CN116068566A - Distance determination method, device, apparatus, medium and program product - Google Patents

Distance determination method, device, apparatus, medium and program product Download PDF

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Publication number
CN116068566A
CN116068566A CN202310082522.XA CN202310082522A CN116068566A CN 116068566 A CN116068566 A CN 116068566A CN 202310082522 A CN202310082522 A CN 202310082522A CN 116068566 A CN116068566 A CN 116068566A
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distance
weight
terminal
determining
target
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Chinese (zh)
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刘亦阳
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The application discloses a distance determining method, a device, equipment, a medium and a program product, wherein the method comprises the following steps: determining a first distance between the terminal and the target based on the ultra-bandwidth ranging; acquiring a second distance, wherein the second distance is the distance between the terminal and the target, which is determined based on space positioning; determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance; and determining a weighted sum between the first distance and the second distance based on the first distance and the first weight and the second distance and the second weight to obtain the actual distance between the terminal and the target. The method solves the problem of reduced accuracy of the measurement result of the real-time ranging caused by multipath reflection.

Description

Distance determination method, device, apparatus, medium and program product
Technical Field
The present disclosure relates to the field of indoor positioning technologies, and in particular, to a distance determining method, apparatus, device, medium, and program product.
Background
In Ultra Wide Band (UWB) positioning systems, two-way ranging techniques are typically employed to achieve real-time distance measurement.
Illustratively, time Of Flight (TOF) ranging techniques are employed in UWB positioning systems for real-Time mutual ranging. Under the condition that the actual use environment is complex, the ranging mode can have the problems of multipath reflection and the like, so that the measured distance jumps.
In general, the solution to the problem of multipath reflection is to filter the time of flight to improve the variability of the ranging results to some extent.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment, a medium and a program product for determining a distance, which can solve the problem of reduced accuracy of a measurement result of real-time ranging caused by multipath reflection. The technical scheme is as follows:
according to one aspect of the present application, there is provided a distance determining method, the method comprising:
determining a first distance between the terminal and the target based on the ultra-bandwidth ranging;
acquiring a second distance, wherein the second distance is determined based on spatial positioning and is the distance between the terminal and the target;
determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance;
And determining a weighted sum between the first distance and the second distance based on the first distance and the first weight and the second distance and the second weight, and obtaining the actual distance between the terminal and the target.
According to another aspect of the present application, there is provided a distance determining apparatus, the apparatus comprising:
the ranging module is used for determining a first distance between the terminal and the target based on the ultra-bandwidth ranging;
an acquisition module for acquiring a second distance, the second distance being a distance between the terminal and the target determined based on spatial positioning;
the determining module is used for determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance;
the determining module is configured to determine a weighted sum between the first distance and the second distance based on the first distance and the first weight, and the second distance and the second weight, and obtain an actual distance between the terminal and the target.
According to another aspect of the present application, there is provided a terminal comprising a processor and a memory, the memory storing at least one instruction, at least one program, a set of codes or a set of instructions, the at least one instruction, the at least one program, the set of codes or the set of instructions being loaded and executed by the processor to implement a distance determination method as provided in various aspects of the present application.
According to another aspect of the present application, there is provided a computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement a distance determination method as provided in various aspects of the present application.
According to another aspect of the present application, there is provided a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium; a processor of a computer device reads the computer instructions from the computer readable storage medium, which when executed implements a distance determination method as provided by various aspects of the present application.
According to another aspect of the present application, a chip is provided, which includes programmable logic circuits and/or program instructions for implementing a distance determination method as provided in various aspects of the present application when the chip is operating.
The beneficial effects that technical scheme that this application embodiment provided include at least:
According to the distance determining method, the distance measurement between the terminal and the target is performed based on the ultra-bandwidth distance measurement technology, meanwhile, the distance measurement between the terminal and the target is performed based on the space positioning technology, the first distance and the second distance are respectively obtained, weight calculation is performed based on the first distance or the second distance, weights occupied by the first distance and the second distance respectively are determined, and finally, the weighted sum between the first distance and the second distance is calculated, so that the data of the ultra-bandwidth distance measurement technology and the space positioning technology are fused, the distance measurement jitter problem caused by multipath reflection can be solved, the accuracy of distance measurement between points is improved, and the more accurate measurement distance is obtained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a communication system provided in an exemplary embodiment of the present application;
FIG. 2 is a block diagram of a communication system provided in another exemplary embodiment of the present application;
FIG. 3 is a flowchart of a distance determination method provided by an exemplary embodiment of the present application;
FIG. 4 is a flowchart of a weight calculation method provided by an exemplary embodiment of the present application;
FIG. 5 is a flowchart of a distance determination method provided by another exemplary embodiment of the present application;
FIG. 6 is a flowchart of a filtering method provided by an exemplary embodiment of the present application;
FIG. 7 is a flowchart of a distance determination method provided by another exemplary embodiment of the present application;
FIG. 8 is a block diagram of a distance determination device provided in an exemplary embodiment of the present application;
fig. 9 is a schematic diagram of an apparatus structure of a computer device according to an exemplary embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
First, terms involved in the embodiments of the present application will be described:
immediate localization and mapping (Simultaneous Localization And Mapping, SLAM): the method is a space positioning technology, simultaneously models a scene and positions of the machine, and can be used for estimating the positions and the relative motion trajectories of some devices in the scene. A simple understanding of SLAM is: the machine starts moving from an unknown position in an unknown environment, and performs self-positioning according to the position estimation and the map in the moving process, and meanwhile, an incremental map is built on the basis of self-positioning, so that autonomous positioning and navigation of the machine are realized.
