Terminal positioning method, apparatus, electronic device and storage medium

1. A terminal positioning method that is applied a spatial reference device in a space where a terminal is located, at least two subspaces included in the space are respectively provided with at least one position sensing device, and the spatial reference device is a device that satisfies a preset position condition with respect to the at least two subspaces, the method comprising:

performing a first communication interaction with the terminal based on a first communication protocol;

determining a first relative positioning result for positioning the terminal based on a result of the first communication interaction; and

determining a target subspace where the terminal is located among the at least two subspaces based on the first relative positioning result.

2. The method according to claim 1 , wherein the preset position condition comprises:

a position at a junction of the at least two subspaces in the space.

3. The method according to claim 1 , wherein the preset position condition comprises:

a position determined based on a position relationship of the respective position sensing devices in the at least two subspaces.

4. The method according to claim 1 , wherein the method further comprises:

notifying the at least one position sensing device in the target subspace that the terminal is located in the target subspace.

5. A terminal positioning method that is applied to a particular position sensing device in a particular subspace in a space where a terminal is located, at least two subspaces included in the space where the terminal is located are respectively provided with at least one position sensing device, the method comprising:

receiving a notification sent from a spatial reference device that is a device that satisfies a preset position condition with respect to the at least two subspaces, the notification being used to notify the particular position sensing device that the terminal is determined to be located in the particular subspace among the at least two subspaces; and

performing a second communication interaction with the terminal in response to the notification in order to locate the terminal.

6. The method according to claim 5 , wherein the performing the second communication interaction with the terminal in order to locate the terminal further comprises:

determining a result of distance measurement and direction measurement on the terminal based on a flight duration of wireless signals of the second communication interaction; and

determining a positioning result of the terminal based on the result of distance measurement and direction measurement.

7. A terminal positioning method that is applied to a terminal, the method comprising:

performing a first communication interaction with a spatial reference device in a space where the terminal is located based on a first communication protocol, at least two subspaces included in the space where the terminal is located are respectively provided with at least one position sensing device, and the spatial reference device is a device that satisfies a preset position condition with respect to the at least two subspaces; and

performing a second communication interaction with the at least one position sensing device in a target subspace where the terminal is located among the at least two subspaces in order to locate the terminal by the at least one position sensing device in the target subspace, wherein the target subspace where the terminal is located is determined by the spatial reference device based on a result of the first communication interaction.

8. The method according to claim 7 , wherein the performing the second communication interaction with the at least one position sensing device in the target subspace comprises:

performing the second communication interaction with the at least one position sensing device in the target subspace based on a second communication protocol, in response to a notification from the spatial reference device indicating that the terminal is determined to be in the target subspace;

determining a result of distance measurement and direction measurement on the at least one position sensing device in the target subspace based on a flight duration of wireless signals of the second communication interaction; and

determining a positioning result of the at least one position sensing device in the target subspace with respect to the terminal based on the result of distance measurement and direction measurement.

9. A terminal positioning apparatus that is applied to a spatial reference device in a space where a terminal is located, at least two subspaces included in the space where the terminal is located are respectively provided with at least one position sensing device, and the spatial reference device is a device that satisfies a preset position condition with respect to at least two subspaces, the apparatus comprising:

a processor; and

a memory for storing instructions executable by the processor,

wherein the processor is configured to perform the method according to claim 1 .

10. The apparatus according to claim 9 , wherein the preset position condition comprises:

a position at a junction of the at least two subspaces in the space.

11. The apparatus according to claim 9 , wherein the preset position condition comprises:

a position determined based on a position relationship of the respective position sensing devices in the at least two subspaces.

12. The apparatus according to claim 9 , wherein the processor is further configured to:

notify the at least one position sensing device in the target subspace that the terminal is located in the target subspace.

13. A terminal positioning apparatus that is applied to a particular position sensing device in a space where a terminal is located, and at least two subspaces included in the space where the terminal is located are respectively provided with at least one position sensing device, the apparatus comprising:

a processor; and

a memory for storing instructions executable by the processor,

wherein the processor is configured to perform the method according to claim 5 .

14. The apparatus according to claim 13 , wherein the processor is further configured to:

determine a result of distance measurement and direction measurement on the terminal based on a flight duration of wireless signals of the second communication interaction; and

determine a positioning result of the terminal based on the result of distance measurement and direction measurement.

15. A terminal comprising:

a processor; and

a memory for storing instructions executable by the processor,

wherein the processor is configured to perform the method according to claim 7 .

16. The terminal according to claim 15 , wherein the processor is further configured to:

perform the second communication interaction with the at least one position sensing device in the target subspace based on a second communication protocol, in response to a notification from the spatial reference device indicating that the terminal is determined to be in the target subspace;

determine a result of distance measurement and direction measurement on the at least one position sensing device in the target subspace based on a flight duration of wireless signals of the second communication interaction; and

determine a positioning result of the at least one position sensing device in the target subspace with respect to the terminal based on the result of distance measurement and direction measurement.

17. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program is configured to implement the terminal positioning method according to claim 1 when executed by a processor.

18. A terminal positioning system, comprising a terminal, position sensing devices, and a spatial reference device that is a device that satisfies a preset position condition with respect to at least two subspaces, wherein a space where the terminal is located includes the at least two subspaces, with each subspace having at least one position sensing device of the position sensing devices,

wherein the spatial reference device is configured to perform the method according to claim 1 .

19. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program is configured to implement the terminal positioning method according to claim 5 when executed by a processor.

20. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program is configured to implement the terminal positioning method according to claim 7 when executed by a processor.