CN104950284A - Judgement method for relative position of device, and electronic devices - Google Patents
Judgement method for relative position of device, and electronic devices Download PDFInfo
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- CN104950284A CN104950284A CN201410111264.4A CN201410111264A CN104950284A CN 104950284 A CN104950284 A CN 104950284A CN 201410111264 A CN201410111264 A CN 201410111264A CN 104950284 A CN104950284 A CN 104950284A
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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 invention discloses a judgement method for the relative position of a device, and an electronic device. The method is suitable for judging the relative position of a second electronic device in the surrounding by the first electronic device. The method comprises the following steps: calculating the distance between the second electronic device and the first electronic device through a wireless signal for communicating with the second electronic device; after a unit time and two unit time, calculating the distance between the second electronic device and the first electronic device according to the wireless signal and calculating the displacement of the second electronic device moving in the various unit time respectively; finally, taking the current position of the first electronic device as a reference point, and calculating the relative position of the second electronic device relative to the first electronic device according to the distance between the first electronic device and the second electronic device, and the displacement of the second electronic device.
Description
Technical field
The invention relates to a kind of location technology, and relate to a kind of decision method and electronic installation of device relative position especially.
Background technology
In recent years, along with continuous evolution and the improvement of electronics technology and mechanics of communication, such as mobile phone, intelligent mobile phone etc. do not take up space and portable electronic installation is also weeded out the old and bring forth the new.These mobile devices on the market there's no one who doesn't or isn't integrate multiple function to promote its competitive power, except general photograph, call, function of surfing the Net, connect now GPS (Global Positioning System, GPS) be also all incorporated on hand-hold communication device with electronic chart, user can whenever and wherever possible by the position at the place of positioning function grasp of mobile device own.
GPS is a kind of location technology in conjunction with satellite and wireless telecommunications, and it can provide accurate location, speed and temporal information.GPS can be combined with electronic chart, and the locating information that can be located gained is presented on electronic chart, understands its current position to be supplied to user.
But GPS can only be applied in the place that can receive satellite-signal, when user enter such as indoor wait GPS namely cannot receive satellite-signal place or user do not open GPS positioning function time, also just lose positioning function.Now, if user needs to understand self position, or want to understand the relative position of other people in this place, usually can only the feature of self-observation surrounding buildings or object by both party, and inform the other side in the mode of phone contact, so that the other side looks for, result often spends many time in the process of looking for.Therefore, be necessary that providing a kind of can be applicable to indoor locator meams, helps user and learns the relative position of other people relative to oneself.
Summary of the invention
The invention provides a kind of decision method and electronic installation of device relative position, the relative position of other electronic installation relative to itself can be obtained.
The decision method of device relative position of the present invention, is suitable for being detected by the first electronic installation and judging the relative position of second electronic device around it.The method is the wireless signal between basis and second electronic device, calculates the first distance of second electronic device and the first electronic installation.After the first unit interval, according to wireless signal to calculate the second distance of second electronic device and the first electronic installation, and calculate the first displacement of the first electronic installation movement within the first unit interval.Again after the second unit interval, according to wireless signal with the 3rd distance calculated between second electronic device and the first electronic installation and the second displacement calculating the movement within the second unit interval of the first electronic installation.Finally, as a reference point with the current location of the first electronic installation, by above-mentioned first distance, the first displacement and second distance, and the second displacement and the 3rd is apart from calculating first relative position of second electronic device relative to the first electronic installation.
In one embodiment of this invention, described method is also after k-1 unit interval, according to wireless signal to calculate the kth distance between second electronic device and the first electronic installation, after k unit interval, according to wireless signal to calculate kth+1 distance between second electronic device and the first electronic installation, and calculate the kth displacement of the first electronic installation movement within a kth unit interval, wherein k is positive integer.According to above-mentioned kth displacement, kth-1 distance and kth distance, when calculating-1 unit interval of kth second electronic device relative to the kth relative position of the first electronic installation and after the kth unit interval second electronic device relative to the first electronic installation kth+1 relative position between the minimum value of error to determine the kth relative position of second electronic device relative to the first electronic installation.
In one embodiment of this invention, described method also accesses first relative position of the previous second electronic device calculated relative to the first electronic installation to a kth relative position, and it is as a reference point with the current location of the first electronic installation, be moved to kth displacement according to above-mentioned first, respectively the first relative position to a kth relative position be modified to k the correction position relative to reference point.Centered by reference point, show described correction position with graphic interface, to represent the motion track of second electronic device relative to reference point.
In one embodiment of this invention, in the first displacement of above-mentioned calculating first electronic installation movement within the first unit interval, and after calculating the step of second electronic device relative to the second distance of the first electronic installation according to wireless signal, described method is also calculated the triple motion of its movement within the first unit interval by second electronic device, and sends the first electronic installation to.Then, as a reference point with the first electronic installation, calculate first relative position of second electronic device relative to the first electronic installation according to the difference of above-mentioned first distance, the first displacement and triple motion and second distance.
In one embodiment of this invention, wireless signal between above-mentioned basis and second electronic device, the step calculating the first distance of second electronic device and the first electronic installation is after sending wireless signal, receive the feedback signal of second electronic device response wireless signal passback, calculate again from send wireless signal to receive above-mentioned feedback signal two-way time of process, and calculate the first distance according to the transfer rate of above-mentioned two-way time and wireless signal.
In one embodiment of this invention, the first distance step between above-mentioned calculating first electronic installation and second electronic device is after sending wireless signal, receive the feedback signal of second electronic device response wireless signal passback, then by the signal intensity of this feedback signal and the comparison of distance collation table to obtain the first distance.
In one embodiment of this invention, the first distance step between above-mentioned calculating first electronic installation and second electronic device also comprises unlatching one application-specific, and carries out ditch with near-field communication mode and this second device and pass to and carry out certification and/or matcher.
In one embodiment of this invention, the step of above-mentioned calculating first electronic installation first displacement of movement within the unit interval is that the sensitive information utilizing accelerometer, gyroscope and compass to receive calculates above-mentioned first displacement.
