站的位置,建立至少两个定位模型;establishing at least two positioning models based on the at least two distance differences, the location of the first base station and/or the location of the second base station;
基于所述至少两个定位模型确定为所述电子设备的位置。The position of the electronic device is determined based on the at least two positioning models.
其中,所述基于所述至少两个修正后的接收时间差与飞行速度,确定至少两个距离差,包括:基于所述至少两个修正后的接收时间差、飞行速度和第二公式,确定至少两个距离差,所述第二公式为:S=T1×V,所述S为距离差,所述T1为修正后的接收时间差,V为飞行速度。The determining at least two distance differences based on the at least two corrected receiving time differences and the flight speed includes: determining at least two distance differences based on the at least two corrected receiving time differences, the flying speed and the second formula. The second formula is: S=T1×V, the S is the distance difference, the T1 is the corrected receiving time difference, and V is the flight speed.
举例5,定位模型为双曲线函数,基于举例3,假设第一基站的位置表示为(x1,y1),第二基站1的位置表示为(x2,y3),第二基站2的位置表示为(x3,y3),电子设备的位置表示为(x,y),建立的两个双曲线函数为:
以及
其中,S1为基于(时间1-时间2)-(广播时间1-广播时间2)确定的距离差,S2为基于(时间1-时间3)-(广播时间1-广播时间3)确定的距离差。
Example 5, the positioning model is a hyperbolic function. Based on example 3, it is assumed that the location of the first base station is represented as (x1, y1), the location of the second base station 1 is represented as (x2, y3), and the location of the second base station 2 is represented as (x3, y3), the position of the electronic device is represented as (x, y), and the two hyperbolic functions established are: as well as Wherein, S1 is the distance difference determined based on (Time 1-Time 2)-(Broadcast Time 1-Broadcast Time 2), and S2 is the distance determined based on (Time 1-Time 3)-(Broadcast Time 1-Broadcast Time 3) Difference.
举例6,定位模型为双曲线函数,基于举例4,假设第一基站的位置表示为(x1,y1),第二基站1的位置表示为(x2,y3),第二基站2的位置表示为(x3,y3),电子设备的位置表示为(x,y),建立的三个双曲线函数为:
以及
其中,S1为基于(时间1-时间2)-(广播时间1-广播时间2)确定的距离差,S2为基于(时间1-时间3)-(广播时间1-广播时间3)确定的距离差,S2为基于(时间2-时间3)-(广播时间2-广播时间3)确定的距离差。
Example 6, the positioning model is a hyperbolic function. Based on example 4, it is assumed that the location of the first base station is represented as (x1, y1), the location of the second base station 1 is represented as (x2, y3), and the location of the second base station 2 is represented as (x3, y3), the position of the electronic device is represented as (x, y), and the three hyperbolic functions established are: as well as Wherein, S1 is the distance difference determined based on (Time 1-Time 2)-(Broadcast Time 1-Broadcast Time 2), and S2 is the distance determined based on (Time 1-Time 3)-(Broadcast Time 1-Broadcast Time 3) The difference, S2 is the distance difference determined based on (time2-time3)-(broadcasting time2-broadcasting time3).
在本申请的一实现方式中,所述定位模型为双曲线函数,所述基于所述至少两个定位模型确定为所述电子设备的位置,包括:In an implementation manner of the present application, the positioning model is a hyperbolic function, and the determination as the position of the electronic device based on the at least two positioning models includes:
计算任意两个所述双曲线函数的交点,得到N个交点,所述N为正整数;Calculate the intersection of any two of the hyperbolic functions to obtain N intersections, where N is a positive integer;
若所述N为1,则将所述交点的取值确定为所述电子设备的位置;If the N is 1, the value of the intersection is determined as the position of the electronic device;
若所述N大于1,则将目标交点的取值确定为所述电子设备的位置,所述目标交点为所述N个交 点中的任意一个。If the N is greater than 1, the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
可选地,所述方法还包括:Optionally, the method further includes:
若所述N大于1,则基于所述N个交点确定中心点,以及将所述中心点的取值确定为所述电子设备的位置。If the N is greater than 1, a center point is determined based on the N intersection points, and the value of the center point is determined as the position of the electronic device.
具体地,基于举例5,由于x1、y1、x2、y2、x3、y3、S1和S2是已知的,即可通过两个双曲线函数计算得到x和y,进而得到电子设备的位置,如图2D所示。基于举例6,x1、y1、x2、y2、x3、y3、S1、S2和S3是已知的,即可通过3个双曲线函数计算得到3组值,如果这3组值相同,则将该值作为电子设备的位置,如果3组值不相同,则通过3组值求中心点,将该中心点的坐标作为电子设备的位置。Specifically, based on Example 5, since x1, y1, x2, y2, x3, y3, S1 and S2 are known, x and y can be calculated by two hyperbolic functions, and then the position of the electronic device can be obtained, such as shown in Figure 2D. Based on example 6, x1, y1, x2, y2, x3, y3, S1, S2, and S3 are known, and 3 sets of values can be calculated by 3 hyperbolic functions. If these 3 sets of values are the same, then the The value is used as the position of the electronic device. If the three groups of values are not the same, the center point is obtained through the three groups of values, and the coordinates of the center point are used as the position of the electronic device.
在本申请的一实现方式中,所述电子设备、所述第一基站、及所述第二基站中的任意两个之间的距离小于或等于设定距离。其中,设定距离例如为2m、3m、5m、10m、12m或是其他值。In an implementation manner of the present application, a distance between any two of the electronic device, the first base station, and the second base station is less than or equal to a set distance. The set distance is, for example, 2m, 3m, 5m, 10m, 12m or other values.
可以看出,在本申请实施例中,定位服务系统中的电子设备首先接收系统中的第一基站广播的第一数据帧,以及接收系统中的第二基站广播的第二数据帧,数据帧携带广播该数据帧的基站的位置,不同数据帧的广播时间不同,然后电子设备基于至少两个接收时间差、第一基站的位置和/或第二基站的位置确定电子设备的位置,该接收时间差用于表示两个数据帧达到电子设备的时间差。可见,电子设备仅接收信息,不发送信息,降低了功耗,另外电子设备的位置是电子设备确定的,不是位置服务器确定的,且定位所需的数据量相对较少,降低了定位计算复杂度,进而提升定位的效率。It can be seen that in this embodiment of the present application, the electronic device in the positioning service system first receives the first data frame broadcast by the first base station in the system, and receives the second data frame broadcast by the second base station in the system. Carrying the location of the base station that broadcasts the data frame, the broadcast time of different data frames is different, and then the electronic device determines the location of the electronic device based on at least two receiving time differences, the location of the first base station and/or the location of the second base station, the receiving time difference Used to represent the time difference between two data frames reaching the electronic device. It can be seen that the electronic device only receives information and does not send information, which reduces power consumption. In addition, the location of the electronic device is determined by the electronic device, not by the location server, and the amount of data required for positioning is relatively small, which reduces the complexity of positioning calculation. to improve the positioning efficiency.
在一个可能的示例中,所述电子设备前台运行的应用为设定应用。In a possible example, the application running in the foreground of the electronic device is a setting application.
其中,设定应用例如有即时通信应用、购物应用、打车应用、消费点评应用等等。The setting applications include, for example, instant messaging applications, shopping applications, taxi-hailing applications, consumer review applications, and the like.
可以看出,在本申请实施例中,只有在前台运行的应用为设定应用的情况下才确定电子设备的位置,避免了不必要情况下确定电子设备的位置,进而降低了电子设备的功耗。It can be seen that, in the embodiment of the present application, the position of the electronic device is determined only when the application running in the foreground is a setting application, which avoids determining the position of the electronic device in an unnecessary situation, thereby reducing the function of the electronic device. consumption.
在一个可能的示例中,所述电子设备前台显示的界面为所述设定应用的设定界面。In a possible example, the interface displayed in the foreground of the electronic device is a setting interface of the setting application.
其中,设定界面例如有主界面、位置共享界面等等。The setting interface includes, for example, a main interface, a location sharing interface, and the like.