In augmented Reality (Augmented Reality, AR) and Virtual Reality (VR), a user may roam through a scene with localization provided by SLAM. The implementation of SLAM spatial localization techniques relies on the use of sensors such as gyroscopes, lidars, binocular cameras, monocular cameras, RGBD cameras, etc., R for Red (Red), G for Green (Green), B for Blue (Blue), D for Depth map.
The SLAMs are classified by sensors, and mainly include a laser SLAM and a vision SLAM. The laser SLAM is realized through a laser radar, and the laser radar can provide distance information between a machine body and surrounding environment barriers. Visual SLAM is implemented by a binocular camera, a monocular camera, an RGBD camera, or a fisheye camera; visual SLAM contains two modules, one Tracking, knowing the 3D point location; one is Mapping (Mapping), updating the position of the 3D point.
UWB positioning technology: the method is a high-precision positioning technology, is suitable for indoor positioning scenes, such as a scene of label searching, and needs to display the distance and direction between a label and a user in real time; in another scenario, such as indoor positioning navigation, the remaining distance from the current location of the user to the terminal needs to be displayed in real time.
UWB positioning is the analysis of characteristic parameters of received radio wave signals, and calculates the position of a measured object according to a specific algorithm, such as two-dimensional coordinates (longitude and latitude), or three-dimensional coordinates (longitude, latitude and altitude). For UWB positioning, for example, 3 or more positioning devices (e.g., base stations) are required for indoor two-dimensional spatial positioning; the indoor three-dimensional space positioning needs 4 or more positioning devices, the positioning devices need to be arranged within 50-100 meters, it is guaranteed that any area can have 4 positioning devices to receive signals transmitted by positioning tags, and the positioning devices cannot be in the same plane.
In UWB positioning technology, common positioning measurement algorithms include a Time Of Flight (TOF) based positioning algorithm, an Angle Of Arrival (AOA) based positioning algorithm, a received signal strength indication (Received Signal Strength Indication, RSSI) based positioning algorithm, a Time Of Arrival (TOA) based positioning algorithm, and a Time difference Of Arrival (Time Difference Of Arrival, TDOA) based positioning algorithm.
In the process of adopting UWB positioning, if the indoor wireless environment is complex, serious multipath reflection occurs, which results in greatly reduced accuracy of ranging data, so the present application provides a distance determining method to solve the above technical problems, and for details of implementation, please refer to the following embodiments.
The distance determining method provided by the application is applied to a scene of distance measurement, such as at least one of label searching, indoor positioning navigation (such as instant positioning and map building) and IoT mutual distance measurement, so as to display the distance between the terminal and the target on the interface of the terminal in real time.
The distance determining method is applied to a communication system. As shown in fig. 1, a schematic structural diagram of a communication system according to an exemplary embodiment of the present application is shown. The communication system includes a terminal 110 and a device 120.
The terminal 110 and the device 120 have a function of Ultra Wide Band (UWB) communication. Terminal 110 enables real-time positioning through UWB communication with device 120.
The terminal 110 has a spatial location function. In the present application, the terminal 110 may obtain a first distance between the terminal and the device 120 through UWB ranging; and a second distance between the terminal 110 and the device 120 is obtained through a spatial location function.
Optionally, the terminal 110 is provided with a SLAM positioning function, which is one type of spatial positioning function. The terminal 110 may be positioned using a laser SLAM spatial positioning technique or a visual SLAM spatial positioning technique. Illustratively, the terminal 110 obtains the second distance between the terminal 110 and the device 120 through the SLAM positioning function.
In some embodiments, the communication system may further include a positioning device 130, as shown in fig. 2, which illustrates a schematic structural diagram of the communication system provided in another exemplary embodiment of the present application. Illustratively, the locating device 130 includes at least one of a base station, a micro base station, a pico base station, and a non-base station.
The terminal 110 has a spatial location function. In the present application, the terminal 110 may obtain a first distance between the terminal and the device 120 through UWB ranging; and the terminal 110 can realize the spatial positioning of the terminal 110 and the device 120 by communicating with the positioning device 130, so as to obtain the respective spatial positions of the terminal 110 and the device 120, and calculate the second distance between the terminal 110 and the device 120.
