WO2023284418A1 - 定位方法、装置、电子设备以及计算机可读存储介质 - Google Patents

定位方法、装置、电子设备以及计算机可读存储介质 Download PDF

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Publication number
WO2023284418A1
WO2023284418A1 PCT/CN2022/094717 CN2022094717W WO2023284418A1 WO 2023284418 A1 WO2023284418 A1 WO 2023284418A1 CN 2022094717 W CN2022094717 W CN 2022094717W WO 2023284418 A1 WO2023284418 A1 WO 2023284418A1
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WIPO (PCT)
Prior art keywords
electronic device
antenna
target object
azimuth
positioning
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Application number
PCT/CN2022/094717
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English (en)
French (fr)
Inventor
张烨
Original Assignee
Oppo广东移动通信有限公司
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Publication date
Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Publication of WO2023284418A1 publication Critical patent/WO2023284418A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup

Definitions

  • the present application relates to the technical field of mobile communication, and in particular to a positioning method, device, electronic equipment and computer-readable storage medium.
  • the Internet of Everything can be understood as a direct communication connection between things.
  • the communication connection between two objects is generally realized through the antennas respectively configured on the two objects. It needs to be connected from multiple directions. Receive the signal of UWB tag.
  • Embodiments of the present application provide a positioning method, device, electronic equipment, and computer-readable storage medium.
  • the embodiment of the present application provides a positioning method, including: determining the first azimuth angle of the target object relative to the electronic device in the first direction according to the posture information of the electronic device; and controlling the first antenna in response to the positioning instruction And the second antenna receives the UWB signal transmitted by the target object; according to the UWB signal received by the first antenna and the UWB signal received by the second antenna, determine the second azimuth angle of the target object in the second direction relative to the electronic device, the second The two directions intersect the first direction; and according to the first azimuth and the second azimuth, determine the position of the target object relative to the electronic device.
  • the embodiment of the present application also provides a positioning device, including a receiving module, a first determining module, a second determining module, and a positioning module.
  • the receiving module is used to control the first antenna and the second antenna to receive The UWB signal transmitted by the target object;
  • the first determination module is used to determine the first azimuth angle of the target object relative to the electronic device in the first direction according to the attitude information of the electronic device;
  • the UWB signal received by the second antenna and the UWB signal received by the second antenna determine the second azimuth angle of the target object relative to the electronic device in the second direction, and the second direction intersects the first direction;
  • the second azimuth determines the position of the target object relative to the electronic device.
  • the embodiment of the present application also provides an electronic device, including a first antenna, a second antenna, a processor, and a memory.
  • the first antenna and the second antenna are arranged at intervals and are both used to receive UWB signals.
  • the first antenna and the The second antenna is electrically connected to the processor, and the memory is coupled to the processor; the memory stores instructions, and when the instructions are executed by the processor, the processor executes the above positioning method.
  • the embodiment of the present application further provides a computer-readable storage medium, in which a program code is stored, and the program code can be invoked by a processor to execute the above positioning method.
  • FIG. 1 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Fig. 2 is a flow chart of a positioning method provided by an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a first azimuth shown in the embodiment of the present application.
  • Fig. 4 is a flow chart of a method for determining a second azimuth proposed in an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a second azimuth angle shown in the embodiment of the present application.
  • Fig. 6 is a schematic diagram of a mapping calibration table shown in the embodiment of the present application.
  • Fig. 7 is a schematic diagram of another mapping calibration table shown in the embodiment of the present application.
  • Fig. 8 is a schematic diagram of a principle of determining a position of a target object relative to an electronic device shown in an embodiment of the present application.
  • FIG. 9 is a flow chart of another positioning method provided by an embodiment of the present application.
  • FIG. 10 is a diagram of an application scenario for confirming a target object shown in the embodiment of the present application.
  • FIG. 11 is another application scenario diagram for confirming a target object shown in the embodiment of the present application.
  • Fig. 12 is a flow chart of another positioning method provided by the embodiment of the present application.
  • FIG. 13 is a diagram of an application scenario used by a positioning method provided in an embodiment of the present application.
  • Fig. 14 is a flow chart of another positioning method provided by the embodiment of the present application.
  • FIG. 15 is a diagram of an application scenario used by another positioning method provided in the embodiment of the present application.
  • Fig. 16 is a flow chart of still another positioning method provided by the embodiment of the present application.
  • Fig. 17 is a flowchart of a method for collecting sample data in yet another positioning method provided by the embodiment of the present application.
  • FIG. 18 is an interface diagram for displaying prompt information provided by the embodiment of the present application.
  • Fig. 19 is a flow chart of still another positioning method provided by the embodiment of the present application.
  • Fig. 20 is a structural block diagram of a positioning device provided by an embodiment of the present application.
  • Fig. 21 is a structural block diagram of a receiving module in a positioning device provided by an embodiment of the present application.
  • Fig. 22 is a structural block diagram of another positioning device provided by an embodiment of the present application.
  • Fig. 23 is a structural block diagram of an electronic device provided by an embodiment of the present application.
  • Fig. 24 is a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application.
  • Electric equipment includes, but is not limited to, configured to be connected via a wire line (such as via a public switched telephone network (PSTN), digital subscriber line (DSL), digital cable, direct cable connection, and/or another data connection/network) and/or via (for example, for a cellular network, a wireless local area network (WLAN), a digital television network such as a DVB-H network, a satellite network, an AM-FM broadcast transmitter, and/or A device for receiving/transmitting communication signals through a wireless interface of another communication terminal.
  • a communication terminal configured to communicate over a wireless interface may be referred to as a "wireless communication terminal", “wireless terminal”, “electronic device” and/or "mobile terminal”.
  • Examples of electronic devices include, but are not limited to, satellite or cellular telephones; Personal Communication Systems (PCS) terminals that may combine cellular radiotelephones with data processing, facsimile, and data communication capabilities; may include radiotelephones, pagers, Internet/Intranet access , a PDA with a web browser, organizer, calendar, and/or Global Positioning System (GPS) receiver; and a conventional laptop and/or palm-sized receiver, game console, or other electronic device including a radiotelephone transceiver.
  • PCS Personal Communication Systems
  • GPS Global Positioning System
  • Ultra Wideband (UWB) technology different from traditional communication technology, realizes wireless transmission by sending and receiving extremely narrow pulses with nanosecond or microsecond level. Through ultra-large bandwidth and low transmission power, fast data transmission at low power consumption levels is realized. Compared with traditional narrowband systems, ultra-wideband systems have strong penetrating power, low power consumption, good anti-multipath effect, and high security. The system has the advantages of low complexity and precise positioning accuracy.
  • UWB antennas A1, A2, and A3 need to be installed on the electronic device.
  • A1 and A2 are arranged side by side along the first direction
  • A1 and A3 are arranged at intervals along the second direction, wherein the first direction and the second direction are two intersecting directions.
  • turn off A2 turn on the UWB antennas A1 and A3, receive the UWB signal of the target object, and then obtain the azimuth angle of the target object relative to the electronic device in the second direction, and finally locate the position of the target object.
  • This method needs to turn on the UWB antenna twice and receive the UWB signal twice.
  • the target object needs to transmit the UWB signal twice.
  • the whole positioning process takes a long time.
  • the response time is long, which is not conducive to quick response to the user. positioning instructions.
  • the three UWB antennas will occupy more internal space of the electronic equipment, which is not conducive to thinning and thinning the electronic equipment.
  • the inventors of the present application propose the positioning method, device, electronic device, and storage medium in the embodiments of the present application to improve the above problems.
  • the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.
  • FIG. 1 shows a structure of an electronic device 100
  • the electronic device 100 includes a casing 101
  • the electronic device 100 also includes a first antenna 103 and a second antenna 104
  • the first antenna 103 and the second antenna 104 All are UWB antennas, and can receive UWB signals emitted by external devices.
  • the first antenna 103 and the second antenna 104 are arranged at intervals from each other.
  • both the first antenna 103 and the second antenna 104 can receive, and according to the difference between the signal source and the paths of the first antenna 103 and the second antenna 104, the first antenna 103 and the second antenna 104 There may be a phase difference when receiving UWB signals.
  • the first antenna 103 and the second antenna 104 can be disposed in the casing 101 and can receive UWB signals through the casing 101 .
  • the housing 101 can be set in any shape, such as a rectangle or a rectangle with rounded corners, etc., which is not limited here.
  • the casing 101 has a length direction and a width direction, and the first antenna 103 and the second antenna 104 are arranged at intervals along the first direction.
  • the first direction may be, for example, the length direction of the casing 101 .
  • the first antenna 103 and the second antenna 104 may also be arranged at intervals along a second direction of the housing 101 , and the second direction may be, for example, the width direction of the electronic device 100 .
  • the first antenna 103 and the second antenna 104 are roughly located in the horizontal direction, or arranged in any other arrangement.
  • the first direction and the second direction are two intersecting directions, in particular, the first direction and the second direction may be perpendicular to each other.
  • the electronic device 100 may further include a display screen 102, wherein the display screen 102 is disposed on the casing 101 and may be used for human-computer interaction.
  • the display screen 102 may be various types of display screens 102 such as LCD, LED, OLED, and QLED.
  • the display screen 102 can display a display interface for human-computer interaction with the user, and can receive user operation instructions.
  • the electronic device 100 may further include an inertial measurement unit 105, and the inertial measurement unit 105 may be, for example, a gyroscope, an acceleration sensor, an inertial sensor, etc., which is not limited herein. And there may be one, two or more inertial measurement units 105 .
  • the inertial measurement unit 105 can measure the attitude information of the electronic device 100 (such as the attitude angle between the electronic device 100 and the horizontal plane, the attitude angle between the electronic device 100 and the vertical plane, etc.), acceleration information.
  • the electronic device 100 may also include a processor and a memory, and the processor may be electrically connected to the first antenna 103, the second antenna 104, the display screen 102, and the inertial measurement unit 105, and receive information from the first antenna 103, the second antenna 104 , the display screen 102, and the information of the inertial measurement unit 105, and process them, the memory can store instructions, and the instructions can be called and executed by the processor.
  • the above-mentioned electronic device 100 can receive UWB signals from an external signal source through the first antenna 103 and the second antenna 104, and can also transmit UWB signals to the external device at the same time.
  • External devices include but are not limited to TVs, stereos, air conditioners, washing machines, refrigerators, range hoods, lamps, electric curtains, electric hangers, routers, etc.
  • the external device may be provided with a UWB tag for transmitting and/or receiving UWB signals, and the external device may be associated with the UWB tag provided thereon in a one-to-one correspondence.
  • the electronic device 100 can determine the corresponding external device by identifying the UWB tag, and then establish a communication connection between the first antenna 103 and the second antenna 104 and the UWB tag to realize communication between the electronic device 100 and the external device.
  • the UWB tag may be integrated in the external device, or may be independent of the external device, which is not limited in this embodiment of the present application.
  • This embodiment provides a positioning method, referring to Figure 2, the method includes the following steps:
  • Step S110 In response to the positioning instruction, control the first antenna and the second antenna to receive the UWB signal transmitted by the target object.
  • the target object refers to an external object that can transmit UWB signals
  • the target object may be a UWB tag
  • the UWB tag may transmit and/or receive UWB signals.
  • Target objects can be associated with external controlled devices, which include but are not limited to TVs, stereos, air conditioners, washing machines, refrigerators, range hoods, lamps, electric curtains, electric hangers, routers, etc. associated with UWB tags .
  • there may be only one controlled device and in other application scenarios, there may be equal to or more than two controlled devices, which is not limited here.
  • the positioning instruction is used to instruct the electronic device to perform control on the first antenna and the second antenna, and then control the first antenna and the second antenna to receive the UWB signal emitted by the target object.
  • the positioning instruction may be generated based on the posture of the electronic device, wherein the positioning instruction generated based on the posture of the electronic device refers to a positioning instruction generated when the current posture of the electronic device conforms to a preset posture, wherein The posture of the electronic device may be determined by user operations, for example, the user tilts the electronic device by 45° in space so that the current posture of the electronic device conforms to a preset posture.
  • the current attitude of the electronic device can be obtained through the inertial measurement unit, for example, the electronic device directly calculates the current attitude based on the angular velocity and acceleration in the three-dimensional space measured by the inertial measurement unit; in other embodiments Among them, the current attitude of the electronic device can also be obtained by machine vision devices.
