CN114554590B

CN114554590B - Device positioning method, device, device, storage medium and system

Info

Publication number: CN114554590B
Application number: CN202011344203.4A
Authority: CN
Inventors: 肖伟
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2025-01-03
Anticipated expiration: 2040-11-26
Also published as: CN114554590A

Abstract

The embodiment of the application discloses a device positioning method, a device, a storage medium and a system, wherein the method comprises the steps of determining at least two frames based on a preset frame type, wherein only one frame of the at least two frames carries encryption timestamp sequence STS information, determining a distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames in the communication process with the positioned device, determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information, and positioning the positioned device according to the distance value and the angle value. Therefore, through the preset frame type, as only one frame carries STS information, the length of other frames can be shortened, so that the receiving time and the transmitting time of the equipment can be saved while the positioning function is realized, and the purpose of reducing the power consumption of the equipment can be achieved.

Description

Equipment positioning method, device, equipment, storage medium and system

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a device positioning method, apparatus, device, storage medium and system.

Background

With the rapid development of the information field, ultra Wide Band (UWB) technology has been used in the positioning/ranging field because of its low cost, low power consumption, good anti-interference performance, low interception capability, etc. Among them, UWB-based positioning systems are generally composed of a positioning device and a positioned device. The equipment to be positioned is usually worn by a person or an article to be positioned, and the equipment to be positioned can be positioned through the positioning equipment, so that the person or the article to be positioned can be positioned.

Because the device to be positioned (such as an electronic tag) has the use requirements of portability and long service life, the device to be positioned is generally required to have the characteristics of low power consumption and small volume. In the related art, although the UWB chip may be controlled to stay in a sleep state for a long period of time and then periodically wake up the UWB chip to perform interception for the purpose of reducing power consumption during ranging. However, the related art is limited to application scenarios with low UWB ranging data, and for application scenarios (such as actual positioning) that need to meet the high refresh rate of UWB ranging data, power consumption cannot be effectively reduced.

Disclosure of Invention

The application provides a device positioning method, a device, a storage medium and a system, which can save the receiving time and the transmitting time of the device, thereby achieving the purpose of reducing the power consumption of the device.

In order to achieve the above purpose, the technical scheme of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a device positioning method, applied to a positioning device, where the method includes:

determining at least two frames based on a preset frame type, wherein only one frame of the at least two frames carries encryption time stamp sequence (STS) information;

Determining a distance value between the positioning equipment and the positioned equipment according to the transmission and the reception of the at least two frames in the communication process with the positioned equipment, and determining an angle value between the positioning equipment and the positioned equipment when receiving the frame carrying STS information;

and positioning the equipment to be positioned according to the distance value and the angle value.

In a second aspect, an embodiment of the present application provides an apparatus positioning device, applied to a positioning apparatus, where the apparatus positioning device includes a determining unit and a positioning unit,

The determining unit is configured to determine at least two frames based on a preset frame type, wherein only one frame of the at least two frames carries encryption time stamp sequence (STS) information;

The determining unit is further configured to determine a distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames in the communication process with the positioned device;

The positioning unit is configured to position the positioned equipment according to the distance value and the angle value.

In a third aspect, an embodiment of the present application provides a positioning device, the positioning device comprising a memory and a processor, wherein,

The memory is used for storing a computer program capable of running on the processor;

the processor is configured to perform the method according to the first aspect when the computer program is run.

In a fourth aspect, embodiments of the present application provide a computer storage medium storing a computer program which, when executed by at least one processor, implements a method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a positioning system comprising at least a positioned device and a positioning device according to the third aspect.

The device positioning method, device, storage medium and system provided by the embodiment of the application are used for determining at least two frames based on a preset frame type, wherein only one frame of the at least two frames carries encryption timestamp sequence STS information, determining a distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames in the communication process with the positioned device, determining an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information, and positioning the positioned device according to the distance value and the angle value. Therefore, through the preset frame type, as only one frame carries STS information, the length of other frames can be shortened, so that the receiving time and the transmitting time of the equipment can be saved while the positioning function is realized, and the purpose of reducing the power consumption of the equipment can be achieved.

Drawings

Fig. 1 is a schematic diagram of an application scenario for positioning between an electronic tag and a base station provided in the related art;

FIG. 2 is a schematic diagram of a signal waveform using ultra wideband technology according to the related art;

fig. 3 is a schematic flow chart of a device positioning method according to an embodiment of the present application;

Fig. 4 is a schematic structural diagram of two-frame interaction according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of three-frame interaction according to an embodiment of the present application;

fig. 6 is a schematic flow chart of a two-sided two-way ranging algorithm according to an embodiment of the present application;

Fig. 7 is a schematic flow chart of a single-sided two-way ranging algorithm according to an embodiment of the present application;

Fig. 8 is a schematic diagram of a composition structure of a device positioning apparatus according to an embodiment of the present application;

fig. 9 is a schematic hardware structure of a positioning device according to an embodiment of the present application;

fig. 10 is a schematic diagram of a composition structure of a positioning system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting of the application. It should be noted that, for convenience of description, only a portion related to the related application is shown in the drawings.

Ultra Wide Band (UWB) technology is a wireless carrier communication technology that directly modulates impulse pulses having steep rise and fall times to provide signals with bandwidths on the order of GHz. In addition, the UWB technology does not adopt a sine carrier, but utilizes non-sine narrow pulse of nanosecond (nanosecond, ns) level to transmit data, and can be generally used for indoor accurate positioning, and the positioning accuracy can reach the level of 10 centimeters (centimeter, cm).

It will be appreciated that the key to the positioning system is the error in measuring distance, and that the smaller the error, the higher the positioning accuracy. The time of transmission of electromagnetic waves in the air is approximately the speed of light, and thus the error in distance is the time error of flight of the measured electromagnetic waves in the air. Here, assuming that the measurement accuracy is to be 10cm, the time error can be calculated according to the following equation, as shown below,

Where Δd represents the measurement distance accuracy, c represents the propagation velocity of the electromagnetic wave in the air, and Δt represents the time error. From equation (1), it is known that the error in measuring the electromagnetic wave flight time must be within 0.3ns, which is a degree of difficulty.

