CN114966545A

CN114966545A - Position measuring method and device, equipment and storage medium

Info

Publication number: CN114966545A
Application number: CN202110221148.8A
Authority: CN
Inventors: 郭富祥
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2022-08-30

Abstract

The embodiment of the application discloses a position measuring method, a position measuring device, position measuring equipment and a storage medium; wherein the method comprises the following steps: transmitting a measurement request signal to a first device; receiving at least two response signals returned by the first device based on the measurement request signal; determining a position relative to the first device based on the at least two response signals.

Description

Position measuring method and device, equipment and storage medium

Technical Field

The embodiment of the application relates to electronic technology, and relates to a position measuring method, a position measuring device, position measuring equipment and a storage medium.

Background

With the rapid development of Wireless communication technology, the short-range Wireless communication means in the related technology, such as positioning technologies based on Wireless local area network (WiFi) or bluetooth, have more or less problems, and the Ultra Wide Band (UWB) positioning technology brings a development opportunity for the market demand.

In the UWB positioning technology, there are various ranging-based positioning methods such as a Phase Difference of Arrival (PDoA) positioning method. However, the Angle of Arrival (AoA) obtained based on the PDoA measurement is also unstable, and the Angle measurement accuracy is low.

Disclosure of Invention

In view of this, the position measurement method, the position measurement device, the position measurement apparatus, and the storage medium provided in the embodiments of the present application can obtain a more stable position value at the same refresh rate, thereby effectively improving the positioning accuracy. The position measuring method, the device, the equipment and the storage medium provided by the embodiment of the application are realized as follows:

the position measurement method provided by the embodiment of the application comprises the following steps: transmitting a measurement request signal to a first device; receiving at least two response signals returned by the first device based on the measurement request signal; determining a position relative to the first device based on the at least two response signals.

The position measurement method provided by the embodiment of the application comprises the following steps: receiving a measurement request signal sent by second equipment; and returning at least two response signals to the second equipment based on the measurement request signal so as to enable the second equipment to carry out position measurement according to the at least two response signals.

The position measurement device that this application embodiment provided includes: a sending module, configured to send a measurement request signal to a first device; a receiving module, configured to receive at least two response signals returned by the first device based on the measurement request signal; a determining module for determining a position relative to the first device based on the at least two response signals.

The position measurement device that this application embodiment provided includes: the receiving module is used for receiving a measurement request signal sent by the second equipment; and the response module is used for returning at least two response signals to the second equipment based on the measurement request signal so as to enable the second equipment to carry out position measurement according to the at least two response signals.

The position measurement system that this application embodiment provided includes: a first device and a second device; wherein the second device transmits a measurement request signal to the first device; the first equipment receives a measurement request signal sent by the second equipment; the first device returns at least two response signals to the second device based on the measurement request signal; the second device receives the at least two response signals returned by the first device; the second device determines a position relative to the first device based on the at least two response signals.

The electronic device provided by the embodiment of the application comprises a memory and a processor, wherein the memory stores a computer program which can run on the processor, and the processor executes the program to realize the method provided by the embodiment of the application.

The computer-readable storage medium provided by the embodiment of the present application stores thereon a computer program, and the computer program, when executed by a processor, implements the method provided by the embodiment of the present application.

In the embodiment of the application, the second device sends a request signal to the first device once, so that at least two response signals can be obtained; subsequently, the second device determines its position relative to the first device based on the received at least two response signals. Therefore, on one hand, the refresh rate can be reduced on the basis of ensuring the same positioning precision, the power consumption is greatly reduced, and the channel occupancy rate is reduced; on the other hand, under the same refresh rate, the measured position value is more stable, and the positioning accuracy can be effectively improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic flow chart illustrating an implementation of a position measurement method according to an embodiment of the present application;

fig. 2 is a schematic flow chart illustrating an implementation of a position measurement method according to an embodiment of the present application;

fig. 3 is a schematic flow chart illustrating an implementation of a position measurement method according to an embodiment of the present application;

fig. 4 is a schematic flowchart illustrating an implementation process of a position measurement method according to an embodiment of the present application;

FIG. 5 is a schematic diagram of an implementation of two-way ranging;

FIG. 6 is a schematic diagram of an implementation of a Single-ended Two-Way Ranging (SS-TWR) algorithm;

FIG. 7 is a schematic diagram of an implementation of a Double-Sided Two-Way Ranging (DS-TWR) algorithm;

FIG. 8 is a diagram showing an implementation of the improved DS-TWR algorithm;

FIG. 9 is a schematic diagram of UWB angle measurement fundamentals;

FIG. 10 is a schematic diagram of the logic of wireless communication interaction for UWB ranging and angle measurement in the related art;

