WO2021103729A1 - Inter-terminal positioning method and apparatus - Google Patents

Inter-terminal positioning method and apparatus Download PDF

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Publication number
WO2021103729A1
WO2021103729A1 PCT/CN2020/113054 CN2020113054W WO2021103729A1 WO 2021103729 A1 WO2021103729 A1 WO 2021103729A1 CN 2020113054 W CN2020113054 W CN 2020113054W WO 2021103729 A1 WO2021103729 A1 WO 2021103729A1
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WIPO (PCT)
Prior art keywords
terminal
information
coordinate system
relative
target
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PCT/CN2020/113054
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French (fr)
Chinese (zh)
Inventor
岳增阳
顾燕杰
岳华伟
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华为技术有限公司
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Publication of WO2021103729A1 publication Critical patent/WO2021103729A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • 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
    • 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
    • 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
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Definitions

  • This application relates to the field of positioning technology, and in particular to methods and devices for positioning between terminals.
  • GNSS Global Navigation Satellite System
  • GNSS satellite positioning uses the satellite navigation and positioning system to obtain the longitude and latitude position and speed information of the terminal equipment through the principle of distance measurement.
  • WiFi-based location fingerprint positioning refers to the use of WiFi access points to locate the terminal device.
  • the location fingerprint associates a location in the actual environment with a certain "fingerprint", and a location corresponds to a unique fingerprint.
  • the terminal device receives or sends a signal, then the fingerprint can be the signal strength of this signal. By sensing the signal strength, the current location of the terminal device can be matched.
  • the base station assisted positioning based on the Cell-Id is based on the positioning method of the Global System for Mobile Communications (GSM) network, that is, the GSM network obtains the cell number of the terminal device and combines this The location information corresponding to the cell is used as the location of the terminal device.
  • GSM Global System for Mobile Communications
  • the above-mentioned positioning technologies all calculate the absolute position of the terminal device through known anchor point positions (such as GNSS satellites, WiFi access points, base stations, etc.) and related measurements.
  • anchor point positions such as GNSS satellites, WiFi access points, base stations, etc.
  • Such positioning technology has requirements for positioning occasions, and the positioning accuracy is usually not high.
  • the GNSS satellite positioning accuracy is 5-20 meters, which is only suitable for outdoor scenes; the position fingerprint positioning accuracy is more than ten meters to tens of meters, and it is very dependent on the deployment of WiFi access points.
  • the cost is high and the application scenarios are more limited; base station assistance
  • the positioning accuracy is several hundred meters, and the application scenarios are further restricted.
  • the present application discloses a positioning method and device between terminals, which can realize high-precision mutual positioning between terminals without relying on anchor points, meet the requirements of various application scenarios, and improve user experience.
  • this application provides a method for positioning between terminals.
  • the method includes: a first terminal detects motion information of a first terminal, where the motion information includes direction information and acceleration information; and the first terminal determines the position according to the direction information and acceleration information.
  • the current first location information of the first terminal the first terminal receives the second location information sent by the second terminal, the second location information indicates the current location of the second terminal; the first terminal measures the first terminal and the second terminal The distance information between the first terminal; the first terminal determines the relative position of the second terminal relative to the first terminal according to the first position information, the second position information, and the distance information.
  • the first terminal According to the relative position, the first terminal generates navigation information for navigating from the first terminal to the second terminal and prompts the navigation information.
  • This article can define the first terminal as the main test equipment, and the first terminal can also be called terminal A.
  • the second terminal is the device under test, and the second terminal can also be referred to as terminal B.
  • the first terminal is referred to as a terminal for short, the second terminal may be referred to as a target terminal.
  • terminal A determines the current first location information of terminal A according to the data collected by its own sensors, and terminal A can also receive the second location information currently sent by terminal B and measure the distance between the two terminals.
  • the distance information so as to realize the positioning between the terminals according to the first position information, the second position information and the distance information. That is to say, when positioning between terminals, only the devices of terminal A and terminal B can be used in unlimited scenarios (both indoors and outdoors), independent of any anchor point, independent of external servers and In the case of basic network facilities and independent of base station communication, high-precision mutual positioning between two terminals can be realized. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
  • the sensor group includes a direction sensor and an acceleration sensor; the first terminal detects the direction information through the direction sensor; the first terminal detects the direction information through the acceleration sensor The acceleration information; the first terminal determines the first location information of the first terminal according to the direction information and the acceleration information.
  • the direction sensor may be at least one of a gyroscope sensor and a digital compass, for example.
  • terminal A’s own direction sensor and acceleration sensor can be used to detect the current direction information and acceleration information of terminal A in real time, without the need to add a new position detection device, and does not rely on external anchors. Points, base stations, servers, etc., also save costs.
  • the first terminal determining the current first position information of the first terminal according to the direction information and the acceleration information includes: the first terminal according to the The acceleration information obtains the movement step length of the first terminal; the first terminal obtains the first position information through pedestrian dead reckoning (PDR) according to the direction information and the movement step length.
  • PDR pedestrian dead reckoning
  • terminal A can use the PDR self-positioning technology. Without absolute position as a reference, terminal A can obtain position information of terminal A relative to the initial time according to the direction information and acceleration information. If the initial time of terminal A is used as the origin to establish a relative motion coordinate system, all subsequent position information of terminal A can be represented by quantified coordinate values, thereby improving the timeliness of terminal A's position information.
  • the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends the fine Time measurement (FTM) request; the first terminal receives the confirmation information returned by the second terminal in response to the FTM request, and the confirmation information indicates the first moment when the second terminal transmits the confirmation information and The time difference between the second time when the second terminal receives the FTM request; the first terminal determines the distance according to the time when the FTM request is sent, the time when the confirmation information is received, and the time difference information.
  • FTM fine Time measurement
  • fine timing measurement (FTM) ranging technology can be used to accurately transmit the signals of terminal A and terminal B through the interaction of the two terminals. With the receiving time, the precise distance between terminal A and terminal B can be obtained. There is no need to add a new distance detection device, and the distance information between the terminals can be measured more accurately, which reduces the cost.
  • FTM fine timing measurement
  • the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends light to the second terminal. Signal; the first terminal receives the optical signal reflected from the second terminal; the first terminal according to the optical signal from the time when the first terminal is sent to the first terminal The time of flight between the moments of reception determines the distance information.
  • time of flight (ToF) ranging technology can be used, and the optical transmitter is used to transmit optical pulses to the target terminal.
  • the optical pulses can be lasers, LED light, near-infrared light or infrared light, etc.
  • the light receiver is used to receive the light reflected by the target terminal.
  • the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends a signal to the second terminal Angle of Arrival (AoA) measurement request; the first terminal receives the AoA measurement signal returned from the second terminal in response to the AoA measurement request through a different antenna; the first terminal is based on all the signals received by the different antenna The phase difference of the AoA measurement signal determines the angle of arrival of the AoA measurement signal, and the first terminal determines the distance information according to the angle of arrival of the AoA measurement signal.
  • AoA Angle of Arrival
  • the terminal A can also use the angle-of-arrival (Angle-of-Arrival, AoA) measurement technology for ranging.
  • the communication module of terminal A includes two or more antennas.
  • the terminal and the target terminal perform mobile communication or wireless communication, due to the distance between different antennas of the same communication module, when electromagnetic wave signals with a certain incident angle reach different antennas, the electromagnetic waves received by the different antennas will have phases.
  • the angle of arrival (AoA) of the electromagnetic wave signal can be calculated, and then the distance between the terminals can be calculated based on the angle of arrival. Therefore, the distance information between the terminals can be measured more accurately without the need to add a new distance detection device, and the cost can be reduced.
  • the first terminal obtains the relative position of the second terminal relative to the second terminal according to the location information of the first terminal, the location information of the second terminal, and the distance information.
  • the relative position of the first terminal includes: the first terminal determines the first terminal and the second terminal according to the first position information of the first terminal and the second position information of the second terminal Position distribution in the same coordinate system; the first terminal determines the relative position of the second terminal relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system position.
  • the relative position is accurate and reliable. That is to say, real-time positioning of the relative position of the terminal B in the terminal A is realized, and the terminal A can perceive the real-time distance and orientation of the terminal B regardless of whether the terminal B is currently stationary or moving.
  • the first position information of the first terminal indicates the position of the first terminal in the first coordinate system of the first terminal; the first position of the second terminal The second position information indicates the position of the second terminal in the second coordinate system of the second terminal; the first terminal is based on the first position information of the first terminal and the second position of the second terminal Information, determining the position distribution of the first terminal and the second terminal in the same coordinate system, including: the first terminal determining the first rotation between the first coordinate system and the second coordinate system Matrix and the position information of the origin of the second coordinate system mapped in the first coordinate system; the first terminal according to the position information of the second terminal, the first rotation matrix and the second The location information of the origin of the coordinate system mapped in the first coordinate system determines the location information of the second terminal in the first coordinate system.
  • the coordinate system maintained by the terminal A itself may be called the first coordinate system
  • the coordinate system maintained by the terminal B itself may be called the second coordinate system
  • the first coordinate system of the terminal A may be used as the navigation coordinate system.
  • the terminal A can calculate and obtain the rotation matrix between the second coordinate system and the first coordinate system (may be referred to as the first rotation matrix), and the origin of the second coordinate system is mapped to the first coordinate system Location information in.
  • the terminal A performs calculations based on the rotation matrix and the position information of the origin of the second coordinate system in the first coordinate system, thereby converting the position information of the terminal B into the position information in the first coordinate system. location information. That is, it is realized that the position information of terminal A and the position information of terminal B are placed in the same coordinate system for description.
  • the first terminal determines that the second terminal is relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system.
  • the relative position of the terminal includes: the first terminal uses the current position of the first terminal as the origin of the coordinate system and the movement direction of the first terminal as the vertical axis of the coordinate system to establish a third coordinate system; The first terminal determines the second rotation matrix between the third coordinate system and the first coordinate system, and the location information of the origin of the first coordinate system mapped in the third coordinate system; The first terminal determines according to the position information of the second terminal in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped in the third coordinate system The position information of the second terminal in the third coordinate system; the position information of the second terminal in the third coordinate system indicates the relative position of the second terminal with respect to the first terminal.
  • terminal A can further calculate according to the position distribution of terminal A and terminal B in the same coordinate system, and the relative position of terminal B relative to terminal A can be obtained.
  • the calculation method may be: the first terminal establishes a third coordinate system with the location information of the first terminal as the origin; the terminal A uses the current position as the origin of the coordinate system, and the movement direction is the Y axis (vertical axis) , Establish a new coordinate system, which can be called a third coordinate system or a real-time relative navigation coordinate system, and then further transform the position information of the terminal B in the first coordinate system to the third coordinate
  • the terminal A obtains the rotation matrix between the third coordinate system and the first coordinate system (which may be referred to as the second rotation matrix) through calculation, and the origin of the first coordinate system is mapped to the third coordinate
  • the position information in the system the terminal A calculates according to the position information of the terminal B in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped
  • the method further includes: the first terminal obtains the relative position of the third terminal from the second terminal, where the relative position of the third terminal indicates that the third terminal is relatively The relative position of the second terminal; the first terminal determines according to the relative position of the second terminal with respect to the first terminal, and the relative position of the third terminal with respect to the second terminal The relative position of the third terminal relative to the first terminal.
  • the navigation information includes the geographic location information of the first terminal and the geographic location information of the second terminal; the first terminal displays the information from the Before the navigation information from the first terminal to the second terminal, the method further includes: the first terminal acquiring the geographic location information of the first terminal; the first terminal according to the geographic location information of the first terminal, and The relative position of the second terminal with respect to the first terminal obtains the geographic location information of the second terminal.
  • any terminal in the system architecture enables absolute positioning means such as GNSS, and the relative position involved in this application can be converted to an absolute positioning coordinate system.
  • absolute positioning coordinate system E.g. geographic coordinate system/world coordinate system
  • terminal A can obtain the geographic location information (such as latitude and longitude) of terminal A through absolute positioning means such as GNSS in real time, then, The terminal A can obtain the geographical position information of the terminal B in real time according to the geographical position information of the terminal A and the relative position of the terminal B relative to the terminal A.
  • the relative position of terminal B can be sensed on the side of terminal A, and the absolute position of terminal B can also be sensed.
  • the technical advantages of the present application can be combined with the advantages of existing absolute positioning methods such as GNSS navigation to further improve the comprehensive positioning performance of each terminal in the system architecture.
  • this application provides a terminal, including: a sensor group for detecting motion information of the terminal, the motion information including direction information and acceleration information; a transceiver, for receiving a second signal sent by the target terminal Location information, the second location information indicates the current location of the target terminal; a processor, respectively coupled to the sensor group and the transceiver, and configured to determine the location according to the direction information and the acceleration information The current first location information of the terminal; obtaining the distance information between the terminal and the target terminal; and obtaining the target terminal according to the first location information, the second location information, and the distance information Relative position with respect to the terminal; and according to the relative position, generating navigation information for navigating from the terminal to the target terminal; and an interactive device, coupled to the processor, for prompting the navigation information.
  • the terminal may be the first terminal (terminal A) described herein, and the target terminal may be the second terminal (terminal B) described herein.
  • the terminal can implement the method described in the first aspect through the foregoing hardware.
  • the terminal determines the current first position information of the terminal according to the data collected by its own sensors, the terminal can also receive the second position information currently sent by the target terminal through the transceiver, and obtain the two positions through the processor.
  • the distance information between the terminals so as to realize the positioning between the terminals according to the first position information, the second position information, and the distance information.
  • the sensor group includes at least one of a direction sensor and an acceleration sensor; at least one of the direction sensors is used to detect direction information of the terminal; the acceleration sensor Used to detect acceleration information of the terminal.
  • the processor is configured to: obtain the motion step length of the terminal according to the acceleration information; according to the direction information and the motion step length, calculate the dead position by pedestrians ( PDR) Obtain the first location information.
  • the processor is configured to: send a fine time measurement (FTM) request to the target terminal through the transceiver; receive a response from the target terminal in response to the FTM request
  • the confirmation information indicates the time difference between the first moment when the target terminal transmits the confirmation information and the second moment when the FTM request is received; the processor is configured to send the FTM request according to The distance information is determined at the time at the time, the time at which the confirmation information is received, and the time difference.
  • FTM fine time measurement
  • the terminal further includes an optical transmitter and an optical receiver; the optical transmitter is used to send an optical signal to the target terminal; the optical receiver is used to receive The optical signal reflected by the target terminal; the processor is configured to determine the flight time between the time when the optical signal is sent by the first terminal and the time when it is received by the first terminal The distance information.
  • the transceiver is further configured to send a signal angle of arrival (AoA) measurement request to the target terminal; and receive signals from the target terminal through different antennas of the transceiver.
  • AoA signal angle of arrival
  • the processor is configured to determine the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas; and according to the AoA measurement The angle of arrival of the signal determines the distance information.
  • the processor is configured to: determine that the terminal and the target terminal are at the same coordinate according to the first location information of the terminal and the second location information of the target terminal Position distribution in the system; determine the relative position of the target terminal relative to the terminal according to the position distribution of the terminal and the target terminal in the same coordinate system.
  • the first position information of the terminal indicates the position of the terminal in the first coordinate system of the terminal;
  • the second position information of the target terminal indicates the target The position of the terminal in the second coordinate system of the target terminal;
  • the processor is configured to: determine a first rotation matrix between the first coordinate system and the second coordinate system, and the second coordinate system The location information of the origin of the mapping in the first coordinate system; the location of the origin mapped in the first coordinate system according to the location information of the target terminal, the first rotation matrix, and the origin of the second coordinate system Information, determining the location information of the target terminal in the first coordinate system.
  • the processor is configured to: use the current position of the terminal as the origin of the coordinate system and use the movement direction of the terminal as the vertical axis of the coordinate system to establish a third coordinate system Determine the second rotation matrix between the third coordinate system and the first coordinate system, and the location information of the origin of the first coordinate system mapped in the third coordinate system; according to the target terminal
  • the position information in the first coordinate system, the second rotation matrix, and the position information of the origin of the first coordinate system mapped in the third coordinate system determine that the target terminal is in the third coordinate system.
  • the position information in the coordinate system; the position information of the target terminal in the third coordinate system indicates the relative position of the target terminal with respect to the terminal.
  • the processor is configured to: obtain the relative position of the third terminal from the target terminal, where the relative position of the third terminal indicates that the third terminal is relative to the target The relative position of the terminal; the relative position of the third terminal relative to the terminal is determined according to the relative position of the target terminal relative to the terminal and the relative position of the third terminal relative to the target terminal.
  • the navigation information includes geographic location information of the terminal and geographic location information of the target terminal; the transceiver is also used to obtain geographic location information of the terminal The processor is further configured to obtain the geographic location information of the target terminal according to the geographic location information of the terminal and the relative position of the target terminal with respect to the terminal.
  • the present application provides a chip.
  • the chip includes a processor and a data interface.
  • the processor reads instructions stored in a memory through the data interface, and executes the first aspect or any one of the first aspect. Methods in possible implementations.
  • the chip may further include a memory in which instructions are stored, and the processor is configured to execute instructions stored on the memory.
  • the processor is configured to execute the method in the first aspect or any possible embodiment of the first aspect.
  • the present application provides a device that can be applied to a first terminal and includes: a position detection module configured to detect the movement information of the first terminal through a sensor group to determine the position of the first terminal Information, the motion information includes direction information and acceleration information; a communication module for receiving position information of a second terminal; a distance detection module for measuring distance information between the first terminal and the second terminal; The positioning module is configured to obtain the relative position of the second terminal with respect to the first terminal according to the position information of the first terminal, the position information and the distance information of the second terminal.
  • the interaction module is configured to prompt navigation information from the first terminal to the second terminal according to the relative position.
  • the functional modules of the device can be used together to implement the method described in the first aspect or any embodiment of the first aspect.
  • the sensor group includes a direction sensor and an acceleration sensor; the position detection module is configured to: use the direction sensor to detect the direction information; use the acceleration sensor to detect the Acceleration information; determining the first position information of the first terminal according to the direction information and the acceleration information.
  • the position detection module is configured to: obtain the movement step length of the first terminal according to the acceleration information; according to the direction information and the movement step length, pass the pedestrian dead position Prediction (PDR) to obtain the first position information.
  • PDR pedestrian dead position Prediction
  • the distance detection module is specifically configured to: send a fine time measurement (FTM) request to the second terminal; receive confirmation information returned by the second terminal in response to the FTM request
  • the confirmation information indicates the time difference between the first time when the second terminal transmits the confirmation information and the second time when the second terminal receives the FTM request; according to the time when the FTM request is sent , The time of receiving the confirmation information and the time difference, and determining the distance information.
  • FTM fine time measurement
  • the distance detection module is specifically configured to: send an optical signal to the second terminal; receive the optical signal reflected from the second terminal; The time of flight between the time sent by the first terminal and the time received by the first terminal determines the distance information.
  • the distance detection module is specifically configured to: send a signal angle of arrival (AoA) measurement request to the second terminal; and receive a response to the AoA from the second terminal through a different antenna.
  • the AoA measurement signal returned by the measurement request ; determine the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas, and determine the distance information according to the angle of arrival of the AoA measurement signal.
  • the positioning module is specifically configured to: determine the first terminal and the second terminal according to the first position information of the first terminal and the second position information of the second terminal.
  • the position distribution of the second terminal in the same coordinate system; and the relative position of the second terminal relative to the first terminal is determined according to the position distribution of the first terminal and the second terminal in the same coordinate system.
  • the first position information of the first terminal indicates the position of the first terminal in the first coordinate system of the first terminal; the first position of the second terminal 2.
  • the position information indicates the position of the second terminal in the second coordinate system of the second terminal;
  • the positioning module is specifically configured to determine a first rotation matrix between the first coordinate system and the second coordinate system, and the position information of the origin of the second coordinate system mapped in the first coordinate system; According to the position information of the second terminal, the first rotation matrix and the position information of the origin of the second coordinate system mapped in the first coordinate system, it is determined that the second terminal is in the first coordinate system. Location information in the department.
  • the positioning module is specifically configured to: use the current position of the first terminal as the origin of the coordinate system and the movement direction of the first terminal as the vertical axis of the coordinate system to establish A third coordinate system; determine the second rotation matrix between the third coordinate system and the first coordinate system, and the position information of the origin of the first coordinate system mapped in the third coordinate system; according to The location information of the second terminal in the first coordinate system, the second rotation matrix and the location information of the origin of the first coordinate system mapped in the third coordinate system, determine the second The position information of the terminal in the third coordinate system; the position information of the second terminal in the third coordinate system indicates the relative position of the second terminal with respect to the first terminal.
  • the positioning module is further configured to: obtain the relative position of the third terminal from the second terminal, where the relative position of the third terminal indicates that the third terminal is relative to the third terminal.
  • the relative position of the second terminal according to the relative position of the second terminal with respect to the first terminal, and the relative position of the third terminal with respect to the second terminal, it is determined that the third terminal is relative to the Describe the relative position of the first terminal.
  • the navigation information includes the geographic location information of the first terminal and the geographic location information of the second terminal; the positioning module is further configured to: obtain the information of the first terminal Geographical location information; the geographic location information of the second terminal is obtained according to the geographic location information of the first terminal and the relative position of the second terminal with respect to the first terminal.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable medium stores program code for device execution, and the program code includes the program code for executing the first aspect or any one of the first aspect.
  • an embodiment of the present invention provides a computer program product.
  • the computer program product may be a software installation package.
  • the computer program product includes program instructions. When the computer program product is executed by a terminal, the processor of the terminal Perform the method in any one of the embodiments of the foregoing first aspect.
  • the mutual positioning process of terminals only needs to use the hardware of terminal A and terminal B. It can be implemented in unlimited scenarios (both indoors and outdoors) and does not depend on any anchor point. Without relying on external servers and basic network facilities, and without relying on base station communication, high-precision mutual positioning between two terminals can be achieved. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
  • FIG. 1 is a schematic diagram of the architecture of a wireless system that can be used to implement an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a terminal shown in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a scenario of a pedestrian dead-reckoning technology related to an embodiment of the present application
  • FIG. 4 is a schematic diagram of a scene of a fine time measurement technology related to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a scenario of a time-of-flight technology related to an embodiment of the present application
  • FIG. 6 is a schematic diagram of a scene of a signal arrival angle measurement technology related to an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a scene in two coordinate systems provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a time window scenario provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a scene of a radar chart provided by an embodiment of the present application.
  • FIG. 15 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 16 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application.
  • FIG. 17 is a schematic diagram of another architecture of a wireless system that can be used to implement an embodiment of the present application.
  • FIG. 18 is a schematic diagram of another architecture of a wireless system that can be used to implement an embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of the architecture of a wireless system 10 that can be used to implement an embodiment of the present application.
  • the wireless system 10 may include a terminal A and a terminal B.
  • the terminal A may also be referred to as a first terminal
  • the terminal B may also be referred to as a second terminal.
  • any one of terminal A and terminal B may also be referred to as user equipment (UE), subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, Wireless communication equipment, remote equipment, mobile subscriber station, terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handheld, user agent, mobile client, client, or some other suitable term .
  • UE user equipment
  • Wireless communication can be performed between terminal A and terminal B.
  • the wireless communication methods can include but are not limited to: WiFi (Wireless Fidelity, wireless fidelity) communication, Bluetooth (Bluetooth) communication, Zigbee communication, cellular communication, and other based on long-term evolution (Long Term Evolution, LTE) device-to-device (Device to Device, D2D) communication and so on.
  • WiFi Wireless Fidelity, wireless fidelity
  • Bluetooth Bluetooth
  • Zigbee communication Zigbee communication
  • cellular communication and other based on long-term evolution (Long Term Evolution, LTE) device-to-device (Device to Device, D2D) communication and so on.
  • LTE Long Term Evolution
  • D2D Device to Device
  • both terminal A and terminal B may include one or more transceivers, and the one or more transceivers may include WiFi transceivers, Bluetooth transceivers, cellular transceivers, and/or other suitable radio frequency (RF) transceivers.
  • RF radio frequency
  • Each transceiver can communicate with other wireless devices/terminals in different operating frequency bands and/or using different communication protocols.
  • the Wi-Fi transceiver can communicate in the 2.4 GHz frequency band, in the 5 GHz frequency band, and/or in the 60 GHz frequency band according to the IEEE 802.11 specification.
  • the cellular transceiver may be in various RF frequency bands (for example, between about 700MHz to about 3.9GHz) according to the 4G Long Term Evolution (LTE) protocol described by the 3rd Generation Partnership Project (3GPP) and/or according to other cellular protocols (For example, GSM communication protocol) communication.
  • LTE Long Term Evolution
  • 3GPP 3rd Generation Partnership Project
  • GSM communication protocol GSM communication protocol
  • the transceivers of terminal A and terminal B may also be ZigBee transceivers, WiGig transceivers, and the like described in the ZigBee specification.
  • At least one of the terminal A and the terminal B further includes a ranging system.
  • the ranging system can be formed using, for example, software modules, hardware components (such as short-range communication chips), and/or a suitable combination thereof. It is used to estimate the distance between terminal A and terminal B or information related to the distance between the two (such as signal arrival angle, signal phase, etc.).
  • the ranging system can obtain high-quality accuracy between terminal A and terminal B through fine timing measurement (FTM) or time of flight (TOF) ranging.
  • FTM fine timing measurement
  • TOF time of flight
  • the ranging system can calculate the angle of arrival (Angle of Arrival, AoA) of the signal to provide high-quality accurate angle measurement for the mutual positioning of terminals.
  • At least one of the terminal A and the terminal B further includes a self-positioning system.
  • the self-positioning system may be formed using, for example, software modules, hardware components (such as gyroscopes, inertial sensors, acceleration sensors, etc.), and/or suitable combinations thereof.
  • the self-positioning system can be used to estimate the respective location information of terminal A and/or terminal B.
  • At least one of the terminal A and the terminal B may be a mobile terminal such as a smart phone, a tablet computer, and a notebook computer, or may be a wearable device such as smart glasses, a smart watch, and a smart bracelet, Or it can be transportation equipment such as bicycles, cars, and logistics vehicles, or it can be smart home equipment such as wireless routers, TVs, smart microwave ovens, smart air conditioners, smart refrigerators, or smart water meters and smart electricity meters. , Smart gas meters, smart street lights and other Internet of Things devices.
  • Terminal A and Terminal B can be the same type of equipment (for example, both smart phones), or different types of equipment (for example, terminal A is a smart phone, terminal B is a notebook computer; for example, terminal A is a smart phone, terminal B (TV, etc.) This application is not specifically limited.
  • FIG. 2 shows a schematic structural diagram of the terminal 100.
  • the terminal 100 may be a schematic structural diagram of at least one of the terminal A and the terminal B in FIG. 1. It should be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the terminal 100. In other embodiments of the present application, the terminal 100 may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or arrange different components.
  • the various components shown in the figure may be implemented in hardware, software, or a combination of hardware and software including one or more signal processing and/or application specific integrated circuits.
  • the terminal 100 includes a chip 110, a memory 120, a sensor 130, a display screen 140, a mobile communication module 150 and a wireless communication module 160. Both the mobile communication module 150 and the wireless communication module 160 can be used as transceivers of the terminal 100. , In order to realize the communication interaction between the terminal 100 and the outside world.
  • the chip 110, the memory 120, the sensor 130, the display screen 140, the mobile communication module 150, and the wireless communication module 160 may communicate on one or more communication buses.
  • the chip 110 may integrate: one or more processors 111, a clock module 112, and a power management module 113.
  • the clock module 112 integrated in the baseband chip 110 is mainly used to provide the processor 111 with a timer required for data transmission and timing control, and the timer can realize the clock function of data transmission and timing control.
  • the processor 111 can generate operation control signals according to the instruction operation code and timing signals, and complete the control of fetching and executing instructions.
  • the power management module 113 integrated in the chip 110 is mainly used to provide a stable and high-precision voltage for the chip 110 and other components of the terminal 100.
  • the processor 110 may also be called a central processing unit (CPU, central processing unit).
  • the processor 110 may specifically include one or more processing units.
  • the processor 110 may include an application processor (AP). Modulation processor, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor , And/or neural-network processing unit (NPU), etc.
  • AP application processor
  • Modulation processor graphics processing unit
  • ISP image signal processor
  • controller video codec
  • digital signal processor digital signal processor
  • DSP digital signal processor
  • NPU And/or neural-network processing unit
  • the different processing units may be independent devices or integrated in one or more processors.
  • a memory may also be provided in the processor 110 to store instructions and data.
  • the memory in the processor 110 is a cache memory.
  • the memory can store instructions or data that have just been used or recycled by the processor 110. If the processor 110 needs to use the instruction or data again, it can be directly called from the memory. Repeated accesses are avoided, the waiting time of the processor 110 is reduced, and the efficiency of the system is improved.
  • the processor 110 may include one or more interfaces.
  • the interface may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, and a universal asynchronous transmitter/receiver (universal asynchronous) interface.
  • I2C integrated circuit
  • I2S integrated circuit built-in audio
  • PCM pulse code modulation
  • PCM pulse code modulation
  • UART universal asynchronous transmitter/receiver
  • MIPI mobile industry processor interface
  • GPIO general-purpose input/output
  • SIM subscriber identity module
  • USB Universal Serial Bus
  • the memory 120 may be connected with the processor 111 through a bus, or may be coupled with the processor 111, and used to store various software programs and/or multiple sets of instructions.
  • the memory 120 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state storage devices.
  • the memory 120 may store an operating system, such as an embedded operating system such as ANDROID, IOS, WINDOWS, or LINUX.
  • the memory 120 may also store a communication program, which may be used to communicate with one or more terminal devices or one or more network devices.
  • the memory 120 may also store a user interface program, and the user interface program may vividly display the content of the application program through a graphical operation interface and present it on the display screen 140.
  • the memory 120 may be used to store computer executable program code, and the executable program code includes instructions.
  • the processor 111 executes various functional applications and data processing of the terminal 100 by running the instructions stored in the memory 120. Specifically, the processor 111 can execute the application for the terminal as described in the embodiment of FIG. 7 or FIG. 8 or FIG. 15 or FIG. The method of positioning between.
  • the terminal 100 may include one or more display screens 140.
  • the terminal 100 can realize the display function through the display screen 140, the graphics processing unit (GPU) in the chip 110, and the application processor (AP) together.
  • the GPU is a microprocessor used for image processing and is connected to the display screen 140 and the application processor.
  • the GPU is used to perform mathematical and geometric calculations and is used for graphics rendering.
  • the display screen 140 is used to display the interface content currently output by the system, such as displaying images, videos, etc.
  • the interface content can include the interface of the running application program and the system-level menu, etc., and can be specifically composed of the following interface elements: input interface elements, For example, buttons (Button), text input box (Text), scroll bar (Scroll Bar), menu (Menu), etc.; and output-type interface elements, such as window (Window), label (Label), and so on.
  • the display screen 140 includes a display panel.
  • the display panel can adopt liquid crystal display (LCD), organic light-emitting diode (OLED), active matrix organic light-emitting diode or active-matrix organic light-emitting diode (active-matrix organic light-emitting diode).
  • AMOLED flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, quantum dot light-emitting diode (QLED), etc.
  • the sensor module 130 is mainly used to realize the self-positioning of the terminal 110 and the mutual positioning function between the terminal 110 and other terminals.
  • the sensor module 130 may include multiple or all of the gyroscope sensor 130A, the inertial sensor 130B, the digital compass 130C, the acceleration sensor 130D, the light transmitter 130E, the light receiver 130F, and so on.
  • a collection including at least one of the gyro sensor 130A and the digital compass 130C and the acceleration sensor 130D may also be referred to as a sensor group. Both the gyro sensor 130A and the digital compass 130C are direction sensors.
  • the gyroscope sensor 130A and the digital compass 130 can be used to measure the angular velocity of the terminal movement
  • the acceleration sensor 130D is used to measure the acceleration of the terminal movement
  • the inertial sensor 130B can measure the angular velocity and acceleration of the terminal movement at the same time
  • the light transmitter 130E can be used for outward movement. Transmitting light, such as laser, infrared, radar wave, etc.