It should be noted that, the terminal 110 may select SLAM positioning or select positioning in combination with the positioning device 130. For example, in the case where the terminal 110 has a SLAM positioning function, the terminal 110 preferentially selects SLAM positioning; in the case where the terminal 110 does not have the SLAM positioning function, the terminal 110 may select to position in conjunction with the positioning device 130.
Exemplary terminals include, but are not limited to, at least one of: intelligent terminal, tablet computer, notebook computer, intelligent wrist-watch, electronic reader, intelligent robot and on-vehicle equipment.
The terminal, by way of example, includes a positioning component, a processor, a memory, and a communication component. At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the distance determining method provided by the application.
Illustratively, the above-described locating assembly includes, but is not limited to, at least one of: a radio frequency fingerprint positioning assembly; a positioning component adopting UWB positioning technology; a positioning component adopting a WiFi communication technology; a positioning component employing bluetooth low energy (Bluetooth Low Energy, BLE) positioning technology; a global positioning system (Global Positioning System, GPS) positioning assembly; a positioning component adopting a mobile direct communication technology is adopted.
The processor may include one or more processing cores. The processor performs various functions of the terminal (including the user terminal) and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory, and invoking data stored in the memory, using various interfaces and various components within the line connection terminal.
Alternatively, the processor may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU) and a modem. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor and may be implemented by a single chip.
The Memory may include random access Memory (Random Access Memory, RAM) or Read-Only Memory (ROM). Optionally, the memory includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory may be used to store instructions, programs, code sets, or instruction sets. The memory may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image processing function, an information interaction function, etc.), instructions for implementing the various method embodiments described below, etc.; the storage data area may store data and the like referred to in the following respective method embodiments.
The communication component may include at least one of: wiFi Direct communication component, UWB communication component, near field communication (Near Field Communication, NFC) component, wiFi Aware communication component, mobile (including 3G/4G/5G) communication component, mobile Direct communication component, bluetooth communication component. Illustratively, the communication component is configured to establish a wireless communication connection between the terminal 110 and the device 120, and to transmit data over the wireless communication connection.
Those skilled in the art will appreciate that the number of terminals in the communication system described above may be greater or lesser. For example, the number of terminals in the communication system may be only one, or tens or hundreds, or more, and the number and the device type of the terminals in the communication system are not limited in the embodiment of the present application.
Fig. 3 shows a flowchart of a distance determining method according to an exemplary embodiment of the present application, which is applicable to a terminal of the communication system shown in fig. 1. The method comprises the following steps:
step 201, determining a first distance between a terminal and a target based on ultra-bandwidth ranging.
The terminal has an ultra-bandwidth positioning function, and a first distance between the terminal and the target is determined by adopting an ultra-bandwidth positioning technology. The terminal measures a first distance between the terminal and the target in real time using an ultra-bandwidth positioning technique, for example.
Alternatively, the target may be other terminals or other devices, where the target terminal has an ultrabandwidth positioning function or an ultrabandwidth communication function. Or, the target may be a positioning device, where the positioning device has an ultrabandwidth positioning function or an ultrabandwidth communication function; for example, the positioning device described above may be used to locate a location, e.g., the identity of the positioning device may be used as a location tag for the location.
Illustratively, the terminal employs a TOF positioning algorithm to determine a first distance between the terminal and the target; or determining a first distance between the terminal and the target by adopting an AOA positioning algorithm; or, determining a first distance between the terminal and the target by adopting an RSSI positioning algorithm; or alternatively, the process may be performed, determining a first distance between a terminal and a target by adopting a TOA positioning algorithm; alternatively, a TDOA positioning algorithm is used to determine a first distance between the terminal and the target.
Step 202, obtaining a second distance, wherein the second distance is a distance between the terminal and the target determined based on the spatial positioning.
The terminal also has a space positioning function, and a second distance between the terminal and the target is determined by adopting a space positioning technology. Illustratively, the second range is a pseudo range measured in real time using a spatial positioning technique.
Illustratively, the terminal measures a pseudorange between the terminal and the target via SLAM. Or the terminal can also carry out space positioning on the terminal and the target through communication with the positioning equipment, determine the space position of the terminal and the target, and calculate the pseudo range between the terminal and the target based on the space position between the terminal and the target.
Step 203, determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance.
The terminal determines a first weight occupied by the first distance based on the first distance; subtracting the first weight from the first weight to obtain a second weight occupied by the second distance. Or the terminal determines a first weight occupied by the first distance based on the second distance; subtracting the first weight from the first weight to obtain a second weight occupied by the second distance.
Optionally, the terminal calculates the first weight based on a weight function. The terminal inputs the first distance or the second distance into a weight function to obtain a first weight; a value minus the first weight is determined as the second weight.
Optionally, a first threshold is provided. Under the condition that the first distance is smaller than or equal to a first threshold value, the terminal inputs the first distance into a weight function to obtain a first weight; and under the condition that the first distance is larger than a first threshold value, inputting the second distance into the weight function to obtain a first weight. Or under the condition that the first distance is smaller than a first threshold value, the terminal inputs the first distance into the weight function to obtain a first weight; and under the condition that the first distance is greater than or equal to a first threshold value, inputting the second distance into the weight function to obtain a first weight.