  • the electronic device can be equipped with ultrasonic sensors, or/and image sensors, or/and time-of-flight sensors, or/and omnidirectional laser ranging sensors and other machine vision Devices, electronic equipment can control the machine vision device to transmit signals to the surrounding environment and receive signals reflected by the surrounding environment.
  • the preset posture can be preset when the electronic device leaves the factory, or can be customized by the user. Wherein, when the user customizes the preset posture, the user can keep the electronic device in a certain posture. It is also possible to store several optional preset postures in the memory of the electronic device when the electronic device leaves the factory, and the user can choose among several pre-stored preset postures during the process of user-defined setting, thereby selecting out of the default position. When the electronic device is in a preset posture, a positioning instruction is generated.
  • the preset gesture may be a "pointing and pointing" gesture, that is, a gesture in which the electronic device points to the target object.
  • the electronic device may point to the target object in a predetermined direction, for example, the top of the electronic device points to the target object.
  • the preset posture may also be a posture in which the electronic device points to the target object at a predetermined inclination relative to the horizontal plane, and the predetermined inclination may be, for example, 30-80°.
  • the positioning instruction may also be generated based on other operations performed by the user, and the user may issue a positioning instruction by touching the electronic device, such as pressing a display screen of the electronic device, pressing a button, and the like. The user may also issue a positioning instruction to the electronic device in a non-contact manner, such as by scanning the user's iris, face information, etc., so that the electronic device generates a positioning instruction.
  • Step S120 According to the attitude information of the electronic device, determine a first azimuth angle of the target object relative to the electronic device in a first direction.
  • the attitude information of the electronic device can be obtained by the inertial measurement unit.
  • the attitude information of the electronic device includes but is not limited to the attitude angle between the electronic device and the horizontal plane, the attitude angle between the electronic device and the vertical plane (the plane perpendicular to the horizontal plane) , or one or both of the attitude angle between the electronic device and any plane, etc.
  • the first direction may be, for example, a vertical direction.
  • the hand When the user holds the electronic device, the hand usually holds the electronic device along the width direction of the electronic device. At this time, the electronic device is generally inclined.
  • the height difference between the electronic device and the controlled device or the UWB tag (target object) is very small.
  • B in the figure is the target object
  • C is the electronic device
  • S1 is the location point set of the target object B.
  • the user uses an electronic device to point at the TV, he usually holds the electronic device in his hand, and the electronic device and the TV are roughly at the same altitude.
  • the height difference between the UWB tag (target object) on the TV and the electronic device Very small, basically negligible.
  • the manner of determining the first azimuth angle of the target object relative to the electronic device in the first direction Z direction in FIG.
  • the 3 may be: determine the posture information of the electronic device based on the inertial measurement unit, and obtain the posture information of the electronic device according to the posture information.
  • the attitude angle R1 in the first direction serves as the first azimuth angle.
  • a prompt message may also be issued to prompt the user to maintain the electronic device at approximately the same height as the target object for operation.
  • the prompt information may be voice, text, vibration and other information, which is not limited here.
  • the attitude angle of the electronic device relative to other directions may also be obtained by the inertial measurement unit, and the attitude angle of the electronic device relative to the first direction is calculated through the attitude angle of the electronic device relative to other directions, and then The attitude angle of the electronic device in the first direction is used as a first azimuth angle of the target object relative to the electronic device in the first direction.
  • step S110 may be executed prior to step S120, or step S120 may be executed prior to step S110.
  • step S120 may also be performed synchronously with step S110.
  • Step S130 According to the UWB signal received by the first antenna and the UWB signal received by the second antenna, determine a second azimuth of the target object relative to the electronic device in a second direction, where the second direction intersects with the first direction.
  • the UWB signal received by the first antenna and the UWB signal received by the second antenna refer to UWB signals transmitted from the same target object.
  • the first antenna and the second antenna When the first antenna and the second antenna are turned on, the UWB signal transmitted from the target object can be received. It can be understood that when there is more than one target object, the first antenna and the second antenna can simultaneously receive UWB signals transmitted from different target objects. In this process, since each target object as a UWB tag is unique, the first antenna and the second antenna can discriminate the received multiple UWB signals, and compare the UWB signals transmitted from the same target object. A match, and according to the UWB signal from the same target object, determine the second azimuth angle of the target object relative to the electronic device in the second direction.
  • determine the second azimuth angle of the target object relative to the electronic device in the second direction may include steps S131-S132:
  • Step S131 According to the UWB signal received by the first antenna and the UWB signal received by the second antenna, determine the phase difference between the UWB signal received by the first antenna and the UWB signal received by the second antenna.
  • A1 and A2 in Figure 5 represent the first antenna and the second antenna respectively, and B represents the target object. Since the distances from B to A1 and B to A2 are not equal, the UWB signal received by the first antenna and The UWB signal received by the second antenna generates a phase difference, and the phase difference can be determined by the UWB signal received by the first antenna and the UWB signal received by the second antenna.
  • Step S132 Determine a second azimuth of the target object relative to the electronic device in a second direction according to the phase difference.
  • the second azimuth angle can be calculated by the following formula:
  • PDOA Phase Difference of Arrival
  • f the frequency of the ultra-wideband radio frequency signal transmitted by the communication object
  • c the propagation speed of the ultra-wideband radio frequency signal
  • ⁇ the second azimuth R2
  • D the first The linear distance between the antenna and the second antenna.
  • the length of the first straight line is D, where D and c are known quantities, which can be pre-stored locally in the electronic device or in the server, and f can be obtained when the first antenna and the second antenna receive the UWB signal transmitted by the target object, so
  • ⁇ the second azimuth
  • S1 in the figure represents the location point set of possible location points of the target object B, and any point on the trajectory line may be the location point of the target object B.
  • the second azimuth angle of the target object in the second direction relative to the electronic device may also be determined based on a preset mapping calibration table according to the phase difference.
  • the preset mapping calibration table represents the mapping relationship between the phase difference and the second azimuth angle.
  • FIG. 6 which shows a form of a mapping calibration table
  • the horizontal axis in the figure is the second azimuth
  • the vertical axis is the phase difference PDOA obtained in step S131 .
  • Each curve represents a different vertical placement angle of the electronic device, and the second azimuth angle corresponding to the phase difference can be obtained by querying the table.
  • mapping calibration table can be pre-stored locally in the electronic device or in the server, and invoked when it needs to be queried. It can be understood that the mapping calibration table may also be made in other forms, for example, in the form of a one-to-one correspondence table, which is not limited here.
  • step S132 can be performed in the following manner: according to the phase difference and the first azimuth, determine the second azimuth of the target object in the second direction relative to the electronic device based on a preset mapping calibration table, wherein, The preset mapping calibration table represents the mapping relationship among the phase difference, the first azimuth angle and the second azimuth angle.
  • FIG. 7 shows a form of a mapping calibration table, wherein the vertical axis (Z axis) is the phase difference, the X axis is the second azimuth angle, and the Y axis is the first azimuth angle.
  • the second azimuth angle corresponding to the phase difference can be obtained by querying in the table.
  • the mapping calibration table can be pre-stored locally in the electronic device or in the server, and invoked when it needs to be queried. It can be understood that the mapping calibration table may also be made in other forms, for example, in the form of a one-to-one correspondence table, which is not limited here.
  • Step S140 Determine the position of the target object relative to the electronic device according to the first azimuth and the second azimuth.
  • the specific position of the target object relative to the electronic device can be determined.
  • the position point set of the target object in the first direction may be determined according to the first azimuth.
  • the position point set S2 of the target object in the second direction is determined.
  • the intersection point of the position point set of the target object in the first direction and the position point set in the second direction is taken as the position of the target object.
  • the intersection point of the position point set S1 and the position point set S2 in the figure is the determined position of the target object B.
  • the first antenna and the second antenna only need to receive the UWB signal transmitted by the target object once, and the target object only needs to transmit the UWB signal once to complete the positioning process, which greatly shortens the Compared with the prior art in which the UWB signals transmitted by the target object need to be received multiple times from multiple angles during positioning, the positioning efficiency is greatly accelerated, and the response time to the user is shortened.
  • this embodiment of the present application also provides another positioning method.
  • the positioning method provided by this embodiment may further include the following steps S210 to S270. It should be understood that, in the positioning method of this embodiment, there are the same or corresponding implementation steps as those in the above-mentioned embodiments. For the specific description of these same or corresponding implementation steps, you can refer to the content provided in the above-mentioned embodiments. This embodiment will not be described in detail.
  • Step S210 In response to the positioning instruction, control the first antenna and the second antenna to receive the UWB signal emitted by the target object.
  • Step S220 According to the posture information of the electronic device, determine a first azimuth angle of the target object relative to the electronic device in a first direction.
  • Step S230 According to the UWB signal received by the first antenna and the UWB signal received by the second antenna, determine a second azimuth of the target object relative to the electronic device in a second direction, where the second direction intersects with the first direction.
  • Step S240 Determine the position of the target object relative to the electronic device according to the first azimuth and the second azimuth.
  • steps S210 , S220 , S230 , and S240 can refer to the above-mentioned steps S110 , S120 , S130 , and S240 for details, and details are not repeated here.
  • step S240 one target object may be located, or multiple target objects may be located.
  • step S250 is performed.
  • steps S260-S270 execute steps S260-S270.
  • Step S250 Determine the controlled device associated with the target object, and establish a communication connection with the controlled device.
  • the association refers to the one-to-one correspondence between the target object and the controlled device bracket.
  • the controlled device associated with it can be determined.
  • the target object associated with it can be determined.
  • the association between the target object and the controlled device may occur when the controlled device is powered on for the first time or connects to the network, or may be performed when the electronic device establishes a connection with the controlled device for the first time.
  • the electronic device scans the QR code of the controlled device to obtain target object information associated with the controlled device, associates the target object with the controlled device, and stores the relationship between the two locally on the electronic device or in a server.
  • Each target object is associated with a controlled device.
  • an electronic device can store a mapping relationship table between a target object and a controlled device.
  • Table 1 shows a mapping between a target object and a controlled device.
  • the electronic device can obtain the controlled device associated with the target object by querying the mapping relational table.
  • the mapping relationship table can be edited and updated in the electronic device. It can be understood that the mapping relationship table can also be stored in the server.
  • the electronic device needs to query the mapping relationship table, it can send a query request to the server and receive information sent from the server to obtain the information associated with the target object. Controlled equipment.
  • a communication connection can be established with the controlled device in a wireless manner. For example, to establish ultra-wideband communication directly through UWB tags, or after obtaining the controlled device associated with the target object, establish a communication connection with the controlled device through a LAN or router, or obtain the controlled device associated with the target object After that, establish a communication connection with the controlled device through Bluetooth, ZigBee, hotspot, etc. After the electronic device establishes a communication connection with the controlled device, the electronic device and the controlled device can communicate, thereby allowing the electronic device to send control commands to the controlled device, and allowing the controlled device to feed back results to the electronic device.
  • the electronic device when it establishes a communication connection with the controlled device, it can set the priority order of the communication connection mode, for example, establishing a communication connection through a router or establishing a communication connection through a UWB tag. Further, when the priority When the earlier communication connection method is blocked, you can choose the lower priority method to establish the communication connection.
  • Step S260 Based on the positions of the plurality of target objects relative to the electronic device, determine the object to be controlled among the plurality of target objects, and the position of the object to be controlled relative to the electronic device is within a set range.
  • the object to be controlled needs to be determined from the multiple target objects, and the object to be controlled refers to the target object that the user wants to control through the electronic device.
  • the electronic device will be aimed at the controlled device. For example, the user holds the electronic device along the width direction and aligns the top of the electronic device with the controlled device.
  • the target object associated with the controlled device should be within the set range, where the set range can be preset at the factory. It can also be set by the user, which is not limited here.
  • the set range may be a range within a predetermined angle R3 with the length direction of the electronic device C as the central axis, where R3 may be, for example, 0-30°.
  • R3 may be, for example, 0-30°.
  • the orientation of the electronic device can be used as the central axis, and the target object with a smaller angle relative to the central axis can be used as the object to be controlled .
  • the angle between the first UWB tag and the central axis is R4
  • the angle between the second UWB tag and the central axis is R5, where both R4 and R5 are located within the range of R3, and R4 is smaller than R5.
  • the target object corresponding to the first UWB tag is used as the object to be controlled.
  • the smaller the angle between the target object and the central axis it means that the user is more inclined to aim the electronic device at the target object, so it can be used as the object to be controlled, which can more accurately determine the target object that the user wants to control.
