WO2023179241A1 - Positioning method and apparatus - Google Patents

Abstract

Embodiments of the present application provide a positioning method and apparatus. The method comprises: a first device receives a first message from a second device on a first bandwidth, the first message being used for requesting position information of the first device, a source end device of the first message being a third device, the first device and the second device being located in a first sub-network in a wireless mesh network, and the third device being located in a second sub-network in the mesh network; and the first device sends a ranging signal and/or receives a ranging signal on a second bandwidth, the ranging signal being used for determining the position information of the first device, and the first bandwidth being smaller than the second bandwidth. According to the solution, different stages in a positioning process are executed by using different bandwidths in combination, so that the working time of the second bandwidth can be reduced while the positioning precision is ensured. Thus, power consumption can be reduced, and the solution has a flexible application space in the fields of indoor positioning and the like.

Description

A positioning method and device

Cross-references to related applications

This application claims priority to the Chinese patent application submitted to the China Patent Office on March 25, 2022, with the application number 202210307704.8 and the application title "A positioning method and device", the entire content of which is incorporated into this application by reference; This application claims priority to the Chinese patent application filed with the China Patent Office on June 30, 2022, with application number 202210768674.0 and application title "A positioning method and device", the entire content of which is incorporated into this application by reference.

Technical field

The present application relates to the field of communication technology, and in particular, to a positioning method and device.

Background technique

With the rapid development of communication technology and its applications, positioning technology based on wireless communication has received more and more attention, especially indoor positioning technology, which has broad application prospects in smart homes, industrial production, logistics management and other application scenarios. Among them, indoor positioning is the process of determining the position or attitude of a target by using various devices that support functions such as angle measurement, ranging, timing, or feature recognition.

Current indoor positioning application scenarios are generally based on ultra wide band (UWB) technology. As a short-distance communication technology, UWB technology uses pulses with a pulse width of only nanoseconds as its basic signal. It has the characteristics of high transmission rate, large system capacity, large spectrum bandwidth, etc. The power spectral density is extremely low, and it can communicate with other short-distance Technology enables coexistence. The above characteristics of UWB technology enable it to have high time resolution, strong anti-multipath ability, and high ranging and positioning accuracy, which can reach centimeter level.

Positioning systems based on UWB technology are used in indoor positioning scenarios and have the characteristics of high accuracy, but there are problems such as high network deployment costs, high labor costs, high maintenance costs, and high power consumption.

Contents of the invention

In a first aspect, a positioning method is provided, including: a first message received by a first device from a second device on a first bandwidth, where the first message is used to request location information of the first device, and the source of the first message The device is a third device. The first device and the second device are located in the first sub-network of the wireless mesh Mesh network. The third device is located in the second sub-network of the Mesh network. The first device sends ranging on the second bandwidth. signals and/or receives a ranging signal, and the ranging signal is used to determine the location information of the first device; wherein the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In the above solution, devices participating in positioning form a Mesh network, and positioning is implemented based on the Mesh network, which can reduce network deployment costs and complexity; when the devices in the Mesh network are positioned across sub-networks (such as those located in the second sub-network), When the three devices locate the first device located in the first sub-network), they use different bandwidths to perform different stages of the positioning process (for example, transmit the first message on the first bandwidth with a smaller bandwidth, and transmit the first message on the first bandwidth with a larger bandwidth). Sending ranging signals and/or receiving ranging signals on the second bandwidth can reduce the working time of the second bandwidth while ensuring positioning accuracy, thereby reducing power consumption and having flexible application space in the field of indoor positioning.

In a possible design, after the first device receives the first message from the second device on the first bandwidth and before the first device sends and/or receives the ranging signal on the second bandwidth, the first The device sends a second message to the second device on the first bandwidth. The second message contains indication information indicating that the first device is located in the first subnetwork. The destination device of the message is a third device. Correspondingly, when the third device is located in the first sub-network, the first device sends a ranging signal to the third device and/or receives a ranging signal from the third device on the second bandwidth.

In this design, the device initiating positioning (the third device) first publishes the message (i.e., the first message) of the device being located (the first device) to the entire network, and the device initiating positioning receives the approximate location of the device being located (such as After the first device is located in the first sub-network (instruction information) and moves near the located device, the third device performs a positioning measurement process on the first device to achieve precise positioning and accurate target search. In some scenarios, users can also be allowed to participate in the search process (for example, the user controls the movement of the located device), which can improve the user experience.

It can be understood that the devices participating in the positioning measurement process are not limited to only the third device. For example, other devices in the subnetwork where the first device is located can also perform the positioning measurement process on the first device. For specific methods, please refer to the third device on the first device. The positioning measurement process performed will not be described again here.

In a possible design, before the first device sends a ranging signal to the third device on the second bandwidth and/or receives a ranging signal from the third device, the first device communicates with the third device on the first bandwidth. A communication link is established; the first device negotiates positioning parameters with the third device on the first bandwidth. Correspondingly, the first device sends the ranging signal to the third device and/or receives the ranging signal from the third device on the second bandwidth based on the communication link and the positioning parameter.

In this design, the first device establishes a communication link with the third device on the first bandwidth and negotiates positioning parameters with the third device, which provides guarantee for the subsequent positioning measurement process and can further reduce power consumption.

In a possible design, the first device sends the ranging signal to the fourth device and/or receives the ranging signal from the fourth device on the second bandwidth, where the fourth device is located in the first sub-network.

In this design, the device that initiates positioning (the third device) first publishes a message (i.e., the first message) to find the device being located (the first device) to the entire network. After the first device receives the message, it Other devices (such as the fourth device) in the sub-network perform positioning measurements on the first device to achieve precise positioning, and finally return the positioning results to the third device, thereby achieving accurate target search. Moreover, there is no need for the first device to move, and the solution has strong applicability.

It can be understood that the devices participating in the positioning measurement process are not limited to only the fourth device. For example, other devices other than the first device and the fourth device in the subnetwork where the first device is located can also perform the positioning measurement process on the first device. The specific method is Reference may be made to the positioning measurement process performed by the fourth device on the first device, which will not be described again here.

In a possible design, before the first device sends a ranging signal to the fourth device on the second bandwidth and/or receives a ranging signal from the fourth device, the first device communicates with the fourth device on the first bandwidth. A communication link is established; the first device negotiates positioning parameters with the fourth device on the first bandwidth. Correspondingly, the first device sends the ranging signal to the fourth device and/or receives the ranging signal from the fourth device on the second bandwidth based on the communication link and the positioning parameter.

In this design, the first device establishes a communication link with the fourth device on the first bandwidth and negotiates positioning parameters with the fourth device, which provides guarantee for the subsequent positioning measurement process and can further reduce power consumption.

In a possible design, after the first device sends and/or receives the ranging signal on the second bandwidth, the first device sends a third message on the first bandwidth, and the third message includes the first device The positioning result is used to indicate the location information of the first device, and the destination device of the third message is the third device.

In one possible design, the first bandwidth is a bandwidth corresponding to a narrowband communication technology, including but not limited to a bandwidth corresponding to at least one communication technology among wireless networks Wi-Fi, Bluetooth, or near field communication NFC; the second bandwidth is The bandwidth corresponding to broadband communication technology includes, but is not limited to, the bandwidth corresponding to ultra-wideband UWB.

Of course, the above are only examples and not specific limitations.

In a second aspect, a positioning method is provided, including: a third device sending a first message to a fifth device on a first bandwidth, where the first message is used to request location information of the first device, and the source device of the first message for the third device, the first The device is located in the first sub-network of the Mesh network, and the third device and the fifth device are located in the second sub-network of the Mesh network; the third device receives the second message from the fifth device on the first bandwidth, and the second message contains Instruction information used to indicate that the first device is located in the first sub-network, the source device of the second message is the first device, and the destination device of the second message is the third device; when the third device is located in the first sub-network, The third device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth; wherein the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In a possible design, the third device moves to the first sub-network according to the instruction information.

In a possible design, before the third device sends a ranging signal to the first device on the second bandwidth and/or receives a ranging signal from the first device, the third device communicates with the first device on the first bandwidth. A communication link is established; the third device negotiates positioning parameters with the first device on the first bandwidth. Correspondingly, the third device sends the ranging signal to the first device and/or receives the ranging signal from the first device on the second bandwidth based on the communication link and the positioning parameter.

