WO2023274128A1 - 定位方法和电子设备 - Google Patents

定位方法和电子设备 Download PDF

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Publication number
WO2023274128A1
WO2023274128A1 PCT/CN2022/101455 CN2022101455W WO2023274128A1 WO 2023274128 A1 WO2023274128 A1 WO 2023274128A1 CN 2022101455 W CN2022101455 W CN 2022101455W WO 2023274128 A1 WO2023274128 A1 WO 2023274128A1
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WIPO (PCT)
Prior art keywords
antenna
antennas
target
line
electronic device
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PCT/CN2022/101455
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English (en)
French (fr)
Inventor
崔献
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Vivo Mobile Communication Co Ltd
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Vivo Mobile Communication Co Ltd
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Publication of WO2023274128A1 publication Critical patent/WO2023274128A1/zh
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H04M1/72457—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to geographic location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
    • H04M1/026—Details of the structure or mounting of specific components
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass

Definitions

  • the application belongs to the field of smart devices, and in particular relates to a positioning method and electronic devices.
  • Ultra Wide Band usually uses two-way ranging (TWR) and phase difference (Phase Difference of Arrival, PDoA) for positioning.
  • TWR is used for positioning to give distance information
  • PDoA is used for angle measurement to give angle information.
  • the positioning equipment in the prior art is positioned by configuring two antennas, but the positioning range of the two antennas is limited.
  • Figure 1 the relative positioning/interaction between two mobile phones with built-in UWB chips and antennas
  • the range within which each mobile phone can locate the other party must fall within a conical area that forms a certain angle with the normal line on the back of the mobile phone. It can be seen that the positioning range of this method in the prior art is limited, thereby affecting user experience.
  • the purpose of the embodiments of the present application is to provide a positioning method and an electronic device, which can solve the problem of a narrow positioning range of a single antenna in the prior art.
  • the embodiment of the present application provides an electronic device, the electronic device includes N antennas; the N is an integer greater than 2; wherein, the N antennas are arranged at N positions on the electronic device , the antennas on the N positions are distributed in a target shape, and the antennas on the two adjacent endpoints on the target shape form an antenna pair; in any two adjacent antenna pairs, the straight line where one antenna pair is located and the other
  • the first angle formed between the straight lines where the adjacent antenna pairs are located is smaller than the preset angle; the first angle is the supplementary angle of the angle formed between the first extension line of one antenna pair and the second extension line of another adjacent antenna pair
  • the first extension line and the second extension line are the extension lines of the non-shared antenna in the two antenna pairs along the common antenna direction; the shared antenna is the common antenna of the two antenna pairs, so The non-shared antenna is the antenna except the shared antenna among the antennas of the two antenna pairs.
  • the embodiment of the present application provides a positioning method for an electronic device based on the first aspect, including: searching within the corresponding positioning range based on any antenna pair; when the device to be positioned is found in the search , and locate the device to be positioned by searching for the antenna pair of the device to be positioned.
  • N is an integer greater than 2
  • the N antennas installed on the electronic device can form at least two antenna pairs, and in the two adjacent antenna pairs, the line where one antenna pair is located and the other
  • the first angle formed between the straight lines where the adjacent antenna pairs are located is smaller than the preset angle, so that the positioning ranges of two adjacent antenna pairs can be superimposed. Therefore, through the multiple antenna pairs in the electronic device in the embodiment of the present application
  • the positioning range of a single antenna pair is wider, thereby solving the problem of a narrow positioning range of a single antenna in the prior art, and improving user experience.
  • FIG. 1 is a schematic diagram of a usage scenario of relative positioning/interaction between two mobile phones with built-in UWB chips and antennas in the prior art
  • FIG. 2 is a schematic structural diagram of four antennas included in an electronic device according to an embodiment of the present application
  • FIG. 3 is a schematic structural diagram of an electronic device including three antennas according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of positioning based on an electronic device according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of determining alpha in the embodiment of the present application.
  • Fig. 6 is one of the schematic diagrams of the distribution of antennas in a target shape according to the embodiment of the present application.
  • Fig. 7 is the second schematic diagram of the distribution of antennas in a target shape according to the embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of the symmetrical distribution of 8 antennas in the electronic device according to the embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of the symmetrical distribution of seven antennas in the electronic device according to the embodiment of the present application.
  • FIG. 10 is one of the structural schematic diagrams including seven antennas asymmetrically distributed in the electronic device according to the embodiment of the present application;
  • FIG. 11 is the second structural schematic diagram of an asymmetric distribution of 7 antennas in the electronic device according to the embodiment of the present application.
  • FIG. 12 is a flowchart of a positioning method based on an electronic device according to an embodiment of the present application.