  • control device since the smaller the angle between the target object and the central axis, it means that the user is more inclined to aim the electronic device at the target object, so it can be used as the object to be controlled, which can more accurately determine the target object that the user wants to control. control device.
  • the user may also use the width direction of the electronic device to align the target object, and at this time, the width direction of the electronic device may also be used as the central axis.
  • Step S270 Determine the controlled device associated with the object to be controlled, and establish a communication connection with the controlled device.
  • the controlled device associated with the object to be controlled can be further determined, and then a communication connection can be established with the controlled device.
  • the specific execution method can refer to the relevant content of step S250, which will not be repeated here.
  • step S280 may also be included: evoke the control interface corresponding to the controlled device, and send control to the object to be controlled based on the operation received by the control interface. instruction.
  • the electronic device After establishing a communication connection with the controlled device, the electronic device can transmit data with the controlled device, and the user can control the controlled device through the electronic device.
  • the control interface the user can directly operate on the control interface, and then send control instructions to the controlled device.
  • the user wants to control the TV in front of him through the electronic device.
  • the display interface of the electronic device displays the control interface corresponding to the TV.
  • the control interface may be a virtual remote control of the TV, which may include virtual buttons such as "quick power off", "volume ⁇ ", "channel ⁇ " and so on.
  • step S210 in the positioning method of this embodiment is a positioning instruction generated in response to the posture of the electronic device, the user only needs to operate the electronic device so that the electronic device is in a preset posture to trigger subsequent processes, The whole operation is simple and convenient, and during the execution of the method, the response time is very short, which is very convenient.
  • step S290 may also be included: acquiring the display interface of the electronic device, determining display data based on the display interface, and sending the display data to the controlled device .
  • the electronic device can perform data transmission with the controlled device, and the user can project the display interface on the electronic device to the controlled device.
  • the current display interface of the electronic device can be obtained, the display data can be determined based on the display interface, and the display data can be sent to the controlled device, wherein the display data can be the same as the current display interface of the electronic device in real time, that is, the electronic The display interface of the device is directly transmitted to the controlled device.
  • the display data may also be a display interface of the electronic device in a certain application program, and the application program may be displayed on the display interface of the electronic device, or run in the background of the electronic device.
  • the display interface may be a display interface being played by a video player of the electronic device, and at this time, the current interface of the electronic device may be other interfaces. .
  • the controlled device includes, but is not limited to, a TV, and may also be other devices with a display function, such as computers, tablet computers, AR devices, VR devices, MR devices, etc., which are not limited here.
  • step S210 in the positioning method of this embodiment is a positioning instruction generated in response to the posture of the electronic device, the user only needs to operate the electronic device so that the electronic device is in a preset posture to trigger subsequent processes, The whole operation is simple and convenient, and during the execution of the method, the response time is very short, which is very convenient.
  • the first antenna and the second antenna only need to receive the UWB signal transmitted by the target object once, and the target object only needs to transmit the UWB signal once to complete the positioning process, which greatly shortens the positioning time
  • the positioning efficiency is greatly accelerated, and the response time to the user is shortened.
  • it can communicate with the controlled device associated with the target object, and then control the controlled device through the electronic device or project the display interface of the electronic device to the controlled device, so that the user can control the controlled device.
  • the control method of the equipment is simplified, and the response time of the controlled equipment is also shortened.
  • the embodiment of the present application also provides another positioning method.
  • the positioning method may include the following steps S310 to S380. It should be understood that, in the positioning method of this embodiment, there are the same or corresponding implementation steps as those in the above-mentioned embodiments. For the specific description of these same or corresponding implementation steps, you can refer to the content provided in the above-mentioned embodiments. This embodiment will not be described in detail.
  • Step S310 Obtain the attitude angle of the electronic device based on the inertial measurement unit.
  • the inertial measurement unit may be a gyroscope, an inertial sensor, an acceleration sensor, etc.
  • the attitude angle of the electronic device may include the attitude angle between the electronic device and the horizontal plane and/or the attitude angle between the electronic device and the vertical plane.
  • Step S320 Input the time domain data and frequency domain data of the attitude angle signal of the electronic device into the neural network model, the neural network model is obtained by pre-training the sample data, and the sample data is the attitude collected by the electronic device under the preset attitude The time-domain data and frequency-domain data of the angular signal.
  • an attitude angle signal is generated.
  • the time-domain data of the attitude angle signal refers to: the change data of the attitude angle signal with time.
  • the frequency domain data of the attitude angle signal refers to: the change data of the attitude angle signal and frequency.
  • the neural network model has been trained, and the trained neural network model can be stored locally in the electronic device after pre-training. Based on this, after the inertial measurement unit acquires the time-domain data and frequency-domain data of the attitude angle signal, it can directly call the trained neural network model locally. For example, an instruction can be directly sent to the neural network model to instruct the trained neural network model to read the time domain data and frequency domain data in the target storage area, or the electronic device can directly input the time domain data and frequency domain data
  • the trained neural network model is stored locally, so as to effectively avoid reducing the speed of time-domain data and frequency-domain data input into the trained neural network model due to network factors, so as to improve the trained neural network model to obtain time-domain data and The speed of frequency domain data improves user experience.
  • the trained neural network model can also be pre-trained and stored in a server connected to the electronic device in communication. Based on this, after acquiring the time-domain data and frequency-domain data of the attitude angle signal, the inertial measurement unit can send instructions to the trained neural network model stored in the server through the network to instruct the trained neural network model to pass through the network. Read the time domain data and frequency domain data of the attitude angle signal acquired by the inertial measurement unit, or the electronic device can send the time domain data and frequency domain data of the acquired attitude angle signal to the trained The neural network model, so that by storing the trained neural network model in the server, the occupation of the storage space of the electronic device is reduced, and the impact on the normal operation of the electronic device is reduced.
  • the sample data is the time-domain data and frequency-domain data of the attitude angle signal collected by the electronic device at the preset attitude.
  • the sample data may collect time-domain data and frequency-domain data of the user's attitude angle signal under the preset attitude.
  • the sample data can be collected according to the following steps S321-step S322:
  • Step S321 Activating prompt information, the prompt information is used to prompt the user to perform preset operations on the electronic device.
  • the prompt information is used to prompt the user to perform preset operations on the electronic device.
  • the activation prompt information refers to providing the prompt information to the user in a predetermined manner.
  • the activation prompt information can be performed when the electronic device is turned on for the first time, or when the electronic device is associated with a user account for the first time. It can also be executed at a user-defined time, which is not limited here.
  • the ways of activating the prompt information include but not limited to voice, vibration, displaying prompt information on the display interface, and the like.
  • the display interface displays prompt information.
  • the prompt information is displayed in a continuous display interface as shown in Figure 18, for example.
  • the preset operation can be to point the electronic device at a controlled device.
  • the controlled device here can be, for example, a TV, a stereo, a router, etc., which are not limited herein.
  • Step S322 Based on the inertial measurement unit, obtain the attitude angle signal corresponding to the electronic device based on the preset operation, analyze the time domain data and frequency domain data of the attitude angle signal, and use the time domain data and frequency domain data of the attitude angle signal as sample data, The sample data is used to train the neural network model to obtain preset poses.
  • the inertial measurement unit acquires the attitude angle signal of the electronic device based on the preset operation, analyzes the time domain data and frequency domain data of the attitude angle signal, and converts the time domain data and frequency domain data of the attitude angle signal
  • the data is input to the neural network model as sample data, and the neural network model is trained on the input data to obtain a preset posture adapted to the user.
  • the sample data can be collected multiple times, for example, at least 5 times, that is, the user performs at least 5 preset operations in a row.
  • the sample data is collected once, and the sample data The more the number, the more accurate the obtained preset posture will be, which is closer to the posture angle of the electronic device when the user is using it. Therefore, when the user performs the preset posture to generate a positioning command, it will be more accurate.
  • the neural network model trained by the sample data will more match the attitude angle signal of the electronic device when the user performs preset operations, so the output of the subsequent step S330 The output will be more accurate.
  • Step S330 According to the output result of the neural network model, confirm whether the electronic device is in a preset posture.
  • the trained neural network model calculates the time-domain data and frequency-domain data of the attitude angle signal of the electronic device input in step S320, the result of whether the electronic device is in the preset attitude is obtained, and the result is output, based on the neural network
  • the output result output by the model can confirm whether the electronic device is in the preset posture. If the electronic device is in the preset posture, execute step S340, and if the electronic device is not in the preset posture, end the step.
  • Step S340 Generate a positioning instruction.
  • the positioning instruction is used to instruct to control the first antenna and the second antenna to receive the UWB signal emitted by the target object, and may also instruct the first antenna and the second antenna to turn on the receiving function.
  • Step S350 In response to the positioning instruction, control the first antenna and the second antenna to receive the UWB signal emitted by the target object.
  • Step S360 According to the posture information of the electronic device, determine a first azimuth angle of the target object relative to the electronic device in a first direction.
  • Step S370 According to the UWB signal received by the first antenna and the UWB signal received by the second antenna, determine a second azimuth angle of the target object relative to the electronic device in a second direction, wherein the second direction intersects the first direction .
  • Step S380 Determine the position of the target object relative to the electronic device according to the first azimuth and the second azimuth.
  • the first antenna and the second antenna only need to receive the UWB signal transmitted by the target object once, and the target object only needs to transmit the UWB signal once to complete the positioning process, which greatly shortens the positioning time .
  • the positioning efficiency is greatly accelerated, thereby shortening the response time to users.
  • the electronic device When a user uses an electronic device, the electronic device may be held, placed, or fixed in any posture. During this process, the electronic device may face a target object to satisfy a preset posture and generate a positioning instruction. In fact, at this time, the user does not intend to locate the target object, and the generation of the positioning instruction is actually triggered by mistake.
  • the embodiment of the present application also provides another positioning method, referring to Fig. 19, which shows a flow chart of the positioning method in this embodiment, and the positioning method may include the following steps S410 to S500 .
  • the positioning method of this embodiment there are implementation steps that are the same as or corresponding to those in the above-mentioned embodiments. For the specific description of these same or corresponding implementation steps, you can refer to the content provided in the above-mentioned embodiments. This embodiment will not be described in detail.
  • Step S410 Acquire the attitude angle of the electronic device based on the inertial measurement unit.
  • Step S420 Input the time domain data and frequency domain data of the attitude angle signal of the electronic device into the neural network model, the neural network model is obtained by pre-training the sample data, and the sample data is the attitude collected by the electronic device under the preset attitude The time-domain data and frequency-domain data of the angular signal.
  • Step S430 According to the output result of the neural network model, confirm whether the electronic device is in a preset posture.
  • step S440-step S490 If the electronic device is in the preset posture, execute step S440-step S490, and if the electronic device is not in the preset posture, end the steps.
  • Step S440 Obtain the dwell time of the electronic device in the preset posture.
  • the length of time the electronic device stays in the preset posture refers to the length of time the electronic device maintains the preset posture.
  • the electronic device is detected to be in the preset posture at time t1, and the electronic device exits the preset posture at time t2.
  • the electronic device is in The duration of stay in the preset attitude is t2-t1.
  • the dwell time may be continuous, that is, during the dwell time, the electronic device is always in a preset attitude.
  • the duration of the stay can be obtained in the following way: when the output result of the neural network model confirms that the electronic device is in the preset attitude, the timer starts counting. The time-domain data and frequency-domain data of the angular signal are input to the neural network model, and the neural network model continues to calculate and output the output result. If the output result is that the electronic device is still in the preset attitude, continue timing. At the default position, stop timing.
  • Step S450 Determine whether the duration of the electronic device staying in the preset posture is greater than or equal to the preset duration.
  • step S440 When acquiring the dwell time of the electronic device in the preset posture in step S440, if the stay time is greater than or equal to the preset time, a positioning instruction is generated.
  • the preset duration can be set before the electronic device leaves the factory, or can be customized by the user. For example, the preset duration can be 2-4s, etc., which is not limited here. If the duration of the electronic device staying in the preset posture is greater than or equal to the preset duration, step S460 is executed.
  • Step S460 Generate a positioning instruction.
  • step S440 and step S460 it is possible to prevent the user from triggering the positioning instruction by mistake in the process of using the electronic device, and improve the accuracy of generating the positioning instruction.
  • Step S470 In response to the positioning instruction, control the first antenna and the second antenna to receive the UWB signal transmitted by the target object.
  • Step S480 Determine a first azimuth of the target object relative to the electronic device in a first direction according to the attitude information of the electronic device.
