CN110297211A - A kind of localization method and electronic equipment - Google Patents
A kind of localization method and electronic equipment Download PDFInfo
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- CN110297211A CN110297211A CN201910507409.5A CN201910507409A CN110297211A CN 110297211 A CN110297211 A CN 110297211A CN 201910507409 A CN201910507409 A CN 201910507409A CN 110297211 A CN110297211 A CN 110297211A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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Abstract
The embodiment of the present application discloses a kind of localization method and electronic equipment, this method is when positioning the first electronic equipment and the second electronic equipment, after second electronic equipment and the first electronic equipment are communicatively coupled, information is indicated and apart from instruction information by carrying angle in positioning signal, information can be indicated according to angle and determines the relative position (including relative angle and relative distance) between the first electronic equipment and the second electronic equipment apart from instruction information, to determine guidance path between the two according to relative position between the two, without carrying out global location to the two by global navigation satellite system GNSS, the problem of overcoming the limitation of GNSS use environment.
Description
Technical Field
The present disclosure relates to information processing technologies, and in particular, to a positioning method and an electronic device.
Background
The GNSS is a general Satellite Navigation System, and GNSS can be applied to vehicle Navigation, and when a vehicle is parked at a fixed position, a vehicle parking position can be recorded by a GNSS module, and when a user returns to the vehicle, the user is guided to find the vehicle parking position by the GNSS module on a mobile phone. When the vehicle is in an area with poor GNSS signals, the GNSS module is used for inaccurate positioning or cannot be used for positioning, such as indoor space, underground garage, elevator, under an overhead bridge, in a tunnel, between buildings and the like, in a closed or semi-closed space.
Disclosure of Invention
In order to solve the foregoing technical problems, embodiments of the present application are expected to provide a positioning method and an electronic device.
The technical scheme of the application is realized as follows:
in a first aspect, a positioning method is provided, and is applied to a first electronic device, where the first electronic device includes a first communication unit, where the method includes:
when detecting that second electronic equipment is located in a signal coverage range of the first communication unit, acquiring a second electronic equipment positioning signal; wherein the positioning signal at least comprises angle indication information and distance indication information;
determining angle information between the first electronic device and the second electronic device based on the angle indication information;
determining distance information between the first electronic device and the second electronic device based on the distance indicating information;
determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
In a second aspect, a positioning method is applied to a second electronic device, and the method includes:
when the second electronic device is detected to be located in a signal coverage range of a first communication unit of the first electronic device, acquiring a target positioning search signal sent by the first communication unit; the target positioning search signal at least comprises angle indication information and distance indication information;
determining angle information between the first electronic device and the second electronic device based on the angle indication information;
determining distance information between the first electronic device and the second electronic device based on the distance indicating information;
determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
In a third aspect, a first electronic device is provided, where the first electronic device includes: a first communication unit and a first processing unit; wherein,
the first communication unit is used for acquiring a positioning signal of the second electronic equipment when the second electronic equipment is detected to be located in the signal coverage range of the first communication unit; wherein the positioning signal at least comprises angle indication information and distance indication information;
the first processing unit is configured to determine angle information between the first electronic device and the second electronic device based on the angle indication information; determining distance information between the first electronic device and the second electronic device based on the distance indicating information; determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
In a fourth aspect, a second electronic device is provided, where the second electronic device includes: a second communication unit and a second processing unit; wherein,
the second detection unit is used for acquiring a positioning search signal of the first communication unit when the second electronic equipment is detected to be located in a signal coverage range of the first communication unit of the first electronic equipment; the target positioning search signal at least comprises angle indication information and distance indication information;
the second processing unit is configured to determine angle information between the first electronic device and the second electronic device based on the angle indication information; determining distance information between the first electronic device and the second electronic device based on the distance indicating information; determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
By adopting the technical scheme, after the second electronic equipment is in communication connection with the first electronic equipment, the relative position (including the relative angle and the relative distance) between the first electronic equipment and the second electronic equipment can be determined according to the angle indication information and the distance indication information by carrying the angle indication information and the distance indication information in the positioning signal, so that the navigation path between the first electronic equipment and the second electronic equipment can be determined according to the relative position between the first electronic equipment and the second electronic equipment, the global positioning of the first electronic equipment and the second electronic equipment is not required to be carried out through GNSS, and the problem of GNSS service environment limitation is overcome.