In one embodiment of this invention, after the step of the first relative position between above-mentioned calculating first electronic installation and second electronic device, described method, also centered by reference point, shows above-mentioned first relative position with graphic interface.
In one embodiment of this invention, after the unit interval, described method also utilizes positioning unit to position the first electronic installation, to obtain the first absolute position of the first electronic installation.Then, according to the first absolute position and the first relative position, calculate the second absolute position of second electronic device.
In one embodiment of this invention, after the unit interval, described method also utilizes positioning unit to position by second electronic device, to obtain the second absolute position, and send the second absolute position to first electronic installation, and by the first electronic installation according to above-mentioned second absolute position and the first relative position, calculate the first absolute position of the first electronic installation.
The electronic installation of device relative position of the present invention, this electronic installation comprises radio communication unit, sensor, storage element and processing unit, and wherein radio communication unit is in order to transmit wireless signal with second electronic device, and storage element is in order to logging modle.Processing unit connects radio communication unit, sensor and storage element, and in order to access and to perform the module recorded in storage element, above-mentioned module comprises distance calculation module, displacement computing module and relative position computing module, wherein distance calculation module is according to wireless signal, calculates the first distance between second electronic device and electronic installation.After the first unit interval, distance calculation module is according to wireless signal to calculate the second distance of second electronic device and electronic installation, and displacement computing module utilizes sensor to detect and calculates the first displacement of electronic installation movement within the first unit interval.Again after the second unit interval, distance calculation module is time according to this wireless signal to calculate the 3rd distance between second electronic device and electronic installation, and displacement computing module utilizes sensor to detect and calculates the second displacement of electronic installation movement within the second unit interval.Relative position computing module is as a reference point with the current location of electronic installation, and by the first distance, the first displacement and second distance, and the second displacement and the 3rd is apart from calculating first relative position of second electronic device relative to electronic installation.
In one embodiment of this invention, wherein distance calculation module is after k unit interval, radio communication unit is utilized to send wireless signal to detect second electronic device, distance calculation module also calculates the kth distance between second electronic device and electronic installation according to wireless signal, and displacement computing module calculates the kth displacement of electronic installation movement within a kth unit interval by sensor, wherein k is positive integer.And, relative position computing module is according to kth displacement, kth-1 distance and kth distance, and second electronic device, relative to kth-1 relative position of electronic installation and value that after the kth unit interval, second electronic device is minimum relative to kth the relative position error of electronic installation, and determines the kth relative position of second electronic device relative to electronic installation according to above-mentioned result of calculation when calculating-1 unit interval of kth.
In one embodiment of this invention, above-mentioned electronic installation also comprises display unit, and the module of electronic installation also comprises display module.Wherein, relative position computing module accesses first relative position of the previous second electronic device calculated relative to electronic installation to kth-1 relative position via storage element, as a reference point with the current location of electronic installation, kth-1 displacement is moved to according to first, revising the first relative position to kth-1 relative position is respectively k-1 correction position relative to reference point, and display module is centered by reference point, graphic interface is utilized to show correction position in display unit, to represent the motion track of second electronic device relative to reference point.
In one embodiment of this invention, above-mentioned second electronic device comprises the second displacement calculating its movement within the unit interval, and sends electronic installation to.Wherein, relative position computing module is also as a reference point with electronic installation, using the difference of the first distance, the first displacement and the second displacement and second distance as leg-of-mutton three limits, utilize triangle inequality calculating second electronic device relative to the first relative position of electronic installation.
In one embodiment of this invention, above-mentioned distance calculation module also utilizes radio communication unit to send wireless signal and receives the feedback letter of second electronic device response wireless signal passback, and calculate from send wireless signal to receive feedback signal two-way time of process.Further, distance calculation module also calculates the first distance according to the transfer rate of two-way time and wireless signal.
In one embodiment of this invention, above-mentioned distance calculation module also utilizes radio communication unit to send above-mentioned wireless signal and receives the feedback signal of second electronic device response wireless signal passback.Further, distance calculation module also according to the signal intensity of above-mentioned feedback signal and the comparison of distance collation table to obtain the first distance.
In one embodiment of this invention, above-mentioned electronic installation also comprises an application-specific, and wherein after this application-specific is opened, this electronic installation carries out ditch with near-field communication mode and this second device and passes to and carry out certification and/or matcher.
In one embodiment of this invention, above-mentioned sensor comprises the combination of accelerometer, gyroscope and compass one of them or its.
In one embodiment of this invention, above-mentioned electronic installation also comprises positioning system, this positioning system connection handling unit.Positioning system positioning electronic device, to obtain the first absolute position of electronic installation, and above-mentioned module also comprises absolute position computing module, absolute position computing module, also according to the first absolute position and the first relative position, calculates the second absolute position of second electronic device.
In one embodiment of this invention, wherein second electronic device utilizes positioning system to position, to obtain one second absolute position, and send judgement electronic installation to, and above-mentioned module also comprises absolute position computing module, absolute position computing module, according to above-mentioned second absolute position and the first relative position, calculates the first absolute position of electronic installation.
Based on above-mentioned, the decision method of device relative position of the present invention and electronic installation utilize wireless signal to detect respectively and calculate the distance between second electronic device before and after the unit interval, the displacement of this electronic installation movement in the unit of account time, and calculate the relative position of second electronic device relative to this electronic installation according to the distance of above-mentioned displacement and two different time points calculating.By this, user utilizes and the displacement of the Distance geometry self of other device and by positioning system, still can learn the relative position of other device relative to oneself.
For above-mentioned feature and advantage of the present invention can be become apparent, special embodiment below, and coordinate institute's accompanying drawings to be described in detail below.
Accompanying drawing explanation
Fig. 1 is the calcspar of the electronic installation of the device relative position illustrated according to one embodiment of the invention.
Fig. 2 is the process flow diagram of the decision method of the device relative position illustrated according to one embodiment of the invention.