  • Step S490 According to the UWB signal received by the first antenna and the UWB signal received by the second antenna, determine a second azimuth angle of the target object relative to the electronic device in a second direction, wherein the second direction intersects the first direction .
  • Step S500 Determine the position of the target object relative to the electronic device according to the first azimuth and the second azimuth.
  • the first antenna and the second antenna only need to receive the UWB signal transmitted by the target object once, and the target object only needs to transmit the UWB signal once to complete the positioning process, which greatly shortens the positioning time .
  • the positioning efficiency is greatly accelerated, and the response time to the user is shortened.
  • Training through the neural network model, and calculating and judging the attitude information of the electronic device based on the trained neural network model can more accurately identify the attitude information of the electronic device, accurately generate positioning instructions, and then respond to the positioning instructions , to locate the target object.
  • the positioning command can be generated more accurately, and the defect of the electronic device triggering the positioning command by mistake during use can be overcome.
  • the embodiment of the present application proposes a positioning device 400, which is applied to electronic equipment, wherein the electronic equipment includes a first antenna and a second antenna arranged at intervals, and both the first antenna and the second antenna can be used to receive UWB signal.
  • the positioning device 400 includes a receiving module 410 , a first determining module 420 , a second determining module 430 and a positioning module 440 .
  • the receiving module 410 is configured to control the first antenna and the second antenna to receive the UWB signal transmitted by the target object in response to the positioning instruction. Further, the receiving module 410 may include a neural network model module 411, based on the attitude angle of the electronic device acquired by the inertial measurement unit, and input time domain data and frequency domain data of the attitude angle signal of the electronic device to the neural network model module 411, The neural network model module 411 is used for outputting output results.
  • the first determination module 420 may also include a sample data collection module 412, the sample data collection module 412 is used to prompt the user to perform a preset operation on the electronic device, based on the time domain data of the attitude angle signal of the electronic device obtained by the inertial measurement unit and frequency domain data, as sample data, the sample data is used to train the neural network model to obtain the preset pose.
  • the sample data collection module 412 is used to prompt the user to perform a preset operation on the electronic device, based on the time domain data of the attitude angle signal of the electronic device obtained by the inertial measurement unit and frequency domain data, as sample data, the sample data is used to train the neural network model to obtain the preset pose.
  • the first determination module 420 is configured to determine a first azimuth of the target object relative to the electronic device in a first direction according to the attitude information of the electronic device. Further, the electronic device may further include an inertial measurement unit, and the first determining module 420 is further configured to obtain an attitude angle of the electronic device relative to the first direction based on the inertial measurement unit, and determine the attitude angle relative to the first direction as the first azimuth angle .
  • the second determination module 430 is used to determine the second azimuth angle of the target object relative to the electronic device in the second direction according to the UWB signal received by the first antenna and the UWB signal received by the second antenna. The directions intersect. Further, the second determining module 430 may be specifically configured to determine the UWB signal received by the first antenna and the UWB signal received by the second antenna according to the UWB signal received by the first antenna and the UWB signal received by the second antenna. Phase difference, according to the phase difference, determine a second azimuth angle of the target object relative to the electronic device in a second direction.
  • the positioning module 440 is used for determining the position of the target object relative to the electronic device according to the first azimuth angle and the second azimuth angle. Further, the positioning module 440 can determine the position point set of the target object in the first direction according to the first azimuth angle, determine the position point set of the target object in the second direction according to the second azimuth angle, and set the target object The intersection point of the position point set of the object in the first direction and the position point set in the second direction is used as the position of the object.
  • the positioning apparatus 400 may further include a communication module 450, configured to determine a controlled device associated with the target object, and establish a communication connection with the controlled device. Further, the communication module 450 is also configured to determine the object to be controlled among the multiple target objects based on the positions of the multiple target objects, and the position of the object to be controlled is within a set range; determine the controlled device associated with the object to be controlled , to establish a communication connection with the controlled device.
  • a communication module 450 configured to determine a controlled device associated with the target object, and establish a communication connection with the controlled device.
  • the positioning apparatus 400 may further include an execution module 460, which is configured to invoke a control interface corresponding to the controlled device, or project a display interface of the electronic device to the controlled device.
  • an execution module 460 which is configured to invoke a control interface corresponding to the controlled device, or project a display interface of the electronic device to the controlled device.
  • the coupling between the modules may be electrical, mechanical or other forms of coupling.
  • the first antenna and the second antenna only need to receive the UWB signal transmitted by the target object once, and at the same time, the target object only needs to transmit the UWB signal once, that is, the positioning process can be completed.
  • the positioning time is greatly shortened.
  • this embodiment also provides an electronic device 500 , and the aforementioned positioning method can be applied to the electronic device 500 in this embodiment.
  • the electronic device 500 includes a display screen 506 , an inertial measurement unit 507 , a first antenna 508 , a second antenna 509 , and one or more (only one is shown in the figure) processors 502 and memory 504 coupled to each other.
