CN107678021A - A kind of synchronous radio beat frequency phase range unit and method - Google Patents
A kind of synchronous radio beat frequency phase range unit and method Download PDFInfo
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- CN107678021A CN107678021A CN201710881204.4A CN201710881204A CN107678021A CN 107678021 A CN107678021 A CN 107678021A CN 201710881204 A CN201710881204 A CN 201710881204A CN 107678021 A CN107678021 A CN 107678021A
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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Abstract
The invention discloses a kind of synchronous radio beat frequency phase range unit.The device includes wireless launcher and radio receiver, wireless launcher includes clock circuit, the first radio transmitter and the second radio transmitter, and the first radio transmitter and the second radio transmitter are used to launch the different wireless signal of two frequencies simultaneously；Radio receiver includes the first wireless receiving circuit, the second wireless receiving circuit, phase difference calculator, clock synchronization unit, the first low-converter and the second low-converter, the clock signal of clock synchronization unit synchronous radio transmission circuit, phase difference calculator are used for the phase difference for calculating two wireless signals.The present invention changes the i.e. adjustable range accuracy of carrier frequency, can easily realize grade range accuracy according to the phase information ranging of different carrier wave difference frequencies.
Description
Technical field
The present invention relates to wireless distance finding field, and in particular to a kind of synchronous radio beat frequency phase range unit and method.
Background technology
Radio distance-measuring is a kind of distance-finding method based on electromagnetic wave application technology.Radio distance-measuring is the side with radio
Method measurement distance, this is one of basic task of radio-positioning.
The clock of existing wireless distance finding is asynchronous, and the clock synchronization onwards of recipient and launch party are not come.It is asynchronous
Reception scheme can not obtain available phase information.Other existing wireless distance finding technology directly uses single or multiple carrier frequencies
The information that rate carries.No matter recipient is synchronous or asynchronous, and unifrequent carrier signal can not extract available phase information.
The content of the invention
The purpose of the present invention is in view of the deficienciess of the prior art, providing a kind of synchronous radio beat frequency phase range unit
And method.
To achieve the above object, in a first aspect, the invention provides a kind of synchronous radio beat frequency phase range unit, it is somebody's turn to do
Device includes wireless launcher and radio receiver,
The wireless launcher includes clock circuit and the first wireless transmission electricity being connected respectively with the clock circuit
Road and the second radio transmitter, the clock circuit are used for synchronous first radio transmitter and the second radio transmitter
Clock, first radio transmitter and the second radio transmitter are used to launch the different wireless communication of two frequencies simultaneously
Number；
The radio receiver include the first wireless receiving circuit, the second wireless receiving circuit, phase difference calculator, when
Clock synchronization unit, the first low-converter and the second low-converter；
First low-converter and the second low-converter are used to reduce by first wireless receiving circuit and second respectively
The frequency for two wireless signals that wireless receiving circuit receives, and produce the intermediate-freuqncy signal of the identical frequency of two-way；The phase
Poor calculator is used for the phase difference for calculating two wireless signals, the clock synchronization unit respectively with the first wireless receiving circuit and the
Two wireless receiving circuits connect, the clock signal for synchronous radio transmission circuit；
Also include computing unit, for the wavelength according to two wireless signals and phase difference calculating distance.
Preferably, the clock synchronization unit includes the first phaselocked loop and is connected with the output end of first phaselocked loop
The second phaselocked loop and the 3rd phaselocked loop,
Output end of the input of first phaselocked loop respectively with the first low-converter and the frequency divider is connected,
The output end of second phaselocked loop is connected with the first low-converter, for by the first phaselocked loop export when
Local oscillation signal after clock signal frequency-raising as first low-converter；
The output end of 3rd phaselocked loop is connected with the second low-converter, for by the second phaselocked loop export when
Local oscillation signal after clock signal frequency-raising as the second low-converter.
Preferably, the input of the frequency divider is connected with first wireless receiving circuit, for accessing the first nothing
Line receiving circuit baseband clocks signal.
Preferably, the input of the frequency divider is connected with the output end of first phaselocked loop, for accessing first
The clock signal of phaselocked loop output.