Fig. 3 is the schematic diagram of the decision method of the device relative position illustrated according to one embodiment of the invention.
Fig. 4 A and 4B is the example of the decision method of the device relative position illustrated according to one embodiment of the invention.
Fig. 5 is the schematic diagram of the decision method of the device relative position illustrated according to another embodiment of the present invention.
Fig. 6 A and 6B is the example of the decision method of the device relative position illustrated according to another embodiment of the present invention.
Fig. 7 is the schematic diagram of the decision method of the device relative position illustrated according to yet another embodiment of the invention.
Fig. 8 is the example of the decision method of the device relative position illustrated according to yet another embodiment of the invention.
Fig. 9 is the schematic diagram of the decision method of the device relative position illustrated according to yet another embodiment of the invention.
[label declaration]
10,20,50,55,70,75,91 ~ 99: electronic installation
12: radio communication unit 14: sensor
16: storage element 161: distance calculation module
162: displacement computing module 163: relative position computing module
S210 ~ S270: step 401,601 ~ 616: point
T: unit interval r
0~ r
k, L1, L2: distance
D
1~ d
3, d
a, 1, d
b, 1: displacement
vector
A
0, A
1, A
1', B
0, B
1, P
0~ P
k, Q: end points
E, e
d, e
r: error
Embodiment
The present invention utilizes wireless signal to detect other electronic installation around by electronic installation, and calculates that electronic installation moves the distance before and after the unit interval and between other electronic installation according to information such as the signal intensity of these electronic installation feedback signals or signal two-way times.On the other hand, the accelerometer (accelerometer) that the present invention also utilizes electronic installation itself to be equipped with, gyroscope (gyro sensor), the sensors such as electronic compass (compass) detect and calculate the displacement of electronic installation movement within the above-mentioned unit interval, thus the range information with between said apparatus is combined, such as triangle relation is utilized to extrapolate the relative position of other electronic installation relative to electronic installation itself, finally in the mode of graphic interface, the relative position of these electronic installations is presented on the screen of electronic installation again, also the motion track of these electronic installations can be shown.By this, user just can learn the relative position of other electronic installation from the graphic interface of electronic installation display, also can, with reference to the path of movement, allow user more easily find the user of other electronic installation.
Fig. 1 is the calcspar of the electronic installation in order to electronic installation relative position illustrated according to one embodiment of the invention.Please refer to Fig. 1, the electronic installation 10 of the present embodiment comprises radio communication unit 12, sensor 14, storage element 16 and processing unit 18.Electronic installation 10 can be such as electronic apparatus, comprises electronic installation or the device for vehicular electronic such as mobile phone, flat computer, notebook computer, does not limit at this.
Radio communication unit 12 can support the technology of the following transmission of wireless signals of at least one: Wireless Fidelity direct-connected (WiFi Direct), bluetooth, near-field communication (Near Field Communication; NFC), device auto levelizer (Device to device; D2D) wireless communication technique such as communication, but be not limited only to this.
Sensor 14 can be that accelerometer, gyroscope, electronic compass etc. move the sensor of relevant information or the combination of these sensors in order to detection. electronics.
Storage element 16 can be fixed or movable random access memory (the random access memory of any kenel, RAM), the combination of ROM (read-only memory) (read-only memory, ROM), flash memory (flash memory) or like or said elements.In the present embodiment, storage element 110 is in order to recording distance computing module 161, displacement computing module 162 and relative position computing module 163.These modules are such as be stored in the program in storage element 16, and it can load the processing unit 18 of electronic installation 10, and the decision-making function of actuating unit relative position.
Processing unit 18 is connected with radio communication unit 12, sensor 14 and storage element 16 respectively.Processing unit 18 can be CPU (central processing unit) (Central Processing Unit; Or the microprocessor (Microprocessor) of other programmable general service or specific use, digital signal processor (Digital Signal Processor CPU); DSP), Programmable Logic Controller, special IC (Application Specific Integrated Circuit; Or the combination of other like or said elements ASIC).In the present embodiment, processing unit 18, in order to access and to perform the module recorded in above-mentioned storage element 16, uses the decision method of the device relative position realizing the embodiment of the present invention.
Fig. 2 is the process flow diagram of the decision method of the device relative position illustrated according to one embodiment of the invention.Fig. 3 is the schematic diagram of the decision method of the device relative position illustrated according to one embodiment of the invention.Referring to Fig. 1, Fig. 2 and Fig. 3, the method for the present embodiment is applicable to above-mentioned electronic installation 10, and wherein Fig. 3 illustrates the position relationship between electronic installation 10 and another electronic installation 20 around it.Below namely to arrange in pairs or groups each item of electronic installation 10 in Fig. 1, the detailed process of the present embodiment method is described.
In step S210, distance calculation module 161, according to the wireless signal transmitted between radio communication unit 12 and electronic installation 20, calculates the first distance r of electronic installation 10 and electronic installation 20
0.Wherein, in one embodiment, distance calculation module 161 can utilize radio communication unit 12 from sending wireless signal to receiving electronic installation 20 feedback signal institute's elapsed time or the distance between signal intensity reckoning electronic installation 10 and electronic installation 20.
In detail, in one embodiment, distance calculation module 161 utilizes radio communication unit 12 to send wireless signal, and receive the feedback signal that electronic installation 20 responds the passback of this wireless signal, thus calculate radio communication unit 12 from send wireless signal to receive feedback signal (Round Trip Time two-way time of process; RTT).Finally, according to the transfer rate of this two-way time and wireless signal, distance calculation module 161 can calculate the first distance r between electronic installation 10 and electronic installation 20
0.This first distance r
0it is such as the half of the product of the transfer rate of two-way time and wireless signal.Wherein, distance calculation module 161 transmits Internet control Message Protocol (internet control message protocol by radio communication unit 12; ICMP) package or other data are to electronic installation 20, to calculate two-way time, do not limit at this.
