WO2024093598A1 - 智能钥匙的定位方法、装置、系统、电子设备及介质 - Google Patents

智能钥匙的定位方法、装置、系统、电子设备及介质 Download PDF

Info

Publication number
WO2024093598A1
WO2024093598A1 PCT/CN2023/122377 CN2023122377W WO2024093598A1 WO 2024093598 A1 WO2024093598 A1 WO 2024093598A1 CN 2023122377 W CN2023122377 W CN 2023122377W WO 2024093598 A1 WO2024093598 A1 WO 2024093598A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
positioning
signal
positioning signal
tag
Prior art date
Application number
PCT/CN2023/122377
Other languages
English (en)
French (fr)
Inventor
赵瑞祥
尹作彪
张西洋
Original Assignee
清研智行(北京)科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 清研智行(北京)科技有限公司 filed Critical 清研智行(北京)科技有限公司
Publication of WO2024093598A1 publication Critical patent/WO2024093598A1/zh

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • 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

Definitions

  • the present application relates to the field of sensor measurement technology, and in particular to a method, device, system, electronic device and medium for locating a smart key.
  • Bluetooth anchor points are deployed on the vehicle side.
  • the key side and the vehicle side anchor point communicate to measure the signal strength from the key to each anchor point, and then locate the key according to the signal strength.
  • UWB anchor points are installed on the vehicle side to communicate and measure distance with the UWB chip on the key side, and then the key is located using a geometric positioning method based on the distance information from each anchor point to the key.
  • Bluetooth technology The positioning accuracy of Bluetooth technology is at the meter level, and it can only make rough regional judgments but cannot perform precise positioning. Moreover, the model needs to be learned and calibrated before use, which is a cumbersome process. In addition, both Bluetooth technology and UWB technology require multiple anchor points for positioning, which is costly.
  • the embodiments of the present application propose a method, device, system, electronic device and medium for positioning a smart key.
  • a fusion tag and a fusion base station are used as signal transceiver sources, and accurate positioning of the smart key can be achieved by installing at least one anchor point.
  • an embodiment of the present application provides a method for locating a smart key, the method being implemented by a smart key locating system, the system comprising a vehicle-mounted locating device, a vehicle-mounted locating base station, and a vehicle-mounted locating tag that are connected to each other in communication, wherein the vehicle-mounted locating tag is mounted on the smart key, and the vehicle-mounted locating base station is mounted at a designated position of the vehicle;
  • the vehicle-mounted positioning tag broadcasts a first positioning signal, which is received by the vehicle-mounted positioning base station and forwarded to the vehicle-mounted positioning device;
  • the vehicle-mounted positioning tag broadcasts a second positioning signal, which is received by the vehicle-mounted positioning base station and generates a feedback signal according to the second positioning signal.
  • the vehicle-mounted positioning tag generates a third positioning signal according to the feedback signal, and sends the second positioning signal and the third positioning signal to the vehicle-mounted positioning device;
  • the method is applied to the vehicle-mounted positioning device, and the method comprises:
  • the position information of the vehicle-mounted positioning tag is determined according to the angle information and the distance information.
  • an embodiment of the present application further provides a vehicle-mounted positioning device, the device comprising:
  • An angle determination unit used to receive a first positioning signal and determine angle information of the vehicle-mounted positioning tag according to the first positioning signal
  • a distance determination unit configured to receive a second positioning signal and a third positioning signal, and determine distance information of the vehicle-mounted positioning tag according to the second positioning signal and the third positioning signal;
  • a positioning unit is used to determine the position information of the vehicle-mounted positioning tag according to the angle information and the distance information.
  • the application embodiment further provides a smart key positioning system, the system comprising: a vehicle-mounted positioning device, a vehicle-mounted positioning base station and a vehicle-mounted positioning tag connected in pairs, wherein the vehicle-mounted positioning tag is mounted on the smart key, and the vehicle-mounted positioning base station is mounted at a designated position of the vehicle;
  • the vehicle-mounted positioning tag is used to broadcast the first positioning signal and the second positioning signal externally, generate a third positioning signal according to the feedback signal sent by the vehicle-mounted positioning base station, and send the second positioning signal and the third positioning signal to the vehicle-mounted positioning device;
  • the vehicle-mounted positioning base station is used to receive and forward the first positioning signal to the vehicle-mounted positioning device; and to generate a feedback signal according to the received second positioning and return it to the vehicle-mounted positioning tag;
  • the vehicle-mounted positioning device is used to receive a first positioning signal and determine the angle information of the vehicle-mounted positioning tag according to the first positioning signal; receive a second positioning signal and a third positioning signal and determine the distance information of the vehicle-mounted positioning tag according to the second positioning signal and the third positioning signal; and determine the position information of the vehicle-mounted positioning tag according to the angle information and the distance information.
  • an embodiment of the present application further provides an electronic device, comprising: a processor; and a memory arranged to store computer executable instructions, wherein the executable instructions, when executed, cause the processor to perform any of the above methods.
  • an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs, and when the one or more programs are executed by an electronic device including multiple application programs, the electronic device executes any of the above methods.
  • the present application designs a smart key positioning system, in which a vehicle-mounted positioning device, a vehicle-mounted positioning base station and a vehicle-mounted positioning tag are connected in communication with each other, the vehicle-mounted positioning tag is mounted on the smart key, and the vehicle-mounted positioning base station is mounted at a designated position of the vehicle; in a working state, the vehicle-mounted positioning tag broadcasts a first positioning signal to the outside, which is received by the vehicle-mounted positioning base station and forwarded to the vehicle-mounted positioning device; the vehicle-mounted positioning tag broadcasts a second positioning signal to the outside, which is received by the vehicle-mounted positioning base station and generates a feedback signal according to the second positioning signal, the vehicle-mounted positioning tag generates a third positioning signal according to the feedback signal, and sends the second positioning signal and the third positioning signal to the vehicle-mounted positioning device; the method provided by the present application can be applied to the vehicle-mounted positioning device, the method comprising: receiving a first positioning signal, and determining angle information of the vehicle-mounted positioning tag according to the first positioning signal; Receive the
  • This application adopts a fusion tag and a fusion base station (anchor point), and only needs to install at least one anchor point on the car to achieve accurate positioning of the car key. Compared with the existing technology, it improves the positioning effect while reducing the deployment difficulty, and has a wide range of application scenarios.
  • FIG1 is a schematic diagram showing an application scenario according to an embodiment of the present application.
  • FIG2 shows a schematic structural diagram of a smart key positioning system according to an embodiment of the present application
  • FIG3 is a schematic diagram showing a flow chart of a method for locating a smart key according to an embodiment of the present application
  • FIG4 is a schematic diagram showing a positioning error distribution result according to an embodiment of the present application.
  • FIG5 shows a schematic structural diagram of a positioning device for a smart key according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of the structure of an electronic device in an embodiment of the present application.
  • Figure 1 shows a schematic diagram of an application scenario according to an embodiment of the present application.
  • the present application can be used in a car key positioning scenario for a smart car.
  • the car key can be positioned, and certain operations can be performed based on the positioning results, such as starting, locking the car, and so on.
  • FIG2 shows a schematic structural diagram of a smart key positioning system according to an embodiment of the present application.
  • the smart key positioning system 200 includes a vehicle-mounted positioning device 210, a vehicle-mounted positioning base station 220 and a vehicle-mounted positioning tag 230 that are connected in communication with each other, wherein the vehicle-mounted positioning tag 230 is loaded in the smart key, the vehicle-mounted positioning base station 220 may also be referred to as an anchor point, which is loaded at a designated position of the vehicle, the number of vehicle-mounted positioning base stations 220 is at least one, and may also be loaded at the center of the smart car as shown in FIG1 ; the vehicle-mounted positioning device 210 may be understood as a positioning server, which may be loaded in a smart car, such as at the console of the smart car, or may be a remote server, which is not limited by the present application.