Illustratively, the first threshold is used to determine the input data of the weighting function. For example, the first threshold is used for judging the reliability of the first distance, and if the first distance is larger than the first threshold, the reliability of the first distance is low, the second distance is used for calculating the first weight; if the first distance is less than or equal to the first threshold, the first weight is calculated using the first distance if the reliability of the first distance is high.
Illustratively, the first threshold is preset. The first threshold may be an empirical value, or may be an optimal threshold obtained through experimentation.
Optionally, the weight function includes a target exponential function, and the formula of the target exponential function is as follows:
Figure BDA0004072267160000081
the calculation formula of the second weight is expressed as follows:
W 2 ＝1-W 1 ；
wherein a, b and m are adjustable parameters, and fitting parameter adjustment can be performed according to actual data. x refers to input data, which is a first distance or a second distance. W (W) 1 Refers to a first weight, W 2 Refers to a first weight.
Optionally, the weight function may further include a hyperbolic tangent function, where the formula of the hyperbolic tangent function is as follows:
Figure BDA0004072267160000082
alternatively, the weighting function may also include other activation functions, such as a modified linear unit (Rectified Linear Unit, reLU) function, a Sigmoid (Sigmoid) function, and the like. The weight function used to calculate the first weight may be, for example, a saturated or unsaturated activation function.
Optionally, the terminal performs exception handling on the first distance before calculating the first weight or before determining whether the first distance is greater than the first threshold. Exemplary, as shown in FIG. 4, a ranging value d is obtained 1 After (i.e. the first distance), for d 1 Performing outlier processing, and then judging d 1 Whether or not it is greater than a first threshold value, at d 1 Less than or equal to the first threshold, based on d 1 The first weight is calculated and the second weight is calculated based on the first weight.
Optionally, after performing exception processing on the first distance, filtering processing is further performed on the first distance to obtain a filtered distance. Then, under the condition that the filtered distance is smaller than or equal to a first threshold value, inputting the filtered distance into a weight function to obtain a first weight; and under the condition that the filtered distance is larger than a first threshold value, inputting the second distance into the weight function to obtain a first weight. Or under the condition that the filtered distance is smaller than a first threshold value, inputting the filtered distance into a weight function to obtain a first weight; and under the condition that the filtered distance is greater than or equal to a first threshold value, inputting the second distance into the weight function to obtain a first weight. And subtracting the first weight from the second weight. The subsequent weighted sum is also calculated using the filtered distance and the second distance.
Exemplary, the filtering means include, but are not limited to, any of the following: sliding average filtering, sliding median filtering and Gaussian filtering.
And 204, determining a weighted sum between the first distance and the second distance based on the first distance and the first weight and the second distance and the second weight to obtain the actual distance between the terminal and the target.
The terminal calculates the product of the first distance and the first weight to obtainA first product; calculating the product of the second distance and the second weight to obtain a second product; the sum of the first product and the second product is determined as the actual distance between the terminal and the target. Actual distance d out The calculation formula of (2) is expressed as follows:
d out ＝W 1 ×d 1 +W 2 ×d 2 ；
wherein d 1 Represents a first distance, d 2 Representing the second distance.
In summary, according to the distance determining method provided by the embodiment, the distance measurement between the terminal and the target is performed based on the ultra-bandwidth ranging technology, meanwhile, the distance measurement between the terminal and the target is performed based on the spatial positioning technology, the first distance and the second distance are respectively obtained, the weight calculation is performed based on the first distance or the second distance, the weights respectively occupied by the first distance and the second distance are determined, and finally, the weighted sum between the first distance and the second distance is calculated, so that the data of the ultra-bandwidth ranging technology and the spatial positioning technology are fused, the problem of ranging jitter caused by multipath reflection can be solved, the accuracy of ranging from point to point is improved, and the more accurate measured distance is obtained.
Secondly, the weight in the embodiment of the application is dynamically determined based on the first distance or the second distance measured in real time, and the weight proportion between the first distance and the second distance can be more accurately distributed according to the distance change, so that the calculated actual distance is higher in accuracy.
The point-to-point mutual distance measurement realized based on the UWB positioning technology provides a real-time measurement distance of one dimension; the pseudo range measured based on the space positioning technology is the measured distance of the other dimension; in the case where the measured distances in both dimensions exist, a distance determination manner provided in the embodiment shown in fig. 3 may be adopted; under the condition that the pseudo range cannot be acquired, for example, the terminal cannot immediately perform space positioning when the terminal is just started, so that the terminal cannot acquire the pseudo range, in this case, the terminal can sequentially perform exception processing and filtering processing on the first distance, and calculate the actual distance between the terminal and the target based on the filtered distance. Since jitter exists when real-time ranging is performed by the UWB positioning technology, particularly when the jitter is apparent in a scene with poor wireless environment, filtering processing is required, so that the influence of the jitter on the ranging accuracy is improved.
