WO2022083344A1 - 一种定位方法和电子设备 - Google Patents

一种定位方法和电子设备 Download PDF

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Publication number
WO2022083344A1
WO2022083344A1 PCT/CN2021/117431 CN2021117431W WO2022083344A1 WO 2022083344 A1 WO2022083344 A1 WO 2022083344A1 CN 2021117431 W CN2021117431 W CN 2021117431W WO 2022083344 A1 WO2022083344 A1 WO 2022083344A1
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WO
WIPO (PCT)
Prior art keywords
electronic device
user
information
target device
positioning
Prior art date
Application number
PCT/CN2021/117431
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English (en)
French (fr)
Inventor
龙水平
雷文超
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP21881763.3A priority Critical patent/EP4216577A4/en
Priority to US18/250,127 priority patent/US20230379408A1/en
Publication of WO2022083344A1 publication Critical patent/WO2022083344A1/zh

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H04M1/72454—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to context-related or environment-related conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • 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
    • G01S5/0249—Determining position using measurements made by a non-stationary device other than the device whose position is being determined
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H04M1/72457—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to geographic location
    • 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
    • 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
    • G01S5/0252—Radio frequency fingerprinting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M2250/00—Details of telephonic subscriber devices
    • H04M2250/06—Details of telephonic subscriber devices including a wireless LAN interface
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/12—Detection or prevention of fraud
    • H04W12/121—Wireless intrusion detection systems [WIDS]; Wireless intrusion prevention systems [WIPS]
    • H04W12/122—Counter-measures against attacks; Protection against rogue devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/60—Context-dependent security
    • H04W12/63—Location-dependent; Proximity-dependent

Definitions

  • the present application relates to the field of positioning technology, and in particular, to a positioning method and an electronic device.
  • LBS location based services
  • the positioning technology can be roughly divided into outdoor positioning technology (such as global positioning system (GPS) positioning) and indoor positioning technology according to the use environment.
  • Indoor positioning technology also known as short-range positioning technology, can be used for indoor and specific area positioning.
  • Existing indoor positioning technologies mainly include the use of radio frequency identification (RFID), Bluetooth, ZigBee (ZigBee), wireless fidelity (Wi-Fi), ultrasonic, Light Emitting Diode (LED), Methods such as geomagnetic, ultra wide band (UWB), laser and computer vision.
  • RFID radio frequency identification
  • WiFi ZigBee
  • Wi-Fi wireless fidelity
  • LED Light Emitting Diode
  • UWB ultra wide band
  • UWB ultra wide band
  • Wi-Fi-based positioning technology is widely used.
  • the existing Wi-Fi positioning technology solutions mainly include the following:
  • Proximity detection method By receiving Wi-Fi signals from multiple known reference points within a limited range, it is judged whether the target device appears near a certain reference point according to characteristics such as signal strength.
  • the known reference point is an existing reference point.
  • centroid positioning method Calculate the centroid coordinates of multiple known reference points as the geographic location of the target device according to the geographic locations of multiple known reference points within the acceptable signal range of the target device;
  • Triangulation method by calculating the angle information of the target device to two known reference points, combined with the distance information between the reference points to determine a unique triangle, and then determine the geographic coordinates of the target device;
  • (f) Fingerprint positioning method An offline fingerprint database is established in the positioning space, and the database contains the Wi-Fi features of all known reference points at different locations. During the use of the database, the target device can be located by comparing the actual Wi-Fi features with the Wi-Fi features in the offline database.
  • centroid positioning method the multilateral positioning method, the triangulation positioning method and the fingerprint positioning method
  • all of these methods need to use multiple Wi-Fi hotspot devices as known reference points.
  • these technical solutions are not applicable, or other auxiliary means (such as using the electronic device to measure at multiple geographic locations) are required.
  • the fingerprint positioning method usually needs to divide the indoor scene into a grid in the offline stage, and then collect data at each division point to form a fingerprint database.
  • the granularity of grid division directly affects the time and manpower of data collection; on the other hand, the data collected for a certain indoor scene is difficult to adapt to other different indoor scenes.
  • the Wi-Fi features used are few, and it is difficult to precisely locate the location of the target device.
  • the positioning accuracy of centroid positioning method and fingerprint positioning method depends on the density of known reference points in the current acceptable signal range. For multilateral positioning and triangulation, they are susceptible to signal interference in the environment.
  • the present application provides a positioning method and electronic device, which can locate a target device by using one electronic device, do not need to have two or more known reference points (Wi-Fi hotspot devices), and do not rely on an offline fingerprint database, which can avoid Time, manpower and environmental constraints, and can reduce the influence of interference in the environment, thereby improving the accuracy of positioning.
  • Wi-Fi hotspot devices Wi-Fi hotspot devices
  • a first aspect provides a positioning method, which is applied to a first electronic device, comprising: receiving a first input operation from a user; determining a target device to be positioned and a predetermined motion trajectory in response to the first input operation; Acquire Wi-Fi feature information of the second electronic device and motion information of the first electronic device during the movement of the first electronic device according to the predetermined motion track; according to the Wi-Fi feature information and the motion information, displaying the location information of the target device.
  • the Wi-Fi feature information of the second electronic device and the first electronic device are acquired during the movement of the first electronic device according to the predetermined motion track.
  • the motion information of an electronic device can finally display the location information of the target device.
  • This solution does not need to use multiple Wi-Fi hotspot devices with known geographic location information, and forms multiple virtual Wi-Fi reference points by moving the first electronic device, and can locate the target by simply moving one electronic device.
  • the device is suitable for many scenarios, is less constrained by the environment, and is not easily interfered by signals in the environment, which effectively improves the positioning accuracy of the target device.
  • the target device is the first electronic device
  • the second electronic device is a Wi-Fi hotspot device with a known geographic location.
  • the solution provided by the present application can locate the current device and help the user move to a position with stronger signal according to the displayed location information of the current device and the known geographic location of the Wi-Fi hotspot device.
  • the target device is not the first electronic device
  • the second electronic device is the target device.
  • the solution provided in this application can locate other devices different from the current device, and can help the user to determine the specific location of the target device.
  • the method further includes: if the deviation between the motion information and the predetermined motion trajectory is greater than a first threshold, the first electronic device displays a first prompt information, the first prompt information is used to prompt the user that the movement is abnormal or the reliability of the positioning result is not high.
  • the first electronic device when the deviation between the user's motion information and the predetermined motion trajectory is greater than the first threshold, the first electronic device can give prompt information to the user, so that the user can exercise according to the predetermined motion trajectory, The positioning accuracy can be further improved.
  • the motion information further includes an attitude angle at which the user holds the first electronic device
  • the method further includes: if the attitude angle differs from a preset attitude angle If the deviation between the two is greater than the second threshold, the first electronic device displays second prompt information, the second prompt information is used to prompt the user to keep the way of holding the first electronic device or the positioning result may be inaccurate .
  • the first electronic device when the deviation between the attitude angle of the user holding the first electronic device and the preset attitude angle is greater than the second threshold, the first electronic device can also give prompt information to the user, so that the user can follow the Movement at a preset attitude angle can further improve the positioning accuracy.
  • the method further includes:
  • the first electronic device When the first electronic device continues to move, obtain the Wi-Fi feature information of the second electronic device and the motion information of the first electronic device; according to the Wi-Fi feature information and the motion information, The location information of the first electronic device and the updated location information of the target device are displayed.
  • the solution provided by the present application after the location information of the target device is determined, can further help the user to search for the target device and improve the user experience.
  • the location information of the first electronic device and the updated location of the target device are displayed according to the Wi-Fi feature information and the motion information.
  • information including:
  • the location information of the first electronic device and the updated location information of the target device are displayed in real time through a compass or a map in real time.
  • the first electronic device further displays third prompt information, where the third prompt information is used to prompt the distance between the first electronic device and the target device size.
  • the predetermined motion trajectory includes a motion trajectory formed by a user holding the first electronic device according to at least one of the following motion modes: in-situ circling, in-situ pendulum Arm way, walking way.
  • the predetermined motion trajectory is a motion trajectory formed by a user holding the first electronic device according to the motion mode of turning a circle or swinging an arm in place
  • the Displaying the location information of the target device according to the Wi-Fi feature information and the motion information including:
  • the Wi-Fi feature information and the motion information use the peak method or the trough method to estimate the position coordinates of the target device; and display the position information of the target device according to the estimated position coordinates.
  • the predetermined motion trajectory is a motion trajectory formed by a user holding the first electronic device according to a walking motion mode
  • the Wi-Fi feature information and the motion information displaying the location information of the target device, including:
  • a heat map method is used to estimate the position coordinates of the target device; and according to the estimated position coordinates, the position information of the target device is displayed.
  • the first electronic device Acquiring Wi-Fi feature information of the second electronic device during the movement process according to the predetermined motion trajectory includes:
  • the first electronic device receives the Wi-Fi data sent by the target device; according to the Wi-Fi data, the first electronic device extracts the Describe the Wi-Fi feature information of the target device.
  • the first electronic device Acquiring Wi-Fi feature information of the second electronic device during the movement process according to the predetermined motion trajectory includes:
  • the Wi-Fi network card of the first electronic device is set to the sniffing mode; the first electronic device receives the Wi-Fi data of the target device through the Wi-Fi network card; according to the Wi-Fi data, The first electronic device extracts Wi-Fi feature information of the target device.
  • the first electronic device when the first electronic device and the target device have not established a communication connection and are not in a network covered by the same Wi-Fi route, the first electronic device receives the Wi-Fi data of the target device through the Wi-Fi network card, and The Wi-Fi feature information is extracted from it to locate the target device, and it can timely discover and locate malicious terminals or hidden cameras connected to the private router, thereby reducing the occurrence of violations of user privacy.
  • the target device is a video surveillance device.
  • the first electronic device can locate the video surveillance device according to the acquired information, thereby reducing the occurrence of user privacy violation events and ensuring user privacy security.
  • the motion information of the first electronic device includes one or more of the following information: acceleration, angular velocity, magnetic intensity, attitude information, position information, and pedometer data .
  • the Wi-Fi feature information includes one or more of the following information: received signal strength indicator RSSI, channel state information CSI, transmission rate, and signal-to-noise ratio.
  • the predetermined motion trajectory is automatically determined by the first electronic device.
  • an apparatus in a second aspect, is provided, the apparatus is included in an electronic device, and the apparatus has a function of implementing the behavior of the electronic device in the above-mentioned aspect and possible implementations of the above-mentioned aspect.
  • the functions can be implemented by hardware, or by executing corresponding software by hardware.
  • the hardware or software includes one or more modules or units corresponding to the above functions.
  • an electronic device comprising: one or more processors; a memory; one or more application programs; and one or more computer programs. Wherein, one or more computer programs are stored in the memory, the one or more computer programs comprising instructions. When the instruction is executed by the electronic device, the electronic device is caused to execute the positioning method in any possible implementation of the first aspect.
  • a chip system including at least one processor, and when a program instruction is executed in the at least one processor, the positioning method in any possible implementation of the first aspect can be implemented in the electronic device. The functionality on the device is implemented.
  • a computer storage medium including computer instructions, which, when the computer instructions are executed on an electronic device, cause the electronic device to execute the positioning method in any possible implementation of the first aspect.
  • a sixth aspect provides a computer program product that, when the computer program product runs on an electronic device, enables the electronic device to perform the positioning method in any of the possible designs of the first aspect.
  • FIG. 1 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a software structure of an electronic device provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a group of GUIs provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of another group of GUIs provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of another set of GUIs provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another set of GUIs provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of another set of GUIs provided by an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a positioning method provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of capturing a Wi-Fi feature of a device based on a cooperative manner provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of capturing a Wi-Fi feature of a device based on an air interface sniffing method provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a random walking of a user according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of positioning a target device according to a predetermined motion trajectory according to an embodiment of the present application.
  • FIG. 13 is a schematic diagram of estimating the position of a target device to be located based on a heat map method according to an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a coordinate system provided by an embodiment of the present application.
  • FIG. 15 is a schematic diagram of a user's in-situ motion holding manner provided by an embodiment of the present application.
  • FIG. 16 is a schematic diagram of a user spinning a circle in place according to an embodiment of the present application.
  • FIG. 17 is a schematic diagram of locating the target device K based on a motion mode of in-situ circling provided by an embodiment of the present application.
  • FIG. 18 is a schematic diagram of a result obtained by locating the target device K based on a motion mode of in-situ circling provided by an embodiment of the present application.
  • FIG. 19 is a schematic diagram of a user swinging an arm in place according to an embodiment of the present application.
  • FIG. 20 is a schematic diagram of a user positioning a target device based on an in-situ arm swinging manner according to an embodiment of the present application.
  • FIG. 21 is a schematic diagram of guiding a user to find a target device based on a real-time compass provided by an embodiment of the present application.
  • FIG. 22 is a schematic diagram of guiding a user to find a target device based on a real-time map provided by an embodiment of the present application.
  • FIG. 23 is a schematic diagram of another set of GUIs provided by an embodiment of the present application.
  • FIG. 24 is a schematic block diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 25 is a schematic block diagram of another electronic device provided by an embodiment of the present application.
  • references in this specification to "one embodiment” or “some embodiments” and the like mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application.
  • appearances of the phrases “in one embodiment,” “in some embodiments,” “in other embodiments,” “in other embodiments,” etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean “one or more but not all embodiments” unless specifically emphasized otherwise.
  • the terms “including”, “including”, “having” and their variants mean “including but not limited to” unless specifically emphasized otherwise.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features.
  • a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • LBS that is, the use of various positioning technologies to obtain the current location of electronic devices and provide information resources and basic services for electronic devices has become increasingly prominent. Including commercialization services, information search services, transportation services, security services and rescue search services, etc. GPS-based navigation is a typical application of LBS.
  • LBS includes users, communication networks, positioning, service and content providers, of which the positioning part is its basic part and is used to determine the location of electronic equipment.
  • the positioning technology can be roughly divided into outdoor positioning technology (such as GPS positioning) and indoor positioning technology according to the use environment.
  • Indoor positioning technology also known as short-range positioning technology, can be used for indoor and specific area positioning.
  • Existing indoor positioning technologies mainly include RFID, Bluetooth, ZigBee, Wi-Fi, ultrasonic, LED, geomagnetic, UWB, laser and computer vision methods. Due to the wide deployment of Wi-Fi at present, the Wi-Fi-based positioning technology has the characteristics of low cost and easy promotion, so it has been widely studied.
  • each Wi-Fi device has a globally unique media access control address (MAC) address.
  • the positioning device is programmed to scan and collect Wi-Fi signals broadcast by Wi-Fi devices into the surrounding space, regardless of whether they are encrypted or not.
  • the Wi-Fi device to be located can be determined according to the MAC address in the Wi-Fi signal, and the distance between the positioning device and the Wi-Fi device can be calculated based on various characteristics of the signal, such as signal strength, etc.
  • the positioning device analyzes the data locally or sends it to the location server, so as to obtain the geographic location of the Wi-Fi device to be located.
  • Wi-Fi device positioning can include locating smart terminals (finding mobile phones, tablets, bracelets, such as shopping for children with smart bracelets), finding cars in garages, locating malicious terminals connected to private routers, and locating malicious terminals.
  • Wi-Fi devices such as video surveillance devices such as hidden cameras, etc.
  • the present application provides a positioning method.
  • the method is applied to a first electronic device.
  • the first electronic device moves according to the predetermined motion trajectory to obtain the first electronic device.
  • the Wi-Fi feature information of the second electronic device and the motion information of the first electronic device can finally display the location information of the target device.
  • the target device to be located above may be the first electronic device, or may be other electronic devices other than the first electronic device.
  • the second electronic device is a Wi-Fi hotspot device with a known geographic location; when the target device is other electronic devices other than the first electronic device, the second electronic device for the target device.
  • the existing centroid positioning method, multilateral positioning method, triangulation positioning method and fingerprint positioning method all need to use multiple (greater than or equal to 2) Wi-Fi hotspot devices as known reference points, and cannot use only one electronic device to locate the target device .
  • the positioning accuracy of the centroid positioning method and the fingerprint positioning method depends on the known reference point layout density of the current acceptable signal range, and the multilateral positioning method and the triangular positioning method are susceptible to signal interference in the environment.
  • the fingerprint positioning method also usually needs to divide the indoor scene into a grid in the offline stage, and then collect data at each division point to form a fingerprint database, which consumes time and manpower.
  • the positioning method provided by the present application can locate the target device using one electronic device, does not need to have two or more known reference points (Wi-Fi hotspot devices), and does not rely on an offline fingerprint database, Time, manpower and environmental constraints can be avoided, and the influence of interference in the environment can be reduced, thereby improving positioning accuracy.
  • Wi-Fi hotspot devices Wi-Fi hotspot devices
  • the positioning method provided by the embodiments of the present application can be applied to mobile phones, tablet computers, wearable devices, in-vehicle devices, augmented reality (AR)/virtual reality (VR) devices, notebook computers, super mobile personal computers ( On electronic devices such as ultra-mobile personal computer, UMPC), netbook, personal digital assistant (personal digital assistant, PDA), the embodiment of the present application does not impose any restrictions on the specific type of the electronic device.
  • the first electronic device, the second electronic device and the target device can all be any type of electronic device described above, and include various components of the electronic device described below.
  • FIG. 1 shows a schematic structural diagram of an 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.
  • application processor application processor, AP
  • modem processor graphics processor
  • image signal processor image signal processor
  • ISP image signal processor
  • controller video codec
  • digital signal processor digital signal processor
  • baseband processor baseband processor
  • neural-network processing unit neural-network processing unit
  • different processing units may be independent components, or may be integrated in one or more processors.
  • the processor can be used to execute the motion trajectory estimation algorithm and the positioning algorithm, so as to realize the positioning of the target device.
  • the controller can generate an operation control signal according to the instruction operation code and timing signal, and complete the control of fetching and executing instructions.
  • a memory may also be provided in the processor 110 for storing instructions and data, for example, the first electronic device may store a motion trajectory estimation algorithm and a positioning algorithm.
  • 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 100 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 (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 100, and can also be used to transmit data between the electronic device 100 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 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 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 Wi-Fi networks), bluetooth (BT), global navigation satellite system (GNSS) ), frequency modulation (FM), near field communication (NFC), infrared technology (infrared, IR) and other wireless communication solutions.
  • WLAN wireless local area networks
  • BT Bluetooth
  • GNSS global navigation satellite system
  • FM frequency modulation
  • NFC near field communication
  • IR infrared technology
  • IR infrared technology
  • 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 .
  • the acquisition of the Wi-Fi feature by the first electronic device may be implemented through a Wi-Fi network card carried by the first electronic device, and the Wi-Fi network card may be the wireless communication module 160 .
  • the first electronic device establishes a communication connection with the second electronic device or is in a network covered by the same Wi-Fi route, the first electronic device sends "Please periodically send a message to the second electronic device through the wireless communication module 160 in the normal business mode. I send xxx data" command, and receive the xxx data sent by the second electronic device via the wireless communication module 160.
  • the first electronic device when the first electronic device has not established a communication connection with the second electronic device, nor is in the network covered by the same Wi-Fi route as the second electronic device, the first electronic device sets the wireless communication module 160 to monitor The mode (namely, the sniffing mode), which captures the Wi-Fi data in the air interface, and filters out the Wi-Fi data of the second electronic device therefrom.
  • the mode namely, the sniffing mode
  • the first electronic device if the user chooses to locate the current device and requires the user to be connected to a nearby known Wi-Fi hotspot device, the first electronic device will request the server for geographic location information of the connected Wi-Fi hotspot through the wireless communication module 160 .
  • 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 organic light-emitting diode
  • flexible light-emitting diode flexible light-emitting diode (flex light-emitting diode, FLED), Miniled, MicroLed, Micro-oLed, quantum dot light-emitting diode (quantum dot light emitting diodes, QLED) and so on.
  • electronic device 100 may include one or more display screens 194 .
  • the first electronic device displays the movement track of the first electronic device in real time through the display screen 194 during the positioning process, and guides the user to find the target device in real time in the form of a radar chart or
  • the display screen 194 in FIG. 1 can be bent.
  • the above-mentioned display screen 194 can be bent means that the display screen can be bent to any angle at any position, and can be maintained at the angle.
  • the display screen 194 of the electronic device 100 may be a flexible screen.
  • the flexible screen has attracted much attention due to its unique characteristics and great potential.
  • flexible screens have the characteristics of strong flexibility and bendability, which can provide users with new interactive methods based on the bendable characteristics, and can meet more needs of users for electronic devices.
  • 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 the like.
  • 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 volume control method, 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 the operating system; the stored program area may also store one or more applications (such as 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 . Methods of controlling volume, and 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.
  • 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.
  • the gyro sensor 180B may be used to determine the motion attitude of the electronic device 100 .
  • the gyro sensor 180B may acquire its own motion data, for example, the angular velocity of the electronic device 100 around three axes (ie, X, Y, and Z axes) may be acquired.
  • the gyro sensor 180B can be used for image stabilization. Exemplarily, when the shutter is pressed, the gyro sensor 180B detects the shaking angle of the electronic device 100, calculates the distance that the lens module needs to compensate according to the angle, and allows the lens to offset the shaking of the electronic device 100 through reverse motion to achieve anti-shake.
  • the gyro sensor 180B can also be used for navigation and somatosensory game scenarios.
  • the magnetic sensor 180D includes a motion sensor such as a three-axis magnetometer.
  • the motion data of the electronic device 100 itself can be acquired through the magnetic sensor 180D, for example, the orientation of the electronic device 100 itself can also be acquired.
  • the acceleration sensor 180E can detect the acceleration of the electronic device 100 in various directions (generally three axes), and can also be used to identify the posture of the electronic device. For example, the acceleration sensor 180E can obtain the acceleration of each axis of the first electronic device, posture information, etc. .
  • the electronic device 100 may also include a pedometer.
  • the number of steps and the like of the user holding the electronic device can be acquired through a pedometer.
  • the fingerprint sensor 180H is used to collect fingerprints.
  • the electronic device 100 can use the collected fingerprint characteristics to realize fingerprint unlocking, accessing application locks, taking pictures with fingerprints, answering incoming calls with fingerprints, and the like.
  • the temperature sensor 180J is used to detect the temperature.
  • the electronic device 100 uses the temperature detected by the temperature sensor 180J to execute a temperature processing strategy.
  • Touch sensor 180K also called “touch panel”.
  • the touch sensor 180K may be disposed on the display screen 194 , and the touch sensor 180K and the display screen 194 form a touch screen, also called a “touch screen”.
  • the touch sensor 180K is used to detect a touch operation on or near it.
  • the touch sensor can pass the detected touch operation to the application processor to determine the type of touch event.
  • Visual output related to touch operations may be provided through display screen 194 .
  • the touch sensor 180K may also be disposed on the surface of the electronic device 100 , which is different from the location where the display screen 194 is located.
  • FIG. 2 is a block diagram of the software structure of the electronic device 100 according to the embodiment of the present application.
  • the layered architecture divides the software into several layers, and each layer has a clear role and division of labor. Layers communicate with each other through software interfaces.
  • the Android system is divided into four layers, which are, from top to bottom, an application layer, an application framework layer, an Android runtime (Android runtime) and a system library, and a kernel layer.
  • the application layer can include a series of application packages.
  • the application package may include applications such as camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, and short message.
  • the application package may also include the application of the first application mentioned below.
  • the application framework layer provides an application programming interface (API) and a programming framework for applications in the application layer, and the application framework layer includes some predefined functions.
  • API application programming interface
  • the application framework layer may include a window manager, a content provider, a view system, a telephony manager, a resource manager, a notification manager, and the like.
  • the window manager is used to manage the window program.
  • the window manager can obtain the size of the display screen, determine whether there is a status bar, lock the screen, and take screenshots.
  • Content providers are used to store and retrieve data and make these data accessible to applications.
  • the data may include video, images, audio, calls made and received, browsing history and bookmarks, phone books, and the like.
  • the view system includes visual controls, such as controls for displaying text, controls for displaying pictures, and so on. View systems can be used to build applications.
  • a display interface can consist of one or more views.
  • the display interface including the short message notification icon may include a view for displaying text and a view for displaying pictures.
  • the phone manager is used to provide the communication function of the electronic device 100 .
  • the management of call status including connecting, hanging up, etc.).
  • the resource manager provides various resources for the application, such as localization strings, icons, pictures, layout files, video files, and so on.
  • the notification manager enables applications to display notification information in the status bar, which can be used to convey notification-type messages, which can disappear automatically after a short stay, without user interaction, or with user interaction for the next step.
  • the notification manager may notify the user of messages related to the location of the target device.
  • the notification manager can also display notifications in the status bar at the top of the system in the form of graphs or scroll bar text, such as notifications of applications running in the background, and notifications on the screen in the form of dialog windows. For example, prompting text information in the status bar, making a sound, vibrating electronic equipment, flashing indicator lights, etc.
  • a system library can include multiple functional modules. For example: surface manager (surface manager), media library (media library), 3D graphics processing library (eg: OpenGL ES), 2D graphics engine (eg: SGL), etc.
