CN118741409A - Positioning methods, equipment and media - Google Patents

Abstract

The application discloses a positioning method, positioning equipment and a medium. The method comprises the following steps: acquiring a plurality of distance measurement values; screening the plurality of distance measurement values according to the vision distance measurement condition and the non-vision distance measurement condition to obtain a first measurement value meeting the vision distance measurement condition and a second measurement value not meeting the vision distance measurement condition and the non-vision distance measurement condition; determining a channel characteristic between the positioning device and the electronic device based on the second measurement; and correcting the second measured value based on the channel characteristics, and determining a positioning result of the electronic equipment according to the corrected second measured value and the first measured value after the processing. By adopting the method provided by the application, the accuracy of the positioning result of the electronic equipment can be improved.

Description

Positioning methods, equipment and media

Technical Field

The present disclosure generally relates to the field of wireless communication technology, specifically to the field of distance measurement technology, and more particularly to a positioning method, device and medium.

Background Art

Currently, when a car owner approaches the vehicle with an electronic device (eg, a mobile phone), the vehicle's positioning device can locate the electronic device (eg, determine the distance between the positioning device and the electronic device) without the car owner being aware of it.

In the prior art, a vehicle positioning device can use UWB technology to locate electronic devices and unlock the vehicle based on the positioning result.

However, since UWB technology is greatly affected by obstacles in space (physical buildings in parking lots, such as solid columns or glass), if the above obstacles exist, the positioning results will be inaccurate if UWB technology is still used to determine the positioning between electronic devices.

Summary of the invention

Based on this, it is necessary to provide a positioning method, device and medium to address the above technical problems. The method of the present application can improve the accuracy of the positioning results.

In a first aspect, a positioning method is provided, the method comprising:

Acquire a plurality of distance measurement values; the distance measurement value being a distance between the positioning device and the electronic device determined by a sensor of the positioning device;

Screening multiple distance measurement values according to the line-of-sight measurement condition and the non-line-of-sight measurement condition to obtain a first measurement value that meets the line-of-sight measurement condition and a second measurement value that does not meet the line-of-sight measurement condition and the non-line-of-sight measurement condition; the line-of-sight measurement condition is used to characterize the conditions satisfied by performing non-attenuation ranging based on the wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement condition characterizes the conditions satisfied by performing strong attenuation ranging based on the wireless signal between the positioning device and the electronic device;

Determine a channel characteristic between the positioning device and the electronic device according to the second measurement value; the channel characteristic is used to characterize the degree of channel interference between the positioning device and the electronic device;

The second measurement value is corrected based on the channel characteristics, and the positioning result of the electronic device is determined according to the corrected second measurement value and the first measurement value after the processing.

In a second aspect, a positioning device is provided, the device comprising:

An acquisition unit, configured to acquire a plurality of distance measurement values; the distance measurement value is a distance between the positioning device and the electronic device determined by a sensor of the positioning device;

A screening unit is used to screen multiple distance measurement values according to a line-of-sight measurement condition and a non-line-of-sight measurement condition to obtain a first measurement value that meets the line-of-sight measurement condition and a second measurement value that does not meet the line-of-sight measurement condition and the non-line-of-sight measurement condition; the line-of-sight measurement condition is used to characterize the conditions satisfied by performing non-attenuation ranging based on the wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement condition characterizes the conditions satisfied by performing strong attenuation ranging based on the wireless signal between the positioning device and the electronic device;

A determination unit, configured to determine a channel characteristic between the positioning device and the electronic device according to the second measurement value; the channel characteristic is used to characterize a degree of channel interference between the positioning device and the electronic device;

The correction unit is used to correct the second measurement value based on the channel characteristics, and determine the positioning result of the electronic device according to the processed corrected second measurement value and the first measurement value. In a third aspect, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the program, the steps of the method of the first aspect and any possible implementation of the first aspect are implemented.

According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the method according to the first aspect and any possible implementation method of the first aspect are implemented.

In a fifth aspect, a computer program product is provided. The computer program product includes instructions. When the instructions are executed, the steps of the method of the above-mentioned first aspect and any possible implementation manner of the first aspect are implemented.

In the prior art, a vehicle positioning device can use UWB technology to locate electronic devices and unlock the vehicle based on the positioning result.

However, since UWB technology is greatly affected by obstacles in space (physical buildings in parking lots, such as solid columns or glass), if the above obstacles exist, the positioning results will be inaccurate if UWB technology is still used to determine the positioning between electronic devices.

By adopting the solution of the present application, the electronic device can be accurately positioned.

Specifically, first, based on the line-of-sight measurement condition and the non-line-of-sight measurement condition, a distance measurement value that satisfies the no-attenuation ranging condition (i.e., the first measurement value) and a distance measurement value that satisfies neither the no-attenuation ranging condition nor the strong attenuation ranging condition (i.e., the second measurement value) can be screened out from multiple distance measurement values. Furthermore, since the channel interference degree between the positioning device and the electronic device is related to the channel characteristics, the second measurement value can also be corrected based on the channel characteristics, which solves the interference of obstacles to the wireless signal transmission channel to a certain extent, thereby improving the accuracy of the positioning result.

Compared with the prior art, the solution in the present application can utilize line-of-sight measurement conditions and non-line-of-sight measurement conditions to eliminate incorrect measurement results, and then correct the measurement results that may have measurement errors (i.e., the second measurement value), and finally determine the positioning result of the electronic device based on the accurate measurement results (i.e., the first measurement value) and the corrected second measurement value.