  • the vehicle positioning tag 230 can broadcast the first positioning signal at the first frequency. After receiving the first positioning signal, the vehicle positioning base station 220 forwards the first positioning signal to the vehicle positioning device 210 .
  • the vehicle-mounted positioning tag 230 also broadcasts the second positioning signal at the second frequency.
  • the vehicle-mounted positioning base station 220 makes feedback based on the second positioning signal and returns it to the vehicle-mounted positioning tag 230.
  • the vehicle-mounted positioning tag 230 generates a third positioning signal based on the feedback signal.
  • the vehicle-mounted positioning tag 230 can send the second positioning signal and the third positioning signal to the vehicle-mounted positioning device 210; in other embodiments, the vehicle-mounted positioning tag 230 can also return the third positioning signal to the vehicle-mounted positioning base station 220, and the vehicle-mounted positioning base station 220 sends the second positioning signal and the third positioning signal to the vehicle-mounted positioning device 210.
  • the vehicle-mounted positioning tag 230 in the present application is a fusion tag, which can send the first positioning signal as well as the second positioning signal and the third positioning signal;
  • the vehicle-mounted positioning base station 220 is a fusion base station or a fusion anchor point, which can forward the signal and also provide feedback based on the second positioning signal.
  • the second frequency of the signal sent by the vehicle-mounted positioning tag 230 is higher than the first frequency.
  • FIG3 shows a flow chart of a method for positioning a smart key according to an embodiment of the present application. It can be seen from the method shown in FIG3 that the present application at least includes steps S310 to S330:
  • Step S310 receiving a first positioning signal, and determining angle information of the vehicle-mounted positioning tag according to the first positioning signal.
  • the first positioning signal is an AOA signal.
  • AOA Angle-of-Arrival
  • AOA is an angle-of-arrival ranging technology, which is a positioning algorithm based on the angle of arrival of the signal. It is a typical ranging-based positioning algorithm, which senses the arrival direction of the transmitting node signal through the base station, calculates the relative orientation or angle between the receiving node and the transmitting node, and then uses triangulation or other methods to calculate the position of the unknown node (transmitting node).
  • the positioning algorithm based on the angle of arrival (AOA) of the signal has low communication overhead and high positioning accuracy.
  • the vehicle-mounted positioning tag 230 broadcasts the first positioning signal to the vehicle-mounted positioning base station 220 at a first preset frequency.
  • the vehicle-mounted positioning base station 220 can be regarded as a receiving node, and the vehicle-mounted positioning tag 230 can be regarded as a transmitting node.
  • the vehicle-mounted positioning tag 230 sends the first positioning signal to the vehicle-mounted positioning base station 220.
  • the first positioning signal includes the receiving angle of the vehicle-mounted positioning base station 220 relative to the vehicle-mounted positioning tag 230.
  • the vehicle-mounted positioning base station 220 sends the first positioning signal including the receiving angle to the vehicle-mounted positioning device 210.
  • the vehicle-mounted positioning device 210 can determine the angle information between the vehicle-mounted positioning tag 230 (i.e., the smart key) and the vehicle-mounted positioning base station 220 according to the first positioning signal.
  • the angle information can be understood as the angle ⁇ formed by the connecting line (straight connecting line) formed by the smart key (vehicle-mounted positioning tag 230) and the vehicle-mounted positioning device 210 and the positive direction of the horizontal axis of the coordinate axis (as shown in Figure 1).
  • Step S320 receiving a second positioning signal and a third positioning signal, and determining distance information of the vehicle-mounted positioning tag according to the second positioning signal and the third positioning signal.
  • the second positioning signal is a UWB signal.
  • UWB ultra wide band
  • UWB is a low-power radio technology used in the field of wireless communications, which uses nanosecond or sub-nanosecond pulses to achieve wireless communications.
  • the relative bandwidth of the UWB signal i.e., the ratio of the signal bandwidth to the center frequency
  • the effective isotropic radiation power of the UWB system transmitter does not exceed -41.25dBM/MHz.
  • UWB positioning technology has the advantages of high precision, high dynamics, high capacity, and low power consumption.
  • the process of the vehicle-mounted positioning tag 230 broadcasting signals to the vehicle-mounted positioning base station 220 is a continuous process, which can be understood as transmitting at a certain frequency, sending signals to the vehicle-mounted positioning base station 220 at the beginning or end of a cycle corresponding to each frequency.
  • the first frequency is 500Hz
  • a first positioning signal is broadcast to the surrounding area every 2ms. From a macro perspective, the transmission behavior presents a "continuous" state.
  • UWB base station since the positioning accuracy of UWB is related to the number of its base stations, if only zero-dimensional positioning is required, only one UWB base station is required. If one-dimensional positioning is required, two UWB base stations are required. And so on, when three-dimensional positioning is required, four UWB base stations are required. Therefore, when installing UWB base stations outdoors, in this application, only zero-dimensional positioning is required, that is, only one distance information needs to be known. Therefore, at least only one UWB base station is required.
  • the vehicle-mounted positioning tag 230 can broadcast the second positioning signal to the vehicle-mounted positioning base station 220 at the second frequency.
  • the vehicle-mounted positioning base station 220 makes feedback according to the second positioning signal and returns it to the vehicle-mounted positioning tag 230.
  • the vehicle-mounted positioning tag 230 generates a third positioning signal according to the received feedback information, and sends it together with the second positioning signal to the vehicle-mounted positioning device 210.
  • the vehicle-mounted positioning device 210 can determine the distance information between the car key and the vehicle-mounted positioning base station 220 according to the received second positioning signal and the third positioning signal.
  • the method for determining the distance information can be determined based on the TOF method, the TOA method, or the TDOA method.
  • the distance information can be understood as the distance d between the smart key (vehicle-mounted positioning tag 230) and the vehicle-mounted positioning device 210.
  • the second frequency can be significantly greater than the first frequency, and it can also be understood that the broadcasting of the second positioning signal outside the vehicle-mounted positioning tag 230 is a "non-continuous" state.
  • the second frequency is 50Hz, that is, a second positioning signal is broadcast to the surrounding every 20ms. From a macro perspective, the transmission behavior presents a "non-continuous" state, which is relatively energy-saving.
  • the vehicle-mounted positioning device 210 can determine the distance information of the vehicle-mounted positioning tag 230 based on the TOF method, the TOA method, or the TDOA method, wherein the TOF method, the TOA method, or the TDOA method are all one of the prior arts, wherein the TOF (Time of flight) method is the flight time method, the TOA (Time of arrival) method is the arrival time method, and the TDOA (Time Different of arrival) method is the arrival time difference method. Since the TOA method and the TDOA method require synchronization time and have relatively strict requirements, the TOF method is more recommended in this application, and the specific algorithm can refer to the prior art.
  • Step S330 Determine the position information of the vehicle-mounted positioning tag according to the angle information and the distance information.
  • the position information of the vehicle positioning tag 230 is determined.
  • the distance information can be understood as the distance d between the smart key (vehicle positioning tag 230) and the vehicle positioning device 210
  • the angle information can be understood as the angle ⁇ formed by the connecting line (straight connecting line) formed by the smart key (vehicle positioning tag 230) and the vehicle positioning device 210 and the positive direction of the horizontal axis of the coordinate axis (as shown in FIG1).
  • the location information can be understood as the location coordinates of the smart key.
  • (x, y) represents the position coordinates of the vehicle-mounted positioning tag
  • (x anchor , y anchor ) represents the position coordinates of the vehicle-mounted positioning base station
  • d represents the distance from the vehicle-mounted positioning tag to the vehicle-mounted positioning base station
