WO2022135459A1 - 上报终端传感器信息的方法、终端和可读存储介质 - Google Patents

上报终端传感器信息的方法、终端和可读存储介质 Download PDF

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Publication number
WO2022135459A1
WO2022135459A1 PCT/CN2021/140400 CN2021140400W WO2022135459A1 WO 2022135459 A1 WO2022135459 A1 WO 2022135459A1 CN 2021140400 W CN2021140400 W CN 2021140400W WO 2022135459 A1 WO2022135459 A1 WO 2022135459A1
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WIPO (PCT)
Prior art keywords
information
sensor
terminal
measurement
positioning
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PCT/CN2021/140400
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English (en)
French (fr)
Inventor
孙鹏
邬华明
司晔
王园园
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维沃移动通信有限公司
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Publication of WO2022135459A1 publication Critical patent/WO2022135459A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/22—Processing or transfer of terminal data, e.g. status or physical capabilities
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present application belongs to the technical field of positioning, and in particular relates to a method for reporting terminal sensor information, a terminal and a readable storage medium.
  • a terminal such as a mobile phone is provided with a variety of sensors, such as an image sensor, and a camera is generally provided on a terminal such as a mobile phone, a tablet computer, and a driving recorder, and a camera is an image sensor.
  • image sensors such as cameras are generally only used to obtain media data such as photos and videos, and cannot be applied to other scenarios such as positioning. Therefore, these sensors are not effectively utilized, resulting in waste of terminal sensor performance.
  • the embodiments of the present application provide a method for reporting terminal sensor information, a terminal, and a readable storage medium, which can achieve the effect of solving the waste of terminal sensor performance.
  • an embodiment of the present application provides a method for reporting terminal sensor information, including:
  • sensor-related information of the first terminal where the sensor-related information includes at least one of the following: device information of the sensor and first measurement information of the sensor.
  • an embodiment of the present application provides a terminal, including a memory and a processor, the memory stores programs or instructions, and the processor implements the method for reporting terminal sensor information according to the first aspect when the processor executes the programs or instructions.
  • embodiments of the present application provide a readable storage medium on which programs or instructions are stored, and when the programs or instructions are executed by a processor, the method for reporting terminal sensor information according to the first aspect is implemented.
  • a chip in a fourth aspect, includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a network-side device program or instruction to implement the first aspect Method for reporting terminal sensor information.
  • a computer program product is provided, the computer program product is stored in a non-transitory storage medium, and the computer program product is executed by at least one processor to implement the reporting of terminal sensor information according to the first aspect Methods.
  • a sixth aspect provides a communication device configured to perform the steps of the method for reporting terminal sensor information as in the first aspect.
  • the device information of the sensor and the first measurement information of the sensor in the current terminal that is, the first terminal
  • the device information of the sensor and the first measurement information of the sensor are collected, such as data transmission and positioning.
  • the realization of such functions on the one hand, effectively utilizes the performance of various sensors set on the terminal device, solves the problem of waste of terminal sensor performance, and on the other hand makes the terminal positioning no longer dependent on base station positioning or global positioning system Positioning System, GPS) signal, which improves the success rate and versatility of terminal positioning, and improves the positioning performance of the terminal.
  • GPS global positioning system Positioning System
  • FIG. 1 shows one of the flowcharts of a method for reporting terminal sensor information according to an embodiment of the present application
  • FIG. 2 shows the second flowchart of a method for reporting terminal sensor information according to an embodiment of the present application
  • FIG. 3 shows the third flowchart of a method for reporting terminal sensor information according to an embodiment of the present application
  • FIG. 4 shows a fourth flowchart of a method for reporting terminal sensor information according to an embodiment of the present application
  • FIG. 5 shows the fifth flowchart of the method for reporting terminal sensor information according to an embodiment of the present application
  • FIG. 6 shows the sixth flowchart of the method for reporting terminal sensor information according to an embodiment of the present application
  • FIG. 7 shows the seventh flowchart of the method for reporting terminal sensor information according to an embodiment of the present application
  • FIG. 8 shows a schematic structural diagram of a terminal according to an embodiment of the present application.
  • the method for reporting terminal sensor information includes: the first terminal reports sensor-related information, and the sensor-related information includes at least one of the following: device information of the sensor and first measurement information of the sensor.
  • the device information of the sensor and the first measurement information of the sensor in the current terminal that is, the first terminal
  • the device information of the sensor and the first measurement information of the sensor are collected and reported, and the device information of the sensor and the first measurement information of the sensor are used to perform such as
  • the realization of functions such as data transmission and positioning effectively utilizes the performance of various sensors set on the terminal device, and solves the problem of waste of terminal sensor performance.
  • FIG. 1 shows one of the flowcharts of a method for reporting terminal sensor information according to an embodiment of the present application.
  • the method for reporting terminal sensor information includes:
  • Step 102 the first terminal reports sensor-related information
  • the sensor-related information includes at least one of the following: device information of the sensor and first measurement information of the sensor;
  • Step 104 the network performs positioning of the first terminal and/or data transmission of the first terminal according to the sensor-related information.
  • the device information of the sensor and the first measurement information of the sensor in the current terminal that is, the first terminal
  • the device information of the sensor and the first measurement information of the sensor are collected and reported, and the device information of the sensor and the first measurement information of the sensor are used to perform such as
  • the realization of functions such as data transmission and positioning, on the one hand effectively utilizes the performance of various sensors set on the terminal device, and solves the problem of waste of terminal sensor performance, on the other hand, makes the terminal positioning no longer depend on base station positioning or global The positioning system (Global Positioning System, GPS) signal improves the success rate and versatility of terminal positioning, and improves the positioning performance of the terminal.
  • GPS Global Positioning System
  • FIG. 2 shows one of the flowcharts of a method for reporting terminal sensor information according to an embodiment of the present application.
  • the method for reporting terminal sensor information further includes at least two of the following :
  • Step 202 reporting one or more of device information and first measurement information
  • Step 204 requesting second measurement information.
  • the device information includes one or more of the following:
  • Sensor type data type information
  • sensor orientation and spatial relationship between the sensor and the antenna of the first terminal.
  • the terminal actively reports the device information of the sensor, and reports the first measurement information of the sensor, so that network devices, such as base stations, positioning servers, etc., can use the device information and the first measurement information to realize the detection of the terminal device. Positioning and other functions can be performed according to the location of the device, so as to effectively utilize the performance of the terminal sensor and avoid the waste of sensor performance.
  • the device type includes the type of sensor, such as image sensor, audio sensor, etc.
  • the device type also includes the data type information of the sensory data collected by the sensor, such as image information, audio information, etc.
  • the device type also includes the orientation of the sensor, such as the orientation of the image sensor camera, the orientation of the microphone pickup components, and so on.
  • the device type also includes the spatial relationship between the sensor and the antenna assembly, that is, the positional relationship between the sensor and the terminal antenna, and the spatial relationship may be coordinate data, angle data, and the like.
  • the sensor types include one or more of the following:
  • Image sensor radar sensor, infrared detection sensor, structured light sensor;
  • the data type information includes one or more of the frame rate information of the image sensor and the encoding type of the image sensor;
  • the data type information includes one or more of a measurement result of the structured light sensor and a time-of-flight method measurement value, wherein the measurement result of the structured light sensor includes depth information.
  • the radar sensor may be a short-wave radar sensor.
  • the image sensor may be a sensor such as a camera.
  • the infrared detection sensor may be a position sensor, a distance sensor, a temperature sensor, and the like.
  • the measurement result of the structured light sensor may be a three-dimensional model composed of lattices.
  • the structured light sensor is a Time of Flight (TOF) sensor
  • the data type information also includes the time of flight method. Measurements.
  • the information finally obtained by the structured light sensor is stereo information, that is, depth (y-axis) information is included.
  • the data type information includes one or more of the following:
  • the positioning algorithm the artificial intelligence network type corresponding to the first measurement information, the parameter information of the artificial intelligence network corresponding to the first measurement information, whether it is necessary to receive feedback information, and the corresponding working mode;
  • the data type information also includes one or more of the following:
  • the return method of feedback information the format of feedback information, and the type of feedback information.
  • the data type information includes a positioning algorithm utilized by the sensor, which may be an algorithm corresponding to the type of sensor.
  • the artificial intelligence network type corresponding to the first measurement information can process the detection data of the sensor through the artificial intelligence network, and finally realize functions such as positioning.
  • the parameter information of the artificial intelligence network corresponding to the first measurement information that is, the configuration information of the artificial intelligence network when the first measurement information is processed by the artificial intelligence network.
  • the reported data type information also includes the return method of the feedback information required by the terminal, and the number and type of the feedback information.
  • the working mode corresponding to the sensor that is, the current working state of the sensor, including but not limited to: positioning, data transmission, calibration, testing, self-checking, etc.
  • the artificial intelligence network includes one or more of the following:
  • Convolutional Networks Fully Connected Networks, Recurrent Neural Networks, Generative Adversarial Networks, Deep Belief Networks, Autoencoders.
  • the artificial intelligence network may be a convolutional network, a neural network, etc.
  • the convolutional network may be various types of convolutional networks.
  • the types of networks such as adversarial networks, belief networks and auto-encoders are not specifically limited.
  • the spatial relationship includes one or more of the following:
  • the reported spatial relationship includes:
  • the spatial relationship between the sensor and the antenna may be the coordinate relationship and the angle relationship between the sensor and the antenna component, wherein the coordinate relationship may be the coordinate relationship in the geodetic coordinate system, or the local coordinate relationship of the first terminal.
  • the coordinate relationship under the coordinate system in the case of the local coordinate system, the spatial relationship also includes the conversion parameters between the local coordinate system and the global coordinate system, the bearing angle of the local coordinate system, the downtilt angle and the inclination angle, etc.
  • the relative spatial relationship between the sensor and the antenna assembly for example, with the antenna assembly as a reference, the sensor is located at the azimuth, distance and angle of the antenna assembly.
  • the step of reporting the spatial relationship may specifically include the predicted value of the spatial relationship, such as predicting the spatial relationship at a certain time point according to the position change trend of the sensor, or the motion range of the spatial relationship, such as the motion range of the detection end of the sensor, etc.
  • the spatial relationship is reported again according to preconfigured conditions
  • the pre-configured conditions include at least one of the following: the spatial relationship changes, the network triggers a new report, and the working mode changes.
  • the first terminal may dynamically report the device information, for example, the reporting of the spatial relationship may be a static report or a dynamic report, wherein the dynamic report is to determine whether to report or re-report according to whether the pre-configured conditions are satisfied.