Therefore, by adopting the solution of the present application, the accuracy of the positioning result of the positioning device for the electronic device can be greatly improved.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG1 is an application scenario diagram of a positioning method provided in an embodiment of the present application;

FIG2 is a flow chart of a positioning method provided in an embodiment of the present application;

FIG3 is another flow chart of the positioning method provided in an embodiment of the present application;

FIG4 is another flow chart of the positioning method provided in an embodiment of the present application;

FIG5 is another flow chart of the positioning method provided in an embodiment of the present application;

FIG6 is a diagram showing a calculation principle for calculating the distance between a mobile terminal and a vehicle according to an embodiment of the present application;

FIG7 is a schematic diagram of determining whether an electronic device is in a welcome area and an unlocking area according to an embodiment of the present application;

FIG8 is a schematic diagram of determining whether an electronic device is in a vehicle according to an embodiment of the present application;

FIG9 is a schematic diagram of the effect of side detection provided by an embodiment of the present application;

FIG10 is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application;

FIG. 11 is a structural block diagram of an electronic device provided in an embodiment of the present application.

DETAILED DESCRIPTION

The present application is further described in detail below in conjunction with the embodiments and drawings. It is to be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the drawings.

It should be noted that, in the absence of conflict, the embodiments of the present application, that is, the features of the embodiments, can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

In the prior art, a vehicle positioning device can use UWB technology to locate electronic devices and unlock the vehicle based on the positioning result.

However, since UWB technology is greatly affected by obstacles in space (physical buildings in parking lots, such as solid columns or glass), if the UWB technology is still used to determine the location of the electronic device in the presence of the above obstacles, the positioning result will be inaccurate.

The positioning method provided in the present application can be applied to the system shown in Figure 1. Referring to Figure 1, the system may include a positioning device 10 and an electronic device 20. The positioning device 10 is used to locate the electronic device 20, for example, to determine the distance, direction, and location of the electronic device 20.

The positioning device 10 may be a vehicle-mounted device such as a sensor disposed inside a vehicle, and the vehicle-mounted device may locate the electronic device 20, for example, determine the distance between the vehicle-mounted device and the electronic device 20. It is understood that the above-mentioned sensor may be equipped with a UWB functional module. The above-mentioned positioning device 10 may also be other devices with a positioning function, and the UWB functional module is installed in the device.

The electronic device 20 may be a mobile terminal such as a smart phone, a smart bracelet, or a tablet computer. The mobile terminal may send distance measurement information to the positioning device 10 , for example, the measured distance between the mobile terminal and the positioning device 10 .

FIG. 1 above introduces the application scenario diagram of the present application. In another embodiment of the present application, a positioning method is also provided, which can be applied to the application scenario shown in FIG. 1 and is executed by a positioning device 10. FIG. 2 is a flow chart of the method (i.e., the positioning method). Specifically, referring to FIG. 2, the method includes the following steps:

Step 201: Acquire multiple distance measurement values; the distance measurement value is the distance between the positioning device and the electronic device determined by a sensor of the positioning device.

It is understandable that when the positioning device 10 locates the electronic device 20, the electronic device 20 first needs to receive the ranging signal sent by the positioning device 10. For example, it can be a UWB ranging signal. The electronic device 20 can determine the distance value based on the ranging signal. Exemplarily, the distance value can be determined by using a bilateral two-way ranging algorithm for the transmission time of the ranging signal. (i.e., multiple distance measurement values), and finally sent to the positioning device 10, the positioning device 10 can locate the electronic device 20 based on the above-mentioned measured distance value.

The distance measurement value is determined by the electronic device 20 according to the reception status of the wireless signal after receiving the wireless signal sent by the positioning device 10. For example, the distance measurement value may be the distance values at different times acquired by different sensors of the positioning device 10, or the distance values at the same time acquired by different sensors of the positioning device 10, or the distance values at different times acquired by the same sensor of the positioning device 10, or the distance value at any time acquired by the same sensor of the positioning device 10.

Exemplarily, if the above distance is the distance value obtained by different sensors of the positioning device 10 at different times, it may be the distance values d1 _t=1 , d2 _t=2 , d3 _t=3 , d4 _t=4 obtained by the four sensors of the positioning device 10. If the above distance is the distance value obtained by different sensors of the positioning device 10 at the same time, it may be d1 _t=1 , d2 _t=1 , d3 _t=1 , d4 _t=1 . If the above distance is the distance value obtained by the same sensor of the positioning device 10 at different times, it may be d1 _t=1 , d1 _t=2 , ..., d1 _t=60 . If the above distance is the distance value determined by the same sensor of the positioning device 10 at any time, it may be d1 _t=1 , or d2 _t=2 , or d4 _t=3 . It should be noted that the embodiment of the present application does not limit the number of sensors of the positioning device 10, that is, the number of sensors can be determined according to actual conditions. For example, the number of sensors can be five.

In a possible implementation, the positioning device 10 may obtain multiple distance measurement values. For example, the four sensors of the positioning device 10 may obtain 60 groups of distance measurement values {d1 _t=1 , d2 _t=1 , d3 _t=1 , d4 _t=1 } to {d1 _t=60 , d2 _t=60 , d3 _t=60 , d4 _t=60 } measured every second within one minute. Taking the first group of distance measurement values as an example, each distance measurement is explained, wherein d1 _t=1 , d2 _t=1 , d3 _t=1 , d4 _t=1 respectively represent the distance measured by the first sensor of the positioning device 10 at the first second, the distance measured by the second sensor of the positioning device 10 at the second second, the distance measured by the third sensor of the positioning device 10 at the third second, and the distance measured by the fourth sensor of the positioning device 10 at the fourth second.