FIG. 11 is a graph showing the measurement results of the standard deviation of the PDoA of the device 2 relative to the device 1 at different AoAs in the related art;

FIG. 12 is a schematic diagram of an interaction logic for improving the PDoA angle measurement accuracy of a system in the related art;

FIG. 13 is a schematic diagram of the logic of the UWB ranging and angle measurement wireless communication interaction in an embodiment of the present application;

FIG. 14 is a schematic diagram illustrating the logic of interaction between the device 1 and the device 2 according to the embodiment of the present application;

fig. 15 is a diagram illustrating power consumption distribution of the apparatus 1 according to the related art;

FIG. 16 is a schematic diagram of the power consumption distribution of the apparatus 1 in the embodiment of the present application;

fig. 17 is a schematic diagram of an interaction logic of the device 2 in the embodiment of the present application, in which the response information is added 3 times;

FIG. 18 is a schematic structural diagram of a position measuring device according to an embodiment of the present application;

FIG. 19 is a schematic structural diagram of a position measuring device according to an embodiment of the present application;

fig. 20 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

It should be noted that the terms "first \ second \ third" are used herein to distinguish similar or different objects and do not denote a particular order or importance to the objects, and it should be understood that "first \ second \ third" may be interchanged with a particular order or sequence where permissible to enable embodiments of the present application described herein to be practiced otherwise than as shown or described herein.

Before further detailed description of the embodiments of the present application, terms and expressions referred to in the embodiments of the present application will be described, and the terms and expressions referred to in the embodiments of the present application will be used for the following explanation.

Ultra wideband UWB technology: the wireless carrier communication technology adopts a nanosecond non-sine wave narrow pulse to transmit data instead of a sine carrier, so that the occupied frequency spectrum range is wide.

Arrival phase difference (PDoA): two antennas in an electronic device receive a difference in the phase of the same signal transmitted by another device. In UWB technology, it is used for measurement calculation of the angle of arrival AoA.

Angle of arrival (AoA): i.e. the azimuth angle. In the UWB technology, the electronic device converts the calculated phase difference of the response signal into an azimuth angle using a predetermined conversion relationship.

The embodiment of the application provides a position measuring method, which is applied to electronic equipment, wherein the electronic equipment can be various types of equipment with a positioning function in the implementation process. The electronic device may include a cell phone, a tablet, a desktop, a personal digital assistant, a navigator, a television, or a sensing device, etc. The functions implemented by the method can be implemented by calling program code by a processor in an electronic device, and the program code can be stored in a computer storage medium.

Fig. 1 is a schematic flow chart of an implementation of a position measurement method provided in an embodiment of the present application, and as shown in fig. 1, the method may include the following steps 101 to 103:

step 101, the second device sends a measurement request signal to the first device.

In the embodiment of the present application, the second device and the first device may be the same type of device or different types of devices, but both are mounted with a communication module having a positioning function. For example, the second device and the first device may both be mobile devices such as a mobile phone and a pad; or, the second device is a device carrying a UWB tag, and the first device is a mobile device such as a mobile phone.

It should be noted that, in the embodiment of the present application, it is not limited whether the second device is a measurement device or a device under test, nor is it limited whether the first device is a measurement device or a device under test. The second device may be a device to be measured, that is, a device whose own position needs to be known, and accordingly, the first device is a measurement device; for example, assuming that the second device is a handset, the first device is a base station, and the handset needs to know its location, the handset may send a measurement request signal to the base station, and determine the location relative to the base station through the

following steps

102 and 103.

Of course, the second device may also be a measurement device, by which the position of the device under test (i.e. the first device) is measured. For example, if a user wants to search for the mobile phone B through the mobile phone a, the mobile phone a needs to determine the position of the mobile phone B (the mobile phone a is used as a measurement device, and the mobile phone B is used as a device to be measured), at this time, the mobile phone a may send a measurement request signal to the mobile phone B, and then the mobile phone a determines the position of the mobile phone B based on at least two response signals returned by the mobile phone B.

The measurement request signal may be various radio signals, and of course, the measurement request signal may also be an ultrasonic signal, an infrared signal, or the like. In some embodiments, the measurement request signal may be a UWB signal.

Step 102, the second device receives at least two response signals returned by the first device based on the measurement request signal.

That is to say, the second device sends the request signal to the first device once, that is, the response signal can be obtained at least twice, so that when the second device performs the location measurement, the number of interactions with the first device can be effectively reduced, the channel occupancy rate is reduced, the device load is reduced, and the device power consumption is reduced.