  • surface manager surface manager
  • media library media library
  • 3D graphics processing library eg: OpenGL ES
  • 2D graphics engine eg: SGL
  • the Surface Manager is used to manage the display subsystem and provides a fusion of 2D and 3D layers for multiple applications.
  • the media library supports playback and recording of many common audio and video formats, as well as still image files.
  • the media library can support a variety of audio and video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG and PNG, etc.
  • the 3D graphics processing library is used to realize 3D graphics drawing, image rendering, compositing and layer processing.
  • 2D graphics engine is a drawing engine for 2D drawing.
  • the kernel layer is the layer between hardware and software.
  • the kernel layer includes at least display drivers, camera drivers, audio drivers, and sensor drivers.
  • the workflow of the software and hardware of the electronic device 100 is exemplarily described below with reference to the scenario of starting the first application.
  • a corresponding hardware interrupt is sent to the kernel layer.
  • the kernel layer processes touch operations into raw input events (including touch coordinates, timestamps of touch operations, etc.). Raw input events are stored at the kernel layer.
  • the application framework layer obtains the original input event from the kernel layer, and identifies the control corresponding to the input event. Taking the touch operation as a touch click operation, and the control corresponding to the click operation is the control of the first application icon, as an example, the first application invokes the interface of the application framework layer, starts the first application, and then starts the Wi-Fi by calling the kernel layer. -Fi, etc., to receive data from other electronic devices through the wireless communication module 160, such as Wi-Fi feature data from a target device or a Wi-Fi hotspot device with a known geographic location.
  • the target device to be located may be the first electronic device itself, or may be other electronic devices different from the first electronic device, which is not specifically limited in this application. If the target device to be located is the first electronic device itself, during the positioning process, it may be located with reference to other electronic devices with known geographic locations.
  • the target device to be located in this embodiment of the present application may be a device once connected to the first electronic device or a device under the same Wi-Fi, such as a children's watch, a sports bracelet, a tablet, a car, etc.;
  • the target device to be located may also be a device detected by the first electronic device after scanning, such as locating a malicious terminal connected to a private router, a hidden camera, and the like.
  • Case 1 The target device to be located and the first electronic device are the same device
  • Mode 1 The movement mode of positioning is the walking mode
  • FIG. 3 shows a set of graphical user interfaces (GUI) of the first electronic device, wherein, from (a) in FIG. 3 to (m) in FIG. 3 , it is shown that the first electronic device can The process of determining its own location under the first application.
  • GUI graphical user interfaces
  • the GUI is the desktop of the first electronic device.
  • the first electronic device detects that the user clicks the icon 301 of the first application on the desktop, it can start the positioning application and display the GUI shown in (b) in FIG. 3 , which can be called a positioning description interface.
  • the interface of the first electronic device may prompt the user about the function of the first application, for example, may display “This application can help the user to find or discover the current device or other devices (as known bracelets, children’s watches, etc.)”.
  • the user chooses to start targeting.
  • the first electronic device detects that the user clicks the icon 302 to start positioning, the first electronic device displays a GUI as shown in (c) of FIG. 3 .
  • the interface of the first electronic device may display “Please select whether to locate the current device”. If the user clicks the icon 303 corresponding to “Yes”, the first electronic device detects that the user clicks After the operation of the icon 303 corresponding to "Yes”, the GUI shown in (d) of FIG. 3 can be displayed. If the current device is selected to be located, on the premise that the user has connected to a known nearby Wi-Fi hotspot device, the first electronic device requests the server for geographic location information of the connected Wi-Fi hotspot through the Wi-Fi network card.
  • the interface of the first electronic device may display “Please select the following motion modes for positioning” and options of multiple motion modes “circle in place”, “swing arm in place” and “ “Walk”, if the user clicks the icon 304 corresponding to “Walk”, the first electronic device can display the GUI shown in (e) of FIG. 3 after detecting that the user clicks the icon 304 corresponding to “Walk” .
  • the first electronic device interface can further display various options under the walking mode, including but not limited to "line”, “polyline”, “circle”, “rectangle” and “random”. The user can further select the corresponding option. Exemplarily, after detecting that the user clicks on the icon 305 corresponding to the "circle", the first electronic device may display the GUI shown in (f) of FIG. 3 .
  • the interface of the first electronic device may display "Please select a positioning result display mode", for example, the interface displays "whether to display the positioning result in real time", if the user clicks the yes icon , the first electronic device may display the GUI shown in (g) of FIG. 3 after detecting that the user clicks the Yes icon 306 .
  • the interface of the first electronic device may display a "movement mode description", and the movement mode description may be "Please move the handheld device slowly along the current environment according to a circular trajectory, and keep the Equipment level", the user can click the "understood” icon 307 after making sure to read and understand the description of the movement mode.
  • the first electronic device can display the image shown in FIG. 3 .
  • the GUI shown in (h) The GUI shown in (h).
  • the first electronic device interface may display "starting hardware positioning capability". After the first electronic device completes the activation of the hardware positioning capability, the GUI shown in (i) of FIG. 3 may be displayed.
  • the position shown by the arrow in the figure is the current position of the user, and the first electronic device interface can prompt the user to "walk slowly in a circle", and the user can hold the An electronic device walks slowly. If the user does not walk in the motion mode selected in (e) of FIG. 3 , the GUI shown in (j) of FIG. 3 may be displayed. If the user walks according to the motion mode selected in (e) of FIG. 3 , the GUI shown in (k) of FIG. 3 may be displayed.
  • the user’s walking trajectory is a random walking trajectory (the random walking trajectory is the actual motion trajectory formed by the user during the moving process), while the user’s walking trajectory in ( The movement mode selected in e) is a circle (circle is a predetermined movement trajectory), therefore, the first electronic device interface can display "the actual movement trajectory is inconsistent with the selected movement method, and the positioning result may be inaccurate" (corresponding to this the first reminder of the application).
  • the user can walk according to the selected walking trajectory, and the GUI shown in (k) of FIG. 3 can be displayed.
  • the first electronic device may display first prompt information.
  • the deviation between the actual motion trajectory and the predetermined motion trajectory may refer to the distance between the current position of the user and the closest point on the predetermined motion trajectory.
  • the first threshold may be a default distance value of the first electronic device, or may be a distance value input by a user, which is not limited in this application.
  • the user can hold the first electronic device from a certain position (the position of the small dot shown in (j) in FIG. 3 ) according to the selected movement mode (ie the circle shape) slowly walk to the position shown by the arrow, if the user does not maintain the horizontal holding mode of the first electronic device, the first electronic device interface can prompt the user "please maintain the horizontal holding mode of the first electronic electronic device", If the user continues to walk slowly without adjusting the way of holding the first electronic device for a long time, a GUI as shown in (1) in FIG. 3 may be displayed.
  • the first electronic device interface prompts the user that “the posture is abnormal, and the positioning result may be inaccurate” (corresponding to the second prompt information of the present application). After the holding of the electronic device, continue walking slowly, and the GUI shown in (m) in FIG. 3 can be displayed.
  • the user can hold the first electronic device from a certain position (the position of the small dot shown in (m) in FIG. 3 ) according to the selected movement mode (ie the circle (shape) slowly walk to the position indicated by the arrow, and the GUI shown in (n) in FIG. 3 is displayed.
  • the selected movement mode ie the circle (shape) slowly walk to the position indicated by the arrow
  • the first electronic device (HUAWEI Mate 10 shown in (n) in FIG. 3 ) is located 2m away from the router with a known geographic location. It can be considered that the positioning of the first electronic device is completed.
  • the router shown in (n) in FIG. 3 is only an example, and in some embodiments, the router can be replaced with any other device with a known geographic location, which is not limited.
  • the location indicated by the arrow is the real-time location of the user.
  • the position of the arrow shown in (i) in FIG. 3 is the initial position of the user, when the user moves from the position of the small dot shown in (j) in FIG. ), when walking to the position of the arrow shown in (j) in FIG. 3 , the position shown by the arrow is the current position of the user, and the user is still in the center of the map.
  • the arrow moves as the user walks, but the map does not move in real time.
  • the user can first open the first application, and select the positioning of the current device, the movement mode of positioning, and the display mode of positioning results.
  • the specific process please refer to (a) in FIG. (i) GUI shown.
  • the interface of the first electronic device displays "please walk slowly in a circle"
  • the user can hold the first electronic device and walk slowly. If the user does not walk according to the walking trajectory selected in FIG. 3(e), the GUI shown in FIG. 4(a) may be displayed.
  • the walking trajectory of the user is a random walking trajectory
  • the walking trajectory selected by the user in (e) in FIG. 3 is a circle. Therefore, the first electronic The device interface may display "The actual motion trajectory is inconsistent with the selected motion mode, and the positioning result may be inaccurate" (corresponding to the first prompt message of this application). At this time, the user can walk according to the selected walking trajectory, and the GUI shown in (b) of FIG. 4 can be displayed.
  • the user can hold the first electronic device and continue to walk slowly according to the selected walking trajectory (ie, the circular trajectory). After the user has walked for a period of time, if the first electronic device is located , the GUI shown in (c) of Figure 4 is displayed.
  • the first electronic device (HUAWEI Mate 10 shown in (c) in Figure 4 ) is located 2m away from the router with a known geographic location. It can be considered that the positioning of the first electronic device is completed.
  • the starting point of the user's movement remains unchanged in the map, and the location shown by the arrow is the real-time location of the user. As the user walks, the arrow moves with it, but the map does not follow Users move and move. Exemplarily, when the user walks from the upward arrow position shown in FIG. 4(b) to the downward arrow position shown in FIG. The location is the user's current location, and the user is not at the center of the map.
  • Method 2 The movement method of positioning is the in-situ rotation method
  • FIG. 5 shows yet another set of GUIs of the first electronic device, see the GUI shown in (a) of FIG. 5 , where the GUI is the desktop of the first electronic device.
  • the first electronic device detects that the user clicks the icon 501 of the first application on the desktop, it can start the positioning application and display the GUI shown in (b) in FIG. 5 , which can be called a positioning description interface .
  • the interface can prompt the user about the function of the first application, for example, it can display "This application can help the user to find or discover the current device or other devices (such as known wristbands, children's bracelets, etc.) watch, etc.)”.
  • the first electronic device detects that the user clicks the icon 502 to start positioning, the first electronic device can start positioning the target device to be positioned, and displays the GUI shown in (c) of FIG. 5 .
  • the interface of the first electronic device may display “Please select whether to locate the current device”. If the user clicks the icon 503 corresponding to “Yes”, the first electronic device detects that the user clicks The operation of the icon 503 corresponding to "Yes” can display the GUI shown in (d) of FIG. 5 .
  • the interface of the first electronic device may display “Please select the following motion mode for positioning”. If the user clicks the icon 504 corresponding to “circle in place”, the first electronic device is detecting After the user clicks the icon 504 corresponding to "circle in place", the GUI shown in (e) of FIG. 5 can be displayed.
  • the interface of the first electronic device may display a "movement mode description", and the movement mode description may be "Please take the standing point as the center of the circle, the arm length as the radius, and move the feet slowly to Change the orientation, turn counterclockwise/clockwise for 3 circles, and keep the device level during the rotation.”
  • the user can click the icon that he knows, and the first electronic device detects that the user clicks the icon that he knows.
  • the GUI shown in (f) of FIG. 5 can be displayed.
  • the number of rotations in the embodiments of the present application may be obtained based on prior data, and the number of rotations displayed on the interface may be n, where n is a positive integer greater than or equal to 1, and is not limited.
  • the first electronic device interface may display "Starting hardware positioning capability". After the first electronic device completes the activation of the hardware positioning capability, the GUI shown in (g) of FIG. 5 may be displayed.
  • the first electronic device interface can prompt the user “Please rotate slowly in the direction shown in the figure”, and the user rotates according to the prompt of the interface, and the display as shown in FIG. 5 can be displayed.
  • the interface of the first electronic device may display “The first rotation has been completed, please continue to rotate”, and the user can Follow the prompts further to turn.
  • the first electronic device when the first electronic device detects that the user's arm does not follow the interface prompts, it can prompt the user "Please keep the first electronic device level". If the user does not adjust the state of the first electronic device for a long time, the GUI shown in (j) of FIG. 5 may be displayed.
  • the first electronic device interface prompts the user that “the posture is abnormal and the positioning result may be inaccurate” (corresponding to the second prompt information of the present application). At this time, the user can re-circle according to the prompt , the GUI shown in (k) in FIG. 5 can be displayed.
  • the user can hold the first electronic device to make a circle again.
  • the first electronic device detects that the user has completed one circle according to the prompt, it can display “The second circle of rotation has been completed, please continue. "Rotate”, the user can further rotate according to the prompt to display the GUI as shown in (1) in FIG. 5 .
  • the user can hold the first electronic device and turn around again.
  • the first electronic device detects that the user has completed 1 turn according to the prompt, it can display “The 3rd turn has been completed, stop turning. ".
  • the GUI shown in (m) of FIG. 5 may be displayed.
  • the first electronic device (the HUAWEI Mate 10 shown in (l) in FIG. 5 ) is located 2m away from the router with a known geographic location. It can be considered that the positioning of the first electronic device is completed.
  • Method 3 The movement method of positioning is the in-situ swing arm method
  • FIG. 6 shows yet another set of GUIs of the first electronic device, see the GUI shown in (a) of FIG. 6 , where the GUI is the desktop of the first electronic device.
  • the first electronic device detects that the user clicks the icon 601 of the first application on the desktop, it can start the positioning application and display the GUI shown in (b) in FIG. 6 , which can be called a positioning explanation interface .
  • the interface can prompt the user about the function of the first application, for example, it can display "This application can help the user to find or discover the current device or other devices (such as known wristbands, children's bracelets, etc.) watch, etc.)”.
  • the first electronic device detects that the user clicks the icon 602 for starting positioning, it can start positioning the target device to be positioned, and display the GUI shown in (c) of FIG. 6 .
  • the interface of the first electronic device may display “Please select whether to locate the current device”. If the user clicks the icon 603 corresponding to “Yes”, the first electronic device detects that the user clicks After the operation of the icon 603 corresponding to "Yes”, the GUI shown in (d) of FIG. 6 can be displayed.
  • the interface of the first electronic device may display “Please select the following motion for positioning.” If the user clicks the icon 604 corresponding to “swing the arm in place”, the first electronic device will After detecting that the user clicks the icon 604 corresponding to the "swing arm in place", the GUI shown in (e) of FIG. 6 may be displayed.
  • the first electronic device interface may display "movement mode description", and the movement mode description may be "Please take the standing point as the center of the circle, the arm length as the radius, and the arm in the two-dimensional space. Swing the arm back and forth 3 times in the middle, and keep the holding method of the device during the arm swing process.”
  • the user can click the icon that he knows, and the first electronic device detects that the user clicks the icon that he knows.
  • the GUI shown in (f) of FIG. 6 can be displayed.
  • the number of times the arm swings in the embodiment of the present application may be obtained based on prior data, and the number of times displayed on the interface may be m, where m is a positive integer greater than or equal to 1, and is not limited.
  • the first electronic device interface may display "starting hardware positioning capability". After the first electronic device finishes activating the hardware positioning capability, a GUI as shown in (g) of FIG. 6 may be displayed.
  • the first electronic device interface can prompt the user “Please swing the arm in the direction shown in the figure”, the user can swing the arm according to the prompt, and the display as shown in FIG. 6 can be displayed.
  • the first electronic device when the first electronic device detects that the user has completed swinging the arm once according to the prompt, it can display "The arm swing has been completed once, please continue to swing the arm", and the user can further follow the prompt. Swing arm.
  • the first electronic device when the first electronic device detects that the user's arm does not follow the interface prompts, it can prompt the user to "keep holding the first electronic device". If the user does not adjust the way of holding the first electronic device for a long time, the GUI shown in (j) of FIG. 6 may be displayed.
  • the first electronic device interface prompts the user that “the posture is abnormal, and the positioning result may be inaccurate” (corresponding to the second prompt information of the present application).
  • the user can follow the prompt to reposition arm, the GUI shown in (k) of FIG. 6 can be displayed.
  • the user can hold the first electronic device to swing the arm again, and when the first electronic device detects that the user has completed swinging the arm once according to the prompt, it can display “The arm swing has been completed twice, Please continue to swing the arm", the user can further follow the prompts to swing the arm.
  • the user can hold the first electronic device to swing the arm again, and when the first electronic device detects that the user has completed swinging the arm once according to the prompt, it can display “The arm has been swinging 3 times, Stop swinging”. After the first electronic device detects that the user clicks on the icon 606 for viewing the positioning result, the GUI shown in (m) of FIG. 6 may be displayed.
  • the first electronic device (HUAWEI Mate 10 shown in (m) in FIG. 6 ) is located 2m away from the router with a known geographic location. It can be considered that the positioning of the first electronic device is completed.
  • Case 2 The target device to be located and the first electronic device are different devices
  • Mode 1 The movement mode of positioning is the walking mode
  • FIG. 7 shows a set of GUIs of the first electronic device, wherein, from (a) in FIG. 7 to (t) in FIG. 7 , it is shown that the first electronic device can determine the target to be located under the first application The location of the device.
  • the GUI is the desktop of the first electronic device.
  • the first electronic device detects that the user clicks the icon 701 of the first application on the desktop, it can start the positioning application and display the GUI shown in (b) in FIG. 7 , which can be called a positioning explanation interface.
  • the interface can prompt the user about the function of the first application, for example, it can display "This application can help the user to find or discover the current device or other devices (such as known wristbands, children's bracelets, etc.) watch, etc.)”.
  • the first electronic device may display the GUI shown in (c) of FIG. 7 .
  • the interface of the first electronic device may display “Please select whether to locate the current device”, when the first electronic device detects that the user clicks the operation of the icon 703 corresponding to “No” , the GUI shown in (d) of FIG. 7 can be displayed.
  • the first electronic device interface can display "Please select the following devices", including: sports bracelet (HUAWEI bracelet 4Pro as shown in the figure), children's watch (as shown in the figure) HUAWEI Children's Watch 3Pro shown in the picture), car (Car Navigation shown in the picture), tablet (MediaPad 7Youth shown in the picture) or mobile phone (HUAWEI Mate 10Pro shown in the picture), etc.
  • sports bracelet HUAWEI bracelet 4Pro as shown in the figure
  • children's watch as shown in the figure
  • car Car Navigation shown in the picture
  • tablet MediaPad 7Youth shown in the picture
  • mobile phone HUAWEI Mate 10Pro shown in the picture
  • the first electronic device 7(d) above can be devices under the same router as the first electronic device, such as HUAWEI Children's Watch 3Pro, MediaPad 7Youth, and HUAWEI Mate 10Pro that are under the same router as the first electronic device; It can also be a device that has been connected to the first electronic device, such as the HUAWEI bracelet 4Pro and Car Navigation connected to the first electronic device via Bluetooth; it can also be a device that has been scanned and detected by the first electronic device, for example, the user carries a mobile phone Entering the hotel, the mobile phone detects the hidden pinhole camera in the room (not shown in the picture). Assuming that the user clicks the operation of the icon 704 corresponding to the mobile phone, after detecting this operation, the first electronic device can display the GUI shown in (e) of FIG. 7 .
  • the first electronic device interface may display “Please select the following motion modes to locate” and options of multiple motion modes “Circle in place”, “Swing arm in place” and “ “Walk”, if the user clicks the icon 705 corresponding to “Walk”, the first electronic device can display the GUI as shown in (f) in FIG. 7 after detecting that the user clicks the icon 705 corresponding to “Walk” .
  • the first electronic device interface can further display various options under the walking mode, including but not limited to "line”, “polyline”, “circle”, “rectangle” and “random”. The user can further select the corresponding option. After detecting that the user clicks on the icon 706 corresponding to the "circle", the first electronic device may display the GUI shown in (g) of FIG. 7 .
  • the interface of the first electronic device may display “Please select a positioning result display mode”, for example, the interface displays “whether to display the positioning result in real time”, if the user clicks the Yes icon , the first electronic device may display the GUI shown in (h) of FIG. 7 after detecting that the user clicks the Yes icon 707 .
  • the first electronic device interface may display a "movement mode description", and the motion mode detection description may be "Please move the handheld device slowly along the current environment according to a circular trajectory, and during the movement process "Keep the device level", the user can click the known icon after making sure to read and understand the positioning detection description.
  • the first electronic device can display (i) in FIG. 7 . GUI shown.
  • the first electronic device interface may display "Starting hardware positioning capability". After the first electronic device completes the activation of the hardware positioning capability, the GUI shown in (j) of FIG. 7 may be displayed.
  • the position shown by the arrow in the figure is the current position of the user, and the first electronic device interface prompts the user to “walk slowly in a circle”, and the user can hold the first Electronic devices walk slowly. If the user does not walk according to the walking trajectory selected in (f) of FIG. 7 , the GUI shown in (k) of FIG. 7 may be displayed.
  • the walking trajectory of the user is a random walking trajectory
  • the walking trajectory selected by the user in (f) in FIG. 7 is a circle. Therefore, the first electronic The device interface may display "The actual motion trajectory is inconsistent with the selected motion mode, and the positioning result may be inaccurate" (corresponding to the first prompt message of this application).
  • the user can walk according to the selected walking trajectory, and the GUI shown in (1) in FIG. 7 can be displayed.
  • the user can hold the first electronic device from a certain position (the position of the small dot shown in (1) in FIG. 7 ) according to the selected walking trajectory (ie, the circle). (shaped trajectory) slowly walk to the position shown by the arrow, the position of the target device to be positioned can be located, and the GUI shown in (m) in FIG. 7 is displayed.
  • the selected walking trajectory ie, the circle.
  • the target device to be located (the HUAWEI Mate 10Pro shown in (m) in Figure 7) is located at a distance of 14.6m from the user. At this time, it can be considered that Complete the location detection of the target device to be located. After the first electronic device detects that the user clicks the next icon 709, the GUI shown in (n) in FIG. 7 can be displayed.
  • the first electronic device may display "Please select whether to search for a device according to the guide". If the user selects No, the positioning process ends at this time, and the user can search for the target device independently; if the user selects Yes, after the first electronic device detects the user's operation of clicking the "Yes" icon 710, there are two types of real-time map and real-time compass The possible displays lead the user to further search for the target device. If the device is searched based on the real-time map guidance, the GUI shown in (o) in FIG. 7 can be displayed; if the device is searched for based on the real-time compass guidance, the GUI shown in (r) in FIG. 7 can be displayed; the GUI shown in FIG. 7 can also be displayed. The GUI shown in (u).
  • the first electronic device interface prompts the user to "walk slowly", and the target device is still located on the east side of the first electronic device and is 14.6m away from the user.
  • the position of the target device "HUAWEI Mate 10Pro" shown on the interface you can hold the first electronic device and continue to walk slowly in the direction of the target device, and display the GUI shown in (p) in FIG. 7 .
  • the first electronic device updates the position of the target device. It can be seen that the target device is located on the east side of the first electronic device at this time. And it is 4.6m away from the user. The user can continue walking while holding the first electronic device, and the GUI shown in (q) in FIG. 7 is displayed.
  • the first electronic device has updated the position of the target device again. It can be seen that at this time, the distance between the target device and the first electronic device is 0.2m, which can be considered to be completed. The search for the target device.
  • the target device is located on the east side of the first electronic device and is 14.6m away from the user, and the user can turn a certain angle (exemplarily, assuming that the user's face is facing the northwest)
  • the orientation of 300° can be rotated 9° clockwise), and continue to walk slowly with the first electronic device in hand to display the GUI shown in (s) in FIG. 7 .
  • the first electronic device updates the position of the target device. It can be seen that the distance between the target device and the first electronic device is: 4.6m, and the target device is located at an azimuth of 21° north-east of the first electronic device.
  • the user can continue to rotate a certain angle (for example, the momentary needle rotates 51°), and continue to walk while holding the first electronic device to display the GUI shown in (t) in FIG. 7 .
  • the first electronic device updates the position of the target device again. It can be seen that the distance between the target device and the first electronic device is 0.2m at this time, and the target device is located at The orientation of the first electronic device is 30° from north to east, and it can be considered that the search for the target device is completed at this time.
  • the target device is located on the east side of the mobile phone interface and is 14.6m away from the user. Since the current user holds the first electronic device and faces due west (assuming the direction of the arrow is the direction the user's face is facing), the user can adjust the direction first to display the GUI shown in (v) in FIG. 7 .
  • the user's face is facing the north direction, and the distance between the target device and the user is still 14.6m.
  • the user can continue to adjust the face orientation and slowly walk in the direction of the target device, and the GUI shown in (w) in FIG. 7 is displayed.
  • the target device is located on the east side of the mobile phone interface and is 3.3m away from the user.
  • the user can increase the scale of the map.
  • the user may adjust the appropriate scale, such as the GUI shown in (x) in Figure 7; the other possibility is that the user adjusts the scale If it is too large, the target device is not displayed on the first electronic device interface, such as the GUI shown in (y) in Figure 7.
  • the direction indicated by the triangle on the right side of the figure is the possible direction of the target device, and the user can The scale of the map is appropriately adjusted so that the target device is displayed on the interface of the first electronic device.
  • the target device is still located on the east side of the first electronic device interface and is 3.3m away from the user.
  • the target device displayed on the interface that the user sees is the same as
  • the distance between the users is larger than the distance between the target device and the user shown by the GUI shown in (w) in FIG. 7 , because the user has increased the scale of the map.