In a possible design, after the third device sends the ranging signal to the first device on the second bandwidth and/or receives the ranging signal from the first device, the third device transmits the ranging signal from the first device on the first bandwidth. A third message is received, the third message includes a positioning result of the first device, the positioning result is used to indicate the location information of the first device, and the destination device of the third message is the third device.

In a possible design, the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; the second bandwidth is a bandwidth corresponding to UWB.

In a third aspect, a positioning method is provided, including: a fourth device establishes a communication link with the first device on a first bandwidth; wherein both the fourth device and the first device are located in the first subnetwork of the Mesh network; The four devices send ranging signals to the first device and/or receive ranging signals from the first device on the second bandwidth; wherein the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In a possible design, after the fourth device establishes a communication link with the first device on the first bandwidth, and the fourth device sends a ranging signal to the first device on the second bandwidth and/or receives a ranging signal from the first device. Before receiving the ranging signal of the device, the fourth device negotiates positioning parameters with the first device on the first bandwidth. Correspondingly, the fourth device sends the ranging signal to the first device and/or receives the ranging signal from the first device on the second bandwidth based on the communication link and the positioning parameter.

In a possible design, the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; the second bandwidth is a bandwidth corresponding to UWB.

In a fourth aspect, a positioning method is provided, including: a second device receiving a first message on a first bandwidth, where the first message is used to request location information of the first device, and the source device of the first message is a third device. , the first device and the second device are located in the first sub-network in the Mesh network, and the third device is located in the second sub-network in the Mesh network; the second device sends the first message to the first device on the first bandwidth; wherein, The bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In a possible design, the second device receives the second message from the first device on the first bandwidth, and sends the second message to the second device on the first bandwidth; wherein the second message contains the location of the first device. area information, the destination device of the second message is the third device.

In a fifth aspect, a positioning device is provided, including a module for executing the method described in the above-mentioned first aspect or any possible design of the first aspect.

Exemplarily, the device includes a transceiver module for receiving a first message from a second device on a first bandwidth, where the first message is used to request location information of the first device where the device is located, and the source device of the first message is a third device, the first device and the second device are located in the first sub-network in the wireless mesh Mesh network, and the third device is located in the second sub-network in the Mesh network; the transceiver module is also used to send on the second bandwidth The ranging signal and/or the ranging signal is received, and the ranging signal is used to determine the location information of the first device; wherein the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In a possible design, the transceiver module is also configured to: after receiving the first message from the second device on the first bandwidth and before sending the ranging signal and/or receiving the ranging signal on the second bandwidth, Send a second message to the second device on a bandwidth, the second message includes indication information indicating that the first device is located in the first subnetwork, and the destination device of the second message is a third device; the transceiver module operates on the second bandwidth When sending ranging signals and/or receiving ranging signals on the second bandwidth, it is specifically used for: when the third device is located in the first sub-network, sending ranging signals to the third device and/or receiving ranging signals from the third device on the second bandwidth. ranging signal.

In a possible design, the transceiver module is also configured to: establish a connection with the third device on the first bandwidth before sending the ranging signal to the third device on the second bandwidth and/or receiving the ranging signal from the third device. Communication link; on the first bandwidth, negotiate positioning parameters with the third device; when the transceiver module sends a ranging signal to the third device and/or receives a ranging signal from the third device on the second bandwidth, it is specifically used : Based on the communication link and positioning parameters, send the ranging signal to the third device and/or receive the ranging signal from the third device on the second bandwidth.

In a possible design, when the transceiver module sends the ranging signal and/or receives the ranging signal on the second bandwidth, it is specifically used to: send the ranging signal to the fourth device on the second bandwidth and/or receive the ranging signal from the third device. Ranging signals of four devices, where the fourth device is located in the first sub-network.

In a possible design, before sending the ranging signal to the fourth device on the second bandwidth and/or receiving the ranging signal from the fourth device, the transceiver module is also configured to: establish a connection with the fourth device on the first bandwidth. Communication link; on the first bandwidth, negotiate positioning parameters with the fourth device; when the transceiver module sends a ranging signal to the fourth device and/or receives a ranging signal from the fourth device on the second bandwidth, it is specifically used : Based on the communication link and the positioning parameter, send the ranging signal to the fourth device and/or receive the ranging signal from the fourth device on the second bandwidth.

In a possible design, the transceiver module is further configured to: after sending the ranging signal and/or receiving the ranging signal on the second bandwidth, send a third message on the first bandwidth, where the third message includes the information of the first device. The positioning result is used to indicate the location information of the first device, and the destination device of the third message is the third device.

In a possible design, the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; the second bandwidth is a bandwidth corresponding to UWB.

In a sixth aspect, a positioning device is provided, including a module for executing the method described in the above second aspect or any possible design of the second aspect.

Exemplarily, the device includes: a transceiver module, configured to send a first message to a fifth device on a first bandwidth, where the first message is used to request location information of the first device, and the source device of the first message is where the device is located. The third device, the first device is located in the first sub-network in the Mesh network, the third device and the fifth device are located in the second sub-network in the Mesh network; the transceiver module is also used to transmit data from the fifth device on the first bandwidth Receive a second message, the second message includes indication information indicating that the first device is located in the first subnetwork, the source device of the second message is the first device, and the destination device of the second message is the third device; when When the third device is located in the first sub-network, the transceiver module is also configured to send a ranging signal to the first device and/or receive a ranging signal from the first device on the second bandwidth; wherein the bandwidth of the first bandwidth is smaller than The bandwidth of the second bandwidth.

In a possible design, the device further includes: a processing module, configured to control the third device to move to the first sub-network according to the instruction information.

In a possible design, the transceiver module is also configured to: establish a connection with the first device on the first bandwidth before sending the ranging signal to the first device on the second bandwidth and/or receiving the ranging signal from the first device. Communication link; on the first bandwidth, negotiate positioning parameters with the first device; when the transceiver module sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth, it is specifically used : Based on the communication link and positioning parameters, send data to the first device on the second bandwidth Send ranging signals and/or receive ranging signals from the first device.

In a possible design, the transceiver module is also configured to: after sending the ranging signal to the first device on the second bandwidth and/or receiving the ranging signal from the first device, receive the ranging signal from the first device on the first bandwidth. The third message includes the positioning result of the first device. The positioning result is used to indicate the location information of the first device. The destination device of the third message is the third device.

In a possible design, the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; the second bandwidth is a bandwidth corresponding to UWB.

In a seventh aspect, a positioning device is provided, including a module for executing the method described in the above third aspect or any possible design of the third aspect.

Exemplarily, the device includes: a transceiver module, configured to establish a communication link with the first device on the first bandwidth; wherein the fourth device and the first device where the device is located are both located in the first sub-network in the Mesh network; transceiver A module, further configured to send a ranging signal to the first device and/or receive a ranging signal from the first device on a second bandwidth; wherein the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In a possible design, the transceiver module is also configured to: after establishing a communication link with the first device on the first bandwidth, and on the second bandwidth, send the ranging signal to the first device and/or receive the ranging signal from the first device. Before sending the ranging signal, negotiate positioning parameters with the first device on the first bandwidth; when the transceiver module sends the ranging signal to the first device and/or receives the ranging signal from the first device on the second bandwidth, specifically Used for: sending a ranging signal to the first device and/or receiving a ranging signal from the first device on the second bandwidth based on the communication link and the positioning parameter.

In a possible design, the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; the second bandwidth is a bandwidth corresponding to UWB.

In an eighth aspect, a positioning device is provided, including a module for executing the method described in the above fourth aspect or any possible design of the fourth aspect.

Exemplarily, the apparatus includes: a transceiver module, configured to receive a first message on a first bandwidth, where the first message is used to request location information of the first device, the source device of the first message is a third device, and the first The device and the second device where the device is located are located in the first sub-network in the Mesh network, and the third device is located in the second sub-network in the Mesh network; the transceiver module is also used to send the first message to the first device on the first bandwidth. ; Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In a possible design, the transceiver module is also configured to receive a second message from the first device on the first bandwidth, and send the second message to the second device on the first bandwidth; wherein the second message contains the second message. Information about the area where the first device is located, and the destination device of the second message is the third device.