可以看出,在本申请实施例中,只有在前台运行显示的界面为设定应用的设定界面的情况下才确定电子设备的位置,避免了不必要情况下确定电子设备的位置,进而降低了电子设备的功耗。It can be seen that, in the embodiment of the present application, the position of the electronic device is determined only when the interface displayed in the foreground operation is the setting interface of the setting application, which avoids determining the position of the electronic device in an unnecessary situation, thereby reducing the power consumption of electronic equipment.
在一个可能的示例中,所述确定所述电子设备的位置之后,所述方法还包括:In a possible example, after the determining the location of the electronic device, the method further includes:
基于所述电子设备的位置确定位置有效时长;determining a location validity period based on the location of the electronic device;
启动计时器;start the timer;
在所述计时器的计时时长大于或等于所述位置有效时长时,重新确定所述电子设备的位置。When the time duration of the timer is greater than or equal to the valid duration of the location, the location of the electronic device is re-determined.
其中,在重新确实所述电子设备的位置时,关闭所述计时器。Wherein, when the position of the electronic device is confirmed again, the timer is turned off.
可选地,所述基于所述电子设备的位置确定位置有效时长,包括:Optionally, the determining the effective duration of the location based on the location of the electronic device includes:
基于所述电子设备的位置确定所述电子设备所处的目标场所;determining a target location where the electronic device is located based on the location of the electronic device;
基于所述目标场所和当前系统时间确定位置有效时长。The location validity period is determined based on the target location and the current system time.
可选地,所述基于所述目标场所和当前系统时间确定位置有效时长,包括:Optionally, the determining the effective duration of the location based on the target location and the current system time includes:
基于第一映射关系、所述目标场所和当前系统时间确定位置有效时长,所述第一映射关系是场所、时间与位置有效时长的映射关系。其中,第一映射关系如表1所示。The location valid duration is determined based on a first mapping relationship, the target location and the current system time, where the first mapping relationship is a mapping relationship between location, time and location valid duration. The first mapping relationship is shown in Table 1.
表1Table 1
可选地,所述基于所述目标场所和当前系统时间确定位置有效时长,包括:Optionally, the determining the effective duration of the location based on the target location and the current system time includes:
基于当前系统时间预计所述电子设备停留在所述目标场所的第一时长;Predicting a first length of time for the electronic device to stay at the target location based on the current system time;
基于当前系统时间、所述第一时长和时长计算公式确定位置有效时长;Determine the effective duration of the location based on the current system time, the first duration and the duration calculation formula;
其中,时长计算公式为:T
1=k*T
2,所述T
1为位置有效时长,所述T
2为预计停留在场所的时长,所述k为系数,所述k≤1,所述k是基于当前系统时间确定的。
The formula for calculating the duration is: T 1 =k*T 2 , the T 1 is the effective duration of the location, the T 2 is the expected duration of staying at the place, the k is a coefficient, the k≤1, the k is determined based on the current system time.
其中,所述k是基于当前系统时间确定的,包括:所述k是基于当前系统时间和第二映射关系确定的,所述第二映射关系是时间与系数的映射关系,第二映射关系如表2所示。Wherein, the k is determined based on the current system time, including: the k is determined based on the current system time and a second mapping relationship, the second mapping relationship is a mapping relationship between time and coefficients, and the second mapping relationship is as follows: shown in Table 2.
表2Table 2
时间time | 系数coefficient |
9:00am~20:00pm9:00am~20:00pm | 0.850.85 |
20:00pm~22:00pm20:00pm~22:00pm | 0.90.9 |
22:00pm~24:00pm22:00pm~24:00pm | 0.950.95 |
............ | ............ |
其中,所述基于当前系统时间预计所述电子设备停留在所述目标场所的第一时长,包括:Wherein, the estimated first duration that the electronic device stays at the target place based on the current system time includes:
获取所述电子设备的运动记录;obtain a motion record of the electronic device;
基于所述运动记录确定在目标时段内所述电子设备停留在所述目标场所的第一目标次数,以及每次所述电子设备停留在所述目标场所的时长,所述目标时段包括当前系统时间;Determine a first target number of times the electronic device stays at the target location within a target time period based on the motion record, and the duration of each time the electronic device stays at the target location, the target time period including the current system time ;
基于所述第一目标次数和每次所述电子设备停留在所述目标场所的时长,预计所述电子设备停留在所述目标场所的第一时长。Based on the first target number of times and the length of time each time the electronic device stays at the target location, a first length of time that the electronic device stays at the target location is predicted.
其中,所述目标时段的中心节点为当前系统时间。目标时段的时长例如有1h、2h、3h、或是其他值。Wherein, the central node of the target period is the current system time. The duration of the target period has, for example, 1h, 2h, 3h, or other values.
举例来说,假设当前系统时间为16:54:30,目标时段为15:54~17:54,假如电子设备的运动记录中记录有电子设备在该目标时段内停留在该目标场所有3次,这3次停留的时长分别是50min、45min、1h,那么预计电子设备本次停留在该目标场所的第一时长为:(50min+45min+60min)/3=51.7min。For example, assuming that the current system time is 16:54:30 and the target time period is 15:54-17:54, if the motion record of the electronic device records that the electronic device stays at the target site 3 times during the target time period , the durations of these three stays are 50min, 45min, and 1h, respectively, then the estimated first duration of the electronic device staying at the target site this time is: (50min+45min+60min)/3=51.7min.
可以看出,在本申请实施例中,限制在一定时长之后才重新确定电子设备的位置,避免了不必要情况下确定电子设备的位置,进而降低了电子设备的功耗。It can be seen that, in the embodiment of the present application, the position of the electronic device is limited to be re-determined after a certain period of time, so as to avoid unnecessary determination of the position of the electronic device, thereby reducing the power consumption of the electronic device.
在一个可能的示例中,所述确定所述电子设备的位置之后,所述方法还包括:In a possible example, after the determining the location of the electronic device, the method further includes:
基于所述电子设备的位置确定所述电子设备所处的目标环境;determining a target environment in which the electronic device is located based on the location of the electronic device;
若所述目标环境为设定环境,且所述电子设备处于移动状态,则基于所述目标环境预计所示电子设备停留在所述目标环境的第二时长;If the target environment is a setting environment and the electronic device is in a moving state, predicting a second period of time for the electronic device to stay in the target environment based on the target environment;
启动计时器;start the timer;
在所述计时器的计时时长大于或等于所述第二时长时,重新确定所述电子设备的位置。When the time period of the timer is greater than or equal to the second time period, the position of the electronic device is re-determined.
其中,设定环境例如有商场、展厅、剧院、图书馆等等。Among them, the setting environment includes, for example, a shopping mall, an exhibition hall, a theater, a library, and the like.
其中,在重新确实所述电子设备的位置时,关闭所述计时器。Wherein, when the position of the electronic device is confirmed again, the timer is turned off.
可选地,所述基于所述目标环境预计所示电子设备停留在所述目标环境的第二时长,包括:基于第三映射关系和所述目标环境预计所示电子设备停留在所述目标环境的第二时长,所述第三映射关系为环境与时长的映射关系。Optionally, the predicting, based on the target environment, that the electronic device stays in the target environment for a second period of time includes: estimating that the electronic device stays in the target environment based on a third mapping relationship and the target environment. The second duration, the third mapping relationship is the mapping relationship between the environment and the duration.
其中,第三映射关系如表3所示,如表3所示,不同环境对应的时长可以是相同的,也可以是不相同的。The third mapping relationship is shown in Table 3. As shown in Table 3, the durations corresponding to different environments may be the same or different.
表3table 3
环境environment | 时长duration |
商场shopping mall | 30min30min |
剧院theater | 30min30min |
展厅Showroom | 50min50min |
............ | ............ |
可选地,所述基于所述目标环境预计所述电子设备停留在所述目标环境的第二时长,包括:获取所述电子设备的运动记录;Optionally, the predicting, based on the target environment, that the electronic device stays in the target environment for a second period of time includes: acquiring a motion record of the electronic device;
基于所述运动记录确定所述电子设备停留在所述目标环境的第二目标次数,以及每次所述电子设备停留在所述目标环境的时长;determining a second target number of times the electronic device stays in the target environment based on the motion record, and the duration of each time the electronic device stays in the target environment;
基于所述第二目标次数和每次所述电子设备停留在所述目标环境的时长,预计所述电子设备停留在所述目标环境的第二时长。Based on the second target number of times and the length of time each time the electronic device stays in the target environment, the electronic device is expected to stay in the target environment for a second length of time.