  • the light receiver 130F is used to detect the reflected light, such as reflected laser, infrared, radar wave, etc.
  • the sensor module 130 may also include more other sensors, such as barometers, magnetometers, wheel speedometers, and so on.
  • the wireless communication function of the terminal 100 may be through the mobile communication module 150 and one or more antennas 151 coupled to the mobile communication module 150, or the wireless communication module 160 and one or more antennas 152 coupled to the wireless communication module 160, and the chip 110 The modem processor and baseband processor in the implementation.
  • the mobile communication module 151 is used for enabling the terminal 100 to communicate through a data network such as 2G/3G/4G/5G, for example, communicating with other terminal devices through a data network such as 2G/3G/4G/5G.
  • the mobile communication module 151 may include a radio frequency (RF) circuit module, and the RF circuit module communicates with a data network through a radio frequency signal.
  • the RF circuit module may include, but is not limited to: at least one amplifier, tuner, one or more oscillators, subscriber identity module (SIM) card, transceiver, coupler, low noise amplifier (Low Noise Amplifier, LNA) ), duplexer, etc.
  • the communication standards or protocols supported by the RF circuit module include but are not limited to GSM (Global System of Mobile communication, Global System for Mobile Communications), GPRS (General Packet Radio Service, General Packet Radio Service), CDMA (Code Division Multiple Access, multiple code divisions) Address), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email service, SMS (Short Messaging Service, short message service), etc.
  • GSM Global System of Mobile communication, Global System for Mobile Communications
  • GPRS General Packet Radio Service, General Packet Radio Service
  • CDMA Code Division Multiple Access, multiple code divisions) Address
  • WCDMA Wideband Code Division Multiple Access
  • LTE Long Term Evolution
  • email service SMS (Short Messaging Service, short message service), etc.
  • the wireless communication module can be used to implement short-range wireless communication between the terminal 100 and other terminal devices, and supports at least one of the following short-range wireless communication methods: Bluetooth (BT) communication, wireless fidelity (Wireless Fidelity, WiFi) Communication, Near Field Communication (NFC), Infrared (IR) wireless communication, Ultra Wide Band (UWB, Ultra Wide Band) communication, ZigBee communication.
  • BT Bluetooth
  • NFC Near Field Communication
  • IR Infrared
  • UWB Ultra Wide Band
  • ZigBee communication ZigBee communication.
  • the terminal 100 may also be provided with a Global Navigation Satellite System (GNSS) to assist terminal positioning.
  • GNSS Global Navigation Satellite System
  • the GNSS is not limited to the Beidou system, the GPS system, the GLONASS system, and the Galileo system.
  • the GNSS can be deployed on a separate chip or on the wireless communication module 160.
  • the terminal 100 may also include more other hardware, for example, it may also include a buzzer, a speaker, a loudspeaker and other playback devices for sound playback.
  • a buzzer for example, it may also include a buzzer, a speaker, a loudspeaker and other playback devices for sound playback.
  • both the display screen and the playback device can be referred to as interactive devices, which are used to realize the audiovisual interaction with the user.
  • Coupled means directly connected to or connected through one or more intervening components or circuits. Any signal provided on the various buses described herein can be time-multiplexed with other signals and provided on one or more shared buses.
  • interconnection between various circuit elements or software blocks may be shown as a bus or a single signal line. Each bus may alternatively be a single signal line, and each single signal line may alternatively be a bus, and a single wire or bus may represent any one or more of a large number of physical or logical mechanisms for communication between components .
  • At least one of the terminal A and the terminal B is provided with a sensor group, and the sensor group includes at least one of a gyroscope sensor, a digital compass, and an acceleration sensor. From the initial moment, at least one of the gyro sensor and the digital compass is used to determine the real-time direction of movement (heading) of the terminal, for example, to determine the angular velocity of the terminal around three axes (ie, x-axis, y-axis, and z-axis).
  • the acceleration sensor is used to detect pedestrian gait and calculate the step length to obtain the step length of the pedestrian.
  • the user's natural walking movement includes three movements in the direction of the forward axis, the direction of the lateral axis, and the direction of the vertical axis.
  • the coordinate axis of terminal A (as shown in the figure is a mobile phone) includes x axis, y axis and z axis. If the user places the terminal A in the palm of the hand with the screen facing up, the corresponding relationship between the user’s 3 motion components and the coordinate axis of the terminal A can be, for example, the vertical axis coincides with the Z axis, the forward axis coincides with the Y axis, and the lateral The axis coincides with the X axis.
  • the gait detection may be: the acceleration sensor of the terminal A may be used to record the acceleration trajectory of the terminal A in the x-axis, y-axis and z-axis directions, and then obtain multiple acceleration values from the acceleration trajectory.
  • the step length calculation may be: according to these acceleration values, a step length calculation model (for example, a linear frequency model) is used to perform a step length calculation, so as to obtain the current motion step length.
  • a step length calculation model for example, a linear frequency model
  • k represents the k- th step of pedestrian movement
  • ⁇ i represents the movement direction of the i-th step
  • s i represents the movement step length of the i-th step.
  • the position trajectory of the terminal relative to the initial time can be obtained without the absolute position as a reference. If the initial time of the terminal is used as the origin to establish a relative motion coordinate system, all subsequent relative positions Pk can obtain the quantified coordinate values (x k , y k ). In this paper, the coordinate position Pk( x k , y k ) can also be called PDR position.
  • FTM fine timing measurement
  • both terminal A and terminal B support the 802.11mc protocol of WiFi. Through the interaction of the two terminals, the signal transmission and reception time of terminal A and terminal B can be accurately obtained, and the communication between terminal A and terminal B can be obtained. Precise distance.
  • terminal A can request or initiate an inter-terminal ranging operation by transmitting an FTM (FTM_REQ) frame to terminal B, and record the time t1 when the FTM frame is transmitted.
  • the terminal B receives the FTM frame, records the time t2 of receiving the FTM frame (for example, indicated by a timestamp), and then can confirm the requested ranging operation by transmitting an acknowledgement (ACK) frame to the terminal A.
  • the ACK frame may indicate the time t2 when the terminal B captures the FTM and the time t3 when the ACK frame is transmitted, or the ACK frame may indicate the time difference (t3-t2) between the time t3 when the ACK frame is transmitted and the time t2 when the FTM is captured.
  • Terminal A receives the ACK frame and records the time t4 when the ACK frame is received. In this way, in an implementation, terminal A calculates the one-way flight time t of the signal and the distance d between the two terminals, as shown in the following equations (3)(4):
  • ToF time of flight
  • the terminal A and the terminal B is provided with a light transmitter and a light receiver.
  • the light transmitter is used to emit light pulses to the target terminal.
  • the light pulses may be laser, LED light, near-infrared light or infrared.
  • the light receiver is used to receive the light reflected back by the target terminal.
  • the light emitter may be an infrared light emitting diode, and the light receiver is a detector for detecting infrared light; for another example, the light emitter may be an illumination source of a ToF camera, and the light receiver may be a photosensitive element of a ToF camera.
  • the terminal A is provided with a light transmitter and a light receiver.
  • the light transmitter may be an infrared light emitting diode for emitting infrared light to the outside.
  • the infrared light emitted by terminal A is reflected by terminal B back to terminal A, and is detected by terminal A.
  • Terminal A uses the timer in the chip to determine that the time difference between transmitting infrared light and receiving the infrared light is T, then the distance d between terminal A and terminal B can be expressed by the following formula (5):
  • the communication module of the terminal has two or more antennas. As shown in the aforementioned embodiment in FIG. 2, the mobile communication module 150 can be connected to two or more antennas 151, and the wireless communication module 160 can also be connected. Two or more antennas 161.
  • the phase difference estimation can be used to calculate the angle of arrival (AoA) of the electromagnetic wave signal, thereby providing high-quality accurate angle measurement for mutual positioning between terminals.
  • the communication module of the terminal A has two antennas, and the terminal A is communicating with the terminal B.
  • Figure 6 shows the incident angle ⁇ of the terminal A receiving the signal from the terminal B.
  • the relationship with the antenna of terminal A is shown. From the figure, it can be seen that when ⁇ is equal to 0° (that is, the signal is vertically incident downward), the distance between the signal and the two antennas will be the same, that is, the two antennas receive The phase of the received signal is the same.
  • the terminal A measures the phase difference ⁇ and the ratio d, the signal incident angle ⁇ can be solved, and AoA can be obtained.
  • terminal A is defined as the main test device, and terminal A in this document can also be called the first terminal.
  • terminal B is defined as the device under test.
  • Terminal B can also be referred to as the second terminal in this article.
  • the first terminal is referred to as a terminal for short
  • the second terminal may be referred to as a target terminal.
  • D2D end-to-end
  • Terminal A detects location information of terminal A through a sensor.
  • the sensors in terminal A may include a gyroscope sensor, a digital compass, an acceleration sensor, etc.
  • the terminal can be detected by at least one of the gyroscope sensor and the digital compass.
  • the angular velocity of the current motion of the terminal A thereby determining the current motion direction (direction information) of the terminal A; the acceleration information of the current motion of the terminal A can be detected by the acceleration sensor.
  • the processor of the terminal A can calculate the position information of the terminal A.
  • the position information Represents the relative position between the current location of the terminal and the initial geographic location.
  • terminal A can also detect the location information of terminal A in real time through other types of sensors (such as inertial sensors, magnetometers, speedometers, odometers, etc.).
  • Terminal A receives the location information of terminal B.
  • the location information of the terminal B is location information that belongs to the same time stamp as the location information of the terminal A in S201. That is to say, in a specific implementation, terminal A and terminal B can detect and obtain their respective location information through their respective sensors at the same time.
  • the process of the terminal B detecting the location information of the terminal B through the sensor may be similar to that of the first terminal.
  • terminal B After terminal B obtains the location information of terminal B, it sends the location information of terminal B to terminal A.
  • the communication mode of the two can be 2G/3G/4G/5G, or Bluetooth (BT), WiFi, Zigbee, etc. Make a limit.
  • Terminal A measures the distance information between terminal A and terminal B.
  • the distance information between the terminal A and the terminal B is the location information that belongs to the same time stamp as the location information of the terminal A in S201.
  • Terminal A can obtain the distance information in real time through the ranging system.
  • terminal A can measure the position information between terminal A and terminal B by means of wireless communication measurement.
  • terminal A and terminal B can be obtained by means of WiFi measurement or AOA measurement. Location information between.
  • the terminal can measure the position information between the terminal A and the terminal B by means of a sensor (for example, an infrared sensor, a ToF camera, etc.).
  • a sensor for example, an infrared sensor, a ToF camera, etc.
  • terminal A can also obtain the distance between the two in real time through other more methods, such as UWB ranging, radar ranging, lidar ranging, etc. And this way also does not depend on the existence of anchor points.
  • the terminal A obtains the relative position of the terminal B with respect to the terminal A according to the position information of the terminal A, the position information of the terminal B, and the distance information between the two.
  • terminal A can convert the respective data of the terminal A and the terminal B to the same coordinate system through calculation, and the so-called same coordinate system in this article can also be referred to as a navigation coordinate system.
  • the terminal A may perform calculations based on the location information of the terminal A and the location information of the terminal B to obtain the location distribution of the terminal A and the terminal B in the same coordinate system.
  • the coordinate system maintained by the terminal A itself may be called the first coordinate system
  • the coordinate system maintained by the terminal B itself may be called the second coordinate system
  • the first coordinate system of the terminal A may be used as the navigation coordinate system.
  • the terminal A can calculate and obtain the rotation matrix between the second coordinate system and the first coordinate system (may be referred to as the first rotation matrix), and the origin of the second coordinate system is mapped to the first coordinate system Location information in.
  • the terminal A performs calculations based on the rotation matrix and the position information of the origin of the second coordinate system in the first coordinate system, thereby converting the position information of the terminal B into the position information in the first coordinate system. location information. That is, it is realized that the position information of terminal A and the position information of terminal B are placed in the same coordinate system for description.
  • terminal A can further calculate according to the position distribution of terminal A and terminal B in the same coordinate system, and the relative position of terminal B relative to terminal A can be obtained.
  • the calculation method may be: the first terminal establishes a third coordinate system with the location information of the first terminal as the origin; the terminal A uses the current position as the origin of the coordinate system, and the movement direction is the Y axis (vertical axis) , Establish a new coordinate system, which can be called a third coordinate system or a real-time relative navigation coordinate system, and then further transform the position information of the terminal B in the first coordinate system to the third coordinate
  • the terminal A obtains the rotation matrix between the third coordinate system and the first coordinate system (which may be referred to as the second rotation matrix) through calculation, and the origin of the first coordinate system is mapped to the third coordinate
  • the terminal A calculates according to the position information of the terminal B in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped
  • the relative position is accurate and reliable. That is to say, real-time positioning of the relative position of the terminal B in the terminal A is realized, and the terminal A can perceive the real-time distance and orientation of the terminal B regardless of whether the terminal B is currently stationary or moving.
  • S205 The terminal A prompts the navigation information from the terminal A to the terminal B according to the relative position.
  • S205 is an optional step.
  • Navigation information indicates information used for positioning between terminals.
  • the navigation information may be a relative navigation radar chart.
  • FIG. 14 after obtaining the relative position of terminal B relative to terminal A in real time, terminal A can directly use the radar on the display of terminal A.
  • the figure shows the relative position of terminal B. That is to say, no matter where the terminal A moves, the center of the radar chart is always the current position of the terminal A, and the positioning point displayed in the radar chart is always the position of the current terminal B relative to the current terminal A.
  • the terminal A may also broadcast the navigation information according to a playback device such as a buzzer, a horn, and a loudspeaker.
  • a playback device such as a buzzer, a horn, and a loudspeaker.
  • the navigation information may also be information used for positioning between terminals in other application scenarios, such as augmented reality (Augmented Reality, AR) applications, virtual reality (Virtual Reality, VR) applications, electrical appliance control, device search and other application scenarios are not limited here.
  • augmented reality Augmented Reality, AR
  • virtual reality Virtual Reality, VR
  • electrical appliance control device search and other application scenarios are not limited here.
  • the terminal may also send the relative position to the terminal B, so that the terminal B can obtain the relative position of the terminal A relative to the terminal B. That is to say, real-time positioning of the relative position of the terminal A in the terminal B is achieved. No matter if the terminal A is currently stationary or moving, the terminal B can perceive the real-time distance and orientation of the terminal A.
  • the above positioning process only needs to use the electronic equipment of terminal A and terminal B. It can be implemented in unlimited scenarios (both indoors and outdoors), independent of any anchor point, and independent of External servers and basic network facilities do not rely on base station communication to achieve high-precision mutual positioning between two terminals. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
  • terminal A as the main device under test and define terminal B as the device under test.
  • the following takes the combination of PDR self-positioning and FTM ranging as an example to introduce a device-to-device (D2D) mutual positioning method between terminals provided in an embodiment of the present application. As shown in Figure 8, the method is described as follows:
  • the terminal A On the one hand, in S301, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR).
  • PDR pedestrian dead reckoning
  • the terminal A turns on the sensor to detect the movement direction and the movement step length of the terminal A.
  • terminal A turns on at least one of the gyro sensor and the digital compass to record the direction of movement of terminal A in real time; turns on the acceleration sensor, uses the acceleration sensor to obtain acceleration information in real time, and then performs pedestrian gait detection based on the acceleration information to obtain the movement step length.
  • the initial position of terminal A is P01
  • the coordinate value is (0,0)
  • the initial speed and initial movement direction are both 0.
  • the terminal A performs the PDR algorithm calculation on the processor of the terminal A according to the continuously obtained movement direction and the movement step length of the terminal A.
  • the PDR position trajectory of the terminal A relative to the position point P01 at the initial time can be obtained. That is, a new PDR location point P10 can be obtained subsequently at t0, a new PDR location point P11 can be obtained at t1, a new PDR location point P12 can be obtained at t2, and a new PDR location point can be obtained at t3. P13, and so on. If the relative motion coordinate system is established with the initial time of terminal A as the origin, the relative position P1k of each subsequent step can obtain the coordinate value (x 1k , y 1k ) described in quantification.
  • terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR).
  • terminal B receives the PDR request.
  • terminal B starts its own PDR.
  • terminal B also turns on the sensor to detect the movement direction and movement step length of terminal B.
  • terminal B turns on at least one of the gyro sensor and the digital compass to record the direction of movement of terminal B in real time; turns on the acceleration sensor, uses the acceleration sensor to obtain acceleration information in real time, and then performs pedestrian gait detection based on the acceleration information to obtain the movement step length.
  • the initial position of terminal B is P02
  • the coordinate value is (0,0)
  • the initial speed and initial movement direction are both 0.
  • the terminal B performs the PDR algorithm calculation on the processor of the terminal B according to the continuously obtained movement direction and the movement step length of the terminal B.
  • the PDR position trajectory of the terminal B relative to the position point P02 at the initial time can be obtained. That is, a new PDR position point P20 can be obtained at time t0, a new PDR position point P21 can be obtained at time t1, a new PDR position point P22 can be obtained at time t2, and a new PDR position point can be obtained at time t3. P23, and so on.
  • the relative position P2k of each subsequent step can obtain the coordinate value (x 2k , y 2k ) described in quantification.
  • terminal B sends the current PDR position P2k (x 2k , y 2k ) to terminal A (as shown in the figure S304-0 ⁇ S304- 3). That is, the terminal A can continuously receive the PDR location points P20, P21, P22, P23, etc. of the terminal B corresponding to the time t0, t1, t2, and t3.
  • terminal A initiates FTM ranging.
  • terminal A sends an FTM request (for example, FTM frame FTM_REQ) to terminal B to request continuous measurement of the distance between terminal A and terminal B, and record the moment when the FTM request is transmitted .
  • terminal B receives the FTM request, and in the subsequent process continues to send an acknowledgement (ACK) frame to terminal A to feed back the current determined timestamp, that is, each ACK frame can indicate that terminal B captures the FTM frame
  • ACK acknowledgement
  • terminal B can subsequently send an ACK frame to terminal A at time t0 (i.e. S306-0), at time t1, it can send an ACK frame to terminal A (i.e. S306-1), and at time t2, it can send an ACK frame to terminal A. (Ie S306-2), an ACK frame (ie S306-3) can be sent to terminal A at time t3, and so on.
  • terminal A obtains the ACK frame from terminal B at each time, it records the time when each ACK frame is received. In this way, terminal A can respectively calculate the distance between the two terminals at each time according to the FTM algorithm.
  • FTM algorithm for example, refer to the relevant description of formulas (3) and (4) in the embodiment of FIG.
  • the distance d0 between the two terminals at t0, the distance d1 between the two terminals at t1, the distance d2 between the two terminals at t2, the distance d3 between the two terminals at t3, and so on can be obtained.
  • S301, S302, and S305 there is no inevitable sequence between the above steps S301, S302, and S305. That is to say, S301, S302, and S305 may be performed synchronously, or may be performed in a predefined sequence, which is not done in this application. Specific restrictions.
  • steps S304-0 and S306-0 may be performed synchronously, or may be performed in a pre-defined sequence, which is not specifically limited in this application.
  • terminal A can continuously calculate the positions of terminal A and terminal B in the navigation coordinate system based on the obtained PDR position information of terminal A, PDR position information of terminal B, and the distance information between terminal A and terminal B. .
  • terminal A and terminal B are moving in the same plane
  • the PDR position information of terminal A is based on the coordinate system of terminal A
  • the PDR position information of terminal B is based on the coordinate system of terminal B.
  • the integration of the PDR location information of the two terminals can be implemented in the following manner.
  • the self-positioning coordinate system A-XY of terminal A is established.
  • the origin of the coordinate system is the position point corresponding to the initial time of terminal A (ie position point P01).
  • the X-axis direction of the system is the direction when the terminal A starts to move from the position point P01.
  • (1) in Figure 9 exemplarily shows that in A-XY, a series of PDR positions corresponding to the terminal A at each time Schematic.
  • the self-positioning coordinate system B-XY of the terminal B is established, wherein the origin of the coordinate system is the position point corresponding to the initial time of the terminal B (that is, the position point P02).
  • the X-axis direction of the coordinate system is the direction when the terminal B starts to move from the position point P02. (2) in Figure 9 exemplarily shows that in B-XY, a series of PDR positions of the terminal B corresponding to each moment Schematic diagram.
  • the A-XY coordinate system of terminal A can be defined as the navigation coordinate system, so a series of PDRs of terminal A
  • the positions of the positions P10, P11, P12, P13...P1k in the navigation coordinate system are themselves, and it is only necessary to solve the representation of a series of PDR positions of the terminal B in the navigation coordinate system (ie, the A-XY coordinate system).
  • the terminal A has obtained the distance measurement values between P10 and P20, P11 and P21, P12 and P22, P13 and P23...P1k and P2k respectively as d0, d1,...dk. Then, according to the distances d0, d1,...dk and the navigation coordinate system (A-XY coordinate system), the following formula (8) can be obtained:
  • ⁇ ... ⁇ means modulo operation.
  • the above equations (7) and (8) are combined to establish the overdetermined equations, and the optimal solution of the above overdetermined equations can be obtained through the least square method or other optimization methods, that is, ⁇ and P03 can be solved.
  • a series of PDR positions of the terminal A and the terminal B can be expressed in the navigation coordinate system (ie, the A-XY coordinate system), as shown in FIG. 10 exemplarily.
  • the PDR position of terminal A, the PDR position of terminal B, and the distance between the two terminals corresponding to n times before tk and tk (that is, a total of n+1 times) can be obtained, according to these
  • the data establishes the overdetermined equations to solve, and then the optimal solution ⁇ and P03 corresponding to the current time tk can be obtained, and then the position of the terminal B corresponding to the current time tk in the navigation coordinate system (A-XY coordinate system) according to the optimal solution
  • the specific coordinate value of P3k The specific coordinate value of P3k.
  • the embodiment of the present application can ensure that by continuously solving the overdetermined equations
  • the terminal A continuously updates the optimal solution ⁇ and P03, so that it can continuously correct the representation of the terminal B in the navigation coordinate system based on the distance data between the terminals, ensuring that the two terminals achieve high-precision mutual positioning and are robust.
  • the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
  • the coordinate position of terminal A is P1k
  • the coordinate position of terminal B is P3k
  • the specific coordinate value of P1k can be recorded as (x 1k ,y 1k )
  • the specific coordinate value of P3k can be recorded as (x 3k , y 3k ).
  • transition coordinate system AX”Y The horizontal and vertical axes of the transition coordinate system AX”Y” are parallel to and in the same direction as the navigation coordinate system (A-XY). The difference is that AX”Y” is based on the terminal A
  • the coordinate value (x 1k , y 1k ) is the origin.
  • the coordinate position P3k(x 3k ,y 3k ) of terminal B in the coordinate system A-XY can be converted to the transition coordinate system AX”Y” to obtain the coordinate position P5k( x 5k ,y 5k ), the conversion formula is shown in the following formula (9):
  • the rotation matrix CTM is shown in the following equation (10):
  • ⁇ represents the rotation angle between A-X"Y" and A-X'Y', that is, the angle between Y" and Y'.
  • the terminal A can obtain the relative position of the terminal B relative to the terminal A at each moment in real time.
  • the relative position of terminal B relative to terminal A contains both distance information and angle information, so it is complete relative position information.
  • terminal A after obtaining the relative position P4k (x 4k , y 4k ) of terminal B relative to terminal A in real time, terminal A can directly display terminal B's information on the display screen of terminal A with a radar chart. relative position. That is to say, no matter where the terminal A moves, the center of the radar chart is always the current position of the terminal A, and the positioning point displayed in the radar chart is always the position of the current terminal B relative to the current terminal A.
  • the terminal can also be applied to other application scenarios according to the relative position, such as augmented reality (Augmented Reality). , AR) applications, virtual reality (Virtual Reality, VR) applications, electrical control, device search and other application scenarios are not limited here.
  • augmented reality Augmented Reality
  • VR Virtual Reality
  • terminal A after terminal A obtains the relative position (x 4k , y 4k ) of terminal B, it may also send the relative position (x 4k , y 4k ) to terminal B in real time, for example, via WiFi, Bluetooth, If it is sent to terminal B by means of mobile communication, then terminal B can obtain the relative position of terminal A relative to terminal B (-x 4k , -y 4k ). such.
  • the terminal B can also use the radar chart to display the relative position of the terminal A in real time according to the relative position (-x 4k , -y 4k ), or apply it to other application scenarios, which is not specifically limited in this application.
  • FIG. 15 uses the combination of PDR self-positioning and ToF ranging as an example to describe the end-to-end mutual positioning method between terminals. The method is described as follows:
  • terminal A For the terminal A, on the one hand, in S401, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR).
  • terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR).
  • terminal B receives the PDR request.
  • terminal B starts its own PDR. After the terminal B obtains a new PDR position at each step, the terminal B sends the current PDR position to the terminal A (S404-0 to S404-3 in the figure).
  • terminal A can initiate ToF ranging at different times.
  • terminal A is provided with an optical transmitter and an optical receiver.
  • the optical transmitter may be an infrared light-emitting diode for emitting infrared light outward.
  • terminal A sends infrared light to terminal B (for example, S405-0 in the figure for time t0), and the infrared light emitted by terminal A is reflected by terminal B and returns to terminal A (for example, for time t0, the figure S406-0) in the display, and is detected by terminal A.
  • Terminal A uses the timer in the chip to determine the time difference between transmitting infrared light and receiving the infrared light.
  • terminal A can calculate the distance between the two terminals at this time according to the ToF algorithm.
  • ToF algorithm for example, refer to Figure 5 above. Description of formula (5) in the embodiment.
  • the distance d0 between the two terminals can be obtained at time t0
  • the distance d1 between the two terminals can be obtained at time t1
  • the distance d2 between the two terminals can be obtained at time t2
  • the two terminals can be obtained at time t3.
  • terminal A can continuously calculate the positions of terminal A and terminal B in the navigation coordinate system based on the obtained PDR position information of terminal A, PDR position information of terminal B, and the distance information between terminal A and terminal B. .
  • the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
  • terminal A after terminal A obtains the relative position of terminal B, it can also send the relative position to terminal B in real time. For example, by sending it to terminal B via Bluetooth, mobile communication, etc., terminal B can obtain the terminal accordingly.
  • the relative position of A relative to terminal B is the relative position of terminal B.
  • FIG. 16 Based on the aforementioned system architecture shown in FIG. 1, another method for end-to-end mutual positioning between terminals provided by an embodiment of the present application is introduced below, as shown in FIG. 16.
  • the main difference between this method and the method described in the aforementioned embodiment in FIG. 8 is that the AoA measurement method is used to replace the FTM ranging method. That is, Figure 15 uses the combination of PDR self-positioning and AoA measurement as an example to describe the end-to-end mutual positioning method between terminals. The method is described as follows:
  • terminal A For the terminal A, on the one hand, in S501, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR). On the other hand, in S502, terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR). Correspondingly, terminal B receives the PDR request. And in S503, terminal B starts its own PDR. After the terminal B obtains a new PDR position at each step, the terminal B sends the current PDR position to the terminal A (S504-0 to S504-3 in the figure).
  • PDR pedestrian dead reckoning
  • terminal A initiates AoA ranging, and in S505, terminal A sends an AoA request (ie, AoA measurement request) to terminal B to request continuous measurement of the incident angle of the measurement signal from terminal B.
  • the terminal B receives the AoA request, and continuously transmits the AoA measurement signal to the terminal A in the subsequent process.
  • terminal B can subsequently send an AoA measurement signal to terminal A at time t0 (ie S506-0), at time t1, it can send an AoA measurement signal to terminal A (ie S506-1), and at time t2, it can send an AoA measurement signal to terminal A
  • the AoA measurement signal (ie S506-2) can be sent to the terminal A at the time t3 (ie S506-3), and so on.
  • terminal A can receive the AoA measurement signal from terminal B at each time through two or more antennas. When the AoA measurement signal with a certain incident angle arrives at different antennas, the AoA measurement signals received by the different antennas will have a phase difference.
  • the angle of arrival (AoA) of the AoA measurement signal can be calculated.
  • the calculation algorithm is for example Reference may be made to the related description of formula (6) in the aforementioned embodiment of FIG. 6.
  • time t0 may be calculated to obtain an incident angle signal ⁇ 0, t1 timing signal incident angle ⁇ 1, t2 timing signal incident angle ⁇ 2, t3 timing signal incident angle ⁇ 3, and the like.
  • steps S504-0 and S506-0 may be performed synchronously, or may be performed in a predefined sequence, which is not specifically limited in this application.
  • terminal A can continue to calculate that terminal A and terminal B are respectively navigating based on the obtained PDR location information of terminal A, PDR location information of terminal B, and the incident angle information of the AoA measurement signal measured by terminal A from terminal B. The position in the coordinate system.
  • terminal A and terminal B are moving in the same plane
  • the PDR position information of terminal A is based on the coordinate system of terminal A
  • the PDR position information of terminal B is based on the coordinate system of terminal B.
  • the integration of the PDR location information of the two terminals can be implemented in the following manner.
  • the self-positioning coordinate system A-XY of terminal A is established.
  • the origin of the coordinate system is the position point corresponding to the initial time of terminal A (ie position point P01).
  • the X-axis direction of the system is the direction when the terminal A starts to move from the position point P01, as shown in (1) in the aforementioned FIG. 9.
  • the self-positioning coordinate system B-XY of the terminal B is established, wherein the origin of the coordinate system is the position point corresponding to the initial time of the terminal B (that is, the position point P02).
  • the X-axis direction of the coordinate system is the direction when the terminal B starts to move from the position point P02, as shown in (2) in the aforementioned FIG. 9.
  • the A-XY coordinate system of terminal A can be defined as the navigation coordinate system, so a series of PDRs of terminal A
  • the positions of the positions P10, P11, P12, P13...P1k in the navigation coordinate system are themselves, and it is only necessary to solve the representation of a series of PDR positions of the terminal B in the navigation coordinate system (ie, the A-XY coordinate system).
  • a series of PDR positions P20, P21, P22, P23...P2k can all be converted to points P30, P31, P32, P33...P3k in the A-XY coordinate system.
  • the conversion formula can refer to the aforementioned formula (7) description of.
  • the terminal A since it is based on the AoA measurement, the terminal A obtains a series of signal incident angle measurement values ⁇ 0 , ⁇ 1 ... ⁇ k corresponding to different moments. Then, according to ⁇ 0 , ⁇ 1 ... ⁇ k and the navigation coordinate system (A-XY coordinate system), the following formula (12) can be obtained:
  • dot((7) represents the inner product of two vectors, and ⁇ ... ⁇ represents the modulo operation.
  • the specific coordinate value of the position P3k of the PDR position P2k of the terminal B in the navigation coordinate system (A-XY coordinate system) can be obtained. That is to say, through the above calculation, a series of PDR positions of the terminal A and the terminal B can be expressed in the navigation coordinate system (ie, the A-XY coordinate system), which is exemplarily shown in FIG. 10 above.
  • the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
  • terminal A after terminal A obtains the relative position of terminal B, it can also send the relative position to terminal B in real time. For example, by sending it to terminal B via Bluetooth, mobile communication, etc., terminal B can obtain the terminal accordingly.
  • the relative position of A relative to terminal B is the relative position of terminal B.
  • the foregoing embodiment mainly uses the system architecture shown in FIG. 1 to achieve high-precision mutual positioning between the terminals through the interaction between the two terminals.
  • high-precision mutual positioning between terminals can also be implemented based on a more complex system architecture.
  • FIG. 13 includes a terminal C, a terminal N, etc., and the types of each intermediate device may be different or the same.
  • the types between the terminal A/terminal B and the intermediate device can be different or the same.
  • Each intermediate device can be a moving device or a stationary device.
  • Each of the intermediate devices may also be referred to as user equipment (UE), subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, Terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handset, user agent, mobile client, client, or some other suitable term.
  • UE user equipment
  • subscriber station mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, Terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handset, user agent, mobile client, client, or some other suitable term.
  • wireless communication can be performed between terminal A and the intermediate device, and wireless communication can be performed between terminal B and the intermediate device.
  • each intermediate device, and terminal B can present a form of chain communication, that is, terminal A and its neighboring intermediate devices perform wireless communication.