  • ⁇ represents the angle formed by the connection line formed by the vehicle-mounted positioning tag and the vehicle-mounted positioning base station and the positive direction of the horizontal axis of the coordinate.
  • the present application designs a smart key positioning system, in which a vehicle-mounted positioning device, a vehicle-mounted positioning base station and a vehicle-mounted positioning tag are connected in communication with each other, the vehicle-mounted positioning tag is mounted on the smart key, and the vehicle-mounted positioning base station is mounted at a designated position of the vehicle; in a working state, the vehicle-mounted positioning tag broadcasts a first positioning signal to the outside, which is received by the vehicle-mounted positioning base station and forwarded to the vehicle-mounted positioning device; the vehicle-mounted positioning tag broadcasts a second positioning signal to the outside, which is received by the vehicle-mounted positioning base station and generates a feedback signal according to the second positioning signal, the vehicle-mounted positioning tag generates a third positioning signal according to the feedback signal, and sends the second positioning signal and the third positioning signal to the vehicle-mounted positioning device; the method provided by the present application can be applied to the vehicle-mounted positioning device, and the method includes: receiving a first positioning signal, and determining the angle information of the vehicle
  • This application uses a fusion tag and a fusion base station (anchor point), which can accurately locate the car key by installing at least one anchor point on the car. Compared with the existing technology, it improves the positioning effect while reducing the deployment difficulty and has a wide range of application scenarios.
  • the method further includes: determining an error of the position information based on the angle information and the distance information; and correcting the position information based on the error.
  • the overall error of the positioning result can be obtained as:
  • ⁇ d represents the error of distance information
  • ⁇ represents the error of angle information
  • ⁇ p represents the error of position information
  • ⁇ x represents the error of coordinate x
  • ⁇ y represents the error of coordinate y
  • ⁇ p represents the error of position information
  • the ranging accuracy (accuracy of distance information) can reach 0.1m
  • the angle measurement accuracy (accuracy of angle information) can reach 3°
  • the positioning error distribution result schematic diagram according to an embodiment of the present application as shown in Figure 4 can be calculated. It can be seen from Figure 4 that the positioning error of the smart key within 10m from the anchor point does not exceed 0.3m, and the positioning error within 5m does not exceed 0.2m, and the closer to the anchor point, the higher the positioning accuracy. Therefore, a high-precision positioning result can be obtained regardless of whether the smart key is inside or outside the car.
  • the position information After obtaining the error of the position information, the position information can be corrected according to the obtained error, and the corrected position information result is used as the final positioning result.
  • the method further includes: when it is determined that the smart key is within a preset distance range from the vehicle based on the distance information of the vehicle-mounted positioning tag, controlling one or more of the control systems of the vehicle to welcome, unlock, start, and lock.
  • FIG5 shows a schematic structural diagram of a smart key positioning device according to an embodiment of the present application.
  • the smart key positioning device 500 includes:
  • An angle determination unit 510 configured to receive a first positioning signal and determine angle information of the vehicle-mounted positioning tag according to the first positioning signal
  • the distance determination unit 520 is used to receive the second positioning signal and the third positioning signal, and determine the distance information of the vehicle-mounted positioning tag according to the second positioning signal and the third positioning signal;
  • the positioning unit 530 is used to determine the position information of the vehicle-mounted positioning tag according to the angle information and the distance information.
  • the positioning unit 530 is further used to determine the error of the position information according to the angle information and the distance information; and correct the position information according to the error.
  • the first positioning signal is an AOA positioning signal; and the second positioning signal is a UWB signal.
  • (x, y) represents the position coordinates of the vehicle-mounted positioning tag
  • (x anchor , y anchor ) represents the position coordinates of the vehicle-mounted positioning base station
  • d represents the distance from the vehicle-mounted positioning tag to the vehicle-mounted positioning base station
  • ⁇ represents the angle formed by the connection line formed by the vehicle-mounted positioning tag and the vehicle-mounted positioning base station and the positive direction of the horizontal axis of the coordinate.
  • the positioning unit 530 is used to determine the error of the position information according to the following formula (3):
  • ⁇ x ( d + ⁇ d) * (cos ( ⁇ + ⁇ )) - d * cos ⁇ ;
  • ⁇ y (d+ ⁇ d)*(sin( ⁇ + ⁇ ))-d*sin ⁇ ;
  • ⁇ d represents the error of distance information
  • ⁇ represents the error of angle information
  • ⁇ p represents the error of position information
  • ⁇ x represents the error of coordinate x
  • ⁇ y represents the error of coordinate y
  • ⁇ p represents the error of position information. of error.
  • the above-mentioned device also includes: a control unit, which is used to control one or more of the following items: welcoming, unlocking, starting, and locking the control system of the vehicle when it is determined that the smart key is within a preset distance range from the vehicle based on the distance information of the vehicle-mounted positioning tag.
  • a control unit which is used to control one or more of the following items: welcoming, unlocking, starting, and locking the control system of the vehicle when it is determined that the smart key is within a preset distance range from the vehicle based on the distance information of the vehicle-mounted positioning tag.
  • the above-mentioned smart key positioning device can implement the above-mentioned smart key positioning method one by one, which will not be repeated here one by one.
  • FIG6 is a schematic diagram of the structure of an electronic device of an embodiment of the present application.
  • the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory.
  • the memory may include a memory, such as a high-speed random access memory (Random-Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage, etc.
  • RAM random access memory
  • non-volatile memory non-volatile memory
  • the electronic device may also include hardware required for other services.
  • the processor, the network interface and the memory may be interconnected via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc.
  • the bus may be divided into an address bus, a data bus, a control bus, etc.
  • FIG6 only uses one bidirectional arrow, but does not mean that there is only one bus or one type of bus.
  • the memory is used to store the program.
  • the program may include a program code, and the program code includes a computer operation instruction.
  • the memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.
  • the processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a positioning device for the smart key at the logical level.
  • the processor executes the program stored in the memory and is specifically used to execute the above method.
  • the method performed by the positioning device of the smart key disclosed in the embodiment shown in FIG. 5 of the present application can be applied to a processor or implemented by a processor.
  • the processor may be an integrated circuit chip with signal processing capabilities.
  • each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software.
  • the above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • the methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed.
  • the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.
  • the steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register, etc.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • the electronic device can also execute the method executed by the positioning device of the smart key in FIG5 , and realize the smart key positioning method.
  • the function of the key positioning device in the embodiment shown in FIG. 5 will not be described in detail in the embodiment of the present application.
  • An embodiment of the present application also proposes a computer-readable storage medium, which stores one or more programs, and the one or more programs include instructions.
  • the instructions are executed by an electronic device including multiple application programs, the electronic device can execute the method executed by the positioning device of the smart key in the embodiment shown in Figure 5, and is specifically used to execute the aforementioned method.
  • the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.
  • a computing device includes one or more processors (CPU), input/output interfaces, network interfaces, and memory.
  • processors CPU
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media that can implement information storage by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include temporary computer-readable media. Transitory media, such as modulated data signals and carrier waves.
  • the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Lock And Its Accessories (AREA)