Preferably, the phase difference calculator respectively with the first low-converter and the medium frequency output end of the second low-converter
Connection.
Preferably, the phase difference calculator respectively with the output end of the frequency divider and the output of the second low-converter
End connection.
Preferably, the radio receiver also includes RSSI circuits, the RSSI circuits are integrated in first and wirelessly connect
Receive in circuit or the second wireless receiving circuit.
In second aspect, present invention also offers a kind of synchronous radio beat frequency phase distance-finding method, this method includes following
Step：
In the wireless signal that one end of tested distance is not waited using two radio transmitter synchronized transmissions, two frequencies；
Described two wireless signals are received respectively using two wireless receiving circuits in the other end of tested distance；
Down-converted is carried out to two wireless signals of reception；
According to synchronous two receiving circuits of two signals and the clock of two transtation mission circuits after the down-converted；
To two signal of change phase difference φ after down-converted；
Distance L1 is calculated according to formula L1=(λ 1* λ 2) * Δs φ/(2 π * Δ λ) by phase difference φ, wherein, λ 1 and λ 2
The wavelength for the wireless signal that respectively described two frequencies do not wait, Δ λ are λ 1 and λ 2 difference.
It is preferably, further comprising the steps of：
The wavelength of two wireless signals is adjusted, makes range (λ 1* λ 2)/Δ λ more than 2 times of RSSI ranging worst errors；
Distance L2 is gone out using RSSI circuit bigness scales；
Calculate the number N that the thick lateral extent L2 of RSSI circuits includes range:N=L2/ [(λ 1* λ 2)/Δ λ]；
Integer is carried out to N and remainder is split, obtains Integer N 1 and remainder M；
L1 and M range adjust the distance compared with the half of range, when L2 and M is less than 1/2 range or simultaneously big simultaneously
In 1/2 range, then actual range number takes N2=N1, and when L2 is less than 1/2 range, while M is more than 1/2 range, then actual range
Number takes N2=N1+1, and when L2 is more than 1/2 range, while M is less than 1/2 range, then actual range number takes N2=N1-1；
According to the actual range number N2, length L3=N2* (λ 1* λ 2)/Δ λ of N2 range of calculating
Calculating tested distance L is：L=L1+L3
Beneficial effect：The present invention changes the i.e. adjustable survey of carrier frequency according to the phase information ranging of different carrier wave difference frequencies
Away from precision, grade range accuracy can be easily realized.
Brief description of the drawings
Fig. 1 is the schematic diagram of wireless launcher provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of radio receiver provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram for the radio receiver that another embodiment of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is furture elucidated, and the present embodiment is with technical solution of the present invention
Premised under implemented, it should be understood that these embodiments are only illustrative of the invention and is not intended to limit the scope of the invention.
As shown in Figures 1 to 3, the embodiments of the invention provide a kind of synchronous radio beat frequency phase range unit, the device bag
Wireless launcher and radio receiver are included, wireless signal transmitting device includes clock circuit 1, the first radio transmitter 2
With the second radio transmitter 3, clock circuit 1 is connected with the first radio transmitter 2 and the second radio transmitter 3 respectively,
For synchronous first radio transmitter 2 and the clock of the second radio transmitter 3, the first radio transmitter 2 and the second nothing
Line radiating circuit 3 is used to launch the different wireless signal of two frequencies simultaneously.
Radio receiver include the first wireless receiving circuit 4, the second wireless receiving circuit 5, phase difference calculator 6, when
Clock synchronization unit, the first low-converter 8 and the second low-converter 9, the first wireless receiving circuit 4 and the second wireless receiving circuit 5
After receiving two different wireless signals of frequency, the wireless communication is reduced through the first low-converter 4 and the second low-converter 5 respectively
Number frequency, and the intermediate-freuqncy signal of the identical frequency of two-way is produced, in order to measure receive two different wireless communications of frequency
Number phase difference, and the wireless receiving circuit 5 of synchronous first wireless receiving circuit 4 and second and first and second radio transmitter
Clock.