  • the user can continue to walk slowly in the direction of the target device, and the GUI shown in (z) in FIG. 7 is displayed.
  • the target device is located at a distance of 0.2 m from the user, and the search for the target device can be considered to be completed at this time.
  • FIG. 7 takes the target device as a mobile phone as an example for illustration. If the target device is a hidden camera, the icons below the interface shown in (o) to (z) in FIG. 7 "Cancel" can be replaced with "View Help". After the user clicks the icon for viewing help, the first electronic device interface can display a prompt message, and the prompt message can be "Please pay attention to hidden locations such as sockets, TV sets, wall corners, etc. to determine target device".
  • the map and the user's walking track may not be displayed, and only the animation effect of the person in dynamic walking may be displayed.
  • the second electronic device When the second electronic device is located, it may be directly displayed.
  • the GUI described in (m) of FIG. 7 if the actual motion trajectory of the user is inconsistent with the selected motion mode, the first electronic device can still display prompt information.
  • Method 2 The movement method of positioning is the in-situ rotation method
  • the specific process is basically similar to the GUI shown in FIG. 5 above. GUI.
  • the GUI shown in (o) to (z) in FIG. 7 may be referred to.
  • Method 3 The movement method of positioning is the in-situ swing arm method
  • the specific process is basically similar to the GUI shown in FIG. 6 above. GUI.
  • the GUI shown in (o) to (z) in FIG. 7 may be referred to.
  • the above process can also realize the positioning of the target device to be located in the form of voice. For example, if it is detected that the target device to be located is located at a position 14.6 m away from the user on the east side of the interface of the first electronic device, the user may be prompted in the form of voice playback.
  • the process is basically the same as the process shown in the above figure, only the form of guiding the search target device is different, and for the sake of brevity, it will not be repeated here.
  • the positioning process may include two stages: a positioning stage and a search stage.
  • the search phase is optional. If the user chooses to search for the device according to the guidance in the GUI as shown in FIG. 7(n), the search phase is entered after the positioning phase ends. If the user chooses not to search for the device according to the guidance in the GUI shown in FIG. 7(n), the positioning process can also end in advance without entering the search stage.
  • This solution mainly forms multiple virtual reference points by moving the first electronic device, acquires Wi-Fi features and motion data of the multiple virtual points, and realizes the positioning of the target device in combination with the positioning algorithm.
  • the first electronic device receives a first input operation of the user.
  • the first input operation of the user may be one or more of the following input operations: an input operation in which the user selects the option of whether to locate the current device in (c) in FIG. 3 and (c) in FIG. 7 , in Fig. 3(d) and Fig. 7(e), the user selects the motion mode option that forms the predetermined trajectory. In Fig. 3(e) and Fig. 7(f), the user selects The input operation for further selection of the selected motion mode, the input operation for the user to select the option of whether to display the positioning result in real time in (f) in Figure 3 and (g) in Figure 7, in (d) in Figure 7 User input operation to select multiple device options, etc. It should be noted that the above display of the first electronic device interface is only exemplary, and the above multiple types of options may be simultaneously or partially displayed on the first electronic device interface for the user to select.
  • the first input operation of the user may also be the subsequent input operation of selecting the device 1 detected in the first application in FIG. 23(d), as long as the first electronic device can receive the first input operation In response, the target device to be located and the predetermined motion trajectory can be determined.
  • the first electronic device determines that the target device to be located is the current device (ie, the first electronic device) or other electronic devices other than the current device, and the first electronic device during the positioning process The trajectory formed by moving in a certain motion.
  • the user can use the first electronic device to locate himself.
  • the user clicks the "Yes” option and the first electronic device receives the user's above input operation and determines to be positioned.
  • the target device is the first electronic device.
  • the first electronic device After inputting an operation, it is determined that the first electronic device will prompt the user to move according to a predetermined motion trajectory, that is, a circular walking motion trajectory. It should be noted that, at this time, the first electronic device determines its own geographic location.
  • the user can use the first electronic device to locate other electronic devices, as shown in (c) in FIG. 7 , the user clicks the “No” option, as shown in (d) in FIG. 7 , the user Clicking on the icon 704, the first electronic device receives the above input operation from the user, and determines that the target device to be located is another electronic device different from the first electronic device, that is, the mobile phone shown in FIG. 7(d). After the target device is determined, the first electronic device acquires the MAC address information, Wi-Fi card model, device identification code, etc. of the target device for use by the first electronic device in subsequent acquisition of Wi-Fi feature information, see S1216 for details. Further, as shown in (e)-(f) in FIG.
  • the movement trajectory formed by the above-mentioned first electronic device to be moved according to a certain movement method is the predetermined movement trajectory.
  • Move according to the predetermined movement trajectory that is, the movement trajectory of the circle in place. .
  • the user clicks the “swing arm in place” option on the desktop of the first electronic device, the first electronic device receives the above input operation of the user, and determines that the first electronic device will prompt the user. Rotate according to the motion trajectory of the in-situ swing arm.
  • the first electronic device may also automatically determine the predetermined motion trajectory based on the activated first application type and function.
  • the first application shown in FIG. 23 is used to find cameras.
  • the application has been preset to use a random walking motion trajectory to locate the camera.
  • the first electronic device displays a positioning instruction interface.
  • the first electronic device displays a positioning instruction interface according to the predetermined motion trajectory, and the positioning instruction may include text and/or pictures displayed on the interface, and may also include played voices to The user is guided to hold and move the first electronic device according to the positioning instructions.
  • the predetermined motion trajectory determined by the first electronic device is a circular walking motion trajectory.
  • the first electronic device displays a motion mode description interface as shown in (g) in FIG. 3 : “Please move the handheld device slowly along the current environment according to a circular trajectory, and keep the device horizontal during the movement.” .
  • the movement mode determined by the first electronic device in response to the user's input operation, is to circle in place.
  • the first electronic device displays the motion mode description interface as shown in (e) in Figure 5: "Please take the standing point as the center of the circle, the arm length as the radius, and move the feet slowly to change the orientation, Turn counterclockwise/clockwise 3 turns, keeping the device level during rotation”.
  • the movement mode of the motion positioning determined by the first electronic device is a circle in place.
  • the first electronic device displays the movement mode description interface as shown in (e) in FIG. Swing the arm back and forth 3 times, maintaining the way the device is held during the arm swing.”
  • S1216 Acquire Wi-Fi feature information of the second electronic device and motion information of the first electronic device during the movement of the first electronic device according to the predetermined motion track.
  • the first electronic device acquires the Wi-Fi feature information of the second electronic device in real time and the movement of the first electronic device itself. sports information.
  • the second electronic device may be a Wi-Fi hotspot device with a known geographic location, or may be the determined target device.
  • the target device determined in S1212 is the first electronic device
  • the second electronic device is a Wi-Fi hotspot device with a known geographic location
  • What the first electronic device acquires in real time is the Wi-Fi feature information of the Wi-Fi hotspot device of the known geographic location.
  • the first electronic device acquires the Wi-Fi feature of the Wi-Fi hotspot device in real time in the process of moving according to the circular walking trajectory .
  • the reason why a Wi-Fi hotspot device with a known geographic location is required is that in the process of locating the first electronic device, the actual location of the first electronic device can only be known according to the relative position of the hotspot device and the first electronic device. geographic location.
  • the target device determined in S1212 is another electronic device different from the first electronic device, that is, not the first electronic device, then the second electronic device is the determined target device, and the first electronic device according to During the movement of the predetermined motion track, the first electronic device acquires the wireless fidelity Wi-Fi feature information of the target device in real time. For example, as shown in (d) of FIG. 7 , the user clicks the icon 704, and in response to the input operation, the target device to be located determined by the first electronic device is the mobile phone HUAWEI MATE 10Pro, then the first electronic device is in accordance with the circular The Wi-Fi feature of the target device is acquired in real time during the movement of the walking track.
  • the acquisition of the Wi-Fi feature by the first electronic device may be implemented through a Wi-Fi network card carried by the first electronic device.
  • the manner in which the first electronic device acquires the Wi-Fi feature includes a collaboration manner or a sniffing manner.
  • the first electronic device sends a specified instruction to the target device. For example, it can send "Please send me xxx data periodically" to the target device.
  • the target device authenticates the first electronic device, and then Send relevant data to the first electronic device according to the instruction request, and then the first electronic device can obtain the response data returned by the target device, and analyze and extract its Wi-Fi feature.
  • the first electronic device may establish a communication connection with the target device, or the first electronic device and the target device are located in a network covered by the same Wi-Fi route.
  • the first electronic device When the first electronic device and the target device are located in the network covered by the same Wi-Fi route, the first electronic device sends the "Please send me xxx data periodically" command to the second electronic device through the Wi-Fi route, and the target device receives the After the instruction, the first electronic device is authenticated, and then relevant data is sent to the first electronic device according to the instruction request.
  • FIG. 9 it is a schematic diagram of capturing a Wi-Fi feature of a device based on a cooperative manner provided by an embodiment of the present application.
  • the first electronic device can communicate with the target device through the router. For example, the first electronic device sends an instruction "Please send me xxx data periodically" to the router, and the router sends this instruction to the target device. The instruction sends "xxx" data to the first electronic device, and the first electronic device extracts the Wi-Fi feature of the target device from the received "xxx" data.
  • the Wi-Fi module of the electronic device will discard the data not sent to itself in the normal business mode, but in the monitoring mode, it can report all or selectively the data received by the Wi-Fi module, which is the smell of the electronic device. explore mode.
  • the first electronic device determines that the target device is a malicious terminal connected to a private router, a maliciously hidden camera, or a similar video surveillance device, the target device has not established a communication connection with the first electronic device.
  • the two devices are not in the network covered by the same Wi-Fi route, then the first electronic device can set its Wi-Fi network card to sniffing mode, and capture the Wi-Fi data in the air interface, according to the determined
  • the captured data is filtered based on the information of the target device, for example, it can be filtered according to the MAC address information of the target device, and then its Wi-Fi features can be analyzed and extracted.
  • FIG. 10 is a schematic diagram of capturing a Wi-Fi feature of a device based on an air interface sniffing method provided by an embodiment of the present application. Since the first electronic device cannot directly or indirectly communicate with the target device, the first electronic device continues to sniff on the air interface, and filters the Wi-Fi data sent by the target device according to the information of the target device (such as the MAC address information of the target device). Extract the Wi-Fi features of the target device.
  • the first electronic device obtains the Wi-Fi data of the target device through the above two capture methods, and extracts its Wi-Fi feature information according to the Wi-Fi data, such as received signal strength index (RSSI), channel State information (channel state information, CSI), transmission rate, signal-to-noise ratio, etc.
  • the above Wi-Fi feature information is mainly used to describe information such as distance, orientation, and environmental interference between the first electronic device and the target device.
  • the target device determined in S1212 is the first electronic device
  • the second electronic device is a Wi-Fi hotspot device with a known geographic location
  • the first electronic device moves according to the predetermined motion track during the process of moving the first electronic device.
  • what the first electronic device acquires in real time is the Wi-Fi data of the Wi-Fi hotspot device of the known geographic location.
  • the Wi-Fi data capture method of the Wi-Fi hotspot device is the same as the aforementioned cooperation mode.
  • the Wi-Fi hotspot device sends its Wi-Fi data to the first electronic device in real time, and the first electronic device reads the received Wi-Fi data from the Wi-Fi hotspot device.
  • the Wi-Fi feature information of the Wi-Fi hotspot device is extracted from the data. Based on the geographic location information (known reference point) of the Wi-Fi hotspot device, the first electronic device can infer its own geographic location after extracting characteristic information from the Wi-Fi data received from the WiFi hotspot device.
  • the motion information of the first electronic device is the motion information of the movement of the first electronic device itself, which can be captured in real time by a motion sensor or augmented reality (augmented reality, AR) carried by the first electronic device.
  • augmented reality augmented reality, AR
  • it may include but not Limited to: acceleration of each axis, angular velocity of each axis, magnetic intensity of each axis, attitude information, position information, pedometer data, walking speed, etc.
  • the attitude information may include Euler angles, four elements or rotation matrices, and the like.
  • the first electronic device displays the location information of the target device in real time according to a preset option, or displays the location information of the target device after the user completes the predetermined motion trajectory according to the content indicated on the positioning instruction interface.
  • the first electronic device displays the location information of the target device in real time according to a preset option, which can be selected by the user before the positioning process to display the positioning result in real time, for example, as shown in (f) in FIG. 3 and FIG. 7 In (g) of , the user can select the icon corresponding to "Yes".
  • a preset option which can be selected by the user before the positioning process to display the positioning result in real time, for example, as shown in (f) in FIG. 3 and FIG. 7
  • the user can select the icon corresponding to "Yes".
  • the above preset options are only an example, and the above real-time display of the location information of the target device may also be a default display mode of location information after the first application of the first electronic device is downloaded.
  • the first electronic device displays the location information of the target device after the user completes the predetermined motion trajectory according to the content indicated on the location instruction interface. Exemplarily, as shown in (m) in FIG. 5 and (m) in FIG. 6 , the location information of the target device is displayed.
  • the first electronic device may execute an appropriate motion trajectory estimation algorithm and positioning algorithm according to the positioning motion mode selected by the user.
  • the following describes the algorithm by taking as an example that the target device determined in step S1212 is not the first electronic device, and the Wi-Fi feature information of the target device obtained in step S1216 is taken as an example.
  • Method 1 The movement method of positioning is walking
  • the reference coordinate system is established with the starting point of motion as the coordinate origin, the north direction as the Y axis, and the east direction as the X axis;
  • ⁇ Calculate the attitude of the first electronic device based on the read motion data, and determine whether its pitch angle and roll angle are within a certain interval (eg -10° to 10°). If not, the user is prompted to maintain the horizontal holding method of the first electronic device, referring to the GUI shown in (k) in FIG. 3 ; if it is not within this interval for a long time, the user is prompted to have an abnormal posture, and the positioning result may be inaccurate (corresponding to the second prompt information of this application), refer to the GUI shown in (1) in FIG. 3;
  • a certain interval eg -10° to 10°
  • the trajectory estimation algorithm may be a pedestrian dead reckoning algorithm (pedestrian dead reckoning, PDR), Inertial measurement unit (IMU) combined with zero-speed correction integration algorithm, etc.;
  • PDR pedestrian dead reckoning
  • IMU Inertial measurement unit
  • the user chooses to stop after walking for a certain period of time.
  • the first electronic device interface may prompt the user to stop walking, without limitation.
  • the first electronic device may estimate the location of the target device based on:
  • the arrival angle and arrival time of the signal are obtained to estimate the azimuth and distance.
  • FIG. 11 it is a schematic diagram of a random walking of a user according to an embodiment of the present application. As can be seen from the figure, the user starts from the starting point and walks along any path until reaching the end point.
  • FIG. 12 is a schematic diagram of locating a target device according to a predetermined motion trajectory provided by an embodiment of the application.
  • the predetermined motion trajectory is a motion mode in which the first electronic device walks randomly.
  • the coordinates of the target device K in the two-dimensional coordinate system are (a, b).
  • the first electronic device acquires the Wi-Fi feature of the target device K and its corresponding position coordinates in real time. , and locate the target device K according to the optimization algorithm or heat map method. Illustrated in FIG. 12 are the RSSI values obtained at different times, for example, the value obtained from the position (x t , y t ) at the t-th time is RSSI t .
  • the distance d t between the target device K and the first electronic device can be calculated by formula (1):
  • the RSSI when the distance between the target device K and the first electronic device is d t can be calculated by formula (2):
  • RSSI(d t ) represents the reference value of the Wi-Fi feature RSSI that can be captured by the first electronic device when the distance between the target device K and the first electronic device is d t , and the unit is dBm;
  • RSSI ref (d 0 ) represents the reference value of the Wi-Fi feature RSSI that can be captured by the first electronic device when the distance between the target device K and the first electronic device is d 0 , the unit is dBm, and generally d 0 can be set to 1;
  • ⁇ represents the path The loss index is related to the environment, and its value range is about [1.0, 4.0];
  • ⁇ g represents the additional noise caused by real-time changes in the air interface environment.
  • the weight ⁇ t (a, b) can be set according to the size of the RSSI and the shape of the antenna pattern, and can also be designed according to the different shapes of the walking trajectory. For example, when the user walks the broken line, the weight at the corner of the broken line can be The setting is larger; if the user walks a circle, the setting of the weight value can introduce the radius of the circle as a parameter, and the weight sum of the two ends of the same diameter is 1.
  • the estimated value of the coordinates of the target device K can be obtained.
  • the RSSI when the distance between the target device K and the first electronic device is d t can be calculated by the above formula (2).
  • i represents the number of antennas possessed by the first electronic device.
  • the weight ⁇ t (a, b) can be set according to the size of the RSSI and the shape of the antenna pattern, and can also be designed according to the different shapes of the walking trajectory. Large; if the user walks a circle, the setting of the weight value can introduce the radius of the circle as a parameter, and the weight sum of the two ends of the same diameter is 1.
  • CHi represents the ith antenna of the first electronic device
  • ⁇ is a positive number sufficiently small to ensure that the denominator is not 0.
  • FIG. 13 it is a schematic diagram of realizing the estimation of the position of a target device to be located based on a heat map method provided by an embodiment of the present application.
  • the black solid small circle represents the real position of the target device K
  • the white dotted small circle represents the position of the maximum value in the heat map obtained based on the positioning algorithm. It can be seen that the position of the target device K obtained based on the positioning algorithm is the same as this The true position error of the target device K is small.
  • Method 2 The movement method of positioning is to circle in place
  • the first electronic device can call an attitude heading algorithm or an existing application programming interface (API), such as an AR engine interface, based on the read data, to obtain a real-time attitude Angles (also called Euler angles): pitch, roll, azimuth (also called yaw).
  • attitude heading algorithm or an existing application programming interface (API), such as an AR engine interface, based on the read data, to obtain a real-time attitude Angles (also called Euler angles): pitch, roll, azimuth (also called yaw).
  • API application programming interface
  • FIG. 14 it is a schematic diagram of a coordinate system provided by an embodiment of the present application.
  • the quadrilateral shown in the figure can be imagined as the first electronic device.
  • a roll angle is formed; when the first electronic device is rotated around the y-axis During the rotation, the pitch angle is formed; during the first electronic device rotates around the z-axis, the azimuth angle is formed.
  • the rectangle shown in the figure can be imagined as the first electronic device.
  • a pitch angle is formed;
  • the roll angle is formed;
  • the azimuth angle is formed.
  • the user holds the first electronic device with one hand (one hand/both hands) and straightens (the straightening distance can be extended with the aid of an auxiliary device, such as a selfie stick, etc.), and the front end of the first electronic device faces outward along the arm or It is perpendicular to the outward direction of the arm, keeping the first electronic device horizontal, and reference may be made to the schematic diagram shown in FIG. 15 .
  • FIG. 15 it is a schematic diagram of a user's in-situ motion holding manner according to an embodiment of the present application.
  • the user holds the first electronic device straight, and the front end of the first electronic device faces outward along the arm, keeping the first electronic device horizontal.
  • the user holds the first electronic device straight, the front end of the first electronic device faces perpendicular to the outward direction of the arm, and keeps the first electronic device horizontal.
  • FIG. 16 it is a schematic diagram of a user circling in place according to an embodiment of the present application.
  • the user holds the first electronic device straight, the front end of the first electronic device faces outward along the arm, with the standing point as the center of the circle, the arm length as the radius, the feet move slowly to change the orientation, and turn a circle counterclockwise .
  • the first electronic device obtains the azimuth angle data as follows:
  • the deviation between the pitch angle or roll angle obtained by the user in the process of circling in place and the preset attitude angle is greater than a second threshold, and the user may be prompted to keep holding the first electronic device method or positioning results may be inaccurate.
  • the second threshold may be a default value of the first electronic device or a value input by a user, which is not limited.
  • the user may also choose to stop circling independently, which is not limited.
  • the first electronic device can combine the change of the attitude angle and the change of the Wi-Fi characteristic time series, and find the azimuth angle with the largest RSSI value according to the peak method or the trough method, which is the azimuth of the target device, and can be obtained according to the wireless signal propagation model.
  • the distance of the target device from the first electronic device can combine the change of the attitude angle and the change of the Wi-Fi characteristic time series, and find the azimuth angle with the largest RSSI value according to the peak method or the trough method, which is the azimuth of the target device, and can be obtained according to the wireless signal propagation model.
  • the distance of the target device from the first electronic device can combine the change of the attitude angle and the change of the Wi-Fi characteristic time series, and find the azimuth angle with the largest RSSI value according to the peak method or the trough method, which is the azimuth of the target device, and can be obtained according to the wireless signal propagation model. The distance of the target device from the first electronic device.
  • the first electronic device can display the location information of the target device in real time according to a preset option, for example, the positioning result of the target device can be updated every time the number of laps increases. Alternatively, the positioning result of the target device may be updated for every half-turn increment of the number of turns.
  • the above update frequency can be set according to the computing capability of the first electronic device.
  • the RSSI when the distance between the target device K and the first electronic device is d t can still be calculated by the above formula (2).
  • FIG. 17 is a schematic diagram of locating the target device K based on a motion mode of in-situ circling according to an embodiment of the present application.
  • the circle center O in the figure is the standing point of the user holding the first electronic device
  • the straight-line distance between the user standing point and the target device K is d
  • the length of the user's arm is r
  • A, B, and C are respectively the user's standing point as the center of the circle. , taking the arm length as the radius, and slowly moving the different points formed by the circle, and these different points are the positions where the user holds the first electronic device.
  • point A is a point where the user holds the first electronic device and turns to a point whose azimuth angle is ⁇ t , and the distance between point A and the target device K is d t .
  • Point B is the point with the farthest distance from the target device K in the circle of the user holding the first electronic device, the distance is d min , and the RSSI obtained at point B is the smallest, which is RSSI min .
  • Point C is the closest distance to the target device K when the user holds the first electronic device in a circle, which is d min , and the RSSI obtained at point C is the largest, which is RSSI max .
  • the first electronic device When the distance between the target device K and the user's hand is d t , the first electronic device obtains the RSSI(d t ), and when the distance between the target device K and the user's hand is d min , the first electronic device obtains the RSSI(d min ),
  • the difference between RSSI(d t ) and RSSI(d min ) can be expressed by equation (8):
  • RSSI(d min ) indicates that the first electronic device obtains the RSSI when the distance between the target device K and the user’s hand is d min , and d min is the distance between the user’s hand and the target device K when the user’s hand turns to point C in FIG. 17 distance; the circle radius r is the length of the user's arm, and the rotation angle ⁇ t is given using the azimuth in the motion data.
  • h is the height of the target device K from the ground. It can be understood that in the two-dimensional coordinate system, h is 0.
  • the real-time azimuth data and corresponding RSSI of each circle can be obtained by calculating according to the above formula.
  • FIG. 18 is a schematic diagram of a result obtained by locating the target device K based on an in-situ circling motion method provided by an embodiment of the present application.
  • the top figure represents the real-time azimuth angle of the user when the user turns a circle;
  • the middle figure represents the real-time measurement of the RSSI value, and
  • the bottom figure represents the filtering power, which can be understood as a cycle according to the RSSI peak in each circle (it can also be understood as a cycle, the user Find the corresponding azimuth angle within each revolution.
  • the azimuth angle of the user's initial turn is 100°
  • the RSSI value is the largest when the user turns to an azimuth angle of about 150°.
  • the RSSI value is the largest when the azimuth angle of each turn is 150°. That is, it can be considered that the target device K is located in this orientation.
  • Method 3 The movement method of positioning is the in-situ swing arm
  • FIG. 19 it is a schematic diagram of a user swinging an arm in place according to an embodiment of the present application.
  • the user holds the first electronic device straight, the front end of the first electronic device faces outward along the arm, the fixed standing point is the center of the circle, the arm length is the radius, and the arm swings back and forth in two-dimensional space.
  • the first electronic device obtains the real-time attitude angle as follows:
  • the deviation between the pitch angle or azimuth angle obtained by the user in the process of swinging the arm in situ and the preset attitude angle is greater than a second threshold, and the user may be prompted to keep the grip on the first electronic device The holding method or positioning results may be inaccurate.
  • the second threshold may be a default value of the first electronic device or a value input by a user, which is not limited.
  • the user is prompted to stop swinging the arm after the number of times is counted up to N times (eg, 3 times). Please refer to the GUI shown in (l) in FIG. 6 .
  • the user can also choose to stop the swing arm independently, which is not limited.
  • the first electronic device can combine the change of the attitude angle and the change of the Wi-Fi characteristic time series, and find the azimuth angle with the largest RSSI value according to the wave peak method or the wave trough method, which is the azimuth of the target device K. At the same time, it can be obtained according to the wireless signal propagation model. Obtain the distance between the target device K and the current first electronic device.
  • the positioning result of the target device K can be updated every time the arm swing times increases; or the positioning result of the target device K can be updated every time the arm swing times increases by 0.5 times;
  • FIG. 20 it is a schematic diagram of a user positioning a target device based on an in-situ arm swinging manner provided by an embodiment of the present application.