  • the display screen 506 , the inertial measurement unit 507 , the first antenna 508 and the second antenna 509 are all electrically connected to the processor 502 , and can perform predetermined operations under the control of the processor 502 .
  • the display screen 506 can display a display interface and be used for human-computer interaction with the user.
  • the inertial measurement unit 507 can be used to measure inertial information, such as the attitude angle and acceleration of the electronic device 500, and the first antenna 508 and the second antenna 509 are both UWB radio frequency antennas, which can be used to receive UWB antenna signals, and further, It can be used to transmit UWB radio frequency signals.
  • the memory 504 stores programs capable of executing the content in the foregoing embodiments, and the processor 302 can execute the programs stored in the memory 504 .
  • the processor 502 may include one or more processing cores.
  • the processor 502 uses various interfaces and lines to connect various parts of the entire electronic device 500, and executes by running or executing instructions, programs, code sets or instruction sets stored in the memory 504, and calling data stored in the memory 504.
  • the processor 502 may adopt at least one of Digital Signal Processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). implemented in the form of hardware.
  • DSP Digital Signal Processing
  • FPGA Field-Programmable Gate Array
  • PLA Programmable Logic Array
  • the processor 502 may integrate one or a combination of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), a modem, and the like.
  • CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • the CPU mainly handles the operating system, user interface and application programs, etc.
  • the GPU is used to render and draw the displayed content
  • the modem is used to handle wireless communication. It can be understood that the above modem may also not be integrated into the processor 502, but implemented by a communication chip alone.
  • the memory 504 may include random access memory (Random Access Memory, RAM), and may also include read-only memory (Read-Only Memory). Memory 504 may be used to store instructions, programs, codes, sets of codes, or sets of instructions.
  • the memory 504 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system and instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.) , instructions for implementing the following method embodiments, and the like.
  • the storage data area can also store data created by the electronic device 500 during use (such as phonebook, audio and video data, chat record data) and the like.
  • the electronic device 500 in the present application can be a mobile phone or smart phone (for example, based on iPhone TM, a phone based on Android TM), a portable game device (such as Nintendo DS TM, PlayStation Portable TM, Gameboy Advance TM, iPhone TM), laptop computer, PDA, portable Internet device, music player and data storage device, other handheld devices and such as watches, earphones, pendants, earphones, etc.
  • electronic device 500 can also be other wearable devices (such as , such as electronic glasses, electronic clothes, electronic bracelets, electronic necklaces, electronic tattoos, electronic devices 500 or head-mounted devices (HMD) of smart watches).
  • HMD head-mounted devices
  • Electronic device 500 may also be any of a plurality of electronic devices 500 including, but not limited to, cellular phones, smart phones, other wireless communication devices, personal digital assistants, audio players, other media players, music Recorders, Video Recorders, Cameras, Other Media Recorders, Radios, Medical Equipment, Vehicle Transportation Instruments, Calculators, Programmable Remote Controls, Pagers, Laptop Computers, Desktop Computers, Printers, Netbook Computers, Personal Digital Assistants (PDAs) , Portable Multimedia Players (PMP), Moving Picture Experts Group (MPEG-1 or MPEG-2) Audio Layer 3 (MP3) Players, Portable Medical Devices, and Digital Cameras and combinations thereof.
  • PDAs Personal Digital Assistants
  • PMP Portable Multimedia Players
  • MPEG-1 or MPEG-2 Moving Picture Experts Group
  • MP3 Audio Layer 3
  • an embodiment of the present application provides a structural block diagram of a computer-readable storage medium.
  • Program codes are stored in the computer-readable medium 1000, and the program codes can be invoked by a processor to execute the positioning method described in any of the foregoing method embodiments.
  • the computer readable storage medium 1000 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the computer-readable storage medium 1000 includes a non-transitory computer-readable storage medium (non-transitory computer-readable storage medium).
  • the computer-readable storage medium 1000 has a storage space for program code 1100 for executing any method steps in the above methods.
  • Program code 1100 may, for example, be compressed in a suitable form.

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Abstract

本申请实施例涉及一种定位方法，包括根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角；响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号；根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。由于第一天线和第二天线均只需要接收一次目标对象发射的UWB信号，因此大大缩短了定位过程的时间，提高了定位效率。此外，本申请实施例还提供定位装置、电子设备以及存储介质。

Description

定位方法、装置、电子设备以及计算机可读存储介质
相关申请的交叉引用
本申请要求于2021年07月16日提交中国专利局的申请号为CN 202110807895.X的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及移动通信技术领域，尤其涉及一种定位方法、装置、电子设备以及计算机可读存储介质。
背景技术
随着科技的发展进步，通信技术得到了飞速发展和长足的进步，而随着通信技术的提高，智能电子产品的普及提高到了一个前所未有的高度，越来越多的智能终端或电子设备成为人们生活中不可或缺的一部分，如智能手机、智能电视和电脑等，基于这些智能电子设备的万物互联也成为一种新趋势。万物互联可以理解为物与物之间能够实现直接的通信连接，在目前的产品中，一般通过在两个物体上各自配置的天线来实现两个物体之间的通信连接，需要从多个方向接收UWB标签的信号。
发明内容
本申请实施例提供一种定位方法、装置、电子设备以及计算机可读存储介质。
第一方面，本申请实施例提供一种定位方法，包括：根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角；响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号；根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，第二方向与第一方向相交；以及根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。
第二方面，本申请实施例还提供一种定位装置，包括接收模块、第一确定模块、第二确定模块以及定位模块，接收模块用于响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号；第一确定模块用于根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角；第二确定模块用于根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，第二方向与第一方向相交；定位模块用于根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。
第三方面，本申请实施例还提供一种电子设备，包括第一天线、第二天线、处理器以及存储器，第一天线和第二天线间隔设置并均用于接收UWB信号，第一天线与第二天线与处理器电性连接，存储器与处理器耦合；存储器存储指令，当指令由处理器执行时以使处理器执行上述的定位方法。
第四方面，本申请实施例还提供一种计算机可读取存储介质，计算机可读取存储介质中存储有程序代码，程序代码可被处理器调用执行上述的定位方法。
附图说明
为了更清楚地说明申请的技术方案，下面将对实施方式中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种电子设备的结构示意图。
图2是本申请实施例提供的一种定位方法的流程图。
图3是本申请实施例中示出的一种第一方位角的示意图。
图4是本申请实施例中提出的一种确定第二方位角的方法的流程图。
图5是本申请实施例中示出的一种第二方位角的示意图。
图6是本申请实施例中示出的一种映射校准表的示意图。
图7是本申请实施例中示出的另一种映射校准表的示意图。
图8是本申请实施例中示出的一种确定目标对象相对于电子设备的位置的原理示意图。
图9是本申请实施例提供的另一种定位方法的流程图。
图10是本申请实施例示出的一种确认目标对象的应用场景图。
图11是本申请实施例示出的另一种确认目标对象的应用场景图。
图12是本申请实施例提供的再一种定位方法的流程图。
图13是本申请实施例提供的一种定位方法使用的应用场景图。
图14是本申请实施例提供的又一种定位方法的流程图。
图15是本申请实施例提供的另一种定位方法使用的应用场景图。
图16是本申请实施例提供的再又一种定位方法的流程图。
图17是本申请实施例提供的再又一种定位方法中采集样本数据的方法的流程图。
图18是本申请实施例提供的一种提示信息显示的界面图。
图19是本申请实施例提供的又再一种定位方法的流程图。
图20是本申请实施例提供的一种定位装置的结构框图。
图21是本申请实施例提供的一种定位装置中接收模块的结构框图。
图22是本申请实施例提供的另一种定位装置的结构框图。
图23是本申请实施例提供的一种电子设备的结构框图。
图24是本申请实施例提供的一种计算机可读存储介质的结构框图。
