WO2026026975A1 - 定位方法、装置、通信设备及可读存储介质 - Google Patents

定位方法、装置、通信设备及可读存储介质

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Publication number
WO2026026975A1
WO2026026975A1 PCT/CN2025/112314 CN2025112314W WO2026026975A1 WO 2026026975 A1 WO2026026975 A1 WO 2026026975A1 CN 2025112314 W CN2025112314 W CN 2025112314W WO 2026026975 A1 WO2026026975 A1 WO 2026026975A1
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WO
WIPO (PCT)
Prior art keywords
information
signal
item
location
searched
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/CN2025/112314
Other languages
English (en)
French (fr)
Inventor
黄伟
秦飞
姜大洁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vivo Mobile Communication Co Ltd
Original Assignee
Vivo Mobile Communication Co Ltd
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Filing date
Publication date
Application filed by Vivo Mobile Communication Co Ltd filed Critical Vivo Mobile Communication Co Ltd
Publication of WO2026026975A1 publication Critical patent/WO2026026975A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • 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
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • 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

  • This application belongs to the field of communication technology, specifically relating to a positioning method, apparatus, communication equipment, and readable storage medium.
  • This application provides a positioning method, apparatus, communication device, and readable storage medium, which can solve the problem of how to implement a low-power and low-cost positioning method.
  • a positioning method executed by a first device, the method comprising:
  • the first device responds to user input and identifies a second device associated with the item to be searched;
  • the first device sends a first signal to the second device during movement and receives a second signal sent by the second device during movement, wherein the second signal is a periodic signal generated based on the first signal;
  • the first device obtains a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, and the second measurement value and the second signal are correlated.
  • the first device determines the orientation and/or location information of the item to be searched based on the first measurement value and the second measurement value.
  • a positioning method executed by a second device, the method comprising:
  • the second device receives a first signal sent by the first device during movement, and the second device is associated with the item to be found;
  • the second device generates a second signal based on the first signal, and the second signal is a periodic signal
  • the second device sends the second signal to the first device during the movement, the second signal being used to determine the orientation and/or location information of the item to be searched.
  • a positioning device for use in a first device, comprising:
  • the determination module is used to determine a second device associated with the item to be searched in response to user input;
  • the first transmitting module is used to transmit a first signal to the second device during the movement
  • a first receiving module is configured to receive a second signal sent by the second device during movement, wherein the second signal is a periodic signal generated based on the first signal;
  • the first processing module is configured to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated, and to determine the orientation information and/or location information of the item to be searched based on the first measurement value and the second measurement value.
  • a positioning device for use in a second device, comprising:
  • the second receiving module is used to receive the first signal sent by the first device during movement, and the positioning device is associated with the item to be found;
  • the second processing module is used to generate a second signal based on the first signal, wherein the second signal is a periodic signal;
  • the second sending module is used to send the second signal to the first device during the movement process, the second signal being used to determine the orientation information and/or location information of the item to be searched.
  • a positioning device is provided, the device being configured to perform the steps of the method described in the first aspect, or the steps of the method described in the second aspect.
  • a communication device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect, or implementing the steps of the method as described in the second aspect.
  • a communication device including a processor and a communication interface.
  • the processor when the communication device is a first device, the processor is configured to, in response to user input, determine a second device associated with an item to be searched; the communication interface is configured to send a first signal to the second device during movement and receive a second signal sent by the second device during movement, the second signal being a periodic signal generated based on the first signal; the processor is further configured to obtain a first measurement value of the second signal and a second measurement value of an inertial measurement unit in the first device, the second measurement value and the second signal being correlated, and to determine the orientation information and/or location information of the item to be searched based on the first measurement value and the second measurement value.
  • the communication interface is configured to receive the first signal sent by the first device during movement, the second device being associated with the item to be searched; the processor is configured to generate a second signal based on the first signal, the second signal being a periodic signal; the communication interface is further configured to send the second signal to the first device during movement, the second signal being used to determine the orientation information and/or location information of the item to be searched.
  • a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.
  • a ninth aspect provides a wireless communication system, comprising: a first device and a second device, wherein the terminal is configured to perform the steps of the method described in the first aspect, and the communication device is configured to perform the steps of the method described in the second aspect.
  • a chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.
  • a computer program/program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement the steps of the method as described in the second aspect.
  • the first device can respond to user input, determine the second device associated with the item to be searched, and send a first signal to the second device during movement, and receive a second signal sent by the second device during movement.
  • the second signal is a periodic signal generated based on the first signal.
  • a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device are obtained.
  • the second measurement value and the second signal are correlated.
  • the orientation information and/or location information of the item to be searched are determined.
  • a virtual antenna array can be constructed by moving the first device, thereby enabling the positioning of the second device and, consequently, the positioning of the item to be searched associated with the second device. This does not require the second device to have the ability to actively generate signals and/or measure and report signals, thus achieving low-power and low-cost positioning.
  • FIGS 1A to 1E show schematic diagrams of the backscatter-based communication architecture in the embodiments of this application
  • FIG. 2 is a flowchart of a positioning method provided in an embodiment of this application.
  • Figure 3 is a schematic diagram illustrating motion information prompts in an embodiment of this application.
  • FIG. 4 is a schematic diagram of the guidance information in an embodiment of this application.
  • Figure 5 is a flowchart illustrating the process after successfully/failed to find an item in an embodiment of this application.
  • FIG. 6 is a flowchart of another positioning method provided in an embodiment of this application.
  • Figure 7 is a schematic diagram of a positioning device provided in an embodiment of this application.
  • Figure 8 is a schematic diagram of another positioning device provided in an embodiment of this application.
  • Figure 9 is a schematic diagram of the structure of a communication device provided in an embodiment of this application.
  • Figure 10 is a schematic diagram of the structure of a terminal provided in an embodiment of this application.
  • first and second are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by “first” and “second” are generally of the same class, not limited in number; for example, the first object can be one or more.
  • “or” in this application indicates at least one of the connected objects.
  • the scope of protection for "A or B” covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B.
  • the terms “A and/or B,” “at least one of A and B,” and “at least one of A or B” also cover at least the above three scenarios.
  • the character “/” generally indicates that the preceding and following objects are in an "or” relationship.
  • instruction in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction).
  • a direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc., in the instruction sent.
  • An indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.
  • LTE Long Term Evolution
  • LTE-A Long Term Evolution-Advanced
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • NR New Radio
  • Backscatter communication refers to the use of radio frequency signals from other devices or the environment to modulate signals and transmit information. It is a typical low-power IoT device.
  • the basic components and main functions of a backscatter communication transmitter include:
  • Antenna unit Used to receive radio frequency signals and control commands, and also to transmit modulated backscattered signals.
  • This module is used for radio frequency energy harvesting or other energy harvesting in the backscatter communication device, including but not limited to solar energy, kinetic energy, mechanical energy, and thermal energy.
  • the energy harvesting module it may also include a battery power supply module, in which case the backscatter communication device is a semi-passive device.
  • the energy harvesting module or power supply module supplies power to all other modules in the device.
  • Microcontrollers including control baseband signal processing, energy storage or data scheduling status, switching, system synchronization, etc.
  • - Signal receiving module Used to demodulate control commands or data sent by the backscatter communication receiver or other network nodes.
  • - Encoding and Modulation Module Performs channel coding and signal modulation under the control of the controller, and achieves modulation by selecting different load impedances through a selection switch under the control of the controller.
  • -Memory or sensing module Used to store device identification ID information, location information, or sensing data, etc.
  • future backscatter communication transmitters can also integrate tunnel diode amplifier modules, low-noise amplifier modules, etc., to improve the receiver sensitivity and transmission power of the transmitter.
  • the basic components and main functions of the backscatter communication receiver include:
  • Antenna element Used to receive modulated backscattered signals.
  • Backscatter signal detection module Used to detect the backscatter signal sent by the backscatter communication transmitter, including but not limited to Amplitude Shift Keying (ASK) detection, Phase Shift Keying (PSK) detection, Frequency Shift Keying (FSK) detection, or Quadrature Amplitude Modulation (QAM) detection.
  • ASK Amplitude Shift Keying
  • PSK Phase Shift Keying
  • FSK Frequency Shift Keying
  • QAM Quadrature Amplitude Modulation
  • - Demodulation and decoding module Demodulates and decodes the detected signal to recover the original information stream.
  • Backscatter communication devices control the reflection coefficient ⁇ of the modulation circuit by adjusting its internal impedance, thereby changing the amplitude, frequency, and phase of the incident signal to achieve signal modulation.
  • the reflection coefficient ⁇ can be characterized as:
  • backscatter communication devices can be tags in traditional Radio Frequency Identification (RFID) systems, or passive or semi-passive Internet of Things (IoT) devices.
  • RFID Radio Frequency Identification
  • IoT Internet of Things
  • a backscatter-based communication architecture may include at least the following patterns:
  • Topology 1 As shown in Figure 1A, the base station in Topology 1 is both a radio frequency source/transmitter and a receiver. Therefore, Topology 1 is a Monostatic Backscatter Communication System (MBCS) architecture.
  • MBCS Monostatic Backscatter Communication System
  • Traditional RFID systems are typical MBCS systems, which include ambient-powered IoT devices (such as tags) and readers (such as base stations). The tags communicate directly with the readers, and the readers may have frequency division duplex (FDD) architecture modules.
  • FDD frequency division duplex
  • the device that transmits control signals and the device that receives backscattered signals are the same device, while the device that transmits the RF carrier source can be the same device as the aforementioned device or a separate device.
  • Topology 2 As shown in Figure 1B, in Topology 2, Ambient IoT Devices (e.g., Tags) receive control signaling and carrier signals sent by intermediate nodes.
  • the control signaling can be indicated by network devices (e.g., base stations gNBs) through intermediate nodes.
  • the intermediate nodes can be User Equipment (UE), repeaters, IAB nodes, etc.
  • Intermediate nodes can also act as relays to forward IoT data to gNBs.
  • UE User Equipment
  • Topology 3 involves a bistatic backscatter communication system (BBCS), in which the radio frequency source, BSC transmitting device and BSC receiving device are separate; in Topology 3, the Ambient IoT Device (e.g., Tag) sends IoT data/uplink signaling to the base station and receives data/signaling sent by the auxiliary node, as shown in Figure 1C; or, the Ambient IoT Device (e.g., Tag) sends IoT data/uplink signaling to the auxiliary node and receives data/signaling sent by the base station, as shown in Figure 1D; the base station and the auxiliary node communicate through the Uu interface, and the auxiliary node can be UE, repeater, IAB, etc.
  • BBCS bistatic backscatter communication system
  • Topology 4 As shown in Figure 1E, in Topology 4, the UE acts as the Reader to communicate with the Tag. This architecture also belongs to the monostatic backscatter communication architecture, the difference being that the Reader is the UE, not the base station.
  • tags based on backscatter communication there are also some tag devices that can actively generate carrier waves but consume less than 1mW of power, such as active tags or semi-passive tags in RFID systems.
  • Backscatter communication devices are widely used in inventory and tracking, personal belongings retrieval, pet location, parking lot vehicle location, shopping mall shop location, and museum platform location due to their low cost, low power consumption, and small size.
  • Passive tag-based positioning schemes based on backscatter are considered a low-cost and low-power positioning solution.
  • Passive tags do not need to generate their own carrier waves; instead, they modulate their own data onto a radio frequency carrier transmitted by a third-party device, thus achieving low-cost, low-power, and miniaturized positioning.
  • the measurement parameters required to support backscatter communication positioning may include, but are not limited to, Received Signal Strength (RSS), Received Signal Strength Indication (RSSI), Direction of Arrival (DOA), Angle of Arrival (AOA), Angle of Departure (AOD), phase information, Time of Arrival (TOA) or Round-Trip Time (RTT), Time Difference of Arrival (TDOA), and Phase Difference of Arrival (PDOA).
  • RSS Received Signal Strength
  • RSSI Received Signal Strength Indication
  • DOA Direction of Arrival
  • AOA Angle of Arrival
  • AOD Angle of Departure
  • phase information Time of Arrival
  • TOA Time of Arrival
  • RTT Round-Trip Time
  • TDOA Time Difference of Arrival
  • PDOA Phase Difference of Arrival
  • DOA and AOA refer to the same angle and are conceptually equivalent; without loss of generality, the following explanation will use DOA as the reference.
  • the solution in this application can be applied to angle measurement or positioning in LTE systems, 5G NR systems and NR evolution systems, 6G systems and 6G evolution systems, as well as IEEE 802.11 systems (such as WiFi systems), Bluetooth systems, LoRa systems, Zigbee systems, backscatter communication systems, low-power IoT systems, Ambient IoT, and other systems.
  • IEEE 802.11 systems such as WiFi systems
  • WiFi systems Wireless Fidelity
  • Bluetooth systems such as Bluetooth systems
  • LoRa systems such as Zigbee systems
  • backscatter communication systems low-power IoT systems
  • Ambient IoT and other systems.