As shown in fig. 5, a flowchart of a distance determining method according to another exemplary embodiment of the present application is shown, and the method may be applied to a terminal of a communication system as shown in fig. 1, and details of implementation of distance determination in the two cases are described. The method comprises the following steps:
step 401, determining a first distance between a terminal and a target based on ultra-bandwidth ranging.
Step 402, a second distance is obtained, the second distance being a distance between the terminal and the target determined based on the spatial positioning.
In step 403, when the second distance is acquired, a first weight occupied by the first distance and a second weight occupied by the second distance are determined based on the first distance or the second distance.
And step 404, determining a weighted sum between the first distance and the second distance based on the first distance and the first weight and the second distance and the second weight, and obtaining the actual distance between the terminal and the target.
For details of the implementation of steps 401 to 404, please refer to steps 201 to 204, which are not described herein.
And step 405, sequentially performing exception processing and filtering processing on the first distance to obtain a filtered distance under the condition that the second distance is not obtained.
Optionally, under the condition that the terminal does not acquire the second distance, performing outlier processing on the first distance to acquire the distance after the outlier processing; and filtering the distance after the exception processing to obtain the filtered distance. Exemplary filtering modes used in the filtering process include, but are not limited to, any of the following: sliding average filtering, sliding median filtering and Gaussian filtering.
Taking sliding average filtering as an example, the implementation of step 405 is described, including the following two cases:
first, the first distance is not an outlier.
The terminal performs exception processing on the first distance under the condition that the second distance is not acquired; under the condition that the first distance is not an abnormal value, adding the first distance into a buffer queue, wherein the buffer queue comprises N distance values, the N distance values comprise the first distance, the N distance values are distances obtained based on ultra-bandwidth ranging, and N is an integer larger than 2; and removing the maximum value and the minimum value in the N distance values, and then obtaining an average value to obtain the filtered distance.
Second, the first distance is an outlier.
The terminal performs exception processing on the first distance under the condition that the second distance is not acquired; removing the first distance if the first distance is an outlier; acquiring N distance values in a buffer queue, wherein the N distance values do not comprise a first distance, the N distance values are distances obtained based on ultra-bandwidth ranging, and N is an integer greater than 2; and removing the maximum value and the minimum value in the N distance values, and then solving the average value to obtain the actual distance between the terminal and the target.
When the sliding average filtering is carried out, a buffer area is established in the RAM, a buffer queue with the length of N is stored in the buffer area, the buffer queue is N distances measured based on the UWB positioning technology, the terminal acquires the distances between the terminal and the target in real time based on the UWB positioning technology, each distance is acquired, after the distance is determined to be not an abnormal value, the earliest acquired distance in the N distances in the buffer queue is thrown away, and the distances are sequentially stored as the last distance in the buffer queue; after determining that the distance is an outlier, the distance is directly discarded, and N distances in the buffer queue are not discarded. The terminal then performs filtering processing using the N distances in the buffer queue.
For outlier handling of the first distance, including but not limited to at least one of the following:
determining whether the rate of change between the first distance and the historical distance is less than or equal to a rate of change threshold.
The historical distance refers to a distance between the terminal and the target measured based on UWB positioning technology before the first distance, for example, the historical distance is the last distance value in the buffer queue.
The terminal determines that the first distance is not an outlier under the condition that the change rate between the first distance and the historical distance is smaller than or equal to a change rate threshold value; that is, if the rate of change between the first distance and the historical distance is less than or equal to the rate of change threshold, it is determined that the first distance is not an outlier, indicating that no abrupt change in the distance value has occurred for the first distance. The terminal determines that the first distance is an outlier if a rate of change between the first distance and the historical distance is greater than a rate of change threshold.
Illustratively, the rate of change threshold is preset. For example, the rate of change threshold may be an empirical value.
Determining whether the first distance is less than or equal to a second threshold.
The terminal determines that the first distance is not an outlier if the first distance is less than or equal to a second threshold. The terminal determines that the first distance is an outlier if the first distance is greater than the second threshold. Illustratively, the second threshold is preset.
The second threshold may be set based on an indoor space size, for example. Alternatively, the second threshold may be variable based on a direction of movement of the terminal. In the indoor environment, the distances between the two ends of the indoor space in different directions are different, so that different second thresholds can be correspondingly set in different directions, and whether the first distance is an abnormal value or not can be judged more accurately. For example, if the second threshold is set based on the size of the indoor space, the first distance exceeds the second threshold, indicating that the distance between the terminal and the target is out of the indoor range, so the first distance is an abnormal value; conversely, if the first distance is less than or equal to the second threshold, it indicates that the distance between the terminal and the target is within the indoor range, so the first distance is not an outlier.