In another embodiment, distance calculation module 161 also can respond the signal intensity of the feedback signal that wireless signal sends or the signal intensity by the wireless signal initiatively sent of electronic installation 20 own, by such as comparison distance collation table to obtain the first distance r according to radio communication unit 12 is detected by electronic installation 20
0.Specifically, distance calculation module 161 is after utilizing radio communication unit 12 receiving feedback signals, can according to the signal intensity of this feedback signal, inquire about the signal intensity and distance collation table that are stored in advance in storage module 16, thus obtain the distance corresponding to signal intensity of feedback signal, and in order to as the first distance r between electronic installation 10 and electronic installation 20
0.
It should be noted that, in one embodiment, electronic installation 10 is before detection. electronics 20, also can first utilize wireless communication technique that radio communication unit 12 is supported (such as, WiFi Direct, bluetooth, near-field communication etc.), and can arrange in pairs or groups specific application program or network service, carry out ditch with electronic installation 20 and pass to and carry out certification (authentication) or match (pairing) program, to set up the channel of signal transmission.This action of carrying out linking up can represent electronic installation 10 for bringing into use the function of the relative position of tracking electronic device 20, that is starts the relative position judging electronic installation 20.After pairing, electronic installation 10 and electronic installation 20 namely by this channel transfer wireless signal, to carry out Distance estimation.Such as, two users holding electronic installation 10 and electronic installation 20 respectively, ditch can be carried out in advance and pass to certification or pairing, and when the other side's relative position known by needs, start the function judging the other side's relative position, or can need to use judge the function of the other side's relative position time, then carry out ditch and pass to certification or pairing.Such as, two users can open relevant application program, and by such as near-field communication (Near Field Communication, NFC) mode is matched, and directly using the position of carrying out matching as starting point, and start the relative position following the trail of the other side, and starting point and motion track each other can be shown on the electronic device.
And in other embodiments, if time the device identification code of the radio communication unit of electronic installation 10 known electronic 20 (device ID), also can in the process of pairing, the signal intensity of the feedback signal responded according to electronic installation 20, directly calculates the first distance r between electronic installation 10 and electronic installation 20
0.Above-mentioned calculating first is apart from r
0method be only example, application the present embodiment person can adjust the method for measuring two-way time and signal intensity or use other method to calculate the first distance r according to its demand
0, the present invention does not limit this.
Get back to the flow process of Fig. 2, after unit interval t, in step S230, distance calculation module 161 can utilize radio communication unit 12 to send wireless signal with detection. electronics 20 again, and calculates the second distance r of electronic installation 10 and electronic installation 20 according to this
1.Meanwhile, displacement computing module 162 also can calculate the first displacement d of electronic installation movement in unit interval t
1.Wherein, distance calculation module 161 calculates second distance r
1method and above-mentioned calculating first apart from r
0method identical, do not repeat them here.
In the present embodiment, displacement computing module 162 can utilize the first displacement d of sensor detection. electronics 10 movements in Moving Unit time t such as accelerometer, gyroscope or the electronic compass be equipped with of electronic installation 10 own
1.Specifically, the accelerometer of three axis accelerometer can detect the acceleration movement of three axis, and just can be calculated the displacement of each axis by detected acceleration.Such as, acceleration can obtain displacement after twice integration.In addition, gyroscope can the rotation amount of detection. electronics 10, and electronic compass then can the orientation of detection. electronics 10.By this, electronic installation 10 just estimates (Dead Reckoning by orientation; DR) or the locator meams such as inertial navigation (inertial navigation) learn the first displacement d
1displacement and moving direction.
Again through unit interval t (namely, altogether through 2 unit interval t) after, in step s 250, distance calculation module 161 can utilize radio communication unit 12 to send wireless signal with detection. electronics 20 again, and calculates the 3rd distance r of electronic installation 10 and electronic installation 20 according to this
2.Meanwhile, displacement computing module 162 also can calculate the second displacement d of electronic installation movement in this unit interval t
2.Wherein, distance calculation module 161 calculates the 3rd distance r
2method and above-mentioned calculating first apart from r
0method identical, do not repeat them here.
Finally, in step S270, relative position computing module 163 by as a reference point with the current location of electronic installation 10, according to the first distance r of above-mentioned calculating
0, the first displacement d
1with second distance r
1, and the second displacement d
2with the 3rd distance r
2calculate first relative position of electronic installation 20 relative to electronic installation 10.Wherein, relative position computing module 163 such as can first by the first distance r of above-mentioned calculating
0, the first displacement d
1with second distance r
1as leg-of-mutton three limits, utilize triangle inequality to calculate after unit interval t, electronic installation 20 relative to the relative position of electronic installation 10, and then by the second distance r of above-mentioned calculating
1, the second displacement d
2with the 3rd distance r
2as leg-of-mutton three limits, utilize triangle inequality to calculate after 2 unit interval t, electronic installation 20 is relative to the relative position of electronic installation 10.Wherein, the present embodiment utilizes second distance r further
1, the second displacement d
2with the 3rd distance r
2calculate the position of electronic installation 20 after second unit interval t, then the position of the electronic installation 20 calculated behind this position and first unit interval t is compared, use the position more confirming electronic installation 20.
Specifically, Fig. 4 A and 4B is the example of the decision method of the device relative position illustrated according to one embodiment of the invention.Referring to Fig. 3 and Fig. 4 A, Fig. 4 A be the position of electronic installation 20 in Fig. 3 as Q end points (that is, coordinate (0,0)), and with P
0and P
1end points represents the position of electronic installation 10 before unit interval t and the current location of electronic installation 10 respectively.