  • the circle center O in the figure is the user's standing point
  • K is the position of the target device K
  • a and C are respectively the user's standing point as the center of the circle
  • the arm length is formed.
  • the difference is the position where the user holds the first electronic device.
  • the estimation of azimuth angle and distance is similar to the above-mentioned in-situ circle, the difference is that the range of the angle is different. (0°, 180°).
  • the user just stands facing the target device and swings his arm in place, then he can use the wave crest method to estimate the orientation.
  • the specific process can refer to the estimation process of the above-mentioned in-situ circle. For brevity, no more Repeat.
  • the target device determined in step S1212 is the first electronic device itself, and the Wi-Fi feature information of the Wi-Fi hotspot device with known geographic location information is acquired in step S1216, then the above motion trajectory estimation algorithm and positioning algorithm Device K is the Wi-Fi hotspot device.
  • the first electronic device can deduce its own geographic location. For the situation of locating the current device, if the position of the first electronic device has been located, the positioning ends.
  • the target device is another electronic device different from the first electronic device, the following steps in the search phase can be continued.
  • the user's second input operation may be the following input operation: in (n) in FIG. 7 , the user's input operation on whether to select according to the option of guiding the search device.
  • S1224 Display the location information of the first electronic device and the updated location information of the target device according to the Wi-Fi feature information and the motion information.
  • the first electronic device can use the following strategy to guide the user to find the target device.
  • the movement mode of positioning is in-situ circle or in-situ arm swing, then the end point is used as the coordinate origin to establish the east (X) north (Y) sky (Z) coordinate system, otherwise the walking mode is used.
  • coordinate system In the embodiments of the present application, a two-dimensional coordinate system is used as an example, so an XY plane coordinate system can be established.
  • the coordinates of the target device can be reversely solved according to the estimated azimuth and estimated distance.
  • the description will be given by taking as an example that the movement mode of the positioning in the positioning stage is the in-situ rotation or the in-situ arm swing.
  • FIG. 21 a schematic diagram of guiding a user to find a target device based on a real-time compass provided by an embodiment of the present application.
  • (a) in FIG. 21 to (c) in FIG. 21 are respectively the real-time positions of the target device on the compass interface at different times.
  • an XY coordinate system is established. It can be seen that the target device is located at an orientation of 81° north by east of the user and is 4.3m away from the user. Azimuth and distance inversely solve the coordinates of the target device.
  • the coordinates of the K1 point in (a) of FIG. 21 are (4.247, 0.672), in other words, in this coordinate system, the coordinates of the target device are (4.247, 0.672).
  • the first electronic device updates the coordinates of the target device by using the positioning algorithm under random movement.
  • the coordinates of the target device at point K2 are (1.650, 2.865) .
  • the orientation estimate and the distance estimate can be updated according to the current coordinates of the first electronic device and the updated coordinates of the target device.
  • the coordinates of the first electronic device in this coordinate system are (0.400, 0.700), and the coordinates of the target device at point K2 are (1.650, 2.865). According to the first electronic device and the target The coordinates of the device calculate the distance and bearing between the two.
  • the target device is located at an azimuth of 51° northeast and 30° east of the user and is 2.5m away from the user.
  • the first electronic device uses the positioning algorithm under random movement to update the coordinates of the target device, and the coordinates of the target device at point K3 are ( 0.600, 1.200).
  • the orientation estimate and the distance estimate can be updated according to the current coordinates of the first electronic device and the updated coordinates of the target device.
  • the coordinates of the first electronic device in this coordinate system are (0.600, 1.000), and the coordinates of the target device at point K2 are (0.600, 1.200), which can be based on the first electronic device and the target
  • the coordinates of the device calculate the distance and bearing between the two.
  • the target device is located at an azimuth of 81° to the northeast of the user and is 0.2m away from the user, and the guidance search is terminated, thereby realizing the positioning of the target device.
  • the process of guiding the user to search or find the target device with the real-time compass may refer to the GUI shown in (r) to (t) in FIG. 7 .
  • the positioning stage is over. If the positioning movement mode is in-situ circle or in-situ arm swing mode, the northeast coordinate system will be established with the end point as the coordinate origin, otherwise the coordinate system in the walking mode will be used.
  • FIG. 22 it is a schematic diagram of guiding a user to find a target device based on a real-time map according to an embodiment of the present application.
  • (a) in FIG. 22 to (c) in FIG. 22 are the positions of the map interface of the target device at different times respectively.
  • the first electronic device updates the coordinates of the target device, the current coordinates of the first electronic device, and the current orientation of the first electronic device using the positioning algorithm in the walking mode. .
  • the target device is located on the left side of the user and is 2.0 m away from the user.
  • the first electronic device updates the coordinates of the target device, the current coordinates of the first electronic device and the current first electronic device using the positioning algorithm in the walking mode. device orientation, etc.
  • the target device is located near the user and is 0.2m away from the user, and the positioning is terminated, thereby realizing the positioning of the target device.
  • the process of guiding the user to search or find the target device with the real-time map may refer to the GUI shown in (o) to (q) in FIG. 7 .
  • the first electronic device may continue to update the positioning algorithm to guide the user to find the target device until the target device is found.
  • the Wi-Fi feature information of the second electronic device and the first electronic device are acquired during the movement of the first electronic device according to the predetermined motion track.
  • the motion information of an electronic device can finally display the location information of the target device.
  • This solution does not need to use multiple Wi-Fi hotspot devices with known geographic location information, and forms multiple virtual Wi-Fi reference points by moving the first electronic device, and can locate the target by simply moving one electronic device.
  • the device is suitable for many scenarios, is less constrained by the environment, and is not easily interfered by signals in the environment, which effectively improves the positioning accuracy of the target device.
  • the following describes the positioning method of the embodiment of the present application by taking a scene where the target device is a camera and the first electronic device locates the camera as an example.
  • FIG. 23 shows a group of GUIs of the first electronic device, see the GUI shown in (a) of FIG. 23 , where the GUI is the desktop of the first electronic device.
  • the first electronic device detects that the user clicks the icon 2301 of the first application on the desktop, it can start the first application and display the GUI shown in (b) of FIG. 23 , which can be called camera detection Description interface. Since the first application is used to detect the camera, the icon 2301 of the first application adopts the identification of the camera.
  • the first electronic device interface may prompt the user for the function of the first application, for example, may display the application description of “smartly find and locate the webcam, protect your privacy”.
  • the user chooses to start scanning.
  • the first electronic device detects that the user clicks the icon 2302 to start scanning, the first electronic device displays the GUI shown in (c) of FIG. 23 .
  • GUI shown in (c) of FIG. 23 it is an interface in which the first electronic device is scanning, wherein 89% shown in the figure indicates that the detection progress of the first electronic device is 89% at this time. It can also display the hotspot information covered by the current detection channel.
  • the first electronic device interface can display "3 cameras found” and the prompt message "Detailed location recommended for positioning", as well as the detailed information corresponding to these 3 cameras. "Device 1: TravelSafty2” and the corresponding MAC address information "44:ee:bf:09:9d:23”, “Device 2: TravelSafty2” and the corresponding MAC address information” as shown in (d) in FIG. 23 80:9f:9b:e1:2b:2b” and “Device 3: TravelSafe2" and the corresponding MAC address information "38:01:46:95:6a:44".
  • the user can start the positioning of the camera as needed.
  • the first electronic device detects that the user clicks the positioning icon corresponding to a certain device (such as the positioning icon 2303 of the device 1)
  • the first electronic device displays the image shown in (e) of FIG. 23 . GUI shown.
  • the first electronic device interface can display how to position the camera and the positioning instructions, the instructions can be "Please hold the device steadily and walk through all areas slowly", after making sure to read and understand" After "Location Description", the known icon 2304 can be clicked. After detecting the user's operation of clicking the known icon 2304, the first electronic device displays the GUI shown in (f) of FIG. 23 .
  • the interface of the first electronic device can display the following prompt information “Please hold the device steadily and keep still” and the current device state “positioning initialization”, after the first electronic device is initialized After that, the GUI shown in (g) of FIG. 23 can be displayed.
  • the current device state displayed on the GUI interface of the first electronic device is "positioning initialization”.
  • the GUI interface of the first electronic device may also display "starting hardware positioning capability” when positioning is started. This application does not limit the content of specific device status descriptions.
  • the GUI interface can display a dynamic or static picture of the device's positioning, accompanied by a text description "Please walk slowly”. It needs to be explained that the first application is used to find cameras, and after three cameras are detected, “Device 1” is located. To help users quickly locate the cameras, the system of the first electronic device can default to the first application. The detected camera is positioned by the motion trajectory of "random walk", without the need for the user to select the motion mode used for positioning. The user walks slowly with the first electronic device in hand according to the description.
  • the first electronic device obtains the Wi-Fi data of the target device (ie "device 1") and its own according to the "random walk” motion trajectory described in the foregoing embodiment. sports data. After the user walks for a period of time, the first electronic device locates the position of the device 1 according to the motion trajectory estimation algorithm and the positioning algorithm described in the foregoing embodiments, and can display the GUI shown in (h) of FIG. 23 .
  • the interface of the first electronic device displays a prompt message of "Location is successful".
  • the first electronic device detects that the user clicks the "Done” icon 2305, the GUI as shown in (i) in FIG. 23 is displayed.
  • a map 2307 is displayed under “Camera Positioning”, including an arrow icon 2308 identifying the location of the first electronic device, identifying the location of the target device (ie “Device 1”) Location icon 2309 and scale bar 2310 of the location (illustrated in the lower left of the map, indicating a length of 10m).
  • the position shown by the arrow 2308 is the current position of the user, and the position shown by the positioning icon 2309 is the position of the device 1 .
  • a compass may also be used to display the positions of the first electronic device and the target device. Below the map, the text description "Device 1: Distance 14.6m” is displayed in the location detection result, indicating that Device 1 is located on the east side of the user and is 14.6m away from the user.
  • the first application of this embodiment is mainly applied to finding hidden cameras in the hotel lobby or room. After detecting that there are hidden cameras in the hotel lobby or room, the user usually finds where the cameras are hidden. To help the user quickly find the hidden location of the camera, the first electronic device can automatically enter the "searching stage" after positioning without displaying the GUI shown in FIG.
  • the user can adjust the direction first to display the GUI shown in (j) in FIG. 23 .
  • the user's face is facing the east direction, and the distance between the device 1 and the user is still 14.6m.
  • the first electronic device detects that the user continues to move, and recognizes that the user will further search for the camera, and the interface displays a bar graph 2311 and a bell icon 2312 as shown in the figure. The proportion of dark colors in the bar graph is used to indicate the distance between the device 1 and the user.
  • the device 1 is located on the east side of the first electronic device interface and is 4.6m away from the user, and the proportion of dark colors in the bar graph is compared with that in FIG. 23
  • the dark color in (j) in (j) accounts for a large proportion, so the volume of the notification sound of the device 1 heard by the user increases.
  • the user can hold the first electronic device and continue to walk slowly in the direction of the device 1 to display the GUI shown in (1) in FIG. 23 .
  • the distance between the device 1 and the user is 0.2m at this time, and the proportion of dark colors in the bar graph is compared with that in (k) in FIG. 23 . If the proportion of dark color is large, the volume of the notification sound of the device 1 that can be heard by the user is further increased. At this point, the search for device 1 can be considered complete.
  • the bar graph shown above may also be displayed when the distance between the user and the target device is less than or equal to a preset threshold. For example, if the preset threshold is 10m, then The bar graph is displayed when the distance between the user and the target device is less than or equal to 10m; in other embodiments, the bar graph shown above can also be displayed when the user walks randomly with the first electronic device in hand, That is, the bar graph is displayed from the GUI shown in (g) of FIG. 23 .
  • an electronic device such as the above-mentioned first electronic device
  • the present application can be implemented in hardware or in the form of a combination of hardware and computer software in conjunction with the algorithm steps of each example described in conjunction with the embodiments disclosed herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functionality for each particular application in conjunction with the embodiments, but such implementations should not be considered beyond the scope of this application.
  • the electronic device can be divided into functional modules according to the above method examples.
  • each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module.
  • the above-mentioned integrated modules can be implemented in the form of hardware. It should be noted that, the division of modules in this embodiment is schematic, and is only a logical function division, and there may be other division manners in actual implementation.
  • FIG. 24 shows a possible schematic diagram of the composition of the electronic device 2400 involved in the above embodiment.
  • the electronic device 2400 may include: an input unit 2410 , an input unit 2420 , an acquisition unit 2430 and a display unit 2440 .
  • the input unit 2410 may be used to support the electronic device 2400 to perform the above steps S1210, S1220, etc., and/or other processes for the techniques described herein.
  • the determination unit 2420 may be used to support the electronic device 2400 to perform the above-mentioned step S1212, etc., and/or other processes for the techniques described herein.
  • the obtaining unit 2430 may be used to support the electronic device 2400 to perform the above-mentioned steps S1216, S1222, etc., and/or other processes for the techniques described herein.
  • the display unit 2440 may be used to support the electronic device 2400 to perform steps S1214, S1218, S1224, etc. described above, and/or other processes for the techniques described herein.
  • the electronic device provided in this embodiment is used to execute the above positioning method, so the same effect as the above implementation method can be achieved.
  • the electronic device may include a processing module, a memory module and a communication module.
  • the processing module may be used to control and manage the actions of the electronic device, for example, may be used to support the electronic device to perform the steps performed by the above units.
  • the storage module may be used to support the electronic device to execute stored program codes and data, and the like.
  • the communication module can be used to support the communication between the electronic device and other devices.
  • the processing module may be a processor or a controller. 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 digital signal processing (DSP) and a microprocessor, and the like.
  • the storage module may be a memory.
  • the communication module may specifically be a device that interacts with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, and a Wi-Fi chip.
  • the electronic device involved in this embodiment may be a device having the structure shown in FIG. 1 .
  • FIG. 25 shows another possible composition diagram of the electronic device 2500 involved in the above embodiment.
  • the electronic device 2500 may include a communication unit 2510, an input unit 2520, a processing unit 2530, an output unit 2540, A peripheral interface 2550 , a storage unit 2560 and a power supply 2570 .
  • the communication unit 2510 is used to establish a communication channel, so that the electronic device 2500 can connect to a remote server through the communication channel, and download media data from the remote server.
  • the communication unit 2510 may include communication modules such as a WLAN module, a Bluetooth module, an NFC module, and a baseband module, and a radio frequency (Radio Frequency, RF for short) circuit corresponding to the communication module, which is used for wireless local area network communication, Bluetooth communication, NFC communication, infrared communication and/or cellular communication system communication, such as wideband code division multiple access (W-CDMA) and/or high speed downlink packet access (HSDPA).
  • the communication module 2510 is used to control the communication of various components in the electronic device, and can support direct memory access.
  • the input unit 2520 may be used to realize the interaction between the user and the electronic device and/or the input of information into the electronic device.
  • the input unit may be a touch panel, or other human-computer interaction interfaces, such as physical input keys, a microphone, etc., or other external information capturing devices, such as a camera.
  • the input unit 2520 in the foregoing embodiment may be configured to receive user input operations, such as the first input operation and/or the second input operation in the foregoing embodiment, for details, refer to the foregoing steps S1210 and S1220.
  • the processing unit 2530 is the control center of the electronic device, and can use various interfaces and lines to connect various parts of the entire electronic device, by running or executing the software programs and/or modules stored in the storage unit, and calling the software programs stored in the storage unit. data to perform various functions of the electronic device and/or process data.
  • the output unit 2540 includes, but is not limited to, a video output unit and a sound output unit.
  • the video output unit is used to output text, pictures and/or videos.
  • the touch panel used by the input unit 2520 can also be used as the display panel of the output unit 2540 at the same time. For example, when the touch panel detects a touch or an approaching gesture operation on it, it is transmitted to the processing unit to determine the type of the touch event, and then the processing unit provides corresponding visual output on the display panel according to the type of the touch event.
  • the input unit 2520 and the output unit 2540 are used as two independent components to realize the input and output functions of the electronic device, in some embodiments, the touch panel and the display panel can be integrated to realize Input and output functions of electronic equipment.
  • the image output unit can display various graphical user interfaces as virtual control components, including but not limited to windows, scroll bars, icons, and scrapbooks, for the user to operate by touch.
  • the content of the positioning description interface prompting the user in step S1214, the position information of the target device that prompts the user in step S1218, and the position information of the first electronic device and the updated position information of the target device given in step S1225 can be passed through the output unit. 2540 implementation.
  • the storage unit 2560 can be used to store software programs and modules, and the processing unit executes various functional applications of the electronic device and implements data processing by running the software programs and modules stored in the storage unit.
  • This embodiment also provides a computer storage medium, where computer instructions are stored in the computer storage medium, and when the computer instructions are executed on the electronic device, the electronic device executes the above-mentioned relevant method steps to implement the positioning method in the above-mentioned embodiment.
  • This embodiment also provides a computer program product, which when the computer program product runs on the computer, causes the computer to execute the above-mentioned relevant steps, so as to realize the positioning method in the above-mentioned embodiment.
  • the embodiments of the present application also provide an apparatus, which may specifically be a chip, a component or a module, and the apparatus may include a connected processor and a memory; wherein, the memory is used for storing computer execution instructions, and when the apparatus is running, The processor can execute the computer-executed instructions stored in the memory, so that the chip executes the positioning method in the above method embodiments.
  • the electronic device, computer storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, for the beneficial effects that can be achieved, reference can be made to the corresponding provided above. The beneficial effects in the method will not be repeated here.
  • the disclosed apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of modules or units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or May be integrated into another device, or some features may be omitted, 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, mechanical or other forms.
  • Units described as separate components may or may not be physically separated, and components shown as units may be one physical unit or multiple physical units, that is, may be located in one place, or may be distributed in multiple different places. 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 integrated unit if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a readable storage medium.
  • a readable storage medium including several instructions to make a device (which may be a single chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods in the various embodiments of the present application.
  • the aforementioned storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk and other mediums that can store program codes.