As an example, as shown in fig. 6, the procedure of the anomaly processing and the filtering processing for the first distance will be described by taking the second anomaly value processing method as an example. Terminal is based on UWB positioning technology surveyMeasuring to obtain a first distance d 1 Then, judge d 1 Whether greater than a second threshold. Terminal at d 1 Above a second threshold, for d 1 Performing outlier processing, i.e. removing d 1 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, at d 1 Under the condition of being smaller than or equal to a second threshold value, eliminating the first distance value in the N-length queue, and d 1 Stored as the last of the N-length queues (i.e., buffer queues). The terminal adopts a sequencing algorithm to sequence N distance values in an N-length queue from large to small or from small to large, and takes the average value as the filtered distance after the maximum value and the minimum value are removed.
Step 406, determining the filtered distance as an actual distance between the terminal and the target.
In summary, the distance determining method provided in the present embodiment provides a method for calculating an actual distance in two cases of acquiring the second distance and not acquiring the second distance, even if the second distance is not acquired, the terminal performs outlier processing and filtering processing on the first distance, so as to obtain an accurate actual distance. And secondly, the method also processes the abnormal value in the UWB ranging process, so that the robustness of the real-time ranging result can be improved.
In some embodiments, when the terminal obtains the second distance, the first weight may also be calculated directly by using the filtered distance after sequentially performing the anomaly processing and the filtering processing on the first distance, where an implementation manner of the distance determining method may be as shown in fig. 7.
Fig. 7 is a flowchart illustrating a distance determining method according to another exemplary embodiment of the present application, which is applicable to a terminal of the communication system shown in fig. 1. The method comprises the following steps:
step 601, determining a first distance between a terminal and a target based on ultra-bandwidth ranging.
Step 602, obtaining a second distance, wherein the second distance is a distance between the terminal and the target determined based on the spatial positioning.
For details of the implementation of steps 601 to 602, please refer to steps 201 to 202, which are not described herein.
And 603, sequentially performing exception processing and filtering processing on the first distance to obtain a filtered distance.
The terminal performs outlier processing on the first distance to obtain an abnormally processed distance; and filtering the distance after the exception processing to obtain the filtered distance. Optionally, the filtering manner adopted in the filtering process includes, but is not limited to, any one of the following: sliding average filtering, sliding median filtering and Gaussian filtering.
Taking sliding average filtering as an example, the implementation of step 603 is described, including the following two cases:
first, the first distance is not an outlier.
The terminal performs exception handling on the first distance; under the condition that the first distance is not an abnormal value, adding the first distance into a buffer queue, wherein the buffer queue comprises N distance values, the N distance values comprise the first distance, the N distance values are distances obtained based on ultra-bandwidth ranging, and N is an integer larger than 2; and removing the maximum value and the minimum value in the N distance values, and then obtaining an average value to obtain the filtered distance.
Second, the first distance is an outlier.
The terminal performs exception handling on the first distance; removing the first distance if the first distance is an outlier; acquiring N distance values in a buffer queue, wherein the N distance values do not comprise a first distance, the N distance values are distances obtained based on ultra-bandwidth ranging, and N is an integer greater than 2; and removing the maximum value and the minimum value in the N distance values, and then solving the average value to obtain the actual distance between the terminal and the target.
When the sliding average filtering is carried out, a buffer area is established in the RAM, a buffer queue with the length of N is stored in the buffer area, the buffer queue is N distances measured based on the UWB positioning technology, the terminal acquires the distances between the terminal and the target in real time based on the UWB positioning technology, each distance is acquired, after the distance is determined to be not an abnormal value, the earliest acquired distance in the N distances in the buffer queue is thrown away, and the distances are sequentially stored as the last distance in the buffer queue; after determining that the distance is an outlier, the distance is directly discarded, and N distances in the buffer queue are not discarded. The terminal then performs filtering processing using the N distances in the buffer queue.
Outlier handling for the first distance includes, but is not limited to, at least one of:
determining whether the rate of change between the first distance and the historical distance is less than or equal to a rate of change threshold.
The historical distance refers to a distance between the terminal and the target measured based on UWB positioning technology before the first distance, for example, the historical distance is the last distance value in the buffer queue.
The terminal determines that the first distance is not an outlier under the condition that the change rate between the first distance and the historical distance is smaller than or equal to a change rate threshold value; that is, if the rate of change between the first distance and the historical distance is less than or equal to the rate of change threshold, it is determined that the first distance is not an outlier, indicating that no abrupt change in the distance value has occurred for the first distance. The terminal determines that the first distance is an outlier if a rate of change between the first distance and the historical distance is greater than a rate of change threshold.
Illustratively, the rate of change threshold is preset. For example, the rate of change threshold may be an empirical value.
Determining whether the first distance is less than or equal to a second threshold.
The terminal determines that the first distance is not an outlier if the first distance is less than or equal to a second threshold. The terminal determines that the first distance is an outlier if the first distance is greater than the second threshold. Illustratively, the second threshold is preset.