P in Fig. 4 A
0end points is to the distance r of Q end points
0be the first distance r in Fig. 3
0, P in Fig. 4 A
1end points is to the distance r of Q end points
1be the second distance r in Fig. 3
1, vector in Fig. 4 A
be the first displacement d in Fig. 3
1.Suppose P
1end points is vector relative to Q end points
then vector
meet following equation (1) and (2):
By Fig. 4 middle distance r
1, r
2and vector
as leg-of-mutton three limits, then according to the equation (3) of triangle inequality:
，
Equation (1) and (2) are substituted in equation (3), can P be calculated
1coordinate (the P of end points
x, P
y), wherein
, and wherein
Then, with P
1end points is reference point, and according to the coordinate (P calculated
x, P
y) can learn that Q end points is relative to P
1the relative position (that is, electronic installation 20 is relative to the first relative position of electronic installation 10) of end points.First relative position of electronic installation 20 relative to electronic installation 10 is inspected for convenience of user, this the first relative position also can be presented on display unit (not illustrating) by electronic installation 10, and this display unit can be liquid crystal display (Liquid Crystal Display; LCD), organic electro-luminescent display (Organic Electro-Luminescent Display; The display such as OELD), and be not limited to this.
Electronic installation 10 such as by the display module be recorded in storage element 16 (not illustrating) using reference point (i.e. the current location of electronic installation 10) as center, and show the first relative position with graphic interface on display unit.Please refer to Fig. 4 B, the multiple concentric circles representatives in Fig. 4 B are relative to the different distance of electronic installation 10, and such as, the concentric circles near central point represents the distance of distance electronic installation 100 meters, and the rest may be inferred for other concentric circles.The actual range that in Fig. 4 B, multiple concentric circles is corresponding is only example, and in other embodiments, the actual range that concentric circles is corresponding can change relative to the relative position of electronic installation 10 according to electronic installation 20, and is not limited to this.Point 401 in Fig. 4 B is first relative position of electronic installation 20 relative to electronic installation 10.
By this, user just can when not using GPS, directly utilize the point-to-point transmission technology of electronic installation (such as, WiFi Direct, Bluetooth, near-field communication etc.) measure the distance of itself and other device, and the sensor utilizing electronic installation (such as, the combination of the sensors such as accelerometer, gyroscope sensor and compass inductor) detection learn oneself displacement, can extrapolate accordingly around other device relative to the relative position of oneself.Such as, when user and other friend are in crowded indoor concert or sales field, user just learns the position of friend by the electronic installation in the embodiment of the present invention, when user is positioned at large-scale parking garage, user just learns the position of oneself storing cycle by the electronic installation in the embodiment of the present invention, such as when electronic installation judges to be separated with vehicle online, namely represent user to have got off and leave vehicle, now electronic installation then starts to detect the displacement after leaving vehicle, can follow to allow user the stand that displacement path returns to find vehicle, or, when user and child are with out of doors or in department store, except learning the position of child and the trajectory path of movement by the electronic installation in the embodiment of the present invention, when child leaves set distance range (such as, two hectometers) time, head of a family's electronic installation more can send alert messages to notify that user (such as, send the sound or show alert messages on display unit), or the electronic installation of child sends alert messages prompting, and child has exceeded away from the head of a family distance set, now the head of a family can with reference to the position of the child's electronic installation shown by head of a family's electronic installation, and by the motion track of child's electronic installation, search out child rapidly.If head of a family's electronic installation itself has movement, also can simultaneously with reference to the motion track of head of a family's electronic installation and child's electronic installation to find child position.
Electronic installation in above-described embodiment learns the relative position of other position relative to self via twice displacement.And in another embodiment, the decision method of the device relative position of the embodiment of the present invention more promotes the degree of accuracy of calculated relative position by repeatedly displacement.
For example, Fig. 5 is the schematic diagram of the decision method of the device relative position illustrated according to another embodiment of the present invention.Electronic installation 50 in Fig. 5 is the devices entrained by user, electronic installation 55 is then the device around user, wherein often through a unit interval t, namely electronic installation 50 can calculate distance r between itself and electronic installation 55 according to the method detection. electronics 55 in above-described embodiment according to this
1, r
2, r
3and r
4, and its displacement d in each unit interval t can be calculated
1, d
2and d
3.By that analogy, after k unit interval t, electronic installation 50 by sending or receive wireless signal with detection. electronics 55, and calculates kth+1 distance between itself and electronic installation 55, and calculate the kth displacement of its movement in a kth unit interval t, wherein k is positive integer.And according to above-mentioned kth displacement, kth distance and kth+1 distance, when electronic installation 50 can calculate-1 unit interval of kth, electronic installation 55 is relative to kth-1 relative position of electronic installation 50 and value that after the kth unit interval, electronic installation 55 is minimum relative to kth the relative position error of electronic installation 50, uses and determines the kth relative position of electronic installation 55 relative to electronic installation 50.
Specifically, Fig. 6 A and 6B is the example of the decision method of the device relative position illustrated according to another embodiment of the present invention.Referring to Fig. 5 and Fig. 6 A, Fig. 6 A be the position of electronic installation 55 in Fig. 5 as Q end points (that is, coordinate (0,0)), and with P
kand P
k-1end points represents the position of electronic installation 50 at kth and kth-1 unit interval t respectively.
P in Fig. 6 A
k-1end points and Q end points are apart distance r
k-1, P in Fig. 6 A
kend points and Q end points are apart distance r
k, vector in Fig. 6 A
namely the displacement in electronic installation 50 kth unit interval t is represented.Suppose P
kend points is vector relative to Q end points
p
k-1end points is vector relative to Q end points
due to distance r
kwith vector
for the value measured respectively by radio communication unit and sensor, therefore calculate its error e respectively by following equation (6) and (7)
dand e
r:
And according to maximal phase like estimation (maximum likelihood estimation) method hypothesis pooled error E be:
, and error E meets following equation (9) and (10):
Finally, by minimizing this error E, and can obtain:
By this, the error minimize that the decision method of the device relative position of the embodiment of the present invention just can be measured, to determine the relative position of electronic installation 55 relative to electronic installation 50.And in one embodiment, the electronic installation 55 of all previous calculating also more can be shown on display unit relative to the relative position of electronic installation 50 with graphic interface by display module by electronic installation 50, inspects the motion track of electronic installation 55 with person easy to use.