Drawings
Fig. 1 is a schematic flow chart of a positioning method in an embodiment of the present application 1;
FIG. 2 is a schematic diagram of the structure of a phased array antenna according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of relative positions of electronic devices in an embodiment of the present application;
fig. 4 is a schematic flowchart of a positioning method in an embodiment of the present application 2;
FIG. 5 is a diagram illustrating a first application scenario in an embodiment of the present application;
FIG. 6 is a diagram illustrating a second exemplary application scenario in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a first electronic device in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a second electronic device in an embodiment of the present application.
Detailed Description
So that the manner in which the features and elements of the present embodiments can be understood in detail, a more particular description of the embodiments, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings.
Example one
An embodiment of the present application provides a positioning method, as shown in fig. 1, the positioning method may specifically include:
step 101: when detecting that second electronic equipment is located in a signal coverage range of the first communication unit, acquiring a positioning signal of the second electronic equipment; wherein the positioning signal at least comprises angle indication information and distance indication information;
step 102: determining angle information between the first electronic device and the second electronic device based on the angle indication information;
step 103: determining distance information between the first electronic device and the second electronic device based on the distance indicating information;
step 104: determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
Here, the execution subject of steps 101 to 104 may be a processor of the first electronic device. The first electronic device may be a vehicle-mounted terminal, and the second electronic device may be a mobile terminal, such as a mobile phone, a wearable device, a tablet computer, a notebook computer, and the like, capable of communicating with the first communication unit of the second electronic device.
In some embodiments, the first communication unit comprises a phased array antenna; the acquiring a positioning signal of the second electronic device includes: controlling the phased array antenna to transmit at least one positioning search signal; wherein, different positioning search signals contain different angle indication information; receiving a positioning signal of the second electronic equipment responding to the target positioning search signal; the target positioning search signal is one of the at least one positioning search signal, and the angle indication information of the positioning signal is the angle indication information of the target positioning search signal.
Specifically, positioning search signals with different search angles are transmitted to a target space by controlling a phased array antenna, the different search angles correspond to different search areas, and after receiving a target search signal in the target search area, the second electronic device generates and returns a positioning signal of the second electronic device according to the target search signal; and informing the first electronic equipment of the search area in which the first electronic equipment is located by carrying the search angle indication information of the target search signal in the positioning signal. For example, the positioning signal is generated by using the angle indication information in the target positioning search signal, and the first electronic device determines the angle information according to the angle indication information.
Specifically, the determining the angle information between the first electronic device and the second electronic device based on the angle indication information is phase information, and includes: and calculating to obtain the angle information based on the phase information and the distance between adjacent antenna array elements in the phased array antenna.
A phased array, i.e., a phase compensated (or delay compensated) matrix, is used for both reception and transmission. The working principle is that the signals of antenna array elements arranged according to a certain rule are properly phase-shifted (or delayed) to obtain the deflection of array beams, and phase (or delayed) compensation is simultaneously carried out on the signals in different directions, so that multi-beams can be obtained.
The phased array antenna is of a one-dimensional or two-dimensional structure formed by a plurality of antenna array elements, the phased array antenna comprises a one-dimensional array antenna and a two-dimensional array antenna, and each antenna array element is provided with devices such as a phase shifter and the like besides an antenna radiation unit. Different antenna radiation elements can be fed with currents of different phases through phase shifters, thereby radiating beams of different directivities in space. The larger the number of elements of the antenna, the more beams can be formed in space. Such a phase steerable array antenna is known as a phased array antenna.