  • Report the control relationship Whether to report or re-report the control relationship is determined according to whether pre-configured conditions are satisfied, wherein the conditions include one or more of a change in the spatial relationship, a new report triggered by the network, and a change in the working mode.
  • the first measurement information further includes a working mode of the sensor, and the working mode includes one or more of the following: initial position marking mode, map making mode, map update mode, and real-time positioning mode.
  • the working mode of the sensor includes the initial position marking mode, that is, the initial position of the current terminal is calibrated, and the initial position can be used as the starting point of distance measurement, for example, it is applied in scenarios such as measuring the number of steps, distance, and the length of the motion trajectory. .
  • the map making mode specifically includes the following scenarios.
  • One is to record the real-time location information of the sensor at certain intervals, and connect these real-time location information in chronological order to form a "map".
  • the second is to use the image sensor and the structured light sensor to create a "map" data file of the control in real time.
  • the map can be a two-dimensional map or a three-dimensional map.
  • the map update mode is based on the map creation mode, that is, the mode of updating the created map file.
  • the real-time positioning mode specifically acquires the real-time position of the terminal, and the real-time position can be displayed in combination with the map, and is used for calibrating the position of the terminal on the map.
  • FIG. 3 shows the third flowchart of a method for reporting terminal sensor information according to an embodiment of the present application.
  • the method for reporting terminal sensor information further includes:
  • Step 302 in the case that the working mode is switched, obtain the first position information and the first orientation information before the working mode switching, and obtain the second position information and the second orientation information after the working mode switching;
  • Step 304 when the second location information is different from the first location information, report the second location information, and when the second orientation information is different from the first orientation information, report the second orientation information.
  • the working mode of the sensor when the working mode of the sensor changes, it is necessary to determine whether the orientation information and position information of the sensor change accordingly. Specifically, the first position information and the first orientation information before the working mode change is obtained, and Obtain the second position information and the second orientation information after the working mode is changed. If the second position information and the second orientation information are different from the first position information and the first orientation information, it means that the orientation and position have changed, and report it at this time. Changed location information and orientation information.
  • the first measurement information includes one or more of the following:
  • Measurement results positioning information determined based on the measurement results, and data format of the measurement results
  • the data format of the measurement result is a data format that cannot be recovered by the network.
  • the measurement result is specifically the detection result of the sensor, such as distance value, brightness value, image data, etc., and the positioning information determined based on the measurement result is obtained through the corresponding positioning algorithm or positioning method according to the measurement result.
  • the location information of the terminal such as the location of the terminal in the map obtained from the image information and the established map information, etc.
  • the data format of the measurement result is the data format of the detection value of the sensor, such as the picture format of the image information (such as .jpg and .png, etc.).
  • the first terminal periodically reports the device information and/or the first measurement information according to the configured reporting type and/or the set period; or the first terminal receives a trigger signal or signaling, and according to the trigger The signal or signaling reports the device information and/or the first measurement information; or the first terminal detects the current event information, and reports the device information and/or the first measurement when the current event information matches the preset target event information information.
  • the first terminal may periodically report one or both of the device information and the first measurement information according to a set period for real-time positioning.
  • the first terminal may also report one or both of the device information and the first measurement information according to the received trigger signal, where the trigger signal may come from the network or other terminals, which is not limited in this embodiment of the present application.
  • the first device may also select whether to report one or both of the device information and the first measurement information according to the current event. Specifically, if the current event matches the preset target event, the reporting action is performed.
  • the preset target event can be edited according to user settings, network rules, and the like. For example, reporting when the terminal is in a charging state, reporting when the terminal time is in a preset time period, and the like.
  • the first measurement information includes one or more of the following:
  • the image information collected by the image sensor, the information of the signal sent by the radar sensor and the reflected signal, the intensity information of the reflected signal of the radar sensor at different angles or positions, the time delay information of the radar sensor, the information and structure of the signal sent by the structured light sensor and the reflected signal The depth information of the reflected signal of the light sensor at different angles or positions, the time delay information of the structured light sensor, the preset measurement data, the processing request information for at least one measurement data, the time stamp information, the position information, the positioning corresponding to the position information Mode information, sensor type information corresponding to location information, angle information of at least one sensor, downlink-based positioning data (Downlink-based Positioning), uplink positioning data (Uplink-based Positioning), ultra-wide band (Ultra Wide Band, UWB) positioning measurement data , Wi-Fi positioning measurement data.
  • downlink-based positioning data Downlink-based Positioning
  • uplink positioning data Uplink-based Positioning
  • ultra-wide band Ultra Wide Band, UWB
  • the first measurement information may be detection data of a specific sensor, data agreed by the network, local data of the first terminal, state parameters of the sensor, etc., which are not limited in the embodiment of the present application.
  • the first measurement information is used to perform terminal-assisted positioning of the terminal, and the first measurement information includes
  • Image information time stamp information, position information, positioning method information corresponding to the position information, and angle information of the image sensor.
  • the positioning method includes terminal positioning (User Equipment based) or terminal assisted positioning (User Equipment assisted).
  • the first measurement information includes image information and timestamp information. , position information, positioning method information corresponding to the position information, and angle information of the image sensor.
  • performing the positioning of the first terminal includes performing terminal positioning, and the first measurement information includes:
  • Timestamp information, position information, angle information of the image sensor, and positioning method information corresponding to the position information are stored.
  • the positioning method includes terminal positioning (User Equipment based) or terminal assisted positioning (User Equipment assisted).
  • the first measurement information includes timestamp information, location information, The angle information of the image sensor and the positioning method information corresponding to the position information.
  • the first measurement information when the sensor is used to perform positioning of the first terminal, includes: preset measurement data, processing request information for at least one measurement data, and time stamp information.
  • the first measurement information when the sensor is used to locate the first terminal, the first measurement information further includes preset measurement data, processing request information for at least one type of measurement data, and time stamp information.
  • the first measurement information includes:
  • Image information time stamp information, location information, angle information of the image sensor, positioning method information corresponding to the location information, downlink positioning data, uplink positioning data, ultra-bandwidth positioning measurement data, and Wi-Fi positioning measurement data.
  • the following first measurement information may be collected, including image information collected by the image sensor, time stamp information, Position information, angle information of the image sensor, positioning method information corresponding to the position information, downlink positioning data, uplink positioning data, ultra-bandwidth positioning measurement data, and Wi-Fi positioning measurement data.
  • the first measurement information is reported when the working mode is the calibration mode.
  • the first measurement information collected is reported, which specifically includes: image information collected by the image sensor, time stamp information, location information, data of the image sensor Angle information, positioning method information corresponding to the location information, downlink positioning data, uplink positioning data, ultra-bandwidth positioning measurement data, and Wi-Fi positioning measurement data.
  • requesting the second measurement information includes:
  • image information includes absolute time identification information
  • the image information includes relative time identification information relative to the time of transmission of the positioning reference system.
  • the first terminal may also obtain image information obtained by an image sensor of the second terminal through an image request, so as to perform tasks such as positioning and map drawing in the current scene by combining image information of multiple different terminals. .
  • the image information includes time information, which may be absolute time identification information, so as to avoid the time difference of local time between multiple terminals, and the time information may also be relative time identification information relative to the transmission time of the positioning reference system, that is, The normalization of local time between different terminals is achieved through a positioning reference system.
  • time information may be absolute time identification information, so as to avoid the time difference of local time between multiple terminals
  • time information may also be relative time identification information relative to the transmission time of the positioning reference system, that is, The normalization of local time between different terminals is achieved through a positioning reference system.
  • FIG. 4 shows a fourth flowchart of a method for reporting terminal sensor information according to an embodiment of the present application.
  • the method for reporting terminal sensor information further includes:
  • Step 402 receiving the second measurement information sent by the network side device or the positioning server;
  • Step 404 Determine the location information of the first terminal based on the first measurement information and the second measurement information.
  • the terminal device receives the second measurement information sent by the network-side device or the positioning server, and determines the current location information of the first terminal by combining the first measurement information and the second measurement information.
  • the second measurement information may be measurement information obtained by the positioning server or network device through its own hardware or algorithm, or may be measurement information obtained by other terminals different from the first terminal, which is not limited in this embodiment of the present application.
  • the second measurement information may be of the same data type as the first measurement information, and its measurement angle may be the same or different from the first measurement information.
  • the second measurement information may also be of a different data type from the first measurement information, that is, the second measurement information and the first measurement information are complementary.
  • the second measurement information may also be measurement information corresponding to the first measurement information, and more accurate and more complete measurement data can be obtained by combining the first measurement information and the second measurement information.
  • FIG. 5 shows the fifth flowchart of a method for reporting terminal sensor information according to an embodiment of the present application.
  • the method for reporting terminal sensor information further includes:
  • Step 502 receiving the information processing mode sent by the network side device or the positioning server;
  • Step 505 Process the first measurement information and the second measurement information by means of information processing.
  • the first terminal receives an information processing method from a network-side device or from a positioning server, and the information processing method may be a preset algorithm, a preset processing program, etc., through the information processing method , can perform effective information processing on the first measurement information and the second measurement information, so as to integrate the original data into effective information that can be used for positioning or data transmission, or obtain the current position information of the first terminal according to the original data, or Do map drawing, map update, etc.
  • the information processing method may be a preset algorithm, a preset processing program, etc.
  • FIG. 6 shows the sixth flowchart of a method for reporting terminal sensor information according to an embodiment of the present application.
  • requesting second measurement information includes:
  • Step 602 sending a data request to the network side device
  • Step 604 Receive second measurement information corresponding to the data request fed back by the network side device.
  • the first terminal may send a data request to the network-side device, and after receiving the data request, the network-side device feeds back the corresponding second measurement information to the terminal device according to the data request of the first terminal.
  • the second measurement information may be measurement information obtained by the positioning server or network device through its own hardware or algorithm, or may be measurement information obtained by other terminals different from the first terminal, which is not limited in this embodiment of the present application.
  • the second measurement information may be of the same data type as the first measurement information, and its measurement angle may be the same or different from the first measurement information.
  • the second measurement information may also be of a different data type from the first measurement information, that is, the second measurement information and the first measurement information are complementary.
  • the second measurement information may also be measurement information corresponding to the first measurement information, and more accurate and more complete measurement data can be obtained by combining the first measurement information and the second measurement information.
  • FIG. 7 shows the seventh flowchart of a method for reporting terminal sensor information according to an embodiment of the present application.
  • requesting the second measurement information includes:
  • Step 702 sending positioning mode information to the network side device
  • Step 704 Receive second measurement information corresponding to the positioning mode information fed back by the network side device.