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Abstract

本申请提供一种定位方法和电子设备，该方法及电子设备接收用户的第一输入操作；响应于第一输入操作，确定待定位的目标设备和预定的运动轨迹；在第一电子设备按照预定的运动轨迹移动过程中获取目标设备或已知地理位置的Wi-Fi热点装置的Wi-Fi特征信息、以及第一电子设备的运动信息，从而确定并显示目标设备的位置信息。本申请的方案使用一个电子设备就能够定位目标设备，不需要具备多个已知参考点，也不依赖离线指纹数据库，可以减弱环境干扰，从而提高定位的精度。

Description

一种定位方法和电子设备
本申请要求于2020年10月22日提交中国专利局、申请号为202011136485.9、申请名称为“一种定位方法和电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及定位技术领域，尤其涉及一种定位方法和电子设备。
背景技术
目前基于位置的服务(location based services，LBS)，即利用各种定位技术获取电子设备当前的位置并为电子设备提供信息资源和基础服务日渐凸显。定位技术可根据使用环境大致分为室外定位技术(如全球定位系统(global positioning system，GPS)定位)和室内定位技术。室内定位技术一般又称为近距离定位技术，可用于室内和特定区域的定位。现有室内定位技术主要包括使用射频识别(radio frequency identification，RFID)、蓝牙、紫蜂(ZigBee)、无线保真(wireless fidelity，Wi-Fi)、超声波、发光二极管(Light Emitting Diode，LED)、地磁、超宽带(ultra wide band，UWB)、激光和计算机视觉等方法。其中，由于Wi-Fi在室内外环境中部署较多，且具有成本低和推广容易等特点，因此基于Wi-Fi的定位技术得到广泛应用。
根据定位的原理，现有的Wi-Fi定位技术方案主要包括以下几种：
(a)临近探测法：通过对有限范围内多个已知参考点Wi-Fi信号的接收，根据信号强度等特征判断目标设备是否出现在某参考点附近，其中，已知参考点是已有明确地理位置信息的Wi-Fi热点装置；
(b)质心定位法：根据目标设备可接受信号范围内的多个已知参考点的地理位置，计算多个已知参考点的质心坐标作为目标设备的地理位置；
(c)多边定位法：通过计算目标设备到多个已知参考点的距离，进而确定目标设备的地理位置；
(d)三角定位法：通过计算目标设备到2个已知参考点的角度信息，结合参考点之间的距离信息以确定唯一的三角形，进而确定目标设备的地理坐标；
(e)极点法：通过计算目标设备相对某一已知参考点的距离和角度，进而确定目标设备的地理坐标；
(f)指纹定位法：在定位空间中建立离线指纹数据库，数据库中包含不同位置点处所有已知参考点的Wi-Fi特征。数据库使用过程中，通过将实际Wi-Fi特征与离线数据库中的Wi-Fi特征进行对比以实现对目标设备的定位。
以上几种方案都存在一定的缺点，主要包括以下几点：
(1)部分技术方案适用的定位类型有限
如上述质心定位法、多边定位法、三角定位法和指纹定位法，这些方法都需要使用多个Wi-Fi热点装置作为已知参考点。在仅具有一个电子设备来寻找目标设备的情形下，这些技术方案则不太适用，亦或是需要通过其它辅助手段(如使用电子设备在多个地理位置处测量)来实现。
(2)基于指纹定位的方案费时费力，约束大且难以适应
指纹定位法通常需要在离线阶段将室内场景进行网格划分，然后在各个划分点采集数据形成指纹数据库。一方面，网格划分的粒度直接影响数据采集的时间和人力；另一方面，对于某种室内场景采集的数据难以适应其它不同的室内场景。
(3)定位精度差，受环境影响大
如上述临近探测法，所用Wi-Fi特征较少，难以精确定位目标设备所在位置。质心定位法、指纹定位法的定位精度则取决于当前可接受信号范围的已知参考点布设密度。而对于多边定位和三角定位则易受环境中的信号干扰。
发明内容
本申请提供一种定位方法和电子设备，使用一个电子设备就能够定位目标设备，不需要具备大于或等于2个的已知参考点(Wi-Fi热点装置)，不依赖离线指纹数据库，可以避免时间、人力及环境约束，且可以减弱环境中的干扰影响，从而能够提高定位的精度。
第一方面，提供一种定位方法，该方法应用于第一电子设备，包括：接收用户的第一输入操作；响应于所述第一输入操作，确定待定位的目标设备和预定的运动轨迹；在所述第一电子设备按照所述预定的运动轨迹移动过程中获取第二电子设备的无线保真Wi-Fi特征信息、以及所述第一电子设备的运动信息；根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息。
本申请提供的方案，通过确定待定位的目标设备和第一电子设备预定的运动轨迹，在第一电子设备按照预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息、以及第一电子设备的运动信息，最终能够显示所述目标设备的位置信息。该方案无需使用多个已知地理位置信息的Wi-Fi热点装置，通过移动第一电子设备的方式形成多个虚拟的Wi-Fi参考点，仅使用一个电子设备进行简单的移动就能够定位目标设备，适用的场景多、受环境约束小且不容易受到环境中的信号干扰，有效提高了对目标设备定位的精度。
结合第一方面，在一些可能的实现方式中，若所述目标设备是所述第一电子设备，所述第二电子设备为已知地理位置的Wi-Fi热点装置。
本申请提供的方案，可以定位当前设备，帮助用户根据显示的当前设备的位置信息与已知的Wi-Fi热点装置的地理位置移动至信号较强的位置。
结合第一方面，在一些可能的实现方式中，若所述目标设备不是所述第一电子设备，所述第二电子设备为所述目标设备。
本申请提供的方案，可以定位不同于当前设备的其它设备，可以帮助用户确定目标设备的具体位置。
结合第一方面，在一些可能的实现方式中，所述方法还包括：如果所述运动信息与所述预定的运动轨迹之间的偏差大于第一阈值，所述第一电子设备显示第一提示信息，所述第一提示信息用于提示所述用户运动异常或定位结果可信度不高。
本申请提供的方案，当用户的运动信息与预定的运动轨迹之间的偏差大于第一阈值时，第一电子设备可以向用户给出提示信息，以使得用户可以按照预定的运动轨迹进行运动，可以进一步提高定位的精度。
结合第一方面，在一些可能的实现方式中，所述运动信息还包括用户握持所述第一电子设备的姿态角，所述方法还包括：若所述姿态角与预设的姿态角之间的偏差大于第二阈值，所述第一电子设备显示第二提示信息，所述第二提示信息用于提示所述用户保持对所述第一电子设备的握持方式或定位结果可能不准确。
本申请提供的方案，当用户握持第一电子设备的姿态角与预设的姿态角之间的偏差大于第二阈值时，第一电子设备也可以向用户给出提示信息，以使得用户按照预设的姿态角进行运动，可以进一步提高定位的精度。
结合第一方面，在一些可能的实现方式中，在根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息之后，所述方法还包括：
当所述第一电子设备继续移动时，获取所述第二电子设备的Wi-Fi特征信息、以及所述第一电子设备的运动信息；根据所述Wi-Fi特征信息和所述运动信息，显示所述第一电子设备的位置信息、以及更新后的所述目标设备的位置信息。
本申请提供的方案，在确定出目标设备的位置信息后，可以进一步帮助用户搜寻目标设备，提高用户体验。
结合第一方面，在一些可能的实现方式中，所述根据所述Wi-Fi特征信息和所述运动信息，显示所述第一电子设备的位置信息、以及更新后的所述目标设备的位置信息，包括：
根据所述Wi-Fi特征信息和所述运动信息，通过罗盘实时显示或地图实时显示所述第一电子设备的位置信息、以及更新后的所述目标设备的位置信息。
结合第一方面，在一些可能的实现方式中，所述第一电子设备还显示第三提示信息，所述第三提示信息用于提示所述第一电子设备与所述目标设备之间的距离大小。
结合第一方面，在一些可能的实现方式中，所述预定的运动轨迹包括手持所述第一电子设备的用户按照以下至少一种运动方式所形成的运动轨迹：原地转圈方式、原地摆臂方式、行走方式。
结合第一方面，在一些可能的实现方式中，若所述预定的运动轨迹是手持所述第一电子设备的用户按照原地转圈或原地摆臂的运动方式所形成的运动轨迹，所述根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息，包括：
根据所述Wi-Fi特征信息、所述运动信息，使用波峰法或波谷法估计所述目标设备的位置坐标；根据所述估计出的位置坐标，显示所述目标设备的位置信息。
结合第一方面，在一些可能的实现方式中，若所述预定的运动轨迹是手持所述第一电子设备的用户按照行走的运动方式所形成的运动轨迹，所述根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息，包括：
根据所述Wi-Fi特征信息、所述运动信息，使用热力图法估计所述目标设备的位置坐标；根据所述估计出的位置坐标，显示所述目标设备的位置信息。
结合第一方面，在一些可能的实现方式中，若所述第一电子设备和所述目标设备之间已建立通信连接或处于同一Wi-Fi路由覆盖的网络下，则所述第一电子设备按照所述预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息，包括：
通过所述已建立的通信连接或所述Wi-Fi路由，所述第一电子设备接收所述目标设备发送的Wi-Fi数据；依据所述Wi-Fi数据，所述第一电子设备提取所述目标设备的Wi-Fi特征信息。
结合第一方面，在一些可能的实现方式中，若所述第一电子设备和所述目标设备之间未建立通信连接且未处于同一Wi-Fi路由覆盖的网络下，所述第一电子设备按照所述预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息，包括：
将所述第一电子设备的Wi-Fi网卡设置为嗅探方式；所述第一电子设备通过所述Wi-Fi网卡接收所述目标设备的Wi-Fi数据；依据所述Wi-Fi数据，所述第一电子设备提取所述目标设备的Wi-Fi特征信息。
本申请提供的方案，在第一电子设备和目标设备未建立通信连接且未处于同一Wi-Fi路由覆盖的网络下，第一电子设备通过Wi-Fi网卡接收目标设备的Wi-Fi数据，并从中提取Wi-Fi特征信息，以实现对目标设备的定位，能够及时发现并定位接入私人路由器的恶意终端或隐藏式摄像头等，从而减少侵犯用户隐私事件的发生。
结合第一方面，在一些可能的实现方式中，所述目标设备为视频监控设备。
本申请提供的方案，若目标设备为视频监控设备，第一电子设备可以根据获取的信息定位该视频监控设备，从而可以减少用户隐私被侵犯事件的发生，保证用户的隐私安全。
结合第一方面，在一些可能的实现方式中，所述第一电子设备的运动信息包括以下信息中的一种或多种：加速度、角速度、磁强、姿态信息、位置信息以及计步器数据。
结合第一方面，在一些可能的实现方式中，所述Wi-Fi特征信息包括以下信息中的一种或多种：接收信号强度示数RSSI、信道状态信息CSI、传输速率、信噪比。
结合第一方面，在一些可能的实现方式中，所述预定的运动轨迹是由所述第一电子设备自动确定的。
第二方面，提供了一种装置，该装置包含在电子设备中，该装置具有实现上述方面及上述方面的可能实现方式中电子设备行为的功能。功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。硬件或软件包括一个或多个与上述功能相对应的模块或单元。
第三方面，提供了一种电子设备，包括：一个或多个处理器；存储器；一个或者多个应用程序；以及一个或多个计算机程序。其中，一个或多个计算机程序被存储在存储器中，一个或多个计算机程序包括指令。当指令被电子设备执行时，使得电子设备执行上述第一方面任一项可能的实现中的定位方法。
第四方面，提供了一种芯片系统，包括至少一个处理器，当程序指令在所述至少一个处理器中执行时，使得上述第一方面任一项可能的实现中的定位方法在所述电子设备上的功能得以实现。
第五方面，提供了一种计算机存储介质，包括计算机指令，当计算机指令在电子设备上运行时，使得电子设备执行上述第一方面任一项可能的实现中的定位方法。
第六方面，提供了一种计算机程序产品，当计算机程序产品在电子设备上运行时，使得电子设备执行上述第一方面任一项可能的设计中的定位方法。
附图说明
图1是本申请实施例提供的一种电子设备的硬件结构示意图。
图2是本申请实施例提供的一种电子设备的软件结构示意图。
图3是本申请实施例提供的一组GUI的示意图。
图4是本申请实施例提供的另一组GUI的示意图。
图5是本申请实施例提供的又一组GUI的示意图。
图6是本申请实施例提供的再一组GUI的示意图。
图7是本申请实施例提供的再一组GUI的示意图。
图8是本申请实施例提供的一种定位方法的示意性流程图。
图9是本申请实施例提供的基于协作方式捕获设备的Wi-Fi特征的示意图。
图10是本申请实施例提供的基于空口嗅探方式捕获设备的Wi-Fi特征的示意图。
图11是本申请实施例提供的一种用户随机行走的示意图。
图12是本申请实施例提供的一种按照预定的运动轨迹对目标设备进行定位的示意图。
图13是本申请实施例提供的一种基于热力图法实现待定位的目标设备的位置的估计的示意图。
图14是本申请实施例提供的坐标系的示意图。
图15是本申请实施例提供的用户原地运动握持方式的示意图。
图16是本申请实施例提供的一种用户原地转圈的示意图。
图17是本申请实施例提供的一种基于原地转圈的运动方式对目标设备K进行定位的示意图。
图18是本申请实施例提供的一种基于原地转圈的运动方式对目标设备K进行定位的得到的结果示意图。
图19是本申请实施例提供的一种用户原地摆臂的示意图。
图20是本申请实施例提供的用户基于原地摆臂方式对目标设备进行定位的示意图。
图21是本申请实施例提供的一种基于实时罗盘引导用户寻找目标设备的示意图。
图22是本申请实施例提供的一种基于实时地图引导用户寻找目标设备的示意图。
图23是本申请实施例提供的再一组GUI的示意图。
图24是本申请实施例提供的一种电子设备的示意性框图。
图25是本申请实施例提供的另一种电子设备的示意性框图。
具体实施方式
以下实施例中所使用的术语只是为了描述特定实施例的目的，而并非旨在作为对本申请的限制。如在本申请的说明书和所附权利要求书中所使用的那样，单数表达形式“一个”、“一种”、“所述”、“上述”、“该”和“这一”旨在也包括例如“一个或多个”这种表达形式，除非其上下文中明确地有相反指示。还应当理解，在本申请以下各实施例中，“至少一个”、“一个或多个”是指一个、两个或两个以上。术语“和/或”，用于描述关联对象的关联关系，表示可以存在三种关系；例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A、B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。
在本说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或 多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此，在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例，而是意味着“一个或多个但不是所有的实施例”，除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其他方式另外特别强调。
以下，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。
LBS，即利用各种定位技术获取电子设备当前的位置并为电子设备提供信息资源和基础服务日渐凸显，定位技术可融合移动网络、互联网、空间地理位置以及大数据等多种方式，提供的服务包括商业化服务、信息搜索服务、交通服务、安全服务和救援搜寻服务等等。基于GPS的导航是LBS的典型应用。LBS包含用户、通信网络、定位、服务与内容提供商，其中定位部分是其基础部分，用于确定电子设备的位置。
定位技术可根据使用环境大致分为室外定位技术(如GPS定位)和室内定位技术。室内定位技术一般又称为近距离定位技术，可用于室内和特定区域的定位。现有室内定位技术主要包括RFID、蓝牙、紫蜂(ZigBee)、Wi-Fi、超声波、LED、地磁、UWB、激光和计算机视觉等方法。由于目前Wi-Fi部署广泛，基于Wi-Fi的定位技术具有成本低和推广容易等特点，也因此得到广泛地研究。
Wi-Fi定位技术的基础是每一个Wi-Fi设备都拥有一个全球唯一的媒体接入控制(media access control address，MAC)地址。在此基础上，定位装置通过程序控制扫描并收集Wi-Fi设备广播到周围空间的Wi-Fi信号，无论其是否加密。根据Wi-Fi信号中的MAC地址可以确定待定位的Wi-Fi设备，根据信号中的各种特征，如信号强度等，可以推算出定位装置和Wi-Fi设备之间的距离。最后，定位装置将这些数据在本地进行分析或者发送至位置服务器，就可以得到待定位Wi-Fi设备的地理位置。对Wi-Fi设备定位的主要应用场景可以包括定位智能终端(找手机、平板、手环，例如商场寻找携带智能手环的小孩)、车库找车、定位接入私人路由器的恶意终端以及定位恶意Wi-Fi设备(如隐藏式摄像头等视频监控设备)等等。
本申请提供一种定位方法，所述方法应用于第一电子设备，通过确定待定位的目标设备和第一电子设备预定的运动轨迹，在第一电子设备按照预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息、以及第一电子设备的运动信息，最终能够显示所述目标设备的位置信息。以上待定位的目标设备可以是所述第一电子设备，也可以是除所述第一电子设备以外的其他电子设备。当目标设备是第一电子设备时，所述第二电子设备为已知地理位置的Wi-Fi热点装置；当目标设备是除第一电子设备以外的其他电子设备时，所述第二电子设备为所述目标设备。
现有的质心定位法、多边定位法、三角定位法和指纹定位法，都需要使用多个(大于等于2)Wi-Fi热点装置作为已知参考点，无法仅使用一个电子设备来定位目标设备。而且，质心定位法、指纹定位法定位精度取决于当前可接受信号范围的已知参考点布设密度，多边定位法、三角定位法则易受环境中的信号干扰。其中，指纹定位法还通常需要在离线阶段将室内场景进行网格划分，然后在各个划分点采集数据形成指纹数据库，耗费时间、 人力。与现有技术相比，本申请提供的定位方法使用一个电子设备就能够定位目标设备，不需要具备大于或等于2个的已知参考点(Wi-Fi热点装置)，不依赖离线指纹数据库，可以避免时间、人力及环境约束，且可以减弱环境中的干扰的影响，从而能够提高定位的精度。
本申请实施例提供的定位方法可以应用于手机、平板电脑、可穿戴设备、车载设备、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、笔记本电脑、超级移动个人计算机(ultra-mobile personal computer，UMPC)、上网本、个人数字助理(personal digital assistant，PDA)等电子设备上，本申请实施例对电子设备的具体类型不作任何限制。其中，上述第一电子设备、第二电子设备以及目标设备均可以为上述任一类型的电子设备，以及包含下述电子设备的各个部件。
示例性的，图1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。
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。
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。其中，该处理器可以用于执行运动轨迹估计算法和定位算法，以实现对目标设备的定位。
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。
处理器110中还可以设置存储器，用于存储指令和数据，例如第一电子设备可以存储运动轨迹估计算法和定位算法。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100处理数据或执行指令的效率。
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100充电，也可以用于电子设备100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。
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。
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。
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。
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。
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。
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。
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Wi-Fi网络)、蓝牙(bluetooth，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)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。其中，第一电子设备获取Wi-Fi特征可以通过第一电子设备所携带的Wi-Fi网卡实现，该Wi-Fi网卡可以为无线通信模块160。在第一电子设备与第二电子设备建立通信连接或处于同一Wi-Fi路由覆盖的网络内时，第一电子设备在正常业务模式下经无线通信模块160向第二电子设备发送“请周期性向我发送xxx数据”的指 令，且经由无线通信模块160接收第二电子设备发送的xxx数据。或者，在第一电子设备没有与第二电子设备建立通信连接，也没有与第二电子设备处于同一Wi-Fi路由覆盖的网络内的情况下，第一电子设备将无线通信模块160设置为监控模式(即嗅探模式)，对空口中的Wi-Fi数据进行捕获，并从中过滤出第二电子设备的Wi-Fi数据。此外，若用户选择定位当前设备，要求用户已连接附近已知的Wi-Fi热点装置，第一电子设备将通过无线通信模块160向服务器请求所连接WiFi热点的地理位置信息。
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。
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)、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。例如，第一电子设备在定位过程中通过显示屏194实时显示第一电子设备的运动轨迹，在搜寻阶段以雷达图或者地图形式实时引导用户寻找目标设备。
在本申请的一些实施例中，当显示面板采用OLED、AMOLED、FLED等材料时，上述图1中的显示屏194可以被弯折。这里，上述显示屏194可以被弯折是指显示屏可以在任意部位被弯折到任意角度，并可以在该角度保持。
电子设备100的显示屏194可以是一种柔性屏，目前，柔性屏以其独特的特性和巨大的潜力而备受关注。柔性屏相对于传统屏幕而言，具有柔韧性强和可弯曲的特点，可以给用户提供基于可弯折特性的新交互方式，可以满足用户对于电子设备的更多需求。
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。
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。
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。
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。
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。
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。
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。
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控制音量的方法，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控制音量的方法，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。
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。
陀螺仪传感器180B可以用于确定电子设备100的运动姿态。在一些实施例中，可以通过陀螺仪传感器180B获取其自身的运动数据，示例性地，可以获取电子设备100围绕三个轴(即X、Y和Z轴)的角速度。陀螺仪传感器180B可以用于拍摄防抖。示例性的，当按下快门，陀螺仪传感器180B检测电子设备100抖动的角度，根据角度计算出镜头模组需要补偿的距离，让镜头通过反向运动抵消电子设备100的抖动，实现防抖。陀螺仪传感器180B还可以用于导航，体感游戏场景。
磁传感器180D包括三轴磁强计等运动传感器。在一些实施例中，可以通过磁传感器180D获取电子设备100其自身的运动数据，示例性地，也可以获取电子设备100自身的方位。
加速度传感器180E可检测电子设备100在各个方向上(一般为三轴)加速度的大小，还可以用于识别电子设备姿态，例如可以通过加速度传感器180E获取第一电子设备的各轴加速度、姿态信息等。
在一些实施例中，电子设备100还可以包括计步器。可以通过计步器获取手持该电子设备的用户的步数等。
指纹传感器180H用于采集指纹。电子设备100可以利用采集的指纹特性实现指纹解锁，访问应用锁，指纹拍照，指纹接听来电等。
温度传感器180J用于检测温度。在一些实施例中，电子设备100利用温度传感器180J检测的温度，执行温度处理策略。
触摸传感器180K，也称“触控面板”。触摸传感器180K可以设置于显示屏194，由触摸传感器180K与显示屏194组成触摸屏，也称“触控屏”。触摸传感器180K用于检测作用于其上或附近的触摸操作。触摸传感器可以将检测到的触摸操作传递给应用处理器，以确定触摸事件类型。可以通过显示屏194提供与触摸操作相关的视觉输出。在另一些实施例中，触摸传感器180K也可以设置于电子设备100的表面，与显示屏194所处的位置不同。
图2是本申请实施例的电子设备100的软件结构框图。分层架构将软件分成若干个层，每一层都有清晰的角色和分工。层与层之间通过软件接口通信。在一些实施例中，将Android系统分为四层，从上至下分别为应用程序层，应用程序框架层，安卓运行时(Android runtime)和系统库，以及内核层。应用程序层可以包括一系列应用程序包。
如图2所示，应用程序包可以包括相机、图库、日历、通话、地图、导航、WLAN、蓝牙、音乐、视频、短信息等应用程序。
该应用程序包也可以包括下文中提到的第一应用的应用程序。
应用程序框架层为应用程序层的应用程序提供应用编程接口(application programming interface，API)和编程框架，应用程序框架层包括一些预先定义的函数。
