CN111650575B - Obstacle detection method, obstacle detection device, electronic apparatus, and storage medium - Google Patents
Obstacle detection method, obstacle detection device, electronic apparatus, and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses a method and a device for detecting obstacles, electronic equipment and a storage medium, wherein the method comprises the following steps: transmitting, by a first UWB chip of an electronic device, a first bidirectional ranging TWR request packet to a target apparatus at a first transmission power; if a first TWR response data packet from the target device is not received within a preset time interval, a second TWR request data packet is sent to the target device within a first preset time period by using second transmission power, and the second transmission power is larger than the first transmission power; if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at the transmitting power not less than the second transmitting power; if the first distance value is smaller than the preset distance threshold value, it is determined that an obstacle exists between the electronic equipment and the target device, and therefore whether the obstacle exists between the electronic equipment and the target device can be rapidly identified.
Description
Technical Field
The present application relates to the field of electronic technologies, and in particular, to a method and an apparatus for detecting an obstacle, an electronic device, and a storage medium.
Background
When the Ultra Wide Band (UWB) technology is used for distance measurement or object finding, a large obstacle may exist between two detection objects and the detected object, and a propagation path of a signal transmitted by the UWB chip is a non-line-of-sight channel. In this case, it is difficult to determine whether or not an obstacle is present between the detection target and the detection target.
Disclosure of Invention
The embodiment of the application provides an obstacle detection method, an obstacle detection device, electronic equipment and a storage medium, which can rapidly identify whether an obstacle exists between the electronic equipment and a target device when a UWB technology is used for ranging.
In a first aspect, an embodiment of the present application provides an obstacle detection method, which is applied to an electronic device, where the electronic device includes a first UWB chip, and the electronic device is in communication connection with a target apparatus, and the method includes the following steps:
transmitting, by the first UWB chip, a first bidirectional ranging (TWR) request packet to the target device at a first transmit power;
if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device through the first UWB chip at a second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power;
if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at a transmission power not less than the second transmission power;
and if the first distance value is smaller than a preset distance threshold value, determining that an obstacle exists between the electronic equipment and the target device.
In a second aspect, an embodiment of the present application provides an obstacle detection apparatus, which is applied to an electronic device, where the electronic device includes a first UWB chip, and the electronic device is communicatively connected to a target apparatus, and the apparatus includes:
a transmitting unit, configured to transmit a first two-way ranging TWR request packet to the target device at a first transmission power through the first UWB chip;
the sending unit is further configured to send a second TWR request packet to the target device at a second transmission power through the first UWB chip within a first preset time period if a first TWR response packet from the target device is not received within a preset time interval, where the second transmission power is greater than the first transmission power;
a determining unit, configured to determine a first distance value according to a second TWR response packet if the second TWR response packet is received from the target device, where the second TWR response packet is a response packet sent by the target device to the electronic device at a transmission power not less than the second transmission power;
the determining unit is further configured to determine that an obstacle exists between the electronic device and the target apparatus if the first distance value is smaller than a preset distance threshold.
In a third aspect, an embodiment of the present application provides an electronic device, including a first UWB chip processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for performing the steps in the first aspect of the embodiment of the present application.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform some or all of the steps described in the first aspect of the embodiment of the present application.
In a fifth aspect, embodiments of the present application provide a computer program product, where the computer program product comprises a non-transitory computer-readable storage medium storing a computer program, where the computer program is operable to cause a computer to perform some or all of the steps as described in the first aspect of embodiments of the present application. The computer program product may be a software installation package.
The embodiment of the application has the following beneficial effects:
it can be seen that the method, the apparatus, the electronic device, and the storage medium for detecting an obstacle provided in the embodiments of the present application are applied to an electronic device, where the electronic device includes a first UWB chip, the electronic device is in communication connection with a target apparatus, and sends a first bidirectional ranging TWR request packet to the target apparatus with a first transmission power through the first UWB chip; if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device with second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power; if a second TWR response packet from the target device is received, determining a first distance value according to the second TWR response packet, wherein the second TWR response packet is a response packet sent by the target device to the electronic equipment with a transmission power not less than a second transmission power; if the first distance value is smaller than the preset distance threshold value, it is determined that an obstacle exists between the electronic equipment and the target device, and therefore whether the obstacle exists between the electronic equipment and the target device can be rapidly identified when the UWB technology is used for ranging or positioning.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1A is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 1B is a schematic architecture diagram of a UWB system according to an embodiment of the present application;
fig. 1C is a schematic flow chart of an obstacle detection method according to an embodiment of the present disclosure;
fig. 1D is an illustration of a UWB transmission channel between an electronic device and a target apparatus according to an embodiment of the present disclosure;
fig. 1E is an illustration of another UWB transmission channel between an electronic device and a target apparatus according to an embodiment of the present disclosure;
fig. 1F is a schematic diagram illustrating a basic process of a two-way ranging TWR according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of another obstacle detection method provided in the embodiment of the present application;
fig. 3 is a schematic flowchart of another obstacle detection method provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;
fig. 5A is a schematic structural diagram of an obstacle detection device according to an embodiment of the present application;
fig. 5B is a schematic structural view of a modified device of the obstacle detecting device described for fig. 5A.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
The following describes embodiments of the present application in detail.