A ninth aspect provides a positioning device, including: at least one processor; and a communication interface communicatively connected to the at least one processor; the at least one processor executes instructions stored in a memory, causing the device to pass through the The communication interface implements the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect or the third aspect or any possible design of the third aspect or the fourth aspect. Or the method described in any possible design of the fourth aspect.

Optionally, the memory is located outside the device.

Optionally, the device includes the memory, the memory is connected to the at least one processor, and the memory stores instructions that can be executed by the at least one processor.

In a tenth aspect, a computer-readable storage medium is provided, including a program or instructions. When the program or instructions are run on a computer, the first aspect or any possible design of the first aspect or the second aspect or Any of the second aspects The method described in a possible design or the third aspect or any possible design of the third aspect or the fourth aspect or any possible design of the fourth aspect is executed.

An eleventh aspect provides a computer program product, including instructions that, when run on a computer, enable the design of the first aspect or any of the first aspects or the second aspect or any of the possibilities of the second aspect. The method described in the design or the third aspect or any possible design of the third aspect or the fourth aspect or any possible design of the fourth aspect is executed.

For detailed descriptions and beneficial effects of each design method in the above-mentioned second to eleventh aspects, refer to the specific description and beneficial effects of the corresponding design in the first aspect, and will not be described again.

Description of the drawings

Figure 1 is a schematic structural diagram of an indoor positioning system;

Figure 2 is a schematic diagram of TDOA positioning solution;

Figure 3A is a schematic diagram of a possible application scenario provided by the embodiment of the present application;

Figure 3B is a schematic structural diagram of a possible Mesh network provided by the embodiment of the present application;

Figure 4 is a flow chart of a positioning method provided by an embodiment of the present application;

Figure 5A is a schematic diagram of a specific positioning scenario provided by an embodiment of the present application;

Figure 5B is a schematic diagram of another specific positioning scenario provided by the embodiment of the present application;

Figure 6 is a flow chart of a third device locating a first device provided by an embodiment of the present application;

Figure 7 is a network structure diagram after the third device is moved according to the embodiment of the present application;

Figure 8 is a schematic diagram of a possible smart home scenario provided by the embodiment of this application;

Figure 9 is a flow chart of the fourth device locating the first device provided by the embodiment of the present application;

Figure 10 is a schematic structural diagram of a positioning device provided by an embodiment of the present application;

Figure 11 is a schematic structural diagram of another positioning device provided by an embodiment of the present application.

Detailed ways

For ease of understanding, some terms involved in the embodiments of this application are introduced below:

1) Short-distance wireless communication technology is a communication technology that transmits information through radio waves between communicating parties within a small range. For example, short-range wireless communication technologies may include, but are not limited to: radio frequency identification (RFID) technology, Bluetooth (BT) technology (for example, ordinary BT technology, Bluetooth low energy (BLE)) technology), near field communication (NFC) technology, greentooth technology, wireless-fidelity (WIFI) technology, ZigBee technology, ultra wide band (UWB) technology, as well as communication technologies based on the evolution of the above-mentioned communication technologies, and communication technologies that have the same or similar functions as the above-mentioned communication technologies and can replace each other, etc.

2) Ultra wide band (UWB) is an ultra-wideband communication technology. It uses pulses with a pulse width of only nanoseconds as its basic signal. It occupies a huge bandwidth, has high transmission rate and large system capacity. and other characteristics, and its power spectral density defined in the standard is extremely low, reaching -41.25dBm/MHz, and can coexist with existing communication systems. Based on these characteristics, UWB can achieve higher ranging and positioning accuracy than existing wireless positioning technology, up to centimeter-level positioning accuracy; and its high time resolution makes it have better anti-multipath capabilities and can be used in complex environments. Ranging and positioning can still be achieved in a multipath environment, and it has become a research hotspot.

3) Narrowband communication technology is a wireless carrier communication technology proposed relative to the concept of broadband in UWB technology. The spectrum range that narrowband communication technology can use is narrower than that used by UWB technology. For example, the narrowband communication technology may be other communication technologies other than UWB technology among short-distance wireless communication technologies, and may include, but is not limited to, at least one of the following: BT technology, BLE technology, WIFI technology or NFC technology. The system/chip/module used in the device to implement narrowband communication technology communication can be called a narrowband system/chip/module.

Correspondingly, UWB technology can also be called broadband communication technology. The system/chip/module used in the device to implement broadband communication technology communication can be called a narrowband system/chip/module.

4) Wireless mesh network (Mesh) network is a many-to-many communication network structure. A large number of terminal devices in the network can automatically connect into a mesh structure wirelessly. Each terminal device in the network has automatic routing function. , each terminal device communicates with its neighboring terminal devices. It is a dynamic and continuously expandable network structure, and any two devices can maintain wireless interconnection.

Each grid in the Mesh network corresponds to a subnetwork (or "subnet" or other name, which is not limited by this application). Any two communication devices in the subnetwork can use short-distance wireless communication technology. Direct communication (it can be understood that direct communication means that data is transmitted directly between two devices without being transferred by other devices). Two adjacent sub-networks have at least one communication device in common (that is, the at least one communication device is the same communication device). The intersection device of two adjacent subnetworks). Of course, during specific implementation, data transmitted between two devices in the same subnetwork can also be transferred through other devices, which is not limited by this application.

5) Communication equipment, which is equipment that supports short-range wireless communication technology and provides voice and/or data connectivity to users. In the embodiment of this application, the communication device may also be called a terminal device or a device, etc.

For example, the communication device may be a handheld device, a vehicle-mounted device, etc. with a wireless connection function. At present, some examples of terminal devices are: mobile phones, tablets, laptops, PDAs, mobile Internet devices (MID), smart point of sale terminals (POS), wearable devices ( Binaural true wireless (true wireless stereo, TWS) Bluetooth headsets), virtual reality (VR) equipment, augmented reality (AR) equipment, wireless terminals in industrial control (industrial control), driverless ( Wireless terminals in self driving, wireless terminals in remote medical surgery, wireless terminals in smart grid, wireless terminals in transportation safety, wireless terminals in smart city Wireless terminals, wireless terminals in smart homes (smart TVs, enabled refrigerators, sweepers, etc.), various smart meters (smart water meters, smart electricity meters, smart gas meters), etc.

6). In this application, "at least one" refers to one or more, and "multiple" refers to two or more. "And/or" describes the relationship between associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural. In the text description of this application, the character "/" generally indicates that the related objects before and after are an "or" relationship; in the formula of this application, the character "/" indicates that the related objects before and after are a kind of "division" Relationship. "Including at least one of A, B and C" may mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

With the popularity of smart devices and wireless networks, more and more electronic devices have become a node in the network through wireless access, thereby enabling remote control and management of smart devices. In many smart device applications, device location information is crucial. Using wireless networks to achieve indoor positioning is a key technology supporting location services and smart home applications.

Current indoor wireless positioning technology includes received signal strength indicator (Received signal strength indicator) indicator, RSSI) fingerprint matching positioning, angle-based positioning and ranging-based positioning. Methods based on RSSI fingerprint matching are limited by a large amount of offline collection work, and the fingerprint database is easily affected by changes in people and objects in the positioning environment. The positioning method based on angle measurement requires the device to deploy multiple antennas, which is difficult to meet practical applications in terms of power consumption and hardware size. Relatively speaking, ranging-based methods have received widespread attention. Representative ranging and positioning methods include methods based on time of arrival (TOA), methods based on time difference of arrival (TDOA) and methods based on bilateral ranging. The TOA method requires strict time synchronization between the node to be located and the anchor node. The TDOA method does not require synchronization between the node to be located and the anchor node, but requires synchronization between anchor nodes. Precise time synchronization brings additional cost and cost to the positioning system. burden.

Refer to Figure 1, which is a schematic structural diagram of an indoor positioning system. The detailed description of the implementation technology of the indoor positioning system is as follows: the clock generator sends a pulse source, generally generating a 38.4MHz clock signal to achieve clock synchronization of each anchor point; the connection between the clock generator and each anchor point uses a wired connection; the positioning engine Used to receive the time signal output by each anchor point, calculate the TDOA and the position of device E (device under test); the connection between the positioning engine and each anchor point uses a wired connection and perform data transmission; device E (device under test) Each anchor point broadcasts a ranging signal, and each anchor point determines the location of device E based on the time difference of the received signals.