  • Figure 2 is a flowchart of a positioning method provided in an embodiment of this application. The method is executed by a first device. As shown in Figure 2, the method includes the following steps:
  • Step 21 The first device responds to user input and determines the second device associated with the item to be found;
  • Step 22 The first device sends a first signal to the second device during the movement, and receives a second signal sent by the second device during the movement, wherein the second signal is a periodic signal generated based on the first signal;
  • Step 23 The first device obtains a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated;
  • Step 24 The first device determines the orientation and/or location information of the item to be searched based on the first measurement value and the second measurement value.
  • the first device is a mobile device with angle measurement/positioning capabilities, which may include, but is not limited to, smartphones, tablets, laptops, smartwatches, smart bracelets, smart headphones, augmented reality (AR) devices, virtual reality (VR) devices, extended reality (XR) devices, mixed reality (MR) devices, robots, etc. It may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.
  • AR augmented reality
  • VR virtual reality
  • XR extended reality
  • MR mixed reality
  • robots etc. It may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.
  • the second device is the device to be located, which may include, but is not limited to, RFID tags, 3GPP AIoT tags, WiFi/Zigbee/LoRa/Bluetooth tags, or other low-power devices.
  • the second device may be a passive tag or a semi-active tag.
  • the association between the item to be found and the second device can be achieved by installing/setting the second device on the item to be found.
  • User input can be voice input, such as voice input "find item A"; or it can be user input on the first device, such as inputting the name or identifier of the item to be found on the first device; there are no restrictions on this.
  • the movement of the first device can be achieved through the movement of a user who holds/carries the first device.
  • the Inertial Measurement Unit is specifically a collection of sensors used to accurately measure and detect key information of a device, such as acceleration, angular velocity, and orientation.
  • an IMU may include three single-axis accelerometers, a single-axis gyroscope, and a magnetometer.
  • the accelerometers detect the acceleration signals of the device along the three independent axes of the carrier coordinate system, while the gyroscope detects the angular velocity signals of the device relative to the navigation coordinate system.
  • the IMU outputs information such as the coordinate changes and velocity of the device relative to its initial position.
  • the movement trajectory of the first device may include at least one of the following:
  • a first device can respond to user input, determine a second device associated with the item to be searched, and send a first signal to the second device during movement, and receive a second signal sent by the second device during movement.
  • the second signal is a periodic signal generated based on the first signal.
  • a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device are obtained.
  • the second measurement value and the second signal are correlated.
  • the orientation information and/or location information of the item to be searched are determined.
  • a virtual antenna array can be constructed by moving the first device, and the second device can be located thereby, and the item to be searched associated with the second device can be located. This does not require the second device to have the ability to actively generate signals and/or the ability to measure and report signals, thus achieving low-power and low-cost positioning.
  • the first signal may satisfy at least one of the following:
  • the first signal is a periodic synchronization signal, such as a primary synchronization signal (PSS), a secondary synchronization signal (SSS), a preamble signal, etc.
  • PSS primary synchronization signal
  • SSS secondary synchronization signal
  • preamble signal a preamble signal
  • the first signal is a periodic reference signal used for positioning or angle measurement, such as a positioning reference signal (PRS).
  • PRS positioning reference signal
  • the first signal is a periodic measurement reference signal with a known sequence, such as a Channel State Information Reference Signal (CSI-RS), a Sounding Reference Signal (SRS), a Phase-Tracking Reference Signal (PTRS), a Dedicated Demodulation Reference Signal (DM-RS), a Preamble signal, etc.
  • CSI-RS Channel State Information Reference Signal
  • SRS Sounding Reference Signal
  • PTRS Phase-Tracking Reference Signal
  • DM-RS Dedicated Demodulation Reference Signal
  • Preamble signal a known sequence
  • the first signal is a periodic data signal for which the modulation information or input bits are known, i.e., the first signal is a modulation signal;
  • the first signal is a carrier signal, such as a sine signal, a cosine signal, a chirp signal, etc.
  • the period of the first signal and the period of the second signal can be the same or different.
  • a threshold parameter ⁇ can be configured in the system, such that the period T1 of the first signal and the period T2 of the second signal satisfy:
  • the second signal when the first signal is a periodic signal, the second signal may be obtained by backscattering the first signal according to a fixed reflection coefficient.
  • the first signal when the first signal is a carrier signal, the second signal may be obtained by backscattering the first signal according to configuration or indication information.
  • the correlation between the second measured value and the second signal can be: the measurement time of the first measured value of the second signal is the same as the measurement time of the second measured value, or the measurement time of the first measured value of the second signal and the measurement time of the second measured value are within the same time window.
  • the size of this time window can be specified by the system or protocol. This ensures that the measurement times of the first and second measured values are the same or close, thereby improving the accuracy of the estimated DOA/AOD and/or the location information of the second device between the first and second devices, and thus accurately locating the item to be searched.
  • the first measured value of the second signal may include, but is not limited to, at least one of the following:
  • the reference signal strength (RSS) of the second signal is the reference signal strength (RSS) of the second signal
  • the received signal strength indicator (RSSI) of the second signal The received signal strength indicator (RSSI) of the second signal
  • Statistical values obtained from multiple measurements of the second signal may be, for example, the maximum value, average value, minimum value, weighted value, etc.
  • the first measurement values of k second signals can be obtained using k (k ⁇ 1) antennas of the first device, or statistical values of the measurement values of the k second signals can be obtained, such as the maximum value, average value, etc.
  • the second measurement value obtained based on the inertial measurement unit (IMU) may include at least one of the following:
  • Acceleration information such as the acceleration information output by the accelerometer in the inertial measurement unit during the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Angular velocity information such as the angular velocity information output by the gyroscope in the inertial measurement unit during the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Orientation information such as the orientation information output by the gyroscope in the inertial measurement unit within the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Magnetic induction information such as the magnetic induction intensity output by the magnetometer in the inertial measurement unit during the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Yaw angle information such as the yaw angle information output by the magnetometer in the inertial measurement unit within the movement time T 2 , where T 2 is equal to one cycle time of the second signal;
  • Location information such as the relative location information of the first device within a preset time window or within one cycle time T2 of the second signal;
  • the statistical values of multiple measurements of the inertial measurement unit such as the maximum value, average value, minimum value, weighted value, earliest measurement value, latest measurement value, etc.
  • the orientation and/or location information of the item to be searched may include, but is not limited to, at least one of the following:
  • the relative location information of the item to be searched and the first device is the relative location information of the item to be searched and the first device
  • the relative position information between the first device and the item to be searched such as relative distance and relative orientation
  • the relative position information between the item to be searched and the first device includes, for example, relative distance and relative orientation
  • the absolute location information of the item to be searched is the absolute location information of the item to be searched.
  • VAA Virtual Antenna Array
  • the basic principle is to construct a virtual antenna array by moving the communication device according to a certain trajectory, and to calculate the DOA or AOD based on the constructed virtual antenna array; if more than two DOAs or AODs are calculated, the distance and angle to the device to be located can be estimated based on triangulation algorithms, etc.
  • various methods can be used to estimate the DOA or AOD between the first and second devices. Determining the orientation and/or location information of the item to be located in step 24 above may include:
  • the first device estimates multiple DOAs or AODs between the first device and the second device based on the first measurement value and the second measurement value, such as m (m ⁇ 2) first measurement values and m second measurement values during the movement process, using a DOA or AOD estimation algorithm.
  • the DOA or AOD estimation algorithm may include at least one of the following: beamforming algorithm, multiple signal classification (MUSCI) algorithm, ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) algorithm, unitary ESPRIT algorithm, etc.
  • MUSCI multiple signal classification
  • ESPRIT Estimatiation of Signal Parameters via Rotational Invariance Techniques
  • unitary ESPRIT algorithm etc.
  • the first device estimates the orientation and/or location information of the item to be searched, which is associated with the second device, based on the multiple DOAs or AODs. For example, after obtaining multiple DOAs or AODs, existing positioning algorithms (such as, but not limited to, AOA, AOD, and other multi-angle positioning algorithms) can be used to estimate the orientation and/or location information of the item to be searched.
  • existing positioning algorithms such as, but not limited to, AOA, AOD, and other multi-angle positioning algorithms
  • the process of determining the orientation and/or location information of the item to be searched in step 24 above may include at least one of the following:
  • the first device directly calculates the orientation and/or location information of the item to be searched based on the first measurement value and the second measurement value, such as the first measurement value of multiple second signals and multiple second measurement values of the corresponding IMU; the orientation and/or location information is, for example, the relative distance, relative orientation and/or relative position of the item to be searched and the first device, or the absolute position of the item to be searched.
  • the first device sends the first measurement value and the second measurement value (such as the first measurement value of multiple second signals and multiple second measurement values of the corresponding IMU) to the third device, and receives the orientation information and/or location information of the item to be searched sent by the third device; the orientation information and/or location information of the item to be searched is calculated based on the first measurement value and the second measurement value, such as the relative distance, relative orientation and/or relative position of the item to be searched and the first device, or the absolute position of the item to be searched; the third device is, for example, a positioning server or other device different from the first device.
  • the device associated with the item to be found can be determined based on user input information.
  • the second device associated with the item to be found, determined in response to user input may include:
  • the first device determines the device information associated with the item information based on the item information input by the user.
  • the first device determines the second device based on the device information.
  • the device associated with the item can be efficiently determined based on the relationship between the item information and the device information.
  • the item information may be the item name or item code of the item to be searched.
  • the item information may be entered in at least one of the following ways:
  • Text input method for example, you can enter the item information of the item you want to find by text on the device interface of the first device or in the application APP;
  • Voice input method for example, you can input the item information of the item to be searched by voice on the device interface of the first device or in the APP.
  • Image input method for example, by scanning the image of the item to be searched on the device interface or APP of the first device, the first device can obtain the name or code of the item to be searched.
  • the device information may include, but is not limited to, at least one of the following:
  • ID Device Identifier
  • TID Tag Identifier
  • EPC Electronic Product Code
  • Radio Network Temporary Identity (RNTI).
  • the device information for the second device can be obtained by the first device before performing positioning.
  • the positioning method in this application embodiment may further include:
  • the first device obtains the device information of the second device through an inventory process, pairing process, or registration process;
  • the first device establishes a relationship between the device information of the second device and the item information (such as item name or item code) of the item to be searched.
  • the device associated with the item to be found can be determined efficiently, thereby completing the positioning process.
  • the device information of the second device (such as device ID, TID, EPC, and/or RNTI) is a unique identifier for the second device during the positioning process.
  • the association between the device information of the second device and the item information of the item to be located can be that the device information of one or more second devices is associated with item information (such as item name, item code, etc.).
  • the memory of the second device can store the item information (such as item name, item code, etc.) of the associated item.
  • the first device can interact with the second device to obtain the second device's capability information.
  • Sending the first signal to the second device during movement may include:
  • the first device sends a first signal to the second device during movement based on the capability information of the second device;
  • the capability information of the second device includes, but is not limited to, at least one of the following:
  • the modulation order supported by the second device is the modulation order supported by the second device
  • the modulation rate supported by the second device is the modulation rate supported by the second device
  • the second device supports the following operating frequencies
  • Amplifier information for the second device is Amplifier information for the second device.
  • the first device can determine how the second device generates the second signal. For example, if the backscatter modulation method supported by the second device does not meet the parameter requirements of the second signal, then the first signal sent by the first device may be a periodic signal, and the second signal may simply be a reflection of the first signal; or, if the second device supports modulation, then the first signal may be a carrier signal, and the second signal may be a backscatter modulation signal or a positioning measurement signal.
  • the first device in order to efficiently locate items, can prompt/suggest movement information to the user.
  • the positioning method may further include:
  • the first device generates the first motion information; for example, the first device can generate the first motion information by combining user habits, prior information, etc., or it can generate the first motion information randomly.
  • the first device displays the first motion information to the user carrying the first device;
  • the first motion information may include, but is not limited to, at least one of the following:
  • the trajectory of motion can be, for example, a straight line trajectory, a circular trajectory, an elliptical trajectory, a non-linear curved trajectory, etc.
  • Movement speed such as including but not limited to the recommended optimal movement speed, the recommended maximum movement speed, and the recommended minimum movement speed
  • Exercise time which may include, but is not limited to, the recommended optimal exercise time, the recommended minimum exercise time, and the recommended maximum exercise time;
  • Step count which may include, but is not limited to, the recommended optimal step count, the recommended minimum step count, and the recommended maximum step count;
  • Acceleration information such as uniform motion information or non-uniform motion information
  • the attitude information of the first device may include, but is not limited to, the orientation, azimuth, pitch, and roll angle of the first device.
  • the user can be instructed or informed of the suggested motion information.
  • the first device can move accordingly, thereby efficiently finding items.
  • the first device may indicate or inform the user of exercise information through text display, voice playback, image display, animation, or video.
  • the first exercise information may be presented through at least one of the following:
  • Textual information for example, the first device can use text display to instruct or inform the user of the aforementioned first motion information;
  • Voice information for example, the first device can instruct or inform the user of the aforementioned first motion information by playing voice commands.