  • FIG. 13 is one of the schematic diagrams of electronic device-based positioning according to the embodiment of the present application.
  • FIG. 14 is a second schematic diagram of electronic device-based positioning according to an embodiment of the present application.
  • the electronic device in the embodiment of the present application includes N antennas; N is an integer greater than 2;
  • the N antennas are arranged at N positions on the electronic device, the antennas at the N positions are distributed in a target shape, and the antennas on two adjacent endpoints on the target shape form an antenna pair;
  • the first angle formed between the straight line where one antenna pair is located and the straight line where another adjacent antenna pair is located is smaller than the preset angle;
  • the first angle is the first extension line of one antenna pair and the other
  • the first extension line and the second extension line are the extension lines of the non-shared antenna in the two antenna pairs along the common antenna direction;
  • the shared antenna is two antennas
  • the non-shared antennas are the antennas except the shared antennas among the antennas of the two antenna pairs.
  • the electronic device when N is 4, the electronic device includes 4 antennas, that is, 3 antenna pairs, and each antenna pair has For the positioning range of itself, as shown in the dotted line in Figure 2, the combination of three antenna pairs has a wider positioning range than that of one antenna.
  • N is an integer greater than 2
  • the N antennas arranged on the electronic device can form at least two antenna pairs, and the straight line where one antenna pair is located among the two adjacent antenna pairs is the same as
  • the first angle (30° in FIG. 2 ) formed between the straight lines of another adjacent antenna pair is smaller than the preset angle, so that the positioning ranges of two adjacent antenna pairs can be superimposed. Therefore, relative to the positioning of a single antenna pair The range is wider, thereby solving the problem of a narrow positioning range of a single antenna in the prior art, and improving user experience.
  • the extension line 1 is the extension line from A3 to A1
  • the extension line 2 is the extension line from A2 to A1.
  • the extension line 1 and the extension line 2 have directions.
  • the extension line 1 may be the first extension line
  • the extension line 2 may be the second extension line, and vice versa.
  • the shared antenna of antenna pair A1A2 and antenna pair A1A3 is A1, then A3 and A2 are non-shared antennas, that is, the shared antenna is the antenna shared by the two antenna pairs, and the non-shared antenna is the antenna of the two antenna pairs except the shared antenna.
  • Antenna Antenna.
  • the preset angle is 30°, then the positioning range of two antenna pairs composed of three antennas is compared with the positioning range of one antenna pair wider.
  • A is an active positioning anchor device, which can be in the form of a mobile phone/watch/television, etc. It is configured with two antennas (A1, A2) and the distance between the phase geometric centers is d, The midpoint of symmetry is marked C.
  • B is a device such as a mobile phone/watch/finding tag, with a built-in UWB chip as a tag device whose location is determined. Among them, the angle between the line between B and C and the horizontal direction is theta, and the angles between the line between B and A1 and A2 and the horizontal direction are theta1 ( ⁇ 1) and theta2 ( ⁇ 2) respectively.
  • the angle between the line between B and C and the normal is alpha( ⁇ ).
  • delta_phi is PDoA, that is, the phase difference between A1 and A2 before the UWB wave arrives, and lamda is the wavelength of the UWB signal.
  • the coverage angle corresponding to the positioning range of a single antenna pair is 120°
  • the coverage angle of the two or three antenna pairs in Figure 2 and Figure 3 is 180°, which can basically meet the requirements for controlling the TV through a smart watch.
  • antennas can be added, for example, the value of N is 5 or 6, etc. It should be noted that the specific alpha exceeds +/- how many degrees will lead to a decrease in the ability and accuracy of angle measurement, which needs to be determined according to the actual situation.
  • the preset angle in the embodiment of the present application is greater than or equal to 0°, and the preset angle is smaller than the coverage angle corresponding to the positioning range of a single antenna pair.
  • the coverage angle is related to alpha. If alpha exceeds the range of +/-50 degrees, the ability and accuracy of angle measurement will decrease. The coverage angle is 100°. If alpha exceeds the range of +/-60 degrees , its ability and accuracy of angle measurement will decrease, then the coverage angle is 120°. Because when the preset angle is equal to the coverage angle, the positioning ranges between two adjacent antenna pairs do not overlap, which will cause holes in the positioning range.
  • the target shape in the embodiment of the present application may be a part of a regular polygon or a part of a circular arc, and the geometric center is the center of the polygon or the center of the circle.
  • the target shape is a part of a polygon
  • the target shape is a part of an arc.
  • the N antennas are symmetrically distributed on the target shape relative to the target line; or, the N antennas are asymmetrically distributed on the target shape relative to the target line.