FIG. 2 is a schematic diagram showing a composition structure of a one-dimensional phased array antenna, where a phased array unit includes a row of antenna elements with a distance d, each antenna radiation unit is phase-controlled by a phase shifter, or a plurality of antenna radiation units share a phase shifter, and the phase difference of signals transmitted by two antenna radiation unitsλ is the wavelength of electromagnetic wave emitted by the antenna radiation unit according to the phase differenceA scanning angle theta of the antenna radiating element may be determined, which is the relative angle between the first electronic device and the second electronic device if the second electronic device is detected within the scanning angle.
In practical application, the scanning range of the phased array antenna can be 0-360 degrees, the scanning range can be divided into 4, 8, 16 and 32 scanning angles, and the smaller the scanning angle is, the more accurate the angle information is obtained.
In some embodiments, the distance indicating information comprises at least one of: time of arrival, time difference of arrival, angle of arrival, and reception strength of the positioning signal.
Specifically, the distance between the first electronic device and the second electronic device is measured by using a Time of Arrival (TOA) ranging technique, and the principle is to determine the transmission distance of a signal by using the Time of Arrival and the Time of emission of the signal from the second electronic device to the first electronic device. Specifically, the distance indication information further includes the time of issuance of the signal. For example, when the positioning signal is sent, a sending timestamp is carried for the positioning signal, when the first electronic device receives the positioning information, an arrival timestamp is recorded, a transmission time difference of the positioning signal is determined according to the sending timestamp and the arrival timestamp, and the distance information is determined according to the transmission time difference and the transmission speed of the electromagnetic wave.
The distance of a signal source may be determined by measuring the Time of Arrival of the signal at a monitoring station using a Time Difference of Arrival (TDOA) ranging technique. The location of the signal can be determined by the distance from the signal source to each monitoring station (taking the monitoring station as the center and the distance as the radius to make a circle).
Angle-of-Arrival (AOA) ranging techniques are used, and a signal Angle-of-Arrival-based positioning algorithm is a typical ranging-based positioning algorithm, and senses the Arrival direction of a signal of a transmitting node through some hardware devices, calculates the relative orientation or Angle between a receiving node and an anchor node, and then calculates the position of an unknown node by triangulation or other methods.
The method comprises the steps of determining the Signal Strength of a transmitting end by using a Received Signal Strength (RSS) ranging technology, wherein the smaller the Signal Strength Received by a receiving end is, the farther the distance between the receiving end and the transmitting end is represented, and conversely, the closer the distance is.
As shown in fig. 3, if the angle between the first electronic device and the second electronic device is θ and the distance is D, the relative position between the first electronic device and the second electronic device is (θ, D), and after the first electronic device determines its position in the target space, the position of the second electronic device in the target space can be obtained according to the relative position between the first electronic device and the second electronic device.
In some embodiments, the method further comprises: acquiring the position information of the first electronic equipment; and sending the position information and the relative position of the first electronic equipment to the second electronic equipment, so that the second electronic equipment determines a navigation path between the first electronic equipment and the second electronic equipment based on the position information and the relative position of the first electronic equipment. That is, the user may find the first electronic device according to the determined navigation path.
Or acquiring the position information of the first electronic equipment; determining a navigation path between the first electronic device and the second electronic device based on the position information of the first electronic device and the relative position; and sending the navigation path to a second electronic device.
For example, when the first electronic device is a vehicle-mounted terminal, after the vehicle is parked indoors, the vehicle-mounted terminal may record a current parking position of the vehicle, and when the user uses a mobile phone to search for the vehicle, the vehicle-mounted terminal determines the position of the user indoors according to the relative position between the vehicle and the user and the position of the vehicle, and generates and transmits the navigation path.
In some embodiments, upon detecting that a second electronic device is located within a signal coverage of the first communication unit, the method further comprises: acquiring identification information of the second electronic equipment; and controlling the first communication unit to be connected with the second electronic equipment when the second electronic equipment is determined to meet a preset first access condition based on the identification information of the second electronic equipment.