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、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
作为在本申请实施例中使用的“电子设备”包括，但不限于被设置成经由有线线路连接(如经由公共交换电话网络(PSTN)、数字用户线路(DSL)、数字电缆、直接电缆连接，以及/或另一数据连接/网络)和/或经由(例如，针对蜂窝网络、无线局域网(WLAN)、诸如DVB-H网络的数字电视网络、卫星网络、AM-FM广播发送器，以及/或另一通信终端的)无线接口接收/发送通信信号的装置。被设置成通过无线接口通信的通信终端可以被称为“无线通信终端”、“无线终端”、“电子装置”以及/或“移动终端”。电子设备的示例包括，但不限于卫星或蜂窝电话；可以组合蜂窝无线电电话与数据处理、传真以及数据通信能力的个人通信系统(PCS)终端；可以包括无线电电话、寻呼机、因特网/内联网接入、Web浏览器、记事簿、日历以及/或全球定位系统(GPS)接收器的PDA；以及常规膝上型和/或掌上型接收器、游戏机或包括无线电电话收发器的其它电子装置。
超宽带(Ultra Wide band，UWB)技术，不同于传统的通信技术，通过发送和接收具有纳秒或微秒级以下的极窄脉冲来实现无线传输。通过超大带宽和低发射功率，实现低功耗水平上的快速数据传输，超宽带系统与传统的窄带系统相比，具有穿透力强、功耗低、抗多径效果好、安全性高、系统复杂度低、能提供精确定位精度等优点。
现有技术中，在使用超宽带技术进行定位、通信时，需要在电子设备上设置至少三个UWB天线A1、A2和A3，三个UWB天线中，A1和A2沿第一方向并排间隔设置，A1和A3沿第二方向间隔设置，其中第一方向和第二方向是相交的两个方向。在进行定位时，需要先开启UWB天线A1和A2，接收目标对象的UWB信号，进而获得目标对象相对于电子设备在第一方向的方位角。然后关闭A2，开启UWB天线A1和A3，接收目标对象的UWB信号，进而获得目标对象相对于电子设备在第二方向的方位角，最后才能定位到目标对象的位置。这种方式需要两次开启UWB天线，并接收两次UWB信号，同时目标对象需要发射两次UWB信号，整个定位过程的耗时较长，相应的，响应时间较长，不利于快速的响应用户的定位指令。并且三个UWB天线将占用较多的电子设备的内部空间，不利于电子设备的轻薄化。
因此，本申请的发明人提出了本申请实施例中的定位方法、装置、电子设备以及存储介质，以改善上述问题。下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
请参阅图1，图1示出了一种电子设备100的结构，电子设备100包括壳体101，电子设备100还包括第一天线103和第二天线104，第一天线103和第二天线104均为UWB天线，并可以接收外部设备发射的UWB信号。第一天线103和第二天线104是彼此间隔设置的。对于同一信号源发射的UWB信号，第一天线103和第二天线104均可以接收，并且根据信号源与第一天线103和第二天线104的路径的不同，第一天线103和第二天线104在接收到UWB信号时可能存在相位差。
作为一种可行的实施方式，第一天线103和第二天线104可以设置于壳体101内，并可以透过壳体101接收UWB信号。壳体101可以设置成任意形状，例如矩形或圆角矩形等，在此不做限定。
图1示出的电子设备100中，壳体101具有长度方向和宽度方向，第一天线103和第二天线104沿第一方向间隔设置，第一方向例如可以是壳体101的长度方向。可以理解的是，第一天线103和第二天线104也可以沿壳体101的第二方向间隔设置，第二方向例如可以是电子设备100的宽度方向。当用户握持电子设备100时，通常从电子设备100的宽度方向握持，此时，第一天线103和第二天线104大致位于水平方向上，或者以其他任意的设置方式进行设置。其中第一方向和第二方向是相交的两个方向，特别的，第一方向和第二方向可以相互垂直。
电子设备100还可以包括显示屏102，其中显示屏102设置于壳体101，并可以用作人机交互使用。 显示屏102可以是LCD、LED、OLED、QLED等各类显示屏102。显示屏102可以显示显示界面，用于与用户进行人机交互，并且可以接收用户的操作指令。
在一些实施方式中，电子设备100还可以包括惯性测量单元105，惯性测量单元105例如可以是陀螺仪、加速度传感器、惯性传感器等，在此不做限定。并且惯性测量单元105可以是一个、两个或多个。惯性测量单元105可以通过测量电子设备100的姿态信息(例如电子设备100与水平面的姿态角、与竖直平面的姿态角等)、加速度信息。电子设备100还可以包括处理器以及存储器，处理器可以与第一天线103、第二天线104、显示屏102、惯性测量单元105电性连接，并接收来自于第一天线103、第二天线104、显示屏102、惯性测量单元105的信息，并进行处理，存储器可以存储指令，指令可以被处理器调用并执行。
上述的电子设备100可以通过第一天线103和第二天线104接收外部信号源的UWB信号，并且同时也可以向外部设备发射UWB信号。外部设备上包括但不限于是电视、音响、空调、洗衣机、冰箱、抽油烟机、灯具、电动窗帘、电动衣架、路由器等等。外部设备可以设置有UWB标签，UWB标签用于发射和/或接收UWB信号，并且外部设备可以与设置于其上的UWB标签一一对应的关联。电子设备100可以通过识别UWB标签确定与之对应的外部设备，而后通过第一天线103和第二天线104与UWB标签之间建立通信连接，实现电子设备100与外部设备之间的通信。其中UWB标签可以被集成于外部设备内，也可以独立于外部设备，本申请实施例对此不做限制。
本实施例提供一种定位方法，参阅图2，方法包括以下步骤：
步骤S110：响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号。
其中，目标对象是指外部的可以发射UWB信号的对象，目标对象可以是UWB标签，UWB标签可以发射和/或接收UWB信号。目标对象可以关联在外部的受控设备上，受控设备包括但不限于是关联有UWB标签的电视、音响、空调、洗衣机、冰箱、抽油烟机、灯具、电动窗帘、电动衣架、路由器等等。在一些应用场景下，受控设备可以仅有一个，而在另外的一些应用场景下，受控设备可以等于或多于两个，在此不做限定。并且受控设备与其上设置的目标对象(UWB标签)可以是一一对应的，可以通过识别其UWB标签识别对应的受控设备。
定位指令用于指示电子设备执行对第一天线和第二天线的控制，进而控制第一天线和第二天线接收目标对象发射的UWB信号。在一些实施方式中，定位指令可以是基于电子设备的姿态而产生的，其中，基于电子设备的姿态而产生的定位指令是指：电子设备的当前姿态符合预设姿态而产生的定位指令，其中，电子设备的姿态可以由用户操作决定，如，用户使电子设备在空间中倾斜45°以使电子设备的当前姿态符合预设姿态。在一些实施例中，电子设备的当前姿态可以通过惯性测量单元进行获取，例如，电子设备直接根据惯性测量单元所测得的三维空间中的角速度和加速度，计算出当前姿态；在另一些实施例中，电子设备的当前姿态也可以通过机器视觉装置获取，例如，电子设备可以配置有超声波传感器、或/及图像传感器、或/及飞行时间传感器、或/及全向激光测距传感器等机器视觉装置，电子设备可以控制机器视觉装置向周围环境发射信号，并接收被周围环境反射的信号，基于发射的信号和反射的信号分布构建空间模型后，根据发射的信号和反射的信号强度确定电子设备自身在该空间模型中的姿态。预设姿态可以在电子设备出厂时预设，或者由用户自定义设置。其中，当用户自定义设置预设姿态时，用户可以通过保持电子设备处于某一姿态进行。还可以在电子设备出厂时，在电子设备的存储器内存储若干种可供选择的预设姿态，在用户自定义设置的过程中，由用户在预存的若干种预设姿态中进行选择，从而选择出预设姿态。当电子设备处于预设姿态时，产生定位指令。
作为一种示例，预设姿态可以是“指一指”姿态，即电子设备指向目标对象的姿态，此时电子设备可以按预定的方向指向目标对象，例如电子设备的顶部指向目标对象。作为另一种示例，预设姿态还可以是电子设备以相对于水平面具有预定倾角时指向目标对象的姿态，预定倾角例如可以是30-80°。在其他的一些实施方式中，定位指令也可以是基于用户所进行的其他操作而产生的，用户可以通过与电子设备接触而发出定位指令，如按压电子设备的显示屏、按压按键等。用户也可以通过非接触的方式向电子设备发出定位指令，如通过扫描用户的虹膜、面部信息等，使得电子设备生成定位指令。
步骤S120：根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角。
承前述，电子设备的姿态信息可以由惯性测量单元获取得到，电子设备的姿态信息包括但不限于电子设备与水平面的姿态角、电子设备与竖直面(与水平面相互垂直的面)的姿态角，或者电子设备与任意平面的姿态角等中的一者或两者。其中，第一方向例如可以是竖直方向，在用户握持电子设备过程中，通常手沿电子设备的宽度方向握持电子设备，此时电子设备朝通常是倾斜的。
在一些实施方式中，当用户在使用电子设备朝向受控设备时，通常电子设备与受控设备或者UWB标签(目标对象)的高度差很小。例如：如图3所示，图中B为目标对象，C为电子设备，S1为目标对象B的位置点集。当用户使用电子设备对准电视时，通常手握持电子设备，且电子设备与电视之间大致位于同一海拔高度处，此时电视上的UWB标签(目标对象)与电子设备之间的高度差很小，基本可以忽略。此时确定目标对象相对于电子设备在第一方向(图3中Z向)上的第一方位角的方式可以是：基于惯性测量 单元确定电子设备的姿态信息，根据姿态信息，获取电子设备的在第一方向的姿态角R1作为第一方位角。进一步地，为了使得获得第一方位角的准确性，在用户进行操作时，还可以发出提示信息，提示用户将电子设备与目标对象大致保持同一高度进行操作。其中提示信息可以是语音、文字、震动等信息，在此不做限定。
在其他的一些实施方式中，也可以通过惯性测量单元获取电子设备相对于其他方向的姿态角，通过电子设备相对于其他方向的姿态角，计算得到电子设备相对于第一方向的姿态角，进而将电子设备在第一方向上的姿态角作为目标对象相对于电子设备在第一方向上的第一方位角。
需要说明的是，本实施例不对步骤S110与步骤S120的执行顺序进行限定，步骤S110可以先于步骤S120执行，也可以是步骤S120先于步骤S110执行。在一些应用场景下，步骤S120也可以是与步骤S110同步进行的。
步骤S130：根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，第二方向与第一方向相交。
可以理解的是，此处第一天线接收到的UWB信号以及第二天线接收到的UWB信号是指来自于同一个目标对象发射的UWB信号。
当第一天线和第二天线开启时，可以接收到来自于目标对象发射的UWB信号。可以理解的是，当目标对象多于一个时，第一天线和第二天线可以同时接收到来自与不同目标对象发射的UWB信号。在此过程中，由于每个作为UWB标签的目标对象是唯一的，因此第一天线和第二天线可以对接收到的多个UWB信号进行判别，将来自于同一目标对象发射的UWB信号进行一一匹配，并根据来自于同一个目标对象的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角。
作为一种更为具体的实施方式，参阅图4，根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，可以包括步骤S131-S132：
步骤S131：根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定第一天线接收到的UWB信号以及第二天线接收到的UWB信号的相位差。
由于第一天线和第二天线与目标对象的距离可能不是相等的，因此第一天线接收到的UWB信号以及第二天线接收到的UWB信号会存在到达相位差。如图5所示，图5中A1和A2分别代表第一天线和第二天线，B代表目标对象，由于B到A1和B到A2的距离不相等，因此第一天线接收到的UWB信号以及第二天线接收到的UWB信号产生相位差，相位差可以通过第一天线接收到的UWB信号以及第二天线接收到的UWB信号确定。
步骤S132：根据相位差，确定目标对象相对于电子设备在第二方向上的第二方位角。
在一些实施方式中，可以通过如下公式计算得到第二方位角：
Figure PCTCN2022094717-appb-000001
其中，其中PDOA(Phase Difference of Arrival)为到达相位差，f为通信对象发射的超宽带射频信号的频率，c为超宽带射频信号传播的速度，θ为第二方位角R2，D为第一天线和第二天线之间的直线距离。第一直线的长度为D，其中D以及c均为已知量，可以预存于电子设备本地或者服务器，f可以在第一天线和第二天线接收目标对象发射的UWB信号时获取得到，因此通过相位差，即可以计算得到θ(第二方位角)。图中S1代表目标对象B可能出现的位置点的位置点集，在轨迹线上的任一点均可能是目标对象B的位置点。
作为更为具体的实施方式，也可以根据相位差，基于预设的映射校准表确定目标对象相对于电子设备在第二方向上的第二方位角。其中，预设的映射校准表中表征相位差与第二方位角之间的映射关系。示例性的，如图6所示，图6示出了一种映射校准表的形式，图中的横轴为第二方位角，纵轴为步骤S131中获得的相位差PDOA。每条曲线代表电子设备处于的不同的竖直摆放角度，通过在表中查询即可得到与相位差对应的第二方位角。映射校准表可以预存于电子设备本地或者服务器，在需要进行查询时调用。可以理解的是，映射校准表也可以采用其他形式，例如采用一一对应的表格形式制作，在此不做限定。
由于电子设备的不同姿态，会对第一天线接收到的UWB信号和第二天线接收到的UWB信号的相位差产生影响，因此为了进一步提高查询映射校准表得到的第二方位角的准确性。在一些实施方式中，步骤S132可以按以下方式进行：根据相位差以及第一方位角，基于预设的映射校准表确定目标对象相对于电子设备在第二方向上的第二方位角，其中，预设的映射校准表表征相位差、第一方位角以及第二方位角之间的映射关系。由于第一方位角是根据电子设备的姿态信息得到的，通过在映射校准表中引入第一方位角信息，进而可以提高第二方位角的准确性。示例性的，如图7所示，图7示出了一种映射校准表的形式，其中纵轴(Z轴)为相位差，X轴为第二方位角，Y轴为第一方位角。过在表中查询即可得到与相位差对应的第二方位角。映射校准表可以预存于电子设备本地或者服务器，在需要进行查询时调用。可以理解的是，映射校准表也可以采用其他形式，例如采用一一对应的表格形式制作，在此不做限定。
步骤S140：根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。
根据第一方位角和第二方位角，即可以确定出目标对象相对于电子设备的具体位置。具体的，请再次参阅图3，可以根据第一方位角，确定目标对象的在第一方向上的位置点集。参阅图5，根据第二方位角，确定目标对象的在第二方向上的位置点集S2。参阅图8，将目标对象的在第一方向上的位置点集以及在第二方向上的位置点集的交点，作为目标对象的位置。如图8所示，图中的位置点集S1和位置点集S2的交点即为确定的目标对象B的位置。
本实施例提供的定位方法，在定位过程中，第一天线和第二天线仅需要接收一次目标对象发射的UWB信号，同时目标对象也仅需要发射一次UWB信号，即可以完成定位过程，大大缩短了定位时间，相比于现有技术中在进行定位时，需要从多个角度多次接收目标对象发射的UWB信号的方式，极大的加快了定位效率，进而缩短对用户的响应时间。
基于上述的定位方法，本申请实施例还提供另一种定位方法，参阅图9，本实施例所提供的定位方法还可以包括以下步骤S210～步骤S270。应理解的是，在本实施例的定位方法中，具有与上述实施例相同或者相应的实施步骤，这些相同或者相应的实施步骤的具体阐述，可以参考上述实施例所提供的内容，本实施例将不作赘述。
步骤S210：响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号。
步骤S220：根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角。
步骤S230：根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，第二方向与第一方向相交。
步骤S240：根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。
在本实施例中，步骤S210、S220、S230、S240的实施，具体可以参阅上述的步骤S110、S120、S130、S240，在此不作赘述。
在步骤S240的执行过程中，可能有一个目标对象被定位，也可能有多个目标对象被定位，当被定位的目标对象仅有一个时，执行步骤S250，当有多个目标对象对定位时，执行步骤S260-S270。
步骤S250：确定与目标对象关联的受控设备，与受控设备建立通信连接。
其中，关联是指目标对象与受控设备支架一一对应，通过确定目标对象，就可以确定与之关联的受控设备，同样的，通过确定受控设备，就可以确定与之关联的目标对象。目标对象与受控设备的关联可以发生在受控设备初次开机或入网的过程中，或者可以在电子设备首次与受控设备建立连接时进行。例如电子设备扫描受控设备的机身二维码，获得与受控设备关联的目标对象信息，将目标对象与该受控设备关联，并将两者的关联关系存储于电子设备本地或者服务器。