Step 202: Filter multiple distance measurement values according to the line-of-sight measurement condition and the non-line-of-sight measurement condition to obtain a first measurement value that satisfies the line-of-sight measurement condition and a second measurement value that does not satisfy the line-of-sight measurement condition and the non-line-of-sight measurement condition; the line-of-sight measurement condition is used to characterize the conditions satisfied by performing non-attenuation ranging based on the wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement condition characterizes the conditions satisfied by performing strong attenuation ranging based on the wireless signal between the positioning device and the electronic device.

Among them, non-attenuation ranging is the straight-line transmission of wireless signals between two communication points (for example, transmission under conditions such as air without building obstruction), that is, when the wireless signal is not attenuated, the distance measurement value is accurate. Exemplarily, when the wireless signal is not attenuated, its signal strength can be between -30dbm and -40dbm. It should be noted that the signal quality corresponding to -30dbm is better than the signal quality corresponding to -40dbm.

Strong attenuation ranging is the multipath transmission of wireless signals between two communication points (for example, transmission under strong obstruction of buildings such as solid columns), that is, when the wireless signal is strongly attenuated, the distance measurement value is inaccurate. Exemplarily, when the wireless signal is strongly attenuated, its signal strength can be less than -90dbm.

It is understandable that when the ranging conditions do not meet the line-of-sight measurement conditions and non-line-of-sight measurement conditions, that is, when the wireless signal is neither non-attenuation ranging nor strong attenuation ranging, it can be considered that the wireless signal performs weak attenuation ranging. Weak attenuation ranging is the multipath transmission of wireless signals between two communication points (for example, transmission under weak obstruction of buildings such as glass), that is, when the wireless signal is weakly attenuated, the distance measurement value obtained is relatively accurate. Exemplarily, when the wireless signal is weakly attenuated, its signal strength can be between -40dbm and -90dbm.

The first measurement value is used to characterize the measurement value that meets the line-of-sight measurement condition. Exemplarily, the line-of-sight measurement condition may be a signal strength interval corresponding to a wireless signal that meets the non-attenuation ranging. For example, the signal strength interval may be -30dbm to -40dbm. Exemplarily, the distance measurement value corresponding to the signal strength that meets the above interval may be determined as the first measurement value. For example, the distance measurement value corresponding to the signal strength that meets the above interval may be the distance value obtained by the same sensor of the positioning device 10 at different times, which may be d1 _t=1 , d1 _t=2 , ..., d1 _t=58 .

The second measurement value is used to characterize the measurement value that does not meet the line-of-sight measurement condition and the non-line-of-sight measurement condition. The condition that does not meet the line-of-sight measurement condition and the non-line-of-sight measurement condition may be a signal strength interval corresponding to a wireless signal that meets weak attenuation ranging. For example, the signal strength interval may be -40dbm to -90dbm. Exemplarily, the distance measurement value corresponding to the signal strength that meets the above interval may be determined as the second measurement value. For example, the distance measurement value corresponding to the signal strength that meets the above interval may be the distance value obtained by the same sensor of the positioning device 10 at different times, which may be d1 _t=59 .

In a possible implementation, the positioning device 10 may filter multiple distance measurement values based on wireless signal strength.

In a possible implementation, the positioning device 10 may determine the distance measurement value corresponding to the signal strength in the interval of -30dbm to -40dbm as the first measurement value. Exemplarily, the distance measurement values d1 _t=1 , d1 _t=2 , ..., d1 _t=58 corresponding to the signal strength in the above interval may be used as the first measurement value. Similarly, the positioning device 10 may determine the distance measurement value corresponding to the signal strength in the interval of -40dbm to -90dbm as the second measurement value. Exemplarily, the distance measurement value d1 _t=59 corresponding to the signal strength in the above interval may be used as the second measurement value.

Step 203: determine the channel characteristics between the positioning device and the electronic device according to the second measurement value; the channel characteristics are used to characterize the degree of channel interference between the positioning device and the electronic device.

If the interference degree of the channel between the positioning device 10 and the electronic device 20 is strong, the channel characteristic performance will be more prominent. Otherwise, the channel characteristic performance will be less obvious. Exemplarily, the channel interference degree can be measured by kurtosis k. When the interference is more serious, the kurtosis k will be greater. Otherwise, the kurtosis k will be smaller.

In a possible implementation, the positioning device 10 may determine the kurtosis k ₁ based on d1 _t=59 .

Step 204: Correct the second measurement value based on the channel characteristics, and determine the positioning result of the electronic device according to the processed second measurement value and the first measurement value.

The positioning result includes the area where the electronic device 20 is located or the distance d between the electronic device 20 and the positioning device 10. Specifically, the area where the electronic device 20 is located is the position of the electronic device 20 relative to the positioning device 10, and the distance between the electronic device 20 and the positioning device 10 is the distance d between the two particles when the two are regarded as particles. Exemplarily, the electronic device 20 can be located in front of the positioning device 10, or behind it, etc. The distance d between the electronic device 20 and the positioning device 10 can be 7m.

In a possible implementation, if it is determined based on the kurtosis _k1 that the corresponding d1 _t=59 is the result of weak attenuation ranging, that is, the measured distance value d1 _t=59 is not much different from the actual distance value d1 _t=59 ', the positioning device 10 can correct d1 _t=59 based on the adaptive Kalman filter model so that the distance measurement value is d1 _t=59 '.