That is, before the first electronic device is connected to the second electronic device, it needs to be verified whether the second electronic device has an access right to connect to the first electronic device, for example, the access right may be managed by a black-and-white list, and the first access condition includes that the identification information of the second electronic device is located in a white list. . When the second electronic device is a Mobile phone, the identification information may be an International Mobile Equipment Identity (IMEI), a Media Access Control Address (MAC), and the like.
By adopting the technical scheme, after the second electronic equipment is in communication connection with the first electronic equipment, the relative position (including the relative angle and the relative distance) between the first electronic equipment and the second electronic equipment can be determined according to the angle indication information and the distance indication information by carrying the angle indication information and the distance indication information in the positioning signal, so that the navigation path between the first electronic equipment and the second electronic equipment can be determined according to the relative position between the first electronic equipment and the second electronic equipment, the global positioning of the first electronic equipment and the second electronic equipment is not required to be carried out through GNSS, and the problem of GNSS service environment limitation is overcome.
Example two
An embodiment of the present application provides another positioning method, which is applied to a second electronic device, and as shown in fig. 4, the positioning method may specifically include:
step 201: when the second electronic device is detected to be located in a signal coverage range of a first communication unit of the first electronic device, acquiring a target positioning search signal sent by the first communication unit; the target positioning search signal at least comprises angle indication information and distance indication information;
step 202: determining angle information between the first electronic device and the second electronic device based on the angle indication information;
step 203: determining distance information between the first electronic device and the second electronic device based on the distance indicating information;
step 204: determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
Here, the execution subject of steps 201 to 204 may be a processor of the second electronic device. The first electronic device may be a vehicle-mounted terminal, and the second electronic device may be a mobile terminal, such as a mobile phone, a wearable device, a tablet computer, a notebook computer, and the like, capable of communicating with the first communication unit of the second electronic device.
In some embodiments, the first communication unit comprises a phased array antenna; the acquiring the target positioning search signal sent by the first communication unit includes: the phased array antenna transmitting at least one location search signal; wherein, different positioning search signals contain different angle indication information; and receiving a target positioning search signal in the at least one positioning search signal.
That is to say, the positioning search signal may also be understood as a positioning signal of the first electronic device, and the second electronic device calculates a relative position with the first electronic device through the angle indication information and the distance indication information carried in the target positioning search signal.
Specifically, positioning search signals of different search angles are transmitted to a target space by controlling the phased array antenna, the different search angles correspond to different search areas, and after the second electronic device receives the target search signal in the target search area, the relative position between the second electronic device and the first electronic device is determined according to the target search signal.
In some embodiments, after said obtaining a location search signal for said first communication unit, said method further comprises: generating a positioning signal of the second electronic device in response to the target positioning search signal; wherein the positioning signal at least comprises angle indication information of the target positioning search signal; and sending the positioning signal to the first electronic equipment.
That is, after receiving the target location search signal, the second electronic device may determine the relative position therebetween according to the target location search signal, and also return a location signal to the first electronic device, and determine the relative position therebetween according to the location signal by the first electronic device. Therefore, the electronic equipment for executing the positioning processing can be flexibly selected according to the specific use scene.
For example, a positioning signal is generated by using the angle indication information in the target positioning search signal, a sending timestamp is carried for the positioning signal when the positioning signal is sent, the first electronic device records an arrival timestamp when the positioning information is received, a transmission time difference of the positioning signal is determined according to the sending timestamp and the arrival timestamp, and distance information is determined according to the transmission time difference and the transmission speed of the electromagnetic wave. And the first electronic equipment determines angle information according to the angle indication information.
Specifically, the determining the angle information between the first electronic device and the second electronic device based on the angle indication information is phase information, and includes: and calculating to obtain the angle information based on the phase information and the distance between adjacent antenna array elements in the phased array antenna.
In some embodiments, the method further comprises: determining a navigation path between the first electronic device and the second electronic device based on a relative position between the first electronic device and the second electronic device; and controlling a display unit to display the navigation path.