Referring to fig. 1A, fig. 1A is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application, the electronic device 100 includes a storage and processing circuit 110, and a sensor 170 connected to the storage and processing circuit 110, where:
the electronic device 100 may include control circuitry that may include storage and processing circuitry 110. The storage and processing circuitry 110 may include memory, such as hard drive memory, non-volatile memory (e.g., flash memory or other electronically programmable read-only memory used to form a solid state drive, etc.), volatile memory (e.g., static or dynamic random access memory, etc.), and so on, and embodiments of the present application are not limited thereto. Processing circuitry in storage and processing circuitry 110 may be used to control the operation of electronic device 100. The processing circuitry may be implemented based on one or more microprocessors, microcontrollers, digital signal processors, baseband processors, power management units, audio codec chips, application specific integrated circuits, display driver integrated circuits, and the like.
The storage and processing circuitry 110 may be used to run software in the electronic device 100, such as an Internet browsing application, a Voice Over Internet Protocol (VOIP) telephone call application, an email application, a media playing application, operating system functions, and so forth. Such software may be used to perform control operations such as, for example, camera-based image capture, ambient light measurement based on an ambient light sensor, proximity sensor measurement based on a proximity sensor, information display functionality based on status indicators such as status indicator lights of light emitting diodes, touch event detection based on a touch sensor, functionality associated with displaying information on multiple (e.g., layered) display screens, operations associated with performing wireless communication functions, operations associated with collecting and generating audio signals, control operations associated with collecting and processing button press event data, and other functions in the electronic device 100, and the like, without limitation.
The electronic device 100 may include input-output circuitry 150. The input-output circuit 150 may be used to enable the electronic device 100 to input and output data, i.e., to allow the electronic device 100 to receive data from an external device and also to allow the electronic device 100 to output data from the electronic device 100 to the external device. The input-output circuit 150 may further include a sensor 170. Sensor 170 may include the ultrasonic fingerprint identification module, may also include ambient light sensor, proximity sensor based on light and electric capacity, touch sensor (for example, based on light touch sensor and/or capacitanc touch sensor, wherein, touch sensor may be a part of touch display screen, also can regard as a touch sensor structure independent utility), acceleration sensor, and other sensors etc, the ultrasonic fingerprint identification module can be integrated below the screen, or, the ultrasonic fingerprint identification module may set up in electronic equipment's side or back, do not limit here, this ultrasonic fingerprint identification module can be used for gathering the fingerprint image.
The sensor 170 may include a first camera and a second camera, the first camera may be a front camera or a rear camera, the second camera may be an Infrared (IR) camera or a visible light camera, and when the IR camera takes a picture, a pupil reflects Infrared light, so that the IR camera may take a pupil image more accurately than the RGB camera; the visible light camera needs to carry out more follow-up pupil detection, and calculation accuracy and accuracy are higher than the IR camera, and the commonality is better than the IR camera, but the calculated amount is big.
Input-output circuit 150 may also include one or more display screens, such as display screen 130. The display 130 may include one or a combination of liquid crystal display, organic light emitting diode display, electronic ink display, plasma display, and display using other display technologies. The display screen 130 may include an array of touch sensors (i.e., the display screen 130 may be a touch display screen). The touch sensor may be a capacitive touch sensor formed by a transparent touch sensor electrode (e.g., an Indium Tin Oxide (ITO) electrode) array, or may be a touch sensor formed using other touch technologies, such as acoustic wave touch, pressure sensitive touch, resistive touch, optical touch, and the like, and embodiments of the present application are not limited thereto.
The electronic device 100 may also include an audio component 140. The audio component 140 may be used to provide audio input and output functionality for the electronic device 100. The audio components 140 in the electronic device 100 may include a speaker, a microphone, a buzzer, a tone generator, and other components for generating and detecting sound.
The electronic device 100 may further include a first UWB chip 180 that performs ranging or positioning using UWB technology, which is a wireless carrier communication technology that does not use a sinusoidal carrier but uses a nanosecond-level non-sinusoidal narrow pulse to transmit data, and thus occupies a wide frequency spectrum. The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.
The communication circuit 120 may be used to provide the electronic device 100 with the capability to communicate with external devices. The communication circuit 120 may include analog and digital input-output interface circuits, and wireless communication circuits based on radio frequency signals and/or optical signals. The wireless communication circuitry in communication circuitry 120 may include radio-frequency transceiver circuitry, power amplifier circuitry, low noise amplifiers, switches, filters, and antennas. For example, the wireless Communication circuitry in Communication circuitry 120 may include circuitry to support Near Field Communication (NFC) by transmitting and receiving Near Field coupled electromagnetic signals. For example, the communication circuit 120 may include a near field communication antenna and a near field communication transceiver. The communications circuitry 120 may also include a cellular telephone transceiver and antenna, a wireless local area network transceiver circuitry and antenna, and so forth.
The electronic device 100 may further include a battery, power management circuitry, and other input-output units 160. The input-output unit 160 may include buttons, joysticks, click wheels, scroll wheels, touch pads, keypads, keyboards, cameras, light emitting diodes and other status indicators, and the like.
A user may input commands through input-output circuitry 150 to control the operation of electronic device 100, and may use output data of input-output circuitry 150 to enable receipt of status information and other outputs from electronic device 100.
Referring to fig. 1B, fig. 1B is a system architecture diagram of a UWB system implementing an obstacle detection method disclosed in an embodiment of the present application, where the UWB system includes an electronic device and a target device, the electronic device includes a first UWB chip, the target device includes a second UWB chip, and the electronic device may be connected to the second UWB chip of the target device through wireless communication through the first UWB chip. In a specific implementation, a two-way ranging (TWR) technology may be used to detect a distance between the electronic device and the target apparatus, or to achieve positioning of the target apparatus.