In this embodiment of the application, it is not limited to whether the time instants at which the first device sends the at least two response signals are the same. For example, when the first device returns two response signals to the second device, the first device may delay a certain time period t after sending one response signal, and then additionally send one response signal to the second device. The size of t is not limited. In some embodiments, the size of t is related to the reception capability of the second device. Such as t being 100 microseconds (us). Of course, for three, four or even more response signals, the first device may delay each time after sending one response signal for a certain time period t before sending the next response signal.

Of course, the first device may also send both of the at least two response signals to the second device in parallel at a time.

Step 103, the second device determines the position relative to the first device according to the at least two response signals.

In the embodiment of the application, the second device and the first device perform one communication interaction to obtain at least two response signals; subsequently, the second device determines its position relative to the first device based on the received at least two response signals. Therefore, on one hand, the refresh rate (the refresh rate indicates how many times of communication interaction between the second equipment and the first equipment is completed within 1 second) can be effectively reduced on the basis of ensuring the same positioning accuracy, so that the power consumption is greatly reduced, and the channel occupancy rate is reduced; on the other hand, under the same refresh rate, the position value obtained by measurement is more stable, and the positioning precision can be effectively improved.

The second device may perform the steps of the measurement method one or more times while performing the positioning, thereby obtaining a positioning result based on the one or more position measurements. For example, when the steps of the measurement method are performed N (N > 1) times, N position measurement results are obtained, and a representative value such as an average value of the N position measurement results may be used as a final positioning result.

It should be noted that the representative values of the position measurement results may be calculated in various manners, for example, an average value of the position measurement results may be taken, and the average value is used as the positioning result; or sequencing the position measurement results for multiple times, and taking the intermediate value as a positioning result; and a weighted average value of the position measurement results of multiple times can be taken, and the weighted average value is used as a positioning result.

Fig. 2 is a schematic flow chart illustrating an implementation of the position measurement method according to the embodiment of the present invention, and as shown in fig. 2, the method may include the following steps 201 to 206:

step 201, the second device sends a measurement request signal to the first device;

step 202, a first device receives a measurement request signal sent by a second device;

step 203, the first device returns at least two response signals to the second device at least two different moments respectively based on the measurement request signal;

in some embodiments, the manner in which the first device returns the response signal to the second device may be: when the first equipment receives a measurement request signal sent by the second equipment, a first response signal is returned to the second equipment at a first moment based on the request signal; then, delaying for a certain time t, reaching a second time, and returning an additional second response signal to the second equipment at the second time; of course, for three, four or even more response signals, the first device may delay each time after sending one response signal for a certain time period t before sending the next response signal. In the embodiment of the application, the first equipment is delayed for a certain time and then returns the additional response signal, so that the second equipment can receive the additional response signal in time and the signal missing is avoided.

It should be noted that the number N (N > 1) of response signals returned by the first device to the second device depends on that the positioning module carried by the second device can correctly receive the response signals N times within a certain time.

In some embodiments, the manner in which the first device returns the response signal to the second device may also be: after receiving the measurement request signal, the first device transmits at least two response signals to the second device in parallel at one time based on the request signal.

Step 204, the device to be tested receives at least two response signals returned by the first device at different times respectively;

step 205, the second device determines a measurement value according to the response signal.

In some embodiments, the measurement comprises a phase difference of response signals received by the first antenna and the second antenna in the second device. I.e. the second device determines the phase difference from the response signals received by the first antenna and the second antenna. When the measured value is the phase difference of the response signal received by the antenna in the second device, the phase difference may be determined from the response signal by performing step 305 in the following embodiment.

The measurement includes a distance of the second device relative to the first device. When the measured value is the distance of the second device relative to the first device, the distance may be determined from the response signal by performing steps 308 to 309 in the following embodiments.

In other embodiments, the measured value may also be an azimuth angle of the second device relative to the first device and a time of flight for signals transceived between the second device and the first device.

And step 206, the second device determines the position relative to the first device according to the measured values respectively corresponding to the at least two response signals.

In some embodiments, the second device may integrate the measurements corresponding to each response signal to determine its position relative to the first device.

For example, when the position is an azimuth of the second device relative to the first device, the azimuth of the second device relative to the first device is determined by performing steps 305 to 307 in the following embodiments: firstly, replacing table values with the determined phase differences of a plurality of response signals, wherein the representative value is a more stable phase difference; and then converting the obtained stable phase difference into an azimuth angle according to a preset conversion relation. So, make the phase difference of determining more stable, and then make the azimuth more stable, promote the angle measurement precision.

In some embodiments, the second device may also determine its position relative to the first device based on a measurement corresponding to the received first response signal.