  • the first terminal sends positioning mode information to the network-side device, where the positioning mode information indicates the working mode of the positioning process to be initiated by the first terminal, such as the type of sensor used, the sensor used
  • the network device determines, according to the positioning mode information, the second measurement information that may be used by the first terminal when positioning, and feeds back the obtained second measurement information to the first terminal.
  • the second measurement information so that the first terminal can realize positioning according to its own first measurement information and the received second measurement information.
  • the positioning process is initiated by the first terminal; or
  • the positioning process is initiated through the third terminal.
  • the positioning process is a process in which the first terminal acquires and/or reports its own location information, and the positioning process may be initiated by the first terminal itself, and the first terminal itself actively acquires the first measurement information, and The second measurement information is requested to realize positioning.
  • the positioning process can also be initiated by a network-side device, such as a positioning server, etc., the network-side device sends corresponding signaling to the first terminal, and the first terminal starts to collect its own first measurement information and report it according to the received signaling.
  • the second measurement information on the network side is received to realize positioning.
  • the positioning process can also be initiated by any third terminal that is different from the first terminal.
  • the third terminal can directly establish a point-to-point connection with the first terminal and initiate the positioning process.
  • the third terminal can also use network-side equipment, such as positioning The server forwards the positioning process to realize positioning.
  • the method for reporting terminal sensor information further includes: the first terminal reporting time information corresponding to the first measurement information.
  • the first terminal when reporting the first measurement information, the first terminal simultaneously reports the time information corresponding to the first measurement information.
  • the time dimension different measurement information reported by different terminals can be matched with each other, and accurate and accurate implementation can be achieved based on the time axis. position.
  • the time information is relative time information of the first terminal relative to any fourth terminal.
  • the time information corresponding to the first measurement information is specifically the relative time information of the first terminal relative to any fourth terminal, where the fourth terminal is the reference terminal, and the time information of the fourth terminal may be It is local time information or absolute time information.
  • the time information of any terminal relative to the same fourth terminal can ensure that the time information of all terminals is in the same time axis, avoiding different The local time difference between the terminals causes the time mismatch of the measurement information, which can effectively improve the positioning accuracy.
  • the time information is absolute time information.
  • the time information corresponding to the first measurement information is specifically absolute time information, wherein the first terminal can obtain the absolute time by means of satellite time calibration, accessing a time server, etc., and keep the local time at the absolute time. Synchronized.
  • the measurement information uploaded by all terminals matches the absolute time information, which can ensure that the time information of all terminals is in the same time axis, avoid the local time difference between different terminals causing the time mismatch of the measurement information, and can effectively improve the positioning accuracy.
  • the first measurement information further includes measurement information of a sensor of at least one fifth terminal.
  • the first measurement information reported by the first terminal to the network-side device may include, in addition to the measurement information collected from its own sensor, measurement information of any sensor of the fifth terminal, that is, through a terminal Simultaneously report the measurement information of the sensors of multiple different terminals.
  • a point-to-point direct data connection may be established between the first terminal and the fifth terminal, or an indirect data connection may be established through a backbone network, a base station, a server, etc., so as to obtain the measurement information of the sensor of the fifth terminal.
  • This embodiment of the present application This is not limited.
  • collecting the device information of the sensor of the first terminal and the first measurement information of the sensor includes:
  • local information is extracted from local data of the first terminal, and device information and/or first measurement information are generated according to the local information.
  • local information can be extracted from the local data of the first terminal through a preset neural network, and corresponding device information and first measurement information can be generated, and this process will not occupy the local computing of the first terminal.
  • it can avoid terminal performance loss caused by over-occupancy of the performance of the first terminal, and on the other hand, it can avoid excessive use of battery power of the first terminal to ensure the endurance of the first terminal.
  • the terminal collects the device information of its own sensor and the measurement information of the sensor, and reports it, and in the process of realizing the positioning of the terminal, its data collection, interaction, transmission, data structure, etc. standard specification.
  • the terminal reports device information to the network/location server, and the device information may specifically include the following content:
  • the terminal reports supported sensor types, supported sensor data types, and/or sensor-related device information, and may also include other information used for positioning, such as calculation type information.
  • the sensor may be a device for collecting image information, a device for radar detection, a device for infrared detection, or a device for collecting measurement results related to structured light.
  • the terminal may further report capability information for each device, such as capability information such as the frame rate (Frames Per Second, FPS) of the image device.
  • capability information such as the frame rate (Frames Per Second, FPS) of the image device.
  • the sensor data type refers to the data type that can be reported by a certain type of sensor.
  • a device used for structured light acquisition can directly report structured light measurement results with depth information, or Report TOF measurements at different angles.
  • the data type also includes how the reported measurement data is encoded, such as how the image information measured by the image device is encoded.
  • TDOA Time Difference of Arrival
  • the supported positioning algorithms can be reported separately for the supported sensor types
  • AI Artificial Intelligence
  • the network is required to return corresponding data, and/or the method, type, format, etc. of the returned data;
  • Supported working modes such as whether the device supports initial location marking/map making updates, whether it supports real-time location updates, whether it can switch between multiple modes, etc.;
  • the spatial relationship includes: a coordinate relationship, an angular relationship such as sensor orientation.
  • the equiangular relationship of the sensor (sensor) orientation is relative to the local coordinate system of the terminal, it is also necessary to report the conversion parameters of the local coordinate system (LCS) and the global coordinate system (GCS), including at least the local coordinate system of the terminal.
  • the reporting includes but is not limited to the reporting of the relative spatial relationship, and the reporting of the spatial relationship can report multiple possible values, or a certain range of motion.
  • the reporting of the spatial relationship of the camera can be static reporting or dynamic reporting.
  • the camera/radar probe angle information can be reported in real time, or the device information can be reported simultaneously with the measurement information, such as Along with a certain measurement result, the spatial relationship corresponding to this measurement is reported at the same time.
  • the working modes of the sensor include:
  • the working mode of the sensor may need to be switched between the two modes. Once switched, in order to save the calibration overhead, it may only need to report the specific result of the specific position and orientation.
  • the terminal reports the measurement information to the network, and the measurement information is the real-time measurement result obtained by the sensor, such as the image data of the camera, the radar measurement data (such as the distance, angle, TOF information obtained by the millimeter wave radar, etc.), structured light measurement equipment
  • the collected data includes TOF information of various reflections and depth information corresponding to each angle.
  • the measurement information may also be some kind of abstract information based on the above-mentioned data, such as reporting newly appearing occlusion information detected according to the image information.
  • the network may preconfigure a specific direction, position, and depth, and require the terminal to report corresponding occlusion information for the specific direction, position, and depth.
  • the network can pre-configure a specific image, and require the terminal to report the content of the non-conforming image when the detected image and the target image and/or a certain type of specific transformation (eg, translation, angle change) of the target image do not conform to the pre-configured specific image.
  • a certain type of specific transformation eg, translation, angle change
  • the format of the sensor data can be agreed in advance between the network and the terminal, for example, it can be a data format that cannot be recovered by the network to protect privacy.
  • the network may only know how to process the data reported by the corresponding terminal and return the data to the terminal, but has no way to obtain the user's location.
  • the terminal reporting sensor measurement data can be triggered by the network, or reported periodically, or based on a preset event.
  • the preset events include:
  • the network may preconfigure a specific image and require the terminal to report when the detected image does not conform to the target image and/or a certain type of specific transformation (eg, translation, angle change) of the target image.
  • a certain type of specific transformation eg, translation, angle change
  • the format reported by the terminal to the network may include some or all of the following information:
  • the reported content is different:
  • the reported content when using the image information collected by the image equipment to perform the terminal-assisted positioning (User Equipment assisted) positioning, the reported content includes the following parts:
  • the reported content when using the image information collected by the image device to implement the UE based solution, the reported content includes the following parts:
  • the reported content includes the following parts:
  • the reported content includes the following parts:
  • the terminal can request specific measurement data from the network:
  • the device 2 requests the network to obtain the image data of the device 1; the network sends the image data to the device 1; when the network sends data to the terminal, the information is identified by absolute time or relative time.
  • the relative time may be relative to the time of sending the Pricing Reference Server (PRS); when the terminal requests the network, it identifies the time at which data is desired to be obtained.
  • PRS Pricing Reference Server
  • the network/location server configures the terminal with corresponding auxiliary data, including the following:
  • the network/location server sends specific data to the terminal, and the terminal determines the location of the terminal based on the local data and the data sent by the network;
  • the network/location server sends a specific processing method to the terminal for the terminal to process the corresponding information in combination with the local data and the data sent by the network;
  • the provision of the auxiliary data depends on the request made by the terminal, or the network provides it to the terminal according to the positioning method selected by the terminal;
  • the provision of corresponding data may be based on a differential manner: for example, at a first time point, the network provides corresponding data, and at a second time point, the data provided by the network to the terminal is provided in a differential manner with the first time point, Thereby reducing the data configuration overhead.
  • the location service can be initiated by the terminal, or initiated by the network/location service, or initiated by a third party;
  • the terminal reports the time relationship between different measurement results to the network
  • the time relationship between different devices can be initially reported.
  • This kind of time relationship includes but is not limited to the possible time difference introduced by the software system and the hardware system.
  • Such data may need to be obtained through factory calibration or real-time calibration;
  • the terminal directly identifies the absolute time in each type of report
  • Various measurement information includes information originating from one device as well as information originating from multiple devices.
  • the image data may originate from the above-mentioned device 1, the wireless measurement signal originates from the device 2, and the network can indicate whether the time relationship between the corresponding data is implicitly indicated in the same report based on various measurement information, and whether they can be used at the same time. , what is the error range of the time relationship, etc.
  • the key reporting information can be extracted from the local data through the pre-agreed/configured neural network, but the network side cannot restore the original image data based on the key reporting information;
  • the network side configures the corresponding neural network on the terminal side, or the terminal side notifies the network side of the neural network used.
  • FIG. 8 shows a schematic structural diagram of a terminal according to an embodiment of the present application.
  • an embodiment of the present application further provides a terminal 1900, including a processor 1910 and a memory 1909, which are stored in A program or instruction on the memory 1909 that can be run on the processor 1910.
  • the program or instruction is executed by the processor 1910, each process of the above-mentioned method for reporting terminal sensor information is implemented, and can achieve the same technical effect, In order to avoid repetition, details are not repeated here.
  • terminals in the embodiments of the present application include the aforementioned mobile terminals and non-mobile terminals.
  • the terminal 1900 includes but is not limited to: a radio frequency unit 1901, a network module 1902, an audio output unit 1903, an input unit 1904, a sensor 1905, a display unit 1906, a user input unit 1907, an interface unit 1908, a memory 1909, a processor 1910 and other components .