In addition, if such accuracy is to be achieved, it is also critical that the signal is captured in a short time to distinguish between the direct signal and the reflected signal, thereby achieving accurate time of flight. However, in a practical wireless transmission environment, electromagnetic waves are reflected by surrounding objects such as walls, glass, metal, etc. (similar to the reflection of visible light), thereby generating multipath signals. At this time, the receiving node can not only receive the direct signal, but also receive the reflected signal propagated by the reflected path, and the direct signal propagated by the direct path and the reflected signal propagated by the reflected path are in addition relationship. As shown in fig. 1, assuming that the located device is an electronic tag and the locating device is a base station, a transmitting port of the electronic tag transmits a transmitting signal, one path of the transmitting signal is directly transmitted to the base station as a direct signal, and the other path of the transmitting signal encounters an object to be reflected, and then the transmitting signal is transmitted to the base station as reflected information, namely, the base station receives the direct signal and the reflected signal.

By way of example, assuming a direct signal with a path length of 5m and a reflected signal with a total distance of 7m to propagate, the direct signal has a time of 16ns and the reflected signal has a time of 23ns. That is, to distinguish the direct signal from the reflected signal in 7ns time, but the conventional narrowband signal is sinusoidal carrier communication, and the bandwidth is narrow, the time required for completing signal transmission is several tens milliseconds, and the direct signal cannot complete transmission in 7ns time; therefore, the direct signal and the reflected signal overlap in the time domain, so that the signals are delayed and changed in amplitude, phase and the like, thereby generating energy attenuation, reducing the signal-to-noise ratio, causing the first signal not to be the direct signal, causing ranging error and reducing the positioning accuracy.

In addition, ultra Wideband (UWB) technology is a wireless carrier communication technology, namely, a sinusoidal carrier is not adopted, data is transmitted by utilizing nanosecond non-sinusoidal narrow pulses, so that the occupied frequency spectrum range is wide, UWB time domain signals are narrow, time resolution is enhanced, the time difference between a received multipath reflection delay signal and a direct signal is generally larger than the pulse width, and therefore the signals are separable in the time domain. As shown in fig. 2, with UWB technology, the direct signal and the reflected signal are separable in the time domain due to the data transmission using non-sinusoidal narrow pulses of nanosecond order. Thus, for the 7ns time difference in the above example, the transmission of the UWB direct signal is sufficiently completed (the transmission duration is about 2 ns), so that the positioning system can quickly extract the direct signal, and accurate positioning is realized. In the embodiment of the application, the positioning accuracy can reach the centimeter level by adopting the UWB technology to perform the positioning system.

In the prior art, a low-power consumption electronic tag based on UWB is taken as an example, and the low-power consumption electronic tag specifically comprises a UWB communication module, a motion sensing module, a micro control unit (Microcontroller Unit, MCU) module respectively connected with the UWB communication module and the motion sensing module, and a power supply module respectively connected with the UWB communication module, the motion sensing module and the MCU module and supplying power. The device comprises a UWB communication module, a motion sensing module, an MCU module and a control module, wherein the UWB communication module is used for sending and receiving UWB signals, the motion sensing module is used for detecting motion state information of personnel or articles wearing low-power electronic tags and feeding back the motion state information to the MCU module, the MCU module is used for controlling the UWB communication module and the motion sensing module to be in a sleep state for a long time and wake up periodically, and the period of waking up the UWB communication module is adjusted according to the motion state information, and the self-entering sleep state is controlled and wake up periodically.

That is, although the related art may control the UWB integrated circuit (INTEGRATED CIRCUIT, IC) chip to stay in sleep state for a long time by the controller and then periodically wake up UWB to listen for achieving the purpose of reducing power consumption during ranging, it is essentially to save power consumption by controlling the duty ratio of UWB operation and sleep, but the power consumption during normal UWB operation cannot be optimized, i.e. limited to application scenarios where UWB ranging data is not high, and for application scenarios (such as real positioning) where high refresh rate of UWB ranging data needs to be satisfied, the power consumption cannot be effectively reduced.

Based on the above, the embodiment of the application provides a device positioning method, which has the basic ideas that at least two frames are determined based on preset frame types, wherein only one frame of the at least two frames carries encryption timestamp sequence STS information, a distance value between the positioning device and the positioned device is determined according to the sending and receiving of the at least two frames in the communication process with the positioned device, an angle value between the positioning device and the positioned device is determined when the frame carrying the STS information is received, and the positioned device is positioned according to the distance value and the angle value. Therefore, through the preset frame type, as only one frame carries STS information, the length of other frames can be shortened, so that the receiving time and the transmitting time of the equipment can be saved while the positioning function is realized, and the purpose of reducing the power consumption of the equipment can be achieved.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In an embodiment of the present application, referring to fig. 3, a schematic flow chart of a device positioning method provided in an embodiment of the present application is shown. As shown in fig. 3, the method may include:

and S301, determining at least two frames based on a preset frame type, wherein only one frame of the at least two frames carries encryption time stamp sequence (Scrambled Timestamp Sequence, STS) information.

It should be noted that the device positioning method is applied to positioning devices. In a positioning system, a positioning device and a positioned device may be generally included. The positioning device may refer to a Host (Host), and in the embodiment of the present application, represents an electronic device for displaying and searching for a positioned device in the positioning process, such as a smart phone, an unmanned aerial vehicle, a tablet computer, a notebook computer, a palm computer, a Personal digital assistant (Personal DIGITAL ASSISTANT, PDA), and the like. The located device may be referred to as a Client (Client), and in the embodiment of the present application, represents the electronic device such as the electronic tag, the smart watch, etc. that is being sought. The equipment to be positioned can be matched with personnel or articles to be positioned, so that the personnel or articles to be positioned can be positioned through the positioning equipment.