Figure 2 is a schematic diagram of TDOA positioning solution. As shown in Figure 2, (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₃ , y ₃ ) are anchor points, and the coordinates are known, (x, y) is the positioned coordinates, solve The equation is as follows:

Where r _1,2 is the known distance between coordinates (x ₁ , y ₁ ) and (x ₂ , y ₂ ), r _2,3 is the distance between coordinates (x ₂ , y ₂ ) and (x ₃ , y ₃ ) known distance.

During the positioning process of the above system, the coordinates of anchor point A, anchor point B, anchor point C, and anchor point D need to be calibrated in advance to complete the coordinate positioning of device E. Ranging communication technology between anchor points and devices can use UWB, Wi-Fi, Bluetooth, etc.

The above solution has the following shortcomings:

1) Using TDOA technology between anchor points requires strict time synchronization, which is complex to implement;

2) The coordinates of the anchor point need to be calibrated in advance, which is complicated to implement;

3) The cost of transmitting time synchronization information and solving the required data (to the positioning engine) between the positioning engine and each anchor point is high in a wired manner;

4) Each anchor point and device E wirelessly transmit time synchronization information and solve the required data (to the positioning engine), but the accuracy is poor;

5) For cross-region (such as cross-room) positioning, each area (such as each room) needs to deploy at least 3 anchor points, which is costly;

6) The anchor point needs to be plugged in at all times and consumes high power.

In indoor positioning scenarios, the most widely used indoor positioning system based on UWB is the UWB technology used for ranging communication between anchor points and devices, which has the characteristics of high accuracy. However, when implemented, there are many problems such as high network deployment costs, high anchor point equipment costs, high labor costs, high maintenance costs, inconvenient anchor point calibration, and high power consumption. It is not suitable for application scenarios in smart fields such as homes.

In order to solve one or more of the above technical problems, technical solutions in the embodiments of this application are provided.

It can be understood that the technical solutions provided by the embodiments of the present application can be applied to various positioning/ranging/sensing scenarios, such as smart homes, smart transportation, smart manufacturing, logistics management, etc., and are not limited by this application. It can be understood that in the embodiments of the present application, since there are similar steps to implement positioning, ranging, angle measurement, sensing, etc., "positioning" and "measurement" are Terms such as "distance", "angiometry" and "perception" can be used interchangeably.

For example, see FIG. 3A , which is a schematic diagram of a possible application scenario provided by the embodiment of the present application. This scenario includes multiple devices, such as device A, device B, device C, device D, device E, device F, device G, and device H. Each device has the capability of short-range wireless communication, such as supporting narrowband communication technology and broadband communication technology. Each device can communicate directly with its adjacent devices based on short-range wireless communication technology (the specific communication distance depends on the device used). communication technology, environmental conditions, etc.).

For example, device A can communicate with device B and device C, device C can communicate with device A, device B, device D, device E, and device F, and device F can communicate with device C, device D, device E, device G, and device H communication, device H can communicate with device F, device G, and so on.

It can be understood that FIG. 3A is only an example and not a limitation. In specific implementation, a greater or lesser number of devices may be used.

In this embodiment of the present application, multiple devices can form a Mesh network, and any two communication devices in the sub-network can communicate through wireless communication technology (such as narrowband communication technology and/or broadband communication technology).

For example, see Figure 3B, which is a schematic structural diagram of a possible Mesh network provided by the embodiment of the present application. Device A, device B, and device C form subnetwork a, and device F, device G, and device H form subnetwork b. , device C, device D, device E, and device F form subnetwork c, where device C is located in subnetwork a and subnetwork c at the same time, and device F is located in subnetwork b and subnetwork c at the same time.

In the embodiment of this application, the communication device in the Mesh network can locate other devices in the same subnetwork, and can also locate other communication devices across subnetworks. The so-called cross-subnet refers to the device that initiates positioning and The located device is located in a different sub-network (that is, the communication device locates the communication device in another sub-network). For example, device H in subnetwork b can locate device G in subnetwork b, device H in subnetwork b can locate device E in subnetwork c, or device H in subnetwork b can locate device G in subnetwork b. Device A is positioned in a, and so on. The specific positioning method will be introduced in detail later.

It can be understood that the above-mentioned Figure 3B is only an example. During the specific implementation process, the Mesh network can also have other construction forms, such as including a greater or lesser number of sub-networks, which is not limited by this application.

Refer to Figure 4, which is a flow chart of a positioning method provided by an embodiment of the present application. The method includes:

S401. The third device sends the first message on the first bandwidth. The first message is transmitted to the first device via at least one device. Correspondingly, the first device receives the first message on the first bandwidth.

The source device of the first message is the third device. In other words, the first message is sent by the third device. The first message is used to request location information of the first device. In other words, the third device requests positioning of the first device. It can be understood that the location information herein can be absolute location information, such as specific coordinates in a certain coordinate system, or relative location information, such as the distance, orientation or angle of the first device relative to the third device. There are no restrictions on this application.

The first device, the third device and at least one device are located in the same Mesh network. The Mesh network includes multiple sub-networks. Any two devices in each sub-network can communicate directly using the first bandwidth. That is, if a device in a certain sub-network sends a message on the first bandwidth, other devices in the sub-network will The message can be received on the first bandwidth. It can be understood that the device can send messages in broadcast, multicast, unicast, etc., which is not limited in this application. In a possible example, the third device broadcasts the first message on the first bandwidth, and each device that receives the first message forwards the first message on the first bandwidth so that the first message can reach the Mesh network. All devices in the system ensure that the first device can receive the first message.

The first device and the third device are located in different sub-networks in the Mesh network. This article takes the first device being located in the first sub-network and the third device being located in the second sub-network as an example. According to the above introduction to Mesh networks, two devices located in different subnetworks cannot communicate directly and need to be relayed through other devices. Therefore, the first message sent by the third device needs to be forwarded by at least one device before it can reach the first device. Wherein, when each device in the at least one device forwards the first message, it also forwards the first message on the first bandwidth.

For example, the first sub-network and the second sub-network are two adjacent sub-networks (that is, the third device locates the first device across one sub-network), and the number of devices of at least one device may be 1, such as the second device , the second device is the intersection device of the first sub-network and the second sub-network (that is, the second device is located in the first sub-network and the second sub-network at the same time). The transmission path of the first message may be: the third device is in the first sub-network. The first message is sent on one bandwidth, and the second device receives the first message on the first bandwidth; the second device sends the first message on the first bandwidth, and the first device receives the first message on the first bandwidth.

Taking the Mesh network shown in Figure 3B as an example. In a specific example, see Figure 5A, the first subnetwork is subnetwork c, the second subnetwork is subnetwork b, the first device is device E, and the second device is Device F, the third device is device H, and the transmission path of the first message is: device H → device F → device E, where device F receives and forwards the first message on the first bandwidth. Of course, during specific implementation, the data transmitted between two devices in the same subnetwork can also be transferred through other devices. This application does not limit it. For example, the transmission path of the first message can also be: device H→device G→device F→Equipment E.

Exemplarily, a subnetwork (such as a third subnetwork) is separated between the first subnetwork and the second subnetwork (that is, the third device locates the first device across the two subnetworks). The number of devices of at least one device can be 2. For example, the fifth device and the second device, the second device is the intersection device of the first subnetwork and the third subnetwork (that is, the second device is located in the first subnetwork and the third subnetwork at the same time), and the fifth device is For the intersection device of the second sub-network and the third sub-network (that is, the fifth device is located in the third sub-network and the second sub-network at the same time), the transmission path of the first message may be: the third device sends the first message on the first bandwidth. A message, the fifth device receives the first message on the first bandwidth; the fifth device sends the first message on the first bandwidth, and the second device receives the first message on the first bandwidth; the second device The first message is sent and the first device receives the first message on the first bandwidth.