For example, when the position is the distance of the second device relative to the first device, by performing steps 308 to 309 in the following embodiments, the time of flight of the signal is first determined; the time of flight of the signal is then multiplied by the speed of flight to determine the distance of the second device relative to the first device.

Here, the distance measurement accuracy can be ensured by determining the time of flight and the distance only from the response signal returned for the first time because: although theoretically, a plurality of distance values can be calculated from a plurality of returned response signals, respectively, the accuracy of the subsequently determined distance value is generally inferior to the distance value determined from the response signal returned for the first time, and therefore, the subsequently determined distance value is generally not considered. And the distance determining mode only needs to calculate the signal flight time once, and the calculated amount is small.

Fig. 3 is a schematic flow chart illustrating an implementation of the position measurement method according to the embodiment of the present application, and as shown in fig. 3, the method may include the following steps 301 to 309:

step 301, the second device sends a measurement request signal to the first device;

step 302, a first device receives a measurement request signal sent by a second device;

step 303, the first device returns at least two response signals to the second device at least two different times, respectively, based on the measurement request signal;

step 304, the second device receives at least two response signals returned by the first device at different time respectively;

step 305, the second device determines a first phase of the response signal received by the first antenna; the second device determines a second phase of the response signal received by the second antenna; determining a phase difference of the first phase and the second phase.

For example, as shown in fig. 9, a first device (i.e., a positioning apparatus) sends a response signal to a second device (i.e., a PDoA measurement end), the second device is provided with an antenna a and an antenna B having a specific distance, and the second device determines a first phase of the response signal received by the antenna a and a second phase of the response signal received by the antenna B; according to the first phase and the second phase, the second device can determine the phase difference of the received response signals.

In step 306, the second device determines a representative value of the phase difference corresponding to the at least two response signals.

It can be understood that the phase difference determined by the second device has a certain degree of dispersion, and therefore, after determining the phase difference corresponding to at least two response signals, in order to obtain a more stable phase difference value, the second device may take a representative value such as an average value of the phase differences corresponding to at least two response signals, as the finally determined phase difference. The representative value may be calculated in various ways, for example, an average value of a plurality of phase differences may be taken, and the average value is used as the representative value; or sorting a plurality of phase differences, and taking a middle value as a representative value; a weighted average of the plurality of phase differences may be taken, and the weighted average may be used as the representative value.

Step 307, the second device converts the representative value into an azimuth angle according to a preset conversion relationship.

In the embodiment of the present application, when determining the phase difference corresponding to at least two response signals, a representative value such as a mean value of a plurality of phase differences is taken as a finally determined phase difference, and then the representative value is converted into an azimuth angle according to a preset conversion relationship. So, can make the phase difference that finally determines more stable, and then make the azimuth after the conversion more stable, promote the angle measurement precision.

In other embodiments, when the phase difference corresponding to the at least two response signals is determined, each phase difference may be converted into a corresponding azimuth angle according to a preset conversion relationship based on each phase difference; and then, based on the obtained at least two azimuth angles, taking a representative value such as the mean value of the at least two azimuth angles as the finally determined azimuth angle. Therefore, the determined azimuth angle can be more stable, and the angle measurement precision is improved.

Step 308, the second device obtains a first receiving time of the measurement request signal and a first sending time of the response signal from the response signal; the second device acquires a second sending time of the measurement request signal and a second receiving time of the response signal; and the second equipment determines the flight time of the signal according to the first receiving time, the second receiving time, the first sending time and the second sending time.

For example, as shown in fig. 14, the second device (i.e., apparatus 1) sends a measurement request signal to the first device (i.e., apparatus 2), and the second device obtains the first receiving time T at which the first device obtains the measurement request signal from the response signal _2-r And a first transmission time T at which the first device transmits a response signal _2-t The second device obtains a second sending time T of the measurement request signal from a positioning module carried by the second device _1-t And a second reception time T at which the response signal is received _1-r (ii) a Subsequently, as shown in formula 1,

Tprop＝((T _1-r -T _1-t )-(T _2-t -T _2-r ) 2 (equation 1);

according to a first receiving time T _2-r Second reception time T _1-r First transmission time T _2-t And a second transmission time T _1-t The signal time of flight Tprop can be determined.

Step 309, the second device determines the distance to the first device based on the time of flight of the signal and the speed of flight of the signal.

It will be appreciated that, as shown in equation 2,

dist ═ c × Tprop (equation 2);

after the signal time of flight Tprop is determined, the product of the signal time of flight and the signal speed of flight is calculated, i.e. the distance of the second device relative to the first device. Where dist represents the distance of the second device relative to the first device and c is the signal flight speed.