It should be further noted that, in the embodiment of the present application, the communication technology between the positioning device and the device to be positioned generally adopts UWB technology, specifically, uses nanosecond non-sinusoidal narrow pulse to transmit data, and the positioning accuracy can reach 10cm level.

It can be appreciated that when UWB technology is applied to consumer electronics markets, small volume and low power consumption are issues that must be addressed, especially in applications where smartphones are used to find UWB electronic tags. In general, the volume of such electronic tags is designed to be very small so as to be convenient to carry or to be provided on an important object to be searched. Here, the small size means that the battery capacity of the electronic tag is very small, the battery capacity of the consumer electronic tag is generally smaller than 100 milliamperes, and the power consumption of the UWB chip which is the best in the market at present is generally 30-80 milliamperes of current when receiving and transmitting signals. Taking a company integrated circuit chip (INTEGRATED CIRCUIT, IC) as an example, the current of a transmitting port (Transmit, TX) is 45 milliamperes, the current of a receiving port (Receive, RX) is about 75 milliamperes, in the related art, a general hardware circuit can reduce power consumption through Direct current-Direct current (DC-DC) conversion during design, software can maximally shorten the time of TX and RX in the whole communication process, or reduce the number of ranging times (meaning reducing the refresh frequency, but affecting the presentation of the result), and can help a positioned device (namely a UWB electronic tag) save power consumption, thereby achieving the purpose of long-term use.

In the embodiment of the application, in order to reduce the power consumption of equipment, the technical scheme of the application is to design and define the frame type when the positioning equipment interacts with the positioned equipment, so as to shorten the time of actually using TX and RX in the communication process between the whole positioning equipment and the positioned equipment, and achieve the purpose of saving the time of opening the TX and RX of the equipment, thereby meeting the purpose of saving the power consumption of the equipment while meeting the requirement of successful positioning.

For a preset frame type, in some embodiments, the method may further include:

Four frame types defined in a preset protocol are obtained;

and determining the preset frame type from the four frame types.

Here, the four frame types may include a zeroth frame type, a first frame type, a second frame type, and a third frame type. The zeroth frame type carries data information but does not carry STS information, the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries time slot information, and the third frame type only carries STS information but does not carry data information.

It should be noted that, the preset protocol may refer to an 802.15.4z protocol. Among them, 802.15.4z is a basic standard for wireless communication of Institute of electrical and electronics engineers (Institute of ELECTRICAL AND Electronics Engineers, IEEE), and four frame (frame) structure types are defined in 802.15.4z, as shown in table 1 below.

TABLE 1

In table 1, "0" indicates a zeroth frame type, STS information is not included in a protocol Data unit (Presentation Protocol Data Unit, PPDU); "1" indicates a first frame type, STS information is included in the PPDU and is located before information such as Physical layer (PHY), physical layer header (PHYSICAL HEADER, PHR), and Data (Data Payload); "2" indicates a second frame type, STS information is included in the PPDU and is located after information such as PHY, PHR, and Data Payload); "3" indicates a third frame type, and information such as PHY, PHR, and Data Payload is not included in the PPDU.

Specifically, in each frame type, a Start of frame delimiter (Start of FRAME DELIMITER, SFD) and a Preamble (Ipatov Preamble, which may also be simply referred to as Preamble) may be further included. And in the second frame type, slot (Gap) information may also be carried. The formats for these four frame types will be defined separately below.

The definition of the zeroth frame type is as follows,

Ipatov Preamble

SFD

PHR

Data Payload

The definition of the first frame type is as follows,

Ipatov Preamble

SFD

STS

PHR

Data Payload

The definition of the second frame type is as follows,

Ipatov Preamble

SFD

PHR

Data Payload

GAP

STS

The definition of the third frame type is as follows,

Ipatov Preamble

SFD

STS

In the above four frame types of formats, the IEEE standard specifies that the Preamble has a length of 64, 1024 or 4096, the sfd has a length of 8 or 64, the phr has a fixed length of 19 bits (bits), and the GAP has a value of 1to 127 symbols (symbols). Since the TimeStamp (TimeStamp) of each frame TX or RX is obtained after the SFD successfully acquires, the above parameters can be chosen with reference to Table 2 in order to obtain the shortest Transmit (TX) time and Receive (RX) time.

TABLE 2

S302, determining a distance value between the positioning equipment and the positioned equipment according to the transmission and the reception of the at least two frames in the communication process with the positioned equipment, and determining an angle value between the positioning equipment and the positioned equipment when receiving the frame carrying STS information.

It should be noted that, after determining the at least two frames according to the preset frame type, the locating device and the located device may perform interaction (transmission and reception) of the at least two frames to determine a distance value between the locating device and the located device.

Two-way ranging (Two-WAY RANGING, TWR) is a ranging technique, which is applied to UWB technology to acquire a specific distance value. In the embodiment of the application, the two-way ranging can be divided into Single-sided two-way ranging (Single-Sided Two-WAY RANGING, SS-TWR) and Double-sided two-way ranging (Double-Sided Two-WAY RANGING, DS-TWR).

In one possible implementation, the at least two frames may include two frames, specifically a request frame (RANGE FRAME) and an end frame (FINAL FRAME). At this time, for S302, the determining a distance value between the positioning device and the positioned device according to the transmission and reception of the at least two frames may include:

And determining a distance value between the positioning equipment and the positioned equipment by utilizing a unilateral two-way ranging algorithm according to the transmission and the reception of the at least two frames.

That is, under the interaction based on two frames, the calculation of the distance value can be performed by using a single-side two-way ranging algorithm. Here, single-sided two-way ranging is a simple measurement over a single round trip time. Specifically, as shown in fig. 4, assuming that the positioning device is a Host (such as a smart phone), the positioned device is a Client (such as an electronic tag), the positioning device actively transmits a request frame to the positioned device, and then the positioned device transmits an end frame to the positioning device after receiving the request frame, and obtains a distance value between the positioning device and the positioned device by using a unilateral bidirectional ranging algorithm according to interaction between the request frame and the end frame.