如图2所示，应用程序框架层可以包括窗口管理器、内容提供器、视图系统、电话管理器、资源管理器、通知管理器等。
窗口管理器用于管理窗口程序，窗口管理器可以获取显示屏大小，判断是否有状态栏、锁定屏幕、截取屏幕等。
内容提供器用来存放和获取数据，并使这些数据可以被应用程序访问。所述数据可以包括视频、图像、音频、拨打和接听的电话、浏览历史和书签、电话簿等。
视图系统包括可视控件，例如显示文字的控件，显示图片的控件等。视图系统可用于构建应用程序。显示界面可以由一个或多个视图组成的。例如，包括短信通知图标的显示界面，可以包括显示文字的视图以及显示图片的视图。
电话管理器用于提供电子设备100的通信功能。例如通话状态的管理(包括接通，挂断等)。
资源管理器为应用程序提供各种资源，比如本地化字符串、图标、图片、布局文件、视频文件等等。
通知管理器使应用程序可以在状态栏中显示通知信息，可以用于传达告知类型的消息，可以短暂停留后自动消失，无需用户交互，也可以与用户交互进行下一步骤。在本申请中，通知管理器可以通知用户与目标设备的定位相关的消息。
通知管理器还可以是以图表或者滚动条文本形式出现在系统顶部状态栏的通知，例如后台运行的应用程序的通知，还可以是以对话窗口形式出现在屏幕上的通知。例如在状态 栏提示文本信息、发出提示音、电子设备振动、指示灯闪烁等。
系统库可以包括多个功能模块。例如：表面管理器(surface manager)、媒体库(media libraries)、三维图形处理库(例如：OpenGL ES)、2D图形引擎(例如：SGL)等。
表面管理器用于对显示子系统进行管理，并且为多个应用程序提供了2D和3D图层的融合。
媒体库支持多种常用的音频、视频格式回放和录制以及静态图像文件等。媒体库可以支持多种音视频编码格式，例如:MPEG4、H.264、MP3、AAC、AMR、JPG和PNG等。
三维图形处理库用于实现三维图形绘图、图像渲染、合成和图层处理等。
2D图形引擎是2D绘图的绘图引擎。
内核层是硬件和软件之间的层。内核层至少包含显示驱动、摄像头驱动、音频驱动、传感器驱动。
下面结合启动第一应用的场景，示例性说明电子设备100软件以及硬件的工作流程。
当触摸传感器180K接收到触摸操作，相应的硬件中断被发给内核层。内核层将触摸操作加工成原始输入事件(包括触摸坐标，触摸操作的时间戳等信息)。原始输入事件被存储在内核层。应用程序框架层从内核层获取原始输入事件，识别该输入事件所对应的控件。以该触摸操作是触摸单击操作，该单击操作所对应的控件为第一应用图标的控件为例，第一应用调用应用框架层的接口，启动第一应用，进而通过调用内核层启动Wi-Fi等驱动，通过无线通信模块160接收来自其他电子设备的数据，例如来自目标设备或已知地理位置的Wi-Fi热点装置的Wi-Fi特征数据。
为了便于理解，本申请以下实施例将以具有图1和图2所示结构的第一电子设备为例，结合附图对本申请实施例提供的定位方法进行具体阐述。
需要说明的是，本申请实施例中，待定位的目标设备可以是第一电子设备本身，也可以是不同于第一电子设备的其他电子设备，本申请对此不作具体限定。若待定位的目标设备是第一电子设备本身，则在定位的过程中，可以参考已知地理位置的其他电子设备对其进行定位。
还需要说明的是，本申请实施例中的待定位的目标设备可以为与第一电子设备曾经连接的设备或同一Wi-Fi下的设备，如儿童手表、运动手环、平板、车等；待定位的目标设备也可以为第一电子设备经过扫描检测出的设备，如定位接入私人路由器的恶意终端、隐藏式摄像头等。
情况一：待定位的目标设备与第一电子设备为同一设备
方式一：定位的运动方式为行走方式
图3示出了第一电子设备的一组图形用户界面(graphical user interface，GUI)，其中，从图3中的(a)到图3中的(m)示出了第一电子设备可以在第一应用下确定其自身的位置的过程。
参见图3中的(a)所示的GUI，该GUI为第一电子设备的桌面。当第一电子设备检测到用户点击桌面上的第一应用的图标301的操作后，可以启动定位应用，显示如图3中的(b)所示的GUI，该GUI可以称为定位说明界面。
参见图3中的(b)所示的GUI，第一电子设备界面可以提示用户该第一应用的功能，例如，可以显示“该应用可以帮助用户寻找或发现当前设备或其它设备(如已知手环、儿 童手表等)”。用户在阅读定位说明后，选择开始定位。当第一电子设备检测到用户点击开始定位的图标302的操作后，第一电子设备显示如图3中的(c)所示的GUI。
参见图3中的(c)所示的GUI，第一电子设备界面可以显示“请选择是否定位当前设备”，若用户点击“是”所对应的图标303，第一电子设备在检测到用户点击“是”所对应的图标303的操作后，可以显示图3中的(d)所示的GUI。若选择定位当前设备，是以用户已连接附近已知Wi-Fi热点装置为前提，第一电子设备通过Wi-Fi网卡向服务器请求所连接WiFi热点的地理位置信息。
参见图3中的(d)所示的GUI，第一电子设备界面可以显示“请选择以下运动方式以定位”以及多个运动方式的选项“原地转圈”、“原地摆臂”和“行走”，若用户点击“行走”所对应的图标304，第一电子设备在检测到用户点击“行走”所对应的图标304的操作后，可以显示如图3中的(e)所示的GUI。
参见图3中的(e)所示的GUI，第一电子设备界面可以进一步显示行走方式下的多种选项，包括但不限于“直线”、“折线”、“圆形”、“矩形”和“随机”。用户可以进一步选择对应的选项。示例性的，第一电子设备在检测到用户点击“圆形”所对应的图标305的操作后，可以显示图3中的(f)所示的GUI。
参见图3中的(f)所示的GUI，第一电子设备界面可以显示“请选择定位结果显示方式”，示例性地，如界面显示“是否实时显示定位结果”，若用户点击是的图标，第一电子设备在检测到用户点击是的图标306的操作后，可以显示图3中的(g)所示的GUI。
参见图3中的(g)所示的GUI，第一电子设备界面可以显示“运动方式说明”，该运动方式说明可以是“请手持设备沿当前环境按照圆形轨迹缓慢移动，移动过程中保持设备水平”，用户在确保阅读了解该运动方式说明后，可以点击“知道了”的图标307，第一电子设备在检测到用户点击“知道了”的图标307的操作后，可以显示图3中的(h)所示的GUI。
参见图3中的(h)所示的GUI，第一电子设备界面可以显示“正在启动硬件定位能力”。在第一电子设备启动该硬件定位能力完成后，可以显示如图3中的(i)所示的GUI。
参见图3中的(i)所示的GUI，其中，图中箭头所示的位置为用户当前所在的位置，第一电子设备界面可以提示用户“请按照圆形缓慢行走”，用户可以手持第一电子设备缓慢行走。若用户未按照图3中的(e)中所选择的运动方式行走，可以显示如图3中的(j)所示的GUI。若用户按照图3中的(e)中所选择的运动方式行走，可以显示如图3中的(k)所示的GUI。
参见图3中的(j)所示的GUI，可以看出，用户行走轨迹为随机行走轨迹(该随机行走轨迹为用户在移动过程中形成的实际运动轨迹)，而用户在图3中的(e)中所选择的运动方式是圆形(圆形为预定的运动轨迹)，因此，第一电子设备界面可以显示“实际运动轨迹与所选运动方式不一致，定位结果可能不准确”(对应本申请的第一提示信息)。此时，用户可以按照所选行走轨迹行走，可以显示图3中的(k)所示的GUI。
在一些实施例中，当实际运动轨迹与预定的运动轨迹之间的偏差大于第一阈值时，第一电子设备可以显示第一提示信息。其中，实际运动轨迹与预定的运动轨迹之间的偏差可以是指用户当前位置与预定的运动轨迹上最近的点之间的距离。第一阈值可以是第一电子设备默认的距离值，也可以是用户输入的距离值，本申请对此不予限制。
参见图3中的(k)所示的GUI，用户可以手持第一电子设备从某一位置(如图3中的(j)所显示的小圆点的位置)按照所选运动方式(即圆形)缓慢行走至箭头所示的位置，若用户未保持对第一电子设备的水平握持方式，第一电子设备界面可以提示用户“请保持对第一电子电子设备的水平握持方式”，若用户长时间未调整对第一电子设备的握持方式继续缓慢行走，可以显示如图3中的(l)所示的GUI。
参见图3中的(l)所示的GUI，第一电子设备界面提示用户“姿势异常，定位结果可能不准确”(对应本申请的第二提示信息)，此时，用户可以调整对第一电子设备的握持方式后，继续缓慢行走，可以显示如图3中的(m)所示的GUI。
参见图3中的(m)所示的GUI，用户可以手持第一电子设备从某一位置(如图3中的(m)所显示的小圆点的位置)按照所选运动方式(即圆形)缓慢行走至箭头所示的位置，显示图3中的(n)所示的GUI。
参见图3中的(n)所示的GUI，可以看出，第一电子设备(如图3中的(n)所示的HUAWEI Mate 10)位于距离已知地理位置的路由器2m的位置，此时可以认为完成对第一电子设备的定位。
需要说明的是，图3中的(n)所示出的路由器仅为举例说明，在一些实施例中，该路由器可以替换为任意已知地理位置至的其它设备，不予限制。
值得注意的是，在该示例下，箭头所示的位置为用户实时的位置。换句话说，随着用户的行走，箭头以及地图随之移动。示例性地，图3中的(i)所示的箭头的位置为用户初始的位置，当用户从图3中的(j)所示出的小圆点的位置(即图3中的(i)的箭头的位置)行走至图3中的(j)所示的箭头的位置时，此时箭头所示的位置为用户的当前位置，且用户仍然处于地图的中心。
在另一些实施例中，随着用户的行走，箭头随之移动，但是地图并未实时移动。
在这种实施例下，同样地，用户首先可以打开第一应用，并选择定位当前设备以及定位的运动方式和定位结果显示方式，具体过程可以参考图3中的(a)-图3中的(i)所示的GUI。
当第一电子设备界面显示“请按照圆形缓慢行走”，用户可以手持第一电子设备缓慢行走。若用户未按照图3(e)中所选择的行走轨迹行走，可以显示如图4中的(a)所示的GUI。
参见图4中的(a)所示的GUI，可以看出，用户行走轨迹为随机行走轨迹，而用户在图3中的(e)中所选择的行走轨迹是圆形，因此，第一电子设备界面可以显示“实际运动轨迹与所选运动方式不一致，定位结果可能不准确”(对应本申请的第一提示信息)。此时，用户可以按照所选行走轨迹行走，可以显示图4中的(b)所示的GUI。
参见图4中的(b)所示的GUI，用户可以手持第一电子设备继续按照所选行走轨迹(即圆形轨迹)缓慢行走，当用户行走了一段时间后，若定位到第一电子设备的位置，显示如图4中的(c)所示的GUI。
参见图4中的(c)所示的GUI，可以看出，第一电子设备(如图4中的(c)所示的HUAWEI Mate 10)位于距离已知地理位置的路由器2m的位置，此时可以认为完成对第一电子设备的定位。
值得注意的是，在该示例下，用户移动的起点在地图中的位置保持不变，箭头所示的 位置为用户实时的位置，随着用户的行走，箭头随之移动，但是地图并未跟随用户移动而移动。示例性地，当用户从图4中的(b)所示出的箭头向上的位置行走至为图4中的(b)所示的箭头向下的位置时，此时箭头向下所示的位置为用户的当前位置，而用户并未处于地图的中心。
方式二：定位的运动方式为原地转圈方式
图5示出了第一电子设备的又一组GUI，参见图5中的(a)所示的GUI，该GUI为第一电子设备的桌面。当第一电子设备检测到用户点击桌面上的第一应用的图标501的操作后，可以启动定位应用，显示如图5中的(b)所示的GUI，该GUI可以称为定位的说明界面。
参见图5中的(b)所示的GUI，界面可以提示用户该第一应用的功能，例如，可以显示“该应用可以帮助用户寻找或发现当前设备或其它设备(如已知手环、儿童手表等)”。当第一电子设备检测到用户点击开始定位的图标502的操作后，第一电子设备可以开始对待定位的目标设备进行定位，显示如图5中的(c)所示的GUI。
参见图5中的(c)所示的GUI，第一电子设备界面可以显示“请选择是否定位当前设备”，若用户点击“是”所对应的图标503，第一电子设备在检测到用户点击“是”所对应的图标503的操作，可以显示图5中的(d)所示的GUI。
参见图5中的(d)所示的GUI，第一电子设备界面可以显示“请选择以下运动方式以定位”，若用户点击“原地转圈”所对应的图标504，第一电子设备在检测到用户点击“原地转圈”所对应的图标504的操作后，可以显示如图5中的(e)所示的GUI。
参见图5中的(e)所示的GUI，第一电子设备界面可以显示“运动方式说明”，该运动方式说明可以是“请以站立点为圆心，手臂长为半径，双脚缓慢移动以改变朝向，逆时针/顺时针转动3圈，转动过程中保持设备水平”，用户在确保阅读了解该运动方式说明后，可以点击知道了的图标，第一电子设备在检测到用户点击知道了的图标505的操作后，可以显示图5中的(f)所示的GUI。
需要说明的是，本申请实施例中转动的圈数可以基于先验数据获得，界面显示的圈数可以为n，n为大于或等于1的正整数，不予限制。
参见图5中的(f)所示的GUI，第一电子设备界面可以显示“正在启动硬件定位能力”。在第一电子设备启动该硬件定位能力完成后，可以显示如图5中的(g)所示的GUI。
参见图5中的(g)所示的GUI，第一电子设备界面可以提示用户“请按照图中所示出的方向缓慢转动”，用户按照界面的提示进行转动，可以显示如图5中的(h)所示的GUI。
参见图5中的(h)所示的GUI，当第一电子设备检测用户按照提示转完1圈后，第一电子设备界面可以显示“已完成第1圈转动，请继续转动”，用户可以进一步按照提示转动。
参见图5中的(i)所示的GUI，当第一电子设备检测到用户手臂未按照界面提示动作，可以提示用户“请保持第一电子设备水平”。若用户长时间未调整第一电子设备的状态，则可以显示图5中的(j)所示的GUI。
参见图5中的(j)所示的GUI，第一电子设备界面提示用户“姿势异常，定位结果可能不准确”(对应本申请的第二提示信息)，此时，用户可以按照提示重新转圈，可以显示图5中的(k)所示的GUI。
参见图5中的(k)所示的GUI，用户可以手持第一电子设备再次转圈，当第一电子设备检测用户按照提示转完1圈后，可以显示“已完成第2圈转动，请继续转动”，用户可以进一步按照提示转动，显示如图5中的(l)所示的GUI。
参见图5中的(l)所示的GUI，用户可以手持第一电子设备再次转圈，当第一电子设备检测用户按照提示转完1圈后，可以显示“已完成第3圈转动，停止转圈”。当第一电子设备检测到用户点击查看定位结果的图标506的操作后，可以显示图5中的(m)所示的GUI。
参见图5中的(m)所示的GUI，可以看出，第一电子设备(如图5中的(l)所示的HUAWEI Mate 10)位于距离已知地理位置的路由器2m的位置，此时可以认为完成对第一电子设备的定位。
方式三：定位的运动方式为原地摆臂方式
图6示出了第一电子设备的又一组GUI，参见图6中的(a)所示的GUI，该GUI为第一电子设备的桌面。当第一电子设备检测到用户点击桌面上的第一应用的图标601的操作后，可以启动定位应用，显示如图6中的(b)所示的GUI，该GUI可以称为定位的说明界面。
参见图6中的(b)所示的GUI，界面可以提示用户该第一应用的功能，例如，可以显示“该应用可以帮助用户寻找或发现当前设备或其它设备(如已知手环、儿童手表等)”。当第一电子设备检测到用户点击开始定位的图标602的操作后，可以开始对待定位的目标设备进行定位，显示如图6中的(c)所示的GUI。
参见图6中的(c)所示的GUI，第一电子设备界面可以显示“请选择是否定位当前设备”，若用户点击“是”所对应的图标603，第一电子设备在检测到用户点击“是”所对应的图标603的操作后，可以显示图6中的(d)所示的GUI。
参见图6中的(d)所示的GUI，第一电子设备界面可以显示“请选择以下运动方式以定位”，若用户点击“原地摆臂”所对应的图标604，第一电子设备在检测到用户点击“原地摆臂”所对应的图标604的操作后，可以显示如图6中的(e)所示的GUI。
参见图6中的(e)所示的GUI，第一电子设备界面可以显示“运动方式说明”，该运动方式说明可以是“请以站立点为圆心，手臂长为半径，手臂在二维空间中来回摆臂3次，摆臂过程中保持设备的握持方式”，用户在确保阅读了解该运动方式说明后，可以点击知道了的图标，第一电子设备在检测到用户点击知道了的图标605的操作后，可以显示图6中的(f)所示的GUI。
类似地，本申请实施例中摆臂的次数可以基于先验数据获得，界面显示的次数可以为m，m为大于或等于1的正整数，不予限制。
参见图6中的(f)所示的GUI，第一电子设备界面可以显示“正在启动硬件定位能力”。在第一电子设备启动该硬件定位能力完成后，可以显示如图6中的(g)所示的GUI。
参见图6中的(g)所示的GUI，第一电子设备界面可以提示用户“请按照图中所示出的方向摆臂”，用户可以按照提示进行摆臂，可以显示如图6中的(h)所示的GUI。
参见图6中的(h)所示的GUI，当第一电子设备检测用户按照提示摆臂完1次后，可以显示“已完成摆臂1次，请继续摆臂”，用户可以进一步按照提示摆臂。
参见图6中的(i)所示的GUI，当第一电子设备检测到用户手臂未按照界面提示动 作，可以提示用户“保持对第一电子设备的握持方式”。若用户长时间未调整对第一电子设备的握持方式，则可以显示图6中的(j)所示的GUI。
参见图6中的(j)所示的GUI，第一电子设备界面提示用户“姿势异常，定位结果可能不准确”(对应本申请的第二提示信息)，此时，用户可以按照提示重新摆臂，可以显示图6中的(k)所示的GUI。
参见图6中的(k)所示的GUI，用户可以手持第一电子设备再次摆臂，当第一电子设备检测用户按照提示摆臂完1次后，可以显示“已完成摆臂2次，请继续摆臂”，用户可以进一步按照提示摆臂。
参见图6中的(l)所示的GUI，用户可以手持第一电子设备再次摆臂，当第一电子设备检测用户按照提示摆臂完1次后，可以显示“已完成摆臂3次，停止摆臂”。当第一电子设备检测到用户点击查看定位结果的图标606的操作后，可以显示图6中的(m)所示的GUI。
参见图6中的(m)所示的GUI，可以看出，第一电子设备(如图6中的(m)所示的HUAWEI Mate 10)位于距离已知地理位置的路由器2m的位置，此时可以认为完成对第一电子设备的定位。
情况二：待定位的目标设备与第一电子设备为不同设备
方式一：定位的运动方式为行走方式
图7示出了第一电子设备的一组GUI，其中，从图7中的(a)到图7中的(t)示出了第一电子设备可以在第一应用下确定待定位的目标设备的位置。
参见图7中的(a)所示的GUI，该GUI为第一电子设备的桌面。当第一电子设备检测到用户点击桌面上的第一应用的图标701的操作后，可以启动定位应用，显示如图7中的(b)所示的GUI，该GUI可以称为定位说明界面。
参见图7中的(b)所示的GUI，界面可以提示用户该第一应用的功能，例如，可以显示“该应用可以帮助用户寻找或发现当前设备或其它设备(如已知手环、儿童手表等)”。当第一电子设备检测到用户点击开始定位的图标702的操作后，第一电子设备可以显示如图7中的(c)所示的GUI。
参见图7中的(c)所示的GUI，第一电子设备界面可以显示“请选择是否定位当前设备”，当第一电子设备在检测到用户点击“否”所对应的图标703的操作后，可以显示图7中的(d)所示的GUI。
参见图7中的(d)所示的GUI，第一电子设备界面可以显示“请选择以下设备”，包括：运动手环(如图中所示的HUAWEI手环4Pro)、儿童手表(如图中所示的HUAWEI儿童手表3Pro)、车(如图中所示的Car Navigation)、平板(如图中所示的MediaPad 7Youth)或手机(如图中所示的HUAWEI Mate 10Pro)等。以上图7(d)界面上所显示的设备可以为与第一电子设备处于同一路由器下的设备，例如与第一电子设备同处于家庭路由器下的HUAWEI儿童手表3Pro、MediaPad 7Youth、HUAWEI Mate 10Pro；也可以为与第一电子设备曾经连接过的设备，例如与第一电子设备蓝牙连接的HUAWEI手环4Pro、Car Navigation；还可以为第一电子设备经过扫描检测出的设备，例如，用户携带手机进入酒店，通过手机检测出房间内隐藏的针孔式摄像头(图中未示出)。假设用户点击手机所对应的图标704的操作，第一电子设备在检测到这一操作后，可以显示图7中的(e) 所示的GUI。
参见图7中的(e)所示的GUI，第一电子设备界面可以显示“请选择以下运动方式以定位”以及多个运动方式的选项“原地转圈”、“原地摆臂”和“行走”，若用户点击“行走”所对应的图标705，第一电子设备在检测到用户点击“行走”所对应的图标705的操作后，可以显示如图7中的(f)所示的GUI。
参见图7中的(f)所示的GUI，第一电子设备界面可以进一步显示行走方式下的多种选项，包括但不限于“直线”、“折线”、“圆形”、“矩形”和“随机”。用户可以进一步选择对应的选项。第一电子设备在检测到用户点击“圆形”所对应的图标706的操作后，可以显示图7中的(g)所示的GUI。
参见图7中的(g)所示的GUI，第一电子设备界面可以显示“请选择定位结果显示方式”，示例性地，如界面显示“是否实时显示定位结果”，若用户点击是的图标，第一电子设备在检测到用户点击是的图标707的操作后，可以显示图7中的(h)所示的GUI。
参见图7中的(h)所示的GUI，第一电子设备界面可以显示“运动方式说明”，该运动方式检测说明可以是“请手持设备沿当前环境按照圆形轨迹缓慢移动，移动过程中保持设备水平”，用户在确保阅读了解该定位检测说明后，可以点击知道了的图标，第一电子设备在检测到用户点击知道了的图标708的操作后，可以显示图7中的(i)所示的GUI。
参见图7中的(i)所示的GUI，第一电子设备界面可以显示“正在启动硬件定位能力”。在第一电子设备启动该硬件定位能力完成后，可以显示如图7中的(j)所示的GUI。
参见图7中的(j)所示的GUI，其中，图中箭头所示的位置为用户当前所在的位置，第一电子设备界面提示用户“请按照圆形缓慢行走”，用户可以手持第一电子设备缓慢行走。若用户未按照图7中的(f)中所选择的行走轨迹行走，可以显示如图7中的(k)所示的GUI。
参见图7中的(k)所示的GUI，可以看出，用户行走轨迹为随机行走轨迹，而用户在图7中的(f)中所选择的行走轨迹是圆形，因此，第一电子设备界面可以显示“实际运动轨迹与所选运动方式不一致，定位结果可能不准确”(对应本申请的第一提示信息)。此时，用户可以按照所选行走轨迹行走，可以显示图7中的(l)所示的GUI。
参见图7中的(l)所示的GUI，用户可以手持第一电子设备从某一位置(如图7中的(l)所显示的小圆点的位置)按照所选行走轨迹(即圆形轨迹)缓慢行走至箭头所示的位置，可以定位到待定位的目标设备的位置，显示如图7中的(m)所示的GUI。
参见图7中的(m)所示的GUI，可以看出，待定位的目标设备(如图7中的(m)所示的HUAWEI Mate 10Pro)位于距离用户14.6m的位置，此时可以认为完成对待定位的目标设备的定位检测。当第一电子设备检测到用户点击下一步的图标709的操作后，可以显示图7中的(n)所示的GUI。
参见图7中的(n)所示的GUI，第一电子设备可以显示“请选择是否按照引导搜寻设备”。若用户选择否，此时定位过程结束，用户可以自主寻找目标设备；若用户选择是，当第一电子设备检测到用户点击“是”的图标710的操作后，存在实时地图和实时罗盘两种可能的显示方式引导用户进一步搜寻目标设备。若基于实时地图引导寻找设备，可以显示图7中的(o)所示的GUI；若基于实时罗盘引导寻找设备，可以显示图7中的(r)所示的GUI；还可以显示图7中的(u)所示的GUI。
参见图7中的(o)所示的GUI，此时第一电子设备界面提示用户“请缓慢行走”，且目标设备仍然位于第一电子设备的东侧且距离用户14.6m的位置，用户根据界面示出的目标设备“HUAWEI Mate 10Pro”的位置，可以手持第一电子设备向目标设备所在的方向继续缓慢行走，显示图7中的(p)所示的GUI。
参见图7中的(p)所示的GUI，当用户行走了一段距离后，第一电子设备对目标设备的位置进行了更新，可以看出，此时目标设备位于第一电子设备的东侧且距离用户4.6m的位置。用户可以手持第一电子设备继续行走，显示图7中的(q)所示的GUI。
参见图7中的(q)所示的GUI，第一电子设备再次对目标设备的位置进行了更新，可以看出，此时目标设备与第一电子设备距离为0.2m，即可以认为完成了对目标设备的搜寻。
参见图7中的(r)所示的GUI，此时目标设备位于第一电子设备的东侧且距离用户14.6m的位置，此时用户可以转动一定角度(示例性地，假设用户面部朝向西北300°这一方位，可以顺时针转动9°)，并手持第一电子设备继续缓慢行走，显示图7中的(s)所示的GUI。
参见图7中的(s)所示的GUI，当用户行走了一段距离后，第一电子设备对目标设备的位置进行了更新，可以看出，此时目标设备与第一电子设备的距离为4.6m，且目标设备位于第一电子设备的北偏东21°的方位。用户可以继续转动一定角度(示例性地，瞬时针转动51°)，并手持第一电子设备继续行走，显示图7中的(t)所示的GUI。
参见图7中的(t)所示的GUI，第一电子设备再次对目标设备的位置进行了更新，可以看出，此时目标设备与第一电子设备的距离为0.2m，且目标设备位于第一电子设备的北偏东30°的方位，此时可以认为完成了对目标设备的搜寻。
参见图7中的(u)所示的GUI，此时目标设备位于手机界面的东侧且距离用户14.6m的位置。由于目前用户手持第一电子设备面向正西方向(假设箭头方向为用户的面部所朝向的方向)，用户可以先调整方向，显示如图7中的(v)所示的GUI。
参见图7中的(v)所示的GUI，此时用户面部朝向正北方向，且目标设备距离用户的距离依然还是14.6m。此时用户可以继续调整面部朝向，并向目标设备所在的方向缓慢行走，显示如图7中的(w)所示的GUI。
参见图7中的(w)所示的GUI，可以看出，目标设备位于手机界面的东侧且距离用户3.3m的位置。此时用户可以将地图的比例调大，在调整的过程中，一种可能是用户可能调整的比例合适，如图7中的(x)所示的GUI；另一种可能是用户调整的比例太大，目标设备未显示在第一电子设备界面，如图7中的(y)所示的GUI，此时图中靠右侧三角形所指示的方向即为目标设备的可能的方向，用户可以适当调整地图比例以使得目标设备显示在第一电子设备界面。
参见图7中的(x)所示的GUI，可以看出，此时目标设备仍然位于第一电子设备界面的东侧且距离用户3.3m的位置，然而用户所看到界面显示的目标设备与用户之间的距离大于图7中的(w)所示的GUI示出的目标设备与用户之间的距离，这是由于用户将地图比例调大的原因。
调整完成后，用户可以继续向目标设备所在的方向缓慢行走，显示如图7中的(z)所示的GUI。
参见图7中的(z)所示的GUI，目标设备在距离用户0.2m的位置，此时可以认为完成对目标设备的搜寻。
另一些实施例中，在定位其它设备的情况下，随着用户的行走，箭头随之移动，但是地图并未实时移动。具体过程请参见图4所示的一组GUI。
当初步定位到其它设备的位置时，若用户点击搜寻或寻找设备，则可以参考图7中的(o)～图7中的(z)所示的GUI。
需要说明的是，图7是以目标设备为手机为例进行说明的，若该目标设备为隐藏式摄像头，图7中的(o)～图7中的(z)所示的界面下方的图标“取消”可替换为“查看帮助”，在用户点击了查看帮助的图标后，第一电子设备界面可以显示提示信息，该提示信息可以为“请注意插座、电视机、墙角等隐蔽位置以确定目标设备”。
还需要说明的是，一些实施例中，在定位阶段，也可以不显示地图和用户的行走轨迹，仅显示处于动态行走中的人的动画效果，当定位到第二电子设备后，可以直接显示图7中的(m)所述的GUI。当然，在该实施例中，若用户的实际运动轨迹与所选运动方式不一致，第一电子设备仍然可以显示提示信息。
方式二：定位的运动方式为原地转圈方式
在待定位的目标设备与第一电子设备为不同设备的情况下，若用户选择定位的运动方式为原地转圈，具体过程与上述图5所示的GUI基本类似，可以参见图5所示的GUI。
在对目标设备的定位检测完成之后，若用户点击按照引导搜寻设备，则可以参考图7中的(o)～图7中的(z)所示的GUI。
方式三：定位的运动方式为原地摆臂方式
在待定位的目标设备与第一电子设备为不同设备的情况下，若用户选择定位的运动方式为原地摆臂，具体过程与上述图6所示的GUI基本类似，可以参见图6所示的GUI。