  • the processor 1910 invokes the program or instruction in the memory 1909 to obtain the relevant information of the sensor 1905, and executes the positioning and/or data transmission of the terminal 1900 according to the relevant information.
  • the various sensors provided on the terminal device are effectively used It solves the problem of waste of terminal sensor performance.
  • terminal positioning no longer depends on base station positioning or Global Positioning System (GPS) signals, which improves the success rate and versatility of terminal positioning. And improve the positioning performance of the terminal.
  • GPS Global Positioning System
  • the terminal 1900 may also include a power source (such as a battery) for supplying power to various components, and the power source may be logically connected to the processor 1910 through a power management system, so as to manage charging, discharging, and power consumption through the power management system management and other functions.
  • a power source such as a battery
  • the terminal structure shown in FIG. 8 does not constitute a limitation on the terminal, and the terminal may include more or less components than shown, or combine some components, or arrange different components, which will not be repeated here.
  • the radio frequency unit 1901 may be used to send and receive information or send and receive signals during a call, and specifically, receive downlink data from the base station or send uplink data to the base station.
  • the radio frequency unit 1901 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
  • the network module 1902 provides the user with wireless broadband Internet access, such as helping the user to send and receive emails, browse the web, access streaming media, and the like.
  • the audio output unit 1903 may convert audio data received by the radio frequency unit 1901 or the network module 1902 or stored in the memory 1909 into audio signals and output as sound. Also, the audio output unit 1903 may also provide audio output related to a specific function performed by the terminal 1900 (eg, call signal reception sound, message reception sound, etc.).
  • the audio output unit 1903 includes a speaker, a buzzer, a receiver, and the like.
  • the input unit 1904 is used to receive audio or video signals.
  • the input unit 1904 may include a graphics processor (Graphics Processing Unit, GPU) 5082 and a microphone 5084, and the graphics processor 5082 is used for still pictures or video images obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode data is processed.
  • the processed image frames may be displayed on the display unit 1906, or stored in the memory 1909 (or other storage medium), or transmitted via the radio frequency unit 1901 or the network module 1902.
  • the microphone 5084 can receive sound, and can process the sound into audio data, and the processed audio data can be output in a format that can be transmitted to a mobile communication base station via the radio frequency unit 1901 in the case of a phone call mode.
  • Terminal 1900 also includes one or more sensors 1905, such as fingerprint sensors, pressure sensors, iris sensors, molecular sensors, gyroscopes, barometers, hygrometers, thermometers, infrared sensors, light sensors, motion sensors, and other sensors.
  • sensors 1905 such as fingerprint sensors, pressure sensors, iris sensors, molecular sensors, gyroscopes, barometers, hygrometers, thermometers, infrared sensors, light sensors, motion sensors, and other sensors.
  • the display unit 1906 is used to display information input by the user or information provided to the user.
  • the display unit 1906 may include a display panel 5122, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 1907 may be used to receive input numerical or character information, and generate key signal input related to user settings and function control of the terminal.
  • the user input unit 1907 includes a touch panel 5142 and other input devices 5144 .
  • the touch panel 5142 also referred to as a touch screen, collects the user's touch operations on or near it.
  • the touch panel 5142 may include two parts, a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it to the touch controller.
  • Other input devices 5144 may include, but are not limited to, physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which are not described herein again.
  • the touch panel 5142 can be overlaid on the display panel 5122.
  • the touch panel 5142 detects a touch operation on or near it, it transmits it to the processor 1910 to determine the type of the touch event, and then the processor 1910 determines the type of the touch event according to the touch
  • the type of event provides corresponding visual output on display panel 5122.
  • the touch panel 5142 and the display panel 5122 can be used as two independent components, or can be integrated into one component.
  • the interface unit 1908 is an interface for connecting an external device to the terminal 1900 .
  • external devices may include wired or wireless headset ports, external power (or battery charger) ports, wired or wireless data ports, memory card ports, ports for connecting devices with identification modules, audio input/output (I/0) port, video I/0 port, headphone port, etc.
  • Interface unit 1908 may be used to receive input from external devices (eg, data type information, power, etc.) and transmit the received input to one or more elements within terminal 1900 or may be used between terminal 1900 and external devices transfer data between.
  • the memory 1909 may be used to store software programs as well as various data.