Abstract

本申请公开了一种智能钥匙的定位方法、装置、系统、电子设备及介质。其方法通过智能钥匙定位系统实现，所述方法应用于所述车载定位装置，所述方法包括：接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。本申请采用融合标签和融合基站，通过最少只需要一个锚点安装在车上即可实现对车钥匙的精确定位，和现有技术相比，提升了定位效果的同时，降低了部署难度，且应用场景广泛。

Description

智能钥匙的定位方法、装置、系统、电子设备及介质
本申请要求于2022年10月31日提交中国专利局、申请号为202211347628.X申请名称为“智能钥匙的定位方法、装置、系统、电子设备及介质”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
技术领域
本申请涉及传感测量技术领域，具体涉及一种智能钥匙的定位方法、装置、系统、电子设备及介质。
背景技术
现有智能汽车使用的智能钥匙大多基于蓝牙技术的定位方式，在车端部署多个蓝牙锚点，钥匙端和车端锚点进行通信测得钥匙到各个锚点的信号强度，然后通过信号强度的大小对钥匙进行定位。
除了蓝牙外，目前还有部分汽车使用UWB技术进行钥匙定位，具体地，在车端安装多个UWB锚点，用于和钥匙端的UWB芯片进行通信测距，然后再通过各个锚点到钥匙的距离信息采用几何定位方式对钥匙进行定位。
采用蓝牙技术定位精度在米级，只能够进行比较粗略的区域判断，没法做精确定位；且在使用前都需要进行模型的学习标定，过程比较繁琐；另外，蓝牙技术和UWB技术都需要采用多个锚点进行定位，成本高昂。
申请内容
本申请实施例针对上述情况，提出了一种智能钥匙的定位方法、装置、系统、电子设备及介质，在申请中，以融合标签和融合基站为信号收发源，实现最少安装一个锚点即可实现智能钥匙的精准定位。
第一方面，本申请实施例提供了一种智能钥匙的定位方法，所述方法通过智能钥匙定位系统实现，所述系统包括两两通信连接的车载定位装置、车载定位基站和车载定位标签，其中，所述车载定位标签装载于智能钥匙，所述车载定位基站装载于车辆指定位置；
所述车载定位标签向外广播第一定位信号，并由所述车载定位基站接收并转发至所述车载定位装置；
所述车载定位标签向外广播第二定位信号，由所述车载定位基站接收并根据所述第二定位信号生成反馈信号，所述车载定位标签根据所述反馈信号生成第三定位信号，并将所述第二定位信号和所述第三定位信号发送至所述车载定位装置；
所述方法应用于所述车载定位装置，所述方法包括：
接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角 度信息；
接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；
根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
第二方面，本申请实施例还提供了一种车载定位装置，所述装置包括：
角度确定单元，用于接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；
距离确定单元，用于接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；
定位单元，用于根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
第三方面，申请实施例还提供了一种智能钥匙的定位系统，所述系统包括：两两通信连接的车载定位装置、车载定位基站和车载定位标签，其中，所述车载定位标签装载于智能钥匙，所述车载定位基站装载于车辆指定位置；
所述车载定位标签，用于向外广播第一定位信号和第二定位信号，并根据所述车载定位基站发送的反馈信号生成第三定位信号，以及将所述第二定位信号和所述第三定位信号发送至所述车载定位装置；
所述车载定位基站，用于接收并转发所述第一定位信号至所述车载定位装置；以及用于根据接收的第二定位生成反馈信号并返回至所述车载定位标签；
所述车载定位装置，用于接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
第四方面，本申请实施例还提供了一种电子设备，包括：处理器；以及被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行上述任一的方法。
第五方面，本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被包括多个应用程序的电子设备执行时，使得所述电子设备执行上述任一的方法。
本申请实施例采用的上述至少一个技术方案能够达到以下有益效果：
本申请设计了一种智能钥匙定位系统，在该系统中包括两两通信连接的车载定位装置、车载定位基站和车载定位标签，所述车载定位标签装载于智能钥匙，所述车载定位基站装载于车辆指定位置；在工作状态时，所述车载定位标签向外广播第一定位信号，并由所述车载定位基站接收并转发至所述车载定位装置；所述车载定位标签向外广播第二定位信号，由所述车载定位基站接收并根据所述第二定位信号生成反馈信号，所述车载定位标签根据所述反馈信号生成第三定位信号，并将所述第二定位信号和所述第三定位信号发送至所述车载定位装置；本申请提供的方法可应用于所述车载定位装置，所述方法包括：接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息； 接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。本申请采用融合标签和融合基站(锚点)，通过最少只需要一个锚点安装在车上即可实现对车钥匙的精确定位，和现有技术相比，提升了定位效果的同时，降低了部署难度，且应用场景广泛。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1示出根据本申请的一个实施例的应用场景的示意图；
图2示出了根据本申请的一个实施例的智能钥匙的定位系统的结构示意图；
图3示出了根据本申请的一个实施例的智能钥匙的定位方法的流程示意图；
图4示出的根据本申请的一个实施例的定位误差分布结果示意图；
图5示出了根据本申请的一个实施例的智能钥匙的定位装置的结构示意图；
图6为本申请实施例中一种电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例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做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。
以下结合附图，详细说明本申请各实施例提供的技术方案。
图1示出根据本申请的一个实施例的应用场景的示意图，本申请可以用于智能汽车的车钥匙定位场景，当用户拿着车钥匙靠近、离开或者处于距离智能汽车一定范围内，可对车钥匙进行定位，根据定位结果可执行一定的操作，如启动、锁车、等等。