Taking the Mesh network shown in Figure 3B as an example. In a specific example, see Figure 5B, the first subnetwork is subnetwork a, the second subnetwork is subnetwork b, the third subnetwork is subnetwork c, and the first The device is device A, the second device is device C, the fifth device is device F, and the third device is device H. The transmission path of the first message is: device H → device F → device C → device A, where device F, Device C receives and forwards the first message on the first bandwidth. Of course, during specific implementation, the data transmitted between two devices in the same subnetwork can also be transferred through other devices. This application does not limit it. For example, the transmission path of the first message can also be: device H → device F → device E→Device C→Device A.

Of course, the above are only examples, and this application does not specifically limit the transmission path of the first message.

In this embodiment of the present application, the first bandwidth is a bandwidth corresponding to narrowband communication technology, including but not limited to bandwidth corresponding to BT technology, BLE technology, WIFI technology or NFC technology.

S402. The first device sends and/or receives a ranging signal on the second bandwidth, and the ranging signal is used to determine the location information of the first device. Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

In one possible design, the second bandwidth is a bandwidth corresponding to broadband communication technology (such as UWB technology).

In a possible design, the first bandwidth and the second bandwidth correspond to different systems/chips/modules. In other words, the communication function of the first device receiving the first message and the communication function of the first device sending and/or receiving ranging signals are respectively implemented by different chips/modules. For example, the first bandwidth is the bandwidth corresponding to UWB technology, and the second message is the bandwidth corresponding to BLE technology. Then the first device has both a UWB system and a BLE system. The first device receives the first message through the BLE system and sends it through the UWB system. Ranging signals and/or receiving ranging signals.

It should be understood that the third device sending the first message on the first bandwidth can also be described as the third device sending the first message based on narrowband communication technology or narrowband system, and the first device receiving the first message on the first bandwidth can also be described as The first device receives the first message based on the narrowband communication technology or the broadband system, and the first device sends the ranging signal and/or receives the ranging signal on the second bandwidth. It can also be described as the first device sends the ranging signal based on the broadband communication technology or the broadband system. ranging signals and/or receiving ranging signals, etc.

In a specific implementation process, the receiving end device of the ranging signal sent by the first device and/or the transmitting end device of the ranging signal received by the first device may be a third device, or may be a device in the subnetwork where the first device is located. Other equipment. The following is a detailed description of these two implementation methods:

Implementation Mode 1: The receiving end device of the ranging signal sent by the first device and/or the transmitting end device of the ranging signal received by the first device is a third device.

Referring to Figure 6, the process for the third device to locate the first device may specifically include:

S601. The third device sends the first message on the first bandwidth. The first message is transmitted to the first device via at least one device. Correspondingly, the first device receives the first message on the first bandwidth. For the specific implementation of this step, refer to S401, which will not be described again here.

S602. After receiving the first message, the first device sends the second message on the first bandwidth. The second message is transmitted to the third device via at least one device. Correspondingly, the third device receives the second message on the first bandwidth. . The second message includes indication information indicating that the first device is located in the first sub-network.

The transmission path of the second message may correspond to the transmission path of the first message, that is, it is transferred via the same device, but in the opposite transmission direction. Illustratively, taking the scenario shown in Figure 5B as an example, the transmission path of the first message is: device H→device F→device C→device A; the transmission path of the second message is: device A→device C→device F. →Equipment H.

Of course, the transmission path of the second message may not correspond to the transmission path of the first message, such as being transferred via different devices. Illustratively, taking the scenario shown in Figure 5B as an example, the transmission path of the first message is: device H→device F→device C→device A; the transmission path of the second message is: device A→device C→device E. →Equipment F→Equipment H.

S603. After receiving the instruction information, the third device moves to the first subnetwork.

If the third device is a device that can move autonomously, such as a sweeping robot, then after receiving the second message, the third device can control itself to move to the first subnetwork according to the instruction information in the second message.

If the third device cannot move autonomously, for example, the third device is a smartphone, a smart wearable device, etc., the user can control the third device to move to the first sub-network. For example, if the third device reminds the user that the first device is in the first sub-network (or reminds the user that the first device is in the area, which is the area covered by the first sub-network) through a display screen or voice broadcast, etc., the user After receiving the reminder, the third device can be moved to the first subnetwork. Taking the scenario shown in Figure 5B as an example, device H moves from subnetwork b to subnetwork a, and the network structure diagram after the move is shown in Figure 7 .

S604. The third device is located behind the first subnetwork, and the third device establishes a communication link with the first device on the first bandwidth.

It can be understood that the communication link here is a communication link corresponding to the second bandwidth. In other words, the established communication link is used to transmit information sent by the third device and/or the first device on the second bandwidth. information. For example, the first bandwidth is the bandwidth corresponding to the BLE technology, and the second bandwidth is the bandwidth corresponding to the UWB technology, then the third device and the first device interact to establish UWB connection information based on the BLE technology (for example, including but not limited to the first device and the third device). three device address information).

S605. The third device negotiates positioning parameters with the first device on the first bandwidth.

Among them, the positioning parameters are used to configure the positioning measurement process of the device. Exemplarily, the positioning parameters include but are not limited to any one or more of the following: control parameters of the ranging signal (such as signal frequency band 6 ~ 9GHz), ranging method (such as unilateral measurement or bilateral measurement), device address ( The address of the third device, the address of the first device, etc.), the interaction process ((No. The order in which the first device and the third device send ranging signals), time slot parameters (such as the time when the first device sends and/or receives the ranging signal, and/or the time when the third device receives and/or sends the ranging signal time), measurement quantity (i.e. parameters that need to be measured, such as angle, distance, signal flight time), etc.

S606. The third device sends a ranging signal on the second bandwidth based on the communication link and positioning parameters, and the first device receives the ranging signal on the second bandwidth based on the communication link and positioning parameters; and/or, the first device The communication link and the positioning parameters send the ranging signal on the second bandwidth, and the third device receives the ranging signal on the second bandwidth based on the communication link and the positioning parameters.

It can be understood that before S606, if the broadband system is not in the awake state, the following steps may also be included before S606: the narrowband system of the third device wakes up the narrowband system of the third device, and the narrowband system of the first device wakes up the first device narrowband system. For example, the BLE system sends instructions to the UWB system, and the UWB system turns on UWB-related radio frequency functions after receiving the instructions.

After the UWB system of the first device and the UWB system of the third device are awakened, the UWB system of the first device and the UWB system of the third device control the transmission of the ranging signal.

Further, if the third device receives the ranging signal, the third device also measures the received ranging signal to obtain the first measurement result; if the first device receives the ranging signal, the first device also measures the received ranging signal. The ranging signal is measured to obtain the second measurement result. The first measurement result and/or the second measurement result are finally aggregated to a device that does positioning calculation, and the device calculates the positioning result (the positioning result is used to indicate the location information of the first device, such as the first device relative to the third device distance, direction, etc.). Among them, the device that performs positioning calculation may be the first device, the third device, or other devices (such as the control center device in the subnetwork where the first device and the third device are currently located). This application does not limit .

It should be noted that S604 to S606 only introduce an example of one device (i.e., the third device) performing positioning measurement with the first device. In actual implementation, multiple devices can perform positioning measurement on the first device. For example, in Figure In the scenario shown in 7, device C and device B can also perform positioning measurements on device H. The specific number of devices participating in positioning measurement can be determined according to the algorithm used for positioning. For example, for the TDOA algorithm, three devices are required to participate in positioning measurement. Correspondingly, when multiple devices perform positioning measurements on the first device, the interaction process between each device in the multiple devices and the first device can refer to the interaction process between the third device and the first device in S604 to S606, where No longer. Finally, the measurement results obtained by each device are gathered into the device that performs positioning calculation, and the positioning result is calculated by the device (the positioning result is used to indicate the location information of the first device, such as the distance of the first device relative to the third device, direction, etc.). The device that performs positioning calculation may be the first device, the third device, or other devices (such as a control center device in the subnetwork where the first device is located), which is not limited by this application.

S607. The first device sends a third message on the first bandwidth, and the third device receives the third message on the first bandwidth. The third message includes the positioning result of the first device, and the positioning result is used to indicate the location of the first device. location information.