In another possible embodiment, the at least two frames may include three frames, specifically a request frame (RANGE FRAME), a response frame (REPLY FRAME), and an end frame (FINAL FRAME). At this time, for S302, the determining a distance value between the positioning device and the positioned device according to the transmission and reception of the at least two frames may include:

and determining a distance value between the positioning equipment and the positioned equipment by utilizing a bilateral two-way ranging algorithm according to the sending and receiving of the at least two frames.

That is, under three-frame based interactions, the calculation of the distance value may be performed using a two-sided two-way ranging algorithm. Here, two-sided two-way ranging is an extended ranging method of one-sided two-way ranging, which records measurements on two round trip times. Specifically, as shown in fig. 5, assuming that the positioning device is a Host (such as a smart phone), the positioned device is a Client (such as an electronic tag), the positioned device sends a request frame to the positioning device, after the positioning device receives the request frame, the positioning device sends a response frame to the positioned device, and then the positioned device sends an end frame to the positioning device after receiving the response frame, so that the distance value between the positioning device and the positioned device can also be obtained by using a bilateral two-way ranging algorithm according to the interaction of the request frame and the end frame.

It should be noted that, when a frame carrying STS information is received, an angle value between the positioning device and the positioned device may also be determined. In the embodiment of the present application, the end frame may carry STS information, or other frames (such as request frames) may carry STS information, which is not limited in any way.

In some embodiments, when the end frame carries STS information, the method may further comprise, before the positioning device receives the end frame sent by the positioning device:

The STS function is turned on to obtain the arrival phase difference value between the locating device and the located device.

Thus, for S302, the determining the angle value between the positioning device and the positioned device when receiving the frame carrying STS information may include:

obtaining an arrival phase difference value between the positioning device and the positioned device when the ending frame is received;

Inquiring an arrival angle value corresponding to the arrival phase difference value from a preset table, and determining the inquired arrival angle value as an angle value between the positioning equipment and the equipment to be positioned, wherein the preset table is used for representing the corresponding relation between the arrival phase difference value and the arrival angle value.

The Phase-Difference-of-Arrival (PDOA) is a technique for measuring an angle, and is applied to UWB technology for acquiring a specific angle. The Angle-of-Arrival (AOA) is a positioning algorithm based on the signal Arrival Angle, and the Angle value between the positioning equipment and the positioned equipment can be obtained according to the AOA.

It should be noted that a preset table is stored in the positioning device in advance, and the preset table is used for recording the corresponding relation between the arrival phase difference value and the arrival angle value. Thus, after the arrival phase difference value between the positioning device and the positioned device is obtained, the angle value between the positioning device and the positioned device can be obtained through table lookup.

And S303, positioning the positioned equipment according to the distance value and the angle value.

It should be noted that the measurement distance and the measurement angle are key to realizing the positioning of the device. Thus, after the distance value and the angle value are obtained, the positioning device can position the positioned device.

That is, embodiments of the present application may use STS protocols and frame types used in preset protocols (e.g., 802.15.4z). In the embodiment of the application, the positioning of the positioned equipment can be completed by using two algorithms, namely TWR and PDOA. The method comprises the steps of determining a distance value of a device to be positioned, wherein the TWR algorithm is used for finishing the distance measurement of the device to be positioned, the DS-TWR algorithm can be used for calculating the distance value in order to improve the positioning accuracy, the PDOA value can be directly read from a register of a UWB IC chip through the measurement of STS information, and finally the PDOA value is converted into an AOA through algorithm processing (particularly a mode of searching a preset table) so as to finish the angle measurement of the device to be positioned. Thus, after the distance value and the angle value are obtained, the positioning of the positioned equipment can be completed. It should be noted that, with UWB technology, UWB communication modules are provided in both the positioning device and the positioned device, and UWB IC chips are integrated in the communication modules, so that the Receiving (RX) and Transmitting (TX) functions can be realized. The communication module may further include a Power Amplifier (PA)/low noise Amplifier (Low Noise Amplifier, LNA) mainly applied to a radio frequency receiving circuit design, to increase radiation Power and to improve receiving sensitivity.

The embodiment provides a device positioning method, which comprises the steps of determining at least two frames based on preset frame types, wherein only one frame of the at least two frames carries encryption timestamp sequence STS information, determining a distance value between positioning equipment and positioned equipment according to transmission and reception of the at least two frames in a communication process with the positioned equipment, determining an angle value between the positioning equipment and the positioned equipment when receiving the frame carrying the STS information, and positioning the positioned equipment according to the distance value and the angle value. Therefore, through the preset frame type, as only one frame carries STS information, the length of other frames can be shortened, so that the receiving time and the transmitting time of the equipment can be saved while the positioning function is realized, and the purpose of reducing the power consumption of the equipment can be achieved.

In another embodiment of the present application, an application scenario of two-sided two-way ranging is described in detail.

In an embodiment of the present application, the at least two frames may include three frames, specifically, a request frame (RANGE FRAME), a response frame (REPLY FRAME), and an end frame (FINAL FRAME).

Here, it is assumed that neither the request frame nor the response frame carries STS information, and only the end frame carries STS information. Based on the four frame types defined in 802.15.4z, determining the preset frame type from the four frame types may include determining that the end frame adopts a first frame type and the request frame and the response frame adopt a zeroth frame type if the end frame carries STS information.

Specifically, the definition of these three frames is as follows,

(1) Request frame, close STS function (STS OFF), data Payload is 1 subsection (Byte).

Ipatov Preamble

SFD

STS

PHR

Data Payload

When the STS is OFF, the frame type is the zeroth frame type, which is described in detail below,

Ipatov Preamble

SFD

PHR

Data Payload

(2) Response frame: close STS function (STS OFF), data Payload is 1 subsection (Byte).

Ipatov Preamble

SFD

STS

PHR

Data Payload

Ipatov Preamble

SFD

PHR

Data Payload

(3) End frame: start STS function (STS ON), data Payload is 1+8 subsections (bytes).