在对目标设备的定位检测完成之后，若用户点击按照引导搜寻设备，则可以参考图7中的(o)～图7中的(z)所示的GUI。
需要说明的是，上述过程也可以以语音的形式实现待定位的目标设备的定位。例如，若检测到待定位的目标设备位于第一电子设备的界面的东侧距离用户14.6m的位置，可以以语音播放的形式提示用户。其过程与上述图所示的过程基本一致，仅是引导搜寻目标设备的形式不同，为了简洁，这里不再赘述。
下面结合附图8介绍本申请实施例中第一电子设备对目标设备进行定位的内部实现过程，该定位过程可以包括两个阶段：定位阶段和搜寻阶段。其中，搜寻阶段是可选的，如果用户在如图7(n)所示的GUI中选择按照引导搜寻设备，那么定位阶段结束后进入搜寻阶段。如果用户在如图7(n)所示的GUI中选择不按照引导搜寻设备，那么定位过程也可以提前结束，不进入搜寻阶段。
定位阶段：
本方案主要是通过移动第一电子设备来形成多个虚拟参考点，并且获取这多个虚拟点的Wi-Fi特征和运动数据，结合定位算法实现目标设备的定位。
S1210，第一电子设备接收用户的第一输入操作。
所述用户的第一输入操作可以是以下输入操作中的一种或多种：图3中的(c)、图7中的(c)中用户对是否定位当前设备的选项进行选择的输入操作，图3中的(d)、图7 中的(e)中用户对形成预定轨迹的运动方式选项进行选择的输入操作，图3中的(e)、图7中的(f)中用户对已选的运动方式进一步选择的输入操作，图3中的(f)、图7中的(g)中用户对是否实时显示定位结果的选项进行选择的输入操作，图7中的(d)中用户对多个设备选项进行选择的输入操作等。需要说明的是，以上第一电子设备界面的显示仅为示例性的，上述多种类型的选项可以同时或部分同时显示在第一电子设备界面上供用户进行选择。
此外，所述用户的第一输入操作也可以是后续图23(d)中对第一应用中已检测出的设备1进行选择的输入操作，只要第一电子设备接收该第一输入操作后能够有所响应，确定待定位的目标设备和预定的运动轨迹即可。
S1212，响应于所述第一输入操作，确定待定位的目标设备和预定的运动轨迹。
第一电子设备响应于上述用户的一种或多种输入操作，确定需要定位的目标设备是当前设备(即第一电子设备)或当前设备以外的其他电子设备，以及定位过程中第一电子设备将要按照某种运动方式移动所形成的运动轨迹。
示例性地，用户利用第一电子设备可以实现对其自身的定位，如图3中的(c)所示，用户点击“是”选项，第一电子设备接收用户的上述输入操作，确定待定位的目标设备是所述第一电子设备。进一步地，如图3中的(d)-图3中的(e)所示，用户点击第一电子设备桌面上的“行走”选项和“圆形”选项，第一电子设备接收用户的上述输入操作，确定第一电子设备将提示用户按照预定的运动轨迹进行移动，即圆形行走运动轨迹。需要说明的是，此时第一电子设备确定的是其自身的地理位置。
示例性地，用户可以利用第一电子设备可以实现对其他电子设备的定位，如图7中的(c)所示，用户点击“否”选项，如图7中的(d)所示，用户点击图标704，第一电子设备接收用户的上述输入操作，确定待定位的目标设备是与所述第一电子设备不同的其他电子设备，即图7(d)所示的手机。确定目标设备后，第一电子设备获取该目标设备的MAC地址信息、Wi-Fi卡型号、设备识别码等，以供后续第一电子设备获取Wi-Fi特征信息使用，具体参见S1216。进一步地，如图7中的(e)-图7中的(f)所示，用户点击第一电子设备桌面上的“行走”选项和“圆形”选项，第一电子设备接收用户的上述输入操作，确定第一电子设备将提示用户按照预定的运动轨迹进行移动，即圆形行走运动轨迹。
以上第一电子设备将要按照某种运动方式移动所形成的运动轨迹即为预定的运动轨迹，预定的运动轨迹包括原地转圈、原地摆臂、行走等方式，行走方式具体还可以包括“直线”、“折线”、“圆形”、“矩形”和“随机”等。示例性地，如图5中的(d)所示，用户点击第一电子设备桌面上的“原地转圈”选项，第一电子设备接收用户的上述输入操作，确定第一电子设备将提示用户按照预定的运动轨迹进行移动，即原地转圈的运动轨迹。。
再如，如图6中的(d)所示，用户点击第一电子设备桌面上的“原地摆臂”选项，第一电子设备接收用户的上述输入操作，确定第一电子设备将提示用户按照原地摆臂的运动轨迹进行转动。
或者，第一电子设备也可以基于启动的第一应用类型和功能自动确定预定的运动轨迹。例如，如图23所示的第一应用用于查找摄像头，为便于用户快速搜寻到隐藏的摄像头，该应用已预先设置采用随机行走的运动轨迹来定位摄像头。
S1214，根据所述预定的运动轨迹，第一电子设备显示定位说明界面。
为便于用户了解如何对目标设备进行定位，第一电子设备根据所述预定的运动轨迹显示定位说明界面，定位说明可以包括显示在界面上的文字和/或图片，也可以包括播放的语音，以引导用户按照定位说明握持第一电子设备以及进行移动。
示例性地，如图3中的(d)-图3中的(e)所示，响应于用户的输入操作，第一电子设备确定的所述预定的运动轨迹为圆形行走运动轨迹。根据所述预定的运动轨迹，第一电子设备显示如图3中的(g)所示的运动方式说明界面：“请手持设备沿当前环境按照圆形轨迹缓慢移动，移动过程中保持设备水平”。
示例性地，如图5中的(d)所示，响应于用户的输入操作，第一电子设备确定的运动方式为原地转圈。根据所述预定的运动方式，第一电子设备显示如图5中的(e)所示的运动方式说明界面：“请以站立点为圆心，手臂长为半径，双脚缓慢移动以改变朝向，逆时针/顺时针转动3圈，转动过程中保持设备水平”。
示例性地，如图6中的(d)所示，响应于用户的输入操作，第一电子设备确定的运动定位的运动方式为原地转圈。根据所述预定的运动定位的运动方式，第一电子设备显示如图6中的(e)所示的运动方式说明界面：“请以站立点为圆心，手臂长为半径，手臂在二维空间中来回摆臂3次，摆臂过程中保持设备的握持方式”。
S1216，在第一电子设备按照所述预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息以及所述第一电子设备的运动信息。
为了对目标设备进行准确定位，在第一电子设备按照所述预定的运动轨迹移动过程中，第一电子设备实时获取第二电子设备的Wi-Fi特征信息、以及所述第一电子设备自身移动的运动信息。其中，基于S1212中确定的待定位的目标设备，所述第二电子设备可以是已知地理位置的Wi-Fi热点装置，也可以是所述已确定的目标设备。
如果S1212中确定的目标设备是所述第一电子设备，则所述第二电子设备为已知地理位置的Wi-Fi热点装置，在第一电子设备按照所述预定的运动轨迹移动过程中，第一电子设备实时获取的是所述已知地理位置的Wi-Fi热点装置的Wi-Fi特征信息。例如，参见图3中的(c)所示，用户点击图标303，响应于该输入操作，第一电子设备确定的待定位的目标设备为所述第一电子设备，即手机HUAWEI MATE 10，此时当前场景(例如室内场景)中至少有一个已知地理位置的Wi-Fi热点装置，第一电子设备在按照圆形行走轨迹移动的过程中实时获取该Wi-Fi热点装置的Wi-Fi特征。之所以需要一个已知地理位置的Wi-Fi热点装置，是在定位所述第一电子设备的过程中依据该热点装置与第一电子设备的相对位置才能够获知所述第一电子设备的实际地理位置。
如果S1212中确定的目标设备为不同于所述第一电子设备的其他电子设备，即不是第一电子设备，则所述第二电子设备为所述已确定的目标设备，在第一电子设备按照所述预定的运动轨迹移动过程中，第一电子设备实时获取所述目标设备的无线保真Wi-Fi特征信息。例如，参见图7中的(d)所示，用户点击图标704，响应于该输入操作，第一电子设备确定的待定位的目标设备为手机HUAWEI MATE 10Pro，则第一电子设备在按照圆形行走轨迹移动的过程中实时获取所述目标设备的Wi-Fi特征。在这种情况下，第一电子设备获取Wi-Fi特征可以通过第一电子设备所携带的Wi-Fi网卡实现。本申请实施例中第一电子设备获取Wi-Fi特征的方式包括协作方式或嗅探方式。
方式一：协作方式
在该获取方式下，第一电子设备向目标设备发送指定指令，例如，可以向目标设备发送“请周期性向我发送xxx数据”，目标设备收到该指令后对第一电子设备进行认证，然后依据指令请求向第一电子设备发送相关数据，随后第一电子设备可以获取目标设备返回的响应数据，并分析提取其Wi-Fi特征。其中，第一电子设备可以与目标设备建立通信连接，或者第一电子设备与目标设备位于同一Wi-Fi路由覆盖的网络内。当第一电子设备与目标设备位于同一Wi-Fi路由覆盖的网络内，第一电子设备通过Wi-Fi路由向第二电子设备发送“请周期性向我发送xxx数据”指令，目标设备收到该指令后对第一电子设备进行认证，然后依据指令请求向第一电子设备发送相关数据。
如图9所示，为本申请实施例提供的基于协作方式捕获设备的Wi-Fi特征的示意图。第一电子设备可以通过路由器与目标设备之间进行通信，例如，第一电子设备向路由器发送“请周期性向我发送xxx数据”这一指令，路由器将这一指令发送至目标设备，目标设备根据该指令向第一电子设备发送“xxx”数据，第一电子设备从接收到的“xxx”数据中提取目标设备的Wi-Fi特征。
方式二：嗅探方式
电子设备的Wi-Fi模块在正常的业务模式下将不是发送给自己的数据丢弃，但在监控模式下可以将Wi-Fi模块接收到的数据全部或选择性上报，这便是电子设备的嗅探模式。
具体到本申请实施例中，若第一电子设备确定目标设备为接入私人路由器的恶意终端、恶意隐藏的摄像头或类似的视频监控设备，该目标设备既没有与第一电子设备建立通信连接，这两个设备也没有处于同一Wi-Fi路由覆盖的网络内，则第一电子设备可以将其Wi-Fi网卡设置为嗅探模式，并对空口中的Wi-Fi数据进行捕获，根据已确定的目标设备的信息对捕获的数据进行过滤，例如可以根据目标设备的MAC地址信息进行过滤，进而分析提取其Wi-Fi特征。
如图10所示为本申请实施例提供的基于空口嗅探方式捕获设备的Wi-Fi特征的示意图。由于第一电子设备不能与目标设备直接或间接进行通信，第一电子设备在空口持续嗅探，根据目标设备的信息(如目标设备的MAC地址信息)过滤得到其发出的Wi-Fi数据，进而提取目标设备的Wi-Fi特征。
第一电子设备通过上述两种捕获方式获取目标设备的Wi-Fi数据，根据所述Wi-Fi数据提取其Wi-Fi特征信息，例如接收信号强度示数(received signal strength index，RSSI)、信道状态信息(channel state information，CSI)、传输速率、信噪比等等。以上Wi-Fi特征信息主要用于刻画第一电子设备和目标设备之间的距离、方位和环境干扰等信息。
对于S1212中确定的目标设备是所述第一电子设备的情形，由于所述第二电子设备为已知地理位置的Wi-Fi热点装置，在第一电子设备按照所述预定的运动轨迹移动过程中，第一电子设备实时获取的是所述已知地理位置的Wi-Fi热点装置的Wi-Fi数据。该Wi-Fi热点装置的Wi-Fi数据捕获方式与前述协作模式相同，由该Wi-Fi热点装置实时发送其Wi-Fi数据至第一电子设备，第一电子设备从接收到的Wi-Fi数据中提取该Wi-Fi热点装置的Wi-Fi特征信息。基于该Wi-Fi热点装置的地理位置信息(已知参考点)，第一电子设备根据接收到该WiFi热点装置的Wi-Fi数据，从中提取特征信息后能够推断其自身的地理位置。
所述第一电子设备的运动信息是所述第一电子设备自身移动的运动信息，可以通过第一电子设备携带的运动传感器或增强现实(augmented reality，AR)实时捕获，例如，可以包括但不限于：各轴加速度、各轴角速度、各轴磁强、姿态信息、位置信息、计步器数据、行走速度等。
其中，姿态信息可以包括欧拉角、四元素或旋转矩阵等。
S1218，根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息。
第一电子设备根据预先设置的选项实时显示所述目标设备的位置信息，或者在用户按照定位说明界面所指示的内容完成所述预定的运动轨迹后显示所述目标设备的位置信息。
第一电子设备根据预先设置的选项实时显示所述目标设备的位置信息，可以是在定位过程前由用户选择是否实时显示定位结果，示例性地，如图3中的(f)、图7中的(g)中用户可以选择“是”对应的图标。上述预先设置的选项仅仅是一种示例，上述实时显示所述目标设备的位置信息还可以是第一电子设备的第一应用下载完成后默认的位置信息显示方式。
第一电子设备在用户按照定位说明界面所指示的内容完成所述预定的运动轨迹后显示所述目标设备的位置信息。示例性地，如图5中的(m)、图6中的(m)中显示目标设备的位置信息。
第一电子设备在对提取的Wi-Fi特征和其自身的运动数据进行分析的过程中，可以根据用户选择的定位的运动方式执行相适应的运动轨迹估计算法和定位算法。以下以步骤S1212所确定的目标设备不是所述第一电子设备、步骤S1216中获取的是所述目标设备的Wi-Fi特征信息为例进行算法介绍。
方式一：定位的运动方式为行走
●以起始运动点为坐标原点，北向为Y轴，东向为X轴建立参考坐标系；
●基于读取的运动数据解算第一电子设备姿态，判断其俯仰角和滚转角是否在一定区间内(如-10°至10°)。若否，则提示用户保持对第一电子设备的水平握持方式，参考图3中的(k)所示的GUI；若长时间不在该区间内，则提示用户姿势异常，定位结果可能不准确(对应本申请的第二提示信息)，参考图3中的(l)所示的GUI；
●基于读取的运动数据使用已有轨迹估计算法更新第一电子设备在参考坐标系中的坐标；本申请实施例中，轨迹估计算法可以为行人航迹推算算法(pedestrian dead reckoning，PDR)，惯性测量装置(inertial measurement unit，IMU)结合零速校正积分算法等；
●行走一定时间后用户选择停止。
在一些实施例中，第一电子设备界面可以提示用户停止行走，不予限制。
具体地，第一电子设备可以基于以下方式估计目标设备的位置：
①根据所提取Wi-Fi特征在行走轨迹上的热力图估计(如通过插值，寻找局部热力图中RSSI的最大值处即得第二电子设备的估计坐标)，进而可求得方位和距离。
②根据CSI计算得到信号的到达角和到达时间来估计方位和距离。
③根据用户行走轨迹的类型设计特定的定位算法。
如图11所示，为本申请实施例提供的一种用户随机行走的示意图。从图中可以看出，用户从起始点出发，沿任意路径行走，直到到达终止点。
参考图12，图12为本申请实施例提供的一种按照预定的运动轨迹对目标设备进行定 位的示意图，如图所示，所述预定的运动轨迹是第一电子设备按照随机行走的运动方式从第0时刻的位置(x 0，y 0)移动至第1时刻的位置(x 1，y 1)，从第1时刻的位置(x 1，y 1)移动至第2时刻的位置(x 2，y 2)，从第2时刻的位置(x 2，y 2)移动至第t时刻的位置(x t，y t)，直到移动至第N时刻的位置(x N，y N)形成的运动轨迹。目标设备K在二维坐标系中的坐标为(a，b)，用户手持第一电子设备行走的过程中，第一电子设备实时获取目标设备K的Wi-Fi特征及其自身对应的位置坐标，并根据优化算法或热力图法实现对目标设备K的定位。图12中示意的是在不同时刻获取到的RSSI值，例如第t时刻的位置(x t，y t)获取到的值为RSSI t。
(一)、优化算法
当用户行走至t点时，目标设备K与第一电子设备的距离d t可以通过式(1)计算：
Figure PCTCN2021117431-appb-000001
其中，目标设备K与第一电子设备之间的距离为d t时的RSSI可以通过式(2)计算：
Figure PCTCN2021117431-appb-000002
其中，RSSI(d t)表示当目标设备K与第一电子设备的距离为d t时，第一电子设备所能捕获的Wi-Fi特征RSSI的参考值，单位为dBm；RSSI ref(d 0)表示当目标设备K与第一电子设备的距离为d 0时，第一电子设备所能捕获的Wi-Fi特征RSSI的参考值，单位为dBm，一般d 0可以设置为1；γ表示路径损耗指数，与环境相关，取值范围约为[1.0，4.0]；χ g表示由于空口环境实时变化导致的额外噪声。
目标设备K与第一电子设备的距离为d t时第一电子设备获取到RSSI t，目标设备K与第一电子设备的距离为d 0时第一电子设备获取到RSSI 0，Z t表示RSSI t与RSSI 0之间的差，根据上述式(2)，则Z t可以通过式(3)表示：
Figure PCTCN2021117431-appb-000003
若用a *,b *表示目标设备K的坐标的估计值，则该值可以通过式(4)表示：
Figure PCTCN2021117431-appb-000004
其中，权重ω t(a,b)可以根据RSSI的大小、天线方向图的形状进行设置，也可以根据行走轨迹的不同形状针对性设计，如：当用户走折线，那么折线的转角处权重可设置更大；若用户走圆形，则权重值的设置可引入圆形的半径为参数，同一直径的两端点权重和为1。
根据上述式(4)即可得到目标设备K的坐标的估计值。
(二)、热力图法
同样地，参考上述图12，当用户行走至t点时，目标设备K与第一电子设备的距离为d t时的RSSI可以通过上式(2)计算。
构建一个f i(a,b)函数，利用该函数对目标设备K的坐标进行估计，则可以通过式(5)表示：
Figure PCTCN2021117431-appb-000005
其中，i表示第一电子设备具有的天线的根数。权重ω t(a,b)可以根据RSSI的大小、天线方向图的形状进行设置，也可以根据行走轨迹的不同形状针对性设计，如：当用户走折线，那么折线的转角处权重可设置更大；若用户走圆形，则权重值的设置可引入圆形的半径为参数，同一直径的两端点权重和为1。
用P(a,b)表示热力图矩阵，则P(a,b)可以通过式(6)表示：
Figure PCTCN2021117431-appb-000006
其中，CHi表示第一电子设备的第i个天线；ε为充分小的正数，以保证分母不为0。
若用a *,b *表示目标设备K的坐标的估计值，则该值可以通过式(7)表示：
a *,b *＝argmax a,bP(a,b)    (7)
通过计算热力图矩阵P(a,b)，寻找热力图矩阵中的最大值，该点的置信度最高，该点即为目标设备K的坐标位置。
如图13所示，为本申请实施例提供的一种基于热力图法实现待定位的目标设备的位置的估计的示意图。
其中，黑色实心小圆圈表示目标设备K的真实位置，白色虚线小圆圈表示基于定位算法得到的热力图中的最大值所在的位置，可以看出，基于定位算法得到的目标设备K的位置与该目标设备K的真实位置误差较小。
方式二：定位的运动方式为原地转圈
在用户选择定位的运动方式为原地转圈时，第一电子设备可以基于读取的数据，调用姿态航向算法或已有应用程序接口(application programming interface，API)，例如AR引擎接口，获取实时姿态角(也称为欧拉角)：俯仰角、滚转角、方位角(也称为偏航角)。
为了便于理解本申请的方案，下文先对姿态角进行简单说明。
如图14所示，为本申请实施例提供的坐标系的示意图。参考图14中的(a)，可以将图中所示的四边形想象为第一电子设备，在第一电子设备绕x轴转动的过程中，即形成滚转角；在第一电子设备绕y轴转动的过程中，即形成俯仰角；在第一电子设备绕z轴转动的过程中，即形成方位角。
参考图14中的(b)所示，类似地，可以将图中所示的矩形想象为第一电子设备，在第一电子设备绕x轴转动的过程中，即形成俯仰角；在第一电子设备绕y轴转动的过程中，即形成滚转角；在第一电子设备绕z轴转动的过程中，即形成方位角。
其中，用户在转圈过程中，手(单手/双手)持第一电子设备伸直(可借助辅助设备延伸伸直距离，如自拍杆等)，第一电子设备的前端朝向沿手臂向外或与手臂向外方向垂直，保持第一电子设备水平，可以参考图15所示出的示意图。
如图15所示，为本申请实施例提供的用户原地运动握持方式的示意图。参考图15中的(a)，此时用户手持第一电子设备伸直，第一电子设备的前端朝向沿手臂向外，保持第一电子设备水平。参考图15中的(b)，此时用户手持第一电子设备伸直，第一电子设备的前端朝向与手臂向外方向垂直，保持第一电子设备水平。
如图16所示，为本申请实施例提供的一种用户原地转圈的示意图。从图中可以看出，用户手持第一电子设备伸直，第一电子设备的前端朝向沿手臂向外，以站立点为圆心，手臂长为半径，双脚缓慢移动以改变朝向，逆时针转圈。
该定位的运动方式下，在用户原地转圈的过程中，第一电子设备获取方位角数据的过程如下：
●记录转圈初始阶段的方位角作为基准方位角；
●判断俯仰角和滚转角是否在区间内(如-10°至10°，该区间内的角度可以为预设的姿态角)，若否，则提示用户保持第一电子设备水平，参考图5中的(i)所示的GUI；若长时间不在该区间内，则提示用户姿势异常，定位结果可能不准确(对应本申请的第二提示信息)，请参考图5中的(j)所示的GUI；
在一些实施例中，用户在原地转圈的过程中获取到的俯仰角或滚转角与预设的姿态角之间的偏差大于第二阈值，可以提示用户保持对所述第一电子设备的握持方式或定位结果可能不准确。
该第二阈值可以为第一电子设备默认的值，也可以是用户输入的值，不予限制。
●记录转圈时方位角数据及其时间戳，若时间戳为非起始时刻且当前方位角“等于”基准方位角，则所转圈数+1，并提示用户当前所转圈数，请参考图5中的(h)、图5中的(k)所示的GUI；
●圈数计数达N圈(如3圈后)后提示用户停止转圈，请参考图5中的(l)所示的GUI。
在一些实施例中，用户也可以自主选择停止转圈，不予限制。
第一电子设备可以结合姿态角的变化和Wi-Fi特征时间序列的变化，根据波峰法或波谷法找到RSSI值最大的方位角即为目标设备的方位，同时可以根据无线信号传播模型可求得目标设备距第一电子设备的距离。
需要说明的是，本申请实施例中，第一电子设备能够根据预先设置的选项实时显示所述目标设备的位置信息，例如，圈数每增加一圈，可以更新目标设备的定位结果。或者，圈数每增加半圈，可以更新目标设备的定位结果。以上更新频率可根据第一电子设备的运算能力进行设置。
(1)、关于方位的估计
目标设备K与第一电子设备之间的距离为d t时的RSSI仍然可以通过上述式(2)计算得到。
参考图17，图17为本申请实施例提供的一种基于原地转圈的运动方式对目标设备K进行定位的示意图。图中的圆心O为手持第一电子设备的用户站立点，用户站立点与目标设备K之间的直线距离为d，用户手臂长为r，A、B、C分别为用户以站立点为圆心，以手臂长为半径，缓慢移动转圈形成的不同点，这些不同点均为用户手持第一电子设备的位置。其中，A点为用户手持第一电子设备转至方位角为θ t的点，A点与目标设备K距离为d t。B点为用户手持第一电子设备转圈中与目标设备K距离最远的点，距离为d min，在B点获取的RSSI最小，为RSSI min。C点为用户手持第一电子设备转圈中与目标设备K距离最近，为d min，在C点获取的RSSI最大，为RSSI max。
目标设备K与用户的手的距离为d t时第一电子设备获取到RSSI(d t)，目标设备K与 用户的手的距离为d min时第一电子设备获取到RSSI(d min)，RSSI(d t)与RSSI(d min)之差可以通过式(8)表示：
Figure PCTCN2021117431-appb-000007
其中，
Figure PCTCN2021117431-appb-000008
θ t＝[(θ dt+π)mod2π]-θ dmin
Figure PCTCN2021117431-appb-000009
其中，RSSI(d min)表示目标设备K与用户的手的距离为d min时第一电子设备获取到RSSI，d min即为图17中用户的手转圈至C点时与目标设备K之间的距离；转圈半径r为用户手臂长，旋转角度θ t使用运动数据中的方位角给出。h为目标设备K距离地面的高度，可以理解的是，在二维坐标系中，h为0。
假设用户在该定位的运动方式下旋转了3圈，根据上述公式计算可得其每一圈的实时方位角数据及其对应的RSSI。
参考图18，图18为本申请实施例提供的一种基于原地转圈的运动方式对目标设备K进行定位的得到的结果示意图。
其中，最上方的图表示用户转圈时的实时方位角；中间图表示实时量测RSSI值，最下方的图表示滤波功率，可以根据RSSI的波峰在每一圈(也可以理解为一个周期，用户每转一圈为一个周期)内找到对应的方位角。
从图18中可以看出，用户初始转圈时的方位角是100°，当用户转到方位角大概为150°时的RSSI值最大，此外，从后面的多圈中可以看出，用户大概在每一圈转到方位角为150°时的RSSI值最大。即可以认为目标设备K位于该方位上。
(2)、关于距离的估计
Figure PCTCN2021117431-appb-000010
其中，权重ω t[RSSI(d t)]可以根据RSSI的大小灵活设置，例如，RSSI值越大，权重越大，则权重ω t[RSSI(d t)]＝[RSSI(d t)-RSSI min]/[RSSI max-RSSI min]。
可以理解的是，若以二维坐标系为例，则h为0。
方式三：定位的运动方式为原地摆臂
如图19所示，为本申请实施例提供的一种用户原地摆臂的示意图。从图中可以看出，用户手持第一电子设备伸直，第一电子设备的前端朝向沿手臂向外，以固定站立点为圆心，手臂长为半径，手臂在二维空间中来回摆动。
该运动方式下，用户在原地摆臂的过程中，第一电子设备获取实时姿态角的过程如下：
●记录摆臂初始阶段的俯仰角和方位角作为基准；
●判断滚转角是否在区间内(如-10°至10°，该该区间内的角度可以为预设的姿态角)，若否，则提示用户保持对第一电子设备的握持方式，请参考图6中的(i)所示的GUI；若长时间不在该区间内，则提示用户姿势异常，定位结果可能不准确(对应本申请的第二提示信息)，请参考图6中的(j)所示的GUI；
在一些实施例中，用户在原地摆臂的过程中获取到的俯仰角或方位角与预设的姿态角之间的偏差大于第二阈值，可以提示用户保持对所述第一电子设备的握持方式或定位结果可能不准确。
该第二阈值可以为第一电子设备默认的值，也可以是用户输入的值，不予限制。
●记录摆臂时的数据对(俯仰角，方位角)及时间戳，若时间戳非起始时刻且当前俯仰角和方位角“等于”基准值，则摆臂次数+1，并提示用户当前摆臂次数，请参考图6中的(h)、图6中的(k)所示的GUI；
●次数计数达N次(如3次)后提示用户停止摆臂，请参考图6中的(l)所示的GUI。
在一些实施例中，用户也可以自主选择停止摆臂，不予限制。
第一电子设备可以结合姿态角的变化和Wi-Fi特征时间序列的变化，根据波峰法或波谷法找到RSSI值最大的方位角即为目标设备K的方位，同时可以根据无线信号传播模型可求得目标设备K距当前第一电子设备的距离。
需要说明的是，本申请实施例中，摆臂次数每增加一次，可以更新目标设备K的定位结果；或者，摆臂次数每增加0.5次，可以更新目标设备K的定位结果；不予限制。
如图20所示，为本申请实施例提供的用户基于原地摆臂方式对目标设备进行定位的示意图。
参考图20中的(a)，图中的圆心O为用户站立点，K为目标设备K的位置，A、C分别为用户以站立点为圆心，以手臂长为半径，缓慢摆臂形成的不同点(该不同点均为用户手持第一电子设备的位置)。
关于方位角的估计和距离的估计与上述原地转圈方式类似，区别在于角度的范围不同，原地转圈的角度范围可以为(0°，360°)，而原地摆臂的角度范围可能为(0°，180°)。如图20中的(a)，此时用户刚好面对目标设备站立且原地摆臂，则可以用波峰法估计方位，具体过程可以参考上述原地转圈的估计过程，为了简洁，这里不再赘述。
参考图20中的(b)，与图20中的(a)基本类似，不同的是此时用户背对目标设备K站立且原地摆臂，则可以用波谷法估计方位，具体过程可以参考上述原地转转圈的估计过程，为了简洁，这里不再赘述。
若步骤S1212所确定的目标设备为第一电子设备本身，步骤S1216中获取的是已知地理位置信息的Wi-Fi热点装置的Wi-Fi特征信息，则以上运动轨迹估计算法和定位算法中的设备K为该Wi-Fi热点装置。基于该已知的地理位置信息，第一电子设备能够反推出其自身的地理位置。对于定位当前设备的情形，如果已定位出第一电子设备的位置，则定位结束。