Phase difference calculator 6 is used for the phase difference for calculating two-way intermediate-freuqncy signal.Clock synchronization unit is wireless with first respectively
Receiving circuit 4 is connected with the second wireless receiving circuit 5, the clock for synchronous radio transmission circuit.
The embodiment of the present invention also includes computing unit, for the wavelength according to two wireless signals and phase difference calculating away from
From.
The clock synchronization unit that the present invention implements preferably to use includes multiple phaselocked loops and at least one-level frequency divider 10, multiple
The clock that phaselocked loop is used for the clock tracing wireless transmission circuit circuit for making first, second wireless receiving circuit with frequency divider 10 is real
Now transmitting-receiving is synchronous.Frequency divider 10 can progressively frequency dividing be realized by multistage frequency dividing, also by once significantly frequency dividing is realized.
Multiple phaselocked loops include the first phaselocked loop 11, the second phaselocked loop 12 and the 3rd phaselocked loop 13, the first phaselocked loop 11
Output end is connected with the second phaselocked loop 12 with the input of the 3rd phaselocked loop 13 respectively, and the input of the first phaselocked loop 11 is respectively with
One low-converter 8 connects with the output end of frequency divider 10, the first phaselocked loop 11 make frequency divider 10 export fractional frequency signal f (FB) with
The output signal f (FI) of first low-converter 8 is equal, and exports clock signal f (CLK), makes to enter the second phaselocked loop 12 and the
The signal of three phaselocked loops 13 is identical, and the second phaselocked loop 12 and the 3rd phaselocked loop 13 become with the first low-converter 8 and second time respectively
The intermediate-freuqncy signal end connection of frequency device 9, the second phaselocked loop 12 and the 3rd phaselocked loop 13 are respectively used to export the first phaselocked loop 11
Clock signal f (CLK) frequency rise, and the signal f (LO) after frequency is raised is as the first low-converter 8 and second time change
The local oscillation signal of frequency device 9.And by the signal after f (CLK) raising frequency, divided device divides again respectively, so that it may obtains two identicals
The baseband clocks signal f (B) of first wireless receiving circuit 4 and the second wireless receiving circuit 5, and then make the first wireless receiving circuit
4 and second wireless receiving circuit 5 clock tracing wireless transmission circuit circuit clock, realize that transmitting-receiving is synchronous.
It should be noted that the first wireless receiving circuit 4 and the second wireless receiving circuit 5 can use existing integrated core
Piece.Phaselocked loop, frequency divider and the down coversion that phaselocked loop, frequency divider and low-converter individually can be set using multiple chip exteriors
Device, also can be by phaselocked loop, frequency divider and the low-converter that chip exterior is set and phaselocked loop, frequency divider and the down coversion in chip
Device is used together.
As shown in Figures 2 and 3, the input of frequency divider 10 can be connected with the first wireless receiving circuit 4, for that will access
Use baseband clocks signal.The input of frequency divider 10 can also be connected with the output end of the first phaselocked loop 11, for accessing
The clock signal of first phaselocked loop 11 output.
The intermediate-freuqncy signal f (FI) of first low-converter 8 output and the signal f (FB) of frequency divider output enter the first phaselocked loop
Afterwards so that f (FB) is equal with f (FI), therefore the phase difference calculating 6 of the embodiment of the present invention has two kinds of connected modes.Such as Fig. 2 or figure
Shown in 3, medium frequency output end of the phase difference calculator 6 respectively with the first low-converter 8 and the second low-converter 9 is connected, respectively
The intermediate-freuqncy signal f (FI) exported to the first low-converter 8 and the second low-converter 9, carries out phase difference calculating, according to down coversion
Mathematical property understands that the phase difference of two-way intermediate-freuqncy signal is equal to the phase difference of two-way wireless signal.Can also be by phase difference calculating
Device 6 is connected with the output end of frequency divider 10 and the output end of the second low-converter respectively.
To break away from range limitation, the radio receiver of the embodiment of the present invention also includes RSSI circuits.RSSI circuits can be with
It is integrated in the first wireless receiving circuit 4 or the second wireless receiving circuit 5, the rough length of distance is gone out using RSSI circuit measurings
Degree, then calculates the quantity that range is included in the length further according to the length gauge, the quantity is taken more than business's house, then calculated whole
The length of quantity journey, complementing part are calculated using phase difference calculating formula, and then the length with whole range is added, so that it may
Go out actual range.