举例来说,假设电子设备的运动记录中记录有电子设备停留在该目标环境有3次,这3次停留的时长分别是50min、45min、1h,那么预计电子设备本次停留在该目标环境的第二时长为:(50min+45min+60min)/3=51.7min。For example, assuming that the motion record of the electronic device records that the electronic device stays in the target environment 3 times, and the duration of these 3 stays are 50min, 45min, and 1h respectively, then it is expected that the electronic device stays in the target environment this time. The second duration is: (50min+45min+60min)/3=51.7min.
可以看出,在本申请实施例中,在特定情况下,限制在一定时长之后才重新确定电子设备的位置,避免了不必要情况下确定电子设备的位置,进而降低了电子设备的功耗。It can be seen that, in the embodiment of the present application, in certain cases, the position of the electronic device is re-determined only after a certain period of time, avoiding unnecessary determination of the position of the electronic device, thereby reducing the power consumption of the electronic device.
在一个可能的示例中,所述确定所述电子设备的位置之后,所述方法还包括:In a possible example, after the determining the location of the electronic device, the method further includes:
基于所述电子设备的位置确定所述电子设备所处的目标场所;determining a target location where the electronic device is located based on the location of the electronic device;
基于所述目标场所确定目标操作;determining a target operation based on the target location;
执行所述目标操作。Perform the target operation.
可选地,所述基于所述目标场所确定目标操作,包括:基于第四映射关系和所述目标场所确定目标操作,所述第三映射关系为场所与操作的映射关系,第四映射关系如表4所示。Optionally, the determining the target operation based on the target site includes: determining the target operation based on a fourth mapping relationship and the target site, where the third mapping relationship is a mapping relationship between a site and an operation, and the fourth mapping relationship is as follows: shown in Table 4.
表4Table 4
场所place | 操作operate |
餐厅Dinning room | 推荐菜品Recommended dishes |
图书馆library | 推荐图书Recommended Books |
............ | ............ |
可选地,所述目标场所为第一餐厅,所述目标操作为推荐菜品,所述执行所述目标操作,包括:确定所述电子设备的使用用户的饮食习惯,以及确定所述第一餐厅的好评菜品;基于所述饮食习惯和所述 好评菜品给所述使用用户推荐目标菜品。Optionally, the target place is a first restaurant, the target operation is recommending dishes, and the performing the target operation includes: determining the eating habits of the user who uses the electronic device, and determining the first restaurant and recommends target dishes to the user based on the eating habits and the praised dishes.
其中,目标菜品的数量可以是一个或多个。Wherein, the number of target dishes may be one or more.
其中,使用用户的饮食习惯是基于购物记录或消费记录确定的,或是用户自定义的,在此不作限定。Wherein, the eating habits of the user are determined based on shopping records or consumption records, or are user-defined, which is not limited herein.
其中,第一餐厅的好评菜品是基于所述第一餐厅的点评确定的,或是所述第一餐厅自定义的,在此不作限定。The well-reviewed dishes of the first restaurant are determined based on the reviews of the first restaurant, or are customized by the first restaurant, which is not limited herein.
举例来说,假设使用用户的饮食习惯为喜辣偏肉食,第一餐厅的好评菜品有菜品1、菜品2、菜品3、菜品4和菜品5,假如菜品2和菜品3为辣味肉菜,那么给使用用户推荐菜品2和菜品3。For example, assuming that the user's eating habits are spicy and meat-loving, the first restaurant's well-received dishes include dish 1, dish 2, dish 3, dish 4 and dish 5. If dish 2 and dish 3 are spicy meat dishes, Then recommend dishes 2 and 3 to the user.
可选地,所述目标场所为第一书店,所述目标操作为推荐图书,所述执行所述目标操作,包括:确定所述电子设备的使用用户的阅读爱好;基于所述阅读爱好给所述使用用户推荐目标图书。Optionally, the target place is a first bookstore, the target operation is recommending books, and the performing the target operation includes: determining the reading preferences of the users who use the electronic device; Describe the use of user-recommended target books.
其中,目标图书的数量可以是一个或多个。目标图书可以是畅销书、也可以不是畅销书,在此不作限定。Wherein, the number of target books may be one or more. The target book may be a bestseller or not, which is not limited here.
其中,使用用户的阅读爱好是基于阅读记录或图书购物记录确定的,或是用户自定义的,在此不作限定。Wherein, the reading preference of the user is determined based on reading records or book shopping records, or is user-defined, which is not limited herein.
举例来说,假设使用用户的阅读爱好为艺术,那么给使用用户推荐艺术类的图书。For example, suppose that the user's reading hobby is art, then recommend art books to the user.
可以看出,在本申请实施例中,在确定电子设备的位置之后,电子设备基于确定的位置来执行相应的操作,提升了电子设备的智能性。It can be seen that, in the embodiment of the present application, after the position of the electronic device is determined, the electronic device performs corresponding operations based on the determined position, which improves the intelligence of the electronic device.
请参阅图3,图3是本申请实施例提供了另一种定位服务方法的流程示意图,应用于定位服务系统中的第二基站,所述定位服务系统还包括第一基站和电子设备,所述定位服务系统中的所述第二基站的数量为至少两个,如图所示,本定位服务方法包括以下操作。Please refer to FIG. 3. FIG. 3 is a schematic flowchart of another positioning service method provided by an embodiment of the present application, which is applied to a second base station in a positioning service system. The positioning service system further includes a first base station and an electronic device. The number of the second base stations in the positioning service system is at least two. As shown in the figure, the positioning service method includes the following operations.
步骤301:接收第一基站广播的第一数据帧,所述第一数据帧携带所述第一基站的位置。Step 301: Receive a first data frame broadcast by a first base station, where the first data frame carries the location of the first base station.
步骤302:在接收到所述第一数据帧的目标延时后,广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,所述第一数据帧和所述第二数据帧用于所述电子设备确定所述电子设备的位置,不同数据帧的广播时间不同。Step 302: After receiving the target delay of the first data frame, broadcast a second data frame, the second data frame carries the location of the second base station that broadcasts the second data frame, and the second data frame is broadcast. A data frame and the second data frame are used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
在本申请的一实现方式中,所述方法还包括:基于所述第二基站的时隙编号确定所述目标延时。In an implementation manner of the present application, the method further includes: determining the target delay based on the time slot number of the second base station.
其中,所述基于所述第二基站的时隙编号确定所述目标延时,包括:基于时隙编号与延时的映射关系,确定所述第二基站的时隙编号对应的所述目标延时。The determining the target delay based on the time slot number of the second base station includes: determining the target delay corresponding to the time slot number of the second base station based on a mapping relationship between the time slot number and the delay Time.
在本申请的一实现方式中,所述方法还包括:通过侦听所述定位服务系统中的至少一个基站的数据帧,以实现自身的时隙编号的配置。In an implementation manner of the present application, the method further includes: configuring its own time slot number by listening to a data frame of at least one base station in the positioning service system.
其中,所述通过侦听所述定位服务系统中的至少一个基站的数据帧,以实现自身的时隙编号的配置,包括:Wherein, the configuration of its own time slot number by listening to the data frame of at least one base station in the positioning service system includes:
接收所述至少一个基站的数据帧;receiving a data frame of the at least one base station;
提取所述至少一个基站的数据帧中每个数据帧的时隙编号报告,所述时隙编号报告包括基站的设备编号与时隙编号的对应关系;extracting the time slot number report of each data frame in the data frame of the at least one base station, where the time slot number report includes the correspondence between the device number of the base station and the time slot number;
根据所述至少一个基站的至少一个时隙编号报告确定自身的时隙编号。Determine its own time slot number according to at least one time slot number report of the at least one base station.
其中,时隙编号报告可以是当前基站直接侦听到的所有基站的时隙编号和自身的时隙编号。Wherein, the time slot number report may be the time slot numbers of all base stations directly heard by the current base station and its own time slot numbers.
可见,本示例中,第二基站通过时隙编号可以更加全面的获悉当前系统的其他基站的时隙占用情况,提供时隙配置准确度。It can be seen that, in this example, the second base station can learn more comprehensively the time slot occupancy status of other base stations in the current system through the time slot number, and provide the time slot configuration accuracy.