In a possible implementation, first, the positioning device 10 can obtain distance measurement values d1 _t=1 , d1 _t=2 , ..., d1 _t=58 , and d1 _t=59 ', and by analogy, can obtain d2 _t=1 , d2 _t=2 , ..., d2 _t=58 , and d2 _t=59 '~d4 _t=1 , d4 _t=2 , ..., d4 _t=58 , and d4 _t=59 '. Second, after sorting, 59 groups of distance measurement values {d1 _t=1 , d2 _t=1 , d3 _t=1 , d4 _t=1 }~{d1 _t=59 ', d2 _t=59 , d3 _t=59 , d4 _t=59 } can be obtained. It can be understood that d1 _t＝59 ' is the distance measurement value obtained after correction of d1 _t＝59 . Third, 59 positioning results can be determined from the above 59 sets of distance measurement values. Taking a set of distance measurement values {d1 _t＝59 ', d2 _t＝59 , d3 _t＝59 , d4 _t＝59 } as an example, the corresponding positioning result can be that the electronic device 20 is located in front of the positioning device 10, and the electronic device and the positioning device are taken as mass points, and the distance d between the two points is 1m.

By adopting the solution of the present application, electronic equipment can be accurately positioned.

Specifically, first, based on the line-of-sight measurement condition and the non-line-of-sight measurement condition, a distance measurement value that satisfies the no-attenuation ranging condition (i.e., the first measurement value) and a distance measurement value that satisfies neither the no-attenuation ranging condition nor the strong attenuation ranging condition (i.e., the second measurement value) can be screened out from multiple distance measurement values. Furthermore, since the channel interference degree between the positioning device and the electronic device is related to the channel characteristics, the second measurement value can also be corrected based on the channel characteristics, which solves the interference of obstacles to the wireless signal transmission channel to a certain extent, thereby improving the accuracy of the positioning result.

Compared with the prior art, the solution in the present application can utilize line-of-sight measurement conditions and non-line-of-sight measurement conditions to eliminate incorrect measurement results, and then correct the measurement results that may have measurement errors (i.e., the second measurement value), and finally determine the positioning result of the electronic device based on the accurate measurement results (i.e., the first measurement value) and the corrected second measurement value.

Therefore, by adopting the solution of the present application, the accuracy of the positioning result of the positioning device for the electronic device can be greatly improved.

In the embodiment described above, how to locate the electronic device 20 is introduced. In another embodiment of the present application, how to determine the first measurement value and the second measurement value is introduced. For example, the specific implementation of the above steps of "screening multiple distance measurement values according to the line-of-sight measurement condition and the non-line-of-sight measurement condition to obtain the first measurement value that meets the line-of-sight measurement condition and the second measurement value that does not meet the line-of-sight measurement condition and the non-line-of-sight measurement condition" includes:

A plurality of distance measurement values are screened according to a first threshold and a second threshold to obtain a first measurement value that is less than the first threshold and a second measurement value that is greater than the first threshold and less than the second threshold.

Among them, the first threshold is used to characterize the critical value of the distance measurement value for attenuation-free ranging. For example, when attenuation-free ranging is performed, that is, when the signal strength of the wireless signal is in the range of -30dbm to -40dbm, the range of the distance measurement value obtained can be 1m to 7m. If the signal strength is -40dbm and the measured distance is 7m, then 7m is the critical value of the distance measurement value for attenuation-free ranging (i.e., the first threshold). In other words, when the distance exceeds 7m, the distance measurement value obtained may be inaccurate.

The second threshold is used to characterize the critical value of the distance measurement value for strong attenuation ranging. For example, when performing strong attenuation ranging, that is, when the signal strength of the wireless signal is less than -90dbm, the range of the distance measurement value obtained can be 11m to 13m. If the signal strength is -90dbm and the measured distance is 11m, then 11m is the critical value of the distance measurement value for strong attenuation ranging (i.e., the second threshold). In other words, when the distance exceeds 11m, the distance measurement value obtained is inaccurate.

In a possible implementation, the positioning device 10 may screen out first measurement values d1 _t=1 to d1 _t=58 less than 7 m and a second measurement value d1 t=59 greater than 7 m and less than _{11 m} from multiple distance measurement values based on the first threshold 7 m and the second threshold 11 m.

In the above-mentioned embodiment, it is described how to determine the first measurement value and the second measurement value. In another embodiment of the present application, it is described how to determine the channel characteristics between the positioning device 10 and the electronic device 20. For example, the specific implementation of "determining the channel characteristics between the positioning device and the electronic device according to the second measurement value" involved in the above steps includes the steps of FIG. 3:

Step 301: Determine the channel response strength between the positioning device and the electronic device according to the second measurement value.

The channel response strength is the signal energy value of the wireless signal after multipath transmission (eg, blocked by obstacles) reaching the electronic device 20. Exemplarily, it may be h(t). It is understandable that one second measurement value has one channel response strength.

In a possible implementation, the positioning device 10 may determine the signal response strength h(t ₅₉ ) based on the second measurement value d1 _t=59 .

Step 302: Determine channel characteristics according to channel response strength.

In a possible implementation, the positioning device 10 may determine the kurtosis k ₅₉ based on the signal response strength h(t ₅₉ ).