The principle of institute's foundation of the present invention is as follows：
Assuming that：
L1：Tested distance；
λ1：The wavelength of carrier wave 1；
λ1：The wavelength of carrier wave 2；
φ1：Phase of the carrier wave 1 in receiving terminal relative to transmitting terminal, i.e., carrier wave 1 is measured simultaneously in receiving terminal and transmitting terminal
Phase, the phase that transmitting terminal is then subtracted with the phase of receiving terminal obtain φ 1；
φ2：Phase of the carrier wave 2 in receiving terminal relative to transmitting terminal, i.e., carrier wave 2 is measured simultaneously in receiving terminal and transmitting terminal
Phase, the phase that transmitting terminal is then subtracted with the phase of receiving terminal obtain φ 2；
φ 1/ (2 the π)=formula 1 of L1/ λ 1
φ 2/ (2 the π)=formula 2 of L1/ λ 2
Formula 1 subtracts formula 2 and produced：
Δ φ/(2 π)=Δ λ * L1/ (λ 1* λ 2) formula 3
Δ φ in formula 3 is the phase difference value of receiving terminal, all measures in receiving terminal, has also just broken away from transmitting terminal
Limitation as a reference point, that is, the phase for measuring receiving terminal and transmitting terminal is not simultaneously again had to, it is only necessary to receive receiving terminal
The phase of carrier wave 1 and the phase of carrier wave 2 are subtracted each other, and obtained difference is the Δ φ in formula 3.
Enter line translation by formula 3 to produce：
L1=(λ 1* λ 2) * Δs φ/(2 π * Δ λ) formula 4
Only it is to be understood that the wavelength X 2 of wavelength X 1 and the carrier wave 2 of measuring carrier wave 1 it can be seen from formula 4, and measure
The carrier wave 1 of receiving terminal and the phase difference φ of carrier wave 2, it can just obtain tested distance L1 length.
Due to the equipment of measurement phase difference of the prior art, phase angle Δ φ can only be embodied within 0-2 π, at present,
In the case where not taking other means, there is this measuring method a range to limit, and the higher limit of its range is to work as Δ
When φ is 2 π, then Δ λ of L1=λ 1* λ 2/.That is in the case where not taking other supplementary means, measured distance l should
When less than the Δ λ of λ 1* λ 2/.
To solve above-mentioned range limitation, the present invention now employs a kind of supplementary means, to break away from the limitation of range, first used
RSSI circuits measure tested distance, and due to the limited precision for the distance that RSSI circuit measurings go out, the distance being measured is also simply thick
Slightly it is worth, the philosophy and technique of RSSI circuit rangings is prior art, be will not be repeated here.
Assuming that the distance value that RSSI circuits are measured roughly is used as L2, then can be according to above-mentioned range in L2 length
(λ 1* λ 2)/Δ λ, the number N for calculating above-mentioned range be：
N=L2/ [(λ 1* λ 2)/Δ λ] formula 5
The wavelength of two wireless signals is adjusted, makes range (λ 1* λ 2)/Δ λ more than 2 times of RSSI ranging worst errors.Adopt
Go out distance L2 with RSSI circuit bigness scales.Calculating the number N that the thick lateral extent L2 of RSSI circuits includes range is:
N=L2/ [(λ 1* λ 2)/Δ λ] formula 6
Integer is carried out to the N in formula 6 and remainder is split, obtains Integer N 1 and remainder M；
The M range of distance L1 and remainder measured to above-mentioned phase difference compared with the half of range, when L2 and M simultaneously
Less than 1/2 range or simultaneously greater than 1/2 range, then actual range number takes N2=N1, and when L2 is less than 1/2 range, while M is more than
1/2 range, then actual range number take N2=N1+1, when L2 is more than 1/2 range, while M is less than 1/2 range, then actual range
Number takes N2=N1-1.Because (λ 1* λ 2)/Δ λ is more than 2 times of RSSI ranging worst errors, so calculating by this method
The 2 accurate difference of Integer N gone out.