与前述实施例一致的,图1H所示的定位服务系统中基站具体可以包括第一基站和第二基站,第二 基站的数量为至少两个;Consistent with the foregoing embodiment, the base station in the positioning service system shown in FIG. 1H may specifically include a first base station and a second base station, and the number of the second base station is at least two;
第一基站,用于广播第一数据帧,所述第一数据帧携带所述第一基站的位置;a first base station, configured to broadcast a first data frame, where the first data frame carries the location of the first base station;
第二基站,用于广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置;a second base station, configured to broadcast a second data frame, where the second data frame carries the location of the second base station that broadcasts the second data frame;
所述电子设备,用于接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,不同数据帧的广播时间不同;基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。The electronic device is configured to receive the first data frame broadcast by the first base station and receive the second data frame broadcast by the second base station, and the broadcast times of different data frames are different; The position of the first base station and/or the position of the second base station determines the position of the electronic device, and the reception time difference is used to represent the time difference between two data frames arriving at the electronic device.
在本申请的一实现方式中,在广播第二数据帧方面,所述第二基站具体用于:接收所述第一数据帧;在接收到所述第一数据帧的目标延时后,广播所述第二数据帧。In an implementation manner of the present application, in terms of broadcasting the second data frame, the second base station is specifically configured to: receive the first data frame; after receiving the target delay of the first data frame, broadcast the second data frame.
在本申请的一实现方式中,所述电子设备,还用于确定所述第一数据帧的接收时间分别与每个所述第二数据帧的接收时间的时间差,得到所述至少两个接收时间差。In an implementation manner of the present application, the electronic device is further configured to determine the time difference between the receiving time of the first data frame and the receiving time of each of the second data frames, to obtain the at least two receiving times Time difference.
在本申请的一实现方式中,所述电子设备,还用于确定任意两个数据帧的接收时间的时间差,得到所述至少两个接收时间差。In an implementation manner of the present application, the electronic device is further configured to determine a time difference between reception times of any two data frames, and obtain the at least two reception time differences.
在本申请的一实现方式中,在基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,所述电子设备具体用于:In an implementation manner of the present application, in terms of determining the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station, the electronic device is specifically configured to :
获取所述第一数据帧的广播时间和所述第二数据帧的广播时间,基于每个所述接收时间差对应的两个数据帧的广播时间,得到至少两个广播时间差;Obtain the broadcast time of the first data frame and the broadcast time of the second data frame, and obtain at least two broadcast time differences based on the broadcast times of the two data frames corresponding to each of the receiving time differences;
基于所述至少两个接收时间差和所述至少两个广播时间差得到至少两个修正后的接收时间差,基于所述至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置。At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
在本申请的一实现方式中,在基于至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,所述电子设备具体用于:In an implementation of the present application, in terms of determining the location of the electronic device based on at least two corrected reception time differences, the location of the first base station and/or the location of the second base station, the electronic device Specifically for:
基于所述至少两个修正后的接收时间差与飞行速度,确定至少两个距离差;determining at least two distance differences based on the at least two corrected reception time differences and the flight speed;
基于所述至少两个距离差、所述第一基站的位置和/或所述第二基站的位置,建立至少两个定位模型;establishing at least two positioning models based on the at least two distance differences, the location of the first base station and/or the location of the second base station;
基于所述至少两个定位模型确定为所述电子设备的位置。The position of the electronic device is determined based on the at least two positioning models.
在本申请的一实现方式中,所述定位模型为双曲线函数,在基于所述至少两个定位模型确定为所述电子设备的位置方面,所述电子设备具体用于:计算任意两个所述双曲线函数的交点,得到N个交点,所述N为正整数;In an implementation manner of the present application, the positioning model is a hyperbolic function, and in terms of determining the position of the electronic device based on the at least two positioning models, the electronic device is specifically configured to: calculate any two the intersection of the hyperbolic function, to obtain N intersections, where N is a positive integer;
若所述N为1,则将所述交点的取值确定为所述电子设备的位置;If the N is 1, the value of the intersection is determined as the position of the electronic device;
若所述N大于1,则将目标交点的取值确定为所述电子设备的位置,所述目标交点为所述N个交点中的任意一个。If the N is greater than 1, the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
在本申请的一实现方式中,所述电子设备,还用于若所述N大于1,则基于所述N个交点确定中心点,以及将所述中心点的取值确定为所述电子设备的位置。In an implementation manner of the present application, the electronic device is further configured to, if the N is greater than 1, determine a center point based on the N intersection points, and determine the value of the center point as the electronic device s position.
可以看出,在本申请实施例中,电子设备仅接收信息,不发送信息,降低了功耗,另外电子设备的位置是电子设备确定的,不是位置服务器确定的,且定位所需的数据量相对较少,降低了定位计算复杂度,进而提升定位的效率。It can be seen that, in the embodiment of the present application, the electronic device only receives information, but does not send information, which reduces power consumption. In addition, the location of the electronic device is determined by the electronic device, not by the location server, and the amount of data required for positioning Relatively few, which reduces the computational complexity of positioning, thereby improving the efficiency of positioning.
本申请实施例提供一种定位服务装置,该定位服务装置可以为电子设备100。具体的,定位服务装置用于执行图2A所示的定位服务方法的步骤。本申请实施例提供的定位服务装置可以包括相应步骤所 对应的模块。An embodiment of the present application provides a positioning service apparatus, where the positioning service apparatus may be an electronic device 100 . Specifically, the positioning service apparatus is configured to execute the steps of the positioning service method shown in FIG. 2A . The positioning service apparatus provided by the embodiments of the present application may include modules corresponding to corresponding steps.
图4示出上述实施例中所涉及的定位服务装置的一种可能的结构示意图。如图4所示,定位服务装置包括接收单元41和定位服务单元42,其中:FIG. 4 shows a possible schematic structural diagram of the positioning service apparatus involved in the foregoing embodiment. As shown in Figure 4, the positioning service device includes a receiving unit 41 and a positioning service unit 42, wherein:
接收单元41,用于接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,所述第一数据帧携带所述第一基站的位置,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,不同数据帧的广播时间不同;A receiving unit 41, configured to receive a first data frame broadcast by the first base station and a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, the The second data frame carries the location of the second base station that broadcasts the second data frame, and different data frames have different broadcast times;
定位服务单元42,用于基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。A positioning service unit 42, configured to determine the position of the electronic device based on at least two reception time differences, the position of the first base station and/or the position of the second base station, where the reception time difference is used to represent two data frames time difference to the electronic device.
在本申请的一实现方式中,定位服务装置还包括第一确定单元43。In an implementation manner of the present application, the positioning service apparatus further includes a first determining unit 43 .
其中,第一确定单元43,用于确定所述第一数据帧的接收时间分别与每个所述第二数据帧的接收时间的时间差,得到所述至少两个接收时间差。The first determining unit 43 is configured to determine the time difference between the receiving time of the first data frame and the receiving time of each of the second data frames, to obtain the at least two receiving time differences.
或者,第一确定单元43,用于确定任意两个数据帧的接收时间的时间差,得到所述至少两个接收时间差。Alternatively, the first determining unit 43 is configured to determine the time difference between the reception times of any two data frames, and obtain the at least two reception time differences.
在本申请的一实现方式中,在基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,定位服务单元42具体用于:In an implementation manner of the present application, in terms of determining the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station, the positioning service unit 42 is specifically configured to: :
获取所述第一数据帧的广播时间和所述第二数据帧的广播时间,基于每个所述接收时间差对应的两个数据帧的广播时间,得到至少两个广播时间差;Obtain the broadcast time of the first data frame and the broadcast time of the second data frame, and obtain at least two broadcast time differences based on the broadcast times of the two data frames corresponding to each of the receiving time differences;
基于所述至少两个接收时间差和所述至少两个广播时间差得到至少两个修正后的接收时间差,基于所述至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置。At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
在本申请的一实现方式中,在基于至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,定位服务单元42具体用于:In an implementation of the present application, the location service unit 42 determines the location of the electronic device based on at least two corrected reception time differences, the location of the first base station and/or the location of the second base station. Specifically for:
基于所述至少两个修正后的接收时间差与飞行速度,确定至少两个距离差;determining at least two distance differences based on the at least two corrected reception time differences and the flight speed;
基于所述至少两个距离差、所述第一基站的位置和/或所述第二基站的位置,建立至少两个定位模型;establishing at least two positioning models based on the at least two distance differences, the location of the first base station and/or the location of the second base station;
基于所述至少两个定位模型确定为所述电子设备的位置。The position of the electronic device is determined based on the at least two positioning models.