  • Image information for example, the first device can display the aforementioned first motion information through the image displayed on the device interface, and mark key information such as trajectory type, movement speed, acceleration, and orientation information.
  • Animation or video information for example, the first device can dynamically display the above-mentioned first motion information through animation or video displayed on the device interface, and mark key information such as trajectory type, movement speed, acceleration, and orientation information.
  • the specific user exercise information display interface can be as shown in Figure 3.
  • the key information marked and displayed on the device interface is as follows:
  • the suggested trajectory is the non-linear trajectory shown in Figure 3;
  • the recommended walking time is 5 seconds, as shown in Figure 3.
  • the recommended acceleration is uniform motion, i.e., the acceleration is 0, as shown in Figure 3.
  • the first device can combine voice playback and image display to present user motion information. Moreover, if the first device uses animation or video to inform the user of motion information, the hand gestures, motion trajectories, etc., can be designed in a dynamic style. Optionally, the first device can also combine voice playback and animation/video to present user motion information.
  • the first device in order to efficiently locate the item, can update the first motion information in real time and provide a prompt based on changes in the signal strength and signal quality of the received second signal during movement.
  • the positioning method in this embodiment of the application may further include:
  • the first device updates the first motion information and obtains the second motion information, that is, it obtains the updated first motion information; for example, the first device can update the first motion information in real time based on changes in the signal strength and signal quality of the received second signal.
  • the first device displays the second motion information to the user carrying the first device;
  • the second motion information includes at least one of the following:
  • the trajectory of motion can be, for example, a straight line trajectory, a circular trajectory, an elliptical trajectory, a non-linear curved trajectory, etc.
  • Movement speed such as including but not limited to the recommended optimal movement speed, the recommended maximum movement speed, and the recommended minimum movement speed
  • Acceleration information such as uniform motion information or non-uniform motion information
  • the attitude information of the first device may include, but is not limited to, the orientation, azimuth, pitch, and roll angle of the first device.
  • the user's motion deviation can be corrected, enabling the user to efficiently find items when moving according to the second motion information.
  • the first device may indicate or inform the user of the updated motion information through text, voice playback, image display, animation, or video.
  • the second motion information may be presented through at least one of the following:
  • Textual information for example, the first device can use text display to instruct or inform the user of the aforementioned second motion information;
  • Voice information for example, the first device can instruct or inform the user of the aforementioned second motion information by playing voice commands.
  • Image information for example, the first device can display the second motion information mentioned above through the image displayed on the device interface, and mark key information such as trajectory type, movement speed, acceleration, and orientation information.
  • Animation or video information for example, the first device can dynamically display the aforementioned second motion information through animation or video displayed on the device interface, and annotate key information such as trajectory type, movement speed, acceleration, and orientation information.
  • the positioning method in this application embodiment may further include:
  • the first device generates guidance information based on the orientation information and/or location information;
  • the guidance information is information related to the orientation and/or location of the item to be found, and is used to guide the user to find the item;
  • the first device displays the guidance information to the user carrying the first device.
  • the guidance information may include at least one of the following:
  • the first device may provide guidance information through text display, voice playback, image display, animation, or video, such as indicating the location or orientation of the item to be found relative to the first device, or generating directional arrows or dynamic trajectory maps to guide the user in finding the item.
  • the guidance information may be provided through at least one of the following:
  • Textual information for example, the first device can use text to inform the user of the location or position information of the item to be found.
  • Voice information for example, the first device can use voice to inform the user of the location or position information of the item to be found.
  • the first device can present the orientation or location information of the item to be searched relative to the first device through the image displayed on the device interface; in addition, it can also generate directional arrows or trajectory maps to guide the user to find the item to be searched.
  • the first device can dynamically present the orientation or location information of the item to be searched relative to the first device through animations or videos displayed on the device interface; in addition, it can also generate dynamic pointing arrows or dynamic trajectory maps to guide users to find the item to be searched.
  • the guidance information displayed on the device interface can be as shown in Figure 4.
  • the key information marked and displayed on the device interface is as follows:
  • the first device can combine voice playback and image display to present the object's location information or guide the user in finding the object. Moreover, if the first device uses animation or video to inform the user of the object's location information or guide the user in finding the object, the directional arrows and trajectory diagrams can be dynamically displayed. Optionally, the first device can also combine voice playback and animation/video to present relevant information to the user.
  • the positioning method in this application embodiment may further include at least one of the following:
  • the first device generates a positioning failure message and notifies the user carrying the first device of the positioning failure message, which is used to notify the user of the positioning failure; thereby informing the user of the positioning failure; in this case, the user or the first device can terminate the positioning process.
  • the first device generates relocation information and prompts the user carrying the first device with the relocation information, which is used to notify the user to perform the location again; thereby, the user can restart the location to find the item; after restarting the location, the above location process can be repeated, which will not be described in detail here;
  • the first device generates a long-distance positioning activation message and prompts the user carrying the first device with the long-distance positioning activation message.
  • the long-distance positioning activation message is used to notify the user to activate the long-distance positioning service.
  • the long-distance positioning service can be used to locate the item through multi-device collaborative positioning, cellular positioning, Bluetooth positioning, etc., and can also enable "long-distance search mode" or "lost mode", etc. With the help of the long-distance positioning service, the probability of successfully finding the item can be increased.
  • the location failure information, the relocation information, and the long-distance location activation information can be prompted through text, voice, images, etc., and there are no limitations on this.
  • the positioning method in the embodiments of this application may further include at least one of the following:
  • the first device responds to the user's end operation and exits the positioning process or positioning interface; for example, after the user successfully or unsuccessfully finds an item based on the guidance information, the user can actively end the positioning process or exit the device positioning interface based on the input end operation.
  • the first device responds to the user's input of a location success message and ends the location process; for example, after the user successfully finds the item according to the guidance information, the user can input a location success message into the first device to end the location process.
  • the first device responds to the location end information input by the user and ends the location process; for example, after the user successfully or unsuccessfully finds an item according to the guidance information, the user can input location end information in the first device to end the location process.
  • the first device In response to the user's input location failure information, the first device performs any of the following: terminates the location process; restarts the location process, i.e., re-executes the above-mentioned location process; generates a long-range location activation message and prompts the user carrying the first device with the long-range location activation message, which is used to notify the user to enable the long-range location service.
  • the long-range location service can be performed through multi-device collaborative location, cellular location, Bluetooth location, etc., and can also enable "long-range search mode" or "lost mode,” etc.; thereby, the probability of successfully finding the item can be increased by using the long-range location service.
  • possible processes and operations may include:
  • Scenario 1 If the item is successfully found, one of the following operations can be performed:
  • the user enters the location end information on the first device to end the location process.
  • Scenario 2 If the search for the item fails, one of the following operations can be performed:
  • the first device will perform the following operations:
  • the user enters the location end information on the first device to end the location process.
  • Figure 6 is a flowchart of a positioning method provided in an embodiment of this application. The method is executed by a second device. As shown in Figure 6, the method includes the following steps:
  • Step 61 The second device receives the first signal sent by the first device during movement, and the second device is associated with the item to be found;
  • Step 62 The second device generates a second signal based on the first signal, wherein the second signal is a periodic signal;
  • Step 63 The second device sends the second signal to the first device during the movement process.
  • the second signal is used to determine the orientation information and/or location information of the item to be searched.
  • the first device is a device with angle measurement/positioning capability and supports mobility, which may include, but is not limited to, smartphones, tablets, laptops, smartwatches, smart bracelets, smart headphones, AR devices, VR devices, XR devices, MR devices, robots, etc., and may also include mobile repeaters, relay devices, WiFi nodes, Zigbee nodes, LoRa nodes, Bluetooth nodes, etc.
  • the second device is the device to be located, which may include, but is not limited to, RFID tags, 3GPP AIoT tags, WiFi/Zigbee/LoRa/Bluetooth tags, or other low-power devices.
  • the second device may be a passive tag or a semi-active tag.
  • the association between the item to be found and the second device can be achieved by installing/setting the second device on the item to be found.
  • the movement of the first device can be achieved through the movement of a user who holds/carries the first device.
  • the movement trajectory of the first device may include at least one of the following:
  • the solution of this application embodiment can construct a virtual antenna array by moving the first device, thereby locating the second device and then locating the item to be found associated with the second device. This does not require the second device to have the ability to actively generate signals and/or the ability to measure and report signals, thus achieving low-power and low-cost positioning.
  • the first signal may satisfy at least one of the following:
  • the first signal is a periodic synchronization signal, such as PSS, SSS, Preamble signal, etc.;
  • the first signal is a periodic reference signal used for positioning or angle measurement, such as PRS;
  • the first signal is a periodic measurement reference signal with a known sequence, such as CSI-RS, SRS, PTRS, DM-RS, Preamble signal, etc.
  • the first signal is a periodic data signal for which the modulation information or input bits are known, i.e., the first signal is a modulation signal;
  • the first signal is a carrier signal, such as a sine signal, a cosine signal, a chirp signal, etc.
  • the period of the first signal and the period of the second signal can be the same or different.
  • a threshold parameter ⁇ can be configured in the system, such that the period T1 of the first signal and the period T2 of the second signal satisfy:
  • the second signal when the first signal is a periodic signal, the second signal may be obtained by backscattering the first signal according to a fixed reflection coefficient.
  • the first signal when the first signal is a carrier signal, the second signal may be obtained by backscattering the first signal according to configuration or indication information.
  • the positioning method in the embodiments of this application may further include:
  • the second device sends capability information to the first device; wherein the capability information is capability information related to generating/transmitting a second signal, and the capability information may include at least one of the following:
  • the modulation order supported by the second device is the modulation order supported by the second device
  • the modulation rate supported by the second device is the modulation rate supported by the second device
  • the second device supports the following operating frequencies
  • Amplifier information for the second device is Amplifier information for the second device.
  • the second device can send device information to the first device, such as the Electronic Product Code (EPC), Tag Identification Number (TID), or Device ID, so that the first device can establish a relationship between the first device and the second device based on the device information, thereby enabling the second device to respond to the first device in a timely manner.
  • EPC Electronic Product Code
  • TID Tag Identification Number
  • Device ID Device ID
  • the second device may send its EPC code, TID code, device ID, etc. to the first device through an inventory process or registration process.
  • the positioning method provided in this application can be executed by a positioning device.
  • This application uses a positioning device executing the positioning method as an example to illustrate the positioning device provided in this application.
  • the positioning device can be a communication device or a component within a communication device, such as a chip.
  • the positioning device includes a receiving module, a transmitting module, and a processing module.
  • the receiving module, transmitting module, and processing module can be implemented in software or hardware.
  • the processing module can be implemented by a processor.
  • the processor can include a general-purpose processor, a special-purpose processor, such as a Central Processing Unit (CPU), a microprocessor, a Digital Signal Processor (DSP), an Artificial Intelligence (AI) processor, a Graphics Processing Unit (GPU), an Application Specific Integrated Circuit (ASIC), a Network Processor (NP), a Field Programmable Gate Array (FPGA), or other programmable logic devices, gate circuits, transistors, discrete hardware components, etc.
  • the receiving module and the transmitting module can be implemented by a communication interface, which can include one or more of the following: a transceiver, pins, circuits, a bus, and a radio frequency unit.
  • the positioning device 70 when the positioning device is the first device or a component of the first device, the positioning device 70 includes:
  • the determination module 71 is used to determine, in response to user input, a second device associated with the item to be searched;
  • the first transmitting module 72 is used to transmit a first signal to the second device during the movement
  • the first receiving module 73 is configured to receive a second signal sent by the second device during movement, wherein the second signal is a periodic signal generated based on the first signal;
  • the first processing module 74 is used to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated, and to determine the orientation information and/or location information of the item to be searched based on the first measurement value and the second measurement value.
  • the measurement time of the first measurement value is the same as the measurement time of the second measurement value, or the measurement time of the first measurement value and the measurement time of the second measurement value are within the same time window.
  • the first measurement includes at least one of the following: reference signal strength RSS, received signal strength indication RSSI, signal amplitude, signal phase, signal frequency, covariance matrix, and autocorrelation matrix;
  • the second measurement includes at least one of the following: acceleration information, angular velocity information, azimuth information, magnetic induction information, yaw angle information, and position information.
  • the orientation and/or location information of the item to be searched includes at least one of the following:
  • the relative location information of the item to be searched and the first device is the relative location information of the item to be searched and the first device
  • the absolute location information of the item to be searched is the absolute location information of the item to be searched.
  • the determining module 71 is specifically used to: determine device information associated with the item information based on the item information input by the user; and determine the second device based on the device information.
  • the positioning device 70 further includes:
  • the acquisition module is used to acquire the device information of the second device through an inventory process, a pairing process, or a registration process;
  • a module is established to establish the association between the device information of the second device and the item information of the item to be searched.
  • the device information includes at least one of the following:
  • the item information is entered in at least one of the following ways:
  • the positioning device 70 further includes:
  • the first generation module is used to generate the first motion information
  • the first prompting module is used to prompt the user carrying the first device with the first motion information
  • the first motion information includes at least one of the following:
  • the attitude information of the first device is the attitude information of the first device.