For example, electronic installation 50 can access first relative position of its electronic installation 55 previously calculated relative to electronic installation 50 to kth-1 relative position, and it is as a reference point with the current location of electronic installation 50, according to its previously calculating first is moved to kth-1 displacement (as a reference point in the current location at place after the unit interval of the first to kth-1 with electronic installation respectively), respectively the first above-mentioned relative position to kth-1 relative position is modified to k-1 the correction position relative to current reference point.Such as, if using the current location of electronic installation 50 as initial point (0,0), when electronic installation 55 is (7,8) relative to the 5th relative position of electronic installation 50, electronic installation 55 is (5 relative to the 4th relative position of electronic installation 50,, and the displacement of previous unit interval is (2,3) 1), then the 4th relative position can be modified to coordinate (3 ,-2).Then the rest may be inferred for all the other correction position, do not repeat them here.
In addition, electronic installation 50 also can by display module using reference point (i.e. the current location of electronic installation 50) as center, and on display unit, show above-mentioned correction position with graphic interface, to represent the motion track of electronic installation 55 relative to reference point.For example, please refer to Fig. 6 B, point 601 in Fig. 6 B represents the current relative position relative to electronic installation 10 of electronic installation 55, and puts 611 to 616 and represent revised electronic installation 55 respectively in unit time before relative to the relative position of the current location of electronic installation 50.
In one embodiment, electronic installation 50 can access or download in real time the map of position in advance, such as, the map in the place such as sales field, parking lot, and by display module this map and above-mentioned motion track merged and show on the display unit, " be presented at the motion track on map " with person easy to use according to this and find the best road warp going to electronic installation 55 position fast.In this embodiment, user, by the mode that clicks on map or by the current position of the way selection user electronic installation 50 of menu, or by the current position of positioning system positioning electronic device 50, and is presented on electronic chart.In other embodiments, electronic installation 50 also can calculate according to cartographic information and motion track the optimal path that user goes to electronic installation 55 position by path planning module (not illustrating).And in other embodiments, also by distance calculation module, calculate straight line meter between user and electronic installation 55 from, the path computing path distance also can planned according to path planning module.
By this, the decision method of the device relative position of the embodiment of the present invention can to provide around user other device relative to the motion track of user's current location, understand the mobile status of other device with person easy to use, and then person easy to use goes to the position of other device.It should be noted that, above-described embodiment is all applied in electronic installation 20 and maintains static, and the situation of electronic installation 10 movement.In another embodiment, when electronic installation 10 and electronic installation 20 all move, the decision method of the device relative position of the embodiment of the present invention also can obtain the relative position of electronic installation 20 relative to electronic installation 10.Below then describe in detail for an embodiment again.
Fig. 7 is the schematic diagram of the decision method of the device relative position illustrated according to yet another embodiment of the invention.Electronic installation 70 in Fig. 7 is the devices entrained by user, electronic installation 75 is then the device around user, wherein electronic installation 70 such as according to the method in above-described embodiment detection. electronics 75 first distance L1 calculated between itself and electronic installation 75 and second distance L2 before and after unit interval t, can also calculate the first displacement d of its movement in unit interval t simultaneously
a, 1.With previous embodiment unlike, in the present embodiment, electronic installation 75 can calculate the second displacement d of its movement in unit interval t
b, 1, and send electronic installation 70 to by radio communication unit, this second displacement d
b, 1computing method also can refer to the related description of Fig. 2 and 3, do not repeat them here.Then, electronic installation 70 will be as a reference point with its current location, by the first distance L1, the first displacement d
a, 1with the second displacement d
b, 1difference and second distance L2 as leg-of-mutton three limits, utilize triangle inequality to calculate electronic installation 75 relative to the first relative position of reference point (i.e. the current location of electronic installation 70).
Specifically, Fig. 8 is the example of the decision method of the device relative position illustrated according to yet another embodiment of the invention.That the initial position of electronic installation 75 in Fig. 7 is as B referring to Fig. 7 and Fig. 8, Fig. 8
0end points (that is, coordinate (0,0)), and using the initial position of electronic installation in Fig. 7 70 as A
0end points.In addition, A
1and B
1end points then represents the position of electronic installation 70 and 75 after unit interval t respectively.
A in Fig. 8
0end points is to B
0the distance L of end points
1be the first distance L in Fig. 7
1, A in Fig. 8
1end points is to B
1the distance L of end points
2be the second distance L in Fig. 7
2, vector in Fig. 8
the first displacement d in representative graph 7
a, 1, and vector in Fig. 8
be represented as the second displacement d in Fig. 7
b, 1.Suppose B
0end points is parallel to A to the right
1end points and B
1the line of end points and extended distance L
2a can be produced
1' end points, and with A
0end points is that benchmark is to A
1' vector of end points is
.By A
0, A
1, B
0and A
1' end points line can form parallelogram, and vectorial
for vector
with
difference.By Fig. 8 middle distance L
1, L
2and vector
as leg-of-mutton three limits, then the triangle inequality illustrated according to Fig. 4 A can learn A
1' end points coordinate and with B
0end points is that benchmark is to A
1' vector of end points
.Due to A
0, A
1, B
0and A
1' end points line is parallelogram, therefore with B
1end points is that benchmark is to A
1the vector of end points is also
.Finally, then with A
1end points is as a reference point, then can be derived from current the first relative position relative to electronic installation 70 of electronic installation 75.
By this, when user and its friend have mobile, user still obtains the relative position of its friend relative to oneself by the decision method of the device relative position of the embodiment of the present invention.
It should be noted that, above-described embodiment all obtains the relative position of other device relative to oneself when not using positioning system.But, in one embodiment, when when the electronic installation entrained by user or other device around it, one of them can use positioning system to locate, the above-mentioned relative position obtained and device herein also can be located the absolute position of gained (such as by the decision method of the device relative position of the embodiment of the present invention, latitude and longitude coordinates) combine, thus know the absolute position of all devices by inference.