每个目标对象对应的与一个受控设备关联，例如：电子设备内可以存储目标对象与受控设备之间的映射关系表，表1示出了一种目标对象与受控设备之间的映射关系表的形式，电子设备可以通过查询映射关系表，获取与目标对象关联的受控设备。同时，当使用环境中新增、删除、或移动了受控设备时，可以在电子设备中对映射关系表进行编辑、更新。可以理解的是，映射关系表也可以是存储于服务器的，在电子设备需要查询映射关系表时，可以向服务器发送查询请求，并接收来自于服务器发送的信息，进而获取到与目标对象关联的受控设备。
Figure PCTCN2022094717-appb-000002
表1目标对象与受控设备之间的映射关系表
在获取到与目标对象关联的受控设备，可以通过无线方式与受控设备建立通信连接。例如直接通UWB标签建立超宽带通信，也可以在获取到与目标对象关联的受控设备之后，通过局域网或者路由器与受控设备建立通信连接，还可以在获取到与目标对象关联的受控设备之后，通过蓝牙、ZigBee、热点等方式与受控设备建立通信连接。当电子设备与受控设备建立通信连接后，电子设备与受控设备之间可以进行通信，进而可以允许电子设备向受控设备发送控制指令，同时可以允许受控设备向电子设备反馈结果。在一些实施方式中，电子设备在与受控设备建立通信连接时，可以设置通信连接方式的优先级顺序，例如优先通过路由器建立通信连接或者通过UWB标签建立通信连接等，进一步地，当优先级靠前的通信连接方式受阻时，可以选择优先级顺序靠后的方式建立通信连接。
步骤S260：基于多个目标对象相对于电子设备的位置，在多个目标对象中确定待控制对象，待控制对 象相对于电子设备的位置在设定的范围内。
当有多个目标对象时，需要从多个目标对象中确定出待控制对象，待控制对象是指用户想要通过电子设备进行控制的目标对象。通常用户在视图使用电子设备控制受控设备时，会将电子设备对准受控设备。例如用户沿宽度方向握持电子设备，将电子设备的顶部对准受控设备，此时受控设备关联的目标对象应当位于设定的范围内，其中设定的范围可以是在出厂时预设的，也可以是由用户自定义设置的，在此不做限定。
作为一种更为具体的实施方式，如图10所示，设定的范围可以是是以电子设备C的长度方向为中心轴的，位于预定夹角R3内的范围，其中，R3例如可以是0-30°。进一步地，当位于设置的范围内的目标对象仍为多个时，可以以电子设备的朝向(如长度方向)为中心轴，将相对于中心轴具有更小夹角的目标对象作为待控制对象。如图11所示，第一UWB标签与中心轴的夹角为R4，第二UWB标签与中心轴的夹角为R5，其中R4和R5均位于R3范围内，且R4小于R5，此时将第一UWB标签对应的目标对象作为待控制对象。这种设置方式，由于目标对象与中心轴的夹角越小，表示用户更趋向于将电子设备对准该目标对象，因此将其作为待控制对象，更能准确的确定用户想要控制的受控设备。可以理解的是，用户也可以是使用电子设备的宽度方向对准目标对象，此时也可以以电子设备的宽度方向作为中心轴。
步骤S270：确定与待控制对象关联的受控设备，与受控设备建立通信连接。
确定待控制对象后，进而可以确定与待控制对象关联的受控设备，然后与受控设备建立通信连接，具体的执行方式可以参照步骤S250的相关内容，在此不再赘述。
参阅图12，在另一种具体的实施方式中，步骤S250或者S270之后，还可以包括步骤S280：唤起与受控设备对应的控制界面，基于控制界面所接收的操作，向待控制对象发送控制指令。
当与受控设备建立通信连接后，电子设备可以与受控设备之间进行数据传输，用户可以通过电子设备控制受控设备，此时直接在电子设备的显示界面上唤起与受控设备对应的控制界面，用户可以直接在该控制界面上进行操作，进而向受控设备发送控制指令。仅作为一种示例，如图13所示，在一种应用场景下，用户想要通过电子设备控制前方的电视，在于电视建立通信连接后，电子设备的显示界面上显示与电视对应的控制界面，控制界面可以是电视的虚拟遥控器，其上例如可以包括“快关机”、“音量±”“频道±”等等虚拟按钮。
通过上述步骤，用户可以使用电子设备对其他的受控设备进行控制，避免了用户需要起身查找与受控设备对应的遥控器或者需要走到受控设备跟前才能进行设备控制的弊端。又由于本实施例的定位方法中的步骤S210，是响应于电子设备的姿态而产生的定位指令，因此用户仅需要对电子设备进行操作，使得电子设备处于预设姿态即可以触发后续的流程，整个操作简单便捷，且方法执行过程中，响应时间很短，非常方便。
在另一种具体的实施方式中，参阅图14，步骤S250或者S270之后，还可以包括步骤S290：获取电子设备的显示界面，基于显示界面确定显示数据，并将显示数据发送至到受控设备。
当与受控设备建立通信连接后，电子设备可以与受控设备之间进行数据传输，用户可以将电子设备上的显示界面投屏至受控设备。具体的，可以获取电子设备的当前显示界面，基于显示界面确定显示数据，并将显示数据发送至受控设备，其中，显示数据可以是与电子设备的当前显示界面实时相同，即同步的将电子设备的显示界面直接传输至受控设备。显示数据还可以是电子设备在某一应用程序内的显示界面，该应用程序可以显示于电子设备的显示界面，也可以是运行于电子设备的后台。例如显示界面可以是电子设备的视频播放器正在播放的显示界面，此时电子设备的当前界面可以是其他界面。。
仅作为一种示例，如图15所示，在一种应用场景下，电子设备与电视建立通信连接后，将电子设备的显示界面实时投屏至电视，这样显示界面得到放大，具有更好的观看视角和效果。同时电子设备可以进行其他操作。可以理解的是，受控设备包括但不限于是电视，也可以是其他带有显示功能的设备，如电脑、平板电脑、AR设备、VR设备、MR设备等，在此不做限定。
通过上述步骤，用户可以将电子设备的显示界面投屏至受控设备，使得用户在观看电子设备的显示界面的同时还可以使用电子设备进行其他的操作，互不影响。又由于本实施例的定位方法中的步骤S210，是响应于电子设备的姿态而产生的定位指令，因此用户仅需要对电子设备进行操作，使得电子设备处于预设姿态即可以触发后续的流程，整个操作简单便捷，且方法执行过程中，响应时间很短，非常方便。
上述的定位方法，在定位过程中，第一天线和第二天线仅需要接收一次目标对象发射的UWB信号，同时目标对象也仅需要发射一次UWB信号，即可以完成定位过程，大大缩短了定位时间，相比于现有技术中在进行定位时，需要从多个角度多次接收目标对象发射的UWB信号的方式，极大的加快了定位效率，进而缩短对用户的响应时间。并且在对目标对象进行定位后，可以与目标对象关联的受控设备进行通信连接，进而通过电子设备控制受控设备或者将电子设备的显示界面投屏至受控设备，由此用户对受控设备的控制方式得到简化，也缩短了受控设备的响应时间。
基于上述的定位方法，本申请实施例还提供另一种定位方法，参阅图16，所述的定位方法可以包括以 下步骤S310～步骤S380。应理解的是，在本实施例的定位方法中，具有与上述实施例相同或者相应的实施步骤，这些相同或者相应的实施步骤的具体阐述，可以参考上述实施例所提供的内容，本实施例将不作赘述。
步骤S310：基于惯性测量单元，获取电子设备的姿态角。
承前述，惯性测量单元可以是陀螺仪、惯性传感器、加速度传感器等，电子设备的姿态角可以包括电子设备与水平面的姿态角和/或与竖直面的姿态角。当用户握持电子设备时，电子设备的姿态发生变化，此时电子设备的姿态角可以是变化的也可以是固定的，基于惯性测量单元可以实时的获取电子设备的姿态角；或者惯性测量单元可以每间隔时间t获取一次电子设备的姿态角信息。
步骤S320：将电子设备的姿态角信号的时域数据和频域数据输入至神经网络模型，神经网络模型通过对样本数据预先进行训练得到，样本数据为电子设备在预设姿态下采集到的姿态角信号的时域数据和频域数据。
在惯性测量单元获取电子设备的姿态角时，会产生姿态角信号。姿态角信号的时域数据是指：姿态角信号随时间的变化数据。姿态角信号的频域数据是指：姿态角信号与频率的变化数据。将电子设备的姿态角信号输入至神经网络模型后，神经网络模型可以对输入的时域数据和频域数据进行计算，并将计算得到的结果作为输出结果进行输出。
可以理解的，神经网络模型是已训练完成的，该已训练的神经网络模型可以预先训练完成后存储在电子设备本地。基于此，惯性测量单元在获取到姿态角信号的时域数据和频域数据后，可以直接在本地调用该已训练的神经网络模型。例如，可以直接发送指令至神经网络模型，以指示该已训练的神经网络模型在目标存储区域读取该时域数据和频域数据，或者电子设备可以直接将该时域数据和频域数据输入存储在本地的已训练的神经网络模型，从而有效避免由于网络因素的影响降低时域数据和频域数据输入已训练的神经网络模型的速度，以提升已训练的神经网络模型获取时域数据和频域数据的速度，提升用户体验。
另外，该已训练的神经网络模型也可以预先训练完成后存储在与电子设备通信连接的服务器。基于此，惯性测量单元在获取到姿态角信号的时域数据和频域数据后，可以通过网络发送指令至存储在服务器的已训练的神经网络模型，以指示该已训练的神经网络模型通过网络读取惯性测量单元获取到的姿态角信号的时域数据和频域数据，或者电子设备可以通过网络将获取到的姿态角信号的时域数据和频域数据，发送至存储在服务器的已训练的神经网络模型，从而通过将已训练的神经网络模型存储在服务器的方式，减少对电子设备的存储空间的占用，降低对电子设备正常运行的影响。
其中，样本数据电子设备在预设姿态下采集到的姿态角信号的时域数据和频域数据，在一种实施方式中，样本数据可以是预先存储于电子设备本地的，由服务器采集的不同用户在预设姿态下采集到的姿态角信号的时域数据和频域数据。在另外的一些实施方式中，为了更为适应于用户，例如电子设备的持有者的使用，样本数据可以采集在用户在预设姿态下的姿态角信号的时域数据和频域数据。此时，参阅图17，样本数据可以按照以下步骤S321-步骤S322进行采集：
步骤S321：激活提示信息，提示信息用于提示用户对电子设备进行预设操作。
提示信息用于提示用户对电子设备进行预设操作，激活提示信息是指将提示信息以预定的方式提供给用户，激活提示信息可以在电子设备首次开机时进行，或者在电子设备首次关联用户账户时执行，还可以由用户自定义时间进行执行，在此不做限定。提示信息的激活方式包括但不限于是语音、振动、在显示界面显示提示信息等。
作为一种更为具体的实施方式，当用户在电子设备上开启样本数据采集时，显示界面显示提示信息，提示信息例如以如图18示出的连续的显示界面进行显示，用户可以在提示信息的提示下，对电子设备进行预设操作，预设操作可以是将电子设备对准一个受控设备，此处的受控设备例如可以是电视、音响、路由器等，在此均不作限定。
步骤S322：基于惯性测量单元，获取电子设备基于预设操作对应的姿态角信号，解析姿态角信号的时域数据和频域数据，将姿态角信号的时域数据和频域数据作为样本数据，样本数据用于对神经网络模型进行训练，获得预设姿态。
在用户进行预设操作的过程中，惯性测量单元获取电子设备基于预设操作的姿态角信号，并解析姿态角信号的时域数据和频域数据，将姿态角信号的时域数据和频域数据作为样本数据输入至神经网络模型，神经网络模型对输入的数据进行训练，获得适应于用户的预设姿态。可以理解的是，样本数据可以多次采集，例如采集至少5次，即用户连续进行至少5次预设操作，在此过程中，用户每进行一次预设操作，即采集一次样本数据，样本数据越多，获得的预设姿态会更为准确，更贴近用户在使用时的电子设备的姿态角，因此后续在用户进行预设姿态生成定位指令时，会更为精准。
上述的样本数据采集方式，由于数据来源为用户，因此经该样本数据训练得到的神经网络模型与用户在进行预设操作时的电子设备的姿态角信号会更为匹配，因此后续步骤S330输出的输出结果会更为准确。
步骤S330：根据神经网络模型的输出结果，确认电子设备是否处于预设姿态。
已训练完成的神经网络模型对步骤S320中输入的电子设备的姿态角信号的时域数据和频域数据进行计算后，得到电子设备是否处于预设姿态的结果，并将结果输出，基于神经网络模型输出的输出结果，可以确认电子设备是否处于预设姿态。若电子设备处于预设姿态，执行步骤S340，若电子设备不处于预设姿态，则结束步骤。
步骤S340：产生定位指令。
定位指令用于指示控制第一天线以及第二天线接收目标对象发射的UWB信号，也可以是指示第一天线和第二天线开启接收功能。
步骤S350：响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号。
步骤S360：根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角。
步骤S370：根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，其中，第二方向与第一方向相交。
步骤S380：根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。
上述的定位方法，在定位过程中，第一天线和第二天线仅需要接收一次目标对象发射的UWB信号，同时目标对象也仅需要发射一次UWB信号，即可以完成定位过程，大大缩短了定位时间。相比于现有技术中在进行定位时，需要从多个角度多次接收目标对象发射的UWB信号的方式，极大的加快了定位效率，进而缩短对用户的响应时间。通过神经网络模型进行训练，并且基于已训练完成的神经网络模型对电子设备的姿态信息进行计算和判断，可以更为精确的识别电子设备的姿态信息，准确的产生定位指令，进而响应于定位指令，对目标对象进行定位。
在用户使用电子设备的过程中，电子设备可能以任意的姿态被握持、摆放或者固定，在此过程中，电子设备可能朝向目标对象，进而满足预设姿态，并产生定位指令。而实际上，此时用户并无意对目标对象进行定位，定位指令的产生实际上是误触发的。
基于上述的定位方法，本申请实施例还提供另一种定位方法，参阅图19，图19示出了本实施例的定位方法的流程图，所述的定位方法可以包括以下步骤S410～步骤S500。应理解的是，在本实施例的定位方法中，具有与上述实施例相同或者相应的实施步骤，这些相同或者相应的实施步骤的具体阐述，可以参考上述实施例所提供的内容，本实施例将不作赘述。
步骤S410：基于惯性测量单元，获取电子设备的姿态角。
步骤S420：将电子设备的姿态角信号的时域数据和频域数据输入至神经网络模型，神经网络模型通过对样本数据预先进行训练得到，样本数据为电子设备在预设姿态下采集到的姿态角信号的时域数据和频域数据。
步骤S430：根据神经网络模型的输出结果，确认电子设备是否处于预设姿态。
若电子设备处于预设姿态，执行步骤S440-步骤S490，若电子设备不处于预设姿态，则结束步骤。
步骤S440：获取电子设备在预设姿态下的停留时长。
电子设备在预设姿态下的停留时长是指电子设备保持预设姿态的时长，例如电子设备在t1时刻被检测到处于预设姿态，在t2时刻电子设备退出预设姿态，此时电子设备在预设姿态下的停留时长即为t2-t1。停留时长可以是连续的时长，即在停留时长的时间段内，电子设备始终处于预设姿态下。
停留时长可以按以下方式进行获取：当神经网络模型的输出结果，确认电子设备处于预设姿态时，计时器开始计时，此时惯性测量单元实时获取电子设备的姿态角，并将电子设备的姿态角信号的时域数据和频域数据输入至神经网络模型，神经网络模型继续计算并输出输出结果，若输出结果仍为电子设备处于预设姿态下，则继续计时，若输出结果为电子设备不处于预设姿态，停止计时。
步骤S450：判断电子设备在预设姿态下的停留时长是否大于或等于预设时长。
在步骤S440获取电子设备在预设姿态下的停留时长时，当停留时长大于或等于预设时长，则产生定位指令。其中预设时长可以在电子设备出厂前设置，也可以由用户自定义设置，预设时长例如可以是2-4s等，在此不做限定。若电子设备在预设姿态下的停留时长大于或等于预设时长，执行步骤S460。
步骤S460：产生定位指令。
当电子设备在预设姿态下的停留时长大于或等于预设时长时，表明当前电子设备的姿态为用户的操作，而非误操作。通过步骤S440和步骤S460，可以防止用户在使用电子设备的过程中，误触发定位指令，提高产生定位指令的精确性。
步骤S470：响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号。
步骤S480：根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角。
步骤S490：根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，其中，第二方向与第一方向相交。
步骤S500：根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。
上述的定位方法，在定位过程中，第一天线和第二天线仅需要接收一次目标对象发射的UWB信号， 同时目标对象也仅需要发射一次UWB信号，即可以完成定位过程，大大缩短了定位时间。相比于现有技术中在进行定位时，需要从多个角度多次接收目标对象发射的UWB信号的方式，极大的加快了定位效率，进而缩短对用户的响应时间。通过神经网络模型进行训练，并且基于已训练完成的神经网络模型对电子设备的姿态信息进行计算和判断，可以更为精确的识别电子设备的姿态信息，准确的产生定位指令，进而响应于定位指令，对目标对象进行定位。同时，通过对电子设备处于预设姿态时的停留时长的检测和判断，可以使得定位指令的产生更为精确，克服电子设备在使用过程中误触发定位指令的缺陷。