The electronic devices involved in the embodiments of the present application may include various handheld devices, vehicle-mounted devices, computing devices or other processing devices connected to a wireless modem, which have wireless communication functions, as well as various forms of User Equipment (UE), mobile Stations (MS), terminal equipment (terminal device), and so on. For convenience of description, the above-mentioned devices are collectively referred to as electronic devices.
The target device referred to in the embodiments of the present application may include various handheld devices having wireless communication functions, vehicle-mounted devices, computing devices or other processing devices connected to a wireless modem, and the like.
Referring to fig. 1C, fig. 1C is a schematic flowchart of an obstacle detection method according to an embodiment of the present application, and is applied to an electronic device shown in fig. 1A and a UWB system shown in fig. 1B, where the electronic device includes a first UWB chip, and the electronic device is communicatively connected to a target device, and as shown in fig. 1C, the obstacle detection method according to the present application includes:
101. transmitting, by the first UWB chip, a first bidirectional ranging TWR request packet to the target device at a first transmit power.
In this embodiment, the electronic device may send a first TWR request packet to the target device with a first transmit power through the first UWB chip, where the first transmit power may be a preset transmit power or a transmit power determined by the electronic device according to an estimated range of a distance to be measured, and specifically, in a scenario where the target device needs to be located or a distance between the electronic device and the target device needs to be detected, the electronic device may estimate a range of the distance to be measured where the distance between the electronic device and the target device is located in advance, and then determine the first transmit power according to the range of the distance to be measured, so as to ensure that the target device can receive the first TWR request packet when the first UWB chip sends a signal with the first transmit power, where the first transmit power may ensure that the first transmit signal with the first transmit power can be received by the second UWB chip of the target device when there is no shielding between the electronic device and the target device, and if the target device receives the first TWR request packet, the target device may send a first TWR response packet to the electronic device, and if the target device does not receive the first TWR request packet, the target device does not respond.
102. And if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device through the first UWB chip at a second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power.
The preset time interval refers to a time interval counted from the time when the electronic device sends the first TWR request packet.
The purpose of setting the first preset time period is to ensure that the time interval between two times of sending TWR request data packets is short, thereby ensuring that the channel environment between the electronic equipment and the target device does not change significantly.
If the electronic equipment does not receive the first TWR response packet from the target device within the preset time interval, the first TWR request packet sent by the electronic equipment does not successfully reach the target device, so that the electronic equipment can send a second TWR request packet to the target device through the first UWB chip at a second transmission power, wherein the second transmission power is higher than the first transmission power, so as to ensure that a signal sent by the first UWB chip can be received by the target device even if an obstacle exists between the electronic equipment and the target device, and if the target device receives the second TWR request packet, the target device can send a second TWR response packet to the electronic equipment.
In a specific implementation process, when a large obstacle exists between the electronic device and the target apparatus, the signal transmitted by the first UWB chip is attenuated due to the shielding of the large obstacle, so that the target apparatus cannot receive the signal transmitted by the first UWB chip, please refer to fig. 1D, where fig. 1D is a schematic illustration of a UWB transmission channel between the electronic device and the target apparatus provided in the embodiment of the present application, where when there is no obstacle between the electronic device and the target apparatus and around the electronic device, a path through which the electronic device and the target apparatus perform UWB communication is only a path 1 in fig. 1D, and the path 1 is a straight path between the electronic device and the target apparatus, which is also called a direct path. The UWB transmission channel between the electronic device and the target apparatus is now a line-of-sight (LOS) channel.
Referring to fig. 1E, fig. 1E is a schematic diagram illustrating another UWB transmission channel between an electronic device and a target device according to an embodiment of the present disclosure, where a large obstacle (e.g., a wall, a wood board, a glass, etc.) exists between the electronic device and the target device, and a plurality of UWB communication paths between the electronic device and the target device exist, such as paths 2, 3, and 4 in fig. 1E. Where path 2 is a direct path and paths 3 and 4 are reflected paths. Due to the existence of the obstacle, the UWB transmission channel between the electronic device and the target apparatus is a non-line-of-sight (NLOS) channel, wherein the path 1 is a line-of-sight (NLOS) channel, the direct path 2 is a non-NLOS channel, and the signal transmitted by the first UWB chip is transmitted through the direct path 2, and when passing through the obstacle, signal attenuation occurs. Because the electromagnetic wave passes through the obstacle and is attenuated, in some scenes (for example, the distance between the electronic equipment and the target device is long, the obstacle between the electronic equipment and the target device is thick, the material of the obstacle between the electronic equipment and the target device is strong in attenuation of the electromagnetic wave, and the like), the target device cannot receive the electromagnetic wave energy of the direct path transmitted from the electronic equipment, and only receives the electromagnetic wave energy of the reflected path.
103. If a second TWR response packet is received from the target device, determining a first distance value according to the second TWR response packet, wherein the second TWR response packet is a response packet sent by the target device to the electronic equipment with a transmission power not less than the second transmission power.
The second TWR response data packet can comprise a first time stamp recorded by the target device and a second time stamp recorded by the target device, wherein the first time stamp is the first time stamp of the target device receiving the second TWR request data packet, and the second time stamp is the second time stamp of the target device sending the second TWR response data packet.