  • the neighboring intermediate device can wirelessly communicate with the next intermediate device, and so on, the terminal B and its neighboring intermediate device wirelessly communicate.
  • Fig. 18 shows the system architecture 30.
  • Fig. 18 takes the intermediate device as the terminal C as an example. Then, based on the implementation scheme of the embodiment in Fig. 7, Fig. 8, Fig. 15 or Fig. 16, the terminal B can be obtained on the terminal C side. With respect to the relative position of the terminal C, the relative position of the terminal C relative to the terminal A is obtained on the terminal A side. Then, by combining the relative position of the terminal B with respect to the terminal C, and the relative position of the terminal C with respect to the terminal A, the relative position of the terminal B with respect to the terminal A can be obtained.
  • the position of the terminal B in the coordinate system of the terminal C obtained on the side of the terminal C can be recorded as (c, d).
  • the rotation matrix of the coordinate system of the terminal C relative to the coordinate system of the terminal A can be obtained
  • the origin of the coordinate system of terminal C corresponds to the position of the coordinate system of terminal A
  • terminal A can calculate the position (e, f) of terminal B in the coordinate system of terminal A after obtaining the (c, d) from terminal C, so as to obtain the relative position of terminal B with respect to terminal A.
  • the calculation formula can be As shown in the following formula (13):
  • terminal A obtains the relative position of terminal B
  • the relative position can also be sent to terminal B in real time, and terminal B can obtain the relative position of terminal A relative to terminal B accordingly.
  • the framework shown in Figure 1 or Figure 17 in this article may be applied to two-dimensional positioning scenarios between terminals (that is, different terminals are moving in the same plane), or it may be applied to three-dimensional positioning scenarios between terminals ( That is, the different terminals are not all located on the same plane). There is no limitation in the embodiments of this application.
  • the above-mentioned embodiments of the present application mainly take the scenario of no anchor point participation as an example to describe the technical solution, but in practical applications, it is also possible to implement the scheme of the present application in combination with the existing anchor point solution.
  • absolute positioning means such as GNSS navigation
  • any terminal in the system architecture enables absolute positioning means such as GNSS, and the relative position involved in this application can be converted to an absolute positioning coordinate system. (E.g. geographic coordinate system/world coordinate system) to form a network with absolute positioning systems such as GNSS.
  • terminal A can obtain the geographic location information (such as latitude and longitude) of terminal A through absolute positioning means such as GNSS in real time, then, The terminal A can obtain the geographical position information of the terminal B in real time according to the geographical position information of the terminal A and the relative position of the terminal B relative to the terminal A. Therefore, the relative position of terminal B can be sensed on the side of terminal A, and the absolute position of terminal B can also be sensed.
  • the technical advantages of the present application can be combined with the advantages of existing absolute positioning methods such as GNSS navigation to further improve the comprehensive positioning performance of each terminal in the system architecture.
  • the device 60 includes a position detection module 601, a distance detection module 602, a positioning module 603, a communication module 604, and an interaction module 605.
  • the device 60 can be applied to the terminal 100 described in the embodiment in FIG. 2, the position detection module 601, the distance detection module 602, the positioning module 603, and the communication module 604, and the interaction module 605 can run on the processor of the terminal 100.
  • the position detection module 601 can use the data collected by the sensor 130 to calculate the terminal position
  • the distance detection module 602 can use the sensor 130 or the mobile communication module 150 or the wireless communication module 160 to calculate the distance between the terminals.
  • the communication module 604 The mobile communication module 150 and the antenna 151, or the wireless communication module 160 and the antenna 161 may be used to implement data/signal transmission and reception.
  • the interaction module 605 can use the display screen 140 to display content.
  • the device 60 can be applied to the terminal A (ie, the first terminal) described above, and the specific description is as follows:
  • the position detection module 601 is configured to detect the movement information of the first terminal through a sensor group to determine the position information of the first terminal, where the movement information includes direction information and acceleration information;
  • the communication module 604 is configured to receive location information of the second terminal
  • the distance detection module 602 is configured to measure the distance information between the first terminal and the second terminal;
  • the positioning module 603 is configured to obtain the relative position of the second terminal relative to the first terminal according to the position information of the first terminal, the position information of the second terminal, and the distance information between the two. position.
  • the interaction module 605 is configured to prompt navigation information from the first terminal to the second terminal according to the relative position.
  • the position detection module 601, the distance detection module 602, the positioning module 603, the communication module 604, and the interaction module 605 can be specifically used to implement the relevant method steps in the method embodiments shown in FIG. 7, FIG. 8, FIG. 15, and FIG. Concise, I won't repeat it here.
  • any functional module of the apparatus shown in FIG. 19 when any functional module of the apparatus shown in FIG. 19 is implemented by software, it may be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions, and when the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium.
  • the computer-readable storage medium may be any available medium that can be accessed by the terminal/computing device.
  • the usable medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape, etc.), an optical medium (such as a DVD, etc.), or a semiconductor medium (such as a solid state hard disk), and so on.
  • any functional module of the device shown in FIG. 19 may exemplarily include one of the following hardware: one or more digital signal processors (DSP), general-purpose microprocessors, application-specific integrated circuits (ASIC), and dedicated Instruction set processor (ASIP), field programmable gate array (FPGA), or other equivalent integrated or discrete logic circuit systems, etc.
  • DSP digital signal processors
  • ASIC application-specific integrated circuits
  • ASIP dedicated Instruction set processor
  • FPGA field programmable gate array

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Abstract

Disclosed are an inter-terminal positioning method and apparatus. The method comprises: a first terminal detecting movement information of the first terminal, and determining, according to the movement information, the current first position information of the first terminal; receiving second position information sent by a second terminal, wherein the second position information indicates the current position of the second terminal; measuring information of the distance between the first terminal and the second terminal; according to the first position information, the second position information and the information of the distance, determining a relative position of the second terminal relative to the first terminal; and the first terminal generating, according to the relative position, navigation information used for performing navigation from the first terminal to the second terminal, and prompting the navigation information. By means of implementing the present application, inter-terminal high-precision mutual positioning can be realized without dependency on an anchor point, such that the requirements of various application scenarios are met, and the usage experience of users is improved.

Description

终端间定位方法及装置Positioning method and device between terminals
本申请要求于2019年11月30日提交到中国专利局、申请号为201911209255.8、申请名称为“终端间定位方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed with the Chinese Patent Office on November 30, 2019, the application number is 201911209255.8, and the application name is "Inter-terminal positioning method and device", the entire content of which is incorporated into this application by reference .
技术领域Technical field
本申请涉及定位技术领域，尤其涉及终端间定位方法及装置。This application relates to the field of positioning technology, and in particular to methods and devices for positioning between terminals.
背景技术Background technique
随着智能手机等终端设备的大规模商用，基于位置的技术和服务发展迅速，并为用户提供了丰富多彩的应用场景。当前智能终端上应用的定位技术主要包括全球导航卫星***(Global Navigation Satellite System，GNSS)卫星定位，基于WiFi的位置指纹定位，基于小区标识的(Cell-Id)的基站辅助定位等方法。With the large-scale commercial use of terminal devices such as smart phones, location-based technologies and services have developed rapidly, and have provided users with a variety of application scenarios. Current positioning technologies applied on smart terminals mainly include Global Navigation Satellite System (GNSS) satellite positioning, WiFi-based location fingerprint positioning, and cell-id-based base station assisted positioning.
GNSS卫星定位是利用卫星导航定位***通过测距原理，得到终端设备的经纬度位置、速度信息。GNSS satellite positioning uses the satellite navigation and positioning system to obtain the longitude and latitude position and speed information of the terminal equipment through the principle of distance measurement.
基于WiFi的位置指纹定位即利用WiFi接入点对终端设备进行位置指纹定位，位置指纹把实际环境中的位置和某种“指纹”联系起来，一个位置对应一个独特的指纹。比如终端设备接收或者发送信号，那么指纹可以是这个信号的信号强度。通过感知该信号强度则可匹配出终端设备的当前位置。WiFi-based location fingerprint positioning refers to the use of WiFi access points to locate the terminal device. The location fingerprint associates a location in the actual environment with a certain "fingerprint", and a location corresponds to a unique fingerprint. For example, the terminal device receives or sends a signal, then the fingerprint can be the signal strength of this signal. By sensing the signal strength, the current location of the terminal device can be matched.
基于小区标识的(Cell-Id)的基站辅助定位是基于全球移动通信***(Global System for Mobile communications，GSM)网络的定位方式，即由GSM网络通过获取终端设备所在的蜂窝小区号，并将此蜂窝小区对应的位置信息作为终端设备所处的位置。The base station assisted positioning based on the Cell-Id is based on the positioning method of the Global System for Mobile Communications (GSM) network, that is, the GSM network obtains the cell number of the terminal device and combines this The location information corresponding to the cell is used as the location of the terminal device.
上述几种定位技术均是通过已知锚点位置(如GNSS卫星，WiFi接入点，基站等)和相关测量，计算得到终端设备的绝对位置。这样的定位技术对定位场合有要求，且定位精度通常并不高。如GNSS卫星定位精度为5～20米，只适用于室外场景；位置指纹定位精度为十几米到几十米，且非常依赖WiFi接入点的部署，成本较高，应用场景较局限；基站辅助定位精度为几百米，应用场景进一步受限。The above-mentioned positioning technologies all calculate the absolute position of the terminal device through known anchor point positions (such as GNSS satellites, WiFi access points, base stations, etc.) and related measurements. Such positioning technology has requirements for positioning occasions, and the positioning accuracy is usually not high. For example, the GNSS satellite positioning accuracy is 5-20 meters, which is only suitable for outdoor scenes; the position fingerprint positioning accuracy is more than ten meters to tens of meters, and it is very dependent on the deployment of WiFi access points. The cost is high and the application scenarios are more limited; base station assistance The positioning accuracy is several hundred meters, and the application scenarios are further restricted.
如何不依赖上述任何一种技术方法而实现设备之间的高精度相互定位是本申请需要解决的问题。How to achieve high-precision mutual positioning between devices without relying on any of the above-mentioned technical methods is a problem to be solved in this application.
发明内容Summary of the invention
本申请公开了一种终端间定位方法及装置，能够在不依赖锚点的情况下实现终端间的高精度的相互定位，满足各种应用场景的需求，提升用户使用体验。The present application discloses a positioning method and device between terminals, which can realize high-precision mutual positioning between terminals without relying on anchor points, meet the requirements of various application scenarios, and improve user experience.
第一方面，本申请提供一种终端间定位的方法，方法包括：第一终端检测第一终端的运动信息，运动信息包括方向信息和加速度信息；第一终端根据方向信息和加速度信息确定所述第一终端当前的第一位置信息；第一终端接收第二终端发送的第二位置信息，第二位置信息指示了第二终端当前的位置；第一终端测量所述第一终端与第二终端之间的距离 信息；第一终端根据第一位置信息、第二位置信息和距离信息，确定第二终端相对于所述第一终端的相对位置。第一终端根据所述相对位置，生成用于从所述第一终端导航至第二终端的导航信息并提示导航信息。In a first aspect, this application provides a method for positioning between terminals. The method includes: a first terminal detects motion information of a first terminal, where the motion information includes direction information and acceleration information; and the first terminal determines the position according to the direction information and acceleration information. The current first location information of the first terminal; the first terminal receives the second location information sent by the second terminal, the second location information indicates the current location of the second terminal; the first terminal measures the first terminal and the second terminal The distance information between the first terminal; the first terminal determines the relative position of the second terminal relative to the first terminal according to the first position information, the second position information, and the distance information. According to the relative position, the first terminal generates navigation information for navigating from the first terminal to the second terminal and prompts the navigation information.
本文可定义第一终端为主测设备，第一终端又可称为终端A。第二终端为被测设备，第二终端又可称为终端B。另外，当第一终端简称为终端时，可以将第二终端称为目标终端。This article can define the first terminal as the main test equipment, and the first terminal can also be called terminal A. The second terminal is the device under test, and the second terminal can also be referred to as terminal B. In addition, when the first terminal is referred to as a terminal for short, the second terminal may be referred to as a target terminal.
可以看到，实施本申请实施例，终端A根据自身的传感器采集数据来确定终端A当前的第一位置信息，终端A还可以接收终端B当前发送的第二位置信息，以及测量两终端之间的距离信息，从而根据第一位置信息、第二位置信息和距离信息实现终端间的定位。也就是说，在进行终端间定位时，只需使用到终端A和终端B自身的装置，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，而且定位效果好，可扩展性好，能够极大提升用户的使用体验。It can be seen that in the implementation of the embodiment of this application, terminal A determines the current first location information of terminal A according to the data collected by its own sensors, and terminal A can also receive the second location information currently sent by terminal B and measure the distance between the two terminals. The distance information, so as to realize the positioning between the terminals according to the first position information, the second position information and the distance information. That is to say, when positioning between terminals, only the devices of terminal A and terminal B can be used in unlimited scenarios (both indoors and outdoors), independent of any anchor point, independent of external servers and In the case of basic network facilities and independent of base station communication, high-precision mutual positioning between two terminals can be realized. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
基于第一方面，在可能的实施例中，所述传感器组包括方向传感器以及加速度传感器；所述第一终端通过所述方向传感器检测所述方向信息；所述第一终端通过所述加速度传感器检测所述加速度信息；所述第一终端根据所述方向信息和所述加速度信息确定所述第一终端的所述第一位置信息。其中方向传感器例如可以是陀螺仪传感器和数字罗盘的至少一者。Based on the first aspect, in a possible embodiment, the sensor group includes a direction sensor and an acceleration sensor; the first terminal detects the direction information through the direction sensor; the first terminal detects the direction information through the acceleration sensor The acceleration information; the first terminal determines the first location information of the first terminal according to the direction information and the acceleration information. The direction sensor may be at least one of a gyroscope sensor and a digital compass, for example.
可以看到，实施本实施例，利用终端A自带的方向传感器以及加速度传感器就可以实时检测终端A当前的方向信息和加速度信息，而不需要新增位置检测装置，也不依赖于外界的锚点、基站、服务器等，也节省了成本。It can be seen that in this embodiment, terminal A’s own direction sensor and acceleration sensor can be used to detect the current direction information and acceleration information of terminal A in real time, without the need to add a new position detection device, and does not rely on external anchors. Points, base stations, servers, etc., also save costs.
基于第一方面，在可能的实施例中，所述第一终端根据所述方向信息和所述加速度信息确定所述第一终端当前的第一位置信息，包括：所述第一终端根据所述加速度信息获得所述第一终端的运动步长；所述第一终端根据所述方向信息和所述运动步长，通过行人航位推算(PDR)获得所述第一位置信息。Based on the first aspect, in a possible embodiment, the first terminal determining the current first position information of the first terminal according to the direction information and the acceleration information includes: the first terminal according to the The acceleration information obtains the movement step length of the first terminal; the first terminal obtains the first position information through pedestrian dead reckoning (PDR) according to the direction information and the movement step length.
可以看到，本申请中，终端A可利用PDR自定位技术，在没有绝对位置作为参考的情况下，终端A根据方向信息可加速度信息可以获得终端A相对初始时刻的位置信息。如果以此终端A的初始时刻为原点建立相对运动坐标系，则后续所有终端A的位置信息都可以用量化描述的坐标值来表示，从而，提高了终端A的位置信息的及时性。It can be seen that in this application, terminal A can use the PDR self-positioning technology. Without absolute position as a reference, terminal A can obtain position information of terminal A relative to the initial time according to the direction information and acceleration information. If the initial time of terminal A is used as the origin to establish a relative motion coordinate system, all subsequent position information of terminal A can be represented by quantified coordinate values, thereby improving the timeliness of terminal A's position information.
基于第一方面，在可能的实施例中，所述第一终端测量所述第一终端与所述第二终端之间的距离信息，包括：所述第一终端向所述第二终端发送精细时间测量(FTM)请求；所述第一终端接收所述第二终端响应所述FTM请求而返回的确认信息，所述确认信息指示了所述第二终端发射所述确认信息的第一时刻与所述第二终端接收到所述FTM请求的第二时刻之间的时间差；所述第一终端根据发送所述FTM请求的时刻、接收所述确认信息的时刻以及所述时间差，确定所述距离信息。Based on the first aspect, in a possible embodiment, the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends the fine Time measurement (FTM) request; the first terminal receives the confirmation information returned by the second terminal in response to the FTM request, and the confirmation information indicates the first moment when the second terminal transmits the confirmation information and The time difference between the second time when the second terminal receives the FTM request; the first terminal determines the distance according to the time when the FTM request is sent, the time when the confirmation information is received, and the time difference information.
可以看到，当终端A和终端B均支持WiFi的802.11mc协议，可利用精细时间测量(fine timing measurement，FTM)测距技术，通过两个终端的交互，精确终端A和终端B的信号发射和接收时间，就可以获得终端A和终端B之间的精确距离。不需要新增距离检测装置， 且能较准确地测量终端间的距离信息，降低成本。It can be seen that when both terminal A and terminal B support WiFi's 802.11mc protocol, fine timing measurement (FTM) ranging technology can be used to accurately transmit the signals of terminal A and terminal B through the interaction of the two terminals. With the receiving time, the precise distance between terminal A and terminal B can be obtained. There is no need to add a new distance detection device, and the distance information between the terminals can be measured more accurately, which reduces the cost.
基于第一方面，在可能的实施例中，所述第一终端测量所述第一终端与所述第二终端之间的距离信息，包括：所述第一终端向所述第二终端发送光信号；所述第一终端接收从所述第二终端反射回来的所述光信号；所述第一终端根据所述光信号从被所述第一终端发送的时刻和到被所述第一终端接收的时刻之间的飞行时间，确定所述距离信息。Based on the first aspect, in a possible embodiment, the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends light to the second terminal. Signal; the first terminal receives the optical signal reflected from the second terminal; the first terminal according to the optical signal from the time when the first terminal is sent to the first terminal The time of flight between the moments of reception determines the distance information.
可以看到，当终端A设置有光发射器和光接收器时，可利用飞行时间(time of flight，ToF)测距技术，通过光发射器用于向目标终端发射光脉冲，光脉冲可以是激光、LED光、近红外光或红外光等等，光接收器用于接收经目标终端反射回的光线。通过测量光线在两终端之间的传输时间，进而获得两个终端之间的距离，且提高了终端A的测量终端间的距离信息的准确性，降低成本。It can be seen that when the terminal A is equipped with an optical transmitter and an optical receiver, time of flight (ToF) ranging technology can be used, and the optical transmitter is used to transmit optical pulses to the target terminal. The optical pulses can be lasers, LED light, near-infrared light or infrared light, etc., the light receiver is used to receive the light reflected by the target terminal. By measuring the transmission time of the light between the two terminals, the distance between the two terminals is obtained, and the accuracy of measuring the distance information between the terminals of the terminal A is improved, and the cost is reduced.
基于第一方面，在可能的实施例中，所述第一终端测量所述第一终端与所述第二终端之间的距离信息，包括：所述第一终端向所述第二终端发送信号到达角(AoA)的测量请求；所述第一终端通过不同天线接收来自所述第二终端响应所述AoA测量请求返回的AoA测量信号；所述第一终端根据由所述不同天线接收的所述AoA测量信号的相位差，确定所述AoA测量信号的到达角，所述第一终端根据所述AoA测量信号的到达角确定所述距离信息。Based on the first aspect, in a possible embodiment, the first terminal measuring the distance information between the first terminal and the second terminal includes: the first terminal sends a signal to the second terminal Angle of Arrival (AoA) measurement request; the first terminal receives the AoA measurement signal returned from the second terminal in response to the AoA measurement request through a different antenna; the first terminal is based on all the signals received by the different antenna The phase difference of the AoA measurement signal determines the angle of arrival of the AoA measurement signal, and the first terminal determines the distance information according to the angle of arrival of the AoA measurement signal.
可以看到，本实施例中，终端A还可以利用信号到达角度(Angle-of-Arrival，AoA)测量技术进行测距。终端A的通信模块包括两个或两个以上天线。当终端与目标终端进行移动通信或无线通信时，由于同一通信模块的不同天线之间存在间距，所以当具有一定入射角的电磁波信号到达不同的天线时，不同天线所接收到的电磁波将存在相位差，通过这个相位差估计可以推算出电磁波信号的到达角度(AoA)，进而可以根据到达角度推算终端间的距离。从而在不需要新增距离检测装置的情况下，能较准确地测量终端间的距离信息，降低成本。It can be seen that, in this embodiment, the terminal A can also use the angle-of-arrival (Angle-of-Arrival, AoA) measurement technology for ranging. The communication module of terminal A includes two or more antennas. When the terminal and the target terminal perform mobile communication or wireless communication, due to the distance between different antennas of the same communication module, when electromagnetic wave signals with a certain incident angle reach different antennas, the electromagnetic waves received by the different antennas will have phases. The difference, through this phase difference estimation, the angle of arrival (AoA) of the electromagnetic wave signal can be calculated, and then the distance between the terminals can be calculated based on the angle of arrival. Therefore, the distance information between the terminals can be measured more accurately without the need to add a new distance detection device, and the cost can be reduced.
基于第一方面，在可能的实施例中，所述第一终端根据所述第一终端的位置信息、所述第二终端的位置信息和所述距离信息，获得所述第二终端相对于所述第一终端的相对位置，包括：所述第一终端根据所述第一终端的第一位置信息和所述第二终端的第二位置信息，确定所述第一终端和所述第二终端在同一坐标系中的位置分布；所述第一终端根据所述第一终端和所述第二终端在同一坐标系中的位置分布，确定所述第二终端相对于所述第一终端的相对位置。Based on the first aspect, in a possible embodiment, the first terminal obtains the relative position of the second terminal relative to the second terminal according to the location information of the first terminal, the location information of the second terminal, and the distance information. The relative position of the first terminal includes: the first terminal determines the first terminal and the second terminal according to the first position information of the first terminal and the second position information of the second terminal Position distribution in the same coordinate system; the first terminal determines the relative position of the second terminal relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system position.
该相对位置是精确、可靠的。也就是说，实现了在终端A中实时定位终端B的相对位置，不管终端B当前是静止的还是运动的，终端A皆能够感知到终端B的实时距离和方位。The relative position is accurate and reliable. That is to say, real-time positioning of the relative position of the terminal B in the terminal A is realized, and the terminal A can perceive the real-time distance and orientation of the terminal B regardless of whether the terminal B is currently stationary or moving.
基于第一方面，在可能的实施例中，所述第一终端的第一位置信息表示所述第一终端在所述第一终端的第一坐标系中的位置；所述第二终端的第二位置信息表示所述第二终端在所述第二终端的第二坐标系中的位置；所述第一终端根据所述第一终端的第一位置信息和所述第二终端的第二位置信息，确定所述第一终端和所述第二终端在同一坐标系中的位置分布，包括：所述第一终端确定所述第一坐标系与所述第二坐标系之间的第一旋转矩阵、以及所述第二坐标系的原点映射在所述第一坐标系中的位置信息；所述第一终端根据所述第二终端的位置信息、所述第一旋转矩阵和所述第二坐标系的原点映射在所述第一坐标系中的位置信息，确定所述第二终端在所述第一坐标系中的位置信息。Based on the first aspect, in a possible embodiment, the first position information of the first terminal indicates the position of the first terminal in the first coordinate system of the first terminal; the first position of the second terminal The second position information indicates the position of the second terminal in the second coordinate system of the second terminal; the first terminal is based on the first position information of the first terminal and the second position of the second terminal Information, determining the position distribution of the first terminal and the second terminal in the same coordinate system, including: the first terminal determining the first rotation between the first coordinate system and the second coordinate system Matrix and the position information of the origin of the second coordinate system mapped in the first coordinate system; the first terminal according to the position information of the second terminal, the first rotation matrix and the second The location information of the origin of the coordinate system mapped in the first coordinate system determines the location information of the second terminal in the first coordinate system.
例如，终端A自身维护的坐标系可称为第一坐标系，终端B自身维护的坐标系可称为第二坐标系，可以用终端A的第一坐标系作为导航坐标系。终端A可计算获得所述第二坐标系与所述第一坐标系之间的旋转矩阵(可称为第一旋转矩阵)、以及所述第二坐标系的原点映射在所述第一坐标系中的位置信息。进而，终端A根据所述旋转矩阵和所述第二坐标系的原点在所述第一坐标系中的位置信息进行计算，从而将终端B的位置信息转换成在所述第一坐标系中的位置信息。也就是实现了将终端A的位置信息和终端B的位置信息放在同一坐标系下去描述。For example, the coordinate system maintained by the terminal A itself may be called the first coordinate system, the coordinate system maintained by the terminal B itself may be called the second coordinate system, and the first coordinate system of the terminal A may be used as the navigation coordinate system. The terminal A can calculate and obtain the rotation matrix between the second coordinate system and the first coordinate system (may be referred to as the first rotation matrix), and the origin of the second coordinate system is mapped to the first coordinate system Location information in. Furthermore, the terminal A performs calculations based on the rotation matrix and the position information of the origin of the second coordinate system in the first coordinate system, thereby converting the position information of the terminal B into the position information in the first coordinate system. location information. That is, it is realized that the position information of terminal A and the position information of terminal B are placed in the same coordinate system for description.
基于第一方面，在可能的实施例中，所述第一终端根据所述第一终端和所述第二终端在同一坐标系中的位置分布，确定所述第二终端相对于所述第一终端的相对位置，包括：所述第一终端以所述第一终端的当前位置为坐标系的原点、以所述第一终端的运动方向为坐标系的纵轴来建立第三坐标系；所述第一终端确定所述第三坐标系与所述第一坐标系之间的第二旋转矩阵、以及所述第一坐标系的原点映射在所述第三坐标系中的位置信息；所述第一终端根据所述第二终端在所述第一坐标系中的位置信息、所述第二旋转矩阵和所述第一坐标系的原点映射在所述第三坐标系中的位置信息，确定所述第二终端在所述第三坐标系中的位置信息；所述第二终端在所述第三坐标系中的位置信息表示所述第二终端相对于所述第一终端的相对位置。Based on the first aspect, in a possible embodiment, the first terminal determines that the second terminal is relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system. The relative position of the terminal includes: the first terminal uses the current position of the first terminal as the origin of the coordinate system and the movement direction of the first terminal as the vertical axis of the coordinate system to establish a third coordinate system; The first terminal determines the second rotation matrix between the third coordinate system and the first coordinate system, and the location information of the origin of the first coordinate system mapped in the third coordinate system; The first terminal determines according to the position information of the second terminal in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped in the third coordinate system The position information of the second terminal in the third coordinate system; the position information of the second terminal in the third coordinate system indicates the relative position of the second terminal with respect to the first terminal.
例如，终端A可根据终端A和终端B在同一坐标系中的位置分布进一步计算，就可以获得终端B相对于终端A的相对位置。计算方式例如可以是：所述第一终端以所述第一终端的位置信息为原点建立第三坐标系；终端A以当前时刻的位置为坐标系原点，以运动方向为Y轴(纵轴)，再建立一个新的坐标系，该坐标系可以称为第三坐标系或者称为实时相对导航坐标系，然后，将终端B在第一坐标系中的位置信息进一步转换到所述第三坐标系中，例如，终端A通过计算获得第三坐标系与第一坐标系之间的旋转矩阵(可称为第二旋转矩阵)、以及所述第一坐标系的原点映射在所述第三坐标系中的位置信息，终端A根据终端B在第一坐标系中的位置信息、所述第二旋转矩阵和所述第一坐标系的原点映射在所述第三坐标系中的位置信息进行计算，获得终端B在第三坐标系中的位置信息，该位置信息即表示终端B相对于终端A的相对位置。也即是获得了在以终端A为中心的情况下的终端B的位置。For example, terminal A can further calculate according to the position distribution of terminal A and terminal B in the same coordinate system, and the relative position of terminal B relative to terminal A can be obtained. For example, the calculation method may be: the first terminal establishes a third coordinate system with the location information of the first terminal as the origin; the terminal A uses the current position as the origin of the coordinate system, and the movement direction is the Y axis (vertical axis) , Establish a new coordinate system, which can be called a third coordinate system or a real-time relative navigation coordinate system, and then further transform the position information of the terminal B in the first coordinate system to the third coordinate In the system, for example, the terminal A obtains the rotation matrix between the third coordinate system and the first coordinate system (which may be referred to as the second rotation matrix) through calculation, and the origin of the first coordinate system is mapped to the third coordinate The position information in the system, the terminal A calculates according to the position information of the terminal B in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped in the third coordinate system , Obtain the position information of the terminal B in the third coordinate system, and the position information indicates the relative position of the terminal B with respect to the terminal A. That is, the position of terminal B with terminal A as the center is obtained.
基于第一方面，在可能的实施例中，方法还包括：所述第一终端从所述第二终端获取第三终端的相对位置，所述第三终端的相对位置表示所述第三终端相对于所述第二终端的相对位置；所述第一终端根据所述第二终端相对于所述第一终端的相对位置，以及所述第三终端相对于所述第二终端的相对位置，确定所述第三终端相对于所述第一终端的相对位置。Based on the first aspect, in a possible embodiment, the method further includes: the first terminal obtains the relative position of the third terminal from the second terminal, where the relative position of the third terminal indicates that the third terminal is relatively The relative position of the second terminal; the first terminal determines according to the relative position of the second terminal with respect to the first terminal, and the relative position of the third terminal with respect to the second terminal The relative position of the third terminal relative to the first terminal.
可以看到，本申请实施例中，当终端A和终端B之间无法直接建立通信连接时，可通过有限个中间设备作为中间节点，进行两两相互定位的组网，进而获得被测设备相对于主测设备的相对位置，大大拓展了使用场景，成本较低，可扩展性好，能够极大提升用户的使用体验。It can be seen that, in the embodiment of this application, when a communication connection cannot be directly established between terminal A and terminal B, a limited number of intermediate devices can be used as intermediate nodes to perform a pairwise mutual positioning network, thereby obtaining the relative relationship of the tested device. The relative position of the main test equipment greatly expands the usage scenarios, with low cost and good scalability, which can greatly improve the user experience.
基于第一方面，在可能的实施例中，导航信息包括所述第一终端的地理位置信息和所述第二终端的地理位置信息；所述第一终端根据所述相对位置，显示从所述第一终端到所 述第二终端的导航信息之前，还包括：所述第一终端获取所述第一终端的地理位置信息；所述第一终端根据所述第一终端的地理位置信息，以及所述第二终端相对于所述第一终端的相对位置，获得所述第二终端的地理位置信息。Based on the first aspect, in a possible embodiment, the navigation information includes the geographic location information of the first terminal and the geographic location information of the second terminal; the first terminal displays the information from the Before the navigation information from the first terminal to the second terminal, the method further includes: the first terminal acquiring the geographic location information of the first terminal; the first terminal according to the geographic location information of the first terminal, and The relative position of the second terminal with respect to the first terminal obtains the geographic location information of the second terminal.
举例来说，如果终端中配置了GNSS导航等绝对定位的手段，那么***架构中的任意终端开启了GNSS等绝对定位手段，就可以将本申请中涉及到的相对位置转化到绝对定位的坐标系(例如地理坐标系/世界坐标系)里，从而和GNSS等绝对定位***一起形成组网，例如，终端A可以实时通过GNSS等绝对定位手段获取终端A的地理位置信息(例如经纬度)，那么，终端A根据终端A的地理位置信息以及终端B相对于终端A的相对位置，就可以实时获得终端B的地理位置信息。从而，既可以实现在终端A侧感知终端B的相对位置，也能够感知终端B的绝对位置。这样，可以结合本申请的技术优点和现有的GNSS导航等绝对定位的手段的优点，进一步提高***架构中各个终端的综合定位性能。For example, if absolute positioning means such as GNSS navigation are configured in the terminal, then any terminal in the system architecture enables absolute positioning means such as GNSS, and the relative position involved in this application can be converted to an absolute positioning coordinate system. (E.g. geographic coordinate system/world coordinate system) to form a network with absolute positioning systems such as GNSS. For example, terminal A can obtain the geographic location information (such as latitude and longitude) of terminal A through absolute positioning means such as GNSS in real time, then, The terminal A can obtain the geographical position information of the terminal B in real time according to the geographical position information of the terminal A and the relative position of the terminal B relative to the terminal A. Therefore, the relative position of terminal B can be sensed on the side of terminal A, and the absolute position of terminal B can also be sensed. In this way, the technical advantages of the present application can be combined with the advantages of existing absolute positioning methods such as GNSS navigation to further improve the comprehensive positioning performance of each terminal in the system architecture.