  • the memory 1909 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program (such as a sound playback function, an image playback function, etc.) required for at least one function, etc.; Data (such as audio data, phone book, etc.) created by the use of the mobile terminal, etc.
  • memory 1909 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the processor 1910 executes various functions of the terminal 1900 and processes data by running or executing software programs and/or modules stored in the memory 1909 and calling data stored in the memory 1909, thereby monitoring the terminal 1900 as a whole.
  • the processor 1910 may include one or more processing units; optionally, the processor 1910 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem
  • the modulation processor mainly handles wireless communication.
  • the terminal 1900 may further include a power supply 1911 for supplying power to various components.
  • the power supply 1911 may be logically connected to the processor 1910 through a power management system, so as to implement functions such as managing charging, discharging, and power consumption through the power management system.
  • Embodiments of the present application further provide a readable storage medium, the readable storage medium may be non-volatile or volatile, and a program or instruction is stored on the readable storage medium, and the program or instruction is processed by a processor During execution, each process of the foregoing method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
  • the processor is the processor in the terminal in the foregoing embodiment.
  • the readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
  • the embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used for running a program or an instruction, implementing the various processes of the above method embodiments, and can achieve the same technical effect , in order to avoid repetition, it will not be repeated here.
  • the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip, or the like.
  • An embodiment of the present application further provides a computer program product, wherein the computer program product is stored in a non-transitory readable storage medium, and the computer program product is executed by at least one processor to implement the above method embodiments and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.
  • the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation.
  • the technical solution of the present application can be embodied in the form of a software product in essence or in a part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network side device, etc.) execute the methods of the various embodiments of the present application.
  • a storage medium such as ROM/RAM, magnetic disk, CD-ROM

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Abstract

本申请公开了一种上报终端传感器信息的方法、终端和可读存储介质，其中，上报终端传感器信息的方法，包括：第一终端上报传感器相关信息，传感器相关信息包括以下至少一项：传感器的设备信息和传感器的第一测量信息。

Description

上报终端传感器信息的方法、终端和可读存储介质
相关申请的交叉引用
本申请主张在2020年12月23日在中国提交的中国专利申请No.202011541787.4的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于定位技术领域，具体涉及一种上报终端传感器信息的方法、终端和可读存储介质。
背景技术
在相关技术中，手机等终端上设置有多种传感器，比如图像传感器，在手机、平板电脑、行车记录仪等终端上，普遍都设置有摄像头，摄像头就是一种图像传感器。
然而，在相关技术中，如摄像头等图像传感器一般仅用于获取照片、视频等媒体数据，无法被应用到如定位其他场景，因此这些传感器没有被有效利用，造成终端传感器性能浪费。
因此，如何解决终端传感器性能的浪费，是亟待解决的技术问题。
发明内容
本申请实施例提供一种上报终端传感器信息的方法、终端和可读存储介质，能够实现解决终端传感器性能的浪费的效果。
第一方面，本申请实施例提供了一种上报终端传感器信息的方法，包括：
获取第一终端的传感器相关信息，传感器相关信息包括以下至少一项：传感器的设备信息和传感器的第一测量信息。
第二方面，本申请实施例提供了一种终端，包括存储器和处理器，存储器上存储有程序或指令，处理器执行程序或指令时实现如第一方面的上报终端传感器信息的方法。
第三方面，本申请实施例提供了一种可读存储介质，其上存储有程序或指令，程序或指令被处理器执行时实现如第一方面的上报终端传感器信息的方法。
第四方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行网络侧设备程序或指令，实现如第一方面的上报终端传感器信息的方法。
第五方面，提供了一种计算机程序产品，所述计算机程序产品被存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现如第一方面的上报终端传感器信息的方法。
第六方面，提供一种通信设备，被配置为执行如第一方面的上报终端传感器信息的方法的步骤。
本申请提供的实施例，通过收集当前终端，也即第一终端中，传感器的设备信息和传感器的第一测量信息，通过传感器的设备信息和传感器的第一测量信息，进行如数据传输、定位等功能的实现，一方面有效地利用了终端设备上设置的多种传感器的性能，解决了终端传感器性能的浪费的问题，另一方面使得终端定位不再依赖于基站定位或全球定位***(Global Positioning System，GPS)信号，提高了终端定位的成功率和泛用性，并提高了终端的定位性能。
附图说明
图1示出了根据本申请实施例的上报终端传感器信息的方法的流程图之一；
图2示出了根据本申请实施例的上报终端传感器信息的方法的流程图之二；
图3示出了根据本申请实施例的上报终端传感器信息的方法的流程图之三；
图4示出了根据本申请实施例的上报终端传感器信息的方法的流程图之四；
图5示出了根据本申请实施例的上报终端传感器信息的方法的流程图之五；
图6示出了根据本申请实施例的上报终端传感器信息的方法的流程图之六；
图7示出了根据本申请实施例的上报终端传感器信息的方法的流程图之七；
图8示出了根据本申请实施例的终端的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的上报终端传感器信息的方法进行详细地说明。
在本申请的一些实施例中，上报终端传感器信息的方法包括：第一终端上报传感器相关信息，传感器相关信息包括以下至少一项：传感器的设备信息和传感器的第一测量信息。
在本申请实施例中，通过收集当前终端，也即第一终端中，传感器的设备信息和传感器的第一测量信息，并进行上报，通过传感器的设备信息和传感器的第一测量信息，进行如数据传输、定位等功能的实现，有效地利用了终端设备上设置的多种传感器的性能，解决了终端传感器性能的浪费的问题。
在本申请的一些实施例中，图1示出了根据本申请实施例的上报终端传感器信息的方法的流程图之一，如图1所示，上报终端传感器信息的方法包括：
步骤102，第一终端上报传感器相关信息；
在步骤102中，传感器相关信息包括以下至少一项：传感器的设备信息和传感器的第一测量信息；
步骤104，网络根据传感器相关信息，执行第一终端的定位和/或第一终端的数据传输。
在本申请实施例中，通过收集当前终端，也即第一终端中，传感器的设备信息和传感器的第一测量信息，并进行上报，通过传感器的设备信息和传感器的第一测量信息，进行如数据传输、定位等功能的实现，一方面有效地利用了终端设备上设置的多种传感器的性能，解决了终端传感器性能的浪费的问题，另一方面使得终端定位不再依赖于基站定位或全球定位***(Global Positioning System，GPS)信号，提高了终端定位的成功率和泛用性，并提高了终端的定位性能。
在本申请的一些实施例中，图2示出了根据本申请实施例的上报终端传感器信息的方法的流程图之一，如图2所示，上报终端传感器信息的方法还包括如下至少之二：
步骤202，上报设备信息和第一测量信息中的一种或多种；
步骤204，请求第二测量信息。
其中，设备信息包括以下中的一种或多种：
传感器类型、数据类型信息、传感器朝向、传感器与第一终端的天线的空间关系。
在本申请实施例中，终端主动上报传感器的设备信息，并上报传感器的第一测量信息，以使网络设备，如基站、定位服务器等，能够利用设备信息和第一测量信息，实现对终端设备的位置进行定位等功能，从而有效地利用终端传感器的性能，避免传感器性能浪费。
其中，设备类型包括传感器的类型，如图像传感器、音频传感器等。设备 类型还包括传感器所采集到的传感数据的数据类型信息，如图像信息、音频信息等。设备类型还包括传感器的朝向，如图像传感器摄像头的朝向，麦克风拾音部件的朝向等。设备类型还包括传感器与天线组件的空间关系，即传感器，与终端天线之间的位置关系，该空间关系可以是坐标数据、角度数据等。
在本申请的一些实施例中，传感器类型包括以下中的一种或多种：
图像传感器、雷达传感器、红外探测传感器、结构光传感器；
在传感器类型包括图像传感器的情况下，数据类型信息包括图像传感器的帧率信息、图像传感器的编码类型中的一种或多种；
在传感器类型包括结构光传感器的情况下，数据类型信息包括结构光传感器的测量结果、飞行时间法测量值中的一种或多种，其中结构光传感器的测量结果包括深度信息。
在本申请实施例中，雷达传感器可以是短波雷达传感器。图像传感器可以是摄像头等传感器。红外探测传感器可以是位置传感器、距离传感器、温度传感器等。
当传感器包括结构光传感器时，结构光传感器的测量结果可以是点阵构成的三维立体模型，如果结构光传感器是飞行时间(Time of flight，TOF)类传感器，则数据类型信息还包括飞行时间法测量值。其中，结构光传感器最终得到的信息为立体信息，即包括深度(y轴)信息。
在本申请的一些实施例中，数据类型信息包括以下中的一种或多种：
定位算法、第一测量信息对应的人工智能网络类型、第一测量信息对应的人工智能网络的参数信息、是否需要接收回馈信息、对应的工作模式；以及