  • the target line is the normal line of the first target antenna pair
  • the first target antenna pair is a plurality of antenna pairs on the target shape pair of central antennas.
  • the 8 antennas are A1, A2, A3, A4, A5, A6, A7, and A8;
  • the target antenna pair is The antenna pair composed of A1A2, the 8 antennas in Figure 8 are distributed symmetrically with respect to the target line.
  • the incremental rotation at intervals of 30 degrees means that the preset angle is 30 degrees.
  • the target line is the center antenna of the N antennas on the target shape and the target The line connecting the geometric centers of the shapes.
  • the 8 antennas are A1, A2, A3, A4, A5, A6, and A7, and the target line passes through A1 and the line at the midpoint of the target shape, the seven antennas in Figure 9 are distributed symmetrically with respect to the target line.
  • the symmetrical distribution of N antennas on the target shape relative to the target line means that the symmetrical distribution of N antennas on the target shape relative to the target line means that any two first angles are equal, and N antennas are evenly distributed on both sides of the target line. side. That is to say, the symmetrical distribution means that the number of antennas on both sides of the target line is equal, and any two first angles are equal.
  • the asymmetric distribution of N antennas on both sides of the target line includes at least one of the following situations:
  • N antennas are non-uniformly distributed on both sides of the target line;
  • the target line is the normal line of the second target antenna pair
  • the second target antenna pair is the center of multiple antenna pairs of the electronic device any pair of antennas.
  • the target line is a line connecting any one of the N antennas to the geometric center of the target shape.
  • the target line is a line connecting the central antenna and the geometric center of the target shape, at this time at least two first angles among the plurality of antenna pairs are not equal. If the target antenna pair is not a line connecting the central antenna and the geometric center of the target shape, the first angles of the multiple antenna pairs may be equal or unequal.
  • the number of antennas on both sides of the target line is not equal, or the preset angles between two adjacent antenna pairs are not the same, some are 30°, some are 40°, etc., which are also asymmetrical.
  • the value of N is 7, and the 7 antennas are distributed asymmetrically on both sides of the target line.
  • the first angles are not equal, or the number of antennas on both sides of the target line and the distribution of the first angles are equal.
  • the value of N is 7, and the 7 antennas are asymmetrically distributed on both sides of the target line. This asymmetric distribution means that the number of antennas on both sides of the target line is equal, but the first angle is not equal .
  • the number of antennas on both sides of the target line may be unequal, or the number of antennas on both sides of the target line and the first angles may be unequal.
  • the embodiment of the present application also provides a positioning method, as shown in FIG. 12 , the steps of the method include:
  • Step 1201 search within the corresponding positioning range based on any antenna pair
  • Step 1202 if the device to be positioned is found, locate the device to be positioned by using the antenna of the device to be positioned.
  • the electronic device since the electronic device includes at least two antenna pairs, the coverage of one antenna is wider than that of the prior art, thus solving the problem of the narrow positioning range of a single antenna in the prior art. problems and improve the user experience.
  • the TV/game console includes 4 antennas, which form 3 antenna pairs, that is, the 3 antenna pairs can respectively locate and locate smart watches, that is, the smart watch moves out of one of the antenna pairs. , but may fall into the coverage of other antenna pairs, thereby avoiding the problem that one antenna has a narrower coverage for it.
  • the electronic device when the electronic device includes 4 antennas and constitutes 3 antenna pairs, and there are three devices to be positioned, the 3 antenna pairs correspond to 3 antenna pairs respectively.
  • the device locates objects. For example, a user of a personal mobile device with a UWB function can simultaneously perform PDoA angle measurement and recognition on multiple targets in the surrounding area, that is, multiple UWB devices, and realize a multi-node mode.
  • the three UWB device smart watches, Tag tags, and wireless earphones all respond to the angle measurement process of A1-A2, which is obtained in the first round
  • A1-A2 antenna pair which is obtained in the first round
  • the three UWB device smart watches, Tag tags, and wireless earphones all respond to the angle measurement process of A1-A2, which is obtained in the first round
  • PDoA angle measurement refresh with the three UWB devices to give the change results of the angle of arrival
  • Each will cooperate with the A1-A2 antenna pair in sequence to respond to the angle measurement process.
  • there is a sequence queue of each device which will increase the total time occupied and affect the delay (latency) and the update angle of arrival. user experience.
  • the electronic device includes A3-A1-A2-A4 and multiple antenna pairs can work together.