第二方面，本申请提供了一种终端，包括：传感器组，用于检测所述终端的运动信息，所述运动信息包括方向信息和加速度信息；收发器，用于接收目标终端发送的第二位置信息，所述第二位置信息指示了所述目标终端当前的位置；处理器，分别耦合至所述传感器组以及所述收发器，用于：根据所述方向信息和所述加速度信息确定所述终端当前的第一位置信息；获取所述终端与所述目标终端之间的距离信息；和根据所述第一位置信息、所述第二位置信息和所述距离信息，获得所述目标终端相对于所述终端的相对位置；以及根据所述相对位置，生成用于从所述终端导航至所述目标终端的导航信息；以及交互装置，耦合至所述处理器，用于提示所述导航信息。In a second aspect, this application provides a terminal, including: a sensor group for detecting motion information of the terminal, the motion information including direction information and acceleration information; a transceiver, for receiving a second signal sent by the target terminal Location information, the second location information indicates the current location of the target terminal; a processor, respectively coupled to the sensor group and the transceiver, and configured to determine the location according to the direction information and the acceleration information The current first location information of the terminal; obtaining the distance information between the terminal and the target terminal; and obtaining the target terminal according to the first location information, the second location information, and the distance information Relative position with respect to the terminal; and according to the relative position, generating navigation information for navigating from the terminal to the target terminal; and an interactive device, coupled to the processor, for prompting the navigation information.
其中，所述终端可以是本文所描述的第一终端(终端A)，目标终端可以是本文所描述的第二终端(终端B)。The terminal may be the first terminal (terminal A) described herein, and the target terminal may be the second terminal (terminal B) described herein.
具体的，终端可通过上述各硬件实现第一方面所描述的方法。Specifically, the terminal can implement the method described in the first aspect through the foregoing hardware.
可以看到，实施本申请实施例，终端根据自身的传感器采集数据来确定终端当前的第一位置信息，终端还可以通过收发器接收目标终端当前发送的第二位置信息，以及通过处理器获得两终端之间的距离信息，从而根据第一位置信息、第二位置信息和距离信息实现终端间的定位。也就是说，在进行终端间定位时，只需使用到终端和目标终端自身的装置，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，而且定位效果好，可扩展性好，能够极大提升用户的使用体验。It can be seen that in the implementation of the embodiment of this application, the terminal determines the current first position information of the terminal according to the data collected by its own sensors, the terminal can also receive the second position information currently sent by the target terminal through the transceiver, and obtain the two positions through the processor. The distance information between the terminals, so as to realize the positioning between the terminals according to the first position information, the second position information, and the distance information. In other words, when positioning between terminals, you only need to use the terminal and the target terminal's own device, which can be implemented in unlimited scenarios (both indoors and outdoors), independent of any anchor point, independent of external servers and infrastructure. In the case of network facilities and independent of base station communication, high-precision mutual positioning between two terminals can be realized. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
基于第二方面，在可能的实施例中，所述传感器组包括方向传感器的至少一者以及加速度传感器；所述方向传感器的至少一者来用于检测所述终端的方向信息；所述加速度传感器用于检测所述终端的加速度信息。Based on the second aspect, in a possible embodiment, the sensor group includes at least one of a direction sensor and an acceleration sensor; at least one of the direction sensors is used to detect direction information of the terminal; the acceleration sensor Used to detect acceleration information of the terminal.
基于第二方面，在可能的实施例中，所述处理器用于：根据所述加速度信息获得所述终端的运动步长；根据所述方向信息和所述运动步长，通过行人航位推算(PDR)获得所述第一位置信息。Based on the second aspect, in a possible embodiment, the processor is configured to: obtain the motion step length of the terminal according to the acceleration information; according to the direction information and the motion step length, calculate the dead position by pedestrians ( PDR) Obtain the first location information.
基于第二方面，在可能的实施例中，所述处理器用于：通过所述收发器向所述目标终端发送精细时间测量(FTM)请求；接收所述目标终端对响应所述FTM请求而返回的确认信息，所述确认信息指示了所述目标终端发射所述确认信息的第一时刻与接收所述FTM请求 的第二时刻之间的时间差；所述处理器用于，根据发送所述FTM请求的时刻、接收所述确认信息的时刻以及所述时间差，确定所述距离信息。Based on the second aspect, in a possible embodiment, the processor is configured to: send a fine time measurement (FTM) request to the target terminal through the transceiver; receive a response from the target terminal in response to the FTM request The confirmation information indicates the time difference between the first moment when the target terminal transmits the confirmation information and the second moment when the FTM request is received; the processor is configured to send the FTM request according to The distance information is determined at the time at the time, the time at which the confirmation information is received, and the time difference.
基于第二方面，在可能的实施例中，所述终端还包括光发射器和光接收器；所述光发射器用于，向所述目标终端发送光信号；所述光接收器用于，接收从所述目标终端反射回的所述光信号；所述处理器用于，根据所述光信号从被所述第一终端发送的时刻和到被所述第一终端接收的时刻之间的飞行时间，确定所述距离信息。Based on the second aspect, in a possible embodiment, the terminal further includes an optical transmitter and an optical receiver; the optical transmitter is used to send an optical signal to the target terminal; the optical receiver is used to receive The optical signal reflected by the target terminal; the processor is configured to determine the flight time between the time when the optical signal is sent by the first terminal and the time when it is received by the first terminal The distance information.
基于第二方面，在可能的实施例中，所述收发器还用于，向所述目标终端发送信号到达角(AoA)的测量请求；通过所述收发器的不同天线接收来自所述目标终端响应所述AoA测量请求返回的AoA测量信号；所述处理器用于，根据由所述不同天线接收的所述AoA测量信号的相位差，确定所述AoA测量信号的到达角；根据所述AoA测量信号的到达角确定所述距离信息。Based on the second aspect, in a possible embodiment, the transceiver is further configured to send a signal angle of arrival (AoA) measurement request to the target terminal; and receive signals from the target terminal through different antennas of the transceiver. Responding to the AoA measurement signal returned by the AoA measurement request; the processor is configured to determine the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas; and according to the AoA measurement The angle of arrival of the signal determines the distance information.
基于第二方面，在可能的实施例中，所述处理器用于：根据所述终端的第一位置信息和所述目标终端的第二位置信息，确定所述终端和所述目标终端在同一坐标系中的位置分布；根据所述终端和所述目标终端在同一坐标系中的位置分布，确定所述目标终端相对于所述终端的相对位置。Based on the second aspect, in a possible embodiment, the processor is configured to: determine that the terminal and the target terminal are at the same coordinate according to the first location information of the terminal and the second location information of the target terminal Position distribution in the system; determine the relative position of the target terminal relative to the terminal according to the position distribution of the terminal and the target terminal in the same coordinate system.
基于第二方面，在可能的实施例中，所述终端的第一位置信息表示所述终端在所述终端的第一坐标系中的位置；所述目标终端的第二位置信息表示所述目标终端在所述目标终端的第二坐标系中的位置；所述处理器用于：确定所述第一坐标系与所述第二坐标系之间的第一旋转矩阵、以及所述第二坐标系的原点映射在所述第一坐标系中的位置信息；根据所述目标终端的位置信息、所述第一旋转矩阵和所述第二坐标系的原点映射在所述第一坐标系中的位置信息，确定所述目标终端在所述第一坐标系中的位置信息。Based on the second aspect, in a possible embodiment, the first position information of the terminal indicates the position of the terminal in the first coordinate system of the terminal; the second position information of the target terminal indicates the target The position of the terminal in the second coordinate system of the target terminal; the processor is configured to: determine a first rotation matrix between the first coordinate system and the second coordinate system, and the second coordinate system The location information of the origin of the mapping in the first coordinate system; the location of the origin mapped in the first coordinate system according to the location information of the target terminal, the first rotation matrix, and the origin of the second coordinate system Information, determining the location information of the target terminal in the first coordinate system.
基于第二方面，在可能的实施例中，所述处理器用于：以所述终端的当前位置为坐标系的原点、以所述终端的运动方向为坐标系的纵轴来建立第三坐标系；确定所述第三坐标系与所述第一坐标系之间的第二旋转矩阵、以及所述第一坐标系的原点映射在所述第三坐标系中的位置信息；根据所述目标终端在所述第一坐标系中的位置信息、所述第二旋转矩阵和所述第一坐标系的原点映射在所述第三坐标系中的位置信息，确定所述目标终端在所述第三坐标系中的位置信息；所述目标终端在所述第三坐标系中的位置信息表示所述目标终端相对于所述终端的相对位置。Based on the second aspect, in a possible embodiment, the processor is configured to: use the current position of the terminal as the origin of the coordinate system and use the movement direction of the terminal as the vertical axis of the coordinate system to establish a third coordinate system Determine the second rotation matrix between the third coordinate system and the first coordinate system, and the location information of the origin of the first coordinate system mapped in the third coordinate system; according to the target terminal The position information in the first coordinate system, the second rotation matrix, and the position information of the origin of the first coordinate system mapped in the third coordinate system determine that the target terminal is in the third coordinate system. The position information in the coordinate system; the position information of the target terminal in the third coordinate system indicates the relative position of the target terminal with respect to the terminal.
基于第二方面，在可能的实施例中，所述处理器用于：从所述目标终端获取第三终端的相对位置，所述第三终端的相对位置表示所述第三终端相对于所述目标终端的相对位置；根据所述目标终端相对于所述终端的相对位置，以及所述第三终端相对于所述目标终端的相对位置，确定所述第三终端相对于所述终端的相对位置。Based on the second aspect, in a possible embodiment, the processor is configured to: obtain the relative position of the third terminal from the target terminal, where the relative position of the third terminal indicates that the third terminal is relative to the target The relative position of the terminal; the relative position of the third terminal relative to the terminal is determined according to the relative position of the target terminal relative to the terminal and the relative position of the third terminal relative to the target terminal.
基于第二方面，在可能的实施例中，所述导航信息包括所述终端的地理位置信息和所述目标终端的地理位置信息；所述收发器还用于，获取所述终端的地理位置信息；所述处理器还用于，根据所述终端的地理位置信息，以及所述目标终端相对于所述终端的相对位置，获得所述目标终端的地理位置信息。Based on the second aspect, in a possible embodiment, the navigation information includes geographic location information of the terminal and geographic location information of the target terminal; the transceiver is also used to obtain geographic location information of the terminal The processor is further configured to obtain the geographic location information of the target terminal according to the geographic location information of the terminal and the relative position of the target terminal with respect to the terminal.
第三方面，本申请提供了一种芯片，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，执行第一方面或第一方面的任一可能的实施方 式中的方法。In a third aspect, the present application provides a chip. The chip includes a processor and a data interface. The processor reads instructions stored in a memory through the data interface, and executes the first aspect or any one of the first aspect. Methods in possible implementations.
可选地，作为一种实施方式，所述芯片还可以包括存储器，所述存储器中存储有指令，所述处理器用于执行所述存储器上存储的指令，当所述指令被执行时，所述处理器用于执行第一方面或第一方面的任一可能的实施例中的方法。Optionally, as an implementation manner, the chip may further include a memory in which instructions are stored, and the processor is configured to execute instructions stored on the memory. When the instructions are executed, the The processor is configured to execute the method in the first aspect or any possible embodiment of the first aspect.
第四方面，本申请提供了一种装置，该装置可应用于第一终端，包括：位置检测模块，用于通过传感器组检测所述第一终端的运动信息来确定所述第一终端的位置信息，所述运动信息包括方向信息和加速度信息；通信模块，用于接收第二终端的位置信息；距离检测模块，用于测量所述第一终端与所述第二终端之间的距离信息；定位模块，用于根据所述第一终端的位置信息、所述第二终端的位置信息和距离信息，获得所述第二终端相对于所述第一终端的相对位置。交互模块，用于根据所述相对位置，提示从所述第一终端到所述第二终端的导航信息。In a fourth aspect, the present application provides a device that can be applied to a first terminal and includes: a position detection module configured to detect the movement information of the first terminal through a sensor group to determine the position of the first terminal Information, the motion information includes direction information and acceleration information; a communication module for receiving position information of a second terminal; a distance detection module for measuring distance information between the first terminal and the second terminal; The positioning module is configured to obtain the relative position of the second terminal with respect to the first terminal according to the position information of the first terminal, the position information and the distance information of the second terminal. The interaction module is configured to prompt navigation information from the first terminal to the second terminal according to the relative position.
装置的各功能模块可共同用于实现第一方面或第一方面任意实施例所描述的方法。The functional modules of the device can be used together to implement the method described in the first aspect or any embodiment of the first aspect.
基于第四方面，在可能的实施例中，所述传感器组包括方向传感器以及加速度传感器；位置检测模块用于：通过所述方向传感器用于检测所述方向信息；通过所述加速度传感器检测所述加速度信息；根据所述方向信息和所述加速度信息确定所述第一终端的所述第一位置信息。Based on the fourth aspect, in a possible embodiment, the sensor group includes a direction sensor and an acceleration sensor; the position detection module is configured to: use the direction sensor to detect the direction information; use the acceleration sensor to detect the Acceleration information; determining the first position information of the first terminal according to the direction information and the acceleration information.
基于第四方面，在可能的实施例中，位置检测模块用于：根据所述加速度信息获得所述第一终端的运动步长；根据所述方向信息和所述运动步长，通过行人航位推算(PDR)获得所述第一位置信息。Based on the fourth aspect, in a possible embodiment, the position detection module is configured to: obtain the movement step length of the first terminal according to the acceleration information; according to the direction information and the movement step length, pass the pedestrian dead position Prediction (PDR) to obtain the first position information.
基于第四方面，在可能的实施例中，距离检测模块具体用于：向所述第二终端发送精细时间测量(FTM)请求；接收所述第二终端响应所述FTM请求而返回的确认信息，所述确认信息指示了所述第二终端发射所述确认信息的第一时刻与所述第二终端接收到所述FTM请求的第二时刻之间的时间差；根据发送所述FTM请求的时刻、接收所述确认信息的时刻以及所述时间差，确定所述距离信息。Based on the fourth aspect, in a possible embodiment, the distance detection module is specifically configured to: send a fine time measurement (FTM) request to the second terminal; receive confirmation information returned by the second terminal in response to the FTM request The confirmation information indicates the time difference between the first time when the second terminal transmits the confirmation information and the second time when the second terminal receives the FTM request; according to the time when the FTM request is sent , The time of receiving the confirmation information and the time difference, and determining the distance information.
基于第四方面，在可能的实施例中，距离检测模块具体用于：向所述第二终端发送光信号；接收从所述第二终端反射回来的所述光信号；根据所述光信号从被所述第一终端发送的时刻和到被所述第一终端接收的时刻之间的飞行时间，确定所述距离信息。Based on the fourth aspect, in a possible embodiment, the distance detection module is specifically configured to: send an optical signal to the second terminal; receive the optical signal reflected from the second terminal; The time of flight between the time sent by the first terminal and the time received by the first terminal determines the distance information.
基于第四方面，在可能的实施例中，距离检测模块具体用于：向所述第二终端发送信号到达角(AoA)的测量请求；通过不同天线接收来自所述第二终端响应所述AoA测量请求返回的AoA测量信号；根据由所述不同天线接收的所述AoA测量信号的相位差，确定所述AoA测量信号的到达角，根据所述AoA测量信号的到达角确定所述距离信息。Based on the fourth aspect, in a possible embodiment, the distance detection module is specifically configured to: send a signal angle of arrival (AoA) measurement request to the second terminal; and receive a response to the AoA from the second terminal through a different antenna. The AoA measurement signal returned by the measurement request; determine the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas, and determine the distance information according to the angle of arrival of the AoA measurement signal.
基于第四方面，在可能的实施例中，定位模块具体用于：根据所述第一终端的第一位置信息和所述第二终端的第二位置信息，确定所述第一终端和所述第二终端在同一坐标系中的位置分布；根据所述第一终端和所述第二终端在同一坐标系中的位置分布，确定所述第二终端相对于所述第一终端的相对位置。Based on the fourth aspect, in a possible embodiment, the positioning module is specifically configured to: determine the first terminal and the second terminal according to the first position information of the first terminal and the second position information of the second terminal. The position distribution of the second terminal in the same coordinate system; and the relative position of the second terminal relative to the first terminal is determined according to the position distribution of the first terminal and the second terminal in the same coordinate system.
基于第四方面，在可能的实施例中，所述第一终端的第一位置信息表示所述第一终端在所述第一终端的第一坐标系中的位置；所述第二终端的第二位置信息表示所述第二终端在所述第二终端的第二坐标系中的位置；Based on the fourth aspect, in a possible embodiment, the first position information of the first terminal indicates the position of the first terminal in the first coordinate system of the first terminal; the first position of the second terminal 2. The position information indicates the position of the second terminal in the second coordinate system of the second terminal;
定位模块具体用于：确定所述第一坐标系与所述第二坐标系之间的第一旋转矩阵、以及所述第二坐标系的原点映射在所述第一坐标系中的位置信息；根据所述第二终端的位置信息、所述第一旋转矩阵和所述第二坐标系的原点映射在所述第一坐标系中的位置信息，确定所述第二终端在所述第一坐标系中的位置信息。The positioning module is specifically configured to determine a first rotation matrix between the first coordinate system and the second coordinate system, and the position information of the origin of the second coordinate system mapped in the first coordinate system; According to the position information of the second terminal, the first rotation matrix and the position information of the origin of the second coordinate system mapped in the first coordinate system, it is determined that the second terminal is in the first coordinate system. Location information in the department.
基于第四方面，在可能的实施例中，定位模块具体用于：以所述第一终端的当前位置为坐标系的原点、以所述第一终端的运动方向为坐标系的纵轴来建立第三坐标系；确定所述第三坐标系与所述第一坐标系之间的第二旋转矩阵、以及所述第一坐标系的原点映射在所述第三坐标系中的位置信息；根据所述第二终端在所述第一坐标系中的位置信息、所述第二旋转矩阵和所述第一坐标系的原点映射在所述第三坐标系中的位置信息，确定所述第二终端在所述第三坐标系中的位置信息；所述第二终端在所述第三坐标系中的位置信息表示所述第二终端相对于所述第一终端的相对位置。Based on the fourth aspect, in a possible embodiment, the positioning module is specifically configured to: use the current position of the first terminal as the origin of the coordinate system and the movement direction of the first terminal as the vertical axis of the coordinate system to establish A third coordinate system; determine the second rotation matrix between the third coordinate system and the first coordinate system, and the position information of the origin of the first coordinate system mapped in the third coordinate system; according to The location information of the second terminal in the first coordinate system, the second rotation matrix and the location information of the origin of the first coordinate system mapped in the third coordinate system, determine the second The position information of the terminal in the third coordinate system; the position information of the second terminal in the third coordinate system indicates the relative position of the second terminal with respect to the first terminal.
基于第四方面，在可能的实施例中，定位模块还用于：从所述第二终端获取第三终端的相对位置，所述第三终端的相对位置表示所述第三终端相对于所述第二终端的相对位置；根据所述第二终端相对于所述第一终端的相对位置，以及所述第三终端相对于所述第二终端的相对位置，确定所述第三终端相对于所述第一终端的相对位置。Based on the fourth aspect, in a possible embodiment, the positioning module is further configured to: obtain the relative position of the third terminal from the second terminal, where the relative position of the third terminal indicates that the third terminal is relative to the third terminal. The relative position of the second terminal; according to the relative position of the second terminal with respect to the first terminal, and the relative position of the third terminal with respect to the second terminal, it is determined that the third terminal is relative to the Describe the relative position of the first terminal.
基于第四方面，在可能的实施例中，所述导航信息包括所述第一终端的地理位置信息和所述第二终端的地理位置信息；定位模块还用于：获取所述第一终端的地理位置信息；根据所述第一终端的地理位置信息，以及所述第二终端相对于所述第一终端的相对位置，获得所述第二终端的地理位置信息。Based on the fourth aspect, in a possible embodiment, the navigation information includes the geographic location information of the first terminal and the geographic location information of the second terminal; the positioning module is further configured to: obtain the information of the first terminal Geographical location information; the geographic location information of the second terminal is obtained according to the geographic location information of the first terminal and the relative position of the second terminal with respect to the first terminal.
第五方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读介质存储用于设备执行的程序代码，所述程序代码包括用于执行第一方面或者第一方面的任一可能的实施方式中的方法的指令。In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable medium stores program code for device execution, and the program code includes the program code for executing the first aspect or any one of the first aspect. The instructions for the method in the possible implementation.
第六方面，本发明实施例提供了一种计算机程序产品，该计算机程序产品可以为一个软件安装包，该计算机程序产品包括程序指令，当该计算机程序产品被终端执行时，该终端的处理器执行前述第一方面任一实施例中的方法。In a sixth aspect, an embodiment of the present invention provides a computer program product. The computer program product may be a software installation package. The computer program product includes program instructions. When the computer program product is executed by a terminal, the processor of the terminal Perform the method in any one of the embodiments of the foregoing first aspect.
可以看到，实施本申请实施例，在终端的相互定位过程只需使用到终端A和终端B自身的硬件，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，而且定位效果好，可扩展性好，能够极大提升用户的使用体验。It can be seen that in the implementation of the embodiments of this application, the mutual positioning process of terminals only needs to use the hardware of terminal A and terminal B. It can be implemented in unlimited scenarios (both indoors and outdoors) and does not depend on any anchor point. Without relying on external servers and basic network facilities, and without relying on base station communication, high-precision mutual positioning between two terminals can be achieved. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
附图说明Description of the drawings
图1是一种可用于实现本申请实施例的无线***的架构示意图；FIG. 1 is a schematic diagram of the architecture of a wireless system that can be used to implement an embodiment of the present application;
图2是本申请实施例示出的一种终端的结构示意图；FIG. 2 is a schematic structural diagram of a terminal shown in an embodiment of the present application;
图3是本申请实施例涉及的一种行人航位推算技术的场景示意图；FIG. 3 is a schematic diagram of a scenario of a pedestrian dead-reckoning technology related to an embodiment of the present application;
图4是本申请实施例涉及的一种精细时间测量技术的场景示意图；FIG. 4 is a schematic diagram of a scene of a fine time measurement technology related to an embodiment of the present application;
图5是本申请实施例涉及的一种飞行时间技术的场景示意图；FIG. 5 is a schematic diagram of a scenario of a time-of-flight technology related to an embodiment of the present application;
图6是本申请实施例涉及的一种信号到达角度测量技术的场景示意图；FIG. 6 is a schematic diagram of a scene of a signal arrival angle measurement technology related to an embodiment of the present application;
图7是本申请实施例提供的一种终端间相互定位的方法的流程示意图；FIG. 7 is a schematic flowchart of a method for mutual positioning between terminals according to an embodiment of the present application;
图8是本申请实施例提供的又一种终端间相互定位的方法的流程示意图；FIG. 8 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application;
图9是本申请实施例提供的两种坐标系中的场景示意图；FIG. 9 is a schematic diagram of a scene in two coordinate systems provided by an embodiment of the present application;
图10是本申请实施例提供的一种坐标系中的场景示意图；FIG. 10 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application;
图11是本申请实施例提供的一种时间窗的场景示意图；FIG. 11 is a schematic diagram of a time window scenario provided by an embodiment of the present application;
图12是本申请实施例提供的一种坐标系中的场景示意图；FIG. 12 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application;
图13是本申请实施例提供的一种坐标系中的场景示意图；FIG. 13 is a schematic diagram of a scene in a coordinate system provided by an embodiment of the present application;
图14是本申请实施例提供的一种雷达图的场景示意图；FIG. 14 is a schematic diagram of a scene of a radar chart provided by an embodiment of the present application;
图15是本申请实施例提供的又一种终端间相互定位的方法的流程示意图；FIG. 15 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application;
图16是本申请实施例提供的又一种终端间相互定位的方法的流程示意图；FIG. 16 is a schematic flowchart of another method for mutual positioning between terminals according to an embodiment of the present application;
图17是又一种可用于实现本申请实施例的无线***的架构示意图；FIG. 17 is a schematic diagram of another architecture of a wireless system that can be used to implement an embodiment of the present application;
图18是又一种可用于实现本申请实施例的无线***的架构示意图；FIG. 18 is a schematic diagram of another architecture of a wireless system that can be used to implement an embodiment of the present application;
图19是本申请实施例提供的一种装置的结构示意图。FIG. 19 is a schematic structural diagram of an apparatus provided by an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。这些示例实施例不应被解释为限于本文描述的具体示例，而是在其范围内包括由所附权利要求所限定的所有实施例。本文所使用的术语仅出于描述特定方面的目的，而并不旨在限定这些方面。The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. These example embodiments should not be construed as being limited to the specific examples described herein, but all embodiments defined by the appended claims are included in their scope. The terminology used herein is only for the purpose of describing specific aspects, and is not intended to limit these aspects.
需要说明的是，在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。如本文所使用的，单数形式的“一”、“某”和“该”旨在也包括复数形式，除非上下文另有明确指示。还将理解，术语“包括”、“具有”、“包含”和/或“含有”在本文中使用时指定所陈述的特征、整数、步骤、操作、要素、和/或组件的存在，但并不排除一个或多个其他特征、整数、步骤、操作、要素、组件和/或其群组的存在或添加。It should be noted that the terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and/or" as used herein refers to and includes any or all possible combinations of one or more associated listed items. As used herein, the singular forms "a", "some" and "the" are intended to also include the plural forms, unless the context clearly dictates otherwise. It will also be understood that the terms "include", "have", "include" and/or "contain" when used herein specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not The existence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not excluded.
图1是一种可用于实现本申请实施例的无线***10的架构示意图。无线***10可以包括终端A和终端B，本文中终端A又可称为第一终端，终端B又可称为第二终端。此外，在其它可能场景中，终端A和终端B中的任一个终端也可能被称为用户装备(UE)、订户站、移动单元、订户单元、无线单元、远程单元、移动设备、无线设备、无线通信设备、远程设备、移动订户站、终端设备、接入终端、移动终端、无线终端、智能终端、远程终端、手持机、用户代理、移动客户端、客户端、或其他某个合适的术语。FIG. 1 is a schematic diagram of the architecture of a wireless system 10 that can be used to implement an embodiment of the present application. The wireless system 10 may include a terminal A and a terminal B. Herein, the terminal A may also be referred to as a first terminal, and the terminal B may also be referred to as a second terminal. In addition, in other possible scenarios, any one of terminal A and terminal B may also be referred to as user equipment (UE), subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, Wireless communication equipment, remote equipment, mobile subscriber station, terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handheld, user agent, mobile client, client, or some other suitable term .
终端A和终端B之间可进行无线通信，无线通信的方式可包括但不限于：WiFi(Wireless Fidelity，无线保真)通信、蓝牙(Bluetooth)通信、Zigbee通信、蜂窝通信，以及其他基于长期演进(Long Term Evolution，LTE)的设备到设备(Device to Device，D2D)通信等等。Wireless communication can be performed between terminal A and terminal B. The wireless communication methods can include but are not limited to: WiFi (Wireless Fidelity, wireless fidelity) communication, Bluetooth (Bluetooth) communication, Zigbee communication, cellular communication, and other based on long-term evolution (Long Term Evolution, LTE) device-to-device (Device to Device, D2D) communication and so on.
具体的，终端A和终端B均可包含一个或多个收发器，该一个或多个收发器可包括WiFi收发器、蓝牙收发器、蜂窝收发器、和/或其他合适的射频(RF)收发器中的至少一种，以传 送和接收无线通信信号。每个收发器可在不同操作频带中和/或使用不同通信协议与其他无线设备/终端通信。例如，Wi-Fi收发器可根据IEEE 802.11规范在2.4GHz频带内、在5GHz频带内通信，和/或在60GHz频带内通信。蜂窝收发器可根据由第三代伙伴项目(3GPP)所描述的4G长期演进(LTE)协议在各种RF频带内(例如，在约700MHz到约3.9GHz之间)和/或根据其他蜂窝协议(例如，GSM通信协议)通信。又例如，终端A和终端B的收发器还可以是ZigBee规范所描述的ZigBee收发器、WiGig收发器等等。Specifically, both terminal A and terminal B may include one or more transceivers, and the one or more transceivers may include WiFi transceivers, Bluetooth transceivers, cellular transceivers, and/or other suitable radio frequency (RF) transceivers. At least one of the devices to transmit and receive wireless communication signals. Each transceiver can communicate with other wireless devices/terminals in different operating frequency bands and/or using different communication protocols. For example, the Wi-Fi transceiver can communicate in the 2.4 GHz frequency band, in the 5 GHz frequency band, and/or in the 60 GHz frequency band according to the IEEE 802.11 specification. The cellular transceiver may be in various RF frequency bands (for example, between about 700MHz to about 3.9GHz) according to the 4G Long Term Evolution (LTE) protocol described by the 3rd Generation Partnership Project (3GPP) and/or according to other cellular protocols (For example, GSM communication protocol) communication. For another example, the transceivers of terminal A and terminal B may also be ZigBee transceivers, WiGig transceivers, and the like described in the ZigBee specification.
终端A和终端B的至少一者还包括测距***，该测距***例如可使用软件模块、硬件组件(例如短距通信芯片)、和/或其合适的组合形成，该测距***可以被用来估计终端A和终端B之间的距离或者与两者距离相关的信息(例如信号到达角、信号相位等)。本申请一些实施例中，测距***可通过精细时间测量(fine timing measurement，FTM)或飞行时间(time of flight，TOF)测距的方式获得终端A和终端B之间的较高质量的精确距离；本申请又一些实施例中，测距***可通过推算信号的到达角度(Angle of Arrival，AoA)的方式，为终端相互定位提供了较高质量的精确角度测量。At least one of the terminal A and the terminal B further includes a ranging system. The ranging system can be formed using, for example, software modules, hardware components (such as short-range communication chips), and/or a suitable combination thereof. It is used to estimate the distance between terminal A and terminal B or information related to the distance between the two (such as signal arrival angle, signal phase, etc.). In some embodiments of the present application, the ranging system can obtain high-quality accuracy between terminal A and terminal B through fine timing measurement (FTM) or time of flight (TOF) ranging. Distance; In some other embodiments of the present application, the ranging system can calculate the angle of arrival (Angle of Arrival, AoA) of the signal to provide high-quality accurate angle measurement for the mutual positioning of terminals.
此外，终端A和终端B的至少一者还包括自定位***，该自定位***例如可使用软件模块、硬件组件(例如陀螺仪、惯性传感器、加速度传感器等)、和/或其合适的组合形成，自定位***可以被用来估计终端A和/或终端B的各自的位置信息。In addition, at least one of the terminal A and the terminal B further includes a self-positioning system. The self-positioning system may be formed using, for example, software modules, hardware components (such as gyroscopes, inertial sensors, acceleration sensors, etc.), and/or suitable combinations thereof. The self-positioning system can be used to estimate the respective location information of terminal A and/or terminal B.
在具体实现中，终端A和终端B的至少一者可以是智能手机、平板电脑、以及笔记本电脑之类的移动终端，或者可以是智能眼镜、智能手表以及智能手环之类的可穿戴设备，或者可以是自行车、汽车、物流载具之类的交通工具设备，或者可以是无线路由器、电视机、智能微波炉、智能空调、智能冰箱之类的智能家居设备，或者也可以是智能水表、智能电表、智能煤气表、智能路灯之类的物联网设备。终端A和终端B可以是同类型的设备(例如均为智能手机)，也可以是不同类型的设备(例如终端A为智能手机，终端B为笔记本电脑；又例如终端A为智能手机，终端B为电视机，等等)本申请不作具体限定。In a specific implementation, at least one of the terminal A and the terminal B may be a mobile terminal such as a smart phone, a tablet computer, and a notebook computer, or may be a wearable device such as smart glasses, a smart watch, and a smart bracelet, Or it can be transportation equipment such as bicycles, cars, and logistics vehicles, or it can be smart home equipment such as wireless routers, TVs, smart microwave ovens, smart air conditioners, smart refrigerators, or smart water meters and smart electricity meters. , Smart gas meters, smart street lights and other Internet of Things devices. Terminal A and Terminal B can be the same type of equipment (for example, both smart phones), or different types of equipment (for example, terminal A is a smart phone, terminal B is a notebook computer; for example, terminal A is a smart phone, terminal B (TV, etc.) This application is not specifically limited.