图2示出了根据本申请的一个实施例的智能钥匙的定位系统的结构示意图，从图2可以看出，智能钥匙的定位系统200包括两两通信连接的车载定位装置210、车载定位基站220和车载定位标签230，其中，所述车载定位标签230装载于智能钥匙中，所述车载定位基站220也可以称为锚点，装载于车辆的指定位置，车载定位基站220的数量最少为一个，也可如图1所示，装载在智能汽车中心的位置处；车载定位装置210可以理解为定位服务端，其可以装载在智能汽车中，如装载在智能汽车的控制台处，也可以是远端服务器，对此本申请不作限制。
当智能钥匙的定位系统200处于工作状态时，车载定位标签230可以以第一频率向外广播第一定位信号，车载定位基站220在接收到第一定位信号后，将第一定位信号转发至所述车载定位装置210。
同时，车载定位标签230还以第二频率向外广播第二定位信号，车载定位基站220收到第二定位信号后，根据第二定位信号作出反馈，返回至车载定位标签230，车载定位标签230根据反馈信号生成第三定位信号，车载定位标签230可以将所述第二定位信号和所述第三定位信号发送至所述车载定位装置210；在另一些实施例中中，车载定位标签230也可以将第三定位信号返回至车载定位基站220，由车载定位基站220将第二定位信号和所述第三定位信号发送至所述车载定位装置210。
需要说明的是，本申请中的车载定位标签230为融合标签，既可以发送第一定位信号也可以发送第二定位信号和第三定位信号；车载定位基站220为融合基站或者融合锚点，能够对信号进行转发，也可以根据第二定位信号做出反馈等。在一些实施例中，车载定位标签230发送信号的第二频率高于第一频率。
本申请提供的方法用于车载定位装置210，图3示出了根据本申请一个实施例的智能钥匙的定位方法的流程示意图，从图3所示的方法可以看出，本申请至少包括步骤S310～步骤S330：
步骤S310：接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息。
在本申请的一些实施例红，第一定位信号为AOA信号，AOA(Angle-of-Arrival)为到达角度测距技术，其是基于信号到达角度的定位算法，是一种典型的基于测距的定位算法，通过基站感知发射节点信号的到达方向，计算接收节点和发射节点之间的相对方位或角度，然后再利用三角测量法或其他方式计算出未知节点(发射节点)的位置。基于信号到达角度(AOA)的定位算法通信开销低，定位精度较高。
车载定位标签230按照第一预设频率向车载定位基站220广播第一定位信号，车载定位基站220可视作接收节点，车载定位标签230可视作发射节点，车载定位标签230向车载定位基站220发送第一定位信号，第一定位信号包括车载定位基站220相对于车载定位标签230的接收角，车载定位基站220将包含接收角的第一定位信号发送至车载定位装置210，车载定位装置210即可根据第一定位信号确定车载定位标签230(即智能钥匙)与车载定位基站220之间的角度信息。角度信息可以理解为为智能钥匙(车载定位标签230)和车载定位装置210形成的连接线(直线连接线)与坐标轴水平轴正向形成的夹角θ(如图1所示)
步骤S320：接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息。
在本申请的一些实施例中，第二定位信号为UWB信号，UWB(ultra wide band)是应用于无线通信领域的一种低功耗的无线电技术，采用纳秒级或亚纳秒级的脉冲实现无线通信。UWB信号的相对带宽(即信号带宽与中心频率之比)不小于0.2或者绝对带宽不小于500MHz，并且适用指定的3.1～10.6GHz频段的信号，UWB系统发射机的有效各向同性辐射功率不超过-41.25dBM/MHz，UWB定位技术具有高精度、高动态、高容量、低功耗的优点。
需要说明的是，车载定位标签230向车载定位基站220广播信号的过程是一种持续的过程，可以理解为，按照一定的频率发射，在每个频率对应的周期开始或者结束的时候向车载定位基站220发送信号，如第一频率为500Hz，则每2ms即向周围广播一个第一定位信号，从宏观上看，发射行为就呈现出一种“持续”的状态。
现有技术中，由于UWB的定位精度是与其基站的数量相关的，如果仅需要零维定位，则仅需要与一个UWB基站，如果需要一维定位，则需要两个UWB基站，以此类推，当需要三维定位时，则需要四个UWB基站，因此在室外安装UWB基站时，而在本申请中，仅需要零维定位，即仅需要知道一个距离信息，因此UWB基站最少只需要一个可以。
车载定位标签230可以按照第二频率向车载定位基站220广播第二定位信号，车载定位基站220根据第二定位信号做出反馈，并返回车载定位标签230，车载定位标签230根据接收到的反馈信息，生成第三定位信号，并连同第二定位信号一同发送至车载定位装置210。车载定位装置210能够根据接收到的第二定位信号和第三定位信号确定车钥匙与车载定位基站220之间的距离信息。距离信息的确定方法可以基于TOF方法或TOA方法或TDOA方法进行确定。距离信息可以理解为智能钥匙(车载定位标签230)和车载定位装置210之间的距离d。
在本申请的一些实施例中，第二频率可以显著大于第一频率，也可以理解为车载定位标签230外广播第二定位信号是一种“非持续”的状态，如第二频率为50Hz，即每20ms即向周围广播一个第二定位信号，从宏观上看，发射行为就呈现出一种“非持续”的状态，这种方式相对而言是非常省电的。
车载定位装置210可基于TOF方法或TOA方法或TDOA方法确定车载定位标签230的距离信息，其中，TOF方法或TOA方法或TDOA方法均为现有技术中的一种，其中TOF(Time of flight)方法为飞行时间法、TOA(Time of arrival)方法为到达时间法，TDOA(Time Different of arrival)方法为到达时间差法，由于TOA方法和TDOA方法需要同步时间，要求比较严格，因此，在本申请中更加推荐TOF方法，具体的算法可参考现有技术。
步骤S330：根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
最后根据前述确定的角度信息和距离信息，确定车载定位标签230的位置信息。请图1所示的场景为例，距离信息可以理解为智能钥匙(车载定位标签230)和车载定位装置210之间的距离d，角度信息可以理解为为智能钥匙(车载定位标签230)和车载定位装置210形成的连接线(直线连接线)与坐标轴水平轴正向形成的夹角θ(如图1所示)。
在一些实施例中，位置信息可以理解为智能钥匙的位置坐标，对于位置信息可以根据下述式(1)～式(2)确定所述车载定位标签的位置信息：
x＝xanchor+d*cosθ     式(1)；
y＝yanchor+d*sinθ    式(2)；
其中，(x，y)表示所述车载定位标签的位置坐标；(xanchor,yanchor)所述车载定位基站的位置坐标；d表示所述车载定位标签到所述车载定位基站的距离；θ表示所述车载定位标签与所述车载定位基站形成的连接线与坐标水平轴正方向所形成的夹角。