Ipatov Preamble

SFD

STS

PHR

Data Payload

When the STS is ON, the frame type is a first frame type, which is specifically as follows,

Ipatov Preamble

SFD

STS

PHR

Data Payload

In some embodiments, for the two-sided two-way ranging technique, referring to fig. 6, a flowchart of a two-sided two-way ranging algorithm provided by an embodiment of the present application is shown. As shown in fig. 6, the process may include:

S601, after receiving a request frame sent by a positioning device, acquiring a first receiving time.

S602, after the response frame is successfully sent to the positioned equipment, acquiring a second sending time.

And S603, after receiving the end frame sent by the positioned equipment, acquiring a third receiving time, and analyzing the end frame to acquire a first round trip time and a second interval time.

It should be noted that the first receiving time may be represented by rx_timestamp1, the second transmitting time may be represented by tx_timestamp2, and the third receiving time may be represented by rx_timestamp 3.

It should also be noted that the first round trip time and the second interval time are carried in the end frame. Here, the first round trip time may be represented by a round1 for representing a time interval between the located device transmitting the request frame and receiving the response frame, and the second interval time may be represented by a reply2 for representing a time interval between the located device receiving the response frame and the transmission end frame.

S604, determining a first interval time according to the difference value between the second sending time and the first receiving time.

And S605, determining a second round trip time according to the difference value between the third receiving time and the second sending time.

It should be noted that, the first interval time may be denoted by Treply1, which is used to denote a time interval between the positioning device receiving the request frame and transmitting the response frame, specifically as shown in the following formula,

Treply1=TX_Timestamp2-RX_Timestamp1 (2)

It should also be noted that the second round trip time may be represented by a period 2, which is used to represent the time interval between the sending of the response frame and the receiving of the end frame by the positioning device, as shown in the following formula,

Tround2=RX_Timestamp3-TX_Timestamp2 (3)

And S606, calculating the first round trip time, the second round trip time, the first interval time and the second interval time by using a first calculation model to obtain target flight time.

After obtaining the first round trip time (round 1), the second round trip time (round 2), the first interval time (Treply 1), and the second interval time (Treply 2), the target time of flight (denoted by T _tof) may be obtained by calculation using a first calculation model, which is specifically represented by the following formula,

S607, multiplying the target flight time and a preset propagation speed to obtain a distance value between the positioning equipment and the equipment to be positioned.

It should be noted that c represents a preset propagation speed, that is, a propagation speed of an electromagnetic wave in the air, and the Distance value is represented by Distance, which is specifically calculated as shown in the following formula,

Distance=T_tof×c (5)

In addition, because the end frame carries STS information, before the positioning device receives the end frame sent by the positioned device, the STS function is started, and the arrival phase difference value between the positioning device and the positioned device can be obtained, so that the angle value between the positioning device and the positioned device is determined, and the positioning (distance and angle) of the positioning device to the positioned device can be realized.

By way of example, the following will take a Host (smart phone) as a locating device and a Client (electronic tag) as a located device, and describe in detail the logical timing interactions of the three frames of the request frame, the response frame and the end frame in conjunction with fig. 5.

(A) The embodiment of the application aims to reduce the power consumption of the electronic tag, improve the service life of the electronic tag, and greatly improve the power consumption of the Receiving (RX) and the Transmitting (TX) of the electronic tag due to the characteristics of the UWB IC chip. Therefore, in order to reduce the time of the tag end to turn on RX as much as possible, before the ranging communication of the present round starts, the Host is in RX state in advance, waiting for the TX of the Client to send a request frame to initiate ranging, and in order to reduce the TX time of the Client, the frame type of the request frame is Data payload with only preamble+SFD+PHR+1byte, at this time, there is no STS, and 1byte Data payload is used to identify the frame as the request frame. After the Client succeeds in sending the request frame, the Client side can read out TX_Timestamp1 and control the UWB IC chip to enter an idle state, and after a period of precisely controlled first delay time (delay 1), the Client opens RX of the UWB IC chip and listens for a response frame sent by the Host.

(B) After receiving the request frame, the Host reads out rx_timestamp1 and enters an idle state, and after a precisely controlled second delay time (delay 2), sends a response frame, where the frame type of the response frame is Data payload with only preamble+sfd+phr+1byte, where there is no STS, and 1byte of Data payload is used to identify the frame as a response frame.

(C) And simultaneously, after a period of precisely controlled third delay time (delay 3), the Client starts the STS function and sends an end frame, wherein the frame type of the end frame is Data payload of preamble+SFD+PHR+9byte, the first byte of the Data payload is used for identifying the frame as the end frame, the 2 th to 5 th byte is used for filling the value of the Trucnd 1, the 6 th to 9 th byte is used for filling the value of the Treply2, and the Treply2= (RX_Timemp2+delay+antenna delay) -RX_Timemp2=delay+antenna delay.

(D) After the Host transmits the response frame, the Host enters an idle state, wakes up after a period of precisely controlled fourth delay time (delay 4), reads out TX_Timestamp2 when the response frame is transmitted last time, starts the STS function, enters an RX state to receive the end frame, reads out RX_Timestamp3 after the Host successfully receives the Host, and performs the following operations:

(i) Analyzing the around 1 and the Treply2 from the Data payload of the ending frame;

(ii) Calculating Treply1 and Trbond 2 according to the formulas (2) and (3), respectively;

(iii) The UWB IC chip can automatically calculate the value of the PDOA because the received end frame carries STS information, so the value of the PDOA can be directly read.

(E) Calculating according to the formula (4) and the formula (5) to obtain a Distance value (Distance), and looking up a table according to the PDOA value through a preset table to obtain a specific angle (AOA).

Thus, through the three-frame interaction, the positioning (distance and angle) of the Host to the Client can be realized to the extent of saving the power consumption maximally.

In still another embodiment of the present application, if the requirement for the ranging accuracy is not high, the embodiment of the present application may also use a single-sided two-way ranging technique, and an application scenario of single-sided two-way ranging will be described in detail below as an example.

In an embodiment of the present application, the at least two frames may include two frames, specifically, a request frame (RANGE FRAME) and an end frame (FINAL FRAME).