在本申请的一实现方式中,所述定位模型为双曲线函数,在基于所述至少两个定位模型确定为所述电子设备的位置方面,定位服务单元42具体用于:In an implementation manner of the present application, the positioning model is a hyperbolic function, and in terms of determining the position of the electronic device based on the at least two positioning models, the positioning service unit 42 is specifically configured to:
计算任意两个所述双曲线函数的交点,得到N个交点,所述N为正整数;Calculate the intersection of any two of the hyperbolic functions to obtain N intersections, where N is a positive integer;
若所述N为1,则将所述交点的取值确定为所述电子设备的位置;If the N is 1, the value of the intersection is determined as the position of the electronic device;
若所述N大于1,则将目标交点的取值确定为所述电子设备的位置,所述目标交点为所述N个交点中的任意一个。If the N is greater than 1, the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
可选地,定位服务单元42,还用于若所述N大于1,则基于所述N个交点确定中心点,以及将所述中心点的取值确定为所述电子设备的位置。Optionally, the positioning service unit 42 is further configured to, if the N is greater than 1, determine a center point based on the N intersection points, and determine the value of the center point as the position of the electronic device.
在本申请的一实现方式中,所述电子设备、所述第一基站、及所述第二基站中的任意两个之间的距离小于或等于设定距离。In an implementation manner of the present application, a distance between any two of the electronic device, the first base station, and the second base station is less than or equal to a set distance.
在本申请的一实现方式中,定位服务装置还包括第二确定单元44和控制单元45;In an implementation manner of the present application, the positioning service apparatus further includes a second determination unit 44 and a control unit 45;
第二确定单元44,用于基于所述电子设备的位置确定位置有效时长;a second determining unit 44, configured to determine the location valid duration based on the location of the electronic device;
控制单元45,用于启动计时器;a control unit 45 for starting a timer;
定位服务单元42,还用于在所述计时器的计时时长大于或等于所述位置有效时长时,重新确定所述电子设备的位置。The positioning service unit 42 is further configured to re-determine the location of the electronic device when the time duration of the timer is greater than or equal to the location valid duration.
在本申请的一实现方式中,在基于所述电子设备的位置确定位置有效时长方面,第二确定单元44具体用于:In an implementation manner of the present application, in terms of determining the effective duration of the location based on the location of the electronic device, the second determining unit 44 is specifically configured to:
基于所述电子设备的位置确定所述电子设备所处的目标场所;determining a target location where the electronic device is located based on the location of the electronic device;
基于所述目标场所和当前系统时间确定位置有效时长。The location validity period is determined based on the target location and the current system time.
其中,上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述,在此不再赘述。当然,本申请实施例提供的定位服务装置包括但不限于上述模块,例如:定位服务装置还可以包括存储单元46。存储单元46可以用于存储该定位服务装置的程序代码和数据。Wherein, all relevant contents of the steps involved in the above method embodiments can be cited in the functional descriptions of the corresponding functional modules, which will not be repeated here. Certainly, the positioning service apparatus provided in this embodiment of the present application includes, but is not limited to, the foregoing modules. For example, the positioning service apparatus may further include a storage unit 46 . The storage unit 46 may be used to store program codes and data of the location service device.
本申请实施例提供一种定位服务装置,该定位服务装置可以为基站200。具体的,定位服务装置用于执行图3所示的定位服务方法的步骤。本申请实施例提供的定位服务装置可以包括相应步骤所对应的模块。An embodiment of the present application provides a positioning service apparatus, and the positioning service apparatus may be a base station 200 . Specifically, the positioning service apparatus is configured to execute the steps of the positioning service method shown in FIG. 3 . The positioning service apparatus provided by the embodiments of the present application may include modules corresponding to corresponding steps.
图5示出上述实施例中所涉及的定位服务装置的一种可能的结构示意图。如图5所示,定位服务装置包括接收单元51和发送单元52,其中:FIG. 5 shows a possible schematic structural diagram of the positioning service apparatus involved in the foregoing embodiment. As shown in FIG. 5, the positioning service device includes a receiving unit 51 and a sending unit 52, wherein:
接收单元51,用于接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,所述第一数据帧携带所述第一基站的位置,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,不同数据帧的广播时间不同;A receiving unit 51, configured to receive a first data frame broadcast by the first base station, and receive a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, the The second data frame carries the location of the second base station that broadcasts the second data frame, and different data frames have different broadcast times;
发送单元52,用于基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。A sending unit 52, configured to determine the location of the electronic device based on at least two receiving time differences, the location of the first base station and/or the location of the second base station, where the receiving time difference is used to indicate the arrival of two data frames The time difference of the electronic device.
在本申请的一实现方式中,所述定位服务装置还包括确定单元53;In an implementation manner of the present application, the positioning service apparatus further includes a determining unit 53;
确定单元53,用于基于所述第二基站的时隙编号确定所述目标延时。A determining unit 53, configured to determine the target delay based on the time slot number of the second base station.
在本申请的一实现方式中,所述定位服务装置还包括时隙配置单元54;In an implementation manner of the present application, the positioning service apparatus further includes a time slot configuration unit 54;
时隙配置单元54,用于通过侦听所述定位服务系统中的至少一个基站的数据帧,以实现自身的时隙编号的配置。The time slot configuration unit 54 is configured to configure its own time slot number by listening to the data frame of at least one base station in the positioning service system.
其中,上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述,在此不再赘述。当然,本申请实施例提供的定位服务装置包括但不限于上述模块,例如:定位服务装置还可以包括存储单元55。存储单元55可以用于存储该定位服务装置的程序代码和数据。Wherein, all relevant contents of the steps involved in the above method embodiments can be cited in the functional descriptions of the corresponding functional modules, which will not be repeated here. Certainly, the positioning service apparatus provided in this embodiment of the present application includes, but is not limited to, the foregoing modules. For example, the positioning service apparatus may further include a storage unit 55 . The storage unit 55 may be used to store program codes and data of the location service device.
在采用集成的单元的情况下,本申请实施例提供的定位服务装置的结构示意图如图6所示。在图6中,定位服务装置包括:处理模块61和通信模块62。处理模块61用于对定位服务装置的动作进行控制管理,例如,定位服务单元42、第一确定单元43、第二确定单元44和控制单元45所执行的步骤,或者确定单元53和时隙配置单元54所执行的步骤;和/或用于执行本文所描述的技术的其它过程。通信模块62用于支持定位服务装置与其他设备之间的交互。如图6所示,定位服务装置还可以包括存储模块63,存储模块63用于存储定位服务装置的程序代码和数据,例如存储上述存储单元46或上述存储单元55所保存的内容。In the case of using an integrated unit, a schematic structural diagram of the positioning service apparatus provided by the embodiment of the present application is shown in FIG. 6 . In FIG. 6 , the location service apparatus includes: a processing module 61 and a communication module 62 . The processing module 61 is used to control and manage the actions of the location service device, for example, the steps performed by the location service unit 42, the first determination unit 43, the second determination unit 44 and the control unit 45, or the determination unit 53 and the time slot configuration steps performed by unit 54; and/or other processes for performing the techniques described herein. The communication module 62 is used to support the interaction between the location service apparatus and other devices. As shown in FIG. 6 , the location service device may further include a storage module 63 for storing program codes and data of the location service device, such as the content stored in the above-mentioned storage unit 46 or the above-mentioned storage unit 55 .
其中,处理模块61可以是处理器或控制器,例如可以是中央处理器(Central Processing Unit,CPU),通用处理器,数字信号处理器(Digital Signal Processor,DSP),ASIC,FPGA或者其他可编程逻辑器件、 晶体管逻辑器件、硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框,模块和电路。所述处理器也可以是实现计算功能的组合,例如包含一个或多个微处理器组合,DSP和微处理器的组合等等。通信模块62可以是收发器、RF电路或通信接口等。存储模块63可以是存储器。The processing module 61 may be a processor or a controller, such as a central processing unit (Central Processing Unit, CPU), a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), ASIC, FPGA or other programmable Logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 62 may be a transceiver, an RF circuit or a communication interface or the like. The storage module 63 may be a memory.