In the above-mentioned embodiment, it is described how to determine the channel characteristics between the positioning device 10 and the electronic device 20. In another embodiment of the present application, it is described how to correct the second measurement value. For example, the specific implementation of "correcting the second measurement value based on the channel characteristics" involved in the above steps includes the steps of FIG. 4:

Step 401: Determine whether the second measurement value is a line-of-sight measurement result according to a channel characteristic and a channel characteristic threshold; the channel characteristic threshold is used to characterize the channel characteristic under line-of-sight measurement conditions.

The channel characteristic under the line-of-sight measurement condition is the characteristic of the wireless signal propagating in the air. Exemplarily, the above characteristic may be the kurtosis standard value k ₀ .

The sight distance measurement result is used to indicate whether the second measurement value is accurate. For example, based on the kurtosis k _59, it is determined that the corresponding second measurement value d1 _t59 is accurate.

In a possible implementation, the positioning device 10 may determine that the second measurement value d1 _t59 is accurate based on the kurtosis standard value k ₀ and the kurtosis k ₅₉ .

In a possible implementation, if the positioning device 10 determines that the second measurement value d1 _t59 is accurate, there is no need to perform correction processing on the second measurement value d1 _t59 .

Step 402: If the second measurement value is a non-line-of-sight measurement result, the second measurement value is corrected to obtain a corrected second measurement value.

The non-line-of-sight measurement result is used to characterize that the second measurement value is inaccurate. Exemplarily, based on the kurtosis k _59, it is determined that the corresponding second measurement value d1 _t59 is inaccurate.

In a possible implementation, if the positioning device 10 determines that the second measurement value d1 _t59 is inaccurate, the second measurement value d1 _t59 may be corrected.

In a possible implementation, the positioning device 10 may perform correction processing on the second measurement value d1 _t59 based on an adaptive Kalman filter model to obtain a corrected second measurement value d1 _t59 ′ after the processing.

In the embodiment described above, it is described how to perform correction processing on the second measurement value. In another embodiment of the present application, it is described how to obtain the corrected second measurement value. For example, the correction of the second measurement value involved in the steps above to obtain the corrected second measurement value includes:

The corrected second measurement value is determined based on the distance measurement value at the previous moment of the second measurement value and the error value of the second measurement value; the error value of the second measurement value is the difference between the second measurement value and the predicted value corresponding to the second measurement value.

The distance measurement value at a moment before the second measurement value may be d1 _t58 .

The predicted value corresponding to the second measurement value is the value predicted by the sensor of the positioning device 10 based on the distance measurement value at the previous moment for the distance measurement value at the next moment. For example, it can be a d1 _{t59 prediction} .

In a possible implementation, the positioning device 10 may sum the distance measurement value of the second measurement value at a moment before the second measurement value, which may be d1 _t58 , and the error value d1 _t59 −d1 _{t59 predicted} of the second measurement value (i.e., the difference d1 _t59 −d1 t59 predicted between the second measurement value d1 _t59 and the predicted value d1 _{t59 predicted} corresponding to the second measurement value) to obtain a corrected second measurement value d1 _t59 ′.

In the above-mentioned embodiment, how to obtain the corrected second measurement value is described. In another embodiment of the present application, when multiple distance measurement values are distance values collected by different sensors of the positioning device at the same time, a method for determining the distance between the positioning device and the electronic device is described. Exemplarily, the method includes:

The distance between the positioning device and the electronic device is determined according to the corrected second measurement value and any two distance measurement values of the first measurement value.

A measurement value may be a distance measurement value d1 _t=1 , d1 _t=2 , ..., d1 _t=58 determined by the same sensor at different times. The above text only takes the distance measurement value of one sensor at different times as an example for explanation. It can be understood that the same processing is also performed for the remaining three sensors to obtain the corresponding first measurement value. Similarly, according to the description of the corrected second measurement value in the above text, the same processing is also performed for the remaining three sensors to obtain the corresponding corrected second measurement value.

Exemplarily, for four sensors, the first measurement values may be d1 _t=1 , d2 _t=1 , d3 _t=1 , d4 _t=1 to d1 _t=58 , d2 _t=58 , d3 _t=58 , d4 _t=58 , and d2 _t=59 , d3 _t=59 , d4 _t=59 . The corrected second measurement value may be d1 _t=59 '. Therefore, any two distance measurement values may be the distance measurement values d1 _t=59 ' and d2 _t=59 determined by any two different sensors at the same time.

In a possible implementation, the positioning device 10 may determine the distance d between two mass points when the positioning device 10 and the electronic device 20 are used as mass points based on any two distance measurement values d1 _t=59 ′ and d2 _{t=59 ′} .

In a possible implementation, the positioning device 10 can use the electronic device 20 and sensors (e.g., sensor 1 and sensor 2) corresponding to the distance measurement values of any two points as mass points to form a triangle, and determine the distance d based on the type of the triangle and the relationship between the three sides of the triangle.

Preferably, in a possible implementation, the positioning device 10 may determine the distance d between two mass points when the positioning device 10 and the electronic device 20 are used as mass points based on the two closest distance measurement values d1 _t=58 and d2 _t=58 at the same time.

In the above-mentioned embodiment, it is described how to determine the distance between the positioning device and the electronic device. In another embodiment of the present application, it is described how to operate the electronic device when the positioning result includes the area where the electronic device is located and the distance between the electronic device and the vehicle. Exemplarily, the method includes:

The contactless response operation of the vehicle is performed according to the area; the contactless response operation includes at least one of automatic unlocking, automatic welcome and automatic start.