由图3所示的方法可以看出，本申请设计了一种智能钥匙定位系统，在该系统中包括两两通信连接的车载定位装置、车载定位基站和车载定位标签，所述车载定位标签装载于智能钥匙，所述车载定位基站装载于车辆指定位置；在工作状态时，所述车载定位标签向外广播第一定位信号，并由所述车载定位基站接收并转发至所述车载定位装置；所述车载定位标签向外广播第二定位信号，由所述车载定位基站接收并根据所述第二定位信号生成反馈信号，所述车载定位标签根据所述反馈信号生成第三定位信号，并将所述第二定位信号和所述第三定位信号发送至所述车载定位装置；本申请提供的方法可应用于所述车载定位装置，所述方法包括：接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。本申请采用融合标签和融合基站(锚点)，通过最少只需要一个锚点安装在车上即可实现对车钥匙的精确定位，和现有技术相比，提升了定位效果的同时，降低了部署难度，且应用场景广泛。
在本申请的一些实施例中，在上述方法中，所述方法还包括：根据所述角度信息和所述距离信息，确定所述位置信息的误差；根据所述误差对所述位置信息进行修正。
假设距离误差为Δd,角度误差为Δθ，则可以推出钥匙坐标x，y的误差分别为：
Δx＝(d+Δd)*(cos(θ+Δθ))-d*cosθ
Δy＝(d+Δd)*(sin(θ+Δθ))-d*sinθ
进一步可根据式(3)得到定位结果的整体误差为：
其中，Δd表示距离信息的误差；Δθ表示角度信息的误差；Δp表示位置信息的误差；Δx表示坐标x的误差，Δy表示坐标y的误差，Δp表示位置信息的误差。
本申请中，测距精度(距离信息的精度)可达0.1m，测角精度(角度信息的精度)可以达到3°，进而可以计算得到如下图4示出的根据本申请的一个实施例的定位误差分布结果示意图，从图4中看出智能钥匙在距锚点10m内定位误差都不超过0.3m，5m内定位误差不超过0.2m，且越靠近锚点定位精度越高，因此不管智能钥匙在车内还是车外均可以得到一个高精度的定位结果。
在获得位置信息的误差后，可根据得到的误差对位置信息进行修正，将修正后的位置信息结果作为最终的定位结果。
在本申请的一些实施例中，所述方法还包括：当根据所述车载定位标签的距离信息确定所述智能钥匙距离所述车辆在预设距离范围内，则控制所述汽车的控制系统迎宾、解锁、启动、落锁中的一项或几项。
基于前述的高精度的智能钥匙的定位方法得到的定位结果，可以很容易得实现基于钥匙定位车辆控制功能，包括迎宾、解锁、启动、落锁等场景。
图5示出了根据本申请的一个实施例的智能钥匙的定位装置的结构示意图，从图5可以看出，智能钥匙的定位装置500包括：
角度确定单元510，用于接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；
距离确定单元520，用于接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；
定位单元530，用于根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
在本申请的一些实施例中，在上述装置中，定位单元530，还用于根据所述角度信息和所述距离信息，确定所述位置信息的误差；根据所述误差对所述位置信息进行修正。
在本申请的一些实施例中，在上述装置中，所述第一定位信号为AOA定位信号；所述第二定位信号为UWB信号。
在本申请的一些实施例中，在上述装置中，定位单元530，用于根据下述式(1)～式(2)确定所述车载定位标签的位置信息：
x＝xanchor+d*cosθ    式(1)；
y＝yanchor+d*sinθ     式(2)；
其中，(x，y)表示所述车载定位标签的位置坐标；(xanchor,yanchor)所述车载定位基站的位置坐标；d表示所述车载定位标签到所述车载定位基站的距离；θ表示所述车载定位标签与所述车载定位基站形成的连接线与坐标水平轴正方向所形成的夹角。
在本申请的一些实施例中，在上述装置中，定位单元530，用于根据下述式(3)确定所述位置信息的误差：
其中，Δx＝(d+Δd)*(cos(θ+Δθ))-d*cosθ；
Δy＝(d+Δd)*(sin(θ+Δθ))-d*sinθ；
其中，Δd表示距离信息的误差；Δθ表示角度信息的误差；Δp表示位置信息的误差；Δx表示坐标x的误差，Δy表示坐标y的误差，Δp表示位置信息 的误差。
在本申请的一些实施例中，上述装置还包括：控制单元，用于当根据所述车载定位标签的距离信息确定所述智能钥匙距离所述车辆在预设距离范围内，则控制所述汽车的控制系统迎宾、解锁、启动、落锁中的一项或几项。
需要说明的是，上述的智能钥匙的定位装置可一一实现前述的智能钥匙的定位方法，这里不再一一赘述。
图6是本申请的一个实施例电子设备的结构示意图。请参考图6，在硬件层面，该电子设备包括处理器，可选地还包括内部总线、网络接口、存储器。其中，存储器可能包含内存，例如高速随机存取存储器(Random-Access Memory，RAM)，也可能还包括非易失性存储器(non-volatile memory)，例如至少1个磁盘存储器等。当然，该电子设备还可能包括其他业务所需要的硬件。
处理器、网络接口和存储器可以通过内部总线相互连接，该内部总线可以是ISA(Industry Standard Architecture，工业标准体系结构)总线、PCI(Peripheral Component Interconnect，外设部件互连标准)总线或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图6中仅用一个双向箭头表示，但并不表示仅有一根总线或一种类型的总线。
存储器，用于存放程序。具体地，程序可以包括程序代码，所述程序代码包括计算机操作指令。存储器可以包括内存和非易失性存储器，并向处理器提供指令和数据。
处理器从非易失性存储器中读取对应的计算机程序到内存中然后运行，在逻辑层面上形成智能钥匙的定位装置。处理器，执行存储器所存放的程序，并具体用于执行前述方法。
上述如本申请图5所示实施例揭示的智能钥匙的定位装置执行的方法可以应用于处理器中，或者由处理器实现。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等；还可以是数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
该电子设备还可执行图5中智能钥匙的定位装置执行的方法，并实现智能 钥匙的定位装置在图5所示实施例的功能，本申请实施例在此不再赘述。
本申请实施例还提出了一种计算机可读存储介质，该计算机可读存储介质存储一个或多个程序，该一个或多个程序包括指令，该指令当被包括多个应用程序的电子设备执行时，能够使该电子设备执行图5所示实施例中智能钥匙的定位装置执行的方法，并具体用于执行前述方法。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒 体(transitorymedia)，如调制的数据信号和载波。
还需要说明的是，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、商品或者设备不仅包括那些要素，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、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的同一要素。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (10)