其中,上述方法实施例涉及的各场景的所有相关内容均可以援引到对应功能模块的功能描述,在此不再赘述。Wherein, all the relevant contents of the scenarios involved in the above method embodiments can be cited in the functional description of the corresponding functional module, which will not be repeated here.
本申请实施例还提供一种计算机存储介质,其中,该计算机存储介质存储用于电子数据交换的计算机程序,该计算机程序使得计算机执行如上述方法实施例中记载的任一方法的部分或全部步骤,上述计算机包括电子设备。Embodiments of the present application further provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes the computer to execute part or all of the steps of any method described in the above method embodiments , the above computer includes electronic equipment.
本申请实施例还提供一种计算机程序产品,上述计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质,上述计算机程序可操作来使计算机执行如上述方法实施例中记载的任一方法的部分或全部步骤。该计算机程序产品可以为一个软件安装包,上述计算机包括电子设备。Embodiments of the present application further provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of the method embodiments described above. some or all of the steps of the method. The computer program product may be a software installation package, and the computer includes an electronic device.
需要说明的是,对于前述的各方法实施例,为了简单描述,故将其都表述为一系列的动作组合,但是本领域技术人员应该知悉,本申请并不受所描述的动作顺序的限制,因为依据本申请,某些步骤可以采用其他顺序或者同时进行。其次,本领域技术人员也应该知悉,说明书中所描述的实施例均属于优选实施例,所涉及的动作和模块并不一定是本申请所必须的。It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or concurrently. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.
在上述实施例中,对各个实施例的描述都各有侧重,某个实施例中没有详述的部分,可以参见其他实施例的相关描述。In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.
在本申请所提供的几个实施例中,应该理解到,所揭露的装置,可通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如上述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the above-mentioned 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 or other forms.
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described above as separate components may or may not be physically separated, and components shown 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.
另外,在本申请各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。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.
上述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储器中。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储器中,包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例上述方法的全部或部分步骤。而前述的存储器包括:U盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。The above-mentioned integrated units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory, Several instructions are included to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above-mentioned methods in the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成,该程序可以存储于一计算机可读存储器中,存储器可以包括:闪存盘、只读存储器 (英文:Read-Only Memory,简称:ROM)、随机存取器(英文:Random Access Memory,简称:RAM)、磁盘或光盘等。Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash disk , Read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English: Random Access Memory, referred to as: RAM), magnetic disk or optical disk, etc.
以上对本申请实施例进行了详细介绍,本文中应用了具体个例对本申请的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本申请的方法及其核心思想;同时,对于本领域的一般技术人员,依据本申请的思想,在具体实施方式及应用范围上均会有改变之处,综上所述,本说明书内容不应理解为对本申请的限制。The embodiments of the present application have been introduced in detail above, and the principles and implementations of the present application are described in this paper by using specific examples. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for Persons of ordinary skill in the art, based on the idea of the present application, will have changes in the specific implementation manner and application scope. In summary, the contents of this specification should not be construed as limitations on the present application.
Claims (39)
- 一种定位服务方法,其特征在于,应用于定位服务系统中的电子设备,所述定位服务系统还包括第一基站和第二基站,所述第二基站的数量为至少两个;所述方法包括:A positioning service method, characterized in that it is applied to electronic equipment in a positioning service system, the positioning service system further comprising a first base station and a second base station, and the number of the second base stations is at least two; the method include:接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,所述第一数据帧携带所述第一基站的位置,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,不同数据帧的广播时间不同;Receive a first data frame broadcast by the first base station, and receive a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, and the second data frame carries the broadcast The location of the second base station of the second data frame, the broadcast time of different data frames is different;基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。The position of the electronic device is determined based on at least two reception time differences, the position of the first base station and/or the position of the second base station, where the reception time difference is used to represent the time difference between two data frames arriving at the electronic device .
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:The method according to claim 1, wherein the method further comprises:确定所述第一数据帧的接收时间分别与每个所述第二数据帧的接收时间的时间差,得到所述至少两个接收时间差。The time difference between the reception time of the first data frame and the reception time of each of the second data frames is determined to obtain the at least two reception time differences.
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:The method according to claim 1, wherein the method further comprises:确定任意两个数据帧的接收时间的时间差,得到所述至少两个接收时间差。The time difference between the reception times of any two data frames is determined to obtain the at least two reception time differences.
- 根据权利要求1-3任一项所述的方法,其特征在于,所述基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,包括:The method according to any one of claims 1-3, wherein the determining of the electronic device's location is based on at least two receiving time differences, the location of the first base station and/or the location of the second base station location, including:获取所述第一数据帧的广播时间和所述第二数据帧的广播时间,基于每个所述接收时间差对应的两个数据帧的广播时间,得到至少两个广播时间差;Obtain the broadcast time of the first data frame and the broadcast time of the second data frame, and obtain at least two broadcast time differences based on the broadcast times of the two data frames corresponding to each of the receiving time differences;基于所述至少两个接收时间差和所述至少两个广播时间差得到至少两个修正后的接收时间差,基于所述至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置。At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
- 根据权利要求4所述的方法,其特征在于,所述基于至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,包括:The method according to claim 4, wherein the determining the position of the electronic device is based on at least two modified reception time differences, the position of the first base station and/or the position of the second base station, include:基于所述至少两个修正后的接收时间差与飞行速度,确定至少两个距离差;determining at least two distance differences based on the at least two corrected reception time differences and the flight speed;基于所述至少两个距离差、所述第一基站的位置和/或所述第二基站的位置,建立至少两个定位模型;establishing at least two positioning models based on the at least two distance differences, the location of the first base station and/or the location of the second base station;基于所述至少两个定位模型确定为所述电子设备的位置。The position of the electronic device is determined based on the at least two positioning models.
- 根据权利要求5所述的方法,其特征在于,所述定位模型为双曲线函数,所述基于所述至少两个定位模型确定为所述电子设备的位置,包括:The method according to claim 5, wherein the positioning model is a hyperbolic function, and the determining the position of the electronic device based on the at least two positioning models comprises:计算任意两个所述双曲线函数的交点,得到N个交点,所述N为正整数;Calculate the intersection of any two of the hyperbolic functions to obtain N intersections, where N is a positive integer;若所述N为1,则将所述交点的取值确定为所述电子设备的位置;If the N is 1, the value of the intersection is determined as the position of the electronic device;若所述N大于1,则将目标交点的取值确定为所述电子设备的位置,所述目标交点为所述N个交点中的任意一个。If the N is greater than 1, the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
- 根据权利要求6所述的方法,其特征在于,所述方法还包括:The method according to claim 6, wherein the method further comprises:若所述N大于1,则基于所述N个交点确定中心点,以及将所述中心点的取值确定为所述电子设备的位置。If the N is greater than 1, a center point is determined based on the N intersection points, and the value of the center point is determined as the position of the electronic device.
- 根据权利要求1-7任一项所述的方法,其特征在于,所述电子设备、所述第一基站、及所述第二基站中的任意两个之间的距离小于或等于设定距离。The method according to any one of claims 1-7, wherein a distance between any two of the electronic device, the first base station, and the second base station is less than or equal to a set distance .
- 根据权利要求1-8任一项所述的方法,其特征在于,所述电子设备前台运行的应用为设定应用。The method according to any one of claims 1-8, wherein the application running in the foreground of the electronic device is a setting application.
- 根据权利要求9所述的方法,其特征在于,所述确定所述电子设备的位置之后,所述方法还包括:The method according to claim 9, wherein after the determining the position of the electronic device, the method further comprises:基于所述电子设备的位置确定位置有效时长;determining a location validity period based on the location of the electronic device;启动计时器;start the timer;在所述计时器的计时时长大于或等于所述位置有效时长时,重新确定所述电子设备的位置。When the time duration of the timer is greater than or equal to the valid duration of the location, the location of the electronic device is re-determined.