Specifically, the navigation path is determined based on the position information of the first electronic device and the relative position; or, the navigation path is determined based on the position information of the second electronic device and the relative position.
In some embodiments, the method further comprises, upon detecting that the second electronic device is located within a signal coverage of the first communication unit of the first electronic device: acquiring identification information of the first electronic equipment; and controlling the second electronic equipment to be connected with the first electronic equipment when the first electronic equipment is determined to meet a preset second access condition based on the identification information of the first electronic equipment.
That is, before the first electronic device is connected to the second electronic device, it needs to be verified whether the first electronic device has an access right to connect to the first electronic device, for example, the access right may be managed by a black-and-white list, and the second access condition includes that the identification information of the first electronic device is located in a white list. When the first electronic device is a vehicle-mounted terminal, the identification information may be a license plate number or an account name.
In some embodiments, upon detecting that the second electronic device is located within a signal coverage of the first communication unit of the first electronic device, the method further comprises: and sending an activation instruction to the first electronic equipment to enable the first electronic equipment to activate the positioning operation. That is to say, when the user is located within the coverage of the first communication unit, the user actively starts the vehicle positioning function, obtains the target positioning search signal of the vehicle, and determines the relative position between the vehicle and the user.
By adopting the technical scheme, after the second electronic equipment is in communication connection with the first electronic equipment, the relative position (including the relative angle and the relative distance) between the first electronic equipment and the second electronic equipment can be determined according to the angle indication information and the distance indication information by carrying the angle indication information and the distance indication information in the positioning signal, so that the navigation path between the first electronic equipment and the second electronic equipment can be determined according to the relative position between the first electronic equipment and the second electronic equipment, the global positioning of the first electronic equipment and the second electronic equipment is not required to be carried out through GNSS, and the problem of GNSS service environment limitation is overcome.
On the basis of the above embodiments, the embodiments of the present application provide the following application scenarios.
Scene 1
As shown in fig. 5, the first electronic device is an automobile, the second electronic device is a mobile phone, the first communication unit on the automobile is in a standby state, and the first communication unit can operate only by activating the first communication unit by sending an activation instruction from the mobile phone, and the positioning process between the automobile and the mobile phone is as follows:
1. the mobile phone sends an activation instruction, and the first communication unit of the automobile receives the activation instruction and activates the positioning operation;
2. the first communication unit of the automobile starts to work and transmits a positioning search signal to the outside; (including time information for indicating distance and phase information for indicating angle)
3. The mobile phone receives and processes the positioning search signal of the first communication unit of the automobile, and calculates the relative distance and angle;
and fourthly, positioning the automobile according to the distance and the angle, generating a navigation path and guiding the user to find the automobile.
Scene 2
As shown in fig. 6, the first electronic device is an automobile, the second electronic device is a mobile phone, the first communication unit on the automobile intermittently searches for the accessible device, and the positioning process between the automobile and the mobile phone is as follows:
1. a first communication unit of the automobile intermittently sends out a positioning search signal;
2. the mobile phone performs identity verification after receiving the positioning search signal, and returns a connection confirmation signal after the verification is successful to complete the connection;
3. the mobile phone processes the received positioning search signal and calculates the relative distance and angle;
4. and positioning the automobile according to the distance and the angle, generating a navigation path and guiding a user to find the automobile.
EXAMPLE III
Based on the same inventive concept, an embodiment of the present application further provides a first electronic device, as shown in fig. 7, where the first electronic device includes: a first communication unit 701 and a first processing unit 702; wherein,
the first communication unit 701 is configured to, when it is detected that a second electronic device is located within a signal coverage range of the first communication unit, acquire a positioning signal of the second electronic device; wherein the positioning signal at least comprises angle indication information and distance indication information;
the first processing unit 702 is configured to determine angle information between the first electronic device and the second electronic device based on the angle indication information; determining distance information between the first electronic device and the second electronic device based on the distance indicating information; determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
In some embodiments, the first communication unit comprises a phased array antenna;
the first communication unit is specifically configured to control the phased array antenna to transmit at least one positioning search signal; wherein, different positioning search signals contain different angle indication information; receiving a positioning signal of the second electronic equipment responding to the target positioning search signal; the target positioning search signal is one of the at least one positioning search signal, and the angle indication information of the positioning signal is the angle indication information of the target positioning search signal.