For example, Fig. 9 is the schematic diagram of the decision method of the application apparatus relative position illustrated according to yet another embodiment of the invention.Please refer to Fig. 9, electronic installation 91 to 99 can utilize the method for above-described embodiment to detect contiguous electronic installation respectively and obtain the relative position of itself and these electronic installation, and the method obtaining relative position please refer to the related description of Fig. 2 to Fig. 8, does not repeat them here.In one embodiment, suppose that the electronic installation 91 entrained by user is equipped with positioning system (not illustrating), this positioning system can support the following system of at least one: GPS (Global Positioning System, GPS), auxiliary global satellite positioning system (Assisted Global Positioning System, AGPS), GALILEO positioning system (Galileo Positioning System) or GLONASS (Global Navigation Satellite System) (GLObal NAvigation Satellite System, GLONASS), but be not limited to this, also base station can be utilized or Wi-Fi hotspot positions.Wherein, electronic installation 91 can be positioned by positioning system, to obtain the absolute position at its place (such as, GPS latitude and longitude coordinates), and electronic installation 91 can by absolute position computing module (not illustrating) according to the absolute position at its place and electronic installation 95 relative position relative to electronic installation 91, calculate the absolute position (such as, the coordinate conversion of relative position is become latitude and longitude coordinates, then add and subtract mutually with absolute position according to direction) of electronic installation 95.The rest may be inferred for all the other electronic installations, also can obtain respective absolute position.
In another embodiment, suppose that the electronic installation 91 that user carries cannot use positioning system, but electronic installation 92 possesses positioning system.Then electronic installation 92 can utilize positioning system to position, and to obtain the absolute position at its place, and sends this absolute position to electronic installation 91.By this, electronic installation 91 can by absolute position computing module (not illustrating) according to the absolute position of received electronic installation 92 and electronic installation 92 relative position relative to electronic installation 91, calculate the absolute position of electronic installation 91 (such as, the coordinate conversion of relative position becomes latitude and longitude coordinates, then adds and subtracts mutually with the first absolute position according to direction).The rest may be inferred for all the other electronic installations, also can obtain respective absolute position.
In another embodiment, suppose that the user of electronic installation 91 to 99 cannot use, but one of them of the user of electronic installation 91 to 99 knows the absolute position at its place at present, then this user is by the mode that clicks on map or by the current position of the way selection of menu, and sending this current absolute position to all the other electronic installations, then all the other electronic installations also can obtain respective absolute position.
By this, when electronic installation each other by wireless signal (such as, WiFi) after setting up line, can be formed as the topological network in Fig. 9, only need wherein electronic installation can be located or accept the information of current absolute position by positioning system, then the absolute position at respective place also known by inference by other electronic installation in topological network.
In addition, in another embodiment, when two users holding electronic installation 10 and electronic installation 20 respectively start the function that judges the other side's relative position and after utilizing such as NFC to complete card card or pairing, electronic installation 10 and 20 can be used as starting point in current position, and utilize sensor, such as accelerometer, gyroscope and compass etc., detect respectively and the trajectory path of displacement calculating, again the deformation trace path of itself is shared with mutually another electronic installation, namely electronic installation 10 and 20 like this calculates the relative position of the other side by the information of starting point and the deformation trace routing information of electronic installation 10 and 20, or uni-directionally by electronic installation 20, the deformation trace path of oneself can be shared with electronic installation 10, then electronic installation 10 can calculate the relative position of electronic installation 20.So, merely can utilize the deformation trace path of two electronic installations and calculate the relative position of the other side, and not needing to calculate with triangulation location.
And when the other side's relative position known by needs, start and judge the function of the other side's relative position, or can when needing use to judge the function of the other side's relative position, then carry out ditch and pass to certification or pairing.Such as, two users can open relevant application program, and match by the mode of such as NFC, and directly using the position of carrying out matching as starting point, and start the relative position following the trail of the other side, and starting point and motion track each other can be shown on the electronic device.
In sum, the decision method of apparatus of the present invention relative position and electronic installation transmit or receive wireless signal with other device around detection by electronic installation respectively two different time points, and measure signal intensity or the two-way time of these device return path signals, thus the distance between electronic installation and other device can be calculated.In addition, by the displacement of sensor detection. electronics itself, can by the distance of above-mentioned calculating therewith displacement combine calculate the relative position of other device relative to electronic installation, finally the relative position of these electronic installations is presented on the screen of electronic installation with graphic interface.By this, user just can indoor or other cannot or not for using the place of positioning system, learn that other device is relative to the relative position of oneself around.
Although the present invention discloses as above with embodiment; so itself and be not used to limit the present invention, any those skilled in the art, without departing from the spirit and scope of the present invention; when doing a little change and retouching, therefore protection scope of the present invention is when being as the criterion depending on the appended right person of defining.
Claims (19)
1. a decision method for device relative position, for being judged a relative position of a second electronic device by one first electronic installation, the method comprises the following steps:
According to the wireless signal between this second electronic device, calculate one first distance between this second electronic device and this first electronic installation;
After one first unit interval, according to this wireless signal with the second distance calculated between this second electronic device and this first electronic installation and one first displacement calculating the movement within this first unit interval of this first electronic installation;
Again after one second unit interval, according to this wireless signal with one the 3rd distance calculated between this second electronic device and this first electronic installation and one second displacement calculating the movement within this second unit interval of this first electronic installation; And
Using a current location of this first electronic installation as a reference point, according to this first distance, this first displacement and this second distance, and this second displacement and the 3rd is apart from calculating one first relative position of this second electronic device relative to this first electronic installation.
2. method according to claim 1, also comprises:
After k-1 unit interval, according to this wireless signal to calculate the kth distance between this second electronic device and this first electronic installation;
After k unit interval, according to this wireless signal to calculate kth+1 distance between this second electronic device and this first electronic installation, and calculate a kth displacement of this first electronic installation movement within a kth unit interval, wherein k is positive integer; And
According to this kth displacement, kth distance and this kth+1 distance, when calculating-1 unit interval of kth this second electronic device relative to a kth relative position of this first electronic installation and after the kth unit interval this second electronic device relative to this first electronic installation kth+1 relative position between the minimum value of error, to determine this second electronic device this kth relative position relative to this first electronic installation.