If the electronic device receives a second TWR response packet from the target device, the electronic device may determine a first distance value based on the second TWR response packet, where the first distance value is a distance measurement measured according to TWR techniques.
Optionally, the determining the first distance value according to the second TWR response packet in step 103 may include determining a first distance value according to a first timestamp recorded by the target device, where the first timestamp is a first timestamp recorded by the target device, the target device receives the second TWR request packet, and the second timestamp is a second timestamp recorded by the target device, and includes:
recording a third timestamp for sending the second TWR request packet;
recording a fourth timestamp of receiving the second TWR response packet;
determining a transmission time according to the first time stamp, the second time stamp, the third time stamp and the fourth time stamp;
and determining the first distance value according to the transmission time and the transmission speed.
Referring to fig. 1F, fig. 1F is a schematic diagram illustrating a basic process of a two-way ranging TWR according to an embodiment of the present application, where an electronic device sends a second TWR request packet to a target device and records a third timestamp T3; the target device receives the second TWR request data packet and records a first time stamp T1; the target device sends a second TWR response data packet to the electronic equipment and records a second time stamp T2; the electronic device receives the second TWR response packet sent by the target device, and records a fourth timestamp T4, and further determines the transmission time according to the following formula:
T＝((T4-T3)-(T2-T1))/2
finally, a first distance value is determined according to the following formula:
D＝T*v；
where v is the transmission speed.
104. And if the first distance value is smaller than a preset distance threshold value, determining that an obstacle exists between the electronic equipment and the target device.
The preset distance threshold is a maximum distance value which can be measured by the preset electronic equipment and the target device under the condition of no barrier, in the embodiment of the application, the preset distance threshold is set, and whether the first distance value is smaller than the preset distance threshold is judged, so that the following misjudgment scenes are prevented: when there is no obstacle but the distance between the electronic device and the target apparatus is long, there may be a case where the electronic device does not receive the first TWR response packet but receives the second TWR response packet. In order to more accurately determine that the first TWR response packet is not received by the electronic device due to the presence of the obstacle, rather than the first TWR response packet is not received by the electronic device due to a long distance between the electronic device and the target apparatus, the electronic device may determine whether the first distance value is smaller than a predetermined distance threshold, and if the first distance value is smaller than the predetermined distance threshold, the electronic device may determine that an obstacle is present between the electronic device and the target apparatus. Therefore, the TWR request data packets are sent twice by two times of different transmitting powers in sequence, and whether the obstacle exists is judged according to the detected first distance value and the preset distance threshold value.
Optionally, if the electronic device does not receive a second TWR response packet replied by the target device, a third TWR request packet is sent to the target device at a third transmission power within the first preset time period. By the way of analogy, the method can be used,
wherein, the nth transmission power >. The third transmission power > the second transmission power > the first transmission power
After receiving the nTWR request data packet, the target device sends an nTWR response data packet by the transmission power not less than the nth transmission power; if the electronic equipment receives the nTWR response data packet of the target device, calculating a corresponding distance measurement value; the electronic device compares the distance measurement to a corresponding preset distance threshold. And if the distance measurement value is smaller than the corresponding preset distance threshold value, determining that an obstacle exists between the electronic equipment and the target device.
Optionally, the method further comprises:
and determining the preset distance threshold corresponding to the second transmitting power according to a mapping relation list between the preset transmitting power and the distance threshold.
The electronic device may preset a mapping relationship list between the transmission power and the distance threshold, where the mapping relationship list includes a plurality of transmission powers and a plurality of distance thresholds corresponding to the plurality of transmission powers one to one, so that a preset distance threshold corresponding to the second transmission power may be determined according to the mapping relationship list, where the larger the transmission power is, the larger the corresponding preset distance threshold is. As shown in the following table, an example of a list of mapping relationships between transmission power and a distance threshold is provided in the embodiments of the present application.
Optionally, the method further comprises:
obtaining a distance measurement range corresponding to each transmitting power in a plurality of transmitting powers under the condition of no obstruction in advance to obtain a plurality of distance measurement ranges;
and taking the distance upper limit value in each distance measurement range in the plurality of distance measurement ranges as a distance threshold value of corresponding transmission power to obtain a plurality of distance threshold values, and establishing a mapping relation list between the transmission power and the distance threshold values according to the plurality of transmission power and the plurality of distance threshold values.
In the embodiment of the application, a distance measurement range corresponding to each transmission power in a plurality of transmission powers can be obtained in advance under the condition of no obstacle shielding, a plurality of distance measurement ranges are obtained, then a distance upper limit value in each distance measurement range in the plurality of distance measurement ranges is used as a distance threshold value corresponding to the transmission power, a plurality of distance threshold values are obtained, and finally a mapping relation list between the transmission power and the distance threshold values is established according to the plurality of transmission powers and the plurality of distance threshold values.
Optionally, before the step 104, the method further comprises:
determining a target tolerance value corresponding to a target distance value closest to the first distance value according to a mapping relation between a preset distance value and the tolerance value;
determining a target distance range according to the first distance value and the target tolerance value;
and if the target distance value belongs to the target distance range, determining whether the first distance value is smaller than the preset distance threshold value.