The second threshold may be set based on an indoor space size, for example. Alternatively, the second threshold may be variable based on a direction of movement of the terminal. In the indoor environment, the distances between the two ends of the indoor space in different directions are different, so that different second thresholds can be correspondingly set in different directions, and whether the first distance is an abnormal value or not can be judged more accurately. For example, if the second threshold is set based on the size of the indoor space, the first distance exceeds the second threshold, indicating that the distance between the terminal and the target is out of the indoor range, so the first distance is an abnormal value; conversely, if the first distance is less than or equal to the second threshold, it indicates that the distance between the terminal and the target is within the indoor range, so the first distance is not an outlier.
Step 604, determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the filtered distances.
The terminal determines a first weight occupied by the first distance based on the filtered distance; subtracting the first weight from the first weight to obtain a second weight occupied by the second distance.
Optionally, the terminal calculates the first weight based on a weight function. The terminal inputs the filtered distance into a weight function to obtain a first weight; a value minus the first weight is determined as the second weight.
Optionally, the weighting function comprises a target exponential function, the formulation of the objective exponential function is as follows:
Figure BDA0004072267160000141
the calculation formula of the second weight is expressed as follows:
W 2 ＝1-W 1 ；
wherein a, b and m are adjustable parameters, and fitting parameter adjustment can be performed according to actual data. x refers to the input data, which is the filtered distance. W (W) 1 Refers to a first weight, W 2 Refers to a first weight.
Optionally, the weight function may further include a hyperbolic tangent function, where the formula of the hyperbolic tangent function is as follows:
Figure BDA0004072267160000142
alternatively, the weighting function may also include other activation functions, such as a ReLU function, an S-type function, and the like. The weight function used to calculate the first weight may be, for example, a saturated or unsaturated activation function.
Step 605, determining a weighted sum between the filtered distance and the second distance based on the filtered distance and the first weight, and the second distance and the second weight, to obtain an actual distance between the terminal and the target.
The terminal calculates the product of the filtered distance and the first weight to obtain a first product; calculating the product of the second distance and the second weight to obtain a second product; the sum of the first product and the second product is determined as the actual distance between the terminal and the target. Actual distance d out The calculation formula of (2) is expressed as follows:
d out =W 1 ×d 3 +W 2 ×d 2 ；
wherein d 3 Represents the distance after filtering, d 2 Representing the second distance.
In summary, according to the distance determining method provided by the embodiment, the distance measurement between the terminal and the target is performed based on the ultra-bandwidth ranging technology, meanwhile, the distance measurement between the terminal and the target is performed based on the spatial positioning technology, the first distance and the second distance are respectively obtained, the weight calculation is performed after the first distance is filtered, the weights respectively occupied by the filtered distance and the second distance are determined, and finally, the weighted sum between the filtered distance and the second distance is calculated, so that the data of the ultra-bandwidth ranging technology and the spatial positioning technology are fused, the problem of ranging jitter caused by multipath reflection can be solved, the accuracy of ranging from point to point is improved, and the more accurate measured distance is obtained.
Secondly, the weight in the embodiment of the application is dynamically determined based on the first distance measured in real time, and the weight proportion between the filtered distance and the second distance can be more accurately distributed according to the distance change, so that the calculated actual distance is higher in accuracy.
The following is a device embodiment of the present application, and details of the device embodiment that are not described in detail may be combined with corresponding descriptions in the method embodiment described above, which are not described herein again.
Fig. 8 shows a schematic structural diagram of a distance determining device according to an exemplary embodiment of the present application. The apparatus may be implemented as all or part of a terminal by software, hardware or a combination of both, the apparatus comprising:
a ranging module 701, configured to determine a first distance between the terminal and the target based on the ultra-bandwidth ranging;
an obtaining module 702, configured to obtain a second distance, where the second distance is a distance between the terminal and the target determined based on the spatial positioning;
a determining module 703, configured to determine, based on the first distance or the second distance, a first weight occupied by the first distance and a second weight occupied by the second distance;
a determining module 703, configured to determine a weighted sum between the first distance and the second distance based on the first distance and the first weight, and the second distance and the second weight, so as to obtain an actual distance between the terminal and the target.
In some embodiments, the determining module 703 is configured to:
inputting the first distance or the second distance into a weight function to obtain a first weight;
a value minus the first weight is determined as the second weight.
In some embodiments, the determining module 703 is configured to:
under the condition that the first distance is greater than or equal to a first threshold value, inputting the first distance into a weight function to obtain a first weight;
And under the condition that the first distance is smaller than a first threshold value, inputting the second distance into the weight function to obtain a first weight.
In some embodiments, the determining module 703 is configured to:
when the second distance is acquired, a step of determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance is performed.
In some embodiments, the apparatus further comprises: a filtering module 704;
a filtering module 704, configured to perform exception processing on the first distance if the second distance is not acquired;
the filtering module 704 is configured to add the first distance to a buffer queue if the first distance is not an outlier, where the buffer queue includes N distance values, the N distance values include the first distance, the N distance values are distances obtained based on the ultra-bandwidth ranging, and N is an integer greater than 2;
and the filtering module 704 is used for removing the maximum value and the minimum value in the N distance values and then obtaining an average value to obtain the actual distance between the terminal and the target.