It is according to the actual range number N2, the length L3 for calculating N2 range：
L3=N2* (λ 1* λ 2)/Δ λ formula 7
The actual range L then measured is：
L=L1+L3=(λ 1* λ 2) * Δs φ/(2 π * Δ λ)+N1* (λ 1* λ 2)/Δ λ formula 7
So also just solve when being tested distant, range restricted problem caused by obtaining the equipment of phase angle difference,
The present invention is set to be applied to various ranging occasions.Also, compared with using RSSI rangings merely, measurement accuracy greatly improves.Also may be used
Distance is first measured using other method, then breaking away from range by the above method limits, and can greatly improve measurement accuracy.
The embodiment of the present invention additionally provides a kind of synchronous radio beat frequency phase distance-finding method, comprises the following steps：
Step 1：Two radio transmitter synchronized transmissions, two frequencies are used not wait in one end of tested distance wireless
Signal；
Step 2：Described two wireless communications are received respectively using two wireless receiving circuits in the other end of tested distance
Number；
Step 3：Down-converted is carried out to two wireless signals of reception；
Step 4：According to synchronous two receiving circuits of two signals after the down-converted and two transtation mission circuits
Clock；
Step 5：To two signal of change phase difference φ after down-converted；
Step 6：Distance L1 is calculated according to formula L1=(λ 1* λ 2) * Δs φ/(2 π * Δ λ) by phase difference φ, wherein,
λ 1 and λ 2 is respectively the wavelength for the wireless signal that described two frequencies do not wait, and Δ λ is λ 1 and λ 2 difference.
It is further comprising the steps of to break away from the limitation of ranging range：
Step 7：The wavelength of two wireless signals is adjusted, range (λ 1* λ 2)/Δ λ is more than the 2 of RSSI ranging worst errors
Times；
Step 8：Distance L2 is gone out using RSSI circuit bigness scales；
Step 9：Calculate the number N that the thick lateral extent L2 of RSSI circuits includes range:N=L2/ [(λ 1* λ 2)/Δ λ]；
Step 10：Integer is carried out to N and remainder is split, obtains Integer N 1 and remainder M；
Step 11：L1 and M range adjust the distance compared with the half of range, as L2 and M simultaneously less than 1/2 range or
Simultaneously greater than 1/2 range, then actual range number take N2=N1, when L2 is less than 1/2 range, while M is more than 1/2 range, then real
Border range number takes N2=N1+1, and when L2 is more than 1/2 range, while M is less than 1/2 range, then actual range number takes N2=N1-
1；
Step 12：According to the actual range number N2, length L3=N2* (λ 1* λ 2)/Δ λ of N2 range of calculating
Step 13：Calculating tested distance L is：L=L1+L3
Based on described in above-described embodiment, the present invention changes carrier frequency according to the phase information ranging of different carrier wave difference frequencies
I.e. adjustable range accuracy, can easily realize grade range accuracy.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (9)
- A kind of 1. synchronous radio beat frequency phase range unit, it is characterised in that including wireless launcher and radio receiver,The wireless launcher include clock circuit and the first radio transmitter for being connected respectively with the clock circuit and Second radio transmitter, the clock circuit be used for synchronous first radio transmitter and the second radio transmitter when Clock, first radio transmitter and the second radio transmitter are used to launch the different wireless signal of two frequencies simultaneously；It is same that the radio receiver includes the first wireless receiving circuit, the second wireless receiving circuit, phase difference calculator, clock Walk unit, the first low-converter and the second low-converter；First low-converter and the second low-converter are used to reducing by first wireless receiving circuit and second wireless respectively The frequency for two wireless signals that receiving circuit receives, and produce the intermediate-freuqncy signal of the identical frequency of two-way；The phasometer Calculate device be used for calculate two wireless signals phase difference, the clock synchronization unit respectively with the first wireless receiving circuit and the second nothing Line receiving circuit connects, the clock signal for synchronous radio transmission circuit；Also include computing unit, for the wavelength according to two wireless signals and phase difference calculating distance.