  • A3-A1 is for smart watches
  • A1-A2 For Tag tags
  • A4-A2 for wireless earphones
  • the initial results of the angle of arrival of the three devices can be obtained in the first round, and when the relative position changes when the user holds the mobile device while walking around to find objects, the three UWB devices With their own assigned antenna pairs, the process of continuously doing PDoA angle measurement to give a refreshed angle of arrival is relatively independent, which can give the angle measurement update result faster and reduce the delay, and will not respond to the angle measurement process due to each device and the same antenna pair As a result, the accumulation time is lengthened and the user experience is improved.
  • the method in the embodiment of the present application may also include:
  • Step 11 locate the device to be positioned with the highest priority by searching for the antenna of the device to be positioned.
  • Step 12 when the positioned device is not within the positioning range of any antenna pair, the electronic device is triggered to send a prompt message.
  • the devices when performing PDoA angle measurement and identification for multiple UWB devices at the same time, the devices can be distinguished and marked with high and low priorities according to user needs (such as #1Tag label, #2 smart watch, #3 wireless headset), the priority The list is stored in the personal mobile device with UWB function, and the angle/position calculation will be performed first for the surrounding target devices with high priority. If the user holds the UWB-enabled personal mobile device in the process of finding objects and rotates at a certain angle (for example, the normal line points to the general direction of the priority #2 smart watch), making the device with the highest priority (#1Tag tag) out of the original The PDoA angle measurement coverage of the A1-A2 antenna pair.
  • user needs such as #1Tag label, #2 smart watch, #3 wireless headset
  • the priority The list is stored in the personal mobile device with UWB function, and the angle/position calculation will be performed first for the surrounding target devices with high priority. If the user holds the UWB-enabled personal mobile device in the process of finding objects and rotates at a certain