In the embodiment of the present application, it is considered that a measurement result of the first distance value may have an error, and therefore, multiple experimental measurements may be performed in advance, specifically, multiple distance values may be measured in advance through experiments, multiple experimental measurements may be performed on each distance value, an error value measured on each distance value is counted, a tolerance value corresponding to each distance value of the multiple distance values is further determined, multiple tolerance values are obtained, and a mapping relationship between the distance values and the tolerance values is set according to the multiple distance values and the multiple tolerance values.
Further, the electronic device may determine a target tolerance value corresponding to a target distance value closest to the first distance value according to a mapping relationship between a preset distance value and the tolerance value, then determine a target distance range according to the first distance value and the target tolerance value, and if the target distance value belongs to the target distance range, may determine that the first distance value is a distance value within an error range, and further, may determine whether the first distance value is smaller than a preset distance threshold.
Optionally, after the step 104, the method further comprises:
determining a target distance threshold in a mapping relation list between preset transmitting power and a distance threshold, wherein a difference value between the target distance threshold and the first distance value is smaller than a difference value between other distance thresholds which are larger than the first distance value in the mapping relation list and the first distance value;
determining a target sending power corresponding to the target distance threshold in the mapping relation list;
determining an absolute value of a difference between the second transmit power and the target transmit power;
and determining the attenuation degree of the barrier to the signal transmitted by the first UWB chip according to the absolute value of the difference.
In the embodiment of the present application, after it is determined that an obstacle exists between the electronic device and the target apparatus, an attenuation degree of the obstacle, which causes attenuation of the transmission signal of the first UWB chip, may be further determined.
The electronic device may preset a mapping relationship list between the transmission power and the distance threshold, and further may determine a plurality of distance thresholds that are greater than the first distance value in the mapping relationship list, and then determine a minimum distance threshold among the plurality of distance thresholds, where a difference between the minimum distance threshold and the first distance value is smaller than differences between other distance thresholds and the first distance value, and may determine a target transmission power corresponding to the target distance threshold in the mapping relationship list, with the minimum distance threshold as the target distance threshold; and finally, determining the attenuation degree of the barrier to the signal transmitted by the first UWB chip according to the absolute value of the difference, wherein the larger the absolute value of the difference between the second transmitting power and the target transmitting power is, the stronger the attenuation degree of the barrier to the signal transmitted by the first UWB chip is.
It can be seen that, in the embodiment of the present application, a first bidirectional ranging TWR request packet is sent to a target device by a first UWB chip at a first transmission power; if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device with second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power; if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at the transmitting power not less than the second transmitting power; if the first distance value is smaller than the preset distance threshold value, it is determined that an obstacle exists between the electronic equipment and the target device, and therefore whether the obstacle exists between the electronic equipment and the target device can be rapidly identified when the UWB technology is used for ranging or positioning.
Referring to fig. 2, fig. 2 is a schematic flowchart of an obstacle detection method according to an embodiment of the present application, applied to an electronic device shown in fig. 1A, where the electronic device includes a first UWB chip, and the electronic device is communicatively connected to a target apparatus, and the method includes:
201. transmitting, by the first UWB chip, a first bidirectional ranging TWR request packet to the target device at a first transmit power.
202. If a first TWR response data packet from the target device is not received within a preset time interval, a second TWR request data packet is sent to the target device through the first UWB chip with a second transmission power within a first preset time period, wherein the second transmission power is larger than the first transmission power.
203. And if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at the transmitting power not less than the second transmitting power.
204. And determining a preset distance threshold corresponding to the second transmitting power according to a mapping relation list between the preset transmitting power and the distance threshold.
205. And if the first distance value is smaller than the preset distance threshold value, determining that an obstacle exists between the electronic equipment and the target device.
The specific implementation process of steps 201 to 205 may refer to the corresponding description in steps 101 to 104, and is not described herein again.
It can be seen that, in the embodiment of the present application, a first bidirectional ranging TWR request packet is sent to a target device by a first UWB chip at a first transmission power; if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device within a first preset time period by using second transmission power, wherein the second transmission power is larger than the first transmission power; if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at the transmitting power not less than the second transmitting power; the method comprises the steps of determining a preset distance threshold corresponding to second transmitting power according to a preset mapping relation list between the transmitting power and the distance threshold, and determining that an obstacle exists between the electronic equipment and a target device if a first distance value is smaller than the preset distance threshold.
Referring to fig. 3, fig. 3 is a schematic flowchart of another obstacle detection method according to an embodiment of the present application, applied to an electronic device shown in fig. 1A, where the electronic device includes a first UWB chip, and the electronic device is communicatively connected to a target apparatus, and the method includes:
301. transmitting a first bidirectional ranging TWR request packet to the target device at a first transmit power through the first UWB chip.
302. And if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device through the first UWB chip at a second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power.
303. If a second TWR response packet is received from the target device, determining a first distance value according to the second TWR response packet, wherein the second TWR response packet is a response packet sent by the target device to the electronic equipment with a transmission power not less than the second transmission power.
304. And determining a preset distance threshold corresponding to the second transmitting power according to a mapping relation list between the preset transmitting power and the distance threshold.
305. And if the first distance value is smaller than the preset distance threshold value, determining that an obstacle exists between the electronic equipment and the target device.
306. Determining a target distance threshold in a mapping relation list between preset transmitting power and a distance threshold, wherein a difference between the target distance threshold and the first distance value is smaller than differences between other distance thresholds which are larger than the first distance value in the mapping relation list and the first distance value.
307. And determining the target transmission power corresponding to the target distance threshold in the mapping relation list.