3. method according to claim 2, also comprises:
Access previous this second electronic device calculated this first relative position relative to this first electronic installation to this kth relative position;
Using this current location of this first electronic installation as this reference point, first be moved to this kth displacement according to this, revising this first relative position to this kth relative position is respectively k correction position relative to this reference point; And
Centered by this reference point, show described correction position with graphic interface, to represent the motion track of this second electronic device relative to this reference point.
4. method according to claim 1, wherein calculate this first displacement of this first electronic installation movement within this first unit interval, and after calculating the step of this second electronic device relative to this second distance of this first electronic installation according to this wireless signal, also comprise:
This second electronic device calculates a triple motion of its movement within this first unit interval, and sends this first electronic installation to; And
Using this first electronic installation as this reference point, calculate this second electronic device this first relative position relative to this first electronic installation according to the difference of this first distance, this first displacement and this triple motion and this second distance.
5. method according to claim 1, also comprises:
Open an application-specific; And
Carry out ditch with near-field communication mode and this second device to pass to and carry out certification and/or matcher.
6. method according to claim 1, the step wherein calculating this first distance between this first electronic installation and this second electronic device comprises:
Send this wireless signal;
Receive the feedback signal that this second electronic device responds the passback of this wireless signal; And
According to a signal intensity of this feedback signal, comparison one distance collation table is to obtain this first distance.
7. method according to claim 1, the step wherein calculating this first displacement of movement within this first unit interval of this first electronic installation comprises:
The sensitive information utilizing accelerometer, gyroscope, electronic compass or its combination to receive calculates this first displacement.
8. method according to claim 1, after wherein calculating the step of this first relative position between this first electronic installation and this second electronic device, also comprises:
Centered by this reference point, show this first relative position with graphic interface.
9. method according to claim 1, wherein after this first unit interval, also comprises:
A positioning system is utilized to locate this first electronic installation, to obtain one first absolute position of this first electronic installation; And
According to this first absolute position and this first relative position, calculate one second absolute position of this second electronic device.
10. method according to claim 1, wherein after this first unit interval, also comprises:
This second electronic device utilizes a positioning system to position, and to obtain one second absolute position, and sends this first electronic installation to; And
This first electronic installation, according to this second absolute position and this first relative position, calculates one first absolute position of this first electronic installation.
11. 1 kinds of electronic installations, comprising:
One distance calculation module, according to the wireless signal that a radio communication unit and another electronic installation of this electronic installation transmit, calculate one first distance between this another electronic installation and this electronic installation, after one first unit interval, a second distance of this another electronic installation and this electronic installation is calculated according to this wireless signal, and again after one second unit interval, again according to this wireless signal to calculate one the 3rd distance between this another electronic installation and this electronic installation;
One displacement computing module, utilizes at least one sensor to detect and calculates one first displacement of this first electronic installation movement within this first unit interval and one second displacement of movement within this second unit interval; And
One relative position computing module, using a current location of this electronic installation as a reference point, by this first distance, this first displacement and this second distance, and this second displacement and the 3rd is apart from calculating one first relative position of this another electronic installation relative to this electronic installation.
12. electronic installations according to claim 11, wherein
After k-1 unit interval, this distance calculation module according to this wireless signal to calculate the kth distance between this another electronic installation and this electronic installation;
After k unit interval, this distance calculation module according to this wireless signal to calculate kth+1 distance between this another electronic installation and this electronic installation, and this displacement computing module is detected by described sensor and calculates a kth displacement of this electronic installation movement within a kth unit interval, wherein k is positive integer; And
This relative position computing module is according to this kth displacement, kth distance and this kth+1 distance, when calculating-1 unit interval of kth this another electronic installation relative to the kth relative position of this electronic installation and after the kth unit interval this another electronic installation relative to this electronic installation kth+1 relative position between the minimum value of error, to determine this another electronic installation this kth relative position relative to this electronic installation.
13. electronic installations according to claim 12, wherein this electronic installation also comprises a display module, wherein
This relative position computing module accesses previous this another electronic installation calculated this first relative position relative to this electronic installation to this kth relative position,
This relative position computing module, using this current location of this first electronic installation as this reference point, first is moved to this kth displacement according to this, and revising this first relative position to this kth relative position is respectively k correction position relative to this reference point, and
This display module, centered by this reference point, shows described correction position in a display unit with graphic interface, to represent the motion track of this another electronic installation relative to this reference point.
14. electronic installations according to claim 13, wherein this another electronic installation comprises one second displacement calculating its movement within this first unit interval, and sends this electronic installation to, wherein
This relative position computing module is also using this electronic installation as this reference point, using the difference of this first distance, this first displacement and this second displacement and this second distance as these leg-of-mutton three limits, this triangle inequality is utilized to calculate this another electronic installation this first relative position relative to this electronic installation.
15. electronic installations according to claim 11, also comprise an application-specific, and wherein after this application-specific is opened, this electronic installation carries out ditch with near-field communication mode and this second device and passes to and carry out certification and/or matcher.
16. electronic installations according to claim 11, wherein this distance calculation module also utilizes this radio communication unit to send this wireless signal and receives the feedback signal that this another electronic installation responds the passback of this wireless signal, and according to a signal intensity of this feedback signal, comparison one distance collation table is to obtain this first distance.
17. electronic installations according to claim 11, wherein said sensor comprises accelerometer, gyroscope, the combination of compass one of them or its.
18. electronic installations according to claim 11, also comprise:
One absolute position computing module, utilizes a positioning system to locate this electronic installation, to obtain one first absolute position of this electronic installation, according to this first absolute position and this first relative position, calculates one second absolute position of this another electronic installation.
19. electronic installations according to claim 11, wherein this another electronic installation also utilizes a positioning system to position, and to obtain one second absolute position, and send this electronic installation to, and this electronic installation also comprises:
One absolute position computing module, according to this second absolute position and this first relative position, calculates one first absolute position of this electronic installation.
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