The area is used to indicate the specific position of the electronic device 20 in the positioning device 10. For example, the electronic device 20 may be located in front of, to the left, to the right, or to the rear of the positioning device 10.

In one possible implementation, the positioning device 10 can determine that the positioning result of the electronic device 20 is that the electronic device 20 is located behind the positioning device, and the distance d between the electronic device 20 and the positioning device is 0.1m, then the rear facility of the positioning device (for example, the door cover behind the positioning device 10) can be unlocked (for example, the door cover is opened).

In the above-mentioned embodiment, how to operate the electronic device is introduced. In another embodiment of the present application, specific types of multiple distance measurement values are introduced. The above types include at least one of the following:

The distance values collected by the same sensor at different times, the distance values collected by different sensors at the same time, and the distance values collected by different sensors at different times.

The above terms have been explained in the previous article. Please refer to the previous description for details and will not be repeated here.

In the above-mentioned embodiment, specific types of multiple distance measurement values are introduced. In another embodiment of the present application, a flowchart of a positioning method is introduced as a complete embodiment of the present application. The flowchart of this embodiment can refer to Figure 5, and the specific execution steps in the flowchart are as follows:

P1, UWB ranging.

It should be noted that the UWB ranging here is equivalent to the multiple distance measurement values obtained in the previous embodiments of the present application.

P2. Non-line-of-sight initial screening.

It should be noted that the non-line-of-sight initial screening here is equivalent to obtaining the first measurement value and the second measurement value according to the line-of-sight measurement condition and the non-line-of-sight measurement condition in the previous embodiment of the present application. In other words, the distance measurement values belonging to the non-line-of-sight are eliminated.

P3. Determine whether it is in the undetermined area.

If yes, execute P4;

If not, execute P5.

It should be noted that the undetermined area here is equivalent to the second measurement value of the non-line-of-sight measurement condition that does not meet the line-of-sight measurement condition in the previous embodiment of the present application, and is also equivalent to the second measurement value in the previous embodiment of the present application that is greater than the first threshold and less than the second threshold.

P4, non-line-of-sight second screening.

It should be noted that the non-line-of-sight second screening here is equivalent to determining whether the second measurement value is a non-line-of-sight measurement result in the previous embodiment of the present application.

P5. Adaptive Kalman filter processing.

It should be noted that the adaptive Kalman filter processing here is equivalent to the correction processing in the previous embodiment.

P6. Calculate the distance between the mobile terminal and the vehicle.

It should be noted that the calculated distance between the mobile terminal and the vehicle here is equivalent to the distance between the electronic device and the positioning device in the positioning result in the previous embodiment of this application. The mobile terminal here is equivalent to the electronic device in the previous embodiment of this application.

P7. Determine the operating trend.

It should be noted that the determination of the running trend here can be understood as determining whether the mobile terminal is close to the vehicle. For specific determination operations, see the following steps.

P8. Determine whether you are in the reception area.

If yes, execute P9;

If not, execute P11.

P9. Determine whether it is in the unlocking area.

If yes, execute P10;

If not, execute P11.

P10. Determine whether you are in the car.

If yes, execute P11;

If not, execute P12.

It should be noted that the corresponding response here is equivalent to the contactless response operation in the previous embodiments of this application.

P11. Make corresponding responses based on the area where the mobile terminal is located.

P12. Perform side inspection.

It should be noted that the side detection here is equivalent to determining the area where the electronic device is located in the positioning result in the previous embodiments of this application.

It is understandable that the calculation principle diagram of calculating the distance between the mobile terminal and the vehicle in P6 can refer to Figure 6. First, referring to Figure 6(a), when the triangle formed by the two nearest anchor points A1 and A2 of the mobile terminal P and the vehicle is an acute triangle, or the three sides meet the following conditions:

The distance d can be calculated by Or,

Secondly, referring to FIG6(b), when the triangle formed by the two nearest anchor points A1 and A2 between the mobile terminal P and the vehicle is an obtuse triangle, or the three sides meet the following conditions:

The calculation formula of the distance d may be d=min(d ₂ ,d ₃ ), that is, the anchor distance closest to the mobile terminal P is taken as the distance d between the mobile terminal P and the vehicle.

It can be understood that the schematic diagram of the judgment criteria for judging whether it is in the welcome area in P8 and judging whether it is in the unlocking area in P9 is shown in Figure 7, and the judgment criteria are shown in Table 1.

Table 1 Judgment criteria for the unlocking area in the welcome area

It can be understood that the judgment criteria for determining whether the mobile terminal P is in the car in P11 are shown in Figure 8. First, referring to Figure 8 (a), when the mobile terminal P is in the small circle, that is, in the circle with a radius of r1, it is determined that the mobile terminal P is in the car, and when the mobile terminal P is in the ring, that is, outside the circle with a radius of r1 and inside the circle with a radius of r2, when it is in the lower half of the fan-shaped area surrounded by the anchor points A1 and A4 and the circle with a radius of r2, or in the upper half of the fan-shaped area surrounded by the anchor points A2 and A3 and the circle with a radius of r2, it is determined that the mobile terminal P is outside the car.

Secondly, the description of FIG8(b) can refer to FIG8(a), which will not be repeated here.

It is understandable that the effect diagram of the side detection in P12 can refer to Figure 9. The area of the mobile terminal relative to the vehicle can be determined based on the two closest anchor distance values to the mobile terminal. The corresponding relationship between the two closest anchor distance values and the area can be seen in the following set A:

Among them, d _min is the anchor distance value closest to the mobile terminal, and d _sec is the anchor distance value second closest to the mobile terminal.