308. Determining an absolute value of a difference between the second transmit power and the target transmit power.
309. And determining the attenuation degree of the barrier to the signal transmitted by the first UWB chip according to the absolute value of the difference.
The specific implementation process of steps 301 to 309 may refer to corresponding descriptions in steps 101 to 104, and will not be described herein again.
It can be seen that, in the embodiment of the present application, a first bidirectional ranging TWR request packet is sent to a target device by a first UWB chip at a first transmission power; if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device with second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power; if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at the transmitting power not less than the second transmitting power; determining a preset distance threshold corresponding to the second transmitting power according to a mapping relation list between preset transmitting power and the distance threshold, if the first distance value is smaller than the preset distance threshold, determining that an obstacle exists between the electronic equipment and the target device, and determining a target distance threshold in the mapping relation list between the preset transmitting power and the distance threshold, wherein the difference between the target distance threshold and the first distance value is smaller than the difference between other distance thresholds larger than the first distance value in the mapping relation list and the first distance value; determining target sending power corresponding to a target distance threshold in a mapping relation list; determining the absolute value of the difference between the second transmitting power and the target transmitting power; the attenuation degree of the barrier to the signal transmitted by the first UWB chip is determined according to the absolute value of the difference, so that whether the barrier exists between the electronic equipment and the target device can be quickly identified when the UWB technology is used for ranging or positioning, misjudgment on whether the barrier exists is prevented, and the attenuation degree of the attenuation of the barrier to the signal transmitted by the first UWB chip can be determined.
The following is a device for implementing the obstacle detection method, specifically as follows:
in accordance with the above, please refer to fig. 4, where fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, the electronic device includes: a first UWB chip 440, a processor 410, a communication interface 430, and a memory 420; and one or more programs 421, the one or more programs 421 stored in the memory 420 and configured to be executed by the processor, the programs 421 including instructions for:
transmitting, by the first UWB chip, a first bidirectional ranging (TWR) request packet to the target device at a first transmit power;
if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device through the first UWB chip at a second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power;
if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at a transmission power not less than the second transmission power;
and if the first distance value is smaller than a preset distance threshold value, determining that an obstacle exists between the electronic equipment and the target device.
In one possible example, the program 421 further includes instructions for performing the steps of:
and determining the preset distance threshold corresponding to the second transmitting power according to a mapping relation list between the preset transmitting power and the distance threshold.
In one possible example, the program 421 further includes instructions for performing the steps of:
obtaining a distance measurement range corresponding to each transmitting power in a plurality of transmitting powers under the condition of no obstruction in advance to obtain a plurality of distance measurement ranges;
and taking the distance upper limit value in each distance measurement range in the plurality of distance measurement ranges as a distance threshold value of corresponding transmission power to obtain a plurality of distance threshold values, and establishing a mapping relation list between the transmission power and the distance threshold values according to the plurality of transmission power and the plurality of distance threshold values.
In one possible example, the second TWR response packet includes a first timestamp recorded by the target device, the first timestamp being a first timestamp recorded by the target device for receiving the second TWR request packet, and a second timestamp recorded by the target device, the second timestamp being a second timestamp recorded by the target device for sending the second TWR response packet, in the determining the first distance value from the second TWR response packet, the program 421 includes instructions for:
recording a third timestamp for sending the second TWR request packet;
recording a fourth timestamp of receiving the second TWR response packet;
determining a transmission time according to the first time stamp, the second time stamp, the third time stamp and the fourth time stamp;
and determining the first distance value according to the transmission time and the transmission speed.
In one possible example, the program 421 further includes instructions for performing the steps of:
determining a target distance threshold in a mapping relation list between preset transmitting power and a distance threshold, wherein a difference value between the target distance threshold and the first distance value is smaller than a difference value between other distance thresholds which are larger than the first distance value in the mapping relation list and the first distance value;
determining a target sending power corresponding to the target distance threshold in the mapping relation list;
determining an absolute value of a difference between the second transmit power and the target transmit power;
and determining the attenuation degree of the barrier to the signal transmitted by the first UWB chip according to the absolute value of the difference.
In one possible example, the program 421 further includes instructions for performing the steps of:
determining a target tolerance value corresponding to a target distance value closest to the first distance value according to a mapping relation between a preset distance value and the tolerance value;
determining a target distance range according to the first distance value and the target tolerance value;
and if the target distance value belongs to the target distance range, determining whether the first distance value is smaller than the preset distance threshold value.
Referring to fig. 5A, fig. 5A is a schematic structural diagram of an obstacle detection apparatus provided in this embodiment, where the obstacle detection apparatus 500 is applied to the electronic device shown in fig. 1A, the electronic device includes a first UWB chip, the electronic device is in communication connection with a target apparatus, the apparatus 500 includes a sending unit 501, a receiving unit 502, and a determining unit 503, where,
the sending unit 501 is configured to send a first two-way ranging TWR request packet to the target device with a first transmission power through the first UWB chip;
if the receiving unit 502 does not receive a first TWR response packet from the target device within a preset time interval, the sending unit 501 is further configured to send a second TWR request packet to the target device at a second transmission power through the first UWB chip within a first preset time period, where the second transmission power is greater than the first transmission power;
if the receiving unit 502 receives a second TWR response packet from the target device, the determining unit 503 is configured to determine a first distance value according to the second TWR response packet, where the second TWR response packet is a response packet sent by the target device to the electronic apparatus at a transmission power not less than the second transmission power;
the determining unit 503 is further configured to determine that an obstacle exists between the electronic device and the target apparatus if the first distance value is smaller than a preset distance threshold.