参见图2，图2示出了终端100的一种结构示意图。在一些示例中，终端100可以为图1中的终端A和终端B的至少一者的结构示意图。应该理解的是，本申请实施例示意的结构并不构成对终端100的具体限定。在本申请另一些实施例中，终端100可以包括比图示更多或更少的部件，或者组合某些部件，或者拆分某些部件，或者不同的部件布置。图中所示出的各种部件可以在包括一个或多个信号处理和/或专用集成电路在内的硬件、软件、或硬件和软件的组合中实现。Referring to FIG. 2, FIG. 2 shows a schematic structural diagram of the terminal 100. In some examples, the terminal 100 may be a schematic structural diagram of at least one of the terminal A and the terminal B in FIG. 1. It should be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the terminal 100. In other embodiments of the present application, the terminal 100 may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or arrange different components. The various components shown in the figure may be implemented in hardware, software, or a combination of hardware and software including one or more signal processing and/or application specific integrated circuits.
如图2的示例中，终端100包括芯片110、存储器120、传感器130、显示屏140、移动通信模块150和无线通信模块160，移动通信模块150和无线通信模块160均可作为终端100的收发器，以实现终端100与外界的通信交互。芯片110、存储器120、传感器130、显示屏140、移动通信模块150和无线通信模块160等等部件之间可在一个或多个通信总线上通信。In the example shown in Figure 2, the terminal 100 includes a chip 110, a memory 120, a sensor 130, a display screen 140, a mobile communication module 150 and a wireless communication module 160. Both the mobile communication module 150 and the wireless communication module 160 can be used as transceivers of the terminal 100. , In order to realize the communication interaction between the terminal 100 and the outside world. The chip 110, the memory 120, the sensor 130, the display screen 140, the mobile communication module 150, and the wireless communication module 160 may communicate on one or more communication buses.
芯片110可集成包括：一个或多个处理器111、时钟模块112以及电源管理模块113。集成于基带芯片110中的时钟模块112主要用于为处理器111提供数据传输和时序控制所需要的计时器，计时器可实现数据传输和时序控制的时钟功能。处理器111可以根据指令 操作码和时序信号，产生操作控制信号，完成取指令和执行指令的控制。集成于芯片110中的电源管理模块113主要用于为芯片110以及终端100的其他部件提供稳定的、高精确度的电压。The chip 110 may integrate: one or more processors 111, a clock module 112, and a power management module 113. The clock module 112 integrated in the baseband chip 110 is mainly used to provide the processor 111 with a timer required for data transmission and timing control, and the timer can realize the clock function of data transmission and timing control. The processor 111 can generate operation control signals according to the instruction operation code and timing signals, and complete the control of fetching and executing instructions. The power management module 113 integrated in the chip 110 is mainly used to provide a stable and high-precision voltage for the chip 110 and other components of the terminal 100.
处理器110又可称为中央处理器(CPU，central processing unit)，处理器110具体可以包括一个或多个处理单元，例如：处理器110可以包括应用处理器(application processor，AP)，调制解调处理器，图形处理器(graphics processing unit，GPU)，图像信号处理器(image signal processor，ISP)，控制器，视频编解码器，数字信号处理器(digital signal processor，DSP)，基带处理器，和/或神经网络处理器(neural-network processing unit，NPU)等。其中，不同的处理单元可以是独立的器件，也可以集成在一个或多个处理器中。The processor 110 may also be called a central processing unit (CPU, central processing unit). The processor 110 may specifically include one or more processing units. For example, the processor 110 may include an application processor (AP). Modulation processor, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor , And/or neural-network processing unit (NPU), etc. Among them, the different processing units may be independent devices or integrated in one or more processors.
处理器110中还可以设置存储器，用于存储指令和数据。在一些实施例中，处理器110中的存储器为高速缓冲存储器。该存储器可以保存处理器110刚用过或循环使用的指令或数据。如果处理器110需要再次使用该指令或数据，可从所述存储器中直接调用。避免了重复存取，减少了处理器110的等待时间，因而提高了***的效率。A memory may also be provided in the processor 110 to store instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory can store instructions or data that have just been used or recycled by the processor 110. If the processor 110 needs to use the instruction or data again, it can be directly called from the memory. Repeated accesses are avoided, the waiting time of the processor 110 is reduced, and the efficiency of the system is improved.
在一些实施例中，处理器110可以包括一个或多个接口。接口可以包括集成电路(inter-integrated circuit，I2C)接口，集成电路内置音频(inter-integrated circuit sound，I2S)接口，脉冲编码调制(pulse code modulation，PCM)接口，通用异步收发传输器(universal asynchronous receiver/transmitter，UART)接口，移动产业处理器接口(mobile industry processor interface，MIPI)，通用输入输出(general-purpose input/output，GPIO)接口，用户标识模块(subscriber identity module，SIM)接口，和/或通用串行总线(universal serial bus，USB)接口等。In some embodiments, the processor 110 may include one or more interfaces. The interface may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, and a universal asynchronous transmitter/receiver (universal asynchronous) interface. receiver/transmitter, UART) interface, mobile industry processor interface (MIPI), general-purpose input/output (GPIO) interface, subscriber identity module (SIM) interface, and / Or Universal Serial Bus (USB) interface, etc.
存储器120可与处理器111通过总线连接，也可以与处理器111耦合在一起，用于存储各种软件程序和/或多组指令。具体实现中，存储器120可包括高速随机存取的存储器，并且也可包括非易失性存储器，例如一个或多个磁盘存储设备、闪存设备或其他非易失性固态存储设备。存储器120可以存储操作***，例如ANDROID，IOS，WINDOWS，或者LINUX等嵌入式操作***。存储器120还可以存储通信程序，该通信程序可用于与一个或多个终端设备，或者一个或多个网络设备进行通信。存储器120还可以存储用户接口程序，该用户接口程序可以通过图形化的操作界面将应用程序的内容形象逼真的显示出来并通过显示屏140呈现。The memory 120 may be connected with the processor 111 through a bus, or may be coupled with the processor 111, and used to store various software programs and/or multiple sets of instructions. In a specific implementation, the memory 120 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The memory 120 may store an operating system, such as an embedded operating system such as ANDROID, IOS, WINDOWS, or LINUX. The memory 120 may also store a communication program, which may be used to communicate with one or more terminal devices or one or more network devices. The memory 120 may also store a user interface program, and the user interface program may vividly display the content of the application program through a graphical operation interface and present it on the display screen 140.
存储器120可以用于存储计算机可执行程序代码，该可执行程序代码包括指令。处理器111通过运行存储在存储器120的指令，从而执行终端100的各种功能应用以及数据处理，具体的，可执行如图7或图8或图15或图16实施例所描述的用于终端间定位的方法。The memory 120 may be used to store computer executable program code, and the executable program code includes instructions. The processor 111 executes various functional applications and data processing of the terminal 100 by running the instructions stored in the memory 120. Specifically, the processor 111 can execute the application for the terminal as described in the embodiment of FIG. 7 or FIG. 8 or FIG. 15 or FIG. The method of positioning between.
在一些实施例中，终端100可以包括一个或多个显示屏140。终端100可通过显示屏140、芯片110中的图形处理器(GPU)以及应用处理器(AP)等共同实现显示功能。GPU为用于图像处理的微处理器，连接显示屏140和应用处理器。GPU用于执行数学和几何计算，用于图形渲染。显示屏140用于显示***当前输出的界面内容，例如显示图像、视频等，界面内容可包括正在运行的应用程序的界面以及***级别菜单等，具体可由下述界面元素组成：输入型界面元素，例如按键(Button)，文本输入框(Text)，滑动条(Scroll Bar)， 菜单(Menu)等等；以及输出型界面元素，例如视窗(Window)，标签(Label)等等。显示屏140包括显示面板。显示面板可以采用液晶显示屏(liquid crystal display，LCD)，有机发光二极管(organic light-emitting diode，OLED)，有源矩阵有机发光二极体或主动矩阵有机发光二极体(active-matrix organic light emitting diode的，AMOLED)，柔性发光二极管(flex light-emitting diode，FLED)，Miniled，MicroLed，Micro-oLed，量子点发光二极管(quantum dot light emitting diodes，QLED)等。In some embodiments, the terminal 100 may include one or more display screens 140. The terminal 100 can realize the display function through the display screen 140, the graphics processing unit (GPU) in the chip 110, and the application processor (AP) together. The GPU is a microprocessor used for image processing and is connected to the display screen 140 and the application processor. The GPU is used to perform mathematical and geometric calculations and is used for graphics rendering. The display screen 140 is used to display the interface content currently output by the system, such as displaying images, videos, etc. The interface content can include the interface of the running application program and the system-level menu, etc., and can be specifically composed of the following interface elements: input interface elements, For example, buttons (Button), text input box (Text), scroll bar (Scroll Bar), menu (Menu), etc.; and output-type interface elements, such as window (Window), label (Label), and so on. The display screen 140 includes a display panel. The display panel can adopt liquid crystal display (LCD), organic light-emitting diode (OLED), active matrix organic light-emitting diode or active-matrix organic light-emitting diode (active-matrix organic light-emitting diode). AMOLED, flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, quantum dot light-emitting diode (QLED), etc.
传感器模块130主要用于实现终端110的自身定位，以及实现终端110与其他终端之间相互定位的功能。具体实现中，其中传感器模块130可以包括陀螺仪传感器130A、惯性传感器130B、数字罗盘130C、加速度传感器130D、光发射器130E、光接收器130F等等中的多个或全部。本文中，包含陀螺仪传感器130A和数字罗盘130C中的至少一者以及加速度传感器130D的集合又可称为传感器组。陀螺仪传感器130A和数字罗盘130C均属于方向传感器。其中，陀螺仪传感器130A和数字罗盘130可用于测量终端运动的角速度，加速度传感器130D用于测量终端运动的加速度，惯性传感器130B可同时测量终端运动的角速度和加速度，光发射器130E可用于向外发射光线，例如激光、红外线、雷达波等，光接收器130F用于检测反射的光线，例如反射的激光、红外线、雷达波等。The sensor module 130 is mainly used to realize the self-positioning of the terminal 110 and the mutual positioning function between the terminal 110 and other terminals. In a specific implementation, the sensor module 130 may include multiple or all of the gyroscope sensor 130A, the inertial sensor 130B, the digital compass 130C, the acceleration sensor 130D, the light transmitter 130E, the light receiver 130F, and so on. Herein, a collection including at least one of the gyro sensor 130A and the digital compass 130C and the acceleration sensor 130D may also be referred to as a sensor group. Both the gyro sensor 130A and the digital compass 130C are direction sensors. Among them, the gyroscope sensor 130A and the digital compass 130 can be used to measure the angular velocity of the terminal movement, the acceleration sensor 130D is used to measure the acceleration of the terminal movement, the inertial sensor 130B can measure the angular velocity and acceleration of the terminal movement at the same time, and the light transmitter 130E can be used for outward movement. Transmitting light, such as laser, infrared, radar wave, etc., the light receiver 130F is used to detect the reflected light, such as reflected laser, infrared, radar wave, etc.
需要说明的，传感器模块130还可以包括更多的其他传感器，例如气压计，磁力计，轮速计等。It should be noted that the sensor module 130 may also include more other sensors, such as barometers, magnetometers, wheel speedometers, and so on.
终端100的无线通信功能可以通过移动通信模块150和耦合于移动通信模块150的一个或多个天线151，或者无线通信模块160和耦合于无线通信模块160的一个或多个天线152，以及芯片110中的调制解调处理器以及基带处理器等实现。The wireless communication function of the terminal 100 may be through the mobile communication module 150 and one or more antennas 151 coupled to the mobile communication module 150, or the wireless communication module 160 and one or more antennas 152 coupled to the wireless communication module 160, and the chip 110 The modem processor and baseband processor in the implementation.
移动通信模块151用于实现终端100通过2G/3G/4G/5G等数据网络进行通信，例如通过2G/3G/4G/5G等数据网络与其他终端设备进行通信。在一些实施例中，移动通信模块151可包括射频(Radio Frequency，RF)电路模块，RF电路模块通过射频信号与数据网络进行通信。具体实现中，RF电路模块可包括但不限于：至少一个放大器、调谐器、一个或多个振荡器、用户身份模块(SIM)卡、收发器、耦合器、低噪声放大器(Low Noise Amplifier，LNA)、双工器等。RF电路模块支持的通信标准或协议包括但不限于GSM(Global System of Mobile communication，全球移动通讯***)、GPRS(General Packet Radio Service，通用分组无线服务)、CDMA(Code Division Multiple Access，码分多址)、WCDMA(Wideband Code Division Multiple Access,宽带码分多址)、LTE(Long Term Evolution,长期演进)、电子邮件服务、SMS(Short Messaging Service，短消息服务)等。The mobile communication module 151 is used for enabling the terminal 100 to communicate through a data network such as 2G/3G/4G/5G, for example, communicating with other terminal devices through a data network such as 2G/3G/4G/5G. In some embodiments, the mobile communication module 151 may include a radio frequency (RF) circuit module, and the RF circuit module communicates with a data network through a radio frequency signal. In specific implementation, the RF circuit module may include, but is not limited to: at least one amplifier, tuner, one or more oscillators, subscriber identity module (SIM) card, transceiver, coupler, low noise amplifier (Low Noise Amplifier, LNA) ), duplexer, etc. The communication standards or protocols supported by the RF circuit module include but are not limited to GSM (Global System of Mobile communication, Global System for Mobile Communications), GPRS (General Packet Radio Service, General Packet Radio Service), CDMA (Code Division Multiple Access, multiple code divisions) Address), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email service, SMS (Short Messaging Service, short message service), etc.
无线通信模块可用于实现终端100与其他终端设备之间的近距无线通信，支持以下近距无线通信的方式中的至少一种：蓝牙(Bluetooth，BT)通信，无线保真(WirelessFidelity，WiFi)通信，近场通信(Near Field Communication，NFC)，红外(Infrared，IR)无线通信，超宽带(UWB，Ultra Wide Band)通信，ZigBee通信。此外，在可能的实施例中，终端100还可设置有全球导航卫星***(Global Navigation Satellite System，GNSS)以辅助终端定位，GNSS不限于北斗***、GPS***、GLONASS***、Galileo***。GNSS可部署于独立的芯片或者部署在无线通信模块160。The wireless communication module can be used to implement short-range wireless communication between the terminal 100 and other terminal devices, and supports at least one of the following short-range wireless communication methods: Bluetooth (BT) communication, wireless fidelity (Wireless Fidelity, WiFi) Communication, Near Field Communication (NFC), Infrared (IR) wireless communication, Ultra Wide Band (UWB, Ultra Wide Band) communication, ZigBee communication. In addition, in a possible embodiment, the terminal 100 may also be provided with a Global Navigation Satellite System (GNSS) to assist terminal positioning. The GNSS is not limited to the Beidou system, the GPS system, the GLONASS system, and the Galileo system. The GNSS can be deployed on a separate chip or on the wireless communication module 160.
此外，终端100还可以包括更多的其他硬件，例如还可以包括蜂鸣器、喇叭、扩音器 等播放装置，用于进行声音播放。本申请中显示屏和播放装置均可称为交互装置，用于实现与用户之间的视/听交互。In addition, the terminal 100 may also include more other hardware, for example, it may also include a buzzer, a speaker, a loudspeaker and other playback devices for sound playback. In this application, both the display screen and the playback device can be referred to as interactive devices, which are used to realize the audiovisual interaction with the user.
可以理解的是，本申请实施例示意的各模块/部件间的接口连接关系，只是示意性说明，并不构成对终端100的结构限定。It can be understood that the interface connection relationship between the various modules/components illustrated in the embodiment of the present application is merely a schematic description, and does not constitute a structural limitation of the terminal 100.
本文所使用的术语“耦合”意指直接连接到、或通过一个或多个居间组件或电路来连接。本文所描述的在各种总线上提供的任何信号可以与其他信号进行时间复用并且在一条或多条共用总线上提供。另外，各电路元件或软件块之间的互连可被示为总线或单信号线。每条总线可替换地为单信号线，而每条单信号线可替换地为总线，并且单线或总线可表示用于各组件之间的通信的大量物理或逻辑机制中的任一个或多个。The term "coupled" as used herein means directly connected to or connected through one or more intervening components or circuits. Any signal provided on the various buses described herein can be time-multiplexed with other signals and provided on one or more shared buses. In addition, the interconnection between various circuit elements or software blocks may be shown as a bus or a single signal line. Each bus may alternatively be a single signal line, and each single signal line may alternatively be a bus, and a single wire or bus may represent any one or more of a large number of physical or logical mechanisms for communication between components .
下面描述本申请实施例涉及的行人航位推算(Pedestrian Dead Reckoning，PDR)自定位技术。The following describes the pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) self-positioning technology involved in the embodiments of the present application.
在一些实施例中，终端A和终端B中的至少一者中设置有传感器组，传感器组包括陀螺仪传感器、数字罗盘中的至少一者和加速度传感器。从初始时刻开始，利用陀螺仪传感器和数字罗盘中的至少一者确定该终端实时的运动方向(航向)，例如确定终端围绕三个轴(即，x轴，y轴和z轴)的角速度。利用加速度传感器进行行人的步态检测和步长推算，获得行人的运动步长，例如如图3所示，用户的自然行走运动包括前向轴方向、侧向轴方向以及垂直轴方向3个运动分量，终端A(如图示为手机)的坐标轴包括x轴、y轴z轴。如果用户将终端A屏幕朝上水平放置在手掌中，用户的3个运动分量与终端A的坐标轴的对应关系例如可以是：垂直轴与Z轴重合，前向轴与Y轴重合，侧向轴与X轴重合。用户在行走的时候，所携带的终端A的加速度会随时间发生变化。那么，所述步态检测可以是：可以利用终端A的加速度传感器记录终端A在x轴、y轴z轴方向的加速度轨迹，再从加速度轨迹中获取多个加速度值。所述步长推算可以是：根据这些加速度值，使用步长推算模型(例如线性频率模型)进行步长推算，从而获得当次的运动步长。最后，通过利用终端的运动方向和运动步长进行位置的递推，得到终端相对初始时刻的位置。In some embodiments, at least one of the terminal A and the terminal B is provided with a sensor group, and the sensor group includes at least one of a gyroscope sensor, a digital compass, and an acceleration sensor. From the initial moment, at least one of the gyro sensor and the digital compass is used to determine the real-time direction of movement (heading) of the terminal, for example, to determine the angular velocity of the terminal around three axes (ie, x-axis, y-axis, and z-axis). The acceleration sensor is used to detect pedestrian gait and calculate the step length to obtain the step length of the pedestrian. For example, as shown in Figure 3, the user's natural walking movement includes three movements in the direction of the forward axis, the direction of the lateral axis, and the direction of the vertical axis. Component, the coordinate axis of terminal A (as shown in the figure is a mobile phone) includes x axis, y axis and z axis. If the user places the terminal A in the palm of the hand with the screen facing up, the corresponding relationship between the user’s 3 motion components and the coordinate axis of the terminal A can be, for example, the vertical axis coincides with the Z axis, the forward axis coincides with the Y axis, and the lateral The axis coincides with the X axis. When the user is walking, the acceleration of the terminal A carried will change over time. Then, the gait detection may be: the acceleration sensor of the terminal A may be used to record the acceleration trajectory of the terminal A in the x-axis, y-axis and z-axis directions, and then obtain multiple acceleration values from the acceleration trajectory. The step length calculation may be: according to these acceleration values, a step length calculation model (for example, a linear frequency model) is used to perform a step length calculation, so as to obtain the current motion step length. Finally, the position of the terminal relative to the initial time is obtained by recursing the position by using the movement direction and the movement step length of the terminal.
如图3所示，假设终端的初始时刻所在位置为P0(x 0,y 0),传感器测得终端的运动方向为θ 1，测得第一步的运动步长为s 1，可以推算出下一步到达的位置P1(x 1,y 1)。如此反复迭代计算可以获得后续每一步行人的达到位置，亦即终端的到达位置P2(x 2,y 2)、P3(x 3,y 3)…等等。对于某时刻，终端的所在位置Pk(x k,y k)可由下式(1)(2)获得： As shown in Figure 3, assuming that the initial position of the terminal is P0 (x 0 , y 0 ), the sensor measures the direction of movement of the terminal as θ 1 , and the measured step length of the first step is s 1 , which can be calculated The position P1(x 1 ,y 1 ) to be reached in the next step. Such repeated iterative calculations can obtain the arrival position of each subsequent pedestrian, that is, the arrival position of the terminal P2 (x 2 , y 2 ), P3 (x 3 , y 3 )... and so on. For a certain moment, the location of the terminal Pk(x k ,y k ) can be obtained by the following equations (1)(2):
Figure PCTCN2020113054-appb-000001
Figure PCTCN2020113054-appb-000001
Figure PCTCN2020113054-appb-000002
Figure PCTCN2020113054-appb-000002
其中，k表示行人运动的第k步，θ i表示第i步的运动方向，s i表示第i步的运动步长。 Among them, k represents the k- th step of pedestrian movement, θ i represents the movement direction of the i-th step, and s i represents the movement step length of the i-th step.
可以看到，利用PDR自定位技术，在没有绝对位置作为参考的情况下，可以获得终端相对初始时刻的位置轨迹。如果以此终端的初始时刻为原点建立相对运动坐标系，则后续所有相对位置Pk都可以获得量化描述的坐标值(x k,y k)，本文中通过PDR自定位技术获得的坐标位置Pk(x k,y k)又可称为PDR位置。 It can be seen that using the PDR self-positioning technology, the position trajectory of the terminal relative to the initial time can be obtained without the absolute position as a reference. If the initial time of the terminal is used as the origin to establish a relative motion coordinate system, all subsequent relative positions Pk can obtain the quantified coordinate values (x k , y k ). In this paper, the coordinate position Pk( x k , y k ) can also be called PDR position.
需要说明的是，上述公式(1)(2)仅作为示例来解释本申请，实际应用中还可以通过其他算法来实现PDR定位。It should be noted that the above formulas (1) and (2) are only used as examples to explain this application, and other algorithms can also be used to achieve PDR positioning in practical applications.
下面描述本申请实施例涉及的精细时间测量(fine timing measurement，FTM)测距技术。The following describes the fine timing measurement (FTM) ranging technology involved in the embodiments of the present application.
在一些实施例中，终端A和终端B均支持WiFi的802.11mc协议，通过两个终端的交互，精确终端A和终端B的信号发射和接收时间，就可以获得终端A和终端B之间的精确距离。In some embodiments, both terminal A and terminal B support the 802.11mc protocol of WiFi. Through the interaction of the two terminals, the signal transmission and reception time of terminal A and terminal B can be accurately obtained, and the communication between terminal A and terminal B can be obtained. Precise distance.
如图4所示，终端A可以通过向终端B传送FTM(FTM_REQ)帧来请求或发起终端间测距操作，并记录发射FTM帧的时刻t1。终端B接收FTM帧，记录接收该FTM帧的时刻t2(例如通过时间戳指示)，然后可以通过向终端A传送确收(ACK)帧来确收所请求的测距操作。ACK帧可以指示终端B捕捉到FTM的时刻t2以及发射ACK帧的时刻t3，或者，ACK帧可以指示发射ACK帧的时刻t3与捕捉到FTM的时刻t2之间的时间差(t3-t2)。终端A接收ACK帧，并记录接收到ACK帧的时刻t4。这样，在一种实现中，终端A计算出信号的单程飞行时间t以及两终端间的距离d，分别如下式(3)(4)所示：As shown in FIG. 4, terminal A can request or initiate an inter-terminal ranging operation by transmitting an FTM (FTM_REQ) frame to terminal B, and record the time t1 when the FTM frame is transmitted. The terminal B receives the FTM frame, records the time t2 of receiving the FTM frame (for example, indicated by a timestamp), and then can confirm the requested ranging operation by transmitting an acknowledgement (ACK) frame to the terminal A. The ACK frame may indicate the time t2 when the terminal B captures the FTM and the time t3 when the ACK frame is transmitted, or the ACK frame may indicate the time difference (t3-t2) between the time t3 when the ACK frame is transmitted and the time t2 when the FTM is captured. Terminal A receives the ACK frame and records the time t4 when the ACK frame is received. In this way, in an implementation, terminal A calculates the one-way flight time t of the signal and the distance d between the two terminals, as shown in the following equations (3)(4):
Figure PCTCN2020113054-appb-000003
Figure PCTCN2020113054-appb-000003
其中c表示光速。Where c represents the speed of light.
需要说明的是，上述公式(3)(4)仅作为示例来解释本申请，实际应用中还可以通过其他算法来实现FTM测距。It should be noted that the above formulas (3) and (4) are only used as examples to explain this application, and other algorithms can also be used to implement FTM ranging in practical applications.
下面描述本申请实施例涉及的飞行时间(time of flight，ToF)测距技术。The following describes the time of flight (ToF) ranging technology involved in the embodiments of the present application.
在一些实施例中，终端A和终端B中的至少一者设置有光发射器和光接收器，光发射器用于向目标终端发射光脉冲，光脉冲可以是激光、LED光、近红外光或红外光等等，光接收器用于接收经目标终端反射回的光线。例如光发射器可以是红外发光二极管，光接收器为用于检测红外光的检测器；又例如，光发射器可以是ToF相机的照明光源，光接收器可以是ToF相机的感光元件。通过测量光线在两终端之间的传输时间，进而获得两个终端之间的距离。其中，In some embodiments, at least one of the terminal A and the terminal B is provided with a light transmitter and a light receiver. The light transmitter is used to emit light pulses to the target terminal. The light pulses may be laser, LED light, near-infrared light or infrared. Light and so on, the light receiver is used to receive the light reflected back by the target terminal. For example, the light emitter may be an infrared light emitting diode, and the light receiver is a detector for detecting infrared light; for another example, the light emitter may be an illumination source of a ToF camera, and the light receiver may be a photosensitive element of a ToF camera. By measuring the transmission time of light between the two terminals, the distance between the two terminals is obtained. among them,
如图5所示，终端A设置有光发射器和光接收器，例如光发射器可以是红外发光二极管，用于向外发射红外光。终端A发出的红外光经过终端B的反射回到终端A，并被终端A检测。终端A通过芯片中的计时器确定发射红外光和接收该红外光之间的时间差为T，那么终端A和终端B之间的距离d可由下式(5)表示：As shown in FIG. 5, the terminal A is provided with a light transmitter and a light receiver. For example, the light transmitter may be an infrared light emitting diode for emitting infrared light to the outside. The infrared light emitted by terminal A is reflected by terminal B back to terminal A, and is detected by terminal A. Terminal A uses the timer in the chip to determine that the time difference between transmitting infrared light and receiving the infrared light is T, then the distance d between terminal A and terminal B can be expressed by the following formula (5):
Figure PCTCN2020113054-appb-000004
Figure PCTCN2020113054-appb-000004
其中c表示光速。Where c represents the speed of light.
需要说明的是，上述公式(5)仅作为示例来解释本申请，实际应用中还可以通过其他算法来实现ToF测距。It should be noted that the above formula (5) is only used as an example to explain this application, and other algorithms can also be used to implement ToF ranging in practical applications.
下面描述本申请实施例涉及的信号到达角度(Angle-of-Arrival，AoA)测量技术。The following describes the signal angle of arrival (Angle-of-Arrival, AoA) measurement technology involved in the embodiments of the present application.
在一些实施例中，终端的通信模块两个或两个以上天线，如前述图2实施例所示中， 移动通信模块150可连接两个或两个以上天线151，无线通信模块160也可连接两个或两个以上天线161。当终端与其他终端进行移动通信或无线通信时，由于同一通信模块的不同天线之间存在间距，所以当具有一定入射角的电磁波信号到达不同的天线时，不同天线所接收到的电磁波将存在相位差，通过这个相位差估计可以推算出电磁波信号的到达角度(AoA)，从而为终端间的相互定位提供了较高质量的精确角度测量。In some embodiments, the communication module of the terminal has two or more antennas. As shown in the aforementioned embodiment in FIG. 2, the mobile communication module 150 can be connected to two or more antennas 151, and the wireless communication module 160 can also be connected. Two or more antennas 161. When a terminal performs mobile communication or wireless communication with other terminals, due to the distance between different antennas of the same communication module, when electromagnetic wave signals with a certain angle of incidence arrive at different antennas, the electromagnetic waves received by the different antennas will have phases. The phase difference estimation can be used to calculate the angle of arrival (AoA) of the electromagnetic wave signal, thereby providing high-quality accurate angle measurement for mutual positioning between terminals.
如图6所示，在一种示例性的应用场景中，终端A的通信模块具有2个天线，终端A在与终端B进行相互通信，图6为终端A接收终端B的信号的入射角度θ与终端A的天线的关系示意，从图可以看出，当θ等于0°时(即信号往下垂直入射)，信号分别到两个天线所走的距离将是一样的，即两个天线收到的信号的相位是一样的。当θ不等于0°时，信号分别到两个天线的距离不同，存在一个距离差值，即图示中的r·λ·sinθ，其中θ为信号入射角，λ是信号的波长，r是两个天线的间隔与波长的比值。这个距离差值使得两个天线收到的信号会有一个相位差ΔΦ。ΔΦ与入射角θ有如下的公式关系(6)：As shown in Figure 6, in an exemplary application scenario, the communication module of the terminal A has two antennas, and the terminal A is communicating with the terminal B. Figure 6 shows the incident angle θ of the terminal A receiving the signal from the terminal B. The relationship with the antenna of terminal A is shown. From the figure, it can be seen that when θ is equal to 0° (that is, the signal is vertically incident downward), the distance between the signal and the two antennas will be the same, that is, the two antennas receive The phase of the received signal is the same. When θ is not equal to 0°, the distance between the signal and the two antennas is different, and there is a distance difference, that is, r·λ·sinθ in the figure, where θ is the signal incident angle, λ is the wavelength of the signal, and r is The ratio of the distance between the two antennas to the wavelength. This distance difference makes the signals received by the two antennas have a phase difference ΔΦ. ΔΦ and incident angle θ have the following formula (6):
ΔΦ＝2π·d·sinθ   (6)ΔΦ=2π·d·sinθ (6)
也就是说，终端A只要测出相位差ΔΦ和比值d，就能求解信号入射角θ，即可获得AoA。In other words, as long as the terminal A measures the phase difference ΔΦ and the ratio d, the signal incident angle θ can be solved, and AoA can be obtained.
需要说明的是，上述公式(6)仅作为示例来解释本申请，实际应用中还可以通过其他算法来实现AoA测量。It should be noted that the above formula (6) is only used as an example to explain this application, and other algorithms can also be used to achieve AoA measurement in practical applications.
对于下文描述的各方法实施例，为了方便起见，将其都表述为一系列的动作步骤的组合，但是本领域技术人员应该知悉，本申请技术方案的具体实现并不受所描述的一系列的动作步骤的顺序的限制。For the method embodiments described below, for convenience, they are all expressed as a combination of a series of action steps, but those skilled in the art should be aware that the specific implementation of the technical solution of the present application is not limited to the series of steps described. Restrictions on the order of action steps.
基于前述图1所示的***架构，定义终端A为主测设备，本文中终端A又可称为第一终端。定义终端B为被测设备，本文中终端B又可称为第二终端。另外，当第一终端简称为终端时，可以将第二终端称为目标终端。下面介绍本申请实施例提供的一种终端间端到端(Device-to-Device，D2D)的相互定位的方法。如图7所示，该方法描述如下：Based on the system architecture shown in Figure 1 above, terminal A is defined as the main test device, and terminal A in this document can also be called the first terminal. Define terminal B as the device under test. Terminal B can also be referred to as the second terminal in this article. In addition, when the first terminal is referred to as a terminal for short, the second terminal may be referred to as a target terminal. The following describes an end-to-end (Device-to-Device, D2D) mutual positioning method between terminals provided in an embodiment of the present application. As shown in Figure 7, the method is described as follows:
S201、终端A通过传感器检测终端A的位置信息。S201: Terminal A detects location information of terminal A through a sensor.