  • the wireless headset with priority #3 is out of the PDoA angle measurement coverage of all three pairs of UWB antenna pairs of the main device, and the display of the main device needs to give a corresponding reminder in the user interface (User Interface, UI).
  • the user is required to adjust the appropriate angle of rotation, and the main device can remind the #3 wireless headset to respond to the PDoA angle measurement process again, so that the main device can restore the PDoA angle measurement coverage that can take into account three UWB devices at the same time.
  • the term “comprising”, “comprising” or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase “comprising a " does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.
  • the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental & Geological Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

本申请公开了一种定位方法和电子设备，属于智能设备领域。其中，该电子设备包括N个天线；其中，所述N个天线设置在所述电子设备上N个位置，所述N个位置上的天线呈目标形状分布，所述目标形状上相邻两个端点上的天线构成天线对；在任一相邻的两个天线对中，一个天线对所在直线与另一个邻天线对所在直线之间形成的第一角度小于预设角；所述第一角度为一个天线对的第一延长线与另一个邻天线对的第二延长线之间形成的角度的补角；所述第一延长线和所述第二延长线为所述两个天线对中非共有天线沿共有天线方向的延长线；所述共有天线为所述两个天线对所共有的天线，所述非共有天线为所述两个天线对的天线中除所述共有天线的天线。

Description

定位方法和电子设备
相关申请的交叉引用
本申请主张在2021年07月01日在中国提交的中国专利申请No.202110744629.7的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于智能设备领域，具体涉及一种定位方法和电子设备。
背景技术
超宽带(Ultra Wide Band，UWB)通常采用双向定位(Two-way Ranging，TWR)配合相位差(Phase Difference of Arrival，PDoA)的方式进行定位。其中，TWR用于定位以给出距离信息，PDoA用于测角以给出角度信息。
目前，现有技术中的定位设备通过配置两支天线进行定位，但两支天线定位的范围具有局限性，如图1所示，以两台内置UWB芯片和天线的手机之间相对定位/交互的使用场景为例，每台手机可定位到对方的范围是要落在与手机背面法线呈一定夹角的圆锥区域之内。可见，现有技术中的这种方式其定位范围有局限从而影响用户体验。
发明内容
本申请实施例的目的是提供一种定位方法和电子设备，能够现有技术中单个天线对其定位范围较窄的问题。
第一方面，本申请实施例提供了一种电子设备，所述电子设备包括N个天线；所述N为大于2的整数；其中，所述N个天线设置在所述电子设备上N个位置，所述N个位置上的天线呈目标形状分布，所述目标形状上相邻两个端点上的天线构成天线对；在任一相邻的两个天线对中，一个天线对所在直线与另一个邻天线对所在直线之间形成的第一角度小于预设角；所述第一角度为一个天线对的第一延长线与另一个邻天线对的第二延长线之间形成的角度的补角；所述第一延长线和所述第二延长线为所述两个天线对中非共有 天线沿共有天线方向的延长线；所述共有天线为所述两个天线对所共有的天线，所述非共有天线为所述两个天线对的天线中除所述共有天线的天线。
第二方面，本申请实施例提供了一种基于第一方面电子设备的定位方法，包括：基于任一所述天线对在所对应的定位范围内进行搜索；在搜索到待定位设备的情况下，通过搜索到所述待定位设备的天线对对所述待定位设备进行定位。
在本申请实施例中由于N为大于2的整数，即该设置在电子设备的N个天线可以组成至少两个天线对，且在相邻的两个天线对中一个天线对所在直线与另一个邻天线对所在直线之间形成的第一角度小于预设角，从而使得相邻两个天线对的定位范围可以叠加，因此，通过本申请实施例中的电子设备中的多个天线对相对于单个天线对的定位范围更广，从而解决了现有技术中单个天线对其定位范围较窄的问题，提高了用户体验。
附图说明
图1是现有技术中两台内置UWB芯片和天线的手机之间相对定位/交互的使用场景示意图；
图2是本申请实施例的电子设备中包括4个天线的结构示意图；
图3是本申请实施例的电子设备中包括3个天线的结构示意图；
图4是本申请实施例的基于电子设备的定位示意图；
图5是本申请实施例的确定alpha的示意图；
图6是本申请实施例的天线呈目标形状分布的示意图之一；
图7是本申请实施例的天线呈目标形状分布的示意图之二；
图8是本申请实施例的电子设备中包括8个天线对称分布的结构示意图；