Optionally, the determining unit 503 is further configured to:
and determining the preset distance threshold corresponding to the second transmitting power according to a mapping relation list between the preset transmitting power and the distance threshold.
Optionally, as shown in fig. 5B, fig. 5B is a modified apparatus of the obstacle detecting apparatus depicted in fig. 5A, which may further include, compared with fig. 5A: the obtaining unit 504 and the processing unit 505 are specifically as follows:
the obtaining unit 504 is configured to obtain a distance measurement range corresponding to each of the multiple transmission powers in advance without being blocked by an obstacle, so as to obtain multiple distance measurement ranges;
the processing unit 505 is configured to use a distance upper limit value in each of the multiple distance measurement ranges as a distance threshold corresponding to the transmission power, obtain multiple distance thresholds, and establish a mapping relationship list between the transmission power and the distance thresholds according to the multiple transmission powers and the multiple distance thresholds.
Optionally, the second TWR response packet includes a first timestamp and a second timestamp recorded by the target device, where the first timestamp is a first timestamp recorded by the target device when the target device receives the second TWR request packet, and the second timestamp is a second timestamp recorded by the target device when the target device sends the second TWR response packet, in the aspect of determining the first distance value according to the second TWR response packet, the determining unit 503 is specifically configured to:
recording a third timestamp for sending the second TWR request packet;
recording a fourth timestamp of receiving the second TWR response packet;
determining a transmission time according to the first time stamp, the second time stamp, the third time stamp and the fourth time stamp;
and determining the first distance value according to the transmission time and the transmission speed.
Optionally, the determining unit 503 is further configured to:
determining a target distance threshold in a mapping relation list between preset transmitting power and a distance threshold, wherein a difference value between the target distance threshold and the first distance value is smaller than a difference value between other distance thresholds which are larger than the first distance value in the mapping relation list and the first distance value;
determining a target sending power corresponding to the target distance threshold in the mapping relation list;
determining an absolute value of a difference between the second transmit power and the target transmit power;
and determining the attenuation degree of the barrier to the signal transmitted by the first UWB chip according to the absolute value of the difference.
Optionally, the determining unit 503 is further configured to:
determining a target tolerance value corresponding to a target distance value closest to the first distance value according to a mapping relation between a preset distance value and the tolerance value;
determining a target distance range according to the first distance value and the target tolerance value;
and if the target distance value belongs to the target distance range, determining whether the first distance value is smaller than the preset distance threshold value.
It can be seen that the obstacle detection device described in the embodiment of the present application transmits a first bidirectional ranging TWR request packet to a target device at a first transmission power through a first UWB chip; if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device with second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power; if a second TWR response packet from the target device is received, determining a first distance value according to the second TWR response packet, wherein the second TWR response packet is a response packet sent by the target device to the electronic equipment with a transmission power not less than a second transmission power; if the first distance value is smaller than the preset distance threshold value, it is determined that an obstacle exists between the electronic equipment and the target device, and therefore whether the obstacle exists between the electronic equipment and the target device can be rapidly identified when the UWB technology is used for ranging or positioning.
It can be understood that the functions of each program module of the obstacle detection apparatus in this embodiment may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the relevant description of the foregoing method embodiment, which is not described herein again.
Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising an electronic device.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art will recognize that the embodiments described in this specification are preferred embodiments and that acts or modules referred to are not necessarily required for this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer readable memory if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, may be embodied in the form of a software product, which is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above methods of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash Memory disks, read-Only memories (ROMs), random Access Memories (RAMs), magnetic or optical disks, and the like.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. An obstacle detection method applied to an electronic device including a first UWB chip, the electronic device being communicatively connected to a target apparatus, the method comprising:
transmitting, by the first UWB chip, a first bidirectional ranging (TWR) request packet to the target device at a first transmit power;
if a first TWR response data packet from the target device is not received within a preset time interval, sending a second TWR request data packet to the target device through the first UWB chip at a second transmission power within a first preset time period, wherein the second transmission power is greater than the first transmission power;
if a second TWR response data packet from the target device is received, determining a first distance value according to the second TWR response data packet, wherein the second TWR response data packet is a response data packet sent by the target device to the electronic equipment at a transmission power not less than the second transmission power;
and if the first distance value is smaller than a preset distance threshold value, determining that an obstacle exists between the electronic equipment and the target device.
2. The method of claim 1, further comprising:
and determining the preset distance threshold corresponding to the first transmitting power according to a mapping relation list between the preset transmitting power and the distance threshold.
3. The method of claim 2, further comprising:
obtaining a distance measurement range corresponding to each transmitting power in a plurality of transmitting powers under the condition of no obstruction in advance to obtain a plurality of distance measurement ranges;
and taking the distance upper limit value in each distance measurement range in the plurality of distance measurement ranges as a distance threshold value of corresponding transmission power to obtain a plurality of distance threshold values, and establishing a mapping relation list between the transmission power and the distance threshold values according to the plurality of transmission power and the plurality of distance threshold values.