It can be understood that here, the first device returns the positioning result as an example. In fact, other devices can also return the positioning result to the first device. This application does not limit it, so S607 is an optional step.

In order to understand the above implementation more clearly, here is another specific example:

Refer to Figure 8, which is a schematic diagram of a possible smart home scenario provided by an embodiment of the present application. In this scenario, communication devices include smart door locks, ceiling lights 1, headphones, sweeping robots, ceiling lights 2, smart TVs, speakers, and mobile phones. Socket 1 (set on the wall of Room 1 or Room 3), Socket 2 (set on the wall of Room 2 or Room 3), etc. Referring to the network structure shown in Figure 3B, the communication devices in each room form a sub-network, and the sub-networks in each room form a Mesh network, in which the socket can be used as the intersection device of adjacent sub-networks (for example, socket 1 serves as room 1 and Intersection device in room 3, socket 2 As the intersection device of Room 2 and Room 3).

When the user holds the mobile phone and needs to find the headset, the mobile phone sends the first message to the entire network based on narrowband communication technology to start the task of finding the headset; after the headset receives the first message based on narrowband communication technology, it returns its approximate location information (for example, in a smart door (near the lock); when the user knows that the headset is near the smart door lock, the user brings the mobile phone closer to the smart door lock; when the mobile phone enters room 1, the mobile phone and the headset establish a communication link through narrowband communication technology and negotiate positioning parameters; the mobile phone and The headset completes the positioning measurement process through broadband communication technology (if the mobile phone is doing the positioning calculation, the mobile phone will directly obtain the positioning result; if it is not the mobile phone doing the positioning calculation, the device doing the positioning calculation can send the positioning result to the mobile phone through narrowband communication technology); the mobile phone After obtaining the positioning result, the user is prompted with the precise location of the headset (such as displaying the location of the headset on a map, or displaying the distance and orientation of the headset relative to the mobile phone, etc.).

In the first implementation method above, the device initiating positioning (the third device) first publishes the message (i.e., the first message) of the device being located (the first device) to the entire network, and the device initiating positioning receives the approximate location of the device being located. Finally, after moving to the vicinity of the positioned device, and then performing precise positioning, the target can be accurately found. In some scenarios, users can also be allowed to participate in the search process (such as moving the located device), which can improve the user experience.

Implementation Mode 2: The receiving end device of the ranging signal sent by the first device and/or the transmitting end device of the ranging signal received by the first device is the fourth device. Wherein, the fourth device is any other device in the first sub-network except the first device.

Referring to Figure 9, the process for the third device to locate the first device may specifically include:

901. The third device sends the first message on the first bandwidth. The first message is transmitted to the first device via at least one device. Correspondingly, the first device receives the first message on the first bandwidth. For the specific implementation of this step, refer to S401, which will not be described again here.

902. After receiving the first message, the first device establishes a communication link with the fourth device on the first bandwidth.

The process of establishing a communication link between the first device and the fourth device may refer to the process of establishing a communication link between the first device and the third device above, which will not be described again here.

903. The first device negotiates positioning parameters with the fourth device on the first bandwidth.

The process of negotiating positioning parameters between the first device and the fourth device may refer to the process of negotiating positioning parameters between the first device and the third device above, which will not be described again here.

904. The first device sends a ranging signal on the second bandwidth based on the communication link and positioning parameters, and the fourth device receives the ranging signal of the first device on the second bandwidth based on the communication link and positioning parameters; and/or, The fourth device sends the ranging signal on the second bandwidth based on the communication link and the positioning parameter, and the first device receives the ranging signal on the second bandwidth based on the communication link and the positioning parameter.

Similarly, before S904, if the broadband system of the fourth device and/or the first device is not in the awake state, wake up the broadband system.

It should be noted that S902 to S904 only introduce one device (i.e., the fourth device) for positioning measurement with the first device as an example. In actual implementation, multiple devices can perform positioning measurement for the first device. For example, in Figure In the scenario shown in 3B, both device C and device B can perform positioning measurements on device H.

It is understandable that the specific number of devices participating in positioning measurement can be determined according to the algorithm used for positioning. For example, for the TDOA algorithm, three devices are required to participate in positioning measurement.

Correspondingly, when multiple devices perform positioning measurements on the first device, the interaction process between each device in the multiple devices and the first device can refer to the interaction process between the fourth device and the first device in S902 to S904, where No longer. Finally, the measurement results obtained by each device are gathered into the device that performs positioning calculation, and the device calculates the positioning result (the positioning result is used to indicate the position information of the first device, such as the coordinates of the first device, etc.). Among them, equipment for positioning calculations It may be the first device, the fourth device, or other devices (such as a control center device in the subnetwork where the first device and the fourth device are located), and is not limited in this application.

S905. The first device sends the third message on the first bandwidth, and the third device receives the third message on the first bandwidth. The third message includes the positioning result of the first device, and the positioning result is used to indicate the location of the first device. location information.

It can be understood that here, the first device returns a positioning result as an example. In fact, other devices can also return positioning results to the first device, so S905 is an optional step.

The transmission path of the third message may correspond to the transmission path of the first message, that is, it is transferred via the same device, but in the opposite transmission direction. Illustratively, taking the scenario shown in Figure 5B as an example, the transmission path of the first message is: device H → device F → device C → device A; the transmission path of the third message is: device A → device C → device F →Equipment H.

Of course, the transmission path of the third message may not correspond to the transmission path of the first message, such as being transferred via different devices. Illustratively, taking the scenario shown in Figure 5B as an example, the transmission path of the first message is: device H→device F→device C→device A; the transmission path of the third message is: device A→device C→device E. →Equipment F→Equipment H.

In order to understand the above solution more clearly, here is another specific example:

Still taking the smart home scenario shown in Figure 8 as an example, when the user holds a mobile phone and needs to find headphones, the mobile phone sends the first message to the entire network based on narrowband communication technology to start the task of finding headphones; the headset receives the first message based on narrowband communication technology Finally, the smart door lock, ceiling light 1 and socket 1 in the sub-network where the headset is located all perform positioning measurements on the headset, and obtain the relative position information (such as distance, orientation, etc.) of the smart door lock, ceiling light 1, socket 1 and the headset; perform positioning calculations The device (such as earphones) is based on the location information of the smart door lock, ceiling light 1 and socket 1 (for example, the coordinates of the smart door lock, ceiling light 1 and socket 1 are (x ₁ , y ₁ ), (x ₂ , y ₂ ), respectively. (x ₃ , y ₃ ), as well as the relative position information of the smart door lock, ceiling light 1, socket 1 and the headset, the position information of the headset is calculated (for example, the coordinates are (x ₀ , y ₀ )); the device doing the positioning calculation obtains After receiving the location information of the headset, the location information of the headset is transferred to the mobile phone based on narrowband communication technology. The mobile phone can prompt the user with the precise location of the headset (such as displaying the location of the headset on a map, or prompting the coordinates of the headset, etc.).

In the second implementation method above, the device initiating positioning (the third device) first publishes a message (i.e., the first message) to search for the located device (the first device) to the entire network. After receiving the message, the first device passes the first Other devices in the subnetwork where the device is located perform positioning measurements on the first device and return the positioning results to the third device, which can achieve accurate search for the target. Moreover, there is no need for the first device to move, and the solution has strong applicability.

In the technical solution provided by the embodiment of this application, subnets are established between devices based on the narrowband system, a Mesh network is constructed between the subnets, and an integrated positioning solution of the broadband system and the narrowband system is implemented based on the Mesh network. During the networking process, there is no need to set up separate anchor points. Instead, the narrowband system is used to network existing devices, which can reduce the cost and complexity of network deployment. The positioning process can achieve high-precision positioning without manual intervention, which is simple to implement and has low labor costs. ; During the positioning process, the broadband system and the narrowband system are integrated to ensure positioning accuracy while reducing the working time of the broadband system and reducing power consumption. Therefore, it has flexible application space in the field of indoor positioning.