具体的，以图2所示的终端结构为例，终端A中的传感器可包括陀螺仪传感器、数字罗盘、加速度传感器等等，那么，可以通过陀螺仪传感器和数字罗盘的至少一者来检测终端的当前运动的角速度，从而确定终端A当前的运动方向(方向信息)；可通过加速度传感器来检测终端A的当前运动的加速度信息。这样，根据终端A的方向信息和加速度信息，在终端A的处理器中进行计算，就可以确定终端A的位置信息，在终端A的初始地理位置(如经纬度)未知的情况下，该位置信息表示终端的当前位置与初始地理位置之间的相对位置。Specifically, taking the terminal structure shown in FIG. 2 as an example, the sensors in terminal A may include a gyroscope sensor, a digital compass, an acceleration sensor, etc., then the terminal can be detected by at least one of the gyroscope sensor and the digital compass. The angular velocity of the current motion of the terminal A, thereby determining the current motion direction (direction information) of the terminal A; the acceleration information of the current motion of the terminal A can be detected by the acceleration sensor. In this way, according to the direction information and acceleration information of the terminal A, the processor of the terminal A can calculate the position information of the terminal A. In the case where the initial geographical position (such as latitude and longitude) of the terminal A is unknown, the position information Represents the relative position between the current location of the terminal and the initial geographic location.
需要说明的是，上述具体传感器仅作为示例，实际上终端A还可以通过其他类型的传感器(例如惯性传感器、磁力计、速度计、里程计等)来实时检测终端A的位置信息。It should be noted that the above-mentioned specific sensors are only examples. In fact, terminal A can also detect the location information of terminal A in real time through other types of sensors (such as inertial sensors, magnetometers, speedometers, odometers, etc.).
S202、终端A接收终端B的位置信息。S202: Terminal A receives the location information of terminal B.
其中，终端B的位置信息是与S201中终端A的位置信息属于同一时间戳的位置信息。也就是说，在具体实现中，终端A和终端B可以在同一时刻，通过各自的传感器，检测获 得各自的位置信息。Wherein, the location information of the terminal B is location information that belongs to the same time stamp as the location information of the terminal A in S201. That is to say, in a specific implementation, terminal A and terminal B can detect and obtain their respective location information through their respective sensors at the same time.
同理，终端B通过传感器检测的终端B的位置信息的过程可以与第一终端类似，具体可以参考S201的相关描述，这里不再赘述。In the same way, the process of the terminal B detecting the location information of the terminal B through the sensor may be similar to that of the first terminal. For details, reference may be made to the relevant description of S201, which will not be repeated here.
终端B获得终端B的位置信息后，将终端B的位置信息发送给终端A，两者的通信方式可以是2G/3G/4G/5G、或者蓝牙(BT)、WiFi、Zigbee等等，这里不做限定。After terminal B obtains the location information of terminal B, it sends the location information of terminal B to terminal A. The communication mode of the two can be 2G/3G/4G/5G, or Bluetooth (BT), WiFi, Zigbee, etc. Make a limit.
S203、终端A测量终端A与终端B两者之间的距离信息。S203: Terminal A measures the distance information between terminal A and terminal B.
同样，终端A与终端B两者之间的距离信息是与S201中终端A的位置信息属于同一时间戳的位置信息。终端A可通过测距***实时获得该距离信息。Similarly, the distance information between the terminal A and the terminal B is the location information that belongs to the same time stamp as the location information of the terminal A in S201. Terminal A can obtain the distance information in real time through the ranging system.
一种示例中，终端A可以通过无线通信测量的方式来测量终端A与终端B两者之间的位置信息，例如，可以通过WiFi测量或者AOA测量的方式来获得终端A与终端B两者之间的位置信息。In an example, terminal A can measure the position information between terminal A and terminal B by means of wireless communication measurement. For example, terminal A and terminal B can be obtained by means of WiFi measurement or AOA measurement. Location information between.
又一种示例中，终端可通过传感器(例如红外传感器，ToF相机等)测量的方式测量终端A与终端B两者之间的位置信息。In another example, the terminal can measure the position information between the terminal A and the terminal B by means of a sensor (for example, an infrared sensor, a ToF camera, etc.).
需要说明的是，上述测距方式仅作为示例，实际上终端A还可以通过其他更多的方式来实时获得两者间的距离，例如UWB测距、雷达测距、激光雷达测距等等，且这样的方式同样可不依赖于锚点的存在。It should be noted that the above ranging methods are only examples. In fact, terminal A can also obtain the distance between the two in real time through other more methods, such as UWB ranging, radar ranging, lidar ranging, etc. And this way also does not depend on the existence of anchor points.
S204、终端A根据终端A的位置信息、终端B的位置信息和两者之间的距离信息，获得终端B相对于终端A的相对位置。S204: The terminal A obtains the relative position of the terminal B with respect to the terminal A according to the position information of the terminal A, the position information of the terminal B, and the distance information between the two.
终端A和终端B在运动过程中，各自维护一套自身的坐标系。那么，终端A可以通过计算，将终端A和终端B各自的数据转换到同一坐标系下，本文中所谓的同一坐标系又可称为导航坐标系。具体的，终端A可根据终端A的位置信息和终端B的位置信息进行计算，获得终端A和终端B在同一坐标系中的位置分布。During the movement of terminal A and terminal B, each maintains a set of its own coordinate system. Then, the terminal A can convert the respective data of the terminal A and the terminal B to the same coordinate system through calculation, and the so-called same coordinate system in this article can also be referred to as a navigation coordinate system. Specifically, the terminal A may perform calculations based on the location information of the terminal A and the location information of the terminal B to obtain the location distribution of the terminal A and the terminal B in the same coordinate system.
例如，终端A自身维护的坐标系可称为第一坐标系，终端B自身维护的坐标系可称为第二坐标系，可以用终端A的第一坐标系作为导航坐标系。终端A可计算获得所述第二坐标系与所述第一坐标系之间的旋转矩阵(可称为第一旋转矩阵)、以及所述第二坐标系的原点映射在所述第一坐标系中的位置信息。进而，终端A根据所述旋转矩阵和所述第二坐标系的原点在所述第一坐标系中的位置信息进行计算，从而将终端B的位置信息转换成在所述第一坐标系中的位置信息。也就是实现了将终端A的位置信息和终端B的位置信息放在同一坐标系下去描述。For example, the coordinate system maintained by the terminal A itself may be called the first coordinate system, the coordinate system maintained by the terminal B itself may be called the second coordinate system, and the first coordinate system of the terminal A may be used as the navigation coordinate system. The terminal A can calculate and obtain the rotation matrix between the second coordinate system and the first coordinate system (may be referred to as the first rotation matrix), and the origin of the second coordinate system is mapped to the first coordinate system Location information in. Furthermore, the terminal A performs calculations based on the rotation matrix and the position information of the origin of the second coordinate system in the first coordinate system, thereby converting the position information of the terminal B into the position information in the first coordinate system. location information. That is, it is realized that the position information of terminal A and the position information of terminal B are placed in the same coordinate system for description.
然后，终端A可根据终端A和终端B在同一坐标系中的位置分布进一步计算，就可以获得终端B相对于终端A的相对位置。计算方式例如可以是：所述第一终端以所述第一终端的位置信息为原点建立第三坐标系；终端A以当前时刻的位置为坐标系原点，以运动方向为Y轴(纵轴)，再建立一个新的坐标系，该坐标系可以称为第三坐标系或者称为实时相对导航坐标系，然后，将终端B在第一坐标系中的位置信息进一步转换到所述第三坐标系中，例如，终端A通过计算获得第三坐标系与第一坐标系之间的旋转矩阵(可称为第二旋转矩阵)、以及所述第一坐标系的原点映射在所述第三坐标系中的位置信息，终端A根据终端B在第一坐标系中的位置信息、所述第二旋转矩阵和所述第一坐标系的原点映射在所述第三坐标系中的位置信息进行计算，获得终端B在第三坐标系中的位置信息，该位置信息 即表示终端B相对于终端A的相对位置。也即是获得了在以终端A为中心的情况下的终端B的位置。Then, terminal A can further calculate according to the position distribution of terminal A and terminal B in the same coordinate system, and the relative position of terminal B relative to terminal A can be obtained. For example, the calculation method may be: the first terminal establishes a third coordinate system with the location information of the first terminal as the origin; the terminal A uses the current position as the origin of the coordinate system, and the movement direction is the Y axis (vertical axis) , Establish a new coordinate system, which can be called a third coordinate system or a real-time relative navigation coordinate system, and then further transform the position information of the terminal B in the first coordinate system to the third coordinate In the system, for example, the terminal A obtains the rotation matrix between the third coordinate system and the first coordinate system (which may be referred to as the second rotation matrix) through calculation, and the origin of the first coordinate system is mapped to the third coordinate The position information in the system, the terminal A calculates according to the position information of the terminal B in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped in the third coordinate system , Obtain the position information of the terminal B in the third coordinate system, and the position information indicates the relative position of the terminal B with respect to the terminal A. That is, the position of terminal B with terminal A as the center is obtained.
该相对位置是精确、可靠的。也就是说，实现了在终端A中实时定位终端B的相对位置，不管终端B当前是静止的还是运动的，终端A皆能够感知到终端B的实时距离和方位。The relative position is accurate and reliable. That is to say, real-time positioning of the relative position of the terminal B in the terminal A is realized, and the terminal A can perceive the real-time distance and orientation of the terminal B regardless of whether the terminal B is currently stationary or moving.
S205、终端A根据所述相对位置，提示从终端A到终端B的导航信息。S205: The terminal A prompts the navigation information from the terminal A to the terminal B according to the relative position.
其中，S205是一种可选的步骤。导航信息表示用于终端间定位的信息。Among them, S205 is an optional step. Navigation information indicates information used for positioning between terminals.
在一种实施例中，导航信息可以是一种相对导航雷达图，如图14所示，在实时获得终端B相对终端A的相对位置后，终端A可以直接在终端A的显示屏上用雷达图显示终端B的相对位置。也即是说，无论终端A运动到哪，雷达图中心始终是终端A的当前位置，雷达图中显示的定位点始终是当前终端B相对于当前终端A的位置。In an embodiment, the navigation information may be a relative navigation radar chart. As shown in FIG. 14, after obtaining the relative position of terminal B relative to terminal A in real time, terminal A can directly use the radar on the display of terminal A. The figure shows the relative position of terminal B. That is to say, no matter where the terminal A moves, the center of the radar chart is always the current position of the terminal A, and the positioning point displayed in the radar chart is always the position of the current terminal B relative to the current terminal A.
又举例来说，终端A还可以根据蜂鸣器、喇叭、扩音器等播放装置对所述导航信息进行播报。For another example, the terminal A may also broadcast the navigation information according to a playback device such as a buzzer, a horn, and a loudspeaker.
当然，在其他实施例中，在实时获得终端B相对终端A的相对位置后，导航信息还可以是其他的应用场景中用于终端间定位的信息，所述应用场景例如增强现实(Augmented Reality，AR)应用，虚拟现实(Virtual Reality，VR)应用，电器控制，设备找寻等等应用场景，这里不作限定。Of course, in other embodiments, after the relative position of terminal B relative to terminal A is obtained in real time, the navigation information may also be information used for positioning between terminals in other application scenarios, such as augmented reality (Augmented Reality, AR) applications, virtual reality (Virtual Reality, VR) applications, electrical appliance control, device search and other application scenarios are not limited here.
后续，终端也可以将该相对位置发给终端B，这样终端B就可以获得终端A相对于终端B的相对位置。也就是说，实现了在终端B中实时定位终端A的相对位置，不管终端A当前是静止的还是运动的，终端B皆能够感知到终端A的实时距离和方位。Subsequently, the terminal may also send the relative position to the terminal B, so that the terminal B can obtain the relative position of the terminal A relative to the terminal B. That is to say, real-time positioning of the relative position of the terminal A in the terminal B is achieved. No matter if the terminal A is currently stationary or moving, the terminal B can perceive the real-time distance and orientation of the terminal A.
可以看到，实施本申请实施例，上述定位过程只需使用到终端A和终端B自身的电子设备，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，而且定位效果好，可扩展性好，能够极大提升用户的使用体验。It can be seen that in implementing the embodiments of this application, the above positioning process only needs to use the electronic equipment of terminal A and terminal B. It can be implemented in unlimited scenarios (both indoors and outdoors), independent of any anchor point, and independent of External servers and basic network facilities do not rely on base station communication to achieve high-precision mutual positioning between two terminals. The cost is low, the positioning effect is good, and the scalability is good, which can greatly improve the user experience.
基于前述图1所示的***架构，定义终端A为主测设备，定义终端B为被测设备。下面以结合PDR自定位和FTM测距为例，介绍本申请实施例提供的一种终端间端到端(Device-to-Device，D2D)的相互定位的方法。如图8所示，该方法描述如下：Based on the system architecture shown in Figure 1 above, define terminal A as the main device under test and define terminal B as the device under test. The following takes the combination of PDR self-positioning and FTM ranging as an example to introduce a device-to-device (D2D) mutual positioning method between terminals provided in an embodiment of the present application. As shown in Figure 8, the method is described as follows:
对于终端A，一方面，在S301，当用户指示终端A开启终端A和终端B之间的相互定位后，终端A启动行人航位推算(PDR)。For the terminal A, on the one hand, in S301, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR).
具体的，终端A开启传感器，以检测终端A的运动方向和运动步长。例如，终端A开启陀螺仪传感器和数字罗盘的至少一者，实时记录终端A的运动方向；开启加速度传感器，实时利用加速度传感器获得加速度信息，进而根据加速度信息进行行人步态检测获得运动步长。可以默认终端A的初始时刻所在位置为P01,坐标值为(0,0)，初始速度和初始运动方向都为0。终端A根据持续获得的终端A的运动方向和运动步长，在终端A的处理器上进行PDR算法运算。PDR算法例如可参考前述图3实施例中公式(1)(2)的描述。在没有绝对位置作为参考的情况下，可以获得终端A相对初始时刻的位置点P01的PDR位置轨迹。亦即，后续在t0时刻可获得新的PDR位置点P10，在t1时刻可获得新的PDR位置点P11，在t2时刻可获得新的PDR位置点P12，在t3时刻可获得新的PDR位置点P13，以此 类推。如果以此终端A的初始时刻为原点建立相对运动坐标系，则后续每一步的相对位置P1k都可以获得量化描述的坐标值(x 1k,y 1k)。 Specifically, the terminal A turns on the sensor to detect the movement direction and the movement step length of the terminal A. For example, terminal A turns on at least one of the gyro sensor and the digital compass to record the direction of movement of terminal A in real time; turns on the acceleration sensor, uses the acceleration sensor to obtain acceleration information in real time, and then performs pedestrian gait detection based on the acceleration information to obtain the movement step length. It can be assumed that the initial position of terminal A is P01, the coordinate value is (0,0), and the initial speed and initial movement direction are both 0. The terminal A performs the PDR algorithm calculation on the processor of the terminal A according to the continuously obtained movement direction and the movement step length of the terminal A. For the PDR algorithm, for example, refer to the description of formulas (1) and (2) in the foregoing embodiment of FIG. 3. Without the absolute position as a reference, the PDR position trajectory of the terminal A relative to the position point P01 at the initial time can be obtained. That is, a new PDR location point P10 can be obtained subsequently at t0, a new PDR location point P11 can be obtained at t1, a new PDR location point P12 can be obtained at t2, and a new PDR location point can be obtained at t3. P13, and so on. If the relative motion coordinate system is established with the initial time of terminal A as the origin, the relative position P1k of each subsequent step can obtain the coordinate value (x 1k , y 1k ) described in quantification.
另一方面，在S302，终端A发送PDR请求给终端B，该PDR请求用于请求终端B启动行人航位推算(PDR)。相应的，终端B接收该PDR请求。并在S303，终端B启动自身的PDR。On the other hand, in S302, terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR). Correspondingly, terminal B receives the PDR request. And in S303, terminal B starts its own PDR.
同理，终端B也开启传感器，以检测终端B的运动方向和运动步长。例如，终端B开启陀螺仪传感器和数字罗盘的至少一者，实时记录终端B的运动方向；开启加速度传感器，实时利用加速度传感器获得加速度信息，进而根据加速度信息进行行人步态检测获得运动步长。可以默认终端B的初始时刻所在位置为P02,坐标值为(0,0)，初始速度和初始运动方向都为0。终端B根据持续获得的终端B的运动方向和运动步长，在终端B的处理器上进行PDR算法运算。PDR算法例如可参考前述图3实施例中公式(1)(2)的相关描述。在没有绝对位置作为参考的情况下，可以获得终端B相对初始时刻的位置点P02的PDR位置轨迹。亦即，后续在t0时刻可获得新的PDR位置点P20，在t1时刻可获得新的PDR位置点P21，在t2时刻可获得新的PDR位置点P22，在t3时刻可获得新的PDR位置点P23，以此类推。如果以此终端B的初始时刻为原点建立相对运动坐标系，则后续每一步的相对位置P2k都可以获得量化描述的坐标值(x 2k,y 2k)。在每一步获得一个新的坐标值(x 2k,y 2k)后，终端B均将当前的PDR位置P2k(x 2k,y 2k)发送给终端A(如图示中的S304-0～S304-3)。也就是说，终端A可持续接收到对应于t0、t1、t2、t3时刻的终端B的PDR位置点P20、P21、P22、P23，等等。 In the same way, terminal B also turns on the sensor to detect the movement direction and movement step length of terminal B. For example, terminal B turns on at least one of the gyro sensor and the digital compass to record the direction of movement of terminal B in real time; turns on the acceleration sensor, uses the acceleration sensor to obtain acceleration information in real time, and then performs pedestrian gait detection based on the acceleration information to obtain the movement step length. It can be assumed that the initial position of terminal B is P02, the coordinate value is (0,0), and the initial speed and initial movement direction are both 0. The terminal B performs the PDR algorithm calculation on the processor of the terminal B according to the continuously obtained movement direction and the movement step length of the terminal B. For the PDR algorithm, for example, reference may be made to the related description of formulas (1) and (2) in the foregoing embodiment of FIG. 3. Without the absolute position as a reference, the PDR position trajectory of the terminal B relative to the position point P02 at the initial time can be obtained. That is, a new PDR position point P20 can be obtained at time t0, a new PDR position point P21 can be obtained at time t1, a new PDR position point P22 can be obtained at time t2, and a new PDR position point can be obtained at time t3. P23, and so on. If the relative motion coordinate system is established with the initial time of terminal B as the origin, the relative position P2k of each subsequent step can obtain the coordinate value (x 2k , y 2k ) described in quantification. After obtaining a new coordinate value (x 2k , y 2k ) at each step, terminal B sends the current PDR position P2k (x 2k , y 2k ) to terminal A (as shown in the figure S304-0～S304- 3). That is, the terminal A can continuously receive the PDR location points P20, P21, P22, P23, etc. of the terminal B corresponding to the time t0, t1, t2, and t3.
再一方面，终端A发起FTM测距，在S305，终端A向终端B发送FTM请求(例如FTM帧FTM_REQ)，以请求持续测量终端A和终端B之间的间距，并记录发射FTM请求的时刻。相应的，在终端B接收该FTM请求，并在后续过程中持续向终端A传送确收(ACK)帧来反馈当前的确定的时间戳，即每次ACK帧可以指示终端B捕捉到FTM帧的时刻以及发射当次ACK帧的时刻，或者，每次ACK帧可以指示发射当次ACK帧的时刻与捕捉到FTM帧的时刻之间的时间差。例如，终端B后续可在t0时刻可向终端A发送ACK帧(即S306-0)，在t1时刻可向终端A发送ACK帧(即S306-1)，在t2时刻可向终端A发送ACK帧(即S306-2)，在t3时刻可向终端A发送ACK帧(即S306-3)，以此类推。相应的，终端A在各个时刻获得来自终端B的ACK帧后，分别记录接收到各个ACK帧的时刻。这样，终端A就可以根据FTM算法分别算出在各个时刻两终端间的距离，FTM算法例如可参考前述图4实施例中的公式(3)(4)的相关描述。例如可获得t0时刻两终端间的距离d0，t1时刻两终端间的距离d1，t2时刻两终端间的距离d2，t3时刻两终端间的距离d3，等等。On the other hand, terminal A initiates FTM ranging. In S305, terminal A sends an FTM request (for example, FTM frame FTM_REQ) to terminal B to request continuous measurement of the distance between terminal A and terminal B, and record the moment when the FTM request is transmitted . Correspondingly, terminal B receives the FTM request, and in the subsequent process continues to send an acknowledgement (ACK) frame to terminal A to feed back the current determined timestamp, that is, each ACK frame can indicate that terminal B captures the FTM frame The time and the time when the current ACK frame is transmitted, or each ACK frame may indicate the time difference between the time when the current ACK frame is transmitted and the time when the FTM frame is captured. For example, terminal B can subsequently send an ACK frame to terminal A at time t0 (i.e. S306-0), at time t1, it can send an ACK frame to terminal A (i.e. S306-1), and at time t2, it can send an ACK frame to terminal A. (Ie S306-2), an ACK frame (ie S306-3) can be sent to terminal A at time t3, and so on. Correspondingly, after terminal A obtains the ACK frame from terminal B at each time, it records the time when each ACK frame is received. In this way, terminal A can respectively calculate the distance between the two terminals at each time according to the FTM algorithm. For the FTM algorithm, for example, refer to the relevant description of formulas (3) and (4) in the embodiment of FIG. 4 described above. For example, the distance d0 between the two terminals at t0, the distance d1 between the two terminals at t1, the distance d2 between the two terminals at t2, the distance d3 between the two terminals at t3, and so on can be obtained.
可以看到，通过上述过程，可以实现在终端A的存储器上，动态保存对应各个时刻的终端A的PDR位置信息、终端B的PDR位置信息、以及终端A和终端B之间的距离信息。从而为后续的终端间精确定位提供了数据基础。It can be seen that through the above process, it is possible to dynamically save the PDR location information of the terminal A, the PDR location information of the terminal B, and the distance information between the terminal A and the terminal B on the memory of the terminal A at each time. This provides a data basis for subsequent precise positioning between terminals.
需要说明的是，上述步骤S301、S302、S305之间没有必然的先后顺序，也就是说，S301、S302、S305可能是同步进行，也可能是以预定义的先后顺序来进行，本申请不做具体限定。It should be noted that there is no inevitable sequence between the above steps S301, S302, and S305. That is to say, S301, S302, and S305 may be performed synchronously, or may be performed in a predefined sequence, which is not done in this application. Specific restrictions.
同样，对应于任意时刻，终端B向终端A反馈终端B的PDR位置的步骤和终端B向终端A反馈用于FTM测距的ACK帧的步骤，此两者步骤之间也没有必然的先后顺序。例 如，步骤S304-0和S306-0可能是同步进行，也可能是以预定义的先后顺序来进行，本申请不做具体限定。Similarly, corresponding to any time, terminal B feeds back the PDR position of terminal B to terminal A and terminal B feeds back the ACK frame for FTM ranging to terminal A. There is no inevitable sequence between the two steps. . For example, steps S304-0 and S306-0 may be performed synchronously, or may be performed in a pre-defined sequence, which is not specifically limited in this application.
在S307，终端A可基于所获得终端A的PDR位置信息、终端B的PDR位置信息、以及终端A和终端B之间的距离信息，持续计算终端A和终端B分别在导航坐标系中的位置。In S307, terminal A can continuously calculate the positions of terminal A and terminal B in the navigation coordinate system based on the obtained PDR position information of terminal A, PDR position information of terminal B, and the distance information between terminal A and terminal B. .
举例来说，终端A和终端B在同一平面运动，终端A的PDR位置信息所依据的是终端A的坐标系，终端B的PDR位置信息所依据的是终端B的坐标系，为了实现两终端间的相互定位，需要将两个终端的PDR位置信息整合到同一个坐标系上。For example, terminal A and terminal B are moving in the same plane, the PDR position information of terminal A is based on the coordinate system of terminal A, and the PDR position information of terminal B is based on the coordinate system of terminal B. In order to realize the two terminals For mutual positioning, it is necessary to integrate the PDR position information of the two terminals into the same coordinate system.
在一种实施例中，可以通过以下方式实现两个终端的PDR位置信息的整合。In an embodiment, the integration of the PDR location information of the two terminals can be implemented in the following manner.
一方面，以终端A的PDR位置信息为基础，建立终端A的自定位坐标系A-XY，其中，该坐标系的原点为终端A初始时刻对应的位置点(即位置点P01)，该坐标系的X轴方向为终端A从位置点P01开始运动时的方向，如图9中的(1)示例性示出了在A-XY中，对应于各个时刻的终端A的一系列PDR位置的示意图。On the one hand, based on the PDR position information of terminal A, the self-positioning coordinate system A-XY of terminal A is established. The origin of the coordinate system is the position point corresponding to the initial time of terminal A (ie position point P01). The X-axis direction of the system is the direction when the terminal A starts to move from the position point P01. (1) in Figure 9 exemplarily shows that in A-XY, a series of PDR positions corresponding to the terminal A at each time Schematic.
另一方面，以终端B的PDR位置信息为基础，建立终端B的自定位坐标系B-XY，其中，该坐标系的原点为终端B初始时刻对应的位置点(即位置点P02)，该坐标系的X轴方向为终端B从位置点P02开始运动时的方向，如图9中的(2)示例性示出了在B-XY中，对应于各个时刻的终端B的一系列PDR位置的示意图。On the other hand, based on the PDR position information of the terminal B, the self-positioning coordinate system B-XY of the terminal B is established, wherein the origin of the coordinate system is the position point corresponding to the initial time of the terminal B (that is, the position point P02). The X-axis direction of the coordinate system is the direction when the terminal B starts to move from the position point P02. (2) in Figure 9 exemplarily shows that in B-XY, a series of PDR positions of the terminal B corresponding to each moment Schematic diagram.
假设终端A的一系列PDR位置在A-XY坐标系中记为P10、P11、P12、P13...P1k,设终端B的一系列PDR位置在B-XY坐标系中记为P20、P21、P22、P23...P2k。Suppose a series of PDR positions of terminal A are recorded as P10, P11, P12, P13...P1k in the A-XY coordinate system, and a series of PDR positions of terminal B are recorded as P20, P21, P21, in the B-XY coordinate system. P22, P23...P2k.
为了获得各个时刻终端B相对于终端A的位置，即P2k相对于P1k的位置，在一种实施例中，可定义终端A的A-XY坐标系为导航坐标系，所以终端A的一系列PDR位置P10、P11、P12、P13...P1k在导航坐标系的位置就是它本身，只需求解终端B的一系列PDR位置在导航坐标系(即A-XY坐标系)中的表示。In order to obtain the position of terminal B relative to terminal A at each moment, that is, the position of P2k relative to P1k, in one embodiment, the A-XY coordinate system of terminal A can be defined as the navigation coordinate system, so a series of PDRs of terminal A The positions of the positions P10, P11, P12, P13...P1k in the navigation coordinate system are themselves, and it is only necessary to solve the representation of a series of PDR positions of the terminal B in the navigation coordinate system (ie, the A-XY coordinate system).
假设B-XY坐标系的原点P02对应在A-XY坐标系中的位置为P03，B-XY坐标系相对于A-XY坐标系的旋转矩阵为Φ，则终端B的一系列PDR位置P20、P21、P22、P23...P2k均可以转换为A-XY坐标系中的点P30、P31、P32、P33...P3k，本申请一种实施例中，转换公式可如下式(7)所示：Assuming that the origin P02 of the B-XY coordinate system corresponds to the position P03 in the A-XY coordinate system, and the rotation matrix of the B-XY coordinate system relative to the A-XY coordinate system is Φ, then a series of PDR positions P20, P21, P22, P23...P2k can all be converted to points P30, P31, P32, P33...P3k in the A-XY coordinate system. In an embodiment of the present application, the conversion formula can be as shown in the following formula (7) Show:
Figure PCTCN2020113054-appb-000005
Figure PCTCN2020113054-appb-000005
另外，由于基于FTM测量，终端A已获得P10与P20，P11与P21，P12与P22，P13与P23...P1k与P2k之间的距离测量值分别为d0，d1，…dk。那么，根据距离d0，d1，…dk和导航坐标系(A-XY坐标系)可以得到如下公式(8)：In addition, due to the FTM measurement, the terminal A has obtained the distance measurement values between P10 and P20, P11 and P21, P12 and P22, P13 and P23...P1k and P2k respectively as d0, d1,...dk. Then, according to the distances d0, d1,...dk and the navigation coordinate system (A-XY coordinate system), the following formula (8) can be obtained:
Figure PCTCN2020113054-appb-000006
Figure PCTCN2020113054-appb-000006
其中，‖…‖表示求模运算。联立上述式(7)和式(8)建立超定方程组，通过最小二 乘法或者其他最优化方法，可以求得上述超定方程组的最优解，即解出Φ和P03。Among them, ‖...‖ means modulo operation. The above equations (7) and (8) are combined to establish the overdetermined equations, and the optimal solution of the above overdetermined equations can be obtained through the least square method or other optimization methods, that is, Φ and P03 can be solved.
那么，对于当前时刻tk，根据算式P3k＝Φ·P2k+P03，即可获得终端B的PDR位置P2k在导航坐标系(A-XY坐标系)中的位置P3k的具体坐标值。Then, for the current time tk, according to the formula P3k=Φ·P2k+P03, the specific coordinate value of the position P3k of the PDR position P2k of the terminal B in the navigation coordinate system (A-XY coordinate system) can be obtained.
也就是说，通过上述计算，可获得终端A和终端B各自的一系列PDR位置在导航坐标系(即A-XY坐标系)中的表示，示例性地如图10所示。That is to say, through the above calculation, a series of PDR positions of the terminal A and the terminal B can be expressed in the navigation coordinate system (ie, the A-XY coordinate system), as shown in FIG. 10 exemplarily.
需要说明的是，在一些可能的实施例中，对于终端A和终端B的一系列PDR位置，不需要全部代入超定方程组进行求解，而是可以采用动态时间窗的方式，如图11所示，获取最近的n+1个时刻的PDR位置数据和距离数据代入超定方程组，其中n为大于等于3的正整数。即对于当前时刻tk，可获取tk以及tk之前的n个时刻(即一共n+1个时刻)分别对应的终端A的PDR位置、终端B的PDR位置以及两个终端之间的距离，根据这些数据建立超定方程组进行求解，即可获得当前时刻tk对应的最优解Φ和P03，进而根据最优解当前时刻tk对应的终端B在导航坐标系(A-XY坐标系)中的位置P3k的具体坐标值。这样，一方面，由于PDR自定位方式存在累积误差，随着PDR自定位的持续进行，所获得的PDR位置值的误差会逐渐扩大，而本申请实施例通过持续求解超定方程组，可以确保终端A持续更新最优解Φ和P03，从而能够基于终端间的距离数据不断纠正终端B在导航坐标系中的表示，确保两个终端间实现高精度的相互定位，具有鲁棒性。另一方面，通过采用动态时间窗的方式来求解超定方程组，既能够在确保最优解可信，又能够确保超定方程组的快速求解，提高处理器的运算速度和处理效率，降低处理器的运算负担，从而确保了两个终端间及时、快捷地实现相互定位。It should be noted that in some possible embodiments, for a series of PDR positions of terminal A and terminal B, it is not necessary to substitute all of the overdetermined equations for solution, but a dynamic time window can be used, as shown in Figure 11. As shown, obtain the PDR position data and distance data of the nearest n+1 time and substitute them into the overdetermined equations, where n is a positive integer greater than or equal to 3. That is, for the current time tk, the PDR position of terminal A, the PDR position of terminal B, and the distance between the two terminals corresponding to n times before tk and tk (that is, a total of n+1 times) can be obtained, according to these The data establishes the overdetermined equations to solve, and then the optimal solution Φ and P03 corresponding to the current time tk can be obtained, and then the position of the terminal B corresponding to the current time tk in the navigation coordinate system (A-XY coordinate system) according to the optimal solution The specific coordinate value of P3k. In this way, on the one hand, due to the cumulative error of the PDR self-positioning method, as the PDR self-positioning continues, the error of the obtained PDR position value will gradually expand, and the embodiment of the present application can ensure that by continuously solving the overdetermined equations The terminal A continuously updates the optimal solution Φ and P03, so that it can continuously correct the representation of the terminal B in the navigation coordinate system based on the distance data between the terminals, ensuring that the two terminals achieve high-precision mutual positioning and are robust. On the other hand, by adopting a dynamic time window to solve the overdetermined equations, it can not only ensure the credibility of the optimal solution, but also ensure the rapid solution of the overdetermined equations, improve the processing speed and processing efficiency of the processor, and reduce The computational burden of the processor ensures that the two terminals can locate each other in a timely and fast manner.