Fig. 4 is a schematic flow chart illustrating an implementation of the position measurement method according to the embodiment of the present application, and as shown in fig. 4, the method may include the following steps 401 to 402:

in step 401, a first device receives a measurement request signal sent by a second device.

In the embodiment of the present application, the first device and the second device may be the same type of device or different types of devices, but both devices are equipped with a communication module having a positioning function. For example, the first device and the second device may both be mobile devices such as a mobile phone and a pad; or, the first device is a mobile device such as a mobile phone, and the second device is a device carrying a UWB tag.

Step 402, the first device returns at least two response signals to the second device based on the measurement request signal, so that the second device performs position measurement according to the at least two response signals.

In this embodiment of the present application, after receiving a measurement request signal sent by a second device, a first device returns at least two response signals to the second device based on the measurement request signal, so that the second device sends a request message to the first device once, that is, can obtain at least two response messages, and determines a position of the second device relative to the first device according to the received at least two response signals. Therefore, on one hand, the refresh rate can be effectively reduced on the basis of ensuring the same positioning precision, the power consumption is greatly reduced, and the channel occupancy rate is reduced; on the other hand, under the same refresh rate, the position value obtained by measurement is more stable, and the positioning precision can be effectively improved.

An embodiment of the present application provides a position measurement system, which includes: a first device and a second device; wherein, the first device and the second device may perform the following communication procedures from step 501 to step 505:

step 501, the second device sends a measurement request signal to the first device;

step 502, a first device receives a measurement request signal sent by a second device;

step 503, the first device returns at least two response signals to the second device based on the measurement request signal;

step 504, the second device receives the at least two response signals returned by the first device;

the second device determines a position relative to the first device based on the at least two response signals, step 505.

Before further detailed description of the embodiments of the present application, the UWB distance measurement principle and UWB angle measurement basic principle related to the embodiments of the present application will be described.

The ranging principle of UWB is as follows:

tof (time of flight)/toa (time of arrival) calculates the propagation time of a wireless signal from a transmitting device to a receiving device by recording the transmission and reception time stamp of a ranging message, and then multiplies the propagation time by the speed of light to obtain the distance between the devices. According to different transmission modes of the Ranging message, the method can be divided into One-Way Ranging (OWR) and Two-Way Ranging (TWR). The ranging message in the one-way ranging is only transmitted in one way, so that the two devices are required to keep accurate clock synchronization in order to obtain the flight time between the devices, and the system implementation complexity and cost are high; and bidirectional ranging has no requirement on clock synchronization of two devices, and the system implementation complexity and cost are very low. And thus focus is primarily on the two-way ranging scheme.

Fig. 5 shows a schematic diagram of the implementation of two-way ranging (TWR). The TWR method requires two-way communication between devices, calculates the round-trip time of the UWB signal through the UWB signal transceiving time stamp, and then multiplies the round-trip time by the speed of light, thereby obtaining actual distance information between the two devices. In FIG. 5, Δ t ^g Time difference, Δ t, between initiating ranging request information and receiving response message for the left device ^b The time difference between the reception of the ranging request information and the transmission of the response message for the right device; and c is the speed of light. The distance between the devices is calculated as shown in equation 3:

d＝0.5·c·(Δt ^g -Δt ^b ) (equation 3);

the TWR method mainly includes two types, namely, single-sided two-way ranging (SS-TWR) and two-sided two-way ranging (DS-TWR), and the two ranging algorithms are explained below.

In the SS-TWR algorithm, a ranging request device initiates a ranging request, a ranging response device monitors and responds to the ranging request, and then the ranging request device calculates the time of flight between devices by using all timestamp information.

Fig. 6 shows a schematic diagram of an implementation of the SS-TWR algorithm. Specifically, in the SS-TWR algorithm, the device a initiates a ranging request message, the device B responds to the ranging and returns a message processing delay Treply, the device a calculates a round trip delay Tround of the message after receiving the response message, and then calculates the time of flight Tprop between the device a and the device B as shown in formula 4:

tprop ═ 0.5 (round-Treply) (equation 4);

in the DS-TWR algorithm, the distance measuring equipment of both sides can initiate a distance measuring request, which is equivalent to the fact that the two sides finish SS-TWR distance measuring respectively once, therefore, compared with the SS-TWR algorithm, the DS-TWR algorithm can greatly improve the distance measuring precision.

Fig. 7 shows a schematic diagram of the implementation of the DS-TWR algorithm. As can be seen from the figure, the naive DS-TWR algorithm realizes that two ranging parties need to exchange 4 messages, and it can be found by analyzing the ranging message exchange flow that the second ranging response message and the third ranging request message are both executed by the same device sequentially, and thus can be merged into one message. After combination, the message exchange times in the ranging process are reduced, so that the ranging time can be reduced; on the other hand, the distance measurement power consumption can be reduced, and the distance measurement precision is not influenced.