In some embodiments, the angle indication information is phase information,
the first processing unit is specifically configured to calculate the angle information based on the phase information and a distance between adjacent antenna array elements in the phased array antenna.
In some embodiments, the distance indicating information comprises at least one of: time of arrival, time difference of arrival, angle of arrival, and reception strength of the positioning signal.
In some embodiments, the first processing unit is further configured to obtain identification information of the second electronic device; and controlling the first communication unit to be connected with the second electronic equipment when the second electronic equipment is determined to meet a preset first access condition based on the identification information of the second electronic equipment.
Based on the hardware implementation of each unit in the first electronic device, an embodiment of the present application further provides another first electronic device, where the first electronic device includes: a first processor and a first memory configured to store a computer program operable on the processor;
wherein the first processor is configured to execute the method steps of the first embodiment when running the computer program.
Of course, in practice, the various components in the first electronic device are coupled together by a bus system. It will be appreciated that a bus system is used to enable communications among the components. The bus system includes a power bus, a control bus, and a status signal bus in addition to a data bus.
An embodiment of the present application further provides a second electronic device, and as shown in fig. 8, the second electronic device includes: a second communication unit 801 and a second processing unit 802; wherein,
the second communication unit 801 is configured to, when it is detected that the second electronic device is located within a signal coverage range of a first communication unit of a first electronic device, acquire a positioning search signal of the first communication unit; the target positioning search signal at least comprises angle indication information and distance indication information;
the second processing unit 802 is configured to determine angle information between the first electronic device and the second electronic device based on the angle indication information; determining distance information between the first electronic device and the second electronic device based on the distance indicating information; determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
In some embodiments, after the location search signal of the first communication unit is acquired, the second communication unit is further configured to generate a location signal of the second electronic device in response to the target location search signal; wherein the positioning signal at least comprises angle indication information of the target positioning search signal; and sending the positioning signal to the first electronic equipment.
In some embodiments, the second processing unit is further configured to determine a navigation path between the first electronic device and the second electronic device based on a relative position between the first electronic device and the second electronic device; and controlling a display unit to display the navigation path.
In some embodiments, the second processing unit is further configured to obtain identification information of the first electronic device; and controlling the second electronic equipment to be connected with the first electronic equipment when the first electronic equipment is determined to meet a preset second access condition based on the identification information of the first electronic equipment.
In some embodiments, the angle indication information is phase information,
the second processing unit is specifically configured to calculate the angle information based on the phase information and a distance between adjacent antenna array elements in the phased array antenna.
In some embodiments, the distance indicating information comprises at least one of: time of arrival, time difference of arrival, angle of arrival, and reception strength of the positioning signal.
Based on the hardware implementation of each unit in the second electronic device, an embodiment of the present application further provides another second electronic device, where the second electronic device includes: a second processor and a second memory configured to store a computer program operable on the processor;
wherein the second processor is configured to execute the method steps of the second embodiment when running the computer program.
Of course, in practice, the various components in the second electronic device are coupled together by a bus system. It will be appreciated that a bus system is used to enable communications among the components. The bus system includes a power bus, a control bus, and a status signal bus in addition to a data bus.
In practical applications, the processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, and a microprocessor. It is understood that the electronic devices for implementing the above processor functions may be other devices, and the embodiments of the present application are not limited in particular.
The Memory may be a volatile Memory (volatile Memory), such as a Random-Access Memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard Disk (HDD), or a Solid-State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the processor.
The embodiment of the application also provides a computer readable storage medium for storing the computer program.