  • the first motion information is provided through at least one of the following:
  • the positioning device 70 further includes:
  • the update module is used to update the first motion information and obtain the second motion information
  • the second prompting module is used to prompt the user carrying the first device with the second motion information
  • the second motion information includes at least one of the following:
  • the attitude information of the first device is the attitude information of the first device.
  • the positioning device 70 further includes:
  • the second generation module is used to generate guidance information based on the orientation and/or location information of the item to be searched when the orientation and/or location information is successfully determined.
  • the third prompt module is used to prompt the user carrying the first device with the guidance information.
  • the guidance information is provided through at least one of the following:
  • the positioning device 70 further includes:
  • the first execution module is configured to perform at least one of the following when the orientation and/or location information of the item to be searched is not successfully determined:
  • a location failure message is generated and the user carrying the first device is prompted with the location failure message, which is used to notify the user that the location has failed.
  • a long-distance positioning activation message is generated and the user carrying the first device is prompted with the long-distance positioning activation message, which is used to notify the user to activate the long-distance positioning service.
  • the positioning device 70 further includes:
  • the second execution module is used to perform at least one of the following:
  • the location process Upon receiving a location success message from the user, the location process ends.
  • the location process ends in response to the user's input of a location termination message.
  • a location failure message In response to a location failure message input by the user, perform any of the following: terminate the location process; restart the location process; generate a long-distance location activation message and prompt the user carrying the first device with the long-distance location activation message, which is used to notify the user to enable the long-distance location service.
  • the first sending module 72 is further configured to: send the first signal to the second device during movement based on the capability information of the second device;
  • the capability information of the second device includes at least one of the following:
  • the modulation order supported by the second device is the modulation order supported by the second device
  • the modulation rate supported by the second device is the modulation rate supported by the second device
  • the second device supports the following operating frequencies
  • Amplifier information for the second device is Amplifier information for the second device.
  • the first processing module 74 is specifically configured to perform at least one of the following:
  • the orientation information and/or location information of the item to be searched are directly calculated.
  • the first measurement value and the second measurement value are sent to a third device, and the location information and/or position information of the item to be searched sent by the third device are received, wherein the location information and/or position information of the item to be searched is calculated based on the first measurement value and the second measurement value.
  • the positioning device 70 provided in this application embodiment can implement the various processes implemented in the method embodiment shown in FIG2 and achieve the same technical effect. To avoid repetition, it will not be described again here.
  • the positioning device 80 when the positioning device is a second device or a component of the second device, the positioning device 80 includes:
  • the second receiving module 81 is used to receive the first signal sent by the first device during movement, and the positioning device is associated with the item to be found.
  • the second processing module 82 is used to generate a second signal based on the first signal, wherein the second signal is a periodic signal;
  • the second sending module 83 is used to send the second signal to the first device during the movement process, the second signal being used to determine the orientation information and/or location information of the item to be searched.
  • the positioning device 80 provided in this application embodiment can implement the various processes implemented in the method embodiment shown in FIG6 and achieve the same technical effect. To avoid repetition, it will not be described again here.
  • this application embodiment also provides a communication device 90, including a processor 91 and a memory 92.
  • the memory 92 stores programs or instructions that can run on the processor 91.
  • the program or instructions executed by the processor 91 implement the various steps of the positioning method embodiment shown in Figure 2 above, and achieve the same technical effect.
  • the program or instructions executed by the processor 91 implement the various steps of the positioning method embodiment shown in Figure 6 above, and achieve the same technical effect. To avoid repetition, this will not be described again here.
  • This application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps in the method embodiment shown in FIG2, and can achieve the same technical effect.
  • This terminal may be the positioning device shown in FIG7.
  • Figure 10 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of this application.
  • the terminal 1000 includes, but is not limited to, at least some of the following components: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, and processor 1010.
  • the terminal 1000 may also include a power supply (such as a battery) for powering various components.
  • the power supply can be logically connected to the processor 1010 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.
  • the terminal structure shown in Figure 10 does not constitute a limitation on the terminal.
  • the terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.
  • the input unit 1004 may include a graphics processor 10041 and a microphone 10042.
  • the graphics processor 10041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode.
  • the display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like.
  • the user input unit 1007 includes a touch panel 10071 and at least one of other input devices 10072.
  • the touch panel 10071 is also called a touch screen.
  • the touch panel 10071 may include a touch detection device and a touch controller.
  • Other input devices 10072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.
  • the radio frequency unit 1001 can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network-side device.
  • the radio frequency unit 1001 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.
  • the memory 1009 can be used to store software programs or instructions, as well as various data.
  • the memory 1009 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data.
  • the first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.).
  • the memory 1009 may include volatile memory or non-volatile memory.
  • the non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.
  • Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM).
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • DDRSDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • DRRAM direct memory bus RAM