It should be noted that the way of merging the broadband system and the narrowband system given above is that the device uses the broadband system when sending and/or receiving ranging signals, and uses the broadband system when transmitting messages, establishing communication links, and negotiating positioning parameters, etc. The processes all use narrowband systems. However, in actual implementation, the way in which broadband systems and narrowband systems are integrated is not limited to this. For example, devices can also use the broadband system to negotiate positioning parameters and send and/or receive ranging signals, etc., and use the narrowband system to transmit messages and establish communication links. wait. As long as it is a positioning solution that integrates a broadband system and a narrowband system, it is within the protection scope of the embodiments of this application.

In addition, the embodiments of this application take an indoor positioning scenario as an example, but the technical solution provided by the embodiments of this application is not limited to indoor positioning scenarios and can also be applied to other positioning scenarios.

It can be understood that the above-mentioned embodiments can be combined with each other to achieve different technical effects.

Based on the same technical concept, see FIG. 10 , an embodiment of the present application also provides a positioning device, which includes a transceiver module 1001 . Optionally, a processing module 1002 is also included. The transceiver module 1001 can cooperate with the processing module 1002 to perform some or all of the operations performed by any device in the above method embodiments.

Exemplarily, when the positioning device is used to implement the functions of the first device in the above method embodiment, the transceiver module 1001 is used to receive the first message from the second device on the first bandwidth, where the first message is used to The location information of the first device where the requesting device is located, the source device of the first message is the third device, the first device and the second device are located in the first sub-network of the wireless mesh Mesh network, and the third device is located in the Mesh network The second sub-network; the transceiver module 1001 is also used to send ranging signals and/or receive ranging signals on the second bandwidth, and the ranging signals are used to determine the location information of the first device; wherein, the bandwidth of the first bandwidth A bandwidth smaller than the second bandwidth.

Optionally, the processing module 1002 is used to generate a ranging signal or process a ranging signal.

Exemplarily, when the positioning device is used to implement the function of the third device in the above method embodiment, the transceiver module 1001 is used to send the first message to the fifth device on the first bandwidth, where the first message is used to request Location information of the first device. The source device of the first message is the third device where the device is located. The first device is located in the first sub-network of the Mesh network. The third device and the fifth device are located in the second sub-network of the Mesh network. Network; the transceiver module 1001 is also configured to receive a second message from the fifth device on the first bandwidth. The second message contains indication information indicating that the first device is located in the first sub-network. The source device of the second message is the first device, and the destination device of the second message is the third device; when the third device is located in the first sub-network, the transceiver module 1001 is also configured to send ranging signals and/or to the first device on the second bandwidth. Or receiving a ranging signal from the first device; wherein the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

Optionally, the processing module 1002 is used to generate a ranging signal or process a ranging signal.

Exemplarily, when the positioning device is used to implement the functions of the fourth device in the above method embodiment, the transceiver module 1001 is used to establish a communication link with the first device on the first bandwidth; wherein, the fourth device where the device is located The device and the first device are both located in the first sub-network in the Mesh network; the transceiver module 1001 is also used to send ranging signals to the first device and/or receive ranging signals from the first device on the second bandwidth; wherein , the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

Optionally, the processing module 1002 is used to generate a ranging signal or process a ranging signal.

Exemplarily, when the positioning device is used to implement the functions of the second device in the above method embodiment, the transceiver module 1001 is used to receive the first message on the first bandwidth, where the first message is used to request the first device. Location information, the source device of the first message is the third device, the first device and the second device where the device is located are located in the first sub-network in the Mesh network, and the third device is located in the second sub-network in the Mesh network; transceiver module 1001. Also configured to send the first message to the first device on the first bandwidth; wherein the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.

All relevant content of each step involved in the above method embodiments can be quoted from the functional description of the corresponding functional module, and will not be described again here.

Based on the same technical concept, referring to Figure 11, an embodiment of the present application also provides a positioning device, including: at least one processor 1101; and a memory 1102 and a communication interface 1103 communicatively connected to the at least one processor 1101; wherein, The memory 1102 stores instructions that can be executed by the at least one processor 1101. By executing the instructions stored in the memory 1102, the at least one processor 1101 causes the device to execute the above method embodiment through the communication interface 1103. Some or all of the operations performed by any of the devices.

The embodiment of the present application does not limit the specific connection medium between the processor 1101, the memory 1102 and the communication interface 1103. In the embodiment of the present application, in Figure 11, the processor 1101, the memory 1102 and the communication interface 1103 They are connected through a bus 1104, which is represented by a thick line in Figure 11. The connection methods between other components are only schematically illustrated and are not limiting. The bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 11, but it does not mean that there is only one bus or one type of bus.

It should be understood that the processor mentioned in the embodiments of this application can be implemented by hardware or software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, or the like. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in memory.

For example, the processor can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), or application specific integrated circuit (Application Specific Integrated Circuit, ASIC) , off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory may be Random Access Memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Eate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (Direct Rambus RAM, DR RAM).

It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated in the processor.

It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

Based on the same technical concept, embodiments of the present application also provide a computer-readable storage medium, including a program or instructions, which when the program or instructions are run on a computer, cause part or all of the execution of any device in the above method embodiments. The operation is executed.

Based on the same technical concept, embodiments of the present application also provide a chip, which is coupled to a memory and used to read and execute program instructions stored in the memory, so that the part executed by any device in the above method embodiments or all operations are performed.

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the present application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions are available causing a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine such that instructions executed by the processor of the computer or other programmable data processing device produce instructions for implementing the flowchart A process or processes and/or a block diagram means the functionality specified in a block or blocks.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (30)

1. A positioning method, characterized by including:

   a first message received by a first device from a second device on a first bandwidth, wherein the first message is used to request location information of the first device, and the source device of the first message is a third device, The first device and the second device are located in a first sub-network in the wireless mesh Mesh network, and the third device is located in a second sub-network in the Mesh network;

   The first device sends and/or receives a ranging signal on the second bandwidth, and the ranging signal is used to determine the location information of the first device;

   Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.
2. The method of claim 1, wherein after the first device receives the first message from the second device on the first bandwidth and the first device sends the ranging signal on the second bandwidth and /or before receiving the ranging signal, also includes:

   The first device sends a second message to the second device on the first bandwidth, where the second message contains indication information indicating that the first device is located in the first sub-network, so The destination device of the second message is the third device;

   The first device sends ranging signals and/or receives ranging signals on the second bandwidth, including:

   When the third device is located in the first sub-network, the first device sends a ranging signal to the third device and/or receives a ranging signal from the third device on the second bandwidth.
3. The method of claim 2, wherein before the first device sends a ranging signal to the third device and/or receives a ranging signal from the third device on the second bandwidth, Also includes:

   The first device establishes a communication link with the third device on the first bandwidth;

   The first device negotiates positioning parameters with the third device on the first bandwidth;

   The first device sends a ranging signal to the third device and/or receives a ranging signal from the third device on the second bandwidth, including:

   The first device sends a ranging signal to the third device and/or receives a ranging signal from the third device on the second bandwidth based on the communication link and the positioning parameter.
4. The method of claim 1, wherein the first device sends ranging signals and/or receives ranging signals on the second bandwidth, including:

   The first device sends a ranging signal to a fourth device and/or receives a ranging signal from the fourth device on a second bandwidth, where the fourth device is located in the first sub-network.
5. The method of claim 4, wherein before the first device sends a ranging signal to a fourth device on a second bandwidth and/or receives a ranging signal from the fourth device, the Methods also include:

   The first device establishes a communication link with the fourth device on the first bandwidth;

   The first device negotiates positioning parameters with the fourth device on the first bandwidth;

   The first device sends a ranging signal to a fourth device and/or receives a ranging signal from the fourth device on the second bandwidth, including:

   The first device sends a ranging signal to the fourth device and/or receives a ranging signal from the fourth device on the second bandwidth based on the communication link and the positioning parameter.
6. The method according to any one of claims 1 to 5, characterized in that when the first device transmits on the second bandwidth After sending and/or receiving ranging signals, it also includes:

   The first device sends a third message on the first bandwidth, the third message includes a positioning result of the first device, and the positioning result is used to indicate the location information of the first device, so The destination device of the third message is the third device.
7. The method according to any one of claims 1 to 6, characterized in that the first bandwidth is a bandwidth corresponding to at least one communication technology among wireless networks Wi-Fi, Bluetooth or near field communication NFC; the second bandwidth The bandwidth is the bandwidth corresponding to ultra-wideband UWB.
8. A positioning method, characterized by including:

   The third device sends a first message to the fifth device on the first bandwidth, where the first message is used to request location information of the first device, and the source device of the first message is the third device, so The first device is located in the first sub-network of the Mesh network, and the third device and the fifth device are located in the second sub-network of the Mesh network;

   The third device receives a second message from the fifth device on the first bandwidth, where the second message contains indication information indicating that the first device is located in the first sub-network, so The source device of the second message is the first device, and the destination device of the second message is the third device;

   When the third device is located in the first sub-network, the third device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth;

   Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.
9. The method of claim 8, further comprising:

   The third device moves to the first sub-network according to the instruction information.
10. The method of claim 8 or 9, wherein the third device sends a ranging signal to the first device and/or receives a ranging signal from the first device on a second bandwidth. Previously, this also included:

    The third device establishes a communication link with the first device on the first bandwidth;

    The third device negotiates positioning parameters with the first device on the first bandwidth;

    The third device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth, including:

    The third device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth based on the communication link and the positioning parameter.
11. The method according to any one of claims 8 to 10, characterized in that when the third device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth, After the ranging signal, it also includes:

    The third device receives a third message from the first device on the first bandwidth, the third message includes a positioning result of the first device, and the positioning result is used to indicate that the first device Location information of the device, and the destination device of the third message is the third device.
12. The method according to any one of claims 8 to 11, characterized in that the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; the second bandwidth is a bandwidth corresponding to UWB bandwidth.
13. A positioning method, characterized by including:

    The fourth device establishes a communication link with the first device on the first bandwidth; wherein the fourth device and the first device are both located in the first subnetwork of the Mesh network;

    The fourth device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth;

    Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.
14. The method of claim 13, wherein after the fourth device establishes a communication link with the first device on the first bandwidth, and the fourth device sends a message to the first device on the second bandwidth. Before receiving the ranging signal and/or receiving the ranging signal from the first device, the method further includes:

    The fourth device negotiates positioning parameters with the first device on the first bandwidth;

    The fourth device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth, including:

    The fourth device sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth based on the communication link and the positioning parameter.
15. The method of claim 13 or 14, wherein the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; and the second bandwidth is a bandwidth corresponding to UWB.
16. A positioning device, characterized by including:

    A transceiver module, configured to receive a first message from a second device on a first bandwidth, wherein the first message is used to request location information of the first device where the device is located, and the source device of the first message Be a third device, the first device and the second device are located in the first sub-network of the wireless mesh Mesh network, and the third device is located in the second sub-network of the Mesh network;

    The transceiver module is also configured to send and/or receive ranging signals on the second bandwidth, where the ranging signals are used to determine the location information of the first device;

    Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.
17. The device according to claim 16, characterized in that the transceiver module is also used to:

    After receiving the first message from the second device over the first bandwidth and before sending and/or receiving the ranging signal over the second bandwidth, sending a second message to the second device over the first bandwidth. message, the second message includes indication information indicating that the first device is located in the first subnetwork, and the destination device of the second message is the third device;

    When the transceiver module sends and/or receives ranging signals on the second bandwidth, it is specifically used to:

    When the third device is located in the first sub-network, a ranging signal is sent to the third device and/or a ranging signal is received from the third device on the second bandwidth.
18. The device according to claim 17, characterized in that the transceiver module is also used for:

    Establishing a communication link with the third device on the first bandwidth before sending a ranging signal to the third device and/or receiving a ranging signal from the third device on the second bandwidth;

    Negotiate positioning parameters with the third device on the first bandwidth;

    When the transceiver module sends a ranging signal to the third device and/or receives a ranging signal from the third device on the second bandwidth, it is specifically used to:

    Based on the communication link and the positioning parameter, a ranging signal is sent to the third device and/or a ranging signal is received from the third device over the second bandwidth.
19. The device according to claim 16, wherein the transceiver module is specifically used to: when sending and/or receiving ranging signals on the second bandwidth:

    A ranging signal is sent to and/or a ranging signal is received from a fourth device on a second bandwidth, wherein the fourth device is located in the first sub-network.
20. The apparatus of claim 19, wherein the transceiver module is further configured to: before sending the ranging signal to the fourth device on the second bandwidth and/or receiving the ranging signal from the fourth device:

    Establish a communication link with the fourth device on the first bandwidth;

    Negotiate positioning parameters with the fourth device on the first bandwidth;

    When the transceiver module sends a ranging signal to the fourth device and/or receives a ranging signal from the fourth device on the second bandwidth, it is specifically used to:

    Based on the communication link and the positioning parameter, a ranging signal is sent to and/or a ranging signal is received from the fourth device over the second bandwidth.
21. The device according to any one of claims 16 to 20, characterized in that the transceiver module is further configured to: after sending the ranging signal and/or receiving the ranging signal in the second bandwidth, in the first bandwidth A third message is sent on the mobile phone, the third message includes the positioning result of the first device, the positioning result is used to indicate the location information of the first device, and the destination device of the third message is the Third device.
22. The device according to any one of claims 16 to 21, characterized in that the first bandwidth is a bandwidth corresponding to at least one communication technology among Wi-Fi, Bluetooth or NFC; the second bandwidth is a bandwidth corresponding to UWB bandwidth.
23. A positioning device, characterized by including:

    A transceiver module configured to send a first message to a fifth device on a first bandwidth, where the first message is used to request location information of the first device, and the source device of the first message is the location where the device is located. A third device, the first device is located in the first sub-network of the Mesh network, and the third device and the fifth device are located in the second sub-network of the Mesh network;

    The transceiver module is further configured to receive a second message from the fifth device on the first bandwidth, where the second message contains an indication indicating that the first device is located in the first sub-network. Information, the source device of the second message is the first device, and the destination device of the second message is the third device;

    When the third device is located in the first sub-network, the transceiver module is also configured to send a ranging signal to the first device on a second bandwidth and/or receive a ranging signal from the first device. distance signal;

    Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.
24. The device of claim 23, further comprising:

    A processing module configured to control the third device to move to the first sub-network according to the instruction information.
25. The device according to claim 23 or 24, characterized in that the transceiver module is also used for:

    Establishing a communication link with the first device on the first bandwidth before sending a ranging signal to the first device and/or receiving a ranging signal from the first device on the second bandwidth;

    Negotiate positioning parameters with the first device on the first bandwidth;

    When the transceiver module sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth, it is specifically used to:

    Based on the communication link and the positioning parameter, ranging signals are sent to and/or received from the first device over the second bandwidth.
26. The device according to any one of claims 23-25, characterized in that the transceiver module is also used for:

    After sending a ranging signal to the first device and/or receiving a ranging signal from the first device on the second bandwidth, receiving a third message from the first device on the first bandwidth, so The third message includes the positioning result of the first device, the positioning result is used to indicate the location information of the first device, and the destination device of the third message is the third device.
27. A positioning device, characterized by including:

    A transceiver module, configured to establish a communication link with the first device on the first bandwidth; wherein the fourth device is located The device and the first device are both located in the first sub-network in the Mesh network;

    The transceiver module is also configured to send a ranging signal to the first device on the second bandwidth and/or receive a ranging signal from the first device;

    Wherein, the bandwidth of the first bandwidth is smaller than the bandwidth of the second bandwidth.
28. The apparatus of claim 27, wherein the transceiver module is further configured to: after establishing a communication link with the first device on the first bandwidth, and to send a message to the first device on the second bandwidth. Before sending a ranging signal and/or receiving a ranging signal from the first device, negotiating positioning parameters with the first device on the first bandwidth;

    When the transceiver module sends a ranging signal to the first device and/or receives a ranging signal from the first device on the second bandwidth, it is specifically used to:

    Based on the communication link and the positioning parameter, a ranging signal is sent to and/or a ranging signal is received from the first device over the second bandwidth.
29. A positioning device, characterized by including:

    At least one processor; and a memory and communication interface communicatively connected to the at least one processor;

    Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory to cause the device to execute claims 1-15 through the communication interface. any one of the methods.
30. A computer-readable storage medium, characterized by including a program or instructions, which when the program or instructions are run on a computer, causes the method according to any one of claims 1 to 15 to be executed.