4. The method of any of claims 1-3, wherein the second TWR response packet includes a first timestamp recorded by the target device and a second timestamp recorded by the target device, wherein the first timestamp is a first timestamp recorded by the target device when the second TWR request packet was received by the target device, wherein the second timestamp is a second timestamp recorded by the target device when the second TWR response packet was sent by the target device, and wherein determining the first distance value from the second TWR response packet comprises:
recording a third timestamp for transmitting the second TWR request packet;
recording a fourth timestamp of receiving the second TWR response packet;
determining a transmission time according to the first time stamp, the second time stamp, the third time stamp and the fourth time stamp;
and determining the first distance value according to the transmission time and the transmission speed.
5. The method according to any one of claims 1-3, further comprising:
determining a target distance threshold in a mapping relation list between preset transmitting power and a distance threshold, wherein a difference value between the target distance threshold and the first distance value is smaller than a difference value between other distance thresholds which are larger than the first distance value in the mapping relation list and the first distance value;
determining a target sending power corresponding to the target distance threshold in the mapping relation list;
determining an absolute value of a difference between the second transmit power and the target transmit power;
and determining the attenuation degree of the barrier to the signal transmitted by the first UWB chip according to the absolute value of the difference.
6. The method of claim 1, further comprising:
determining a target tolerance value corresponding to a target distance value closest to the first distance value according to a mapping relation between a preset distance value and the tolerance value;
determining a target distance range according to the first distance value and the target tolerance value;
and if the target distance value belongs to the target distance range, determining whether the first distance value is smaller than the preset distance threshold value.
7. An obstacle detection apparatus, applied to an electronic device including a first UWB chip, the electronic device being in communication with a target apparatus, the apparatus comprising: a transmitting unit, a receiving unit and a determining unit, wherein,
the transmitting unit is used for transmitting a first bidirectional ranging TWR request data packet to the target device through the first UWB chip at a first transmission power;
if the receiving unit does not receive a first TWR response packet from the target device within a preset time interval, the sending unit is further configured to send a second TWR request packet to the target device at a second transmission power through the first UWB chip within a first preset time period, where the second transmission power is greater than the first transmission power;
if the receiving unit receives a second TWR response packet from the target device, the determining unit is configured to determine a first distance value according to the second TWR response packet, where the second TWR response packet is a response packet sent by the target device to the electronic apparatus at a transmission power not less than the second transmission power;
the determining unit is further configured to determine that an obstacle exists between the electronic device and the target apparatus if the first distance value is smaller than a preset distance threshold.
8. An electronic device comprising a first UWB chip, a processor, a memory for storing one or more programs and configured for execution by the processor, the programs comprising instructions for performing the steps in the method of any one of claims 1-6, and a communication interface.
9. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any of the claims 1-6.
10. A computer program product, comprising a computer readable storage medium having a computer program stored thereon, wherein the computer program is to make a computer execute the method according to any of claims 1-6.
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| CN112243290B (en) * | 2020-10-19 | 2023-05-23 | Oppo广东移动通信有限公司 | WIFI transmitting power adjustment method, device, equipment and medium |
| CN112468962B (en) * | 2020-11-27 | 2023-06-06 | Oppo广东移动通信有限公司 | Angle measuring method, terminal and computer storage medium |
| CN113009461B (en) * | 2021-05-26 | 2021-09-07 | 杭州优智联科技有限公司 | Improved single-side two-way distance measuring method, equipment, system and medium based on UWB |
| CN113655437A (en) * | 2021-08-10 | 2021-11-16 | Oppo广东移动通信有限公司 | Ranging method, ranging apparatus, and storage medium |
| WO2023159351A1 (en) * | 2022-02-22 | 2023-08-31 | Oppo广东移动通信有限公司 | Wireless communication method and device |
| CN115061215A (en) * | 2022-04-28 | 2022-09-16 | 北京三快在线科技有限公司 | Detection method and device for storage grid, electronic equipment and storage medium |
| CN116432670B (en) * | 2023-04-20 | 2024-01-23 | 欧科华创自动化(深圳)有限公司 | Energy-saving RFID method and system capable of self-adjusting power |
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| DE10140096A1 (en) * | 2001-08-16 | 2003-02-27 | Conti Temic Microelectronic | Procedure for operating an active obstacle warning system |
| CN102598521A (en) * | 2009-06-19 | 2012-07-18 | 科达无线私人有限公司 | Characterisation of a wireless communications link |
| CN101893707B (en) * | 2010-05-27 | 2012-06-27 | 华为技术有限公司 | Method and device for identifying non-line-of-sight propagation and base station |
| US9363645B2 (en) * | 2013-10-17 | 2016-06-07 | Symbol Technologies, Llc | Locationing system performance in non-line of sight conditions |
| US10447092B2 (en) * | 2014-07-31 | 2019-10-15 | Ossia Inc. | Techniques for determining distance between radiating objects in multipath wireless power delivery environments |
| CN108303697B (en) * | 2017-01-13 | 2020-02-04 | 杭州海康威视数字技术股份有限公司 | Ultrasonic detection method, device and system for obstacles |
| CN107817469B (en) * | 2017-10-18 | 2020-11-24 | 上海理工大学 | Indoor positioning method based on ultra-wideband ranging in non-line-of-sight environment |
| CN108811082B (en) * | 2018-06-26 | 2020-07-21 | 中国人民解放军陆军工程大学 | Wireless positioning method, system and positioning terminal |
| CN110161508A (en) * | 2019-06-03 | 2019-08-23 | Oppo广东移动通信有限公司 | Distance measuring method, device, terminal and storage medium |
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