  • the memory 1009 in this embodiment includes, but is not limited to, these and any other suitable types of memory.
  • the processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor 1010.
  • the processor 1010 is used to determine a second device associated with the item to be searched in response to user input;
  • the radio frequency unit 1001 is used to send a first signal to the second device and receive a second signal sent by the second device during the movement of the terminal 1000, wherein the second signal is a periodic signal generated based on the first signal;
  • the processor 1010 is configured to obtain a first measurement value of the second signal and a second measurement value of the inertial measurement unit in the first device, wherein the second measurement value and the second signal are correlated; and to determine the orientation information and/or location information of the item to be searched based on the first measurement value and the second measurement value.
  • This application also provides a readable storage medium storing a program or instructions.
  • the program or instructions When executed by a processor, they implement the various processes of the positioning method embodiments shown in FIG2 or FIG6 above and achieve the same technical effect. To avoid repetition, they will not be described again here.
  • the processor mentioned above is the processor in the terminal described in the above embodiments.
  • the readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.
  • ROM computer read-only memory
  • RAM random access memory
  • magnetic disk magnetic disk
  • optical disk optical disk
  • the readable storage medium may be a non-transient readable storage medium.
  • This application embodiment also provides a chip, which includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the various processes of the positioning method embodiments shown in FIG2 or FIG6 above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.
  • chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
  • This application also provides a computer program/program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the positioning method embodiments shown in FIG2 or FIG6 above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.
  • This application also provides a communication system, including a first device and a second device, wherein the first device can be used to perform the steps of the positioning method as shown in FIG2 above, and the second device can be used to perform the steps of the positioning method as shown in FIG6 above.

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  • Mobile Radio Communication Systems (AREA)

Abstract

本申请公开了一种定位方法、装置、通信设备及可读存储介质，属于通信技术领域，本申请实施例的定位方法包括：第一设备响应于用户输入，确定与待查找物品关联的第二设备；在移动过程中向所述第二设备发送第一信号，并在移动过程中接收所述第二设备发送的第二信号，其中，所述第二信号是根据所述第一信号生成的周期性信号；获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。

Description

定位方法、装置、通信设备及可读存储介质
相关申请的交叉引用
本申请主张在2024年8月2日在中国提交的中国专利申请No.202411054322.4的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于通信技术领域，具体涉及一种定位方法、装置、通信设备及可读存储介质。
背景技术
相关技术的标签定位方案中，通常采用蓝牙、超宽带(Ultra-Wide Band，UWB)、超声波等方式来实现标签与手机等设备的相对定位。这要求标签具有蓝牙、UWB、超声波等信号的收发能力，即此时标签具有主动生成信号的能力和/或具有信号测量和上报能力，因此存在着定位功耗较高且成本较高的问题。这种情况下，如何实现低功耗且低成本的定位方法是目前急需解决的问题。
发明内容
本申请实施例提供一种定位方法、装置、通信设备及可读存储介质，能够解决如何实现低功耗且低成本的定位方法的问题。
第一方面，提供了一种定位方法，由第一设备执行，该方法包括：
第一设备响应于用户输入，确定与待查找物品关联的第二设备；
所述第一设备在移动过程中向所述第二设备发送第一信号，并在移动过程中接收所述第二设备发送的第二信号，其中，所述第二信号是根据所述第一信号生成的周期性信号；
所述第一设备获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；
所述第一设备根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。
第二方面，提供了一种定位方法，由第二设备执行，该方法包括：
第二设备接收第一设备在移动过程中发送的第一信号，所述第二设备与待查找物品关联；
所述第二设备根据所述第一信号生成第二信号，所述第二信号是周期性信号；
所述第二设备向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于确定所述待查找物品的方位信息和/或位置信息。
第三方面，提供了一种定位装置，应用于第一设备，包括：
确定模块，用于响应于用户输入，确定与待查找物品关联的第二设备；
第一发送模块，用于在移动过程中向所述第二设备发送第一信号；
第一接收模块，用于在移动过程中接收所述第二设备发送的第二信号，其中，所述第二信号是根据所述第一信号生成的周期性信号；
第一处理模块，用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，并根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。
第四方面，提供了一种定位装置，应用于第二设备，包括：
第二接收模块，用于接收第一设备在移动过程中发送的第一信号，所述定位装置与待查找物品关联；
第二处理模块，用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；
第二发送模块，用于向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于确定所述待查找物品的方位信息和/或位置信息。
第五方面，提供了一种定位装置，所述装置被配置为执行如第一方面所述的方法的步骤，或者执行如第二方面所述的方法的步骤。
第六方面，提供了一种通信设备，该通信设备包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第七方面，提供了一种通信设备，包括处理器及通信接口，例如，该通信设备为第一设备时，所述处理器用于响应于用户输入，确定与待查找物品关联的第二设备；所述通信接口用于在移动过程中向所述第二设备发送第一信号，并在移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；所述处理器还用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，以及根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。该通信设备为第二设备时，所述通信接口用于接收第一设备在移动过程中发送的第一信号，所述第二设备与待查找物品关联；所述处理器用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；所述通信接口还用于向移动过程中的第一设备发送所述第二信号，所述第二信号用于确定所述待查找物品的方位信息和/或位置信息。
第八方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第九方面，提供了一种无线通信系统，包括：第一设备及第二设备，所述终端可用于执行如第一方面所述的方法的步骤，所述通信设备可用于执行如第二方面所述的方法的步骤。
第十方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或者实现如第二方面所述的方法。
第十一方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
在本申请实施例中，第一设备可以响应于用户输入，确定与待查找物品关联的第二设备，并在移动过程中向第二设备发送第一信号，以及在移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号，获得所述第二信号的第一测量值和第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，并根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。由此，可以通过第一设备的移动来构建虚拟天线阵列，并以此实现对第二设备进行定位，进而实现对与第二设备关联的待查找物品的定位，这其中不需要第二设备具有主动生成信号的能力和/或信号测量和上报能力，从而实现低功耗且低成本的定位。
附图说明
图1A至图1E示出本申请实施例中基于反向散射的通信架构的示意图；
图2是本申请实施例提供的一种定位方法的流程图；
图3是本申请实施例中运动信息的提示示意图；
图4是本申请实施例中引导信息的提示示意图；
图5是本申请实施例中寻找物品成功/失败后的流程示意图；
图6是本申请实施例提供的另一种定位方法的流程图；
图7是本申请实施例提供的一种定位装置的结构示意图；
图8是本申请实施例提供的另一种定位装置的结构示意图；
图9是本申请实施例提供的一种通信设备的结构示意图；
图10是本申请实施例提供的一种终端的结构示意图。
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描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，本申请中的“或”表示所连接对象的至少其中之一。例如“A或B”的保护范围至少涵盖三种方案，即，方案一：包括A且不包括B；方案二：包括B且不包括A；方案三：既包括A又包括B。此外，术语“A和/或B”、“A和B中的至少一项”、“A或B中的至少一项”也分别至少涵盖上述三种方案。字符“/”一般表示前后关联对象是一种“或”的关系。
本申请的术语“指示”既可以是一个直接的指示(或者说显式的指示)，也可以是一个间接的指示(或者说隐含的指示)。其中，直接的指示可以理解为，发送方在发送的指示中明确告知了接收方具体的信息、需要执行的操作或请求结果等内容；间接的指示可以理解为，接收方根据发送方发送的指示确定对应的信息，或者进行判断并根据判断结果确定需要执行的操作或请求结果等。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)或其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR系统以外的系统，如第6代(6th Generation，6G)通信系统。
为了便于理解本申请实施例，首先说明以下内容。
反向散射通信(Backscatter Communication，BSC)是指反向散射通信设备利用其它设备或者环境中的射频信号进行信号调制来传输自己信息，是一种比较典型的低功耗物联设备。反向散射通信发送端的基本构成模块及主要功能包括：
-天线单元：用于接收射频信号、控制命令，同时用于发送调制的反向散射信号。
-能量采集模块或供能模块：该模块用于反向散射通信设备进行射频能量采集，或者其它能量采集，包括但不限于太阳能、动能、机械能、热能等。另外除了包括能量采集模块，也可能包括电池供能模块，此时反向散射通信设备为半无源设备。能量采集模块或供能模块给设备中的其它所有模块进行供电。
-微控制器：包括控制基带信号处理、储能或数据调度状态、开关切换、系统同步等。
-信号接收模块：用于解调反向散射通信接收端或是其它网络节点发送的控制命令或数据等。
-编码和调制模块：在控制器的控制下进行信道编码和信号调制，并通过选择开关在控制器的控制下通过选择不同的负载阻抗来实现调制。
-存储器或传感模块：用于存储设备的标识ID信息、位置信息或是传感数据等。
除了上述典型的构成模块之外，未来的反向散射通信发送端还可以集成隧道二极管放大器模块、低噪声放大器模块等，用于提升发送端的接收灵敏度和发送功率。
可选地，反向散射通信接收端的基本构成模块及主要功能包括：
-天线单元：用于接收调制的反向散射信号。
-反向散射信号检波模块：用于对反向散射通信发送端发送的反向散射信号进行检波，包括但不限于振幅键控(Amplitude Shift Keying，ASK)检波、相移键控(Phase Shift Keying，PSK)检波、频移键控(Frequency Shift Keying，FSK)检波或正交振幅调制(Quadrature Amplitude Modulation，QAM)检波等。
-解调和解码模块：对检波出的信号进行解调制和解码，以恢复出原始信息流。
反向散射通信设备通过调节其内部阻抗来控制调制电路的反射系数Γ，从而改变入射信号的幅度、频率、相位等，实现信号的调制。反射系数Γ可以表征为：
其中，Z0为天线特性阻抗；Z1是负载阻抗；j表示复数，θT表示相位。假设入射信号表示为Sin(t)，则输出信号为因此，通过合理的控制反射系数可实现对应的幅度调制、频率调制或相位调制。基于此，反向散射通信设备，可以是传统射频识别标识(Radio Frequency Identification，RFID)中的标签Tag，也可以是无源或半无源物联网(Passive/Semi-passive Internet of Things，IoT)设备。这里，反向散射通信设备可统称为BSC设备。
可选地，基于反向散射的通信架构至少可以包括以下几种模式：
(1)拓扑结构Topology 1：如图1A所示，Topology 1中的基站既是射频源或者发送设备也是接收设备，因此Topology1是单基地反向散射通信系统(Monostatic Backscatter Communication System，MBCS)架构。传统的RFID系统就是典型的MBCS，其中包含环境供能的物联网设备Ambient IoT Device(比如Tag)和读写器Reader(比如基站)，且Tag与Reader直接通信，Reader可能具有频分双工(Frequency Division Duplexing，FDD)架构的功能模块。在Topology 1中，控制信令的发送设备和反向散射信号的接收设备是同一个设备，而RF载波源的发送设备可以与前述设备是同一设备，也可以是独立的设备。
