CN-122029842-A - Electronic device, positioning method, and computer-readable storage medium

Abstract

An electronic device, a positioning method, and a computer-readable storage medium are provided. The electronic device may include processing circuitry configured to transmit positioning instructions to a plurality of terminal devices in proximity of a positioning target to instruct the terminal devices to transmit a perception signal to the positioning target and receive an echo signal to obtain perception data, to receive a plurality of perception data from the plurality of terminal devices, and to process the received perception data to obtain a positioning result for the positioning target.

Inventors

• LI HAOJIN
• JIANG WANGJUN
• SUN CHEN

Assignees

• 索尼集团公司

Dates

Publication Date

20260512

Application Date

20241008

Priority Date

20231009

Claims (20)

1. An electronic device, comprising: processing circuitry configured to: Transmitting positioning instructions to a plurality of terminal devices near a positioning target to instruct the terminal devices to transmit sensing signals to the positioning target and receive echo signals to obtain sensing data; receiving a plurality of awareness data from the plurality of terminal devices, and And processing the received perception data to obtain a positioning result of the positioning target.
2. The electronic device of claim 1, wherein, The positioning indication is used for indicating the preliminary position of the positioning target.
3. The electronic device of claim 1, wherein the positioning indication and/or the perception data comprises beam related information of the perception signal.
4. The electronic device of claim 1, wherein the processing circuit is further configured to: And obtaining the intensity of the echo signal and the angle of the positioning target relative to the terminal equipment based on the perception data.
5. The electronic device of claim 4, wherein the processing circuit is further configured to: Selecting partial perceptual data from among the plurality of perceptual data such that a perceptual vector based on the selected perceptual data constitutes or approximately constitutes a convex hull set of a plurality of perceptual vectors based on the plurality of perceptual data, wherein the perceptual vector based on the perceptual data is determined according to the intensity and the angle, and And processing the selected perception data to obtain the positioning result.
6. The electronic device of claim 4, wherein the processing circuit is further configured to, prior to transmitting the location indication: Sending a preliminary positioning instruction to an alternative terminal device near the positioning target to instruct the alternative terminal device to send a sensing signal to the positioning target and receive an echo signal to obtain preliminary sensing data; Receiving said preliminary perception data from said alternative terminal device and obtaining the intensity of said echo signal and the angle of said positioning object relative to said terminal device from said preliminary perception data, and Selecting the plurality of terminal devices from among the candidate terminal devices such that a plurality of preliminary perception vectors based on preliminary perception data of the plurality of terminal devices constitute or approximately constitute a convex hull set of all preliminary perception vectors based on preliminary perception data of all candidate terminal devices, Wherein a preliminary perception vector based on the preliminary perception data is determined from the intensity and the angle obtained based on the preliminary perception data.
7. The electronic device of claim 1, wherein the positioning indication comprises control information about the time and/or manner in which the terminal device transmits the perception signal and/or the perception data.
8. The electronic device of claim 7, wherein the control information indicates a period in which the terminal device transmitted the sensory signal and the sensory data, and the processing circuit is further configured to: In each of the periods, a plurality of pieces of perception data are received, the received perception data are processed to obtain a positioning result, and the obtained positioning result is transmitted to the plurality of terminal devices as an updated position of the positioning target.
9. The electronic device of claim 1, wherein the processing circuit is further configured to: Selecting high quality perceptual data of the echo signal from the plurality of perceptual data, and And fusing the selected perception data to obtain the positioning data.
10. The electronic device of claim 1, wherein the processing circuit is further configured to: the positioning indication is sent in case a positioning request from the positioning target and/or a positioning accuracy with respect to the positioning target is below an accuracy threshold is received.
11. A terminal device, comprising: processing circuitry configured to: Receiving a positioning indication from an electronic device; based on the positioning indication, sending a sensing signal to a positioning target and receiving an echo signal to obtain sensing data; And sending the perception data to the electronic equipment so that the electronic equipment can obtain a positioning result of the positioning target by processing a plurality of perception data from a plurality of terminal equipment.
12. The terminal device of claim 11, wherein the processing circuit is further configured to: The perceived signal is transmitted to the positioning target using a directional beam.
13. The terminal device of claim 11, wherein the positioning indication is used to indicate a preliminary position of the positioning target.
14. The terminal device of claim 11, wherein the positioning indication and/or the perceptual data comprises beam related information of the perceptual signal.
15. The terminal device of claim 11, wherein, The perception data can indicate the intensity of the echo signal and the angle of the positioning target relative to the terminal device.
16. The terminal device according to claim 11, wherein the positioning indication comprises control information about the time and/or manner in which the terminal device transmits the perception signal and/or the perception data.
17. The electronic device of claim 16, wherein the processing circuit is further configured to: And sending the sensing signal and/or the sensing data according to the time and/or the mode indicated by the control information.
18. The terminal device of claim 16, wherein the control information indicates a period in which the terminal device transmits the perception signal and the perception data, and the processing circuit is further configured to: In each of the periods, a perception signal is transmitted to the position of the positioning target and an echo signal is received to obtain perception data, the obtained perception data is transmitted to the electronic device, and a positioning result from the electronic device is received as an updated position of the positioning target.
19. A positioning method, comprising: Transmitting positioning instructions to a plurality of terminal devices near a positioning target to instruct the terminal devices to transmit sensing signals to the positioning target and receive echo signals to obtain sensing data; receiving a plurality of awareness data from the plurality of terminal devices, and And processing the received perception data to obtain a positioning result of the positioning target.
20. A positioning method implemented at a terminal device side includes: Receiving a positioning indication from an electronic device; based on the positioning indication, sending a sensing signal to a positioning target and receiving an echo signal to obtain sensing data; And sending the perception data to the electronic equipment so that the electronic equipment can obtain a positioning result of the positioning target by processing a plurality of perception data from a plurality of terminal equipment.