在传感器需要接收回馈信息的情况下，数据类型信息还包括以下中的一种或多种：
回馈信息的返回方式、回馈信息的格式、回馈信息的类型。
在该实施例中，数据类型信息包括传感器利用的定位算法，该定位算法可以是与传感器的类型相对应的算法。
第一测量信息对应的人工智能网络类型，即可通过人工智能网络对传感器 的检测数据进行处理，最终实现定位等功能。
第一测量信息对应的人工智能网络的参数信息，也就是对通过人工智能网络对第一测量信息进行处理时，人工智能网络的配置信息。
是否需要接收回馈信息，也就是在通过终端的传感器实现定位时，将第一测量信息上报至位置服务器后，是否需要位置服务器返回对应的回馈信息才能实现定位等功能。
如果传感器需要结束回馈信息，则上报的数据类型信息中，还包括终端需要的回馈信息的返回方式，回馈信息的个数和类型等。
传感器对应的工作模式，也就是传感器的当前工作状态，包括但不限于：定位、数据传输、校准、测试、自检等。
在本申请的一些实施例中，人工智能网络包括以下中的一种或多种：
卷积网络、全连接网络、递归神经网络、生成对抗网络、深度置信网络、自动编码器。
在本申请实施例中，能够理解的是，人工智能网络可以是卷积网络、神经网络等，卷积网络可以是各种类型的卷积网络，本申请实施例对卷积网络、神经网络、对抗网络置信网络和自动编码器等网络的类型不做具体限定。
在本申请的一些实施例中，空间关系包括以下中的一种或多种：
传感器与天线组件的坐标关系；传感器与天线组件的角度关系；第一终端的本地坐标系与全局坐标系间的转换参数；本地坐标系的轴承角、下倾角和倾斜角；传感器与天线组件的相对空间关系；
其中，上报空间关系包括：
上报空间关系的预测值，或空间关系对应的运动范围。
在本申请实施例中，传感器与天线之间的空间关系，可以是传感器与天线组件的坐标关系、角度关系，其中，坐标关系可以是大地坐标系下的坐标关系，或是第一终端的本地坐标系下的坐标关系，在本地坐标系的情况下，空间关系还包括本地坐标系与全局坐标系间的转换参数、本地坐标系的轴承角、下倾角和倾斜角等。
传感器与天线组件的相对空间关系，比如以天线组件为基准，传感器位于天线组件的方位、距离和角度等。
上报空间关系的步骤，具体可以包括空间关系的预测值，如根据传感器的位置变化趋势，预测在某个时间点下的空间关系，或空间关系的运动范围，如传感器的检测端的运动范围等。
在本申请的一些实施例中，根据预先配置的条件，再次上报空间关系；
其中，预先配置的条件包括以下至少一项：空间关系发生变化，网络触发新的上报，工作模式发生变化。
在该实施例中，第一终端可以动态上报设备信息，例如空间关系的上报可以是静态上报，也可以是动态上报，其中动态上报即根据预先配置的条件是否被满足，来确定是否上报或再次上报控件关系。根据预先配置的条件是否被满足，来确定是否上报或再次上报控件关系，其中的条件包括空间关系发生变化，网络触发新的上报，工作模式发生变化中的一种或多种。
在本申请的一些实施例中，第一测量信息还包括传感器的工作模式，工作模式包括以下中的一种或多种：初始位置标记模式、地图制作模式、地图更新模式、实时定位模式。
在本申请实施例中，传感器的工作模式包括初始位置标记模式，即标定当前终端的初始位置，该初始位置可作为测距的起点，如应用于测量步数、距离、运动轨迹的长度等场景。
地图制作模式，具体包括以下场景，其一是按照一定间隔记录传感器的实时位置信息，并将这些实时位置信息，按照其先后时间顺序，将其连接，形成“地图”。其二是利用图像传感器和结构光传感器，实时建立一个控件的“地图”数据文件，该地图可以是二维地图或三维地图。
地图更新模式是基于地图制作模式，即对制作的地图文件进行更新的模式。
实时定位模式具体是获取终端的实时位置，该实时位置可以结合地图进行显示，用于标定终端在地图中的位置。
在本申请的一些实施例中，图3示出了根据本申请实施例的上报终端传感器信息的方法的流程图之三，如图3所示，上报终端传感器信息的方法还包括：
步骤302，在工作模式发生切换的情况下，获取工作模式切换前的第一位置信息和第一朝向信息，并获取工作模式切换后的第二位置信息和第二朝向信息；
步骤304，在第二位置信息与第一位置信息不同的情况下，上报第二位置信息，以及在第二朝向信息与第一朝向信息不同的情况下，上报第二朝向信息。
在本申请实施例中，当传感器的工作模式发生了变化，则需要判断传感器的朝向信息和位置信息是否随之改变，具体为获取工作模式变化前的第一位置信息和第一朝向信息，并获取工作模式变化后的第二位置信息和第二朝向信息，如果第二位置信息和第二朝向信息与第一位置信息和第一朝向信息不同，则说明朝向和位置发生了变化，此时上报发生了变化的位置信息和朝向信息。
在本申请的一些实施例中，第一测量信息包括以下中的一种或多种：
测量结果、基于测量结果确定的定位信息、测量结果的数据格式；
其中，测量结果的数据格式为网络不可恢复的数据格式。
在本申请实施例中，测量结果具体为传感器的检测结果，如距离值、亮度值、图像数据等，基于测量结果确定的定位信息，是根据测量结果，通过对应的定位算法或定位方式，得到的位置信息，如根据图像信息和建立的地图信息得到的终端在地图中的位置等。测量结果的数据格式，是传感器的检测值的数据格式，如图像信息的图片格式(如.jpg和.png等)。
在本申请的一些实施例中，第一终端按照配置的上报类型和/或设定的周期定期，上报设备信息和/或第一测量信息；或第一终端接收触发信号或信令，根据触发信号或信令上报设备信息和/或第一测量信息；或第一终端检测当前事件信息，在当前事件信息与预设的目标事件信息相匹配的情况下，上报设备信息和/或第一测量信息。
在本申请实施例中，第一终端可以按照设定的周期，定期上报设备信息和第一测量信息中的一种或全部，用于实时定位。
第一终端还可以根据接收到的触发信号，上报设备信息和第一测量信息中的一种或全部，其中触发信号可以来自网络或其他终端，本申请实施例对此不做限定。
第一设备还可以根据当前事件，选择是否上报设备信息和第一测量信息中的一种或全部。具体地，如果当前事件与预设的目标事件相匹配，则执行上报动作。其中，预设的目标事件可以根据用户设置、网络规则等进行编辑。如，当终端处于充电状态时上报、当终端时间处于预设的时间段时上报等。
在本申请的一些实施例中，第一测量信息包括以下中的一种或多种：
图像传感器采集的图像信息、雷达传感器发送信号及反射信号的信息、雷达传感器在不同角度或位置下反射信号的强度信息、雷达传感器的时延信息、结构光传感器发送信号及反射信号的信息、结构光传感器在不同角度或位置下反射信号的深度信息、结构光传感器的时延信息、预设测量数据、对至少一种测量数据的处理请求信息、时间戳信息、位置信息、位置信息对应的定位方式信息、位置信息对应的传感器类型信息、至少一个传感器的角度信息、下行定位数据(Downlink-based Positioning)、上行定位数据(Uplink-based Positioning)、超带宽(Ultra Wide Band，UWB)定位测量数据、Wi-Fi定位测量数据。
在本申请实施例中，第一测量信息可以是特定传感器的检测数据、网络约定的数据、第一终端的本地数据、传感器的状态参数等，本申请实施例对此不做限定。
在本申请的一些实施例中，第一测量信息用于执行所述终端的终端辅助定位，所述第一测量信息包括
图像信息、时间戳信息、位置信息、位置信息对应的定位方式信息和图像传感器的角度信息。
在本申请实施例中，定位方式包括终端定位(User Equipment based)或终端辅助定位(User Equipment assisted)，在执行终端辅助定位(User Equipment assisted)时，第一测量信息包括图像信息、时间戳信息、位置信息、位置信息对应的定位方式信息和图像传感器的角度信息。
在本申请的一些实施例中，执行第一终端的定位包括执行终端定位，第一测量信息包括：
时间戳信息、位置信息、图像传感器的角度信息和位置信息对应的定位方式信息。
在本申请实施例中，定位方式包括终端定位(User Equipment based)或终端辅助定位(User Equipment assisted)，在执行终端定位(User Equipment based)时，第一测量信息包括时间戳信息、位置信息、图像传感器的角度信息和位置信息对应的定位方式信息。
在本申请的一些实施例中，在传感器用于执行第一终端的定位的情况下，第一测量信息包括：预设测量数据、对至少一种测量数据的处理请求信息和时间戳信息。
在本申请实施例中，在利用传感器对第一终端进行定位时，第一测量信息还包括预设测量数据、对至少一种测量数据的处理请求信息和时间戳信息。
在本申请的一些实施例中，第一测量信息包括：
图像信息、时间戳信息、位置信息、图像传感器的角度信息、位置信息对应的定位方式信息、下行定位数据、上行定位数据、超带宽定位测量数据和Wi-Fi定位测量数据。
在本申请实施例中，在一些情况下，如第一终端或第一终端的传感器处于校准模式的情况下，可以采集如下第一测量信息，包括图像传感器采集到的图像信息、时间戳信息、位置信息、图像传感器的角度信息、位置信息对应的定位方式信息、下行定位数据、上行定位数据、超带宽定位测量数据和Wi-Fi定位测量数据。
在本申请的一些实施例中，在工作模式为校准模式的情况下上报第一测量信息。
在本申请实施例中，当第一终端的传感器的工作模式为校准模式，则上报采集的第一测量信息，具体包括：图像传感器采集到的图像信息、时间戳信息、位置信息、图像传感器的角度信息、位置信息对应的定位方式信息、下行定位 数据、上行定位数据、超带宽定位测量数据和Wi-Fi定位测量数据。
在本申请的一些实施例中，请求第二测量信息，包括：
向网络侧设备发送图像请求，并接收网络侧设备反馈的第二终端的图像传感器获取的图像信息；
其中，图像信息包括绝对时间标识信息；或
图像信息包括相对于定位参考***的发送时刻的相对时间标识信息。
在本申请实施例中，第一终端还可以通过图像请求，获取第二终端的图像传感器获取的图像信息，以通过组合多个不同终端的图像信息，来进行当前场景进行定位和地图绘制等工作。
其中，图像信息包括时间信息，该时间信息可以是绝对时间标识信息，从而避免多个终端之间本地时间的时间差，时间信息还可以是相对于定位参考***的发送时刻的相对时间标识信息，即通过定位参考***实现不同终端之间的本地时间的归一化。
在本申请的一些实施例中，图4示出了根据本申请实施例的上报终端传感器信息的方法的流程图之四，如图4所示，上报终端传感器信息的方法还包括：
步骤402，接收网络侧设备或定位服务器发送的第二测量信息；
步骤404，基于第一测量信息和第二测量信息确定第一终端的位置信息。
在本申请实施例中，终端设备接收网络侧设备或定位服务器发送的第二测量信息，并结合第一测量信息和第二测量信息，确定当前第一终端的位置信息。其中，第二测量信息可以是定位服务器或网络设备通过自身硬件或算法得到的测量信息，也可以是不同于第一终端的其他终端获取的测量信息，本申请实施例对此不做限定。
进一步地，第二测量信息可以是与第一测量信息相同的数据类型，其测量角度可能与第一测量信息相同或不同。第二测量信息也可以是与第一测量信息不同的数据类型，即第二测量信息与第一测量信息之间形成互补。第二测量信息还可以是第一测量信息对应的测量信息，结合第一测量信息和第二测量信息能够得到更加准确和更加完整的测量数据。
在本申请的一些实施例中，图5示出了根据本申请实施例的上报终端传感器信息的方法的流程图之五，如图5所示，上报终端传感器信息的方法还包括：
步骤502，接收网络侧设备或定位服务器发送的信息处理方式；
步骤505，通过信息处理方式对第一测量信息和第二测量信息进行处理。
在本申请实施例中，第一终端接收来自于网络侧设备，或来自于定位服务器的信息处理方式，该信息处理方式可以是预设的算法、预设的处理程序等，通过该信息处理方式，能够对第一测量信息你和第二测量信息进行有效的信息处理，从而将原始数据整合为能够用于定位或者数据发送的有效信息，或根据原始数据得到当前第一终端的位置信息，或进行地图绘制、地图更新等。
在本申请的一些实施例中，图6示出了根据本申请实施例的上报终端传感器信息的方法的流程图之六，如图6所示，请求第二测量信息，包括：
步骤602，向网络侧设备发送数据请求；
步骤604，接收网络侧设备反馈的与数据请求对应的第二测量信息。
在本申请实施例中，第一终端可通过向网络侧设备发送数据请求，网络侧设备在接收到数据请求后，根据第一终端的数据请求，向终端设备反馈对应的第二测量信息。其中，第二测量信息可以是定位服务器或网络设备通过自身硬件或算法得到的测量信息，也可以是不同于第一终端的其他终端获取的测量信息，本申请实施例对此不做限定。
进一步地，第二测量信息可以是与第一测量信息相同的数据类型，其测量角度可能与第一测量信息相同或不同。第二测量信息也可以是与第一测量信息不同的数据类型，即第二测量信息与第一测量信息之间形成互补。第二测量信息还可以是第一测量信息对应的测量信息，结合第一测量信息和第二测量信息能够得到更加准确和更加完整的测量数据。
在本申请的一些实施例中，图7示出了根据本申请实施例的上报终端传感器信息的方法的流程图之七，如图7所示，请求第二测量信息，包括：
步骤702，向网络侧设备发送定位方式信息；
步骤704，接收网络侧设备反馈的与定位方式信息对应的第二测量信息。
在本申请实施例中，第一终端向网络侧设备发送定位方式信息，其中，定位方式信息指示了第一终端即将发起的定位流程的工作方式，如所利用的传感器的种类、所利用的传感器的检测数据的数据类型和数据格式等，在接收到定位方式信息后，网络设备根据定位方式信息，确定第一终端在定位时，可能用得到的第二测量信息，并向第一终端反馈该第二测量信息，以使第一终端能够根据自身的第一测量信息和接收到的第二测量信息实现定位。