- 根据权利要求10所述的方法,其特征在于,所述基于所述电子设备的位置确定位置有效时长,包括:The method according to claim 10, wherein the determining the location valid duration based on the location of the electronic device comprises:基于所述电子设备的位置确定所述电子设备所处的目标场所;determining a target location where the electronic device is located based on the location of the electronic device;基于所述目标场所和当前系统时间确定位置有效时长。The location validity period is determined based on the target location and the current system time.
- 一种定位服务系统,其特征在于,所述定位服务系统包括电子设备、第一基站和第二基站,所述第二基站的数量为至少两个;A positioning service system, characterized in that the positioning service system includes an electronic device, a first base station and a second base station, and the number of the second base station is at least two;所述第一基站,用于广播第一数据帧,所述第一数据帧携带所述第一基站的位置;the first base station, configured to broadcast a first data frame, where the first data frame carries the location of the first base station;所述第二基站,用于广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置;the second base station, configured to broadcast a second data frame, where the second data frame carries the position of the second base station that broadcasts the second data frame;所述电子设备,用于接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,不同数据帧的广播时间不同;基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。The electronic device is configured to receive the first data frame broadcast by the first base station and receive the second data frame broadcast by the second base station, and the broadcast times of different data frames are different; The position of the first base station and/or the position of the second base station determines the position of the electronic device, and the reception time difference is used to represent the time difference between two data frames arriving at the electronic device.
- 根据权利要求12所述的系统,其特征在于,在广播第二数据帧方面,所述第二基站具体用于:接收所述第一数据帧;在接收到所述第一数据帧的目标延时后,广播所述第二数据帧。The system according to claim 12, wherein, in terms of broadcasting the second data frame, the second base station is specifically configured to: receive the first data frame; After the time, the second data frame is broadcast.
- 根据权利要求12或13所述的系统,其特征在于,所述电子设备,还用于确定所述第一数据帧的接收时间分别与每个所述第二数据帧的接收时间的时间差,得到所述至少两个接收时间差。The system according to claim 12 or 13, wherein the electronic device is further configured to determine the time difference between the receiving time of the first data frame and the receiving time of each of the second data frames, to obtain The at least two reception times are different.
- 根据权利要求12或13所述的系统,其特征在于,所述电子设备,还用于确定任意两个数据帧的接收时间的时间差,得到所述至少两个接收时间差。The system according to claim 12 or 13, wherein the electronic device is further configured to determine a time difference between the reception times of any two data frames to obtain the at least two reception time differences.
- 根据权利要求12-15任一项所述的系统,其特征在于,在基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,所述电子设备具体用于:The system according to any one of claims 12-15, wherein the position of the electronic device is determined based on at least two reception time differences, the position of the first base station and/or the position of the second base station In one aspect, the electronic device is specifically used for:获取所述第一数据帧的广播时间和所述第二数据帧的广播时间,基于每个所述接收时间差对应的两个数据帧的广播时间,得到至少两个广播时间差;Obtain the broadcast time of the first data frame and the broadcast time of the second data frame, and obtain at least two broadcast time differences based on the broadcast times of the two data frames corresponding to each of the receiving time differences;基于所述至少两个接收时间差和所述至少两个广播时间差得到至少两个修正后的接收时间差,基于所述至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置。At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
- 根据权利要求16所述的系统,其特征在于,在基于至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,所述电子设备具体用于:17. The system of claim 16, wherein, in determining the position of the electronic device based on at least two modified reception time differences, the position of the first base station and/or the position of the second base station, The electronic equipment is specifically used for:基于所述至少两个修正后的接收时间差与飞行速度,确定至少两个距离差;determining at least two distance differences based on the at least two corrected reception time differences and the flight speed;基于所述至少两个距离差、所述第一基站的位置和/或所述第二基站的位置,建立至少两个定位模型;establishing at least two positioning models based on the at least two distance differences, the location of the first base station and/or the location of the second base station;基于所述至少两个定位模型确定为所述电子设备的位置。The position of the electronic device is determined based on the at least two positioning models.
- 根据权利要求17所述的系统,其特征在于,所述定位模型为双曲线函数,在基于所述至少两个定位模型确定为所述电子设备的位置方面,所述电子设备具体用于:计算任意两个所述双曲线函数的 交点,得到N个交点,所述N为正整数;The system according to claim 17, wherein the positioning model is a hyperbolic function, and in terms of determining the position of the electronic device based on the at least two positioning models, the electronic device is specifically configured to: calculate the intersection of any two of the hyperbolic functions to obtain N intersections, where N is a positive integer;若所述N为1,则将所述交点的取值确定为所述电子设备的位置;If the N is 1, the value of the intersection is determined as the position of the electronic device;若所述N大于1,则将目标交点的取值确定为所述电子设备的位置,所述目标交点为所述N个交点中的任意一个。If the N is greater than 1, the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
- 根据权利要求18所述的系统,其特征在于,所述电子设备,还用于若所述N大于1,则基于所述N个交点确定中心点,以及将所述中心点的取值确定为所述电子设备的位置。The system according to claim 18, wherein the electronic device is further configured to, if the N is greater than 1, determine a center point based on the N intersection points, and determine the value of the center point as the location of the electronic device.
- 一种定位服务方法,其特征在于,应用于定位服务系统中的第二基站,所述定位服务系统还包括第一基站和电子设备,所述定位服务系统中的所述第二基站的数量为至少两个;所述方法包括:A positioning service method, characterized in that it is applied to a second base station in a positioning service system, the positioning service system further includes a first base station and an electronic device, and the number of the second base stations in the positioning service system is at least two; the method includes:接收第一基站广播的第一数据帧,所述第一数据帧携带所述第一基站的位置;receiving a first data frame broadcast by a first base station, where the first data frame carries the location of the first base station;在接收到所述第一数据帧的目标延时后,广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,所述第一数据帧和所述第二数据帧用于所述电子设备确定所述电子设备的位置,不同数据帧的广播时间不同。After receiving the target delay of the first data frame, broadcast a second data frame, the second data frame carries the location of the second base station broadcasting the second data frame, the first data frame and the second data frame is used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
- 根据权利要求20所述的方法,其特征在于,所述方法还包括:基于所述第二基站的时隙编号确定所述目标延时。The method according to claim 20, wherein the method further comprises: determining the target delay based on the time slot number of the second base station.
- 根据权利要求21所述的方法,其特征在于,所述方法还包括:通过侦听所述定位服务系统中的至少一个基站的数据帧,以实现自身的时隙编号的配置。The method according to claim 21, wherein the method further comprises: configuring its own time slot number by listening to the data frame of at least one base station in the positioning service system.
- 一种定位服务装置,其特征在于,应用于定位服务系统中的电子设备,所述定位服务系统还包括第一基站和第二基站,所述第二基站的数量为至少两个;所述装置包括:A positioning service device, characterized in that it is applied to electronic equipment in a positioning service system, the positioning service system further includes a first base station and a second base station, and the number of the second base stations is at least two; the device include:接收单元,用于接收所述第一基站广播的第一数据帧,以及接收所述第二基站广播的第二数据帧,所述第一数据帧携带所述第一基站的位置,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,不同数据帧的广播时间不同;a receiving unit, configured to receive a first data frame broadcast by the first base station and a second data frame broadcast by the second base station, where the first data frame carries the location of the first base station, the first data frame Two data frames carry the location of the second base station that broadcasts the second data frame, and different data frames have different broadcast times;定位服务单元,用于基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置,所述接收时间差用于表示两个数据帧到达所述电子设备的时间差。a positioning service unit, configured to determine the position of the electronic device based on at least two receiving time differences, the position of the first base station and/or the position of the second base station, the receiving time difference being used to indicate the arrival of two data frames The time difference of the electronic device.
- 根据权利要求23所述的装置,其特征在于,所述装置还包括:The apparatus of claim 23, wherein the apparatus further comprises:第一确定单元,用于确定所述第一数据帧的接收时间分别与每个所述第二数据帧的接收时间的时间差,得到所述至少两个接收时间差。A first determining unit, configured to determine the time difference between the receiving time of the first data frame and the receiving time of each of the second data frames, to obtain the at least two receiving time differences.