  1. 一种智能钥匙的定位方法，其中，所述方法通过智能钥匙定位系统实现，所述系统包括两两通信连接的车载定位装置、车载定位基站和车载定位标签，其中，所述车载定位标签装载于智能钥匙，所述车载定位基站装载于车辆指定位置；
    所述车载定位标签向外广播第一定位信号，并由所述车载定位基站接收并转发至所述车载定位装置；
    所述车载定位标签向外广播第二定位信号，由所述车载定位基站接收并根据所述第二定位信号生成反馈信号，所述车载定位标签根据所述反馈信号生成第三定位信号，并将所述第二定位信号和所述第三定位信号发送至所述车载定位装置；
    所述方法应用于所述车载定位装置，所述方法包括：
    接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；
    接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；
    根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
  2. [根据细则91更正 13.10.2023]
    根据权利要求1的方法，其中，所述方法还包括：
    根据所述角度信息和所述距离信息，确定所述位置信息的误差；
    根据所述误差对所述位置信息进行修正。
  3. [根据细则91更正 13.10.2023]
    根据权利要求1所述的方法，其中，所述第一定位信号为AOA定位信号；所述第二定位信号为UWB信号。
  4. [根据细则91更正 13.10.2023]
    根据权利要求2所述的方法，其中，所述根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息，包括：
    根据下述式(1)～式(2)确定所述车载定位标签的位置信息：x＝xanchor+d*cosθ    式(1)；y＝yanchor+d*sinθ   式(2)；
    其中，(x，y)表示所述车载定位标签的位置坐标；(xanchor,yanchor)所述车载定位基站的位置坐标；d表示所述车载定位标签到所述车载定位基站的距离；θ表示所述车载定位标签与所述车载定位基站形成的连接线与坐标水平轴正方向所形成的夹角。
  5. [根据细则91更正 13.10.2023]
    根据权利要求2所述的方法，其中，所述根据所述角度信息和所述距离信息，确定所述位置信息的误差，包括：
    根据下述式(3)确定所述位置信息的误差：
    其中，Δx＝(d+Δd)*(cos(θ+Δθ))-d*cosθ；Δy＝(d+Δd)*(sin(θ+Δθ))-d*sinθ；
    其中，Δd表示距离信息的误差；Δθ表示角度信息的误差；Δp表示位置信息的误差；Δx表示坐标x的误差，Δy表示坐标y的误差，Δp表示位置信息的误差。
  6. [根据细则91更正 13.10.2023]
    根据权利要求1～5任一项所述的方法，其中，所述方法还包括：
    当根据所述车载定位标签的距离信息确定所述智能钥匙距离所述车辆在预设距离范围内，则控制所述汽车的控制系统迎宾、解锁、启动、落锁中的一项或几项。
  7. 一种车载定位装置，其中，所述装置包括：
    角度确定单元，用于接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；
    距离确定单元，用于接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；
    定位单元，用于根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
  8. 一种智能钥匙的定位系统，其中，所述系统包括：两两通信连接的车载定位装置、车载定位基站和车载定位标签，其中，所述车载定位标签装载于智能钥匙，所述车载定位基站装载于车辆指定位置；
    所述车载定位标签，用于向外广播第一定位信号和第二定位信号，并根据所述车载定位基站发送的反馈信号生成第三定位信号，以及将所述第二定位信号和所述第三定位信号发送至所述车载定位装置；
    所述车载定位基站，用于接收并转发所述第一定位信号至所述车载定位装置；以及用于根据接收的第二定位生成反馈信号并返回至所述车载定位标签；
    所述车载定位装置，用于接收第一定位信号，并根据所述第一定位信号确定所述车载定位标签的角度信息；接收第二定位信号和第三定位信号，并根据所述第二定位信号和所述第三定位信号确定所述车载定位标签的距离信息；根据所述角度信息和所述距离信息，确定所述车载定位标签的位置信息。
  9. 一种电子设备，包括：
    处理器；以及
    被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行所述权利要求1～6所述方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被包括多个应用程序的电子设备执行时，使得所述电子设备执行所述权利要求1～6所述方法。
PCT/CN2023/122377 2022-10-31 2023-09-28 智能钥匙的定位方法、装置、系统、电子设备及介质 WO2024093598A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211347628.X 2022-10-31
CN202211347628.XA CN117991184A (zh) 2022-10-31 2022-10-31 智能钥匙的定位方法、装置、系统、电子设备及介质