在本申请的一些实施例中，通过第一终端发起定位流程；或
通过网络侧设备发起定位流程；或
通过第三终端发起定位流程。
在本申请实施例中，定位流程为第一终端对自身的位置信息进行获取和/或上报的流程，该定位流程可以由第一终端自身发起，第一终端自身主动获取第一测量信息，并请求第二测量信息，实现定位。
定位流程还可以由网络侧设备发起，如定位服务器等，网络侧设备向第一终端发送对应的信令，第一终端根据接收到的信令，开始采集自身的第一测量信息并上报，同时接收网络侧的第二测量信息，实现定位。
定位流程还可以通过区别于第一终端的任一第三终端发起，第三终端可以直接与第一终端之间建立点对点连接，并发起定位流程，第三终端还可以通过网络侧设备，如定位服务器来转发该定位流程，从而实现定位。
在本申请的一些实施例中，上报终端传感器信息的方法还包括：第一终端上报第一测量信息对应的时间信息。
在本申请实施例中，第一终端在上报第一测量信息时，同时上报第一测量信息对应的时间信息，通过时间维度可以将不同终端上报的不同测量信息相互匹配，并基于时间轴实现精确定位。
在本申请的一些实施例中，时间信息为第一终端相对于任一第四终端的相对时间信息。
在本申请实施例中，第一测量信息对应的时间信息，具体为第一终端相对于任一第四终端的相对时间信息，其中，该第四终端为基准终端，第四终端的 时间信息可以是本地时间信息或绝对时间信息，在第四终端的时间不变的情况下，任一终端相对同一个第四终端的时间信息能够保证全部终端的时间信息均处于同一条时间轴下，避免不同终端之间的本地时间差造成测量信息时间不对应，能够有效提高定位精度。
在本申请的一些实施例中，时间信息为绝对时间信息。
在本申请实施例中，第一测量信息对应的时间信息，具体为绝对时间信息，其中，第一终端可以通过卫星时间校准、访问时间服务器等方式获取绝对时间，并将本地时间保持与绝对之间相同步。全部终端上传的测量信息均与绝对时间信息相匹配，能够保证全部终端的时间信息均处于同一条时间轴下，避免不同终端之间的本地时间差造成测量信息时间不对应，能够有效提高定位精度。
在本申请的一些实施例中，第一测量信息还包括至少一个第五终端的传感器的测量信息。
在本申请实施例中，第一终端向网络侧设备上报的第一测量信息中，除了包括采集自身传感器的测量信息外，还可以包括任一第五终端的传感器的测量信息，即通过一个终端同时上报多个不同终端的传感器的测量信息。其中，第一终端与第五终端之间可以建立点对点的直接数据连接，也可以通过骨干网、基站、服务器等建立间接的数据连接，从而获取第五终端的传感器的测量信息，本申请实施例对此不做限定。
在本申请的一些实施例中，收集第一终端的传感器的设备信息和传感器的第一测量信息，包括：
通过预设的神经网络，在第一终端的本地数据中提取本地信息，根据本地信息生成设备信息和/或第一测量信息。
在本申请实施例中，可以通过预设的神经网络，在第一终端的本地数据中提取本地信息，并生成对应的设备信息和第一测量信息，该过程不会占用第一终端的本地算力，一方面能够避免第一终端的性能被过分占用导致的终端性能损耗，另一方面能够避免过度使用第一终端的电池电能，保证第一终端的续航能力。
在本申请的一些实施例中，对终端采集自身的传感器的设备信息，以及传感器的测量信息，并进行上报，实现终端的定位的过程中，其数据采集、交互、传输、数据结构等进行了标准的规范。
具体地，终端向网络/定位服务器上报设备信息，该设备信息可以具体包括如下内容：
终端上报支持的传感器(sensor)类型，支持的传感器(sensor)数据类型，和/或传感器(sensor)相关的设备信息，还可以包括用于定位的其他信息，如计算类型信息等。
其中，传感器(sensor)可以是用于采集图像信息的设备，用于雷达探测的设备，用于红外探测的设备，用于采集结构光相关测量结果的设备。
终端可以进一步上报针对各设备的能力信息，例如图像设备帧率(Frames Per Second，FPS)等能力信息。
具体地，传感器(sensor)数据类型，是指针对某类型的传感器(sensor)可以上报的数据类型，例如用于结构光采集的设备，可以直接上报带有深度信息的结构光测量结果，也可以上报不同角度的TOF测量值。
数据类型还包括上报的测量数据是如何编码的，比如图像设备测量得到的图像信息是通过何种方式编码的。
其中，用于定位的其他信息包括：
对应支持的定位算法，例如是传感器(sensor)信息与其他信息混合定位，还是到达时间差(Time Difference of Arrival，TDOA)定位，还是基于机器学习定位；
支持的定位算法可以针对所支持的传感器(sensor)类型分别上报；
上报的数据对应的人工智能(Artificial Intelligence，AI)网络特征，例如对应上报的数据希望网络利用哪种类型的AI网络处理等；
包括对应的AI网络的参数信息；
是否需要网络返回相应的数据，和/或返回数据的方式、类型、格式等；
支持的工作模式，如该设备是否支持初始位置标记/地图制作更新、是否支 持实时位置更新，是否能在多种模式间切换等等；
某类传感器(sensor)的朝向，和/或与天线的空间关系。
其中，空间关系包括：坐标关系，传感器(sensor)朝向等角度关系。
具体地，传感器(sensor)朝向等角度关系若相对于终端本地坐标系，还需要上报本地坐标系(Local Coordinate System，LCS)与全局坐标系(Global Coordinate System，GCS)转换参数，至少包含终端本地坐标系的角度α(轴承角)，β(下倾角)和γ(倾斜角)。
上报包括不限于相对空间关系上报，且空间关系的上报可以上报多个可能值，或者某个运动范围。
以摄像头为例，摄像头空间关系的上报可以是静态上报，也可以是动态上报，例如摄像头/雷达探头角度不断调整时，可以实时上报摄像头/探头角度信息，或者与测量信息同时上报设备信息，例如随着某次测量结果同时上报对应该次测量的空间关系。
传感器的工作模式包括：
1、初始位置标记；
2、地图制作；
3、地图更新；
4、实时位置确定。
考虑周边位置可能在变换，传感器的工作模式可能会需要在两种模式间切换，一旦切换，为了节省校准开销，可能仅需要上报特定位置、朝向的特定结果。
终端向网络上报测量信息，测量信息为传感器(sensor)获得的实时测量结果，如摄像头的图像数据，雷达测量数据(如通过毫米波雷达获得的距离、角度、TOF信息等)，结构光测量设备采集的数据，包括各类反射的TOF信息，以及对应各角度的深度信息。
测量信息还可以是基于上述数据的某类抽象信息，例如上报根据图像信息检测到的新出现的遮挡信息等。
例如网络可以预配置特定方向、位置、深度，要求终端针对该特定方向、位置、深度，上报相应的遮挡信息。
例如网络可以预配置特定图像，要求终端在检测到的图像与目标图像和/或目标图像的某类特定变换(例如，平移、角度变化)不符合预配置特定的图像时，上报不符合的内容。
传感器(sensor)数据的格式，可以通过网络和终端之间提前约定，比如可以为网络不可恢复的数据格式，用于保护隐私。
或者，网络可以仅仅知道如何处理相应的终端上报数据并将数据返回给终端，但并没有办法获得用户的位置。
还可以通过其他数据脱敏的方式，进行保护隐私。
终端上报传感器(sensor)测量数据可以网络触发上报，或者定期上报，或者基于预先设定的事件上报。
其中，预先设定的事件包括：
1、进入特定区域(例如小区)的事件；
2、某类测量信号达到一定阈值的事件；
3、终端从先前位置移动超过一些预定义的(直线)距离的事件。
在一些实施情况下，网络可以预配置特定图像，要求终端在检测到的图像与目标图像和/或目标图像的某类特定变换(例如，平移、角度变化)不符合时，进行上报。
终端向网络上报的格式，可以包括如下的信息中部分或全部：
Figure PCTCN2021140400-appb-000001
根据采用的定位方法不同(如终端辅助定位(User Equipment assisted)或终端定位(User Equipment based))或工作模式不同，上报的内容不同：
例如采用利用图像设备采集的图像信息进行终端辅助定位(User Equipment assisted)定位时，上报的内容包括如下的部分：
Figure PCTCN2021140400-appb-000002
例如采用图像设备采集的图像信息进行UE based方案时，上报的内容包括如下的部分：
Figure PCTCN2021140400-appb-000003
例如采用基于AI的定位方案时，上报的内容包括如下的部分：
Figure PCTCN2021140400-appb-000004
例如在校准模式下，上报的内容包括如下部分：
Figure PCTCN2021140400-appb-000005
终端可以向网络请求特定测量数据：
例如设备2向网络请求获得设备1的图像数据；网络向设备1发送图像数据；网络在向终端发送数据时，按绝对时间或相对时间标识信息等。
其中，相对时间可以相对定位参考服务器(Pricing Reference Server，PRS)发送时刻；终端向网络请求时，标识希望获得数据的时间。
网络/定位服务器向终端配置相应的辅助数据，包括如下：
网络/定位服务器向终端发送特定数据，终端基于本地数据和网络发送的数据，确定终端的位置；
网络/定位服务器向终端发送特定处理方法，用于终端结合本地数据和网络发送的数据处理相应的信息；
该辅助数据的提供，依赖终端提出请求，或者网络根据终端选择的定位方 法网络向终端提供；
提供相应的数据可以基于有差别的(differential)方式：例如在第一时间点，网络提供相应的数据，在第二时间点，网络向终端提供的数据采用与第一时间点差分的方式提供，从而减少数据配置开销。
定位服务可以由终端发起，或者由网络/定位服务发起，也可以由第三方发起；
多种测量信息间协同：
终端向网络上报不同测量结果间的时间关系；
可以初始时上报不同设备间的时间关系，这类时间关系中包括不限于软件***和硬件***引入的可能时间差，该类数据可能需要通过出厂校准或实时校准获得；
终端直接在每类上报中直接标识绝对时间；
多种测量信息包括源自一个设备的信息，也包括源自多种设备的信息。
例如图像数据可能源自上述设备1，无线测量信号源自设备2，网络基于多种测量信息可以通过是否在相同的报告(report)中隐含指示相应的数据间的时间关系，是否可以同时使用，时间关系误差范围为多大等。
关于隐私设置：
可以通过预先约定/配置的神经网络对本地的数据提取关键上报信息，但网络侧无法根据关键上报信息恢复原始图像数据；
网络侧向终端侧配置对应的神经网络，或者终端侧通知网络侧使用的神经网络。
在本申请的一些实施例中，图8示出了根据本申请实施例的终端的结构示意图，可选地，本申请实施例还提供一种终端1900，包括处理器1910，存储器1909，存储在存储器1909上并可在所述处理器1910上运行的程序或指令，该程序或指令被处理器1910执行时实现上述上报终端传感器信息的方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要注意的是，本申请实施例中的终端包括上述所述的移动终端和非移动 终端。
该终端1900包括但不限于：射频单元1901、网络模块1902、音频输出单元1903、输入单元1904、传感器1905、显示单元1906、用户输入单元1907、接口单元1908、存储器1909、以及处理器1910等部件。
其中，处理器1910调用存储器1909中的程序或指令，获取传感器1905的相关信息，并根据相关信息执行终端1900的定位和/或数据传输，一方面有效地利用了终端设备上设置的多种传感器的性能，解决了终端传感器性能的浪费的问题，另一方面使得终端定位不再依赖于基站定位或全球定位***(Global Positioning System，GPS)信号，提高了终端定位的成功率和泛用性，并提高了终端的定位性能。
本领域技术人员可以理解，终端1900还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理***与处理器1910逻辑相连，从而通过电源管理***实现管理充电、放电、以及功耗管理等功能。图8中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，射频单元1901可用于收发信息或收发通话过程中的信号，具体的，接收基站的下行数据或向基站发送上行数据。射频单元1901包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器、双工器等。
网络模块1902为用户提供了无线的宽带互联网访问，如帮助用户收发电子邮件、浏览网页和访问流式媒体等。
音频输出单元1903可以将射频单元1901或网络模块1902接收的或者在存储器1909中存储的音频数据转换成音频信号并且输出为声音。而且，音频输出单元1903还可以提供与终端1900执行的特定功能相关的音频输出(例如，呼叫信号接收声音、消息接收声音等等)。音频输出单元1903包括扬声器、蜂鸣器以及受话器等。
输入单元1904用于接收音频或视频信号。输入单元1904可以包括图形处 理器(Graphics Processing Unit，GPU)5082和麦克风5084，图形处理器5082对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。处理后的图像帧可以显示在显示单元1906上，或者存储在存储器1909(或其它存储介质)中，或者经由射频单元1901或网络模块1902发送。麦克风5084可以接收声音，并且能够将声音处理为音频数据，处理后的音频数据可以在电话通话模式的情况下转换为可经由射频单元1901发送到移动通信基站的格式输出。