- 根据权利要求23所述的装置,其特征在于,所述装置还包括:The apparatus of claim 23, wherein the apparatus further comprises:第一确定单元,用于确定任意两个数据帧的接收时间的时间差,得到所述至少两个接收时间差。The first determining unit is configured to determine the time difference between the reception times of any two data frames to obtain the at least two reception time differences.
- 根据权利要求23-25任一项所述的装置,其特征在于,在所述基于至少两个接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,所述定位服务单元具体用于:The apparatus according to any one of claims 23-25, wherein the electronic device is determined based on at least two receiving time differences, the location of the first base station and/or the location of the second base station In terms of location, the location service unit is specifically used for:获取所述第一数据帧的广播时间和所述第二数据帧的广播时间,基于每个所述接收时间差对应的两个数据帧的广播时间,得到至少两个广播时间差;Obtain the broadcast time of the first data frame and the broadcast time of the second data frame, and obtain at least two broadcast time differences based on the broadcast times of the two data frames corresponding to each of the receiving time differences;基于所述至少两个接收时间差和所述至少两个广播时间差得到至少两个修正后的接收时间差,基于所述至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置。At least two revised reception time differences are obtained based on the at least two reception time differences and the at least two broadcast time differences, based on the at least two revised reception time differences, the location of the first base station and/or the The location of the second base station determines the location of the electronic device.
- 根据权利要求26所述的装置,其特征在于,所述基于至少两个修正后的接收时间差、所述第一基站的位置和/或所述第二基站的位置确定所述电子设备的位置方面,所述定位服务单元具体用于:27. The apparatus of claim 26, wherein the determining the location aspect of the electronic device is based on at least two corrected reception time differences, the location of the first base station and/or the location of the second base station , the location service unit is specifically used for:基于所述至少两个修正后的接收时间差与飞行速度,确定至少两个距离差;determining at least two distance differences based on the at least two corrected reception time differences and the flight speed;基于所述至少两个距离差、所述第一基站的位置和/或所述第二基站的位置,建立至少两个定位模型;establishing at least two positioning models based on the at least two distance differences, the location of the first base station and/or the location of the second base station;基于所述至少两个定位模型确定为所述电子设备的位置。The position of the electronic device is determined based on the at least two positioning models.
- 根据权利要求27所述的装置,其特征在于,所述定位模型为双曲线函数,在所述基于所述至少两个定位模型确定为所述电子设备的位置方面,所述定位服务单元具体用于:The apparatus according to claim 27, wherein the positioning model is a hyperbolic function, and in the aspect of determining the position of the electronic device based on the at least two positioning models, the positioning service unit specifically uses a At:计算任意两个所述双曲线函数的交点,得到N个交点,所述N为正整数;Calculate the intersection of any two of the hyperbolic functions to obtain N intersections, where N is a positive integer;若所述N为1,则将所述交点的取值确定为所述电子设备的位置;If the N is 1, the value of the intersection is determined as the position of the electronic device;若所述N大于1,则将目标交点的取值确定为所述电子设备的位置,所述目标交点为所述N个交点中的任意一个。If the N is greater than 1, the value of the target intersection is determined as the position of the electronic device, and the target intersection is any one of the N intersections.
- 根据权利要求28所述的装置,其特征在于,所述定位服务单元还用于:The apparatus according to claim 28, wherein the location service unit is further configured to:若所述N大于1,则基于所述N个交点确定中心点,以及将所述中心点的取值确定为所述电子设备的位置。If the N is greater than 1, a center point is determined based on the N intersection points, and the value of the center point is determined as the position of the electronic device.
- 根据权利要求23-29任一项所述的装置,其特征在于,所述电子设备、所述第一基站、及所述第二基站中的任意两个之间的距离小于或等于设定距离。The apparatus according to any one of claims 23-29, wherein a distance between any two of the electronic device, the first base station, and the second base station is less than or equal to a set distance .
- 根据权利要求23-30任一项所述的装置,其特征在于,所述电子设备前台运行的应用为设定应用。The apparatus according to any one of claims 23-30, wherein the application running in the foreground of the electronic device is a setting application.
- 根据权利要求31所述的装置,其特征在于,所述确定所述电子设备的位置之后,所述装置还包括第二确定单元和控制单元;The apparatus according to claim 31, wherein after the location of the electronic device is determined, the apparatus further comprises a second determination unit and a control unit;所述第二确定单元,用于基于所述电子设备的位置确定位置有效时长;the second determining unit, configured to determine the location valid duration based on the location of the electronic device;所述控制单元,用于启动计时器;the control unit for starting the timer;所述定位服务单元,还用于在所述计时器的计时时长大于或等于所述位置有效时长时,重新确定所述电子设备的位置。The location service unit is further configured to re-determine the location of the electronic device when the time duration of the timer is greater than or equal to the location valid duration.
- 根据权利要求32所述的装置,其特征在于,在所述基于所述电子设备的位置确定位置有效时长方面,所述第二确定单元具体用于:The apparatus according to claim 32, wherein, in terms of determining the effective duration of the location based on the location of the electronic device, the second determining unit is specifically configured to:基于所述电子设备的位置确定所述电子设备所处的目标场所;determining a target location where the electronic device is located based on the location of the electronic device;基于所述目标场所和当前系统时间确定位置有效时长。The location validity period is determined based on the target location and the current system time.
- 一种定位服务装置,其特征在于,应用于定位服务系统中的第二基站,所述定位服务系统还包括第一基站和电子设备,所述定位服务系统中的所述第二基站的数量为至少两个;所述装置包括:A positioning service device, characterized in that it is applied to a second base station in a positioning service system, the positioning service system further includes a first base station and electronic equipment, and the number of the second base stations in the positioning service system is at least two; the apparatus includes:接收单元,用于接收第一基站广播的第一数据帧,所述第一数据帧携带所述第一基站的位置;a receiving unit, configured to receive a first data frame broadcast by a first base station, where the first data frame carries the location of the first base station;发送单元,用于在接收到所述第一数据帧的目标延时后,广播第二数据帧,所述第二数据帧携带广播所述第二数据帧的所述第二基站的位置,所述第一数据帧和所述第二数据帧用于所述电子设备确定所述电子设备的位置,不同数据帧的广播时间不同。A sending unit, configured to broadcast a second data frame after receiving the target delay of the first data frame, where the second data frame carries the position of the second base station that broadcasts the second data frame, so The first data frame and the second data frame are used by the electronic device to determine the position of the electronic device, and different data frames have different broadcast times.
- 根据权利要求34所述的装置,其特征在于,所述装置还包括确定单元;The apparatus according to claim 34, wherein the apparatus further comprises a determining unit;所述确定单元,用于基于所述第二基站的时隙编号确定所述目标延时。The determining unit is configured to determine the target delay based on the time slot number of the second base station.
- 根据权利要求35所述的装置,其特征在于,所述装置还包括:时隙配置单元;The apparatus according to claim 35, wherein the apparatus further comprises: a time slot configuration unit;所述时隙配置单元,用于通过侦听所述定位服务系统中的至少一个基站的数据帧,以实现自身的时隙编号的配置。The time slot configuration unit is configured to configure its own time slot number by listening to the data frame of at least one base station in the positioning service system.
- 一种电子设备,其特征在于,包括处理器、存储器、通信接口,以及一个或多个程序,所述一 个或多个程序被存储在所述存储器中,并且被配置由所述处理器执行,所述程序包括用于执行如权利要求1-11任一项所述的方法中的步骤的指令。An electronic device comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, The program includes instructions for performing the steps in the method of any of claims 1-11.
- 一种基站,其特征在于,包括处理器、存储器、通信接口,以及一个或多个程序,所述一个或多个程序被存储在所述存储器中,并且被配置由所述处理器执行,所述程序包括用于执行如权利要求20-22任一项所述的方法中的步骤的指令。A base station, characterized by comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the The program includes instructions for performing the steps in the method of any of claims 20-22.
- 一种计算机可读存储介质,其特征在于,存储用于电子数据交换的计算机程序;其中,所述计算机程序使得计算机执行如权利要求1-11任一项所述的方法,或者所述计算机程序使得计算机执行如权利要求20-22任一项所述的方法。A computer-readable storage medium, characterized by storing a computer program for electronic data exchange; wherein the computer program causes a computer to execute the method according to any one of claims 1-11, or the computer program A computer is caused to perform the method of any of claims 20-22.
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