Fig. 8 shows a schematic diagram of the implementation of the improved DS-TWR algorithm. Wherein the flight time between device a and device B is shown in equation 5:

tprop ═ (round 1 · round2-Treply1 · Treply 2)/(round 1+ round2+ Treply1+ Treply2) (equation 5);

wherein, Tround1 is the round trip delay of device a from sending a request message to device B until receiving a response message returned by device B, Treply1 is the processing delay of device B from receiving a request message sent by device a until returning a response message to device a, Tround2 is the round trip delay of device B from sending a request message to device a until receiving a response message returned by device a, and Treply2 is the processing delay of device a from receiving a request message sent by device B until returning a response message to device B.

The time of flight is obtained and multiplied by the speed of light to provide a distance measurement.

The UWB goniometry rationale is as follows:

as shown in fig. 9, the DUT is a UWB device under test (e.g., a UWB tag), and the DUT transmits a UWB signal to the measurement device. The measuring device (such as a mobile phone) is provided with two antennas antA and antB with a specific distance d. As shown in fig. 9, the measuring end can measure the phases of the antA and the UWB signal transmitted from the DUT received by the antA, thereby calculating the phase difference PDoA. And calculating the path difference p between the antenna of the DUT and the antA and the antB through the PDoA. And calculating the arrival angle theta (the azimuth angle of the DUT relative to the measuring end) according to the p and the d through a (trigonometric) functional relation.

In practical devices, it is difficult to calculate the angle of arrival with a simple trigonometric function due to the effect of mutual coupling between antennas. Therefore, different devices need to be calibrated to derive a specific mapping table or AoA calculation function.

FIG. 10 shows UWB ranging and angle measurement wireless communication interaction logic. There is a degree of dispersion in the PDoA measurements. As shown in fig. 11, this is a measurement of the PDoA standard deviation of a certain time apparatus 2 (i.e. the first device) relative to apparatus 1 (i.e. the second device) at different aoas. The larger the standard deviation, the larger the PDoA jitter at the AoA.

In the related art, as shown in fig. 12, in order to improve the PDoA angle measurement accuracy of the system, it is necessary to perform a plurality of communication interactions to obtain a series of PDoA, and then perform filtering to obtain a more stable PDoA (the calculated AoA is also more stable).

However, multiple measurement interactions may result in a doubling of the wireless channel occupation time, and at the same time, a load of the device system may be increased, and power consumption of the device may be greatly increased.

Based on this, an exemplary application of the embodiment of the present application in a practical application scenario will be described below.

In the embodiment of the present application, UWB ranging and angle measurement wireless communication interaction logic is as shown in fig. 13 and 14. The device 1 and the device 2 are both provided with a UWB communication module, and the wireless interaction logic is realized through UWB wireless communication.

The specific implementation flow is shown as the following steps 1 to 7:

in step 1, device 1 sends a request message to device 2. Device 1 acquires time T of transmission request information from UWB module _1-t ；

Step 2, the device 2 receives the request information and obtains the time T when receiving the request information from the UWB module _2-r ；

Step 3, the device 2 sets the transmitting time T _2-t And transmits a response message to the device 1 at a corresponding timing. The response message includes the time T at which the device 2 received the request message _2-r And the time T of sending the response information _2-t ；

Step 4, after delaying for a certain time t, the device 2 transmits additional response information to the device 1. The t is very small, such as more than 100 us;

step 5, after the device 1 receives the response information, the time T of acquiring the received response information from the UWB module _1-r Obtaining T from the response information _2-r And T _2-t Acquiring PDoA-1 from the UWB module;

step 6, after receiving the additional response information, the device 1 acquires the PDoA-2 from the UWB module;

step 7, the device 1 performs data processing.

a) And filtering the PDoA-1 and the PDoA-2 to obtain the PDoA. Such as PDoA ═ (PDoA-1+ PDoA-2)/2. The PDoA is converted into the AoA through a preset mapping table or a preset function.

b)Tprop＝((T _1-r -T _1-t )-(T _2-t -T _2-r ))/2. The distance measurement dist is c Tprop, where c is the speed of light and Tprop is the time of flight.

Fig. 15 is a power consumption distribution diagram of the device 1 in the related art. As shown in fig. 15:

stage 1, idle, during which the UWB module wakes up from sleep state for initialization.

Stage 2, TX, transmits the request message.

Stage 3, idle, because the UWB module is then set to receive mode, it cannot be put to sleep, but is only in idle state.