图9是本申请实施例的电子设备中包括7个天线对称分布的结构示意图；
图10是本申请实施例的电子设备中包括7个天线非对称分布的结构示意图之一；
图11是本申请实施例的电子设备中包括7个天线非对称分布的结构示意图之二；
图12是本申请实施例的基于电子设备的定位方法的流程图；
图13是本申请实施例的基于电子设备的定位示意图之一；
图14是本申请实施例的基于电子设备的定位示意图之二。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的电子设备进行详细地说明。
本申请实施例中的电子设备包括N个天线；N为大于2的整数；
其中，N个天线设置在电子设备上N个位置，N个位置上的天线呈目标形状分布，目标形状上相邻两个端点上的天线构成天线对；
在任一相邻的两个天线对中，一个天线对所在直线与另一个邻天线对所在直线之间形成的第一角度小于预设角；第一角度为一个天线对的第一延长线与另一个邻天线对的第二延长线之间形成的角度的补角；第一延长线和第二延长线为两个天线对中非共有天线沿共有天线方向的延长线；共有天线为两个天线对所共有的天线，非共有天线为两个天线对的天线中除共有天线的天线。
以N为4为例，且预设角度为30°为例，如图2所示，在N为4的情况下，该电子设备包括4个天线，即3个天线对，每一个天线对有自身的定位范围，如图2中虚线部分，则3个天线对的组合相对于一个天线对其定位范 围更广。可见，在本申请实施例中由于N为大于2的整数，即该设置在电子设备的N个天线可以组成至少两个天线对，且在相邻的两个天线对中一个天线对所在直线与另一个邻天线对所在直线之间形成的第一角度(图2中的30°)小于预设角，从而使得相邻两个天线对的定位范围可以叠加，因此，相对于单个天线对的定位范围更广，从而解决了现有技术中单个天线对其定位范围较窄的问题，提高了用户体验。
此外，需要说明的是，以图2为例，延长线1为A3到A1的延长线，延长线2为A2至A1的延长线，可见，延长线1和延长线2是有方向的。其中，延长线1可以是第一延长线，延长线2可以是第二延长线，反之亦然。此外，天线对A1A2以及天线对A1A3的共有天线为A1，则A3和A2为非共有天线，即共有天线为两个天线对所共有的天线，非共有天线为两个天线对的天线中除共有天线的天线。
在本申请实施例中对于N为3的情况下，如图3所示，预设角度为30°，则3个天线组成的两个天线对，其定位范围相比于一个天线对的定位范围更广。
在本申请实施例中，如图4所示，A是主动定位的anchor设备，可以为手机/手表/电视等形态，它配置了两支天线(A1，A2)的相位几何中心之间距离为d，对称中点标记为C。B是手机/手表/寻物标签等设备，内置UWB芯片，作为被定出位置的标签(tag)设备。其中，B与C之间的连线与水平方向夹角为theta，B与A1和A2之间的连线与水平方向夹角分别为theta1(θ1)、theta2(θ2)。B与C之间的连线与法向的夹角为alpha(α)。
根据正弦曲线的特性，超出+/-60度的范围(60度到90度，-60度到-90度之内)，随角度alpha的变化不够灵敏，影响测角的能力和精度，因此UWB涉及测角的交互和应用通常会限定在一定的法向夹角范围之内。
对如何得到alpha(α)进行介绍，如图5所示，从B到A1相比从B到A2的距离差d1：
d1＝d*cos(theta1)＝d*cos(theta)＝d*sin(alpha)
其中，theta1＝theta2＝theta，alpha+theta＝90°。
距离差d1也可用另一种表达式来描述：d1＝delta_phi*lamda/360；
其中，delta_phi是PDoA，即UWB波前面到达A1和A2的phase difference相位差，lamda是UWB信号的波长。
基于此，delta_phi＝d*sin(alpha)*360/lamda，对此转换得到alpha＝arcsin(lamda*delta_phi/360/d)。即推算出了表征angle of arrival(到达角)相关的alpha。
基于图4和图5，alpha超出一定角度范围后，其测角的能力和精度将会下降，例如，在alpha超出+/-50度的范围的情况下，其测角的能力和精度将会下降，也就是说，单个天线对的最大定位范围所覆盖的角度为100°，又例如在alpha超出+/-60度的范围的情况下，其测角的能力和精度将会下降，也就是说，单个天线对的最大定位范围所覆盖的角度为120°，如图2所示。在超出这个范围则无法对其进行定位，例如用户想通过内有UWB天线的智能手表，对内置有UWB天线及其芯片的电视进行控制，如果智能手表未在电视的UWB天线的定位范围内，则无法通过智能手表控制电视。如果以单个天线对的定位范围对应的覆盖角度为120°，则图2和图3中2个或3个天线对的覆盖角度为180°，从而可以基本满足对于通过智能手表控制电视的这种应用场景。如果其他应用场景中需要扩大到超过180°的覆盖范围，则可以通过增加天线，例如N的取值为5或6等。需要说明的是，具体alpha在超出+/-多少度会导致其测角的能力和精度下降，需要根据实际情况确定。
此外，需要说明的是，本申请实施例中的预设角度大于或等于0°，且预设角度小于单个天线对的定位范围所对应覆盖角度。由上述可知，该覆盖角度与alpha相关，如果alpha超出+/-50度的范围，其测角的能力和精度将会下降，则覆盖角度为100°，如果alpha超出+/-60度的范围，其测角的能力和精度将会下降，则覆盖角度为120°。因为当预设角度等于覆盖角度的情况下，相邻两个天线对之间的定位范围没有交集，则会造成定位范围出现空洞。