请参阅图20，本申请实施例提出了一种定位装置400，应用于电子设备，其中电子设备包括有间隔设置的第一天线和第二天线，第一天线和第二天线均可以用于接收UWB信号。在具体的实施例中，定位装置400包括接收模块410、第一确定模块420、第二确定模块430以及定位模块440。
接收模块410用于响应于定位指令，控制第一天线以及第二天线接收目标对象发射的UWB信号。进一步地，接收模块410可以包括神经网络模型模块411，基于惯性测量单元获取的电子设备的姿态角，并将电子设备的姿态角信号的时域数据和频域数据输入至神经网络模型模块411，神经网络模型模块411用于输出输出结果。进一步地，第一确定模块420还可以包括样本数据采集模块412，样本数据采集模块412用于提示用户对电子设备进行预设操作，基于惯性测量单元获取的电子设备的姿态角信号的时域数据和频域数据，作为样本数据，样本数据用于对神经网络模型进行训练，获得预设姿态。
第一确定模块420用于根据电子设备的姿态信息，确定目标对象相对于电子设备在第一方向上的第一方位角。进一步地，电子设备还可以包括惯性测量单元，第一确定模块420还用于基于惯性测量单元，获取电子设备的与第一方向的姿态角，确定与第一方向的姿态角为第一方位角。
第二确定模块430用于根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定目标对象相对于电子设备在第二方向上的第二方位角，第二方向与第一方向相交。进一步地，第二确定模块430可以具体用于根据第一天线接收到的UWB信号以及第二天线接收到的UWB信号，确定第一天线接收到的UWB信号以及第二天线接收到的UWB信号的相位差，根据相位差，确定目标对象相对于电子设备在第二方向上的第二方位角。
定位模块440用于根据第一方位角以及第二方位角，确定目标对象相对于电子设备的位置。进一步地，定位模块440可以根据第一方位角，确定目标对象的在第一方向上的位置点集，根据第二方位角，确定目标对象的在第二方向上的位置点集，并将目标对象的在第一方向上的位置点集以及在第二方向上的位置点集的交点，作为对象的位置。
在一些实施方式中，定位装置400还可以包括通信模块450，通信模块450用于确定与目标对象关联的受控设备，与受控设备建立通信连接。进一步地，通信模块450还用于基于多个目标对象的位置，在多个目标对象中确定待控制对象，待控制对象的位置在设定的范围内；确定与待控制对象关联的受控设备，与受控设备建立通信连接。
在一些实施方式中，定位装置400还可以包括执行模块460，执行模块460用于唤起与受控设备对应的控制界面，或者，将电子设备的显示界面投屏到受控设备。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，模块相互之间的耦合可以是电性，机械或其它形式的耦合。
本申请实施例提供的定位装置400，在定位过程中，第一天线和第二天线仅需要接收一次目标对象发射的UWB信号，同时目标对象也仅需要发射一次UWB信号，即可以完成定位过程，大大缩短了定位时间，相比于现有技术中在进行定位时，需要从多个角度多次接收目标对象发射的UWB信号的方式，极大的加快了定位效率，进而缩短对用户的响应时间。
请参阅图23，本实施例还提供一种电子设备500，前述的定位方法可以应用于本实施例的电子设备500中。电子设备500包括显示屏506、惯性测量单元507、第一天线508、第二天线509以及相互耦合的一个或多个(图中仅示出一个)处理器502、存储器504。
显示屏506、惯性测量单元507、第一天线508以及第二天线509均与处理器502电连接，并可以在处理器502的控制下执行预定操作。显示屏506可以显示显示界面，并用于与用户进行人机交互。惯性测量单元507可以用于测量惯性信息，例如电子设备500的姿态角、加速度等，第一天线508和第二天线509均为UWB射频天线，可以用于接收UWB天线信号，并且进一步地，还可以用于发射UWB射频信号。其中，该存储器504中存储有可以执行前述实施例中内容的程序，而处理器302可以执行该存储器504中存储的程序。
其中，处理器502可以包括一个或者多个处理核。处理器502利用各种接口和线路连接整个电子设备500内的各个部分，通过运行或执行存储在存储器504内的指令、程序、代码集或指令集，以及调用存储在存储器504内的数据，执行电子设备500的各种功能和处理数据。可选地，处理器502可以采用数字信号处理(Digital Signal Processing，DSP)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、 可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器502可集成中央处理器(Central Processing Unit，CPU)、图像处理器(Graphics Processing Unit，GPU)和调制解调器等中的一种或几种的组合。其中，CPU主要处理操作系统、用户界面和应用程序等；GPU用于负责显示内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器502中，单独通过一块通信芯片进行实现。
存储器504可以包括随机存储器(Random Access Memory，RAM)，也可以包括只读存储器(Read-Only Memory)。存储器504可用于存储指令、程序、代码、代码集或指令集。存储器504可包括存储程序区和存储数据区，其中，存储程序区可存储用于实现操作系统的指令、用于实现至少一个功能的指令(比如触控功能、声音播放功能、图像播放功能等)、用于实现下述各个方法实施例的指令等。存储数据区还可以存储电子设备500在使用中所创建的数据(比如电话本、音视频数据、聊天记录数据)等。可以理解的是，本申请中的电子设备500可以为移动电话或智能电话(例如，基于iPhone TM，基于Android TM的电话)，便携式游戏设备(例如Nintendo DS TM，PlayStation Portable TM，Gameboy Advance TM，iPhone TM)、膝上型电脑、PDA、便携式互联网设备、音乐播放器以及数据存储设备，其他手持设备以及诸如手表、耳机、吊坠、耳机等，电子设备500还可以为其他的可穿戴设备(例如，诸如电子眼镜、电子衣服、电子手镯、电子项链、电子纹身、电子设备500或智能手表的头戴式设备(HMD))。
电子设备500还可以是多个电子设备500中的任何一个，多个电子设备500包括但不限于蜂窝电话、智能电话、其他无线通信设备、个人数字助理、音频播放器、其他媒体播放器、音乐记录器、录像机、照相机、其他媒体记录器、收音机、医疗设备、车辆运输仪器、计算器、可编程遥控器、寻呼机、膝上型计算机、台式计算机、打印机、上网本电脑、个人数字助理(PDA)、便携式多媒体播放器(PMP)、运动图像专家组(MPEG-1或MPEG-2)音频层3(MP3)播放器，便携式医疗设备以及数码相机及其组合。
参阅图24，本申请实施例提供一种计算机可读存储介质的结构框图。该计算机可读介质1000中存储有程序代码，程序代码可被处理器调用执行上述任意方法实施例中所描述的定位方法。计算机可读存储介质1000可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。可选地，计算机可读存储介质1000包括非易失性计算机可读介质(non-transitory computer-readable storage medium)。计算机可读存储介质1000具有执行上述方法中的任何方法步骤的程序代码1100的存储空间。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。程序代码1100可以例如以适当形式进行压缩。
在本说明书中，描述的具体特征或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不驱使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (20)

  1. 一种定位方法，其特征在于，应用于电子设备，所述电子设备包括第一天线和第二天线，所述第一天线和所述第二天线间隔设置，所述方法包括：
    根据所述电子设备的姿态信息，确定目标对象相对于所述电子设备在第一方向上的第一方位角；
    响应于定位指令，控制所述第一天线以及所述第二天线接收所述目标对象发射的UWB信号；
    根据所述第一天线接收到的UWB信号以及所述第二天线接收到的UWB信号，确定所述目标对象相对于所述电子设备在第二方向上的第二方位角，所述第二方向与所述第一方向相交；以及
    根据所述第一方位角以及所述第二方位角，确定所述目标对象相对于所述电子设备的位置。
  2. 如权利要求1所述的定位方法，其特征在于，所述根据所述第一天线接收到的UWB信号以及所述第二天线接收到的UWB信号，确定所述目标对象相对于所述电子设备在第二方向上的第二方位角，包括：
    根据所述第一天线接收到的UWB信号以及所述第二天线接收到的UWB信号，确定所述第一天线接收到的UWB信号以及所述第二天线接收到的UWB信号的相位差；以及
    根据所述相位差，确定所述目标对象相对于所述电子设备在第二方向上的第二方位角。
  3. 如权利要求2所述的定位方法，其特征在于，所述根据所述相位差，确定所述目标对象相对于所述电子设备在第二方向上的第二方位角，包括：
    根据所述相位差，基于预设的映射校准表确定所述目标对象相对于所述电子设备在第二方向上的第二方位角，其中，所述映射校准表表征所述相位差以及所述第二方位角之间的映射关系。
  4. 如权利要求2所述的定位方法，其特征在于，所述根据所述相位差，确定所述目标对象相对于所述电子设备在第二方向上的第二方位角，包括：
    根据所述相位差以及所述第一方位角，基于预设的映射校准表确定所述目标对象相对于所述电子设备在第二方向上的第二方位角，其中，所述映射校准表表征所述相位差、所述第一方位角以及所述第二方位角之间的映射关系。
  5. 如权利要求1所述的定位方法，其特征在于，所述电子设备还包括惯性测量单元，所述根据所述电子设备的姿态信息，确定所述目标对象与所述电子设备在第一方向上的第一方位角，包括：
    基于所述惯性测量单元确定所述电子设备的姿态信息；以及
    根据所述姿态信息，获取所述电子设备的在第一方向的姿态角，确定所述电子设备与第一方向的姿态角为所述第一方位角。
  6. 如权利要求1所述的定位方法，其特征在于，所述根据所述第一方位角以及所述第二方位角，确定所述目标对象的位置，包括：
    根据所述第一方位角，确定所述目标对象的在第一方向上的位置点集；
    根据所述第二方位角，确定所述目标对象的在第二方向上的位置点集；以及
    将所述目标对象的在第一方向上的位置点集以及在第二方向上的位置点集的交点，作为所述目标对象的位置。
  7. 如权利要求1所述的定位方法，其特征在于，所述根据所述第一方位角以及所述第二方位角，确定所述目标对象的位置之后，还包括：
    确定与所述目标对象关联的受控设备，与所述受控设备建立通信连接。
  8. 如权利要求1所述的定位方法，其特征在于，当所述目标对象为多个时；所述根据所述第一方位角以及所述第二方位角，确定所述目标对象的位置之后，所述方法还包括：
    基于多个目标对象相对于所述电子设备的位置，在多个目标对象中确定待控制对象，所述待控制对象相对于所述电子设备的位置在设定的范围内；以及
    确定与所述待控制对象关联的受控设备，与所述受控设备建立通信连接。
  9. 如权利要求8所述的定位方法，其特征在于，所述基于多个目标对象相对于所述电子设备的位置，在多个目标对象中确定待控制对象，所述待控制对象相对于所述电子设备的位置在设定的范围内，包括：
    基于多个目标对象相对于所述电子设备的位置，在多个目标对象中确定待控制对象，所述待控制对象相对于所述电子设备的位置在以所述电子设备的长度方向为中心轴的预定夹角内的范围内。
  10. 如权利要求9所述的定位方法，其特征在于，当相对于所述电子设备的位置在设定的范围内的目标对象为多个时，确定以电子设备的长度方向为中心轴，相对于中心轴具有更小夹角的目标对象作为待控制对象。
  11. 如权利要求7-10任一项所述的定位方法，其特征在于，所述与所述设备建立通信连接后，还包括：
    唤起与所述受控设备对应的控制界面，基于所述控制界面所接收的操作，向所述待控制对象发送控制指令；
    或/及，
    获取所述电子设备的显示界面，基于所述显示界面确定显示数据，并将所述显示数据发送至到所述受控设备。
  12. 如权利要求11所述的定位方法，其特征在于，所述获取所述电子设备的显示界面，基于所述显示界面确定显示数据，并将所述显示数据发送至到所述受控设备，包括：
    获取所述电子设备的当前显示界面，基于所述当前显示界面确定显示数据，并将所述显示数据发送至到所述受控设备。
  13. 如权利要求11所述的定位方法，其特征在于，所述获取所述电子设备的显示界面，基于所述显示界面确定显示数据，并将所述显示数据发送至到所述受控设备，包括：
    获取运行于所述电子设备的后台的应用程序的界面，基于该应用程序的界面确定显示数据，并将所述显示数据发送至到所述受控设备。
  14. 如权利要求1-4，6-10中任一项所述的定位方法，其特征在于，所述电子设备还包括惯性测量单元，所述响应于基于所述电子设备的姿态而产生的定位指令，控制所述第一天线以及所述第二天线接收目标对象发射的UWB信号，包括：
    基于所述惯性测量单元，获取所述电子设备的姿态角；
    将所述电子设备的姿态角信号的时域数据和频域数据输入至神经网络模型，所述神经网络模型通过对样本数据预先进行训练得到，所述样本数据为所述电子设备在预设姿态下采集到的姿态角信号的时域数据和频域数据；
    根据神经网络模型的输出结果，确认所述电子设备是否处于预设姿态；
    若电子设备处于预设姿态，产生定位指令；以及
    响应于所述定位指令，控制所述第一天线以及所述第二天线接收目标对象发射的UWB信号。
  15. 如权利要求14所述的定位方法，其特征在于，所述响应于基于所述电子设备的姿态而产生的定位指令之前，还包括：
    激活提示信息，所述提示信息用于提示用户对所述电子设备进行预设操作；
    基于所述惯性测量单元，获取所述电子设备基于所述预设操作对应的姿态角信号，解析所述姿态角信号的时域数据和频域数据；以及
    将所述姿态角信号的时域数据和频域数据作为样本数据，对所述神经网络模型进行训练，获得预设姿态。
  16. 如权利要求14所述的定位方法，其特征在于，所述若电子设备处于预设姿态，产生定位指令，包括：
    若所述电子设备处于预设姿态，获取所述电子设备在预设姿态下的停留时长；以及
    若所述电子设备在预设姿态下的停留时长大于或等于预设时长，产生定位指令。
  17. 一种定位装置，其特征在于，应用于电子设备，所述电子设备包括第一天线和第二天线，所述第一天线和所述第二天线间隔设置，所述装置包括：
    第一确定模块，用于根据所述电子设备的姿态信息，确定所述目标对象相对于所述电子设备在第一方向上的第一方位角；
    接收模块，用于响应于定位指令，控制所述第一天线以及所述第二天线接收目标对象发射的UWB信号；
    第二确定模块，用于根据所述第一天线接收到的UWB信号以及所述第二天线接收到的UWB信号，确定所述目标对象相对于所述电子设备在第二方向上的第二方位角，所述第二方向与所述第一方向相交；以及
    定位模块；用于根据所述第一方位角以及所述第二方位角，确定所述目标对象相对于所述电子设备的位置。
  18. 如权利要求17所述的定位装置，其特征在于，所述定位装置还包括通信模块，所述通信模块用于确定与所述目标对象关联的受控设备，并与所述受控设备建立通信连接。
  19. 一种电子设备，其特征在于，包括：
    第一天线；
    第二天线，所述第一天线和所述第二天线间隔设置并均用于接收UWB信号；
    处理器，所述第一天线与所述第二天线与所述处理器电性连接；以及
    存储器，所述存储器与所述处理器耦合；所述存储器存储指令，当指令由所述处理器执行时以使所述处理器执行如权利要求1-16任一项所述的方法。
  20. 一种计算机可读取存储介质，其特征在于，所述计算机可读取存储介质中存储有程序代码，所述程序代码可被处理器调用执行如权利要求1-16任一项所述的方法。
PCT/CN2022/094717 2021-07-16 2022-05-24 定位方法、装置、电子设备以及计算机可读存储介质 WO2023284418A1 (zh)

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