若目标设备为不同于第一电子设备的其他电子设备，则可以继续执行以下搜寻阶段的步骤。
搜寻阶段：
S1220，接收用户的第二输入操作。
所述用户的第二输入操作可以是以下输入操作：图7中的(n)中用户对是否按照引导搜寻设备的选项进行选择的输入操作。
S1222，响应于所述第二输入操作，当所述第一电子设备继续移动时，获取所述第二电子设备的Wi-Fi特征信息、以及所述第一电子设备的运动信息。
S1224，根据所述Wi-Fi特征信息和所述运动信息，显示所述第一电子设备的位置信息、以及更新后的所述目标设备的位置信息。
在搜寻阶段，第一电子设备可以使用以下策略引导用户寻找目标设备。
策略一：实时罗盘引导
①定位阶段结束后，若定位的运动方式为原地转圈或原地摆臂方式，则以结束点为坐标原点建立东(X)北(Y)天(Z)坐标系，否则沿用行走方式下的坐标系。本申请实施例中，以二维坐标系为例，因此，可以建立XY平面坐标系。
②若定位的运动方式为原地转圈或原地摆臂方式，根据估计方位及估计距离反解出目标设备的坐标。
③用户移动至某一点后，利用轨迹估计算法更新当前坐标，继续捕获Wi-Fi特征和运动数据，使用随机移动下的定位算法更新目标设备的坐标，结合当前坐标和更新的目标设备坐标更新方位估计和距离估计。
④根据最新方位估计和距离估计更新罗盘引导界面。
示例性地，以定位阶段的定位的运动方式为原地转圈或原地摆臂方式为例进行说明。
如图21所示，为本申请实施例提供的一种基于实时罗盘引导用户寻找目标设备的示意图。其中，图21中的(a)～图21中的(c)分别为在不同时刻目标设备在罗盘界面的实时位置。
参考图21中的(a)，以用户O为圆心，建立XY坐标系，可以看出，目标设备位于用户的北偏东81°的方位且距离用户4.3m的位置，此时可以先根据该方位和距离反解出目标设备的坐标。
即：x1＝4.3*sin81°＝4.247，y1＝4.3*cos81°＝0.672；
即图21中的(a)中的K1点的坐标为(4.247，0.672)，换句话说，在该坐标系下，目标设备的坐标为(4.247，0.672)。
当用户移动至O1点时，参考图21中的(b)，第一电子设备利用随机移动下的定位算法更新目标设备的坐标，此时目标设备位于K2点时的坐标为(1.650，2.865)。
假设第一电子设备当前坐标为(0.400，0.700)，则可以根据第一电子设备当前坐标和更新的目标设备的坐标更新方位估计和距离估计。
当用户位于O1点时，此时第一电子设备在该坐标系下的坐标为(0.400，0.700)，目标设备位于K2点时的坐标为(1.650，2.865)，可以根据第一电子设备和目标设备的坐标计算两者之间的距离以及方位。
从图21中的(b)可以看出，此时，目标设备位于用户东北51°向东偏30°的方位且距离用户2.5m的位置。
用户继续移动，当用户移动至O2点时，参考图21中的(c)，第一电子设备利用随机移动下的定位算法更新目标设备的坐标，此时目标设备位于K3点时的坐标为(0.600，1.200)。
假设第一电子设备当前坐标为(0.600，1.000)，则可以根据第一电子当前坐标和更新的目标设备的坐标更新方位估计和距离估计。
当用户位于O3点时，此时第一电子设备在该坐标系下的坐标为(0.600，1.000)，目标设备位于K2点时的坐标为(0.600，1.200)，可以基于第一电子设备和目标设备的坐标 计算两者之间的距离以及方位。
从图21中的(c)可以看出，此时，目标设备位于用户东北81°的方位且距离用户0.2m的位置，终止引导搜寻，从而实现对目标设备的定位。
需要说明的是，上述数值仅为举例说明，在一些实施例中，可以为其它数值，不应对本申请造成特别限定。
搜寻阶段中，以实时罗盘引导用户搜寻或寻找目标设备的过程可以参考图7中的(r)～图7中的(t)所示的GUI。
策略二：实时地图引导
①定位阶段结束，若定位的运动方式为原地转圈或原地摆臂方式，则以结束点为坐标原点建立东北天坐标系，否则沿用行走方式下的坐标系。
②若为原地转圈或原地摆臂方式，根据估计方位及距离反解未知目标设备的坐标。
③移动至某一点后，利用轨迹估计算法更新当前坐标，继续捕获Wi-Fi特征，使用定位算法更新未知目标设备的坐标，并在地图中更新未知目标设备的坐标位置、更新当前坐标、更新当前第一电子设备朝向。
示例性地，以定位阶段的定位的运动方式为行走方式为例进行说明。
如图22所示，为本申请实施例提供的一种基于实时地图引导用户寻找目标设备的示意图。其中，图22中的(a)～图22中的(c)分别为目标设备在不同时刻的地图界面的位置。
参考图22中的(a)，以用户O为圆心(O点可以理解为定位阶段结束后的位置)，建立XY坐标系，可以看出，目标设备位于用户左下方且距离用户4.3m的位置。
当用户移动至O1点时，参考图22中的(b)，第一电子设备利用行走方式下的定位算法更新目标设备的坐标、第一电子设备的当前坐标以及当前第一电子设备的朝向等。
可以看出，此时目标设备位于用户的左侧且距离用户2.0m的位置。
用户继续移动，当用户移动至O2点时，参考图22中的(c)，第一电子设备利用行走方式下的定位算法更新目标设备的坐标、第一电子设备的当前坐标以及当前第一电子设备的朝向等。
可以看出，此时目标设备位于用户的附近且距离用户0.2m的位置，终止定位，从而实现目标设备的定位。
需要说明的是，上述数值仅为举例说明，在一些实施例中，可以为其它数值，不应对本申请造成特别限定。
搜寻阶段中，以实时地图引导用户搜寻或寻找目标设备的过程可以参考图7中的(o)～图7中的(q)所示的GUI。
在一些实施例中，若用户基于定位算法并未找到目标设备，此时第一电子设备可以继续更新定位算法引导用户寻找目标设备，直到找到该目标设备为止。
本申请提供的方案，通过确定待定位的目标设备和第一电子设备预定的运动轨迹，在第一电子设备按照预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息、以及第一电子设备的运动信息，最终能够显示所述目标设备的位置信息。该方案无需使用多个已知地理位置信息的Wi-Fi热点装置，通过移动第一电子设备的方式形成多个虚拟的Wi-Fi参考点，仅使用一个电子设备进行简单的移动就能够定位目标设备，适用的场景多、受环 境约束小且不容易受到环境中的信号干扰，有效提高了对目标设备定位的精度。
下文以目标设备为摄像头，第一电子设备定位该摄像头的场景为例对本申请实施例的定位方法进行说明。
图23示出了第一电子设备的一组GUI，参见图23中的(a)所示的GUI，该GUI为第一电子设备的桌面。当第一电子设备检测到用户点击桌面上的第一应用的图标2301的操作后，可以启动该第一应用，显示如图23中的(b)所示的GUI，该GUI可以称为摄像头检测说明界面。由于第一应用用于检测摄像头，因此第一应用的图标2301采用了摄像头的标识。
参见图23中的(b)所示的GUI，第一电子设备界面可以提示用户该第一应用的功能，例如，可以显示“智能查找和定位网络摄像头，保护您的隐私”的应用说明。用户在阅读该说明后，选择开始扫描。当第一电子设备检测到用户点击开始扫描的图标2302的操作后，第一电子设备显示如图23中的(c)所示的GUI。
参见图23中的(c)所示的GUI，为第一电子设备正在进行扫描中的界面，其中，图中所示出的89％表示第一电子设备此时检测进度为89％，图中还可以显示当前检测信道下涵盖的热点信息。
若手机检测进度完成后，检测到当前空间存在3个摄像头，第一电子设备界面可以显示“发现3个摄像头”和提示信息“建议定位详细位置”，以及与这3个摄像头对应的详细信息，如图23中的(d)所示的“设备1：TravelSafty2”和对应的MAC地址信息“44:ee:bf:09:9d:23”、“设备2：TravelSafty2”和对应的MAC地址信息“80:9f:9b:e1:2b:2b”以及“设备3：TravelSafty2”和对应的MAC地址信息“38:01:46:95:6a:44”。之后，用户根据需要可以启动对摄像头的定位，当第一电子设备检测到用户点击某个设备对应的定位图标(如设备1的定位图标2303)的操作后，显示图23中的(e)所示的GUI。
参见图23中的(e)所示的GUI，第一电子设备界面可以显示如何定位摄像头以及定位说明，该说明可以是“请平稳握持设备，缓慢走遍所有区域”，在确保阅读了解“定位说明”后，可以点击知道了的图标2304，第一电子设备在检测到用户点击知道了的图标2304的操作后，显示图23中的(f)所示的GUI。
参见图23中的(f)所示的GUI，第一电子设备界面可以显示以下提示信息“请平稳握持设备并保持静止”以及当前设备状态“定位初始化中”，在第一电子设备初始化完成后，可以显示如图23中的(g)所示的GUI。
需要说明的是，在本实施例中开始定位的时候，第一电子设备的GUI界面显示的当前设备状态为“定位初始化中”。在另一些实施例中，开始定位的时候第一电子设备的GUI界面也可以显示“正在启动硬件定位能力”。本申请对具体的设备状态说明内容不予限制。
参见图23中的(g)所示的GUI，在第一电子设备定位图23(d)所示的“设备1”时，GUI界面可以显示设备定位的动态或静态图片，并配以文字说明“请缓慢行走”。需要解释的是，该第一应用用于查找摄像头，在检测出3个摄像头之后对“设备1”进行定位，为帮助用户快速定位出摄像头，第一电子设备的系统可以默认对该第一应用检测出的摄像头通过“随机行走”的运动轨迹进行定位，而无需用户对定位所用的运动方式进行选择。用户按照该文字说明手持第一电子设备缓慢行走，此时第一电子设备按照前述实施例 中描述的“随机行走”运动轨迹获取目标设备(即“设备1”)的Wi-Fi数据以及自身的运动数据。在用户行走一段时间后，第一电子设备根据前述实施例中描述的运动轨迹估计算法以及定位算法定位到设备1的位置，可以显示如图23中的(h)所示的GUI。
参见图23中的(h)所示的GUI，第一电子设备界面显示“定位成功”的提示信息。当第一电子设备检测到用户点击“完成”图标2305的操作后，显示如图23中的(i)所示的GUI。
参见图23中的(i)所示的GUI，可以看出，“摄像头定位”下方显示地图2307，包括标识第一电子设备所在位置的箭头图标2308、标识目标设备(即“设备1”)所在位置的位置图标2309以及比例尺2310(图示在地图左下方，示意长度为10m)。箭头2308所示的位置为用户的当前位置，定位图标2309所示的位置为设备1的位置。可选地，也可以采用罗盘显示第一电子设备和目标设备所在的位置。位于地图下方的在定位检测结果中显示文字说明“设备1：距离14.6m”，表明设备1位于用户的东侧且距离用户14.6m的位置。
需要说明的是，本实施例的第一应用主要应用于酒店大堂或房间内查找隐藏的摄像头，用户在检测出酒店大堂或房间内有隐藏的摄像头之后通常都会寻找摄像头隐藏在何处。为帮助用户快速找到该摄像头隐藏的位置，第一电子设备在定位后可以自动进入“搜寻阶段”，而无需显示图7(n)所示的GUI，由用户对是否按照引导搜寻设备进行选择。
由于目前用户手持第一电子设备面向正北方向(假设箭头方向为用户的面部所朝向的方向)，用户可以先调整方向，显示如图23中的(j)所示的GUI。
参见图23中的(j)所示的GUI，此时用户面部朝向正东方向，且设备1距离用户的距离依然还是14.6m。可选地，在定位检测结果出来后，第一电子设备检测到用户继续移动，则识别用户将进一步寻找该摄像头，界面上显示如图所示的条状图2311和铃铛图标2312。其中，该条状图中深色占比用于表示设备1与用户之间距离的远近。深色占比越小，说明设备1与用户之间的距离越远，设备1发出的通知声的音量越小(对应本申请的第三提示信息)；反之，深色占比越大，说明设备1与用户之间的距离越近，设备1发出的通知声的音量越大(对应本申请的第三提示信息)。
如果用户继续向设备1所在的方向缓慢行走，显示如图23中的(k)所示的GUI。
参见图23中的(k)所示的GUI，可以看出，此时设备1位于第一电子设备界面的东侧且距离用户4.6m的位置，条状图中深色占比相比图23中的(j)中的深色占比大，因此用户听见的设备1的通知声的音量加大。之后，用户可以手持第一电子设备继续向设备1所在的方向缓慢行走，显示如图23中的(l)所示的GUI。
参见图23中的(l)所示的GUI，可以看出，此时设备1与用户之间的距离为0.2m，条状图中深色占比相比图23中的(k)中的深色占比大，则用户可以听见的设备1的通知声音量进一步加大。此时，可以认为完成对设备1的搜寻。
需要说明的是，在一些实施例中，上述所示的条状图也可以在用户与目标设备之间的距离为小于或等于预设阈值的时候显示，例如，若预设阈值为10m，则该条状图在用户与目标设备之间的距离小于或等于10m的时候显示；在另一些实施例中，上述所示的条状图也可以从用户手持第一电子设备随机行走的时候显示，即从图23中的(g)所示的GUI开始显示该条状图。
可以理解的是，电子设备(如上文中的第一电子设备)为了实现上述功能，其包含了执行各个功能相应的硬件和/或软件模块。结合本文中所公开的实施例描述的各示例的算法步骤，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。本领域技术人员可以结合实施例对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本实施例可以根据上述方法示例对电子设备进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块可以采用硬件的形式实现。需要说明的是，本实施例中对模块的划分是示意性的，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。
在采用对应各个功能划分各个功能模块的情况下，图24示出了上述实施例中涉及的电子设备2400的一种可能的组成示意图，如图24所示，该电子设备2400可以包括：输入单元2410、输入单元2420、获取单元2430和显示单元2440。
其中，输入单元2410可以用于支持电子设备2400执行上述步骤S1210、S1220等，和/或用于本文所描述的技术的其他过程。
确定单元2420可以用于支持电子设备2400执行上述步骤S1212等，和/或用于本文所描述的技术的其他过程。
获取单元2430可以用于支持电子设备2400执行上述步骤S1216、S1222等，和/或用于本文所描述的技术的其他过程。
显示单元2440可以用于支持电子设备2400执行上述步骤S1214、S1218、S1224等，和/或用于本文所描述的技术的其他过程。
需要说明的是，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。
本实施例提供的电子设备，用于执行上述定位方法，因此可以达到与上述实现方法相同的效果。
在采用集成的单元的情况下，电子设备可以包括处理模块、存储模块和通信模块。其中，处理模块可以用于对电子设备的动作进行控制管理，例如，可以用于支持电子设备执行上述各个单元执行的步骤。存储模块可以用于支持电子设备执行存储程序代码和数据等。通信模块，可以用于支持电子设备与其他设备的通信。
其中，处理模块可以是处理器或控制器。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。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，数字信号处理(digital signal processing，DSP)和微处理器的组合等等。存储模块可以是存储器。通信模块具体可以为射频电路、蓝牙芯片、Wi-Fi芯片等与其他电子设备交互的设备。
在一个实施例中，当处理模块为处理器，存储模块为存储器时，本实施例所涉及的电子设备可以为具有图1所示结构的设备。
图25示出了上述实施例涉及的电子设备2500的另一种可能的组成示意图，如图25所示，该电子设备2500可以包括通信单元2510、输入单元2520、处理单元2530、输出单元2540、外设接口2550、存储单元2560以及电源2570。
通信单元2510用于建立通信信道，使电子设备2500通过所述通信信道以连接至远程服务器，并从所述远程服务器下媒体数据。所述通信单元2510可以包括WLAN模块、蓝牙模块、NFC模块、基带模块等通信模块，以及所述通信模块对应的射频(Radio Frequency，简称RF)电路，用于进行无线局域网络通信、蓝牙通信、NFC通信、红外线通信及/或蜂窝式通信系统通信，例如宽带码分多重接入(wideband code division multiple access，W-CDMA)及/或高速下行封包存取(high speed downlink packet access，HSDPA)。所述通信模块2510用于控制电子设备中的各组件的通信，并且可以支持直接内存存取。
输入单元2520可以用于实现用户与电子设备的交互和/或信息输入到电子设备中。在本发明具体实施方式中，输入单元可以是触控面板，也可以是其他人机交互界面，例如实体输入键、麦克风等，还可是其他外部信息撷取装置，例如摄像头等。
上述实施例中输入单元2520可以用于接收用户的输入操作，如上述实施例中的第一输入操作和/或第二输入操作等，具体可以参考上述步骤S1210、S1220。
处理单元2530为电子设备的控制中心，可以利用各种接口和线路连接整个电子设备的各个部分，通过运行或执行存储在存储单元内的软件程序和/或模块，以及调用存储在存储单元内的数据，以执行电子设备的各种功能和/或处理数据。
输出单元2540包括但不限于影像输出单元和声音输出单元。影像输出单元用于输出文字、图片和/或视频。在本发明的具体实施方式中，上述输入单元2520所采用的触控面板亦可同时作为输出单元2540的显示面板。例如，当触控面板检测到在其上的触摸或接近的手势操作后，传送给处理单元以确定触摸事件的类型，随后处理单元根据触摸事件的类型在显示面板上提供相应的视觉输出。虽然在图25中，输入单元2520与输出单元2540是作为两个独立的部件来实现电子设备的输入和输出功能，但是在某些实施例中，可以将触控面板与显示面板集成一体而实现电子设备的输入和输出功能。例如，所述影像输出单元可以显示各种图形化用户接口以作为虚拟控制组件，包括但不限于窗口、卷动轴、图标及剪贴簿，以供用户通过触控方式进行操作。
上述实施例步骤S1214中提示用户的定位说明界面内容、步骤S1218中提示用户目标设备的位置信息以及步骤S1225中给出第一电子设备的位置信息和更新后的目标设备的位置信息可以通过输出单元2540实现。
存储单元2560可用于存储软件程序以及模块，处理单元通过运行存储在存储单元的软件程序以及模块，从而执行电子设备的各种功能应用以及实现数据处理。
本实施例还提供一种计算机存储介质，该计算机存储介质中存储有计算机指令，当该计算机指令在电子设备上运行时，使得电子设备执行上述相关方法步骤实现上述实施例中的定位方法。
本实施例还提供了一种计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述相关步骤，以实现上述实施例中的定位方法。
另外，本申请的实施例还提供一种装置，这个装置具体可以是芯片，组件或模块，该装置可包括相连的处理器和存储器；其中，存储器用于存储计算机执行指令，当装置运行时，处理器可执行存储器存储的计算机执行指令，以使芯片执行上述各方法实施例中的定位方法。
其中，本实施例提供的电子设备、计算机存储介质、计算机程序产品或芯片均用于执 行上文所提供的对应的方法，因此，其所能达到的有益效果可参考上文所提供的对应的方法中的有益效果，此处不再赘述。
通过以上实施方式的描述，所属领域的技术人员可以了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以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，模块或单元的划分，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装置，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，机械或其它的形式。
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一个物理单元或多个物理单元，即可以位于一个地方，或者也可以分布到多个不同地方。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。
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。
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，可以存储在一个可读取存储介质中。基于这样的理解，本申请实施例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，该软件产品存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上内容，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (21)

  1. 一种定位方法，所述方法应用于第一电子设备，其特征在于，包括：
    接收用户的第一输入操作；
    响应于所述第一输入操作，确定待定位的目标设备和预定的运动轨迹；
    在所述第一电子设备按照所述预定的运动轨迹移动过程中获取第二电子设备的无线保真Wi-Fi特征信息、以及所述第一电子设备的运动信息；
    根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息。
  2. 根据权利要求1所述的方法，其特征在于，若所述目标设备是所述第一电子设备，所述第二电子设备为已知地理位置的Wi-Fi热点装置。
  3. 根据权利要求1所述的方法，其特征在于，若所述目标设备不是所述第一电子设备，所述第二电子设备为所述目标设备。
  4. 根据权利要求2或3所述的方法，其特征在于，所述运动信息还包括所述第一电子设备在所述移动过程中形成的实际的运动轨迹，所述方法还包括：
    如果所述实际的运动轨迹与所述预定的运动轨迹之间的偏差大于第一阈值，所述第一电子设备显示第一提示信息，所述第一提示信息用于提示所述用户运动异常或定位结果可能不准确。
  5. 根据权利要求2或3所述的方法，其特征在于，所述运动信息还包括用户握持所述第一电子设备的姿态角，所述方法还包括：
    若所述姿态角与预设的姿态角之间的偏差大于第二阈值，所述第一电子设备显示第二提示信息，所述第二提示信息用于提示所述用户保持对所述第一电子设备的握持方式或定位结果可能不准确。
  6. 根据权利要求2或3所述的方法，其特征在于，在根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息之后，所述方法还包括：
    当所述第一电子设备继续移动时，获取所述第二电子设备的Wi-Fi特征信息、以及所述第一电子设备的运动信息；
    根据所述Wi-Fi特征信息和所述运动信息，显示所述第一电子设备的位置信息、以及更新后的所述目标设备的位置信息。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述Wi-Fi特征信息和所述运动信息，显示所述第一电子设备的位置信息、以及更新后的所述目标设备的位置信息，包括：
    根据所述Wi-Fi特征信息和所述运动信息，通过罗盘实时显示或地图实时显示所述第一电子设备的位置信息、以及更新后的所述目标设备的位置信息。
  8. 根据权利要求6或7所述的方法，其特征在于，所述方法还包括：
    根据所述Wi-Fi特征信息和所述运动信息，所述第一电子设备还显示第三提示信息，所述第三提示信息用于提示所述第一电子设备与所述目标设备之间的距离大小。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述预定的运动轨迹包括手持所述第一电子设备的用户按照以下至少一种运动方式所形成的运动轨迹：
    原地转圈方式、原地摆臂方式、行走方式。
  10. 根据权利要求9所述的方法，其特征在于，
    若所述预定的运动轨迹是手持所述第一电子设备的用户按照原地转圈或原地摆臂的运动方式所形成的运动轨迹，所述根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息，包括：
    根据所述Wi-Fi特征信息、所述运动信息，使用波峰法或波谷法估计所述目标设备的位置坐标；
    根据所述估计出的位置坐标，显示所述目标设备的位置信息。
  11. 根据权利要求9所述的方法，其特征在于，
    若所述预定的运动轨迹是手持所述第一电子设备的用户按照行走的运动方式所形成的运动轨迹，所述根据所述Wi-Fi特征信息和所述运动信息，显示所述目标设备的位置信息，包括：
    根据所述Wi-Fi特征信息、所述运动信息，使用热力图法估计所述目标设备的位置坐标；
    根据所述估计出的位置坐标，显示所述目标设备的位置信息。
  12. 根据权利要求3所述的方法，其特征在于，若所述第一电子设备和所述目标设备之间已建立通信连接或处于同一Wi-Fi路由覆盖的网络下，则所述第一电子设备按照所述预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息，包括：
    通过所述已建立的通信连接或所述Wi-Fi路由，所述第一电子设备接收所述目标设备发送的Wi-Fi数据；
    依据所述Wi-Fi数据，所述第一电子设备提取所述目标设备的Wi-Fi特征信息。
  13. 根据权利要求3所述的方法，其特征在于，若所述第一电子设备和所述目标设备之间未建立通信连接且未处于同一Wi-Fi路由覆盖的网络下，所述第一电子设备按照所述预定的运动轨迹移动过程中获取第二电子设备的Wi-Fi特征信息，包括：
    将所述第一电子设备的Wi-Fi网卡设置为嗅探方式；
    所述第一电子设备通过所述Wi-Fi网卡接收所述目标设备的Wi-Fi数据；
    依据所述Wi-Fi数据，所述第一电子设备提取所述目标设备的Wi-Fi特征信息。
  14. 根据权利要求13所述的方法，其特征在于，所述目标设备为视频监控设备。
  15. 根据权利要求1至14中任一项所述的方法，其特征在于，所述第一电子设备的运动信息包括以下信息中的一种或多种：加速度、角速度、磁强、姿态信息以及计步器数据。
  16. 根据权利要求1至15中任一项所述的方法，其特征在于，所述Wi-Fi特征信息包括以下信息中的一种或多种：接收信号强度示数RSSI、信道状态信息CSI、传输速率、信噪比。
  17. 根据权利要求1至16中任一项所述的方法，其特征在于，所述预定的运动轨迹是由所述第一电子设备自动确定的。
  18. 一种电子设备，其特征在于，包括：
    一个或多个处理器；
    一个或多个存储器；
    所述一个或多个存储器存储有一个或多个计算机程序，所述一个或多个计算机程序包括指令，当所述指令被所述一个或多个处理器执行时，使得所述电子设备执行如权利要求1至17中任一项所述的方法。
  19. 一种芯片系统，其特征在于，所述芯片系统包括至少一个处理器，当程序指令在所述至少一个处理器中执行时，使得如权利要求1至17中任一所述的方法在所述电子设备上的功能得以实现。
  20. 一种计算机存储介质，其特征在于，包括计算机指令，当所述计算机指令在电子设备上运行时，使得所述电子设备执行如权利要求1至17中任一项所述的方法。
  21. 一种计算机程序产品，其特征在于，当所述计算机程序产品在计算机上运行时，使得所述计算机执行如权利要求1至17中任一项所述的方法。
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