在S308，终端A可在导航坐标系中，通过处理器进一步计算终端B相对终端A的相对位置。In S308, the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
参见图12，对于当前时刻tk，在导航坐标系(A-XY)中，终端A的坐标位置为P1k，终端B的坐标位置为P3k，P1k的具体坐标值可记为(x 1k,y 1k)，P3k的具体坐标值可记为(x 3k,y 3k)，本申请一种实施例中，为了得到终端B相对于终端A的相对位置，可建立以(x 1k,y 1k)为原点，以tk时刻终端A的运动方向为Y’轴的实时相对导航坐标系A-X’Y’，则导航坐标系中终端B的坐标位置P3k可以进一步转换为在实时相对导航坐标系中的坐标位置P4k，P4k的具体坐标值可记为(x 4k,y 4k)。(x 4k,y 4k)即为终端B相对终端A的相对位置。 Referring to Figure 12, for the current time tk, in the navigation coordinate system (A-XY), the coordinate position of terminal A is P1k, the coordinate position of terminal B is P3k, and the specific coordinate value of P1k can be recorded as (x 1k ,y 1k ), the specific coordinate value of P3k can be recorded as (x 3k , y 3k ). In an embodiment of the present application, in order to obtain the relative position of terminal B relative to terminal A, it can be established that (x 1k , y 1k ) is the origin , Taking the movement direction of terminal A at time tk as the real-time relative navigation coordinate system A-X'Y' of the Y'axis, then the coordinate position P3k of terminal B in the navigation coordinate system can be further converted to coordinates in the real-time relative navigation coordinate system The specific coordinate values of the positions P4k and P4k can be recorded as (x 4k ,y 4k ). (x 4k ,y 4k ) is the relative position of terminal B to terminal A.
在一种实施例中，详细转换过程可描述如下：In an embodiment, the detailed conversion process can be described as follows:
首先，可定义一个过渡坐标系A-X”Y”，过渡坐标系A-X”Y”的横纵轴均与导航坐标系(A-XY)平行且方向一致，不同点在于A-X”Y”以终端A的坐标值(x 1k,y 1k)为原点。那么，可把终端B在坐标系A-XY中的坐标位置P3k(x 3k,y 3k)转换到过渡坐标系A-X”Y”中，获得，终端B在A-X”Y”中的坐标位置P5k(x 5k,y 5k)，转换公式如下式(9)所示: First, you can define a transition coordinate system AX”Y”. The horizontal and vertical axes of the transition coordinate system AX”Y” are parallel to and in the same direction as the navigation coordinate system (A-XY). The difference is that AX”Y” is based on the terminal A The coordinate value (x 1k , y 1k ) is the origin. Then, the coordinate position P3k(x 3k ,y 3k ) of terminal B in the coordinate system A-XY can be converted to the transition coordinate system AX”Y” to obtain the coordinate position P5k( x 5k ,y 5k ), the conversion formula is shown in the following formula (9):
Figure PCTCN2020113054-appb-000007
Figure PCTCN2020113054-appb-000007
然后，过渡坐标系A-X”Y”和实时相对导航坐标系A-X’Y’的坐标原点相同，可获取过渡坐标系A-X”Y”和实时相对导航坐标系A-X’Y’之间的旋转矩阵CTM，如下式(10)所示：Then, the coordinate origin of the transition coordinate system AX”Y” and the real-time relative navigation coordinate system A-X'Y' are the same, and the difference between the transition coordinate system AX”Y” and the real-time relative navigation coordinate system A-X'Y' can be obtained. The rotation matrix CTM is shown in the following equation (10):
Figure PCTCN2020113054-appb-000008
Figure PCTCN2020113054-appb-000008
其中，α表示A-X”Y”和A-X’Y’之间的旋转角度，即Y”和Y’之间的夹角。Among them, α represents the rotation angle between A-X"Y" and A-X'Y', that is, the angle between Y" and Y'.
那么，可以根据旋转矩阵CTM，获得P5k(x 5k,y 5k)在实时相对导航坐标系A-X’Y’中的坐标位置P4k(x 4k,y 4k)，如下式(11)所示： Then, according to the rotation matrix CTM, the coordinate position P4k(x 4k ,y 4k ) of P5k(x 5k ,y 5k ) in the real-time relative navigation coordinate system A-X'Y' can be obtained, as shown in the following formula (11):
Figure PCTCN2020113054-appb-000009
Figure PCTCN2020113054-appb-000009
也即是说，通过本步骤S308，终端A就可以实时获得在各个时刻终端B相对终端A的相对位置。终端B相对终端A的相对位置既包含了距离信息，又包含了角度信息，所以是完备的相对位置信息。In other words, through this step S308, the terminal A can obtain the relative position of the terminal B relative to the terminal A at each moment in real time. The relative position of terminal B relative to terminal A contains both distance information and angle information, so it is complete relative position information.
在一种实施例中，参见图14，在实时获得终端B相对终端A的相对位置P4k(x 4k,y 4k)后，终端A可以直接在终端A的显示屏上用雷达图显示终端B的相对位置。也即是说，无论终端A运动到哪，雷达图中心始终是终端A的当前位置，雷达图中显示的定位点始终是当前终端B相对于当前终端A的位置。 In one embodiment, referring to FIG. 14, after obtaining the relative position P4k (x 4k , y 4k ) of terminal B relative to terminal A in real time, terminal A can directly display terminal B's information on the display screen of terminal A with a radar chart. relative position. That is to say, no matter where the terminal A moves, the center of the radar chart is always the current position of the terminal A, and the positioning point displayed in the radar chart is always the position of the current terminal B relative to the current terminal A.
当然，在其他实施例中，在实时获得终端B相对终端A的相对位置P4k(x 4k,y 4k)后，终端也可以根据该相对位置应用到其他的应用场景中，例如增强现实(Augmented Reality，AR)应用，虚拟现实(Virtual Reality，VR)应用，电器控制，设备找寻等等应用场景，这里不作限定。 Of course, in other embodiments, after obtaining the relative position P4k (x 4k , y 4k ) of terminal B relative to terminal A in real time, the terminal can also be applied to other application scenarios according to the relative position, such as augmented reality (Augmented Reality). , AR) applications, virtual reality (Virtual Reality, VR) applications, electrical control, device search and other application scenarios are not limited here.
可选的，在S309，终端A在得到终端B的相对位置(x 4k,y 4k)后，也可将该相对位置(x 4k,y 4k)实时发送给终端B，例如通过WiFi、蓝牙、移动通信等方式发给终端B，则终端B可以相应获得终端A相对于终端B的相对位置(-x 4k,-y 4k)。这样。终端B也可以根据相对位置(-x 4k,-y 4k)利用雷达图实时显示终端A的相对位置，或者应用到其他的应用场景中，本申请不做具体限制。 Optionally, in S309, after terminal A obtains the relative position (x 4k , y 4k ) of terminal B, it may also send the relative position (x 4k , y 4k ) to terminal B in real time, for example, via WiFi, Bluetooth, If it is sent to terminal B by means of mobile communication, then terminal B can obtain the relative position of terminal A relative to terminal B (-x 4k , -y 4k ). such. The terminal B can also use the radar chart to display the relative position of the terminal A in real time according to the relative position (-x 4k , -y 4k ), or apply it to other application scenarios, which is not specifically limited in this application.
可以看到，实施本申请实施例，通过结合PDR自定位和FTM测距的方式，只需使用到终端A和终端B自身的电子设备，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，而且定位效果好，可扩展应用到各种各样的应用领域，能够极大提升用户的使用体验。It can be seen that implementing the embodiments of this application, by combining PDR self-positioning and FTM ranging, only needs to use the electronic equipment of terminal A and terminal B, and it can be implemented in unlimited scenarios (both indoors and outdoors), Without relying on any anchor points, external servers and basic network facilities, and without relying on base station communication, high-precision mutual positioning between two terminals can be achieved. The cost is low, and the positioning effect is good, and it can be extended to various application fields, which can greatly improve the user experience.
基于前述图1所示的***架构，下面介绍本申请实施例提供的又一种终端间端到端的相互定位的方法，如图15所示。该方法与前述图8实施例描述方法的主要区别在于，采用ToF测距的方式替换FTM测距方式。即图15以结合PDR自定位和ToF测距为例描述终端间端到端的相互定位的方法，该方法描述如下：Based on the aforementioned system architecture shown in FIG. 1, another method for end-to-end mutual positioning between terminals provided in an embodiment of the present application is introduced below, as shown in FIG. 15. The main difference between this method and the method described in the foregoing embodiment in FIG. 8 is that the ToF ranging method is used to replace the FTM ranging method. That is, Figure 15 uses the combination of PDR self-positioning and ToF ranging as an example to describe the end-to-end mutual positioning method between terminals. The method is described as follows:
对于终端A，一方面，在S401，当用户指示终端A开启终端A和终端B之间的相互定位后，终端A启动行人航位推算(PDR)。另一方面，在S402，终端A发送PDR请求给终端B，该PDR请求用于请求终端B启动行人航位推算(PDR)。相应的，终端B接收该 PDR请求。并在S403，终端B启动自身的PDR。在终端B每一步获得一个新的PDR位置后，终端B均将当前的PDR位置发送给终端A(如图示中的S404-0～S404-3)。For the terminal A, on the one hand, in S401, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR). On the other hand, in S402, terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR). Correspondingly, terminal B receives the PDR request. And in S403, terminal B starts its own PDR. After the terminal B obtains a new PDR position at each step, the terminal B sends the current PDR position to the terminal A (S404-0 to S404-3 in the figure).
关于S401-S403的具体实现细节可参考图8实施例S301-S303的相关描述，为了说明书的简洁，这里不再赘述。For the specific implementation details of S401-S403, reference may be made to the related descriptions of the embodiments S301-S303 in FIG. 8. For the sake of brevity of the description, the details are not repeated here.
再一方面，终端A可在不同的时刻分别发起ToF测距，例如终端A设置有光发射器和光接收器，例如光发射器可以是红外发光二极管，用于向外发射红外光。在某一时刻，终端A向终端B发送红外光(例如对于t0时刻为图示中的S405-0)，终端A发出的红外光经过终端B的反射回到终端A(例如对于t0时刻为图示中的S406-0)，并被终端A检测。终端A通过芯片中的计时器确定发射红外光和接收该红外光之间的时间差，这样，终端A就可以根据ToF算法分别算出在该时刻两终端间的距离，ToF算法例如可参考前述图5实施例中的公式(5)的相关描述。也就是说，具体的，在t0时刻可获得两终端间的距离d0，在t1时刻可获得两终端间的距离d1，在t2时刻可获得两终端间的距离d2，在t3时刻可获得两终端间的距离d3，等等。On the other hand, terminal A can initiate ToF ranging at different times. For example, terminal A is provided with an optical transmitter and an optical receiver. For example, the optical transmitter may be an infrared light-emitting diode for emitting infrared light outward. At a certain moment, terminal A sends infrared light to terminal B (for example, S405-0 in the figure for time t0), and the infrared light emitted by terminal A is reflected by terminal B and returns to terminal A (for example, for time t0, the figure S406-0) in the display, and is detected by terminal A. Terminal A uses the timer in the chip to determine the time difference between transmitting infrared light and receiving the infrared light. In this way, terminal A can calculate the distance between the two terminals at this time according to the ToF algorithm. For the ToF algorithm, for example, refer to Figure 5 above. Description of formula (5) in the embodiment. In other words, specifically, the distance d0 between the two terminals can be obtained at time t0, the distance d1 between the two terminals can be obtained at time t1, the distance d2 between the two terminals can be obtained at time t2, and the two terminals can be obtained at time t3. The distance between d3, and so on.
可以看到，通过上述过程，也可以实现在终端A的存储器上，动态保存对应各个时刻的终端A的PDR位置信息、终端B的PDR位置信息、以及终端A和终端B之间的距离信息。从而为后续的终端间精确定位提供了数据基础。It can be seen that through the above process, it is also possible to dynamically save the PDR location information of the terminal A, the PDR location information of the terminal B, and the distance information between the terminal A and the terminal B on the memory of the terminal A at each time. This provides a data basis for subsequent precise positioning between terminals.
需要说明的是，上述步骤S401、S402之间同样没有必然的先后顺序。It should be noted that there is also no inevitable sequence between the above steps S401 and S402.
在S407，终端A可基于所获得终端A的PDR位置信息、终端B的PDR位置信息、以及终端A和终端B之间的距离信息，持续计算终端A和终端B分别在导航坐标系中的位置。In S407, terminal A can continuously calculate the positions of terminal A and terminal B in the navigation coordinate system based on the obtained PDR position information of terminal A, PDR position information of terminal B, and the distance information between terminal A and terminal B. .
在S408，终端A可在导航坐标系中，通过处理器进一步计算终端B相对终端A的相对位置。In S408, the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
可选的，在S409，终端A在得到终端B的相对位置后，也可将该相对位置实时发送给终端B，例如通过蓝牙、移动通信等方式发给终端B，则终端B可以相应获得终端A相对于终端B的相对位置。Optionally, in S409, after terminal A obtains the relative position of terminal B, it can also send the relative position to terminal B in real time. For example, by sending it to terminal B via Bluetooth, mobile communication, etc., terminal B can obtain the terminal accordingly. The relative position of A relative to terminal B.
关于S407-S409的具体实现细节可参考图8实施例S307-S309的相关描述，为了说明书的简洁，这里不再赘述。For the specific implementation details of S407-S409, reference may be made to the related descriptions of S307-S309 in the embodiment of FIG. 8. For the sake of brevity of the description, the details are not repeated here.
可以看到，实施本申请实施例，通过结合PDR自定位和ToF测距的方式，只需使用到终端A和终端B自身的电子设备，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，在至少一个终端不支持WiFi协议的情况下依然能够实现很好的定位，可扩展应用到各种各样的应用领域，能够极大提升用户的使用体验。It can be seen that implementing the embodiments of this application, by combining PDR self-positioning and ToF ranging, only needs to use the electronic equipment of terminal A and terminal B, and it can be implemented in unlimited scenarios (both indoors and outdoors), Without relying on any anchor points, external servers and basic network facilities, and without relying on base station communication, high-precision mutual positioning between two terminals can be achieved. The cost is low, and it can still achieve good positioning even when at least one terminal does not support the WiFi protocol, and can be extended to various application fields, which can greatly improve the user experience.
基于前述图1所示的***架构，下面介绍本申请实施例提供的又一种终端间端到端的相互定位的方法，如图16所示。该方法与前述图8实施例描述方法的主要区别在于，采用AoA测量的方式替换FTM测距方式。即图15以结合PDR自定位和AoA测量为例描述终端间端到端的相互定位的方法，该方法描述如下：Based on the aforementioned system architecture shown in FIG. 1, another method for end-to-end mutual positioning between terminals provided by an embodiment of the present application is introduced below, as shown in FIG. 16. The main difference between this method and the method described in the aforementioned embodiment in FIG. 8 is that the AoA measurement method is used to replace the FTM ranging method. That is, Figure 15 uses the combination of PDR self-positioning and AoA measurement as an example to describe the end-to-end mutual positioning method between terminals. The method is described as follows:
对于终端A，一方面，在S501，当用户指示终端A开启终端A和终端B之间的相互 定位后，终端A启动行人航位推算(PDR)。另一方面，在S502，终端A发送PDR请求给终端B，该PDR请求用于请求终端B启动行人航位推算(PDR)。相应的，终端B接收该PDR请求。并在S503，终端B启动自身的PDR。在终端B每一步获得一个新的PDR位置后，终端B均将当前的PDR位置发送给终端A(如图示中的S504-0～S504-3)。For the terminal A, on the one hand, in S501, when the user instructs the terminal A to start the mutual positioning between the terminal A and the terminal B, the terminal A starts the pedestrian dead reckoning (PDR). On the other hand, in S502, terminal A sends a PDR request to terminal B, and the PDR request is used to request terminal B to start pedestrian dead reckoning (PDR). Correspondingly, terminal B receives the PDR request. And in S503, terminal B starts its own PDR. After the terminal B obtains a new PDR position at each step, the terminal B sends the current PDR position to the terminal A (S504-0 to S504-3 in the figure).
关于S501-S503的具体实现细节可参考图8实施例S301-S303的相关描述，为了说明书的简洁，这里不再赘述。For the specific implementation details of S501-S503, please refer to the related description of the embodiments S301-S303 in FIG. 8. For the sake of brevity of the description, the details are not repeated here.
再一方面，终端A发起AoA测距，在S505，终端A向终端B发送AoA请求(即AoA的测量请求)，以请求持续测量来自终端B的测量信号的入射角。相应的，在终端B接收该AoA请求，并在后续过程中持续向终端A传送AoA测量信号。例如，终端B后续可在t0时刻可向终端A发送AoA测量信号(即S506-0)，在t1时刻可向终端A发送AoA测量信号(即S506-1)，在t2时刻可向终端A发送AoA测量信号(即S506-2)，在t3时刻可向终端A发送AoA测量信号(即S506-3)，以此类推。相应的，终端A可通过两个或两个以上天线在各个时刻接收来自终端B的AoA测量信号。由于具有一定入射角的AoA测量信号到达不同的天线时，不同天线所接收到的AoA测量信号将存在相位差，通过这个相位差估计可以推算出AoA测量信号的到达角度(AoA)，推算算法例如可参考前述图6实施例中的公式(6)的相关描述。例如可计算获得t0时刻信号入射角θ 0，t1时刻信号入射角θ 1，t2时刻信号入射角θ 2，t3时刻信号入射角θ 3，等等。 In another aspect, terminal A initiates AoA ranging, and in S505, terminal A sends an AoA request (ie, AoA measurement request) to terminal B to request continuous measurement of the incident angle of the measurement signal from terminal B. Correspondingly, the terminal B receives the AoA request, and continuously transmits the AoA measurement signal to the terminal A in the subsequent process. For example, terminal B can subsequently send an AoA measurement signal to terminal A at time t0 (ie S506-0), at time t1, it can send an AoA measurement signal to terminal A (ie S506-1), and at time t2, it can send an AoA measurement signal to terminal A The AoA measurement signal (ie S506-2) can be sent to the terminal A at the time t3 (ie S506-3), and so on. Correspondingly, terminal A can receive the AoA measurement signal from terminal B at each time through two or more antennas. When the AoA measurement signal with a certain incident angle arrives at different antennas, the AoA measurement signals received by the different antennas will have a phase difference. Through this phase difference estimation, the angle of arrival (AoA) of the AoA measurement signal can be calculated. The calculation algorithm is for example Reference may be made to the related description of formula (6) in the aforementioned embodiment of FIG. 6. For example, time t0 may be calculated to obtain an incident angle signal θ 0, t1 timing signal incident angle θ 1, t2 timing signal incident angle θ 2, t3 timing signal incident angle θ 3, and the like.
可以看到，通过上述过程，也可以实现在终端A的存储器上，动态保存对应各个时刻的终端A的PDR位置信息、终端B的PDR位置信息、以及终端A测量的来自终端B的AoA测量信号的入射角信息。从而为后续的终端间精确定位提供了数据基础。It can be seen that through the above process, it is also possible to dynamically save the PDR location information of terminal A, the PDR location information of terminal B, and the AoA measurement signal from terminal B measured by terminal A on the memory of terminal A at each time. The angle of incidence information. This provides a data basis for subsequent precise positioning between terminals.
需要说明的是，上述步骤S501、S502、S505之间也没有必然的先后顺序。It should be noted that there is also no inevitable sequence among the above steps S501, S502, and S505.
同样，对应于任意时刻，终端B向终端A反馈终端B的PDR位置的步骤和终端B向终端A发送AoA测量信号的步骤，此两者步骤之间也没有必然的先后顺序。例如，步骤S504-0和S506-0可能是同步进行，也可能是以预定义的先后顺序来进行，本申请不做具体限定。Similarly, corresponding to any time, terminal B feeds back the PDR position of terminal B to terminal A and terminal B sends the AoA measurement signal to terminal A, and there is no necessary sequence between the two steps. For example, steps S504-0 and S506-0 may be performed synchronously, or may be performed in a predefined sequence, which is not specifically limited in this application.
在S507，终端A可基于所获得终端A的PDR位置信息、终端B的PDR位置信息、以及终端A测量的来自终端B的AoA测量信号的入射角信息，持续计算终端A和终端B分别在导航坐标系中的位置。In S507, terminal A can continue to calculate that terminal A and terminal B are respectively navigating based on the obtained PDR location information of terminal A, PDR location information of terminal B, and the incident angle information of the AoA measurement signal measured by terminal A from terminal B. The position in the coordinate system.
举例来说，终端A和终端B在同一平面运动，终端A的PDR位置信息所依据的是终端A的坐标系，终端B的PDR位置信息所依据的是终端B的坐标系，为了实现两终端间的相互定位，需要将两个终端的PDR位置信息整合到同一个坐标系上。For example, terminal A and terminal B are moving in the same plane, the PDR position information of terminal A is based on the coordinate system of terminal A, and the PDR position information of terminal B is based on the coordinate system of terminal B. In order to realize the two terminals For mutual positioning, it is necessary to integrate the PDR position information of the two terminals into the same coordinate system.
在一种实施例中，可以通过以下方式实现两个终端的PDR位置信息的整合。In an embodiment, the integration of the PDR location information of the two terminals can be implemented in the following manner.
一方面，以终端A的PDR位置信息为基础，建立终端A的自定位坐标系A-XY，其中，该坐标系的原点为终端A初始时刻对应的位置点(即位置点P01)，该坐标系的X轴方向为终端A从位置点P01开始运动时的方向，如前述图9中的(1)所示。On the one hand, based on the PDR position information of terminal A, the self-positioning coordinate system A-XY of terminal A is established. The origin of the coordinate system is the position point corresponding to the initial time of terminal A (ie position point P01). The X-axis direction of the system is the direction when the terminal A starts to move from the position point P01, as shown in (1) in the aforementioned FIG. 9.
另一方面，以终端B的PDR位置信息为基础，建立终端B的自定位坐标系B-XY，其中，该坐标系的原点为终端B初始时刻对应的位置点(即位置点P02)，该坐标系的X轴方向为终端B从位置点P02开始运动时的方向，如前述图9中的(2)所示。On the other hand, based on the PDR position information of the terminal B, the self-positioning coordinate system B-XY of the terminal B is established, wherein the origin of the coordinate system is the position point corresponding to the initial time of the terminal B (that is, the position point P02). The X-axis direction of the coordinate system is the direction when the terminal B starts to move from the position point P02, as shown in (2) in the aforementioned FIG. 9.
假设终端A的一系列PDR位置在A-XY坐标系中记为P10、P11、P12、P13...P1k,设终端B的一系列PDR位置在B-XY坐标系中记为P20、P21、P22、P23...P2k。Suppose a series of PDR positions of terminal A are recorded as P10, P11, P12, P13...P1k in the A-XY coordinate system, and a series of PDR positions of terminal B are recorded as P20, P21, P21, in the B-XY coordinate system. P22, P23...P2k.
为了获得各个时刻终端B相对于终端A的位置，即P2k相对于P1k的位置，在一种实施例中，可定义终端A的A-XY坐标系为导航坐标系，所以终端A的一系列PDR位置P10、P11、P12、P13...P1k在导航坐标系的位置就是它本身，只需求解终端B的一系列PDR位置在导航坐标系(即A-XY坐标系)中的表示。In order to obtain the position of terminal B relative to terminal A at each moment, that is, the position of P2k relative to P1k, in one embodiment, the A-XY coordinate system of terminal A can be defined as the navigation coordinate system, so a series of PDRs of terminal A The positions of the positions P10, P11, P12, P13...P1k in the navigation coordinate system are themselves, and it is only necessary to solve the representation of a series of PDR positions of the terminal B in the navigation coordinate system (ie, the A-XY coordinate system).
假设B-XY坐标系的原点P02对应在A-XY坐标系中的位置为P03，B-XY坐标系相对于A-XY坐标系的旋转矩阵为Φ，则终端B的一系列PDR位置P20、P21、P22、P23...P2k均可以转换为A-XY坐标系中的点P30、P31、P32、P33...P3k，本申请一种实施例中，转换公式可参考前述公式(7)的描述。Assuming that the origin P02 of the B-XY coordinate system corresponds to the position P03 in the A-XY coordinate system, and the rotation matrix of the B-XY coordinate system relative to the A-XY coordinate system is Φ, then a series of PDR positions P20, P21, P22, P23...P2k can all be converted to points P30, P31, P32, P33...P3k in the A-XY coordinate system. In an embodiment of this application, the conversion formula can refer to the aforementioned formula (7) description of.
另外，由于基于AoA测量，终端A以获得对应于不同时刻的一系列信号入射角测量值θ 0,θ 1…θ k。那么，根据θ 0,θ 1…θ k和导航坐标系(A-XY坐标系)可以得到如下公式(12)： In addition, since it is based on the AoA measurement, the terminal A obtains a series of signal incident angle measurement values θ 0 , θ 1 … θ k corresponding to different moments. Then, according to θ 0 , θ 1 … θ k and the navigation coordinate system (A-XY coordinate system), the following formula (12) can be obtained:
Figure PCTCN2020113054-appb-000010
Figure PCTCN2020113054-appb-000010
其中，dot(…)表示两个向量的内积，‖…‖表示求模运算。Among them, dot(...) represents the inner product of two vectors, and ‖...‖ represents the modulo operation.
联立前述式(7)和上式(12)建立超定方程组，通过最小二乘法或者其他最优化方法，可以求得上述超定方程组的最优解，即解出Φ和P03。The above formula (7) and the above formula (12) are combined to establish the overdetermined equations, and the optimal solution of the above overdetermined equations can be obtained through the least square method or other optimization methods, that is, Φ and P03 can be solved.
那么，对于当前时刻tk，根据算式P3k＝Φ·P2k+P03，即可获得终端B的PDR位置P2k在导航坐标系(A-XY坐标系)中的位置P3k的具体坐标值。也就是说，通过上述计算，可获得终端A和终端B各自的一系列PDR位置在导航坐标系(即A-XY坐标系)中的表示，示例性地如前图10所示。Then, for the current time tk, according to the formula P3k=Φ·P2k+P03, the specific coordinate value of the position P3k of the PDR position P2k of the terminal B in the navigation coordinate system (A-XY coordinate system) can be obtained. That is to say, through the above calculation, a series of PDR positions of the terminal A and the terminal B can be expressed in the navigation coordinate system (ie, the A-XY coordinate system), which is exemplarily shown in FIG. 10 above.
同理，在一些可能的实施例中，对于终端A和终端B的一系列PDR位置，不需要全部代入超定方程组进行求解，而是可以采用动态时间窗的方式。具体实现细节可参考前述图11的相关描述，为了说明书的简洁，这里不再赘述。In the same way, in some possible embodiments, for a series of PDR positions of terminal A and terminal B, it is not necessary to substitute all the overdetermined equations for solution, but a dynamic time window can be used. For specific implementation details, reference may be made to the related description of FIG. 11. For the sake of brevity of the description, the details are not repeated here.
在S508，终端A可在导航坐标系中，通过处理器进一步计算终端B相对终端A的相对位置。In S508, the terminal A may use the processor to further calculate the relative position of the terminal B relative to the terminal A in the navigation coordinate system.
可选的，在S509，终端A在得到终端B的相对位置后，也可将该相对位置实时发送给终端B，例如通过蓝牙、移动通信等方式发给终端B，则终端B可以相应获得终端A相对于终端B的相对位置。Optionally, in S509, after terminal A obtains the relative position of terminal B, it can also send the relative position to terminal B in real time. For example, by sending it to terminal B via Bluetooth, mobile communication, etc., terminal B can obtain the terminal accordingly. The relative position of A relative to terminal B.
关于S508-S509的具体实现细节可参考图8实施例S308-S309的相关描述，为了说明书的简洁，这里不再赘述。For the specific implementation details of S508-S509, please refer to the related description of S308-S309 in the embodiment of FIG. 8. For the sake of brevity of the description, the details are not repeated here.
可以看到，实施本申请实施例，通过结合PDR自定位和AoA测量的方式，只需使用到终端A和终端B自身的电子设备，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，在至少一个终端不支持WiFi协议、不支持ToF测距的 情况下依然能够实现很好的定位，可扩展应用到各种各样的应用领域，能够极大提升用户的使用体验。It can be seen that implementing the embodiments of this application, by combining PDR self-positioning and AoA measurement, only the electronic equipment of terminal A and terminal B can be used in unlimited scenarios (both indoors and outdoors), no Relying on any anchor point, not relying on external servers and basic network facilities, and not relying on base station communication, to achieve high-precision mutual positioning between two terminals. The cost is low, and good positioning can be achieved even when at least one terminal does not support the WiFi protocol or ToF ranging, and can be extended to various application fields, which can greatly improve the user experience.
上文实施例主要以图1所示的***架构的方式，通过两个终端之间的交互来实现终端之间的高精度相互定位。然而，在本申请的又一些实施例中，还可以基于更复杂的***架构来实现终端之间的高精度相互定位。The foregoing embodiment mainly uses the system architecture shown in FIG. 1 to achieve high-precision mutual positioning between the terminals through the interaction between the two terminals. However, in some other embodiments of the present application, high-precision mutual positioning between terminals can also be implemented based on a more complex system architecture.
如图17所示，在又一种***架构20中，如果两个设备之间(以终端A和终端B为例)无法直接建立连接进行相对定位，还可通过一个或多个中间设备进行中转，如图13示出的中间设备包括终端C、终端N等等，各个中间设备之间的类型可以不同，也可以相同。终端A/终端B与中间设备之间的类型可以不同，也可以相同。各个中间设备可以是运动的设备，也可以是静止的设备。中间设备中的每一者也可能被称为用户装备(UE)、订户站、移动单元、订户单元、无线单元、远程单元、移动设备、无线设备、无线通信设备、远程设备、移动订户站、终端设备、接入终端、移动终端、无线终端、智能终端、远程终端、手持机、用户代理、移动客户端、客户端、或其他某个合适的术语。As shown in Figure 17, in another system architecture 20, if two devices (taking terminal A and terminal B as an example) cannot directly establish a connection for relative positioning, one or more intermediate devices can also be used for transfer The intermediate device shown in FIG. 13 includes a terminal C, a terminal N, etc., and the types of each intermediate device may be different or the same. The types between the terminal A/terminal B and the intermediate device can be different or the same. Each intermediate device can be a moving device or a stationary device. Each of the intermediate devices may also be referred to as user equipment (UE), subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, Terminal equipment, access terminal, mobile terminal, wireless terminal, smart terminal, remote terminal, handset, user agent, mobile client, client, or some other suitable term.
一可能实现中，当中间设备的数量是1个时，终端A和中间设备之间可进行无线通信，终端B和中间设备之间可进行无线通信。In a possible implementation, when the number of intermediate devices is one, wireless communication can be performed between terminal A and the intermediate device, and wireless communication can be performed between terminal B and the intermediate device.
又一可能实现中，当中间设备的数量是多个时，终端A、各个中间设备和终端B可呈现链状通信的形态，也就是说，终端A和与其邻近的中间设备进行无线通信，该邻近的中间设备可与下一个中间设备进行无线通信，以此类推，终端B和与其邻近的中间设备进行无线通信。In another possible implementation, when the number of intermediate devices is multiple, terminal A, each intermediate device, and terminal B can present a form of chain communication, that is, terminal A and its neighboring intermediate devices perform wireless communication. The neighboring intermediate device can wirelessly communicate with the next intermediate device, and so on, the terminal B and its neighboring intermediate device wirelessly communicate.