Optionally, the computer-readable storage medium may be applied to any one of the positioning methods in the embodiments of the present application, and the computer program enables a computer to execute corresponding processes implemented by a processor in each method in the embodiments of the present application, which is not described herein again for brevity.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit. Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.
The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A positioning method is applied to a first electronic device, the first electronic device comprises a first communication unit, and the method is characterized by comprising the following steps:
when detecting that second electronic equipment is located in a signal coverage range of the first communication unit, acquiring a second electronic equipment positioning signal; wherein the positioning signal at least comprises angle indication information and distance indication information;
determining angle information between the first electronic device and the second electronic device based on the angle indication information;
determining distance information between the first electronic device and the second electronic device based on the distance indicating information;
determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
2. The method of claim 1, wherein the first communication unit comprises a phased array antenna;
the acquiring a positioning signal of the second electronic device includes:
controlling the phased array antenna to transmit at least one positioning search signal; wherein, different positioning search signals contain different angle indication information;
receiving a positioning signal of the second electronic equipment responding to the target positioning search signal; the target positioning search signal is one of the at least one positioning search signal, and the angle indication information of the positioning signal is the angle indication information of the target positioning search signal.
3. The method of claim 2, wherein the angle indication information is phase information,
the determining, based on the angle indication information, angle information between the first electronic device and the second electronic device includes:
and calculating to obtain the angle information based on the phase information and the distance between adjacent antenna array elements in the phased array antenna.
4. The method of claim 1, wherein the distance indication information comprises at least one of: time of arrival, time difference of arrival, angle of arrival, and reception strength of the positioning signal.
5. The method of claim 1, wherein upon detecting that a second electronic device is within a signal coverage of the first communication unit, the method further comprises:
acquiring identification information of the second electronic equipment;
and controlling the first communication unit to be connected with the second electronic equipment when the second electronic equipment is determined to meet a preset first access condition based on the identification information of the second electronic equipment.
6. A positioning method applied to a second electronic device is characterized by comprising the following steps:
when the second electronic device is detected to be located in a signal coverage range of a first communication unit of the first electronic device, acquiring a target positioning search signal sent by the first communication unit; the target positioning search signal at least comprises angle indication information and distance indication information;
determining angle information between the first electronic device and the second electronic device based on the angle indication information;
determining distance information between the first electronic device and the second electronic device based on the distance indicating information;
determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
7. The method of claim 6, wherein after said obtaining the location search signal of the first communication unit, the method further comprises:
generating a positioning signal of the second electronic device in response to the target positioning search signal; wherein the positioning signal at least comprises angle indication information of the target positioning search signal;
and sending the positioning signal to the first electronic equipment.
8. The method of claim 6, further comprising:
determining a navigation path between the first electronic device and the second electronic device based on a relative position between the first electronic device and the second electronic device;
and controlling a display unit to display the navigation path.
9. A first electronic device, wherein the first electronic device comprises: a first communication unit and a first processing unit; wherein,
the first communication unit is used for acquiring a positioning signal of the second electronic equipment when the second electronic equipment is detected to be located in the signal coverage range of the first communication unit; wherein the positioning signal at least comprises angle indication information and distance indication information;
the first processing unit is configured to determine angle information between the first electronic device and the second electronic device based on the angle indication information; determining distance information between the first electronic device and the second electronic device based on the distance indicating information; determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
10. A second electronic device, characterized in that the second electronic device comprises: a second communication unit and a second processing unit; wherein,
the second detection unit is used for acquiring a positioning search signal of the first communication unit when the second electronic equipment is detected to be located in a signal coverage range of the first communication unit of the first electronic equipment; the target positioning search signal at least comprises angle indication information and distance indication information;
the second processing unit is configured to determine angle information between the first electronic device and the second electronic device based on the angle indication information; determining distance information between the first electronic device and the second electronic device based on the distance indicating information; determining a relative position between the first electronic device and the second electronic device using the angle information and the distance information.
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