And 4, RX sets the UWB module to be in a receiving mode within a preset time so as to correctly receive the response information. When the response information is received, the UWB module enters a sleep state.

The time for initializing the UWB module in the related art is several times longer than the time for the TX phase and the RX phase, and the power consumption in the idle state is close to the power consumption of the TX phase and the RX phase.

Fig. 16 shows power consumption distribution of the device 1 in the embodiment of the present application.

As can be seen from fig. 16, the power consumption of the

stages

1, 2, 3 is the same as in the related art, and the stage 4 is slightly longer than in the related art. In summary, the power consumption of one communication interaction in the embodiment of the present application is slightly greater than that in the related art, but the PDoA data of 2 times can be obtained by one communication interaction in the embodiment of the present application, and the PDoA after filtering is more stable.

Similarly, if 2 PDoA data are to be obtained in the related art, 2 communication interactions are to be performed, and the power consumption is close to 2 times that of the embodiment of the present application.

In some embodiments, the appended response information may be increased up to 3 times, as shown in fig. 17. Similarly, the additional response information may be increased to 4 times, N times, etc., where the additional number N depends on how short the UWB module can correctly receive the UWB data frame N times.

In the embodiment of the present application, compared to SS-TWR ranging, an additional response request is set, and the time interval between the response request and the additional response request is short, so that the device 1 can measure PDoA for multiple times while measuring the distance through one communication interaction.

Compared with the related technical scheme, in the embodiment of the application, on one hand, under the same refresh rate (the refresh rate indicates how many times of communication interaction is completed within 1 second), the obtained PDoA value is more stable, and the angle measurement precision is effectively improved; on the other hand, on the basis of ensuring the same angle measurement precision, the refresh rate can be reduced by half, the power consumption is greatly reduced, and the channel occupancy rate is also reduced.

Based on the foregoing embodiments, the present application provides a position measurement apparatus, which includes modules and units included in the modules, and can be implemented by a processor; of course, the implementation can also be realized through a specific logic circuit; in implementation, the processor may be a Central Processing Unit (CPU), a Microprocessor (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.

Fig. 18 is a schematic structural diagram of a position measurement apparatus according to an embodiment of the present application, and as shown in fig. 18, the apparatus 180 includes a sending module 181, a receiving module 182, and a determining module 183, where: a sending module 181, configured to send a measurement request signal to a first device; a receiving module 182, configured to receive at least two response signals returned by the first device based on the measurement request signal; a determining module 183 for determining a position relative to the first device based on the at least two response signals.

In some embodiments, the receiving module 182 is further configured to receive the response signals at different time instances; wherein the at least two response signals are signals respectively returned by the first device at least two different times based on the measurement request signal.

In some embodiments, the determining module 183 is configured to determine a measurement value according to the response signal; a determining module 183, configured to determine a position relative to the first device according to the measured values corresponding to the at least two response signals, respectively.

In some embodiments, the determining module 183 is configured to determine a first phase of the response signal received by the first antenna; a determining module 183, further configured to determine a second phase of the response signal received by the second antenna; a determining module 183, further configured to determine a phase difference between the first phase and the second phase.

In some embodiments, the position measuring device 180 further comprises a converting module, a determining module 183, for determining a representative value of the phase difference corresponding to the at least two response signals; and the conversion module is used for converting the representative value into the azimuth angle according to a preset conversion relation.

In some embodiments, the location measurement apparatus 180 further includes an obtaining module, configured to obtain, from the response signal, a first receiving time of the measurement request signal and a first transmitting time of the response signal; the obtaining module is further configured to obtain a second sending time of the measurement request signal and a second receiving time of the response signal; the determining module 183 is further configured to determine a signal flight time according to the first receiving time, the second receiving time, the first sending time, and the second sending time; a determining module 183, further configured to determine a distance to the first device according to the time of flight of the signal and the speed of flight of the signal.

Fig. 19 is a schematic structural diagram of a position measurement apparatus according to an embodiment of the present application, and as shown in fig. 19, the apparatus 190 includes a receiving module 191 and a responding module 192, where: a receiving module 191, configured to receive a measurement request signal sent by a second device; a response module 192, configured to return at least two response signals to the second device based on the measurement request signal, so that the second device performs a position measurement according to the at least two response signals.

The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be noted that the division of the position measurement device shown in fig. 18 and fig. 19 into modules in the embodiment of the present application is schematic, and is only one logical function division, and there may be another division manner in actual implementation. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, may exist alone physically, or may be integrated into one unit by two or more units. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. Or may be implemented in a combination of software and hardware.

It should be noted that, in the embodiment of the present application, if the method described above is implemented in the form of a software functional module and sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.