Here, it is assumed that the request frame does not carry STS information, and only the end frame carries STS information. Based on the four frame types defined in 802.15.4z, determining the preset frame type from the four frame types may include determining that the end frame adopts a first frame type and the request frame adopts a zeroth frame type if the end frame carries STS information.

Specifically, the definition of these three frames is as follows,

Ipatov Preamble

SFD

STS

PHR

Data Payload

Ipatov Preamble

SFD

PHR

Data Payload

(2) End frame: start STS function (STS ON), data Payload is 1+8 subsections (bytes).

Ipatov Preamble

SFD

STS

PHR

Data Payload

Ipatov Preamble

SFD

STS

PHR

Data Payload

In some embodiments, referring to fig. 7, a flowchart of a single-sided two-way ranging algorithm provided by an embodiment of the present application is shown for a single-sided two-way ranging technique. As shown in fig. 7, the process may include:

and S701, acquiring unilateral transmission time after the request frame is successfully transmitted to the positioned equipment.

S702, after receiving the end frame sent by the positioned equipment, acquiring single-side receiving time, and analyzing the end frame to acquire single-side interval time.

It should be noted that, the single-side transmission time may be represented by tx_timestamp, and the single-side reception time may be represented by rx_timestamp.

It should also be noted that the single-sided interval is carried in the end frame. Here, the single-side interval time may be represented by Treply, which is used to represent a time interval between the located device receiving the request frame and the transmission end frame.

And S703, determining the unilateral round trip time according to the difference value between the unilateral receiving time and the unilateral transmitting time.

It should be noted that the single round trip time may be represented by a round, which is used to represent the time interval between the sending of the request frame and the receiving of the end frame by the positioning device, as shown in the following formula,

Tround=RX_Timestamp-TX_Timestamp (6)

And S704, calculating the unilateral round trip time and the unilateral interval time by using a second calculation model to obtain target flight time.

After obtaining the single round trip time (round) and the single interval time (Treply), the target time of flight (denoted by T _tof) may be calculated using a second calculation model, which is specifically shown in the following formula,

And S705, multiplying the target flight time and a preset propagation speed to obtain a distance value between the positioning equipment and the equipment to be positioned.

It should be noted that c represents a preset propagation speed, that is, a propagation speed of the electromagnetic wave in the air, and the Distance value (Distance) can still be calculated by using the above formula (5) after the target flight time is obtained.

In the embodiment of the present application, taking a Host (smart phone) as a locating device and a Client (electronic tag) as a located device as an example, in conjunction with fig. 4, it can be seen that the logic timing sequence of two frames, namely, the request frame and the end frame, are interacted. The Host actively sends a request frame which does not carry STS information, after a certain time when the Client opens RX and receives the request frame, the Client opens STS function and sends an end frame which carries STS information and also carries single-side interval time (value of Treply) after a certain delay time, and then the Host opens STS function and enters RX state to receive the end frame. Here, the positioning function can be completed only by the interaction of two frames.

It should be further noted that, compared with the two-sided two-way ranging technique, in order to reduce the power consumption of the Client, the Host needs to actively send the request frame all the time until the Client opens the RX at a certain moment, so that the interaction of the two frames can be completed.

The embodiment provides a device positioning method, which is described in detail by the embodiment, and it can be seen that by the technical scheme of the embodiment, the technical scheme is used for finishing ranging by defining the frame type and the interactive logic time sequence of at least two frames in the ranging process, and simultaneously starting an STS function only when receiving and transmitting the last frame to finish the calculation of an angle, namely, through the interaction of at least two frames, the power consumption of the Client is reduced while finishing the positioning function. In other words, the technical scheme greatly shortens the time for the Client to open TX and RX and reduces the transceiving power consumption while solving the problem of the Host to position the Client, thereby achieving the purpose of reducing the power consumption of equipment, prolonging the service life of a battery of positioned equipment (such as an electronic tag) and improving the competitiveness of products.

In yet another embodiment of the present application, referring to fig. 8, a schematic diagram of the composition and structure of a device positioning apparatus 80 according to an embodiment of the present application is shown. Wherein the device positioning means 80 may be integrated in the positioning device. As shown in fig. 8, the device positioning apparatus 80 may include a determining unit 801 and a positioning unit 802, wherein,

A determining unit 801 configured to determine at least two frames based on a preset frame type, wherein only one frame of the at least two frames carries STS information;

A determining unit 801 further configured to determine a distance value between the positioning device and the positioned device according to the transmission and reception of the at least two frames during communication with the positioned device, and to determine an angle value between the positioning device and the positioned device when the frame carrying STS information is received;

and a positioning unit 802 configured to position the positioned device according to the distance value and the angle value.

In some embodiments, the at least two frames include a request frame, a response frame, and an end frame;

The determining unit 801 is specifically configured to determine a distance value between the positioning device and the positioned device by using a two-sided two-way ranging algorithm according to the transmission and the reception of the at least two frames.

In some embodiments, the at least two frames include a request frame and an end frame;

the determining unit 801 is specifically configured to determine a distance value between the positioning device and the positioned device by using a one-sided two-way ranging algorithm according to the transmission and the reception of the at least two frames.

In some embodiments, referring to fig. 8, the device positioning apparatus 80 may further comprise an acquisition unit 803 and a calculation unit 804, wherein,

An obtaining unit 803 configured to obtain a first receiving time after receiving the request frame sent by the located device, and obtain a second sending time after successfully sending the response frame to the located device, and obtain a third receiving time after receiving the end frame sent by the located device, and parse the end frame to obtain a first round trip time and a second interval time, wherein the first round trip time represents a time interval between sending the request frame and receiving the response frame by the located device, and the second interval time represents a time interval between receiving the response frame and sending the end frame by the located device;

A determining unit 801 further configured to determine a first interval time representing a time interval between the positioning device receiving the request frame and the response frame based on a difference between the second transmission time and the first reception time, and to determine a second round trip time representing a time interval between the positioning device transmitting the response frame and the receiving the end frame based on a difference between the third reception time and the second transmission time;

the calculating unit 804 is configured to calculate the first round trip time, the second round trip time, the first interval time and the second interval time by using a first calculation model to obtain a target flight time, and multiply the target flight time and a preset propagation speed to obtain a distance value between the positioning device and the positioned device.