另外，本申请实施例中的目标形状可以是规则的多边形的一部分，或者是圆弧形的一部分，则几何中心则是该多边形的中心，或是该圆形的圆心。如图6所示，目标形状为多边形的一部分，如图7所示，目标形状为弧形的一部分。
在本申请实施例的可选实施中，本申请实施例中N个天线在目标形状上相对于目标线对称分布；或，N个天线在目标形状上相对于目标线非对称分布。
其中，在N为偶数且N个天线在目标形状上相对于目标线对称分布的情况下，目标线为第一目标天线对的法线，第一目标天线对为多个天线对在目标形状上的中心天线对。如图8所示，以N的取值为8，预设角度为30°为例，其中，8个天线分别为A1、A2、A3、A4、A5、A6、A7、A8；目标天线对为A1A2组成的天线对，该图8中8个天线相对于目标线对称分布的。
以预设角度为30°，每一天线对的覆盖角度为120°为例，在对称分布的情况下，在N的取值偶数，如4、6、8时，其N个天线的总体有效覆盖角度的情况如表1所示。
Figure PCTCN2022101455-appb-000001
表1
其中，按照30度间隔旋转递加即是指预设角度为30°。
以预设角度为30°，每一天线对的覆盖角度为120°为例，在对称分布的情况下，在N的取值奇数，如3、5、7时，其N个天线的总体有效覆盖角度的情况如表2所示。
Figure PCTCN2022101455-appb-000002
表2
在本申请实施例的可选实施方式中，在N为奇数，且N个天线在目标形状上相对于目标线对称分布的情况下，目标线为N个天线在目标形状上的中心天线与目标形状的几何中心的连线。如图9所示，以N的取值为7，预设角度为30°为例，其中，8个天线分别为A1、A2、A3、A4、A5、A6、A7，目标线为穿过A1和目标形状中点的线，该图9中7个天线相对于目标线对称分布的。
可见，N个天线在目标形状上相对于目标线对称分布是指N个天线在目标形状上相对于目标线对称分布是指任意两个第一角度相等，N个天线均匀的分布在目标线两侧。也就是说，对称分布是指目标线两侧的天线数量是相等的，且任意两个第一角度均是相等的。
上述是对于N为偶数和奇数的情况下，对称分布的情况，下面将介绍在N为偶数和奇数的情况下，非对称分不的情况。
此外，N个天线非对称分布在目标线的两侧包括以下至少一项的情况：
1)N个天线非均匀的分布在目标线两侧；
2)至少两个第一角度不相等。
在N为偶数，且N个天线在目标形状上相对于目标线非对称分布的情况下，目标线为第二目标天线对的法线，第二目标天线对为电子设备的多个天线对中的任一天线对。其中，需要说明的是，如果第二目标天线对为多个天线对在目标形状上的中心天线对，则此时多个天线对中的至少两个第一角度不相等。如果第二目标天线对不为中心天线对，则多个天线对中的第一角度可以相等，也可以不相等。
在N为奇数，且N个天线在目标形状上相对于目标线非对称分布的情况下，目标线为N个天线中任一天线与目标形状的几何中心的连线。其中，需要说明的是，如果该目标线为中心天线与目标形状的几何中心的连线，则此时多个天线对中的至少两个第一角度不相等。如果目标天线对不为中心天线与目标形状的几何中心的连线，则多个天线对中的第一角度可以相等，也可以不相等。
也就是说，目标线两侧的天线数量不相等，或者相邻两个天线对之间的预设角度不相同，有的30°，有的40°等，也是不对称。如图10所示，N 的取值为7，且7个天线在目标线两侧是非对称分布的，该非对称分布是指目标线两侧的天线数量不相等，在其他实施方式中可以是第一角度的不相等，或者是目标线两侧的天线数量以及第一角度均布相等。如图11所示，N的取值为7，且7个天线在目标线两侧是非对称分布的，该非对称分布是指目标线两侧的天线数量相等，但第一角度是不相等的。在其他实施方式中可以是目标线两侧的天线数量不相等，或者是目标线两侧的天线数量以及第一角度均不相等。
基于上述本申请实施例中的电子设备，本申请实施例还提供了一种定位方法，如图12所示，该方法的步骤包括：
步骤1201，基于任一天线对在所对应的定位范围内进行搜索；
步骤1202，在搜索到待定位设备的情况下，通过搜索到待定位设备的天线对对待定位设备进行定位。
通过上述步骤1201和步骤1202，由于该电子设备包括至少两个天线对，相对于现有技术中的一个天线对其覆盖范围更广从而解决了现有技术中单个天线对其定位范围较窄的问题，提高了用户体验。
如图13所示，电视/游戏机包括4个天线，组成了3个天线对，即3个天线对可以分别对只能手表进行寻物定位，也就是说，即时智能手表移出其中一个天线对的覆盖范围，但可能落入其他天线对的覆盖范围，从而避免了一个天线对其覆盖范围较窄的问题。
此外，基于本申请实施例中的电子设备，在电子设备包括4个天线，组成了3个天线对的情况下，且待定位的设备也是三个的情况下，3个天线对分别对3个设备进行寻物定位。例如，手持UWB功能的个人移动设备用户，可以对周边的多目标即多个UWB设备同时进行PDoA测角和识别，实现多节点(Multi-node)的模式。现有技术中，在仅配置A1-A2天线对(天线pair)的情况下，3个UWB设备智能手表、Tag标签、无线耳机均响应A1-A2的测角的流程，在第一轮得出3个设备的到达角的初始结果之后，在用户手持移动设备走动寻物过程中，由于相对位置的变化，需要与3个UWB设备分别持续做PDoA测角刷新给出到达角的变化结果，则各自会按照时序先后与A1-A2天线pair配合，以响应测角的流程，此过程中存在各设备时序排队因 此会导致占据的总时长加大，影响给出更新到达角的延迟(latency)和用户体验。如图14所示，在本申请实施例中，电子设备包括A3-A1-A2-A4多个天线pair可协同工作，在Multi-node的模式下，比如A3-A1针对智能手表，A1-A2针对Tag标签，A4-A2针对无线耳机，可在第一轮得出3个设备的到达角的初始结果，并且在用户手持移动设备走动寻物过程中发生相对位置的变化时，3个UWB设备有各自分配的天线对，持续做PDoA测角给出刷新的到达角的过程相对独立，能更快给出测角更新的结果降低时延，不会因各设备与同一天线对响应测角流程而导致累积时间加长，改善用户体验。