(2)拓扑结构Topology 2：如图1B所示，在Topology 2中，Ambient IoT Device(比如Tag)接收中间节点发送的控制信令和载波信号，所述控制信令可以是网络设备(比如基站gNB)通过中间节点进行指示的，所述中间节点可以为用户设备(User Equipment，UE)、中继器(repeater)、IAB节点等。中间节点还可以作为中继将IoT数据转发给gNB。
(3)拓扑结构Topology 3：Topology 3涉及双基地反向散射通信系统(BBCS)，其中的射频源、BSC发送设备和BSC接收设备是分开的；在Topology 3中，Ambient IoT Device(比如Tag)向基站发送IoT数据/上行信令，并接收辅助节点发送的数据/信令，如图1C所示；或者，Ambient IoT Device(比如Tag)向辅助节点发送IoT数据/上行信令，并接收基站发送的数据/信令，如图1D所示；基站与辅助节点通过Uu口通信，辅助节点可以为UE、repeater、IAB等。
(4)拓扑结构Topology 4：如图1E所示，在Topology 4中，UE作为Reader与Tag进行通信。此架构也属于单基地反向散射通信架构，区别在于Reader是UE，而非基站。
此外，除了基于反向散射通信的标签，也有一些可以主动生成载波但功耗小于1mW的标签设备，比如RFID系统中的有源标签或半无源标签。
由于反向散射通信设备具有成本低、功耗低、体积小的特点，因此可以广泛应用于货物盘点和追踪、个人物品寻找、宠物定位、停车场车辆定位、商场的商铺定位和博物馆站台定位等。基于反向散射的无源标签定位方案被认为是一种低成本且低功耗的定位方案。无源标签自身不需要生成载波，而是将自身的调制数据调制到第三方设备发射的射频载波上，从而实现低成本、低功耗、设备小型化的定位。
可选地，支持反向散射通信定位所需的测量参数可以包括但不限于参考信号强度(Received Signal Strength，RSS)、接收信号强度指示(Received Signal Strength Indication，RSSI)、波达方向(Direction Of Arrival，DOA)、到达角(Angle of Arrival，AOA)、出发角(Angle of Departure，AOD)相位信息、到达时间(Time Of Arrival，TOA)或往返时间(Round-Trip Time，RTT)、到达时间差(Time Difference Of Arrival，TDOA)、载波相位差(Phase Difference of Arrival，PDOA)等。其中，DOA与AOA是同一个角，二者概念相同，不失一般性，下面都是以DOA进行说明。
可选地，本申请中方案可以应用在LTE系统，5G NR系统以及NR演进系统，6G系统以及6G演进系统，以及IEEE 802.11系统(如WiFi系统)、蓝牙(Bluetooth)系统、LoRa系统、紫蜂Zigbee系统、反向散射通信系统、低功耗物联网系统、Ambient IoT等系统的测角或定位。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的定位方法、装置、通信设备及可读存储介质进行详细地说明。
请参见图2，图2是本申请实施例提供的一种定位方法的流程图，该方法由第一设备执行，如图2所示，该方法包括如下步骤：
步骤21：第一设备响应于用户输入，确定与待查找物品关联的第二设备；
步骤22：第一设备在移动过程中向所述第二设备发送第一信号，并在移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
步骤23：第一设备获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；
步骤24：第一设备根据所述第一测量值和所述第二测量值，确定待查找物品的方位信息和/或位置信息。
本申请实施例中，所述第一设备为具有测角/定位能力且支持移动的设备，可以包括但不限于智能手机、平板电脑、笔记本电脑、智能手表、智能手环、智能耳机、增强现实(Augmented Reality，AR)设备、虚拟现实(Virtual Reality，VR)设备、扩展现实(Extended Reality，XR)设备、混合现实(Mix reality，MR)设备、机器人等，也可以包括支持移动的中继器(Repeater)、继电Relay设备、WiFi节点、Zigbee节点、LoRa节点、Bluetooth节点等。
所述第二设备为待定位设备，可以包括但不限于RFID标签、3GPP AIoT标签、WiFi/Zigbee/LoRa/Bluetooth标签或其它低功耗设备。比如，所述第二设备可选为无源标签或半有源标签。
对于待查找物品与第二设备的关联，可以是第二设备安装/设置在待查找物品上。
对于用户输入，可以是用户的语音输入，比如语音输入“查找物品A”等；也可以是用户对第一设备的输入操作，比如在第一设备中输入想要查找物品的名称、标识等；对此不作限定。
所述第一设备的移动可以是通过持有/携带第一设备的用户的移动实现的。
所述惯性测量单元(Inertial Measurement Unit，IMU)具体为一个传感器的集合，可以用于精确测量和检测设备的加速度、角速度和方向等关键信息。比如，惯性测量单元IMU可以包含三个单轴的加速度计、单个单轴的陀螺仪以及磁力器等；其中，加速度计用于检测相应设备在载体坐标系统独立三轴的加速度信号，而陀螺仪用于检测相应设备相对于导航坐标系的角速度信号，测量物体在三维空间中的角速度和加速度，并经过误差补偿和惯性导航解算，输出相应设备相对于初始位置的坐标变化量、速度等信息。
可选地，所述第一设备的移动轨迹可以包括以下至少一项：
非直线轨迹；
加速度为非恒值的移动轨迹。
通过本申请实施例的方案，第一设备可以响应于用户输入，确定与待查找物品关联的第二设备，并在移动过程中向第二设备发送第一信号，以及在移动过程中接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号，获得所述第二信号的第一测量值和第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，并根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。由此，可以通过第一设备的移动来构建虚拟天线阵列，并以此实现对第二设备进行定位，进而实现对与第二设备关联的待查找物品的定位，这其中不需要第二设备具有主动生成信号的能力和/或信号测量和上报能力，从而实现低功耗且低成本的定位。
可选地，所述第一信号可以满足以下至少一项：
(a)所述第一信号是周期性的同步信号，比如为主同步信号(Primary Synchronization Signal，PSS)、辅同步信号(Secondary Synchronization Signal，SSS)、前导码(Preamble)信号等；
(b)所述第一信号是周期性的用于定位或测角的参考信号，比如为定位参考信号(Positioning Reference Signal，PRS)等；
(c)所述第一信号是周期性的且序列已知的测量参考信号，比如为信道状态信息参考信号(Channel State Information Reference Signal，CSI-RS)、探测参考信号(Sounding Reference Signal，SRS)、相位跟踪参考信号(Phase-Tracking Reference Signal，PTRS)、解调参考信号(Dedicated demodulation reference signals，DM-RS)、Preamble信号等；
(d)所述第一信号是周期性的且调制信息或输入比特已知的数据信号，即所述第一信号为调制信号；
(e)所述第一信号是载波信号，比如为正弦信号、余弦信号、啁啾chirp信号等。
可选地，当所述第一信号是周期性信号时，所述第一信号的周期与所述第二信号的周期可以相同，也可以不相同。比如可以系统配置的一个阈值参数δ，所述第一信号的周期T1与所述第二信号的周期T2满足：|T1-T2|≤δ。
可选地，当所述第一信号是周期性信号时，所述第二信号可以是按照固定的反射系数对所述第一信号进行反向散射得到的。或者，当所述第一信号是载波信号时，所述第二信号可以是根据配置或指示信息对所述第一信号进行反向散射调制得到的。
可选地，对于第二测量值和第二信号存在的关联关系，可以是：所述第二信号的第一测量值的测量时刻与所述第二测量值的测量时刻相同，或者，所述第二信号的第一测量值的测量时刻与所述第二测量值的测量时刻在同一个时间窗内。该时间窗的大小可以是系统或协议规定的。由此，可以保证第一测量值和第二测量值的测量时刻相同或接近，从而提升估计得到的第一设备与第二设备之间的DOA/AOD和/或第二设备的位置信息的准确性，进而准确对待查找物品进行定位。
可选地，所述第二信号的第一测量值可以包括但不限于以下至少一项：
所述第二信号的参考信号强度(Received Signal Strength，RSS)；
所述第二信号的接收信号强度指示RSSI；
所述第二信号的幅度；
所述第二信号的相位；
所述第二信号的频率；
所述第二信号的协方差矩阵；
所述第二信号的自相关矩阵；
根据所述第二信号的多个测量值得到的统计值；该统计值比如为最大值、平均值、最小值、加权值等；
利用多个天线获得的多个第二信号的测量值，或者，利用多个天线获得的多个第二信号的测量值的统计值。
一种可选实施方式中，可以利用第一设备的k(k≥1)根天线获得k个第二信号的第一测量值，或者获得该k个第二信号的测量值的统计值，比如最大值、平均值等。
可选地，基于惯性测量单元IMU获得的第二测量值可以包括以下至少一项：
加速度信息，比如为惯性测量单元中加速度计输出的在移动时间T2内的加速度信息，该T2等于所述第二信号的一个周期时间；
角速度信息，比如为惯性测量单元中陀螺仪输出的在移动时间T2内的角速度信息，该T2等于所述第二信号的一个周期时间；
方位信息，比如为惯性测量单元中陀螺仪输出的在移动时间T2内的方位信息，该T2等于所述第二信号的一个周期时间；
磁感应信息，比如为惯性测量单元中磁力器输出的在移动时间T2内的磁感应强度，该T2等于所述第二信号的一个周期时间；
偏航角信息，比如为惯性测量单元中磁力器输出的在移动时间T2内的偏航角信息，该T2等于所述第二信号的一个周期时间；
位置信息，比如为预设时间窗内或所述第二信号的一个周期时间T2内的第一设备的相对位置信息；
所述惯性测量单元的多个测量值的统计值，该统计值比如为最大值、平均值、最小值、加权值、测量时间最早测量值、测量时间最晚测量值等。
可选地，所述待查找物品的方位信息和/或位置信息可以包括但不限于以下至少一项：
所述待查找物品与所述第一设备的相对方位信息；
所述第一设备与所述待查找物品的相对方位信息；
所述待查找物品的绝对方位信息；
所述待查找物品与所述第一设备的相对距离信息；
所述第一设备与所述待查找物品的相对位置信息，比如包括相对距离和相对方位；
所述待查找物品与所述第一设备的相对位置信息，比如包括相对距离和相对方位；
所述待查找物品的绝对位置信息。
对于基于虚拟天线阵列(Virtual Antenna Array，VAA)的测角和定位技术，基本原理是通过通信设备按照某运动轨迹运动，来构建虚拟天线阵列，并基于构建的虚拟天线阵列来计算DOA或AOD；如果计算得到两个以上的DOA或AOD，则可以基于三角定位算法等来估计与待定位设备的距离和角度。
可选地，可以采用多种方式来估计第一设备与第二设备之间的DOA或AOD。上述步骤24中确定待查找物品的方位信息和/或位置信息可以包括：
第一设备根据所述第一测量值和所述第二测量值，比如移动过程中的m(m≥2)个第一测量值和m个第二测量值，采用DOA或AOD估计算法估计得到第一设备与第二设备之间的多个DOA或AOD；其中，所述DOA或AOD估计算法可以包括以下至少一项：波束成形Beamforming算法、多重信号分类(Multiple Signal Classification，MUSCI)算法、ESPRIT(Estimation of Signal Parameters via Rotational Invariance Techniques)算法、酉ESPRIT(Unitary ESPRIT)算法等；对于Beamforming算法、MUSCI算法、ESPRIT算法以及酉ESPRIT算法，可以参见已有的算法内容，本申请实施例中对此不作具体限定；
第一设备根据该多个DOA或AOD，估计得到与第二设备关联的待查找物品的方位信息和/或位置信息。比如，在获得多个DOA或AOD后，可以采用已有的定位算法(如包括但不限于AOA、AOD等多角定位算法)来估计待查找物品的方位信息和/或位置信息。
可选地，上述步骤24中确定待查找物品的方位信息和/或位置信息的过程可以包括以下至少一项：
a)第一设备根据所述第一测量值和所述第二测量值，如多个第二信号的第一测量值以及对应IMU的多个第二测量值，直接计算得到待查找物品的方位信息和/或位置信息；该方位信息和/或位置信息比如为待查找物品与第一设备的相对距离、相对方位和/或相对位置，或者待查找物品的绝对位置；
b)第一设备将所述第一测量值和所述第二测量值(如多个第二信号的第一测量值以及对应IMU的多个第二测量值)发送给第三设备，并接收第三设备发送的待查找物品的方位信息和/或位置信息；所述待查找物品的方位信息和/或位置信息是根据所述第一测量值和所述第二测量值计算得到的，比如为待查找物品与第一设备的相对距离、相对方位和/或相对位置，或者待查找物品的绝对位置；所述第三设备比如为定位服务器或不同于第一设备的其他设备。
本申请实施例中，可以基于用户输入信息来确定与待查找物品关联的设备。上述响应于用户输入，确定与待查找物品关联的第二设备可以包括：
第一设备根据用户输入的所述待查找物品的物品信息，确定与所述物品信息关联的设备信息；
第一设备根据所述设备信息，确定所述第二设备。
这样，在获得待查找物品的物品信息之后，可以基于物品信息与设备信息之间的关联关系，高效地确定出与待查找物品关联的设备。
可选地，所述物品信息可以是待查找物品的物品名称或物品代号等。所述物品信息可以是通过以下至少一种方式输入的：
文字输入方式；比如，可以在第一设备的设备界面或应用程序APP，通过文字输入待查找物品的物品信息；
语音输入方式；比如，可以在第一设备的设备界面或APP，通过语音输入待查找物品的物品信息；
图像输入方式；比如，可以在第一设备的设备界面或APP，通过扫描待查找物品的图像，使得第一设备获取待查找的物品名称或物品代号等。
可选地，所述设备信息可以包括但不限于以下至少一项：
设备标识ID；
标签识别号(Tag Identifier，TID)；
产品电子代码(Electronic Product Code，EPC)；
无线网络临时标识(Radio Network Temporary Identity，RNTI)。
可选地，对于第二设备的设备信息，可以是由第一设备在执行定位之前获得的。本申请实施例中的定位方法还可以包括：
第一设备通过盘点流程、配对过程或者注册过程，获取第二设备的设备信息；
第一设备建立所述第二设备的设备信息与待查找物品的物品信息(比如物品名称或物品代号等)之间的关联关系。
这样基于物品信息与设备信息之间的关联关系，在获得待查找物品的物品信息之后，可以高效地确定出与待查找物品关联的设备，从而完成定位过程。
需指出的，第二设备的设备信息(比如设备ID、TID、EPC和/或RNTI等)，是第二设备在定位过程中的唯一标识。对于第二设备的设备信息与待查找物品的物品信息之间的关联关系，可以是一个或多个第二设备的设备信息关联到一个物品信息(比如物品名称、物品代号等)。所述第二设备的存储器中可以存储与之关联物品的物品信息(比如物品名称、物品代号等)。
可选地，第一设备可以与第二设备进行能力交互，并获得第二设备的能力信息。上述在移动过程中向第二设备发送第一信号可以包括：
第一设备根据第二设备的能力信息，在移动过程中向第二设备发送第一信号；所述第二设备的能力信息包括但不限于以下至少一项：
所述第二设备的天线能力；
所述第二设备支持的调制方式；
所述第二设备支持的调制阶数；
所述第二设备支持的调制速率；
所述第二设备支持的带宽；
所述第二设备支持的工作频点；
所述第二设备的搬频能力；
所述第二设备的反射系数大小；
所述第二设备的放大器信息。
这样借助获得的能力信息，可以使得第一设备确定第二设备生成第二信号的方式。比如，如果第二设备支持的反向散射调制方式不满足第二信号的参数要求，则此时可以是第一设备发送的第一信号就是周期性信号，而第二信号仅仅是第一信号的反射信号；或者，如果第二设备支持调制，则第一信号可以是载波信号，而第二信号是反向散射调制信号或者定位测量信号。
本申请实施例中，为了高效地实现物品查找，可以由第一设备提示/建议用户运动信息。上述确定与待查找物品关联的第二设备之后，所述定位方法还可以包括：
第一设备生成第一运动信息；比如，第一设备可以结合用户习惯、先验信息等生成第一运动信息，也可以随机生成第一运动信息；
第一设备向携带第一设备的用户提示所述第一运动信息；所述第一运动信息可以包括但不限于以下至少一项：
运动轨迹，比如可以为直线轨迹、圆形轨迹、椭圆形轨迹、非直线曲线轨迹等；
运动速度，比如可以包括但不限于建议的最佳运动速度、建议的最大移动速度、建议的最小移动速度等；
运动时间，比如可以包括但不限于建议的最佳运动时间、建议的最小运动时间、建议的最大运动时间等；
运动步数，比如可以包括但不限于建议的最佳运动步数、建议的最小运动步数、建议的最大运动步数等；
加速度信息，比如可以为匀速运动信息或非匀速运动信息；
第一设备的姿态信息，比如可以包括但不限于第一设备的朝向、方位角、俯仰角、翻转角等。