In some embodiments, the obtaining unit 803 is further configured to obtain a unilateral sending time after the request frame is successfully sent to the located device, obtain a unilateral receiving time after the end frame sent by the located device is received, and parse the end frame to obtain a unilateral interval time, wherein the unilateral interval time represents a time interval between the located device receiving the request frame and sending the end frame;

A determining unit 801 further configured to determine a one-sided round trip time according to a difference between the one-sided reception time and the one-sided transmission time, the one-sided round trip time representing a time interval between the transmitting of the request frame and the receiving of the end frame by the positioning device;

The calculating unit 804 is further configured to calculate the single-sided round trip time and the single-sided interval time by using a second calculation model to obtain a target flight time, and multiply the target flight time and a preset propagation speed to obtain a distance value between the positioning device and the positioned device.

In some embodiments, referring to fig. 8, the device positioning apparatus 80 may further include an opening unit 805 configured to, when the end frame carries STS information, open an STS function to obtain an arrival phase difference value between the positioning device and the positioned device before receiving the end frame sent by the positioned device.

In some embodiments, referring to fig. 8, the device location apparatus 80 may further comprise a querying unit 806, wherein,

An obtaining unit 803 further configured to obtain an arrival phase difference value between the positioning device and the positioned device upon receiving the end frame;

And a query unit 806, configured to query an arrival angle value corresponding to the arrival phase difference value from a preset table, and determine the queried arrival angle value as an angle value between the positioning device and the positioned device, where the preset table is used to characterize a correspondence between the arrival phase difference value and the arrival angle value.

In some embodiments, the obtaining unit 803 is further configured to obtain four frame types defined in a preset protocol;

the determining unit 801 is further configured to determine the preset frame type from the four frame types.

In some embodiments, the four frame types include a zeroth frame type, a first frame type, a second frame type and a third frame type, wherein the zeroth frame type carries data information but does not carry STS information, the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries time slot information, and the third frame type carries only STS information but does not carry data information.

In some embodiments, the determining unit 801 is further configured to determine that, when the at least two frames include a request frame, a response frame, and an end frame, if the end frame carries STS information, the end frame is of the first frame type, and the request frame and the response frame are of the zeroth frame type.

In some embodiments, the determining unit 801 is further configured to determine that, when the at least two frames include a request frame and an end frame, the end frame is of the first frame type and the request frame is of the zeroth frame type if the end frame carries STS information.

It will be appreciated that in this embodiment, the "unit" may be a part of a circuit, a part of a processor, a part of a program or software, etc., and may of course be a module, or may be non-modular. Furthermore, the components in the present embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional modules.

The integrated units, if implemented in the form of software functional modules, may be stored in a computer-readable storage medium, if not sold or used as separate products, and based on such understanding, the technical solution of the present embodiment may be embodied essentially or partly in the form of a software product, which is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform all or part of the steps of the method described in the present embodiment. The storage medium includes various media capable of storing program codes, such as a U disk, a removable hard disk, a Read Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk.

Accordingly, the present embodiment provides a computer storage medium storing a computer program which, when executed by at least one processor, implements the steps of the method of any of the preceding embodiments.

Based on the above-mentioned composition of the device positioning apparatus 80 and the computer storage medium, referring to fig. 9, a specific hardware structure diagram of a positioning device 90 according to an embodiment of the present application is shown. As shown in fig. 9, may include a communication interface 901, a memory 902, and a processor 903, the various components being coupled together by a bus system 904. It is appreciated that the bus system 904 is used to facilitate connected communications between these components. The bus system 904 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration, the various buses are labeled as bus system 904 in fig. 9. The communication interface 901 is configured to receive and send signals in a process of receiving and sending information with other external network elements;

A memory 902 for storing a computer program capable of running on the processor 903;

the processor 903 is configured to execute, when executing the computer program:

It will be appreciated that the memory 902 in embodiments of the application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (STATIC RAM, SRAM), dynamic random access memory (DYNAMIC RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate Synchronous dynamic random access memory (Double DATA RATE SDRAM, DDRSDRAM), enhanced Synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous Link DRAM (SLDRAM), and Direct memory bus RAM (DRRAM). The memory 902 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

And the processor 903 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry of hardware in the processor 903 or instructions in the form of software. The Processor 903 may be a general purpose Processor, a digital signal Processor (DIGITAL SIGNAL Processor, DSP), an Application SPECIFIC INTEGRATED Circuit (ASIC), a field programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 902, and the processor 903 reads information in the memory 902, and in combination with the hardware, performs the steps of the method described above.

It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application SPECIFIC INTEGRATED Circuits (ASICs), digital signal processors (DIGITAL SIGNAL Processing, DSPs), digital signal Processing devices (DSP DEVICE, DSPD), programmable logic devices (Programmable Logic Device, PLDs), field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units for performing the functions described herein, or a combination thereof.

For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.

Optionally, as another embodiment, the processor 903 is further configured to perform the steps of the method of any of the preceding embodiments when the computer program is run.

Referring to fig. 10, a schematic diagram of a composition structure of a positioning system according to an embodiment of the present application is shown. As shown in fig. 10, the positioning system 100 may include at least a positioned device 1001 and a positioning device 1002. The positioning device 1002 may be the positioning device 90 described in the foregoing embodiment, or may be a device integrated with the device positioning apparatus 80 described in the foregoing embodiment.

In the embodiment of the present application, the positioning device 1002 can realize positioning of the device 1001 to be positioned, and because only one frame carries STS information, the length of other frames can be shortened, so that the receiving time and the sending time of the device can be saved while the positioning function is realized, and the purpose of reducing the power consumption of the device can be achieved.

It should be noted that, in the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The methods disclosed in the method embodiments provided by the application can be arbitrarily combined under the condition of no conflict to obtain a new method embodiment.