It can be understood that the model parameters of the adaptive Kalman filter processing in P5 are as follows:

State variable: X _k|k-1 = F _k X _k-1|k-1 + B _k U _k

Covariance matrix:

Among them, _Fk is the state transfer matrix, _Bk is the control matrix, _Uk is the control gain, and _Qk is the process error.

State variables: X _k|k = X _k|k-1 + K _k ( Z _k - H _k X _k|k-1 )

Covariance matrix: P _k|k = (IK _k H _k )P _k|k-1

Where R _k is the measurement error, H _k is the measurement matrix, and Z _k is the actual measurement value. _{K k} is the Kalman gain, which will be adjusted accordingly according to the line-of-sight and non-line-of-sight ranging. If there is non-line-of-sight ranging, the Kalman gain is 0. If there is no non-line-of-sight ranging value, the Kalman gain is calculated normally.

Kalman gain:

It should be noted that, in the state variable Xk _|k = _Xk|k-1 + _Kk ( _Zk - _{HkXk |k-1} ), Xk _|k is equivalent to the corrected second measurement value in the previous embodiment of the present application, _Xk|k-1 is equivalent to the distance measurement value of the second measurement value in the previous embodiment of the present application, _Kk ( _Zk - _{HkXk |k-1} ) is equivalent to the error value of the second measurement value in the previous embodiment of the present application, _Zk is equivalent to the second measurement value in the previous embodiment of the present application, and _{HkXk |k-1} is equivalent to the predicted value corresponding to the second measurement value in the previous implementation of the present application.

It can be understood that after the following normalization processing is performed on the multiple distance measurement values, the first threshold value and the second threshold value,

The standardized processing is:

Innovation vector: r _k = Z _k - H _k X _{k | k-1}

Innovation covariance:

Inspection information:

Z _k is equivalent to the second measured value in the previous embodiment of the present application,

The comparison is then carried out according to the following evaluation criteria:

Determine a first measurement value and a second measurement value among the plurality of distance measurement values, wherein C1 is equivalent to the first threshold value in the foregoing embodiment of the present application, and C2 is equivalent to the second threshold value in the foregoing embodiment of the present application.

It can be understood that the channel characteristic in the above text can be the kurtosis k, or the average excess delay τ _med , or the root mean square delay spread τ _rms . The calculation formula of the kurtosis k is: μ _|h| and δ _|h| represent the mean and standard deviation of |h(t)|, respectively. The average excess delay τ _med is calculated as The formula for calculating τ _rms root mean square delay spread is:

In the above-mentioned embodiment, a flowchart of a positioning method is introduced. In another embodiment of the present application, a schematic diagram of the structure of a positioning device is introduced, and the device includes: an acquisition unit 1001, a screening unit 1002, a determination unit 1003, and a correction unit 1004. Among them:

The acquisition unit 1001 is used to acquire multiple distance measurement values; the distance measurement value is the distance between the positioning device and the electronic device determined by the sensor of the positioning device; the multiple distance measurement values include at least one of the following: distance values collected by the same sensor at different times, distance values collected by different sensors at the same time, and distance values collected by different sensors at different times.

The screening unit 1002 is used to screen multiple distance measurement values according to the line-of-sight measurement condition and the non-line-of-sight measurement condition to obtain a first measurement value that meets the line-of-sight measurement condition and a second measurement value that does not meet the line-of-sight measurement condition and the non-line-of-sight measurement condition; the line-of-sight measurement condition is used to characterize the conditions satisfied by performing non-attenuation ranging based on the wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement condition characterizes the conditions satisfied by performing strong attenuation ranging based on the wireless signal between the positioning device and the electronic device;

The determining unit 1003 is used to determine the channel characteristics between the positioning device and the electronic device according to the second measurement value; the channel characteristics are used to characterize the channel interference degree between the positioning device and the electronic device;

The correction unit 1004 is used to correct the second measurement value based on the channel characteristics, and determine the positioning result of the electronic device according to the processed corrected second measurement value and the first measurement value.

In one embodiment, the screening unit 1002 is specifically configured to screen multiple distance measurement values according to a first threshold and a second threshold to obtain a first measurement value that is less than the first threshold and a second measurement value that is greater than the first threshold and less than the second threshold.

In one embodiment, the determining unit 1003 is specifically configured to determine a channel response strength between the positioning device and the electronic device according to the second measurement value; and determine a channel characteristic according to the channel response strength.

In one embodiment, the correction unit 1004 is specifically used to determine whether the second measurement value is a line-of-sight measurement result based on the channel characteristics and the channel characteristic threshold; the channel characteristic threshold is used to characterize the channel characteristics under the line-of-sight measurement condition; if the second measurement value is a non-line-of-sight measurement result, the second measurement value is corrected to obtain a corrected second measurement value.

In one embodiment, the correction unit 1004 is used to determine the corrected second measurement value based on the distance measurement value at the previous moment of the second measurement value and the error value of the second measurement value; the error value of the second measurement value is the difference between the second measurement value and the predicted value corresponding to the second measurement value.

In one embodiment, the correction unit 1004 is configured to determine the distance between the positioning device and the electronic device according to the corrected second measurement value and any two distance measurement values in the first measurement value.

In one embodiment, the correction unit 1004 is used to perform a contactless response operation of the vehicle according to the area; the contactless response operation includes at least one of automatic unlocking, automatic welcoming and automatic starting.