这样借助第一运动信息，可以指示或告知建议的用户运动信息，从而在用户按照第一运动信息运动时，可以使得第一设备进行相应移动，从而高效地实现物品查找。
可选地，第一设备可以通过文字显示、语音播放、图像显示、动画或视频等方式，来指示或告知用户运动信息。所述第一运动信息可以是通过以下至少一项进行提示的：
文字信息；比如，第一设备可以通过文字显示的方式，来指示或告知用户上述的第一运动信息；
语音信息；比如，第一设备可以通过语音播放的方式，来指示或告知用户上述的第一运动信息；
图像信息；比如，第一设备可以通过设备界面上显示的图像，来显示上述的第一运动信息，并标注轨迹类型、移动速度、加速度、方位信息等关键信息；
动画或者视频信息；比如，第一设备可以通过设备界面上显示的动画或者视频，来动态显示上述的第一运动信息，并标注轨迹类型、移动速度、加速度、方位信息等关键信息。
例如，以显示图像的方式来告知用户运动信息为例，具体的用户运动信息显示界面可以如图3所示，在设备界面上标注并显示的关键信息如下所示：
(1)建议的运行轨迹，如图3中显示的非直线轨迹；
(2)建议的设备姿态，如图3中以图像形式告知用户手持设备的姿态；
(3)建议的步行速度，如图3中建议的步行速度为1m/s；
(4)建议的步行时间，如图3中建议的步行时间为5s；
(5)建议的步行步数，如图3中建议的步行步数为20步；
(6)建议的加速度，如图3中建议匀速运动，即加速度为0。
此外，第一设备也可以结合语音播放和图像显示两种方式，共同向用户呈现用户运动信息。更进一步的，如果第一设备是以动画或者视频的方式来告知用户运功信息，则其中的手持姿态、运动轨迹等可以设计成动态的样式。可选地，第一设备也可以结合语音播放和动画/视频两种方式共同呈现用户运动信息。
本申请实施例中，为了高效查找到物品，第一设备可以在移动过程中，基于接收到的第二信号的信号强度变化、信号质量变化等实时更新第一运动信息并提示。上述生成第一运动信息之后，本申请实施例中定位方法还可以包括：
第一设备更新所述第一运动信息，获得第二运动信息，即获得更新后的第一运动信息；比如，第一设备可以基于接收到的第二信号的信号强度变化、信号质量变化等实时更新第一运动信息；
第一设备向携带第一设备的用户提示所述第二运动信息；所述第二运动信息包括以下至少一项：
运动轨迹，比如可以为直线轨迹、圆形轨迹、椭圆形轨迹、非直线曲线轨迹等；
运动速度，比如可以包括但不限于建议的最佳运动速度、建议的最大移动速度、建议的最小移动速度等；
加速度信息，比如可以为匀速运动信息或非匀速运动信息；
第一设备的姿态信息，比如可以包括但不限于第一设备的朝向、方位角、俯仰角、翻转角等。
这样借助第二运动信息，可以修正用户运动偏差，从而使得用户在按照第二运动信息运动时，能够高效地实现物品查找。
可选地，第一设备可以通过文字、语音播放、图像显示、动画或视频等方式，来指示或告知更新后的用户运动信息。所述第二运动信息可以是通过以下至少一项进行提示的：
文字信息；比如，第一设备可以通过文字显示的方式，来指示或告知用户上述的第二运动信息；
语音信息；比如，第一设备可以通过语音播放的方式，来指示或告知用户上述的第二运动信息；
图像信息；比如，第一设备可以通过设备界面上显示的图像，来显示上述的第二运动信息，并标注轨迹类型、移动速度、加速度、方位信息等关键信息；
动画或者视频信息；比如，第一设备可以通过设备界面上显示的动画或者视频，来动态显示上述的第二运动信息，并标注轨迹类型、移动速度、加速度、方位信息等关键信息。
可选地，如果成功确定待查找物品的方位信息和/或位置信息，本申请实施例中的定位方法还可以包括：
第一设备根据所述方位信息和/或位置信息，生成引导信息；该引导信息为与待查找物品的方位和/或位置相关的信息，用于引导用户寻找物品；
第一设备向携带第一设备的用户提示所述引导信息。
这样借助提示的引导信息，可以便于用户成功找到待查找物品。
可选地，所述引导信息可以包括以下至少一项：
(I)待查找物品与第一设备的相对方位信息；
(II)第一设备与待查找物品的相对方位信息；
(III)待查找物品的绝对方位信息；
(IV)待查找物品与第一设备的相对距离信息；
(IIV)第一设备与待查找物品的相对位置信息，比如包括相对距离和相对方位；
(V)待查找物品与第一设备的相对位置信息，比如包括相对距离和相对方位；
(VI)待查找物品的绝对位置信息。
可选地，第一设备可以通过文字显示、语音播放、图像显示、动画或视频等方式来提示引导信息，如提示待查找物品相对于第一设备的方位或位置信息，或者生成指向箭头或动态轨迹图，从而引导用户寻找物品。所述引导信息可以是通过以下至少一项进行提示的：
文字信息；比如，第一设备可以通过文字告知用户待查找物品所在的方位或位置信息；
语音信息；比如，第一设备可以通过语音告知用户待查找物品所在的方位或位置信息；
图像信息；比如，第一设备可以通过设备界面上显示的图像，来呈现待查找物品相对于第一设备的方位或位置信息；此外，也可以生成引导用户寻找待查找物品的指向箭头或轨迹图；
动画或者视频信息；比如，第一设备可以通过设备界面上显示的动画或者视频，来动态呈现待查找物品相对于第一设备的方位或位置信息；此外，也可以生成引导用户寻找待查找物品的动态指向箭头或动态轨迹图。
例如，以显示图像的方式来告知用户待查找物品(如钱包)相对于第一设备的方位和位置信息为例，设备界面上显示的引导信息可以如图4所示，在设备界面上标注并显示的关键信息如下所示：
(1)钱包相对于第一设备的方位信息，如图4中显示的方位为105°；
(2)钱包相对于第一设备的距离信息，如图4中显示的距离约为10m；
(3)引导用户寻找钱包的指向箭头，如图4中的单点画线箭头并标注距离和方位信息；
(4)引导用户寻找钱包的轨迹图，如图4中的弯曲的虚线轨迹图。
此外，第一设备也可以结合语音播放和图像显示两种方式，共同向用户呈现物品方位信息/位置信息，或者寻找物品的引导信息。更进一步的，如果第一设备是以动画或者视频的方式来告知用户物品的方位信息/位置信息，或者寻找物品的引导信息，则其中的指向箭头和轨迹图可以为动态展示的样式。可选地，第一设备也可以结合语音播放和动画/视频两种方式共同向用户呈现相关信息。
可选地，如果没有成功确定待查找物品的方位信息和/或位置信息，即没有获得待查找物品的方位信息和/或位置信息，本申请实施例中定位方法还可以包括以下至少一项：
①第一设备生成定位失败信息，并向携带第一设备的用户提示所述定位失败信息，所述定位失败信息用于通知用户定位失败；由此可以告知用户定位失败情况；此情况下，用户或第一设备可结束定位流程；
②第一设备生成重新定位信息，并向携带第一设备的用户提示所述重新定位信息，所述重新定位信息用于通知用户再次执行定位；由此可以使用户重启定位来寻找物品；在重启定位之后，可以重新执行上述的定位过程，在此不再赘述；
③第一设备生成远距离定位开启信息，并向携带第一设备的用户提示所述远距离定位开启信息，所述远距离定位开启信息用于通知用户开启远距离定位服务；比如，所述远距离定位服务可以是通过多设备协作定位、蜂窝定位、蓝牙定位等方式来进行定位，同时可以开启“远距离查找模式”或者“丢失模式”等；由此借助远距离定位服务，可以增大成功寻找到物品的概率。
需指出的，所述定位失败信息、所述重新定位信息和所述远距离定位开启信息可以通过文字、语音、图像等方式进行提示，对此不作限定。
可选地，本申请实施例中的定位方法还可以包括以下至少一项：
(a)第一设备响应于用户的结束操作，退出定位流程或者定位界面；比如，用户在根据引导信息寻找物品成功或失败之后，可以基于输入的结束操作，主动结束定位流程或者退出设备定位界面；
(b)第一设备响应于用户输入的定位成功信息，结束定位流程；比如，用户在根据引导信息寻找物品成功之后，可以在第一设备中输入定位成功信息，以结束此次定位流程；
(c)第一设备响应于用户输入的定位结束信息，结束定位流程；比如，用户在根据引导信息寻找物品成功或失败之后，可以在第一设备中输入定位结束信息，以结束此次定位流程；
(d)第一设备响应于用户输入的定位失败信息，执行以下任一项：结束定位流程；重新启动定位流程，即重新执行上述的定位过程；生成远距离定位开启信息，并向携带第一设备的用户提示所述远距离定位开启信息，所述远距离定位开启信息用于通知用户开启远距离定位服务。比如，所述远距离定位服务可以是通过多设备协作定位、蜂窝定位、蓝牙定位等方式来进行定位，同时可以开启“远距离查找模式”或者“丢失模式”等；由此借助远距离定位服务，可以增大成功寻找到物品的概率。
可选地，当用户根据第一设备提供的引导信息，如方位/位置信息或者查找物品的轨迹信息，来寻找物品时，可能寻找物品成功或者失败，并由此触发不同的流程或操作。如图5所示，可能的流程及操作可以包括：
情况1：寻找物品成功，则可以执行如下操作之一：
1.1用户主动结束定位流程或退出定位界面；
1.2用户在第一设备中输入定位成功信息，结束此次定位流程；
1.3用户在第一设备中输入定位结束信息，结束此次定位流程。
情况2：寻找物品失败，则可以执行如下操作之一：
2.1用户主动结束定位流程或退出定位界面；
2.2用户在第一设备中输入定位失败信息，第一设备执行如下操作：
(I)再次生成第二设备的方位或位置相关的引导信息，引导用户再次寻找物品；
(II)生成再次定位提示信息，提示用户是否再次执行定位流程；
(III)生成定位失败通知信息，提示用户开启“远距离查找模式”或者“丢失模式”，用于告知用户开启远距离定位服务；
(IV)生成定位失败通知信息，提示用户定位失败并结束流程；
2.3用户在第一设备中输入定位结束信息，结束此次定位流程。
请参见图6，图6是本申请实施例提供的一种定位方法的流程图，该方法由第二设备执行，如图6所示，该方法包括如下步骤：
步骤61：第二设备接收第一设备在移动过程中发送的第一信号，所述第二设备与待查找物品关联；
步骤62：第二设备根据所述第一信号生成第二信号，所述第二信号是周期性信号；
步骤63：第二设备向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于确定所述待查找物品的方位信息和/或位置信息。
本申请实施例中，所述第一设备为具有测角/定位能力且支持移动的设备，可以包括但不限于智能手机、平板电脑、笔记本电脑、智能手表、智能手环、智能耳机、AR设备、VR设备、XR设备、MR设备、机器人等，也可以包括支持移动的Repeater、Relay设备、WiFi节点、Zigbee节点、LoRa节点、Bluetooth节点等。
所述第二设备为待定位设备，可以包括但不限于RFID标签、3GPP AIoT标签、WiFi/Zigbee/LoRa/Bluetooth标签或其它低功耗设备。比如，所述第二设备可选为无源标签或半有源标签。
对于待查找物品与第二设备的关联，可以是第二设备安装/设置在待查找物品上。
所述第一设备的移动可以是通过持有/携带第一设备的用户的移动实现的。
可选地，所述第一设备的移动轨迹可以包括以下至少一项：
非直线轨迹；
加速度为非恒值的移动轨迹。
通过本申请实施例的方案，可以通过第一设备的移动来构建虚拟天线阵列，并以此实现对第二设备进行定位，进而实现对与第二设备关联的待查找物品的定位，这其中不需要第二设备具有主动生成信号的能力和/或信号测量和上报能力，从而实现低功耗且低成本的定位。
可选地，所述第一信号可以满足以下至少一项：
(a)所述第一信号是周期性的同步信号，比如为PSS、SSS、Preamble信号等；
(b)所述第一信号是周期性的用于定位或测角的参考信号，比如为PRS等；
(c)所述第一信号是周期性的且序列已知的测量参考信号，比如为CSI-RS、SRS、PTRS、DM-RS、Preamble信号等；
(d)所述第一信号是周期性的且调制信息或输入比特已知的数据信号，即所述第一信号为调制信号；
(e)所述第一信号是载波信号，比如为正弦信号、余弦信号、chirp信号等。
可选地，当所述第一信号是周期性信号时，所述第一信号的周期与所述第二信号的周期可以相同，也可以不相同。比如可以系统配置的一个阈值参数δ，所述第一信号的周期T1与所述第二信号的周期T2满足：|T1-T2|≤δ。
可选地，当所述第一信号是周期性信号时，所述第二信号可以是按照固定的反射系数对所述第一信号进行反向散射得到的。或者，当所述第一信号是载波信号时，所述第二信号可以是根据配置或指示信息对所述第一信号进行反向散射调制得到的。
可选地，本申请实施例中的定位方法还可以包括：
第二设备向第一设备发送能力信息；其中，所述能力信息是生成/发送第二信号相关的能力信息，所述能力信息可以包括以下至少一项：
所述第二设备的天线能力；
所述第二设备支持的调制方式；
所述第二设备支持的调制阶数；
所述第二设备支持的调制速率；
所述第二设备支持的带宽；
所述第二设备支持的工作频点；
所述第二设备的搬频能力；
所述第二设备的反射系数大小；
所述第二设备的放大器信息。
可选地，第二设备可以向第一设备发送设备信息，该设备信息比如为产品电子代码EPC、标签识别号TID、设备ID等，以使第一设备根据该设备信息，建立第一设备与第二设备之间的关联关系，进而使得第二设备及时响应第一设备。
一种可选实施方式中，第二设备可以通过盘点流程或注册过程等向第一设备发送其EPC码、TID码、设备ID等。
本申请实施例提供的定位方法，执行主体可以为定位装置。本申请实施例中以定位装置执行定位的方法为例，说明本申请实施例提供的定位的装置。
本申请实施例提供一种定位装置，作为一种示例，定位装置可以是通信设备或通信设备中的部件，例如芯片等。定位装置包括接收模块、发送模块和处理模块。其中，接收模块、发送模块和处理模块可以是通过软件实现，也可以通过硬件实现。当通过硬件实现时，处理模块可以由处理器实现，示例性的，处理器可以包括通用处理器、专用处理器等，例如包括中央处理单元(Central Processing Unit，CPU)、微处理器、数字信号处理器(Digital Signal Processor，DSP)、人工智能(Artificial Intelligent，AI)处理器、图形处理器(Graphics Processing Unit，GPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、网络处理器(Network Processor，NP)、现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、门电路、晶体管、分立硬件组件等。接收模块和发送模块可以由通信接口实现，通信接口可以包括收发器、管脚、电路、总线、射频单元等其中一种或多种。
具体的，参见图7，当定位装置为第一设备或第一设备中的部件时，定位装置70包括：
确定模块71，用于响应于用户输入，确定与待查找物品关联的第二设备；
第一发送模块72，用于在移动过程中向所述第二设备发送第一信号；
第一接收模块73，用于在移动过程中接收所述第二设备发送的第二信号，其中，所述第二信号是根据所述第一信号生成的周期性信号；
第一处理模块74，用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，并根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。
可选地，所述第一测量值的测量时刻与所述第二测量值的测量时刻相同，或者，所述第一测量值的测量时刻与所述第二测量值的测量时刻在同一个时间窗内。
可选地，所述第一测量值包括以下至少一项：参考信号强度RSS、接收信号强度指示RSSI、信号幅度、信号相位、信号频率、协方差矩阵、自相关矩阵；
和/或，所述第二测量值包括以下至少一项：加速度信息、角速度信息、方位信息、磁感应信息、偏航角信息、位置信息。
可选地，所述待查找物品的方位信息和/或位置信息包括以下至少一项：
所述待查找物品与所述第一设备的相对方位信息；
所述第一设备与所述待查找物品的相对方位信息；
所述待查找物品的绝对方位信息；
所述待查找物品与所述第一设备的相对距离信息；
所述第一设备与所述待查找物品的相对位置信息；
所述待查找物品与所述第一设备的相对位置信息；
所述待查找物品的绝对位置信息。
可选地，所述确定模块71具体用于：根据用户输入的所述待查找物品的物品信息，确定与所述物品信息关联的设备信息；根据所述设备信息，确定所述第二设备。
可选地，定位装置70还包括：
获取模块，用于通过盘点流程、配对过程或者注册过程，获取所述第二设备的设备信息；
建立模块，用于建立所述第二设备的设备信息与所述待查找物品的物品信息之间的关联关系。
可选地，所述设备信息包括以下至少一项：
设备标识；
标签识别号；
产品电子代码；
无线网络临时标识。
可选地，所述物品信息是通过以下至少一种方式输入的：
文字输入方式；
语音输入方式；
图像输入方式。
可选地，定位装置70还包括：
第一生成模块，用于生成第一运动信息；
第一提示模块，用于向携带所述第一设备的用户提示所述第一运动信息；
其中，所述第一运动信息包括以下至少一项：
运动轨迹；
运动速度；
运动时间；
运动步数；
加速度信息；
所述第一设备的姿态信息。
可选地，所述第一运动信息是通过以下至少一项进行提示的：
文字信息；
语音信息；
图像信息；
动画或者视频信息。
可选地，定位装置70还包括：
更新模块，用于更新所述第一运动信息，获得第二运动信息；
第二提示模块，用于向携带所述第一设备的用户提示所述第二运动信息；
其中，所述第二运动信息包括以下至少一项：
运动轨迹；
运动速度；
加速度信息；
所述第一设备的姿态信息。
可选地，定位装置70还包括：
第二生成模块，用于在成功确定所述待查找物品的方位信息和/或位置信息时，根据所述方位信息和/或位置信息，生成引导信息；
第三提示模块，用于向携带所述第一设备的用户提示所述引导信息。
可选地，所述引导信息是通过以下至少一项进行提示的：
文字信息；
语音信息；
图像信息；
动画或者视频信息。
可选地，定位装置70还包括：
第一执行模块，用于在没有成功确定所述待查找物品的方位信息和/或位置信息时，执行以下至少一项：
生成定位失败信息，并向携带所述第一设备的用户提示所述定位失败信息，所述定位失败信息用于通知用户定位失败；
生成重新定位信息，并向携带所述第一设备的用户提示所述重新定位信息，所述重新定位信息用于通知用户再次执行定位；