为了描述方便，下面以中间设备的数量是1个为例进行本申请实施例的具体方案的描述。For the convenience of description, the following takes one intermediate device as an example to describe the specific solution of the embodiment of the present application.
如图18示出了***架构30，图18以中间设备为终端C为例，那么，基于前文图7、图8、图15或图16实施例的实现方案，可以在终端C侧获得终端B相对终端C的相对位置，在终端A侧获得终端C相对终端A的相对位置。那么，终端A结合终端B相对终端C的相对位置，以及终端C相对终端A的相对位置，就可以获得终端B相对终端A的相对位置。Fig. 18 shows the system architecture 30. Fig. 18 takes the intermediate device as the terminal C as an example. Then, based on the implementation scheme of the embodiment in Fig. 7, Fig. 8, Fig. 15 or Fig. 16, the terminal B can be obtained on the terminal C side. With respect to the relative position of the terminal C, the relative position of the terminal C relative to the terminal A is obtained on the terminal A side. Then, by combining the relative position of the terminal B with respect to the terminal C, and the relative position of the terminal C with respect to the terminal A, the relative position of the terminal B with respect to the terminal A can be obtained.
例如，在终端C侧获得终端B在终端C的坐标系中的位置可记为(c,d)。在终端A侧可以获得终端C的坐标系相对于终端A的坐标系的旋转矩阵
Figure PCTCN2020113054-appb-000011
终端C的坐标系的原点对应在终端A的坐标系的位置
Figure PCTCN2020113054-appb-000012
进而，终端A可以在从终端C获取该(c,d)后，推算终端B在终端A的坐标系中的位置(e,f)，从而获得终端B相对终端A的相对位置，推算公式可如下式(13)所示： For example, the position of the terminal B in the coordinate system of the terminal C obtained on the side of the terminal C can be recorded as (c, d). On the terminal A side, the rotation matrix of the coordinate system of the terminal C relative to the coordinate system of the terminal A can be obtained
Figure PCTCN2020113054-appb-000011
The origin of the coordinate system of terminal C corresponds to the position of the coordinate system of terminal A
Figure PCTCN2020113054-appb-000012
Furthermore, terminal A can calculate the position (e, f) of terminal B in the coordinate system of terminal A after obtaining the (c, d) from terminal C, so as to obtain the relative position of terminal B with respect to terminal A. The calculation formula can be As shown in the following formula (13):
Figure PCTCN2020113054-appb-000013
Figure PCTCN2020113054-appb-000013
同理，在终端A获得终端B的相对位置后，也可将该相对位置实时发送给终端B，则终端B可以相应获得终端A相对于终端B的相对位置。Similarly, after terminal A obtains the relative position of terminal B, the relative position can also be sent to terminal B in real time, and terminal B can obtain the relative position of terminal A relative to terminal B accordingly.
可以理解的，当中间设备的数量是多个时，同样可以基于上述技术思想实现终端A和终端B之间的高精度的相互定位，这里不再赘述。It is understandable that when the number of intermediate devices is multiple, the high-precision mutual positioning between the terminal A and the terminal B can also be achieved based on the above technical idea, which will not be repeated here.
可以看到，实施本申请实施例，当终端A和终端B之间无法直接建立通信连接时，可 通过有限个中间设备作为中间节点，进行两两相互定位的组网，进而获得被测设备相对于主测设备的相对位置，大大拓展了使用场景。这个过程中，只需使用到终端A、终端B以及中间设备自身的电子设备，就可以实现在不限场景(室内室外均可)、不依赖于任何锚点、不依赖外部服务器和基础网络设施、不依赖于基站通信的情况下，实现两个终端之前的高精度的相互定位。成本较低，可扩展性好，能够极大提升用户的使用体验。It can be seen that in the implementation of the embodiment of this application, when the communication connection between terminal A and terminal B cannot be directly established, a limited number of intermediate devices can be used as intermediate nodes to perform pairwise positioning of the network, thereby obtaining the relative relationship between the device under test. The relative position of the main test equipment greatly expands the usage scenarios. In this process, only terminal A, terminal B and the electronic equipment of the intermediate device itself can be used in unlimited scenarios (indoor and outdoor), independent of any anchor point, independent of external servers and basic network facilities. , Without relying on base station communication, realize high-precision mutual positioning between two terminals. The cost is low, the scalability is good, and the user experience can be greatly improved.
需要说明的是，本文中如图1或图17所示的框架，既可能应用于终端间二维定位的场景(即不同终端位于同一平面运动)，也可能应用于终端间三维定位的场景(即不同终端并没有全部位于同一平面)。本申请的实施例中不做限定。It should be noted that the framework shown in Figure 1 or Figure 17 in this article may be applied to two-dimensional positioning scenarios between terminals (that is, different terminals are moving in the same plane), or it may be applied to three-dimensional positioning scenarios between terminals ( That is, the different terminals are not all located on the same plane). There is no limitation in the embodiments of this application.
此外，本申请的上述实施例主要以无锚点参与的情景为例进行技术方案的描述，但是实际应用中，也有可能将本申请的方案与现有的锚点方案结合在一起实施。举例来说，如果终端中配置了GNSS导航等绝对定位的手段，那么***架构中的任意终端开启了GNSS等绝对定位手段，就可以将本申请中涉及到的相对位置转化到绝对定位的坐标系(例如地理坐标系/世界坐标系)里，从而和GNSS等绝对定位***一起形成组网，例如，终端A可以实时通过GNSS等绝对定位手段获取终端A的地理位置信息(例如经纬度)，那么，终端A根据终端A的地理位置信息以及终端B相对于终端A的相对位置，就可以实时获得终端B的地理位置信息。从而，既可以实现在终端A侧感知终端B的相对位置，也能够感知终端B的绝对位置。这样，可以结合本申请的技术优点和现有的GNSS导航等绝对定位的手段的优点，进一步提高***架构中各个终端的综合定位性能。In addition, the above-mentioned embodiments of the present application mainly take the scenario of no anchor point participation as an example to describe the technical solution, but in practical applications, it is also possible to implement the scheme of the present application in combination with the existing anchor point solution. For example, if absolute positioning means such as GNSS navigation are configured in the terminal, then any terminal in the system architecture enables absolute positioning means such as GNSS, and the relative position involved in this application can be converted to an absolute positioning coordinate system. (E.g. geographic coordinate system/world coordinate system) to form a network with absolute positioning systems such as GNSS. For example, terminal A can obtain the geographic location information (such as latitude and longitude) of terminal A through absolute positioning means such as GNSS in real time, then, The terminal A can obtain the geographical position information of the terminal B in real time according to the geographical position information of the terminal A and the relative position of the terminal B relative to the terminal A. Therefore, the relative position of terminal B can be sensed on the side of terminal A, and the absolute position of terminal B can also be sensed. In this way, the technical advantages of the present application can be combined with the advantages of existing absolute positioning methods such as GNSS navigation to further improve the comprehensive positioning performance of each terminal in the system architecture.
图19是本申请实施例提供的又一种装置60的结构示意图，该装置60包括位置检测模块601、距离检测模块602、定位模块603和通信模块604、交互模块605。在一些实施例中，装置60可以应用到前述图2实施例描述的终端100，位置检测模块601、距离检测模块602、定位模块603和通信模块604、交互模块605可运行于终端100的处理器111。其中，位置检测模块601可利用传感器130采集的数据实现终端位置的计算获得，距离检测模块602可利用传感器130或者利用移动通信模块150或者无线通信模块160实现终端间距离的计算获得，通信模块604可利用移动通信模块150和天线151、或者无线通信模块160和天线161实现数据/信号的收发。交互模块605可利用显示屏140进行内容显示。所述装置60可应用于前文所描述的终端A(即第一终端)，具体描述如下：19 is a schematic structural diagram of another device 60 provided by an embodiment of the present application. The device 60 includes a position detection module 601, a distance detection module 602, a positioning module 603, a communication module 604, and an interaction module 605. In some embodiments, the device 60 can be applied to the terminal 100 described in the embodiment in FIG. 2, the position detection module 601, the distance detection module 602, the positioning module 603, and the communication module 604, and the interaction module 605 can run on the processor of the terminal 100. 111. Among them, the position detection module 601 can use the data collected by the sensor 130 to calculate the terminal position, and the distance detection module 602 can use the sensor 130 or the mobile communication module 150 or the wireless communication module 160 to calculate the distance between the terminals. The communication module 604 The mobile communication module 150 and the antenna 151, or the wireless communication module 160 and the antenna 161 may be used to implement data/signal transmission and reception. The interaction module 605 can use the display screen 140 to display content. The device 60 can be applied to the terminal A (ie, the first terminal) described above, and the specific description is as follows:
位置检测模块601，用于通过传感器组检测所述第一终端的运动信息来确定所述第一终端的位置信息，所述运动信息包括方向信息和加速度信息；The position detection module 601 is configured to detect the movement information of the first terminal through a sensor group to determine the position information of the first terminal, where the movement information includes direction information and acceleration information;
通信模块604，用于接收第二终端的位置信息；The communication module 604 is configured to receive location information of the second terminal;
距离检测模块602，用于测量所述第一终端与所述第二终端之间的距离信息；The distance detection module 602 is configured to measure the distance information between the first terminal and the second terminal;
定位模块603，用于根据所述第一终端的位置信息、所述第二终端的位置信息和所述两者之间的距离信息，获得所述第二终端相对于所述第一终端的相对位置。The positioning module 603 is configured to obtain the relative position of the second terminal relative to the first terminal according to the position information of the first terminal, the position information of the second terminal, and the distance information between the two. position.
交互模块605，用于根据所述相对位置，提示从所述第一终端到所述第二终端的导航信息。The interaction module 605 is configured to prompt navigation information from the first terminal to the second terminal according to the relative position.
位置检测模块601、距离检测模块602、定位模块603和通信模块604、交互模块605 具体可用于实现如图7、图8、图15、图16的方法实施例中的相关方法步骤，为了说明书的简洁，这里不再赘述。The position detection module 601, the distance detection module 602, the positioning module 603, the communication module 604, and the interaction module 605 can be specifically used to implement the relevant method steps in the method embodiments shown in FIG. 7, FIG. 8, FIG. 15, and FIG. Concise, I won't repeat it here.
本文上述实施例，可以全部或部分地通过软件、硬件、固件或者任意组合来实现。例如，当图19所示装置的任何功能模块使用软件实现时，可以全部或者部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令，在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络或其他可编程装置。所述计算机指令可存储在计算机可读存储介质中。所述计算机可读存储介质可以是终端/计算设备能够存取的任何可用介质。所述可用介质可以是磁性介质(例如软盘、硬盘、磁带等)、光介质(例如DVD等)、或者半导体介质(例如固态硬盘)等等。当图19所示装置的任何功能模块使用硬件实现时，示例性地可以包含以下硬件之一：一个或多个数字信号处理器(DSP)、通用微处理器、专用集成电路(ASIC)、专用指令集处理器(ASIP)、现场可编程门阵列(FPGA)、或其他等效的集成或分立的逻辑电路***等等。The above-mentioned embodiments herein can be implemented in whole or in part by software, hardware, firmware or any combination. For example, when any functional module of the apparatus shown in FIG. 19 is implemented by software, it may be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions, and when the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium. The computer-readable storage medium may be any available medium that can be accessed by the terminal/computing device. The usable medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape, etc.), an optical medium (such as a DVD, etc.), or a semiconductor medium (such as a solid state hard disk), and so on. When any functional module of the device shown in FIG. 19 is implemented by hardware, it may exemplarily include one of the following hardware: one or more digital signal processors (DSP), general-purpose microprocessors, application-specific integrated circuits (ASIC), and dedicated Instruction set processor (ASIP), field programmable gate array (FPGA), or other equivalent integrated or discrete logic circuit systems, etc.
在上述实施例中，对各个实施例的描述各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

Claims (22)

  1. 一种终端间定位的方法，其特征在于，所述方法包括：A method for positioning between terminals, characterized in that the method includes:
    第一终端检测所述第一终端的运动信息，所述运动信息包括方向信息和加速度信息；The first terminal detects motion information of the first terminal, where the motion information includes direction information and acceleration information;
    所述第一终端根据所述方向信息和所述加速度信息确定所述第一终端当前的第一位置信息；Determining, by the first terminal, current first position information of the first terminal according to the direction information and the acceleration information;
    所述第一终端接收第二终端发送的第二位置信息，所述第二位置信息指示了所述第二终端当前的位置；Receiving, by the first terminal, second location information sent by a second terminal, where the second location information indicates the current location of the second terminal;
    所述第一终端测量所述第一终端与所述第二终端之间的距离信息；Measuring the distance information between the first terminal and the second terminal by the first terminal;
    所述第一终端根据所述第一位置信息、所述第二位置信息和所述距离信息，确定所述第二终端相对于所述第一终端的相对位置；Determining, by the first terminal, the relative position of the second terminal relative to the first terminal according to the first position information, the second position information, and the distance information;
    所述第一终端根据所述相对位置，生成用于从所述第一终端导航至所述第二终端的导航信息并提示所述导航信息。According to the relative position, the first terminal generates navigation information for navigating from the first terminal to the second terminal and prompts the navigation information.
  2. 根据权利要求1所述的方法，其特征在于，所述传感器组包括方向传感器以及加速度传感器；The method according to claim 1, wherein the sensor group includes a direction sensor and an acceleration sensor;
    所述第一终端通过所述方向传感器检测所述方向信息；Detecting, by the first terminal, the direction information through the direction sensor;
    所述第一终端通过所述加速度传感器检测所述加速度信息；Detecting, by the first terminal, the acceleration information through the acceleration sensor;
    所述第一终端根据所述方向信息和所述加速度信息确定所述第一终端的所述第一位置信息。The first terminal determines the first location information of the first terminal according to the direction information and the acceleration information.
  3. 根据权利要求2所述的方法，其特征在于，所述第一终端根据所述方向信息和所述加速度信息确定所述第一终端当前的第一位置信息，包括：The method according to claim 2, wherein the first terminal determining the current first position information of the first terminal according to the direction information and the acceleration information comprises:
    所述第一终端根据所述加速度信息获得所述第一终端的运动步长；Obtaining, by the first terminal, the movement step length of the first terminal according to the acceleration information;
    所述第一终端根据所述方向信息和所述运动步长，通过行人航位推算(PDR)获得所述第一位置信息。The first terminal obtains the first position information through pedestrian dead reckoning (PDR) according to the direction information and the movement step length.
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述第一终端测量所述第一终端与所述第二终端之间的距离信息，包括：The method according to any one of claims 1-3, wherein the first terminal measuring the distance information between the first terminal and the second terminal comprises:
    所述第一终端向所述第二终端发送精细时间测量(FTM)请求；Sending, by the first terminal, a fine time measurement (FTM) request to the second terminal;
    所述第一终端接收所述第二终端响应所述FTM请求而返回的确认信息，所述确认信息指示了所述第二终端发射所述确认信息的第一时刻与所述第二终端接收到所述FTM请求的第二时刻之间的时间差；The first terminal receives the confirmation information returned by the second terminal in response to the FTM request, the confirmation information indicating the first moment when the second terminal transmits the confirmation information and the second terminal receives the confirmation information The time difference between the second moments of the FTM request;
    所述第一终端根据发送所述FTM请求的时刻、接收所述确认信息的时刻以及所述时间差，确定所述距离信息。The first terminal determines the distance information according to the time when the FTM request is sent, the time when the confirmation information is received, and the time difference.
  5. 根据权利要求1-3任一项所述的方法，其特征在于，所述第一终端测量所述第一终端与所述第二终端之间的距离信息，包括：The method according to any one of claims 1-3, wherein the first terminal measuring the distance information between the first terminal and the second terminal comprises:
    所述第一终端向所述第二终端发送光信号；Sending, by the first terminal, an optical signal to the second terminal;
    所述第一终端接收从所述第二终端反射回来的所述光信号；Receiving, by the first terminal, the optical signal reflected from the second terminal;
    所述第一终端根据所述光信号从被所述第一终端发送的时刻和到被所述第一终端接收的时刻之间的飞行时间，确定所述距离信息。The first terminal determines the distance information according to the flight time between the time when the optical signal is sent by the first terminal and the time when the optical signal is received by the first terminal.
  6. 根据权利要求1-3任一项所述的方法，其特征在于，所述第一终端测量所述第一终端与所述第二终端之间的距离信息，包括：The method according to any one of claims 1-3, wherein the first terminal measuring the distance information between the first terminal and the second terminal comprises:
    所述第一终端向所述第二终端发送信号到达角(AoA)的测量请求；Sending, by the first terminal, a signal angle of arrival (AoA) measurement request to the second terminal;
    所述第一终端通过不同天线接收来自所述第二终端响应所述AoA测量请求返回的AoA测量信号；Receiving, by the first terminal, the AoA measurement signal returned from the second terminal in response to the AoA measurement request through a different antenna;
    所述第一终端根据由所述不同天线接收的所述AoA测量信号的相位差，确定所述AoA测量信号的到达角；Determining, by the first terminal, the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas;
    所述第一终端根据所述AoA测量信号的到达角确定所述距离信息。The first terminal determines the distance information according to the angle of arrival of the AoA measurement signal.
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述第一终端根据所述第一终端的位置信息、所述第二终端的位置信息和所述距离信息，获得所述第二终端相对于所述第一终端的相对位置，包括：The method according to any one of claims 1-6, wherein the first terminal obtains the first terminal according to the location information of the first terminal, the location information of the second terminal, and the distance information. The relative position of the second terminal relative to the first terminal includes:
    所述第一终端根据所述第一终端的第一位置信息和所述第二终端的第二位置信息，确定所述第一终端和所述第二终端在同一坐标系中的位置分布；Determining, by the first terminal, the location distribution of the first terminal and the second terminal in the same coordinate system according to the first location information of the first terminal and the second location information of the second terminal;
    所述第一终端根据所述第一终端和所述第二终端在同一坐标系中的位置分布，确定所述第二终端相对于所述第一终端的相对位置。The first terminal determines the relative position of the second terminal relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system.
  8. 根据权利要求7所述的方法，其特征在于，所述第一终端的第一位置信息表示所述第一终端在所述第一终端的第一坐标系中的位置；所述第二终端的第二位置信息表示所述第二终端在所述第二终端的第二坐标系中的位置；The method according to claim 7, wherein the first position information of the first terminal indicates the position of the first terminal in the first coordinate system of the first terminal; the position of the second terminal The second location information indicates the location of the second terminal in the second coordinate system of the second terminal;
    所述第一终端根据所述第一终端的第一位置信息和所述第二终端的第二位置信息，确定所述第一终端和所述第二终端在同一坐标系中的位置分布，包括：The first terminal determines the location distribution of the first terminal and the second terminal in the same coordinate system according to the first location information of the first terminal and the second location information of the second terminal, including :
    所述第一终端确定所述第一坐标系与所述第二坐标系之间的第一旋转矩阵、以及所述第二坐标系的原点映射在所述第一坐标系中的位置信息；Determining, by the first terminal, a first rotation matrix between the first coordinate system and the second coordinate system, and position information of the origin of the second coordinate system mapped in the first coordinate system;
    所述第一终端根据所述第二终端的位置信息、所述第一旋转矩阵和所述第二坐标系的原点映射在所述第一坐标系中的位置信息，确定所述第二终端在所述第一坐标系中的位置信息。The first terminal determines that the second terminal is located in the first coordinate system according to the position information of the second terminal, the first rotation matrix, and the position information of the origin of the second coordinate system mapped in the first coordinate system. The position information in the first coordinate system.
  9. 根据权利要求7或8所述的方法，其特征在于，所述第一终端根据所述第一终端和所述第二终端在同一坐标系中的位置分布，确定所述第二终端相对于所述第一终端的相对位置，包括：The method according to claim 7 or 8, wherein the first terminal determines that the second terminal is relative to the first terminal according to the position distribution of the first terminal and the second terminal in the same coordinate system. The relative position of the first terminal includes:
    所述第一终端以所述第一终端的当前位置为坐标系的原点、以所述第一终端的运动方向为坐标系的纵轴来建立第三坐标系；Establishing a third coordinate system by the first terminal using the current position of the first terminal as the origin of the coordinate system and the movement direction of the first terminal as the vertical axis of the coordinate system;
    所述第一终端确定所述第三坐标系与所述第一坐标系之间的第二旋转矩阵、以及所述 第一坐标系的原点映射在所述第三坐标系中的位置信息；Determining, by the first terminal, a second rotation matrix between the third coordinate system and the first coordinate system, and position information of the origin of the first coordinate system mapped in the third coordinate system;
    所述第一终端根据所述第二终端在所述第一坐标系中的位置信息、所述第二旋转矩阵和所述第一坐标系的原点映射在所述第三坐标系中的位置信息，确定所述第二终端在所述第三坐标系中的位置信息；所述第二终端在所述第三坐标系中的位置信息表示所述第二终端相对于所述第一终端的相对位置。The first terminal maps the position information in the third coordinate system according to the position information of the second terminal in the first coordinate system, the second rotation matrix, and the origin of the first coordinate system , Determine the position information of the second terminal in the third coordinate system; the position information of the second terminal in the third coordinate system indicates the relative position of the second terminal with respect to the first terminal position.
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-9, wherein the method further comprises:
    所述第一终端从所述第二终端获取第三终端的相对位置，所述第三终端的相对位置表示所述第三终端相对于所述第二终端的相对位置；The first terminal obtains the relative position of the third terminal from the second terminal, and the relative position of the third terminal indicates the relative position of the third terminal with respect to the second terminal;
    所述第一终端根据所述第二终端相对于所述第一终端的相对位置，以及所述第三终端相对于所述第二终端的相对位置，确定所述第三终端相对于所述第一终端的相对位置。The first terminal determines that the third terminal is relative to the first terminal according to the relative position of the second terminal relative to the first terminal and the relative position of the third terminal relative to the second terminal. The relative position of a terminal.
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述导航信息包括所述第一终端的地理位置信息和所述第二终端的地理位置信息；The method according to any one of claims 1-10, wherein the navigation information includes geographic location information of the first terminal and geographic location information of the second terminal;
    所述第一终端根据所述相对位置，显示从所述第一终端到所述第二终端的导航信息之前，还包括：Before the first terminal displays the navigation information from the first terminal to the second terminal according to the relative position, the method further includes:
    所述第一终端获取所述第一终端的地理位置信息；Acquiring, by the first terminal, geographic location information of the first terminal;
    所述第一终端根据所述第一终端的地理位置信息，以及所述第二终端相对于所述第一终端的相对位置，获得所述第二终端的地理位置信息。The first terminal obtains the geographic position information of the second terminal according to the geographic position information of the first terminal and the relative position of the second terminal with respect to the first terminal.
  12. 一种终端，其特征在于，包括：A terminal, characterized in that it comprises:
    传感器组，用于检测所述终端的运动信息，所述运动信息包括方向信息和加速度信息；A sensor group for detecting movement information of the terminal, where the movement information includes direction information and acceleration information;
    收发器，用于接收目标终端发送的第二位置信息，所述第二位置信息指示了所述目标终端当前的位置；A transceiver, configured to receive second location information sent by a target terminal, where the second location information indicates the current location of the target terminal;
    处理器，分别耦合至所述传感器组以及所述收发器，用于：The processor is respectively coupled to the sensor group and the transceiver, and is configured to:
    根据所述方向信息和所述加速度信息确定所述终端当前的第一位置信息；Determine current first location information of the terminal according to the direction information and the acceleration information;
    获取所述终端与所述目标终端之间的距离信息；和Acquiring distance information between the terminal and the target terminal; and
    根据所述第一位置信息、所述第二位置信息和所述距离信息，获得所述目标终端相对于所述终端的相对位置；以及根据所述相对位置，生成用于从所述终端导航至所述目标终端的导航信息；以及Obtain the relative position of the target terminal relative to the terminal according to the first position information, the second position information, and the distance information; and according to the relative position, generate a method for navigating from the terminal to Navigation information of the target terminal; and
    交互装置，耦合至所述处理器，用于提示所述导航信息。The interaction device is coupled to the processor and is used for prompting the navigation information.
  13. 根据权利要求12所述的终端，其特征在于，The terminal according to claim 12, wherein:
    所述传感器组包括方向传感器的至少一者以及加速度传感器；The sensor group includes at least one of a direction sensor and an acceleration sensor;
    所述方向传感器的至少一者来用于检测所述终端的方向信息；At least one of the direction sensors is used to detect direction information of the terminal;
    所述加速度传感器用于检测所述终端的加速度信息。The acceleration sensor is used to detect acceleration information of the terminal.
  14. 根据权利要求12所述的终端，其特征在于，所述处理器用于：The terminal according to claim 12, wherein the processor is configured to:
    根据所述加速度信息获得所述终端的运动步长；Obtaining the motion step length of the terminal according to the acceleration information;
    根据所述方向信息和所述运动步长，通过行人航位推算(PDR)获得所述第一位置信息。According to the direction information and the movement step length, the first position information is obtained through pedestrian dead reckoning (PDR).
  15. 根据权利要求12-14任一项所述的终端，其特征在于，The terminal according to any one of claims 12-14, wherein:
    所述处理器用于：通过所述收发器向所述目标终端发送精细时间测量(FTM)请求；接收所述目标终端对响应所述FTM请求而返回的确认信息，所述确认信息指示了所述目标终端发射所述确认信息的第一时刻与接收所述FTM请求的第二时刻之间的时间差；The processor is configured to: send a fine time measurement (FTM) request to the target terminal through the transceiver; receive confirmation information returned by the target terminal in response to the FTM request, the confirmation information indicating the The time difference between the first time when the target terminal transmits the confirmation information and the second time when the FTM request is received;
    所述处理器用于，根据发送所述FTM请求的时刻、接收所述确认信息的时刻以及所述时间差，确定所述距离信息。The processor is configured to determine the distance information according to the time when the FTM request is sent, the time when the confirmation information is received, and the time difference.
  16. 根据权利要求12-14任一项所述的终端，其特征在于，所述终端还包括光发射器和光接收器；The terminal according to any one of claims 12-14, wherein the terminal further comprises an optical transmitter and an optical receiver;
    所述光发射器用于，向所述目标终端发送光信号；The optical transmitter is used to send an optical signal to the target terminal;
    所述光接收器用于，接收从所述目标终端反射回的所述光信号；The optical receiver is configured to receive the optical signal reflected from the target terminal;
    所述处理器用于，根据所述光信号从被所述第一终端发送的时刻和到被所述第一终端接收的时刻之间的飞行时间，确定所述距离信息。The processor is configured to determine the distance information according to the flight time between the time when the optical signal is sent by the first terminal and the time when the optical signal is received by the first terminal.
  17. 根据权利要求12-14任一项所述的终端，其特征在于，The terminal according to any one of claims 12-14, wherein:
    所述收发器还用于，向所述目标终端发送信号到达角(AoA)的测量请求；The transceiver is further configured to send a signal angle of arrival (AoA) measurement request to the target terminal;
    通过所述收发器的不同天线接收来自所述目标终端响应所述AoA测量请求返回的AoA测量信号；Receiving, through different antennas of the transceiver, the AoA measurement signal returned from the target terminal in response to the AoA measurement request;
    所述处理器用于，根据由所述不同天线接收的所述AoA测量信号的相位差，确定所述AoA测量信号的到达角；根据所述AoA测量信号的到达角确定所述距离信息。The processor is configured to determine the angle of arrival of the AoA measurement signal according to the phase difference of the AoA measurement signal received by the different antennas; and determine the distance information according to the angle of arrival of the AoA measurement signal.
  18. 根据权利要求12-17任一项所述的终端，其特征在于，所述处理器用于：The terminal according to any one of claims 12-17, wherein the processor is configured to:
    根据所述终端的第一位置信息和所述目标终端的第二位置信息，确定所述终端和所述目标终端在同一坐标系中的位置分布；Determine the location distribution of the terminal and the target terminal in the same coordinate system according to the first location information of the terminal and the second location information of the target terminal;
    根据所述终端和所述目标终端在同一坐标系中的位置分布，确定所述目标终端相对于所述终端的相对位置。Determine the relative position of the target terminal relative to the terminal according to the position distribution of the terminal and the target terminal in the same coordinate system.
  19. 根据权利要求18所述的终端，其特征在于，所述终端的第一位置信息表示所述终端在所述终端的第一坐标系中的位置；所述目标终端的第二位置信息表示所述目标终端在所述目标终端的第二坐标系中的位置；The terminal according to claim 18, wherein the first position information of the terminal indicates the position of the terminal in the first coordinate system of the terminal; the second position information of the target terminal indicates the The position of the target terminal in the second coordinate system of the target terminal;
    所述处理器用于：The processor is used for:
    确定所述第一坐标系与所述第二坐标系之间的第一旋转矩阵、以及所述第二坐标系的原点映射在所述第一坐标系中的位置信息；Determining a first rotation matrix between the first coordinate system and the second coordinate system, and position information of the origin of the second coordinate system mapped in the first coordinate system;
    根据所述目标终端的位置信息、所述第一旋转矩阵和所述第二坐标系的原点映射在所述第一坐标系中的位置信息，确定所述目标终端在所述第一坐标系中的位置信息。According to the position information of the target terminal, the first rotation matrix and the position information of the origin of the second coordinate system mapped in the first coordinate system, it is determined that the target terminal is in the first coordinate system Location information.
  20. 根据权利要求18或19所述的终端，其特征在于，所述处理器用于：The terminal according to claim 18 or 19, wherein the processor is configured to:
    以所述终端的当前位置为坐标系的原点、以所述终端的运动方向为坐标系的纵轴来建立第三坐标系；Establishing a third coordinate system with the current position of the terminal as the origin of the coordinate system and the movement direction of the terminal as the vertical axis of the coordinate system;
    确定所述第三坐标系与所述第一坐标系之间的第二旋转矩阵、以及所述第一坐标系的原点映射在所述第三坐标系中的位置信息；Determining a second rotation matrix between the third coordinate system and the first coordinate system, and position information of the origin of the first coordinate system mapped in the third coordinate system;
    根据所述目标终端在所述第一坐标系中的位置信息、所述第二旋转矩阵和所述第一坐标系的原点映射在所述第三坐标系中的位置信息，确定所述目标终端在所述第三坐标系中的位置信息；所述目标终端在所述第三坐标系中的位置信息表示所述目标终端相对于所述终端的相对位置。Determine the target terminal according to the position information of the target terminal in the first coordinate system, the second rotation matrix and the position information of the origin of the first coordinate system mapped in the third coordinate system The position information in the third coordinate system; the position information of the target terminal in the third coordinate system indicates the relative position of the target terminal with respect to the terminal.
  21. 根据权利要求12-20任一项所述的终端，其特征在于，所述处理器用于：The terminal according to any one of claims 12-20, wherein the processor is configured to:
    从所述目标终端获取第三终端的相对位置，所述第三终端的相对位置表示所述第三终端相对于所述目标终端的相对位置；Acquiring the relative position of the third terminal from the target terminal, where the relative position of the third terminal indicates the relative position of the third terminal with respect to the target terminal;
    根据所述目标终端相对于所述终端的相对位置，以及所述第三终端相对于所述目标终端的相对位置，确定所述第三终端相对于所述终端的相对位置。Determine the relative position of the third terminal with respect to the terminal according to the relative position of the target terminal with respect to the terminal and the relative position of the third terminal with respect to the target terminal.
  22. 根据权利要求12-21任一项所述的终端，其特征在于，所述导航信息包括所述终端的地理位置信息和所述目标终端的地理位置信息；The terminal according to any one of claims 12-21, wherein the navigation information includes geographic location information of the terminal and geographic location information of the target terminal;
    所述收发器还用于，获取所述终端的地理位置信息；The transceiver is also used to obtain geographic location information of the terminal;
    所述处理器还用于，根据所述终端的地理位置信息，以及所述目标终端相对于所述终端的相对位置，获得所述目标终端的地理位置信息。The processor is further configured to obtain the geographic position information of the target terminal according to the geographic position information of the terminal and the relative position of the target terminal with respect to the terminal.
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