- 2. synchronous radio beat frequency phase range unit according to claim 1, it is characterised in that the clock synchronization unit The second phaselocked loop and the 3rd phaselocked loop being connected including the first phaselocked loop and with the output end of first phaselocked loop,Output end of the input of first phaselocked loop respectively with the first low-converter and the frequency divider is connected, and described second The output end of phaselocked loop is connected with the first low-converter, for after the clock signal raising frequency that exports the first phaselocked loop as described The local oscillation signal of first low-converter；The output end of 3rd phaselocked loop is connected with the second low-converter, for the clock signal liter for exporting the second phaselocked loop Local oscillation signal after frequency as the second low-converter.
- 3. synchronous radio beat frequency phase range unit according to claim 2, it is characterised in that the input of the frequency divider End is connected with first wireless receiving circuit, for accessing the first wireless receiving circuit baseband clocks signal.
- 4. synchronous radio beat frequency phase range unit according to claim 2, it is characterised in that the input of the frequency divider End is connected with the output end of first phaselocked loop, for accessing the clock signal of the first phaselocked loop output.
- 5. synchronous radio beat frequency phase range unit according to claim 1, it is characterised in that the phase difference calculator The medium frequency output end with the first low-converter and the second low-converter is connected respectively.
- 6. synchronous radio beat frequency phase range unit according to claim 1, it is characterised in that the phase difference calculator It is connected respectively with the output end of the frequency divider and the output end of the second low-converter.
- 7. synchronous radio beat frequency phase range unit according to claim 1, it is characterised in that the radio receiver Also include RSSI circuits, the RSSI circuits are integrated in the first wireless receiving circuit or the second wireless receiving circuit.
- 8. a kind of synchronous radio beat frequency phase distance-finding method, it is characterised in that comprise the following steps：In the wireless signal that one end of tested distance is not waited using two radio transmitter synchronized transmissions, two frequencies；Described two wireless signals are received respectively using two wireless receiving circuits in the other end of tested distance；Down-converted is carried out to two wireless signals of reception；According to synchronous two receiving circuits of two signals and the clock of two transtation mission circuits after the down-converted；To two signal of change phase difference φ after down-converted；Distance L1 is calculated according to formula L1=(λ 1* λ 2) * Δs φ/(2 π * Δ λ) by phase difference φ, wherein, λ 1 and λ 2 distinguish The wavelength for the wireless signal not waited for described two frequencies, Δ λ are λ 1 and λ 2 difference.
- 9. synchronous radio beat frequency phase distance-finding method according to claim 8, it is characterised in that further comprising the steps of：The wavelength of two wireless signals is adjusted, makes range (λ 1* λ 2)/Δ λ more than 2 times of RSSI ranging worst errors；Distance L2 is gone out using RSSI circuit bigness scales；Calculate the number N that the thick lateral extent L2 of RSSI circuits includes range:N=L2/ [(λ 1* λ 2)/Δ λ]；Integer is carried out to N and remainder is split, obtains Integer N 1 and remainder M；L1 and M range adjust the distance compared with the half of range, when L2 and M is less than 1/2 range or simultaneously greater than 1/2 simultaneously Range, then actual range number take N2=N1, when L2 is less than 1/2 range, while M is more than 1/2 range, then actual range number takes N2=N1+1, when L2 is more than 1/2 range, while M is less than 1/2 range, then actual range number takes N2=N1-1；According to the actual range number N2, length L3=N2* (λ 1* λ 2)/Δ λ of N2 range of calculatingCalculating tested distance L is：L=L1+L3.
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| CN113219508A (en) * | 2020-02-04 | 2021-08-06 | 阿里巴巴集团控股有限公司 | Distance estimation using signals of different frequencies |
| CN113466840A (en) * | 2020-03-30 | 2021-10-01 | 阿里巴巴集团控股有限公司 | Distance measurement method, positioning method, device, equipment and system |
| WO2023125041A1 (en) * | 2021-12-31 | 2023-07-06 | 景玄科技（上海）有限公司 | Area positioning method, distance measurement apparatus, and electronic device |
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| CN117420538A (en) * | 2023-12-18 | 2024-01-19 | 深圳捷扬微电子有限公司 | Distance measurement method of ultra-wideband system |
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