生成远距离定位开启信息，并向携带所述第一设备的用户提示所述远距离定位开启信息，所述远距离定位开启信息用于通知用户开启远距离定位服务。
可选地，定位装置70还包括：
第二执行模块，用于执行以下至少一项：
响应于用户的结束操作，退出定位流程或者定位界面；
响应于用户输入的定位成功信息，结束定位流程；
响应于用户输入的定位结束信息，结束定位流程；
响应于用户输入的定位失败信息，执行以下任一项：结束定位流程；重新启动定位流程；生成远距离定位开启信息，并向携带所述第一设备的用户提示所述远距离定位开启信息，所述远距离定位开启信息用于通知用户开启远距离定位服务。
可选地，所述第一发送模块72还用于：根据所述第二设备的能力信息，在移动过程中向所述第二设备发送所述第一信号；
其中，所述第二设备的能力信息包括以下至少一项：
所述第二设备的天线能力；
所述第二设备支持的调制方式；
所述第二设备支持的调制阶数；
所述第二设备支持的调制速率；
所述第二设备支持的带宽；
所述第二设备支持的工作频点；
所述第二设备的搬频能力；
所述第二设备的反射系数大小；
所述第二设备的放大器信息。
可选地，所述第一处理模块74具体用于执行以下至少一项：
根据所述第一测量值和所述第二测量值，直接计算得到所述待查找物品的方位信息和/或位置信息；
将所述第一测量值和所述第二测量值发送给第三设备，并接收所述第三设备发送的所述待查找物品的方位信息和/或位置信息，其中，所述待查找物品的方位信息和/或位置信息是根据所述第一测量值和所述第二测量值计算得到的。
本申请实施例提供的定位装置70能够实现图2所示的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
参见图8，当定位装置为第二设备或第二设备中的部件时，定位装置80包括：
第二接收模块81，用于接收第一设备在移动过程中发送的第一信号，所述定位装置与待查找物品关联；
第二处理模块82，用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；
第二发送模块83，用于向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于确定所述待查找物品的方位信息和/或位置信息。
本申请实施例提供的定位装置80能够实现图6所示的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
如图9所示，本申请实施例还提供一种通信设备90，包括处理器91和存储器92，存储器92上存储有可在所述处理器91上运行的程序或指令，例如，该通信设备90为第一设备时，该程序或指令被处理器91执行时实现上述图2所示的定位方法实施例的各个步骤，且能达到相同的技术效果。该通信设备90为第二设备时，该程序或指令被处理器91执行时实现上述图6所示定位方法实施例的各个步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种终端，包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如图2所示方法实施例中的步骤，且能达到相同的技术效果。该终端可以是图7所示的定位装置。
具体地，图10为实现本申请实施例的一种终端的硬件结构示意图。
该终端1000包括但不限于：射频单元1001、网络模块1002、音频输出单元1003、输入单元1004、传感器1005、显示单元1006、用户输入单元1007、接口单元1008、存储器1009以及处理器1010等中的至少部分部件。
本领域技术人员可以理解，终端1000还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器1010逻辑相连，从而通过电源管理系统实现管理充电、放电以及功耗管理等功能。图10中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元1004可以包括图形处理器10041和麦克风10042，图形处理器10041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元1006可包括显示面板10061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板10061。用户输入单元1007包括触控面板10071以及其他输入设备10072中的至少一种。触控面板10071，也称为触摸屏。触控面板10071可包括触摸检测装置和触摸控制器两个部分。其他输入设备10072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元1001接收来自网络侧设备的下行数据后，可以传输给处理器1010进行处理；另外，射频单元1001可以向网络侧设备发送上行数据。通常，射频单元1001包括但不限于天线、放大器、收发器、耦合器、低噪声放大器、双工器等。
存储器1009可用于存储软件程序或指令以及各种数据。存储器1009可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一存储区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器1009可以包括易失性存储器或非易失性存储器。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器1009包括但不限于这些和任意其它适合类型的存储器。
处理器1010可包括一个或多个处理单元；可选地，处理器1010集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作系统、用户界面和应用程序等的操作，调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器1010中。
其中，处理器1010，用于响应于用户输入，确定与待查找物品关联的第二设备；
射频单元1001，用于在终端1000的移动过程中向第二设备发送第一信号，接收所述第二设备发送的第二信号，所述第二信号是根据所述第一信号生成的周期性信号；
处理器1010，用于获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。
可以理解，本实施例中提及的各实现方式的实现过程可以参照图2中所示方法实施例的相关描述，并达到相同或相应的技术效果，为避免重复，在此不再赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述图2或图6所示的定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。在一些示例中，可读存储介质可以是非瞬态的可读存储介质。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述图2或图6所示的定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述图2或图6所示的定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供了一种通信系统，包括：第一设备及第二设备，所述第一设备可用于执行如上图2所述的定位方法的步骤，所述第二设备可用于执行如上图6所述的定位方法的步骤。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助计算机软件产品加必需的通用硬件平台的方式来实现，当然也可以通过硬件。该计算机软件产品存储在存储介质(如ROM、RAM、磁碟、光盘等)中，包括若干指令，用以使得终端或者网络侧设备执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式的实施方式，这些实施方式均属于本申请的保护之内。

Claims (24)

  1. 一种定位方法，包括：
    第一设备响应于用户输入，确定与待查找物品关联的第二设备；
    所述第一设备在移动过程中向所述第二设备发送第一信号，并在移动过程中接收所述第二设备发送的第二信号，其中，所述第二信号是根据所述第一信号生成的周期性信号；
    所述第一设备获得所述第二信号的第一测量值和所述第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系；
    所述第一设备根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。
  2. 根据权利要求1所述的方法，其中，所述第一测量值的测量时刻与所述第二测量值的测量时刻相同，或者，所述第一测量值的测量时刻与所述第二测量值的测量时刻在同一个时间窗内。
  3. 根据权利要求1或2所述的方法，其中，
    所述第一测量值包括以下至少一项：参考信号强度RSS、接收信号强度指示RSSI、信号幅度、信号相位、信号频率、协方差矩阵、自相关矩阵；
    和/或，
    所述第二测量值包括以下至少一项：加速度信息、角速度信息、方位信息、磁感应信息、偏航角信息、位置信息。
  4. 根据权利要求1至3任一项所述的方法，其中，所述待查找物品的方位信息和/或位置信息包括以下至少一项：
    所述待查找物品与所述第一设备的相对方位信息；
    所述第一设备与所述待查找物品的相对方位信息；
    所述待查找物品的绝对方位信息；
    所述待查找物品与所述第一设备的相对距离信息；
    所述第一设备与所述待查找物品的相对位置信息；
    所述待查找物品与所述第一设备的相对位置信息；
    所述待查找物品的绝对位置信息。
  5. 根据权利要求1至4任一项所述的方法，其中，所述第一设备响应于用户输入，确定与待查找物品关联的第二设备，包括：
    所述第一设备根据用户输入的所述待查找物品的物品信息，确定与所述物品信息关联的设备信息；
    所述第一设备根据所述设备信息，确定所述第二设备。
  6. 根据权利要求5所述的方法，其中，所述方法还包括：
    所述第一设备通过盘点流程、配对过程或者注册过程，获取所述第二设备的设备信息；
    所述第一设备建立所述第二设备的设备信息与所述待查找物品的物品信息之间的关联关系。
  7. 根据权利要求5或6所述的方法，其中，所述设备信息包括以下至少一项：
    设备标识；
    标签识别号；
    产品电子代码；
    无线网络临时标识。
  8. 根据权利要求5至7任一项所述的方法，其中，所述物品信息是通过以下至少一种方式输入的：
    文字输入方式；
    语音输入方式；
    图像输入方式。
  9. 根据权利要求1至8任一项所述的方法，其中，所述确定与待查找物品关联的第二设备之后，所述方法还包括：
    所述第一设备生成第一运动信息；
    所述第一设备向携带所述第一设备的用户提示所述第一运动信息；
    其中，所述第一运动信息包括以下至少一项：
    运动轨迹；
    运动速度；
    运动时间；
    运动步数；
    加速度信息；
    所述第一设备的姿态信息。
  10. 根据权利要求9所述的方法，其中，所述第一运动信息是通过以下至少一项进行提示的：
    文字信息；
    语音信息；
    图像信息；
    动画或者视频信息。
  11. 根据权利要求9或10所述的方法，其中，所述方法还包括：
    所述第一设备更新所述第一运动信息，获得第二运动信息；
    所述第一设备向携带所述第一设备的用户提示所述第二运动信息；
    其中，所述第二运动信息包括以下至少一项：
    运动轨迹；
    运动速度；
    加速度信息；
    所述第一设备的姿态信息。
  12. 根据权利要求1至11任一项所述的方法，其中，如果成功确定所述待查找物品的方位信息和/或位置信息，所述方法还包括：
    所述第一设备根据所述方位信息和/或位置信息，生成引导信息；
    所述第一设备向携带所述第一设备的用户提示所述引导信息。
  13. 根据权利要求12所述的方法，其中，所述引导信息是通过以下至少一项进行提示的：
    文字信息；
    语音信息；
    图像信息；
    动画或者视频信息。
  14. 根据权利要求1至11任一项所述的方法，其中，如果没有成功确定所述待查找物品的方位信息和/或位置信息，所述方法还包括以下至少一项：
    所述第一设备生成定位失败信息，并向携带所述第一设备的用户提示所述定位失败信息，所述定位失败信息用于通知用户定位失败；
    所述第一设备生成重新定位信息，并向携带所述第一设备的用户提示所述重新定位信息，所述重新定位信息用于通知用户再次执行定位；
    所述第一设备生成远距离定位开启信息，并向携带所述第一设备的用户提示所述远距离定位开启信息，所述远距离定位开启信息用于通知用户开启远距离定位服务。
  15. 根据权利要求1至14任一项所述的方法，其中，所述方法还包括以下至少一项：
    所述第一设备响应于用户的结束操作，退出定位流程或者定位界面；
    所述第一设备响应于用户输入的定位成功信息，结束定位流程；
    所述第一设备响应于用户输入的定位结束信息，结束定位流程；
    所述第一设备响应于用户输入的定位失败信息，执行以下任一项：结束定位流程；重新启动定位流程；生成远距离定位开启信息，并向携带所述第一设备的用户提示所述远距离定位开启信息，所述远距离定位开启信息用于通知用户开启远距离定位服务。
  16. 根据权利要求1所述的方法，其中，所述第一设备在移动过程中向所述第二设备发送第一信号，包括：
    所述第一设备根据所述第二设备的能力信息，在移动过程中向所述第二设备发送所述第一信号；
    其中，所述第二设备的能力信息包括以下至少一项：
    所述第二设备的天线能力；
    所述第二设备支持的调制方式；
    所述第二设备支持的调制阶数；
    所述第二设备支持的调制速率；
    所述第二设备支持的带宽；
    所述第二设备支持的工作频点；
    所述第二设备的搬频能力；
    所述第二设备的反射系数大小；
    所述第二设备的放大器信息。
  17. 根据权利要求1所述的方法，其中，所述第一设备根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息，包括以下至少一项：
    所述第一设备根据所述第一测量值和所述第二测量值，直接计算得到所述待查找物品的方位信息和/或位置信息；
    所述第一设备将所述第一测量值和所述第二测量值发送给第三设备，并接收所述第三设备发送的所述待查找物品的方位信息和/或位置信息，其中，所述待查找物品的方位信息和/或位置信息是根据所述第一测量值和所述第二测量值计算得到的。
  18. 一种定位方法，包括：
    第二设备接收第一设备在移动过程中发送的第一信号，所述第二设备与待查找物品关联；
    所述第二设备根据所述第一信号生成第二信号，所述第二信号是周期性信号；
    所述第二设备向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于确定所述待查找物品的方位信息和/或位置信息。
  19. 一种定位装置，包括：
    确定模块，用于响应于用户输入，确定与待查找物品关联的第二设备；
    第一发送模块，用于在移动过程中向所述第二设备发送第一信号；
    第一接收模块，用于在移动过程中接收所述第二设备发送的第二信号，其中，所述第二信号是根据所述第一信号生成的周期性信号；
    第一处理模块，用于获得所述第二信号的第一测量值和第一设备中的惯性测量单元的第二测量值，所述第二测量值和所述第二信号存在关联关系，并根据所述第一测量值和所述第二测量值，确定所述待查找物品的方位信息和/或位置信息。
  20. 根据权利要求19所述的装置，其中，所述确定模块具体用于：
    根据用户输入的所述待查找物品的物品信息，确定与所述物品信息关联的设备信息，并根据所述设备信息，确定所述第二设备。
  21. 根据权利要求19或20所述的装置，其中，所述装置还包括：
    第一生成模块，用于生成第一运动信息；
    第一提示模块，用于向携带所述第一设备的用户提示所述第一运动信息；
    其中，所述第一运动信息包括以下至少一项：
    运动轨迹；
    运动速度；
    运动时间；
    运动步数；
    加速度信息；
    所述第一设备的姿态信息。
  22. 一种定位装置，包括：
    第二接收模块，用于接收第一设备在移动过程中发送的第一信号，所述定位装置与待查找物品关联；
    第二处理模块，用于根据所述第一信号生成第二信号，所述第二信号是周期性信号；
    第二发送模块，用于向移动过程中的所述第一设备发送所述第二信号，所述第二信号用于确定所述待查找物品的方位信息和/或位置信息。
  23. 一种通信设备，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至17任一项所述的方法，或者实现如权利要求18所述的方法的步骤。
  24. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至17任一项所述的方法，或者实现如权利要求18所述的方法的步骤。
PCT/CN2025/112314 2024-08-02 2025-08-04 定位方法、装置、通信设备及可读存储介质 Pending WO2026026975A1 (zh)

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CN115442884A (zh) * 2021-06-04 2022-12-06 苹果公司 设备位置寻找
CN117998435A (zh) * 2022-11-03 2024-05-07 维沃移动通信有限公司 波束处理方法、装置、通信设备及可读存储介质

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