Description

Electronic device, positioning method, and computer-readable storage medium The present application claims priority from the chinese patent office, application number 202311305639.6, chinese patent application entitled "electronic device, positioning method, and computer readable storage medium," filed on 9, 10, 2023, the entire contents of which are incorporated herein by reference. Technical Field The present application relates to the field of wireless communication technology, and more particularly, to an electronic device, a positioning method, and a computer-readable storage medium that facilitate positioning using a sensing signal. Background High precision positioning techniques refer to the use of advanced sensors, algorithms, and data processing techniques to achieve accurate positioning of a target location. The technology can be applied to various fields such as navigation, unmanned automobiles, aerospace, military, earthquake early warning and the like. In the high-precision positioning technology, a Global Positioning System (GPS), an Inertial Navigation System (INS), a laser radar and other sensors are generally used for collecting information related to a target position, and then advanced algorithms and data processing technologies are used for analyzing and processing the information, so that more accurate position information is obtained. In practical applications, there may be various problems with existing high precision positioning techniques. For example, high-precision positioning such as indoor environments is difficult to achieve by GPS-only schemes, etc. due to building obstruction, etc. In addition, INS can only perform positioning of the relative position, and there is a problem of accumulated error. In addition, the cost of high-precision sensors such as laser radars is too high, and the high-precision sensors are difficult to popularize in a large range in indoor environments. In addition, the conventional positioning technology based on wireless communication relies on cooperation of multiple base stations/positioning anchor points to achieve high-precision positioning measurement, and in order to obtain accurate measurement results, a direct path is required to exist between a positioning terminal and the positioning anchor points. In an actual application scene, a direct path between a positioning terminal and a positioning anchor point may have a shielding condition, and positioning accuracy may be reduced. Disclosure of Invention The following presents a simplified summary of the disclosure in order to provide a basic understanding of some aspects of the disclosure. It should be understood that this summary is not an exhaustive overview of the disclosure. It is not intended to identify key or critical elements of the disclosure or to delineate the scope of the disclosure. Its purpose is to present some concepts related to the disclosure in a simplified form as a prelude to the more detailed description that is presented later. It is an object of at least one aspect of the present disclosure to provide an electronic device, a positioning method, and a computer-readable storage medium that are capable of positioning using sensing signals of a plurality of terminal devices, thereby facilitating high-precision positioning in a relatively low-cost manner, and facilitating application to situations where building shadows exist, such as indoor environments, and the like. According to an aspect of the disclosure, there is provided an electronic device comprising processing circuitry configured to transmit positioning instructions to a plurality of terminal devices in the vicinity of a positioning target to instruct the terminal devices to transmit perception signals to the positioning target and receive echo signals to obtain perception data, to receive a plurality of perception data from the plurality of terminal devices, and to process the received perception data to obtain a positioning result of the positioning target. According to another aspect of the disclosure, there is also provided a terminal device comprising processing circuitry configured to receive a positioning indication from an electronic device, to send a perception signal to a positioning target and to receive an echo signal to obtain perception data based on the positioning indication, and to send the perception data to the electronic device for the electronic device to obtain a positioning result of the positioning target by processing a plurality of perception data from a plurality of terminal devices. According to another aspect of the present disclosure, there is also provided a positioning method, including transmitting a positioning instruction to a plurality of terminal devices near a positioning target to instruct the terminal devices to transmit a sensing signal to the positioning target and receive an echo signal to obtain sensing data, receiving a plurality of sensing data from the plurality of term