此外，在本申请实施例的可选实施方式中，在同一个天线对搜索到多个待定位设备，且多个待定位设备具有对应的优先级的情况下，本申请实施例中的方法还包括：
步骤11，通过搜索到待定位设备的天线对对优先级最高的待定位设备进行定位。
步骤12，在已定位过的设备不在任一天线对的定位范围内的情况下，触发电子设备发送提示消息。
通过上述步骤11和步骤12可知，如果同一天线对定位到多个设备，且该多个设备具有对应的优先级，则先对优先级高的设备进行定位，以及在设备移出任一天线对的覆盖范围后，发出提示消息。
在具体应用场景中，对于多个UWB设备同时进行PDoA测角和识别时可以按照用户需求对设备区分标记高低优先级(比如#1Tag标签，#2智能手表，#3无线耳机)，优先级的列表存置于手持UWB功能的个人移动设备中，对优先级高的周边目标设备会先进行角度/位置的解算。如果用户在寻物过程中手持UWB功能的个人移动设备发生一定角度的旋转(比如法线指向了优先级#2智能手表的大致方向)，使得最高优先级(#1Tag标签)的设备脱离了原始A1-A2天线pair的PDoA测角覆盖范围，此时仍有机会进行天线pair的切换(比如切到A4-A2pair)，来帮助恢复与#1优先级的Tag标签之间的正常PDoA测角覆盖，改善用户体验。此时优先级#3的无线耳机脱离了主设备所有三对UWB天线pair的PDoA测角覆盖范围，则需要主设备显示屏在寻物的用户界面(User Interface，UI)中给出相应提醒，要求用户调整旋 转合适的角度，并且主设备可提醒#3无线耳机重新响应PDoA测角的流程，使得主设备恢复到能同时兼顾三个UWB设备的PDoA测角覆盖。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (10)

  1. 一种电子设备，所述电子设备包括N个天线；所述N为大于2的整数；
    其中，所述N个天线设置在所述电子设备上N个位置，所述N个位置上的天线呈目标形状分布，所述目标形状上相邻两个端点上的天线构成天线对；
    在任一相邻的两个天线对中，一个天线对所在直线与另一个邻天线对所在直线之间形成的第一角度小于预设角；所述第一角度为一个天线对的第一延长线与另一个邻天线对的第二延长线之间形成的角度的补角；所述第一延长线和所述第二延长线为所述两个天线对中非共有天线沿共有天线方向的延长线；所述共有天线为所述两个天线对所共有的天线，所述非共有天线为所述两个天线对的天线中除所述共有天线的天线。
  2. 根据权利要求1所述的电子设备，其中，在所述N为偶数，且所述N个天线在所述目标形状上相对于目标线对称分布的情况下，所述目标线为第一目标天线对的法线；所述第一目标天线对为多个所述天线对在所述目标形状上的中心天线对；
    在所述N为奇数，且所述N个天线在所述目标形状上相对于目标线对称分布的情况下，所述目标线为所述N个天线在所述目标形状上的中心天线与所述目标形状的几何中心的连线；
    其中，所述N个天线在所述目标形状上相对于目标线对称分布是指任意两个所述第一角度相等。
  3. 根据权利要求1所述的电子设备，其中，
    在所述N为偶数，且所述N个天线在所述目标形状上相对于目标线非对称分布的情况下，所述目标线为第二目标天线对的法线，所述第二目标天线对为所述电子设备的多个所述天线对中的任一天线对；
    在所述N为奇数，且所述N个天线在所述目标形状上相对于目标线非对称分布的情况下，所述目标线为所述N个天线中任一天线与所述目标形状的几何中心的连线；
    其中，所述N个天线非对称分布在所述目标线的两侧包括以下至少一项的情况：
    所述N个天线非均匀的分布在所述目标线两侧；
    至少两个所述第一角度不相等。
  4. 根据权利要求1所述的电子设备，其中，所述天线对的定位范围的辐射方向为由所述目标形状的几何中心指向所述天线对的方向。
  5. 根据权利要求1所述的电子设备，其中，所述预设角度大于或等于0°，且所述预设角度小于单个天线对的定位范围所对应的覆盖角度。
  6. 根据权利要求5所述的电子设备，其中，所述覆盖角度大于0°且小于或等于120°。
  7. 根据权利要求1至6中任一项所述的电子设备，其中，所述天线包括与超宽带UWB相关的天线。
  8. 一种基于权利要求1-7中任一项所述电子设备的定位方法，包括：
    基于任一所述天线对在所对应的定位范围内进行搜索；
    在搜索到待定位设备的情况下，通过搜索到所述待定位设备的天线对对所述待定位设备进行定位。
  9. 根据权利要求8所述的定位方法，其中，在同一个所述天线对搜索到多个待定位设备，且所述多个待定位设备具有对应的优先级的情况下，所述方法还包括：
    通过搜索到所述待定位设备的天线对对优先级最高的待定位设备进行定位。
  10. 根据权利要求9所述的定位方法，其中，所述方法还包括：
    在已定位过的设备不在任一所述天线对的定位范围内的情况下，触发所述电子设备发送提示消息。
PCT/CN2022/101455 2021-07-01 2022-06-27 定位方法和电子设备 Ceased WO2023274128A1 (zh)

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