For the specific definition of the positioning device, please refer to the definition of the positioning method above, which will not be repeated here. The various modules of the above positioning device can be implemented in whole or in part by software, hardware and their combination. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, an electronic device is provided. FIG11 is a structural block diagram of an electronic device provided in an embodiment of the present application, refer to FIG11. The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the aforementioned positioning method embodiment when executing the computer program.

The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the processor executes the computer program, the aforementioned positioning method embodiment is implemented.

The embodiment of the present application provides a computer program product, which includes instructions, and when the instructions are executed, the method described in the embodiment of the present application is executed. For example, each step of the positioning method shown in Figure 2 can be executed.

Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims (12)

1. A positioning method, characterized in that the method comprises: Acquire a plurality of distance measurement values; the distance measurement values being the distance between the positioning device and the electronic device determined by a sensor of the positioning device; The multiple distance measurement values are screened according to a line-of-sight measurement condition and a non-line-of-sight measurement condition to obtain a first measurement value that satisfies the line-of-sight measurement condition and a second measurement value that does not satisfy the line-of-sight measurement condition and the non-line-of-sight measurement condition; the line-of-sight measurement condition is used to characterize a condition that is satisfied by performing non-attenuation ranging based on a wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement condition characterizes a condition that is satisfied by performing strong attenuation ranging based on a wireless signal between the positioning device and the electronic device; Determine a channel characteristic between the positioning device and the electronic device according to the second measurement value; the channel characteristic is used to characterize the degree of channel interference between the positioning device and the electronic device; The second measurement value is corrected based on the channel characteristics, and the positioning result of the electronic device is determined according to the corrected second measurement value and the first measurement value after processing. 2. The method according to claim 1, characterized in that the line-of-sight measurement condition includes that the distance between the positioning device and the electronic device is less than a first threshold, the non-line-of-sight measurement condition includes that the distance between the positioning device and the electronic device is greater than a second threshold, and the first threshold is less than the second threshold, The screening of the multiple distance measurement values according to the line-of-sight measurement condition and the non-line-of-sight measurement condition to obtain a first measurement value that satisfies the line-of-sight measurement condition and a second measurement value that does not satisfy the line-of-sight measurement condition and the non-line-of-sight measurement condition includes: The multiple distance measurement values are screened according to the first threshold and the second threshold to obtain the first measurement value that is smaller than the first threshold and the second measurement value that is larger than the first threshold and smaller than the second threshold. 3. The method according to claim 1, wherein determining the channel characteristic between the positioning device and the electronic device according to the second measurement value comprises: Determine a channel response strength between the positioning device and the electronic device according to the second measurement value; The channel characteristic is determined according to the channel response strength. 4. The method according to claim 1, wherein the correcting the second measurement value based on the channel characteristic comprises: Determining whether the second measurement value is a line-of-sight measurement result according to the channel characteristic and the channel characteristic threshold; the channel characteristic threshold is used to characterize the channel characteristic under the line-of-sight measurement condition; If the second measurement value is a non-line-of-sight measurement result, the second measurement value is corrected to obtain a corrected second measurement value. 5. The method according to claim 4, characterized in that the correcting the second measurement value to obtain the corrected second measurement value comprises: The corrected second measurement value is determined based on the distance measurement value at a previous moment of the second measurement value and the error value of the second measurement value; the error value of the second measurement value is the difference between the second measurement value and the predicted value corresponding to the second measurement value. 6 . The method according to claim 1 , wherein the multiple distance measurement values are distance values collected by different sensors of the positioning device at the same time. The distance between the positioning device and the electronic device is determined according to any two distance measurement values of the corrected second measurement value and the first measurement value. 7. The method according to claim 1, characterized in that the positioning device is set on a vehicle, the positioning result includes the area where the electronic device is located and the distance between the electronic device and the vehicle, and the method further comprises: A contactless response operation of the vehicle is performed according to the area; the contactless response operation includes at least one of automatic unlocking, automatic welcoming and automatic starting. 8. The method according to claim 1, characterized in that the multiple distance measurement values include at least one of the following: distance values collected by the same sensor at different times, distance values collected by different sensors at the same time, and distance values collected by different sensors at different times. 9. A positioning device, characterized in that the device comprises: An acquisition unit, configured to acquire a plurality of distance measurement values; the distance measurement values are distances between the positioning device and the electronic device determined by a sensor of the positioning device; a screening unit, configured to screen the multiple distance measurement values according to a line-of-sight measurement condition and a non-line-of-sight measurement condition, and obtain a first measurement value that satisfies the line-of-sight measurement condition, and a second measurement value that does not satisfy the line-of-sight measurement condition and the non-line-of-sight measurement condition; the line-of-sight measurement condition is used to characterize a condition that is satisfied by performing non-attenuation ranging based on a wireless signal between the positioning device and the electronic device, and the non-line-of-sight measurement condition characterizes a condition that is satisfied by performing strong attenuation ranging based on a wireless signal between the positioning device and the electronic device; a determining unit, configured to determine a channel characteristic between the positioning device and the electronic device according to the second measurement value; the channel characteristic is used to characterize a degree of channel interference between the positioning device and the electronic device; A correction unit is used to correct the second measurement value based on the channel characteristics, and determine the positioning result of the electronic device according to the processed corrected second measurement value and the first measurement value. 10. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the positioning method according to any one of claims 1 to 8 is implemented. 11. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the positioning method according to any one of claims 1 to 8 is implemented. 12. A computer program product, comprising instructions, wherein when the instructions are executed, the positioning method according to any one of claims 1 to 8 is implemented.