An electronic device is provided in an embodiment of the present application, fig. 20 is a schematic diagram of a hardware entity of the electronic device in the embodiment of the present application, and as shown in fig. 20, the electronic device 200 includes a memory 201 and a processor 202, where the memory 201 stores a computer program that can be executed on the processor 202, and the processor 202 implements the steps in the method provided in the embodiment when executing the computer program.

It should be noted that the Memory 201 is configured to store instructions and applications executable by the processor 202, and may also buffer data (for example, image data, audio data, voice communication data, and video communication data) to be processed or already processed by the processor 202 and modules in the electronic device 200, and may be implemented by a FLASH Memory (FLASH) or a Random Access Memory (RAM).

Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps in the methods provided in the above embodiments.

Embodiments of the present application provide a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the method provided by the above-described method embodiments.

Here, it should be noted that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium, the storage medium and the device of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" or "some embodiments" means that a particular feature, structure or characteristic described in connection with the embodiments is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, and for brevity, will not be described again herein.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example, object a and/or object B, may mean: the object A exists alone, the object A and the object B exist simultaneously, and the object B exists alone.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice, such as: multiple modules or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be electrical, mechanical or other.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules; can be located in one place or distributed on a plurality of network units; some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be separately regarded as one unit, or two or more modules may be integrated into one unit; the integrated module can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.

Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program code, such as removable storage devices, ROMs, magnetic or optical disks, etc.

The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.

Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.

The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.

The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall cover the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of position measurement, the method comprising:

transmitting a measurement request signal to a first device;

receiving at least two response signals returned by the first device based on the measurement request signal;

determining a position relative to the first device based on the at least two response signals.

2. The method of claim 1, wherein the receiving at least two response signals returned by the first device based on the measurement request signal comprises:

receiving the response signals at different time respectively; wherein the at least two response signals are signals respectively returned by the first device at least two different times based on the measurement request signal.

3. The method of claim 1 or 2, wherein determining the position relative to the first device from the at least two response signals comprises:

determining a measurement value according to the response signal;

and determining the position relative to the first equipment according to the measured values respectively corresponding to the at least two response signals.

4. The method of claim 3, wherein the receiving at least two response signals returned by the first device based on the measurement request signal comprises: receiving the response signal through a first antenna and a second antenna; the measurement comprises a phase difference of the response signals received by the first and second antennas, the position comprising an azimuth angle relative to the first device;

the determining the position relative to the first device according to the measured values respectively corresponding to the at least two response signals includes:

determining a representative value of the phase difference corresponding to the at least two response signals;

and converting the representative value into the azimuth angle according to a preset conversion relation.

5. The method of claim 3, wherein the measurement comprises a phase difference of the response signals received by the first and second antennas;

said determining a measurement value from said response signal comprises:

determining a first phase of the response signal received by a first antenna;

determining a second phase of the response signal received by a second antenna;

determining a phase difference of the first phase and the second phase.

6. The method of claim 3, wherein the measurement comprises a distance relative to the first device;

said determining a measurement value from said response signal comprises:

acquiring a first receiving time of the measurement request signal and a first sending time of the response signal from the response signal;

acquiring a second sending time of the measurement request signal and a second receiving time of the response signal;

determining signal flight time according to the first receiving time, the second receiving time, the first sending time and the second sending time;

determining a distance relative to the first device based on the time of flight of the signal and the speed of flight of the signal.

7. A method of position measurement, the method comprising:

receiving a measurement request signal sent by second equipment;

and returning at least two response signals to the second equipment based on the measurement request signal so as to enable the second equipment to carry out position measurement according to the at least two response signals.

8. A position measuring device, comprising:

a sending module, configured to send a measurement request signal to a first device;

a receiving module, configured to receive at least two response signals returned by the first device based on the measurement request signal;

a determining module for determining a position relative to the first device based on the at least two response signals.

9. A position measuring device, comprising:

the receiving module is used for receiving a measurement request signal sent by the second equipment;

and the response module is used for returning at least two response signals to the second equipment based on the measurement request signal so as to enable the second equipment to carry out position measurement according to the at least two response signals.

10. An electronic device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor implements the method of any one of claims 1 to 6 when executing the program or the processor implements the method of claim 7 when executing the program.

11. A position measurement system, comprising: a first device and a second device; wherein the content of the first and second substances,

the second device transmitting a measurement request signal to the first device;

the first equipment receives a measurement request signal sent by the second equipment;

the first device returns at least two response signals to the second device based on the measurement request signal;

the second device receives the at least two response signals returned by the first device;

the second device determines a position relative to the first device based on the at least two response signals.

12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 6, or which, when being executed by a processor, carries out the method of claim 7.