The features disclosed in the several product embodiments provided by the application can be combined arbitrarily under the condition of no conflict to obtain new product embodiments.

The features disclosed in the embodiments of the method or the apparatus provided by the application can be arbitrarily combined without conflict to obtain new embodiments of the method or the apparatus.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A device positioning method, characterized in that it is applied to a positioning device, the method comprising:

Based on a preset frame type, at least two frames are determined; wherein only one of the at least two frames carries encrypted timestamp sequence STS information;

During the communication with the located device, determining the distance value between the positioning device and the located device according to the sending and receiving of the at least two frames; and determining the angle value between the positioning device and the located device when receiving the frame carrying the STS information;

Positioning the positioned device according to the distance value and the angle value;

The method further includes: acquiring four frame types defined in a preset protocol; determining the preset frame type from the four frame types;

Among them, the four frame types include the zeroth frame type, the first frame type, the second frame type and the third frame type. The zeroth frame type carries data information but does not carry STS information, the first frame type carries data information and STS information, the second frame type carries data information and STS information and carries time slot information, and the third frame type only carries STS information but does not carry data information.

2. The method according to claim 1, wherein the at least two frames include a request frame, a response frame, and an end frame, and the determining the distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames comprises:

According to the sending and receiving of the at least two frames, a distance value between the positioning device and the positioned device is determined by using a bilateral two-way ranging algorithm.

3. The method according to claim 1, wherein the at least two frames include a request frame and an end frame, and the determining the distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames comprises:

According to the sending and receiving of the at least two frames, a distance value between the positioning device and the positioned device is determined using a unilateral bidirectional ranging algorithm.

4. The method according to claim 2, characterized in that the determining the distance value between the positioning device and the positioned device by using a bilateral two-way ranging algorithm according to the sending and receiving of the at least two frames comprises:

After receiving the request frame sent by the positioned device, obtaining a first receiving time;

After successfully sending the response frame to the located device, acquiring a second sending time;

After receiving the end frame sent by the located device, obtaining a third receiving time; and parsing the end frame to obtain a first round-trip time and a second interval time; wherein the first round-trip time represents the time interval between the located device sending the request frame and receiving the response frame, and the second interval time represents the time interval between the located device receiving the response frame and sending the end frame;

Determine a first interval time according to a difference between the second sending time and the first receiving time, where the first interval time represents a time interval between the positioning device receiving the request frame and sending the response frame;

Determine a second round trip time according to a difference between the third receiving time and the second sending time, where the second round trip time represents a time interval between the positioning device sending the response frame and receiving the end frame;

Calculate the first round-trip time, the second round-trip time, the first interval time, and the second interval time using a first calculation model to obtain a target flight time;

The target flight time and the preset propagation speed are multiplied to obtain a distance value between the positioning device and the positioned device.

5. The method according to claim 3, characterized in that the determining the distance value between the positioning device and the positioned device by using a unilateral bidirectional ranging algorithm according to the sending and receiving of the at least two frames comprises:

After successfully sending a request frame to the located device, obtaining a unilateral sending time;

After receiving the end frame sent by the positioned device, obtaining the unilateral receiving time; and parsing the end frame to obtain the unilateral interval time; wherein the unilateral interval time represents the time interval between the positioned device receiving the request frame and sending the end frame;

Determine a unilateral round trip time according to a difference between the unilateral receiving time and the unilateral sending time, wherein the unilateral round trip time represents a time interval between the positioning device sending the request frame and receiving the end frame;

Calculate the unilateral round-trip time and the unilateral interval time using a second calculation model to obtain a target flight time;

6. The method according to claim 4 or 5, characterized in that when the end frame carries STS information, before receiving the end frame sent by the positioned device, the method further comprises:

The STS function is enabled to obtain the arrival phase difference between the positioning device and the positioned device.

7. The method according to claim 6, characterized in that, when receiving the frame carrying the STS information, determining the angle value between the positioning device and the positioned device comprises:

When receiving the end frame, obtaining an arrival phase difference between the positioning device and the positioned device;

Querying the arrival angle value corresponding to the arrival phase difference value from a preset table, and determining the queried arrival angle value as the angle value between the positioning device and the positioned device;

The preset table is used to characterize the corresponding relationship between the arrival phase difference value and the arrival angle value.

8. The method according to claim 1, wherein when the at least two frames include a request frame, a response frame, and an end frame, determining the preset frame type from the four frame types comprises:

If the end frame carries STS information, it is determined that the end frame adopts the first frame type, and the request frame and the response frame adopt the zeroth frame type.

9. The method according to claim 1, wherein when the at least two frames include a request frame and an end frame, determining the preset frame type from the four frame types comprises:

If the end frame carries STS information, it is determined that the end frame adopts the first frame type and the request frame adopts the zeroth frame type.

10. A device positioning apparatus, characterized in that it is applied to positioning equipment, and the device positioning apparatus comprises a determination unit and a positioning unit; wherein:

The determining unit is configured to determine at least two frames based on a preset frame type; wherein only one of the at least two frames carries encrypted timestamp sequence STS information;

The determining unit is further configured to determine, during the communication process with the positioned device, a distance value between the positioning device and the positioned device according to the sending and receiving of the at least two frames; and to determine an angle value between the positioning device and the positioned device when receiving the frame carrying the STS information;

The positioning unit is configured to position the positioned device according to the distance value and the angle value;

The device positioning apparatus further includes an acquisition unit configured to acquire four frame types defined in a preset protocol; the determination unit is further configured to determine the preset frame type from the four frame types;

11. A positioning device, characterized in that the positioning device comprises a memory and a processor; wherein:

The memory is used to store a computer program that can be run on the processor;

The processor is configured to execute the method according to any one of claims 1 to 9 when running the computer program.

12. A computer storage medium, characterized in that the computer storage medium stores a computer program, and when the computer program is executed by at least one processor, the method according to any one of claims 1 to 9 is implemented.

13. A positioning system, characterized in that the positioning system at least comprises a positioned device and the positioning device according to claim 11.