终端1900还包括一种或多种传感器1905，比如指纹传感器、压力传感器、虹膜传感器、分子传感器、陀螺仪、气压计、湿度计、温度计、红外线传感器、光传感器、运动传感器以及其他传感器。
显示单元1906用于显示由用户输入的信息或提供给用户的信息。显示单元1906可包括显示面板5122，可以采用液晶显示器、有机发光二极管等形式来配置显示面板5122。
用户输入单元1907可用于接收输入的数字或字符信息，以及产生与终端的用户设置以及功能控制有关的键信号输入。具体地，用户输入单元1907包括触控面板5142以及其他输入设备5144。触控面板5142也称为触摸屏，可收集用户在其上或附近的触摸操作。触控面板5142可包括触摸检测装置和触摸控制器两个部分。其中，触摸检测装置检测用户的触摸方位，并检测触摸操作带来的信号，将信号传送给触摸控制器；触摸控制器从触摸检测装置上接收触摸信息，并将它转换成触点坐标，再送给处理器1910，接收处理器1910发来的命令并加以执行。其他输入设备5144可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
进一步地，触控面板5142可覆盖在显示面板5122上，当触控面板5142检测到在其上或附近的触摸操作后，传送给处理器1910以确定触摸事件的类型，随后处理器1910根据触摸事件的类型在显示面板5122上提供相应的视觉输出。触控面板5142与显示面板5122可作为两个独立的部件，也可以集成为一个部件。
接口单元1908为外部装置与终端1900连接的接口。例如，外部装置可以包括有线或无线头戴式耳机端口、外部电源(或电池充电器)端口、有线或无线数据端口、存储卡端口、用于连接具有识别模块的装置的端口、音频输入/输出(I/0)端口、视频I/0端口、耳机端口等等。接口单元1908可以用于接收来自外部装置的输入(例如，数据类型信息、电力等等)并且将接收到的输入传输到终端1900内的一个或多个元件或者可以用于在终端1900和外部装置之间传输数据。
存储器1909可用于存储软件程序以及各种数据。存储器1909可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据移动终端的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器1909可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
处理器1910通过运行或执行存储在存储器1909内的软件程序和/或模块，以及调用存储在存储器1909内的数据，执行终端1900的各种功能和处理数据，从而对终端1900进行整体监控。处理器1910可包括一个或多个处理单元；可选地，处理器1910可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作***、用户界面和应用程序等，调制解调处理器主要处理无线通信。
终端1900还可以包括给各个部件供电的电源1911，可选地，电源1911可以通过电源管理***与处理器1910逻辑相连，从而通过电源管理***实现管理充电、放电、以及功耗管理等功能。
本申请实施例还提供一种可读存储介质，所述可读存储介质可以是非易失的，也可以是易失的，可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，处理器为上述实施例中的终端中的处理器。可读存储介质，包括计 算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
本申请实施例另提供了一种芯片，芯片包括处理器和通信接口，通信接口和处理器耦合，处理器用于运行程序或指令，实现上述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为***级芯片、***芯片、芯片***或片上***芯片等。
本申请实施例另提供了一种计算机程序产品，其中，所述计算机程序产品被存储在非瞬态的可读存储介质中，所述计算机程序产品被至少一个处理器执行以实现上述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者 网络侧设备等)执行本申请各个实施例的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内

Claims (34)

  1. 一种上报终端传感器信息的方法，包括：
    第一终端上报传感器相关信息，所述传感器相关信息包括以下至少一项：传感器的设备信息和传感器的第一测量信息。
  2. 根据权利要求1所述方法，其中，所述传感器相关信息用于所述第一终端的定位和/或所述第一终端的数据传输。
  3. 根据权利要求1所述方法，其中，所述方法还包括如下至少之一：
    上报所述设备信息和/或所述第一测量信息；
    请求第二测量信息；
    其中，所述设备信息包括以下中的一种或多种：
    传感器类型、数据类型信息、传感器朝向、传感器与所述第一终端的天线的空间关系。
  4. 根据权利要求3所述方法，其中，所述传感器类型包括以下中的一种或多种：
    图像传感器、雷达传感器、红外探测传感器、结构光传感器；
    在所述传感器类型包括所述图像传感器的情况下，所述数据类型信息包括所述图像传感器的帧率信息、所述图像传感器的编码类型中的一种或多种；
    在所述传感器类型包括所述结构光传感器的情况下，所述数据类型信息包括所述结构光传感器的测量结果、飞行时间法测量值中的一种或多种，其中所述结构光传感器的测量结果包括深度信息。
  5. 根据权利要求3所述方法，其中，所述数据类型信息包括以下中的一种或多种：
    定位算法、所述第一测量信息对应的人工智能网络类型、所述第一测量信息对应的人工智能网络的参数信息、是否需要接收回馈信息对应的工作模式；以及
    在所述传感器需要接收所述回馈信息的情况下，所述数据类型信息还包括 以下中的一种或多种：
    所述回馈信息的返回方式、所述回馈信息的格式、所述回馈信息的类型。
  6. 根据权利要求5所述方法，其中，所述人工智能网络包括以下中的一种或多种：
    卷积网络、全连接网络、递归神经网络、生成对抗网络、深度置信网络、自动编码器。
  7. 根据权利要求3所述方法，其中，所述空间关系包括以下中的一种或多种：
    所述传感器与所述天线组件的坐标关系；所述传感器与所述天线组件的角度关系；所述第一终端的本地坐标系与全局坐标系间的转换参数；所述本地坐标系的轴承角、下倾角和倾斜角；所述传感器与所述天线组件的相对空间关系；
    其中，上报所述空间关系包括：
    上报所述空间关系的预测值，或所述空间关系对应的运动范围。
  8. 根据权利要求7所述方法，其中，所述方法还包括：
    根据预先配置的条件，再次上报所述空间关系；其中，预先配置的条件包括以下至少一项：空间关系发生变化，网络触发新的上报，工作模式发生变化。
  9. 根据权利要求3所述方法，其中，所述第一测量信息还包括所述传感器的工作模式，所述工作模式包括以下中的一种或多种：
    初始位置标记模式、地图制作模式、地图更新模式、实时定位模式。
  10. 根据权利要求9所述方法，其中，所述方法还包括：
    在所述工作模式发生切换的情况下，获取所述工作模式切换前的第一位置信息和第一朝向信息，并获取所述工作模式切换后的第二位置信息和第二朝向信息；
    在所述第二位置信息与所述第一位置信息不同的情况下，上报所述第二位置信息，以及在所述第二朝向信息与所述第一朝向信息不同的情况下，上报所述第二朝向信息。
  11. 根据权利要求1所述方法，其中，所述第一测量信息包括以下中的一 种或多种：
    测量结果、基于所述测量结果确定的定位信息、所述测量结果的数据格式；
    其中，所述测量结果的数据格式为网络不可恢复的数据格式。
  12. 根据权利要求11所述方法，其中，所述第一终端按照配置的上报类型和/或设定的周期定期，上报所述设备信息和/或所述第一测量信息；或
    所述第一终端接收触发信号或信令，根据所述触发信号或信令上报所述设备信息和/或第一测量信息；或
    所述第一终端检测当前事件信息，在所述当前事件信息与预设的目标事件信息相匹配的情况下，上报所述设备信息和/或所述第一测量信息。
  13. 根据权利要求4所述方法，其中，所述第一测量信息包括以下中的一种或多种：
    所述图像传感器采集的图像信息、所述雷达传感器发送信号及反射信号的信息、所述雷达传感器在不同角度或位置下反射信号的强度信息、所述雷达传感器的时延信息、所述结构光传感器发送信号及反射信号的信息、所述结构光传感器在不同角度或位置下反射信号的深度信息、所述结构光传感器的时延信息、预设测量数据、对至少一种测量数据的处理请求信息、时间戳信息、位置信息、所述位置信息对应的定位方式信息、所述位置信息对应的传感器类型信息、至少一个所述传感器的角度信息、下行定位数据、上行定位数据、超带宽定位测量数据、Wi-Fi定位测量数据。
  14. 根据权利要求13所述方法，其中，所述第一测量信息用于执行所述终端的终端辅助定位，所述第一测量信息包括以下一种或多种：
    所述图像信息、所述时间戳信息、所述位置信息、所述位置信息对应的定位方式信息、所述图像传感器的角度信息。
  15. 根据权利要求4所述方法，其中，所述第一测量信息用于执行所述终端的基于终端定位，所述第一测量信息包括以下一种或多种：
    时间戳信息、所述第一终端的位置信息、所述图像传感器的角度信息、所述位置信息对应的定位方式信息。
  16. 根据权利要求13所述方法，其中，在所述传感器相关信息用于所述第一终端的定位的情况下，所述第一测量信息包括以下一种或多种：
    所述预设测量数据、对所述至少一种测量数据的处理请求信息、所述时间戳信息。
  17. 根据权利要求4所述方法，其中，所述第一测量信息包括：
    所述图像信息、所述时间戳信息、所述第一终端的位置信息、所述图像传感器的角度信息、所述第一终端的位置信息对应的定位方式信息、下行定位数据、上行定位数据、超带宽定位测量数据和Wi-Fi定位测量数据。
  18. 根据权利要求17所述方法，其中，在所述传感器的工作模式为校准模式的情况下上报所述第一测量信息。
  19. 根据权利要求3所述方法，其中，所述请求第二测量信息，包括：
    向网络侧设备发送图像请求，并接收网络侧设备反馈的第二终端的图像传感器获取的图像信息；
    其中，所述图像信息包括绝对时间标识信息；或
    所述图像信息包括相对于定位参考***的发送时刻的相对时间标识信息。
  20. 根据权利要求3所述方法，其中，还包括：
    接收网络侧设备或定位服务器发送的所述第二测量信息，基于所述第一测量信息和所述第二测量信息确定所述第一终端的位置信息。
  21. 根据权利要求20所述方法，其中，还包括：
    接收网络侧设备或定位服务器发送的信息处理方式，通过所述信息处理方式对所述第一测量信息和所述第二测量信息进行处理。
  22. 根据权利要求3所述方法，其中，所述请求第二测量信息，包括：
    向网络侧设备发送数据请求；
    接收网络侧设备反馈的与所述数据请求对应的所述第二测量信息。
  23. 根据权利要求3所述方法，其中，所述请求第二测量信息，包括：
    向网络侧设备发送定位方式信息；
    接收网络侧设备反馈的与所述定位方式信息对应的所述第二测量信息。
  24. 根据权利要求2所述方法，其中，通过所述第一终端发起定位流程；或
    通过网络侧设备发起定位流程；或
    通过第三终端发起定位流程。
  25. 根据权利要求1所述方法，其中，还包括：
    上报所述第一测量信息对应的时间信息。
  26. 根据权利要求25所述方法，其中，所述时间信息为所述第一终端相对于任一第四终端的相对时间信息。
  27. 根据权利要求25所述方法，其中，所述时间信息为绝对时间信息。
  28. 根据权利要求1所述方法，其中，所述第一测量信息还包括至少一个第五终端的传感器的测量信息。
  29. 根据权利要求1所述方法，其中，在第一终端上报传感器相关信息之前，所述方法包括：
    通过预设的神经网络，在所述第一终端的本地数据中提取本地信息，根据所述本地信息生成所述设备信息和/或第一测量信息。
  30. 一种终端，包括存储器和处理器，所述存储器上存储有程序或指令，其中，所述处理器执行所述程序或指令时实现如权利要求1至29中任一项所述方法。
  31. 一种可读存储介质，其上存储有程序或指令，其中，所述程序或指令被处理器执行时实现如权利要求1至29中任一项所述的上报终端传感器信息的方法的步骤。
  32. 一种芯片，包括处理器和通信接口，其中，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如权利要求1至29中任一项所述的上报终端传感器信息的方法的步骤。
  33. 一种计算机程序产品，其中，所述计算机程序产品被存储在非瞬态的可读存储介质中，所述计算机程序产品被至少一个处理器执行以实现如权利要求1至29中任一项所述的上报终端传感器信息的方法的步骤。
  34. 一种通信设备，被配置为执行如权利要求1至29中任一项所述的上报终端传感器信息的方法的步骤。
PCT/CN2021/140400 2020-12-23 2021-12-22 上报终端传感器信息的方法、终端和可读存储介质 WO2022135459A1 (zh)

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