Publications (1)

Publication Number Publication Date
WO2024093598A1 true WO2024093598A1 (zh) 2024-05-10

Family

ID=90895881

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/122377 WO2024093598A1 (zh) 2022-10-31 2023-09-28 智能钥匙的定位方法、装置、系统、电子设备及介质

Country Status (2)

Country Link
CN (1) CN117991184A (zh)
WO (1) WO2024093598A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111970672A (zh) * 2020-08-31 2020-11-20 Oppo广东移动通信有限公司 查找定位方法、装置、电子设备及存储介质
US20220001836A1 (en) * 2018-10-31 2022-01-06 Amotech Co., Ltd. Method and system for precise position estimation for vehicle over uwb
CN114384465A (zh) * 2020-10-20 2022-04-22 Oppo广东移动通信有限公司 方位角确定方法及装置
CN114980316A (zh) * 2022-07-26 2022-08-30 北京全迹科技有限公司 一种定位系统、方法和存储介质
CN115158220A (zh) * 2022-07-15 2022-10-11 珠海市魅族科技有限公司 车辆控制方法、装置、设备及可读存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220001836A1 (en) * 2018-10-31 2022-01-06 Amotech Co., Ltd. Method and system for precise position estimation for vehicle over uwb
CN111970672A (zh) * 2020-08-31 2020-11-20 Oppo广东移动通信有限公司 查找定位方法、装置、电子设备及存储介质
CN114384465A (zh) * 2020-10-20 2022-04-22 Oppo广东移动通信有限公司 方位角确定方法及装置
CN115158220A (zh) * 2022-07-15 2022-10-11 珠海市魅族科技有限公司 车辆控制方法、装置、设备及可读存储介质
CN114980316A (zh) * 2022-07-26 2022-08-30 北京全迹科技有限公司 一种定位系统、方法和存储介质

Also Published As

Publication number Publication date
CN117991184A (zh) 2024-05-07

Similar Documents

Publication Publication Date Title
JP6940009B2 (ja) 反射環境検出システムおよび方法
CN101778472B (zh) 一种无线传感器网络的分布式节点定位方法
US10001565B2 (en) Positioning system, onboard positioning device and positioning method thereof
Chen et al. UHF-RFID-based real-time vehicle localization in GPS-less environments
US11740342B2 (en) Method and apparatus for selecting a ranging anchor based on characteristics of communication between a connection anchor and a mobile electronic device
WO2024021656A1 (zh) 一种定位系统、方法和存储介质
CN108260112B (zh) 一种近距离定位方法、系统及终端设备
CN105792115A (zh) 多网定位数据融合方法和系统
CN111873942A (zh) 一种基于uwb技术的汽车门把手模块及实现方法
Yingxi et al. WSN node localization algorithm design based on RSSI technology
WO2024093598A1 (zh) 智能钥匙的定位方法、装置、系统、电子设备及介质
CN113329337A (zh) 一种基于蓝牙通信的室内定位系统
TWI735933B (zh) 毫米波訊號的測量方法及裝置
WO2024088243A1 (zh) 一种基于uwb的定位方法、装置及介质
WO2020107474A1 (zh) 上方障碍物检测方法及装置、系统、车辆、存储介质
CN113514794B (zh) 基于aoa和tdoa的室内三维定位方法
WO2022206551A1 (zh) 定位引导的方法、系统和装置
EP1540366B1 (en) Method and system of triangulating an object
CN113038365B (zh) 一种标签无线定位方法和系统
US20230266421A1 (en) Control device and system
Wann et al. Position tracking and velocity estimation for mobile positioning systems
CN109547915B (zh) 一种多区域多基站定位的方法及装置
CN207717987U (zh) 一种采集定位系统
Bhatia et al. A survey on localization in internet of things: Techniques, approaches, technologies and challenges
WO2023019840A1 (zh) 无线定位方法、装置、电子设备和存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23884530

Country of ref document: EP

Kind code of ref document: A1