In some embodiments, the apparatus further comprises: a filtering module 704;
a filtering module 704, configured to perform exception processing on the first distance if the second distance is not acquired;
A filtering module 704, configured to reject the first distance if the first distance is an outlier;
the filtering module 704 is configured to obtain N distance values in the buffer queue, where the N distance values do not include the first distance, the N distance values are distances obtained based on the ultra-bandwidth ranging, and N is an integer greater than 2;
and the filtering module 704 is used for removing the maximum value and the minimum value in the N distance values and then obtaining an average value to obtain the actual distance between the terminal and the target.
In some embodiments, the apparatus further comprises: a filtering module 704;
a filtering module 704, configured to perform exception processing on the first distance;
a filtering module 704, configured to add the first distance to the buffer queue if the first distance is not an outlier; or, in the case that the first distance is an outlier, rejecting the first distance;
the filtering module 704 is configured to obtain N distance values in the buffer queue after the exception handling, where the N distance values are distances obtained based on the ultra-bandwidth ranging, and N is an integer greater than 2;
the filtering module 704 is configured to remove a maximum value and a minimum value of the N distance values, and then calculate an average value, so as to obtain a filtered distance;
a determining module 703, configured to determine, based on the filtered distance, a first weight occupied by the first distance and a second weight occupied by the second distance;
A determining module 703, configured to determine a weighted sum between the first distance and the second distance based on the first distance and the first weight, and the second distance and the second weight, so as to obtain an actual distance between the terminal and the target.
Fig. 9 shows a schematic structural diagram of a computer device according to an exemplary embodiment of the present application. The computer device may be a device performing a distance determination method as provided herein. Specifically, the present invention relates to a method for manufacturing a semiconductor device.
The computer apparatus 1000 includes a central processing unit (CPU, central Processing Unit) 1001, a system Memory 1004 including a random access Memory (RAM, random Access Memory) 1002 and a Read Only Memory (ROM) 1003, and a system bus 1005 connecting the system Memory 1004 and the central processing unit 1001. The computer device 1000 also includes a basic input/output system (I/O system, input Output System) 1006, which facilitates the transfer of information between the various devices within the computer, and a mass storage device 1007 for storing an operating system 1013, application programs 1014, and other program modules 1015.
The basic input/output system 1006 includes a display 1008 for displaying information and an input device 1009, such as a mouse, keyboard, etc., for the user to enter information. Wherein the display 1008 and the input device 1009 are connected to the central processing unit 1001 through an input output controller 1010 connected to a system bus 1005. The basic input/output system 1006 may also include an input/output controller 1010 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, the input output controller 1010 also provides output to a display screen, a printer, or other type of output device.
The mass storage device 1007 is connected to the central processing unit 1001 through a mass storage controller (not shown) connected to the system bus 1005. The mass storage device 1007 and its associated computer-readable media provide non-volatile storage for the computer device 1000. That is, the mass storage device 1007 may include a computer readable medium (not shown) such as a hard disk or compact disc read only memory (CD-ROM, compact Disc Read Only Memory) drive.
Computer readable media may include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, erasable programmable read-only memory (EPROM, erasable Programmable Read Only Memory), electrically erasable programmable read-only memory (EEPROM, electrically Erasable Programmable Read Only Memory), flash memory or other solid state memory technology, CD-ROM, digital versatile disks (DVD, digital Versatile Disc) or solid state disks (SSD, solid State Drives), other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. The random access memory may include resistive random access memory (ReRAM, resistance Random Access Memory) and dynamic random access memory (DRAM, dynamic Random Access Memory), among others. Of course, those skilled in the art will recognize that computer storage media are not limited to the ones described above. The system memory 1004 and mass storage devices 1007 described above may be collectively referred to as memory.
According to various embodiments of the present application, the computer device 1000 may also operate by being connected to a remote computer on a network, such as the Internet. I.e., the computer device 1000 may be connected to the network 1012 through a network interface unit 1011 connected to the system bus 1005, or other types of networks or remote computer systems (not shown) may be connected using the network interface unit 1011.
The memory further includes one or more programs, one or more programs stored in the memory and configured to be executed by the CPU to implement the distance determining method as described above.
The present application also provides a computer device comprising: a processor and a memory, the storage medium storing at least one instruction, at least one program, a code set, or an instruction set, where the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the distance determining method provided by each method embodiment described above.
The present application also provides a computer readable storage medium having stored therein at least one instruction, at least one program, a code set, or an instruction set, which is loaded and executed by a processor to implement the distance determining method provided by the above-described method embodiments.
Alternatively, the computer-readable storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), solid state disk (SSD, solid State Drives), or optical disk, etc. The random access memory may include resistive random access memory (ReRAM, resistance Random Access Memory) and dynamic random access memory (DRAM, dynamic Random Access Memory), among others.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the distance determination method as provided by the above-mentioned method embodiments.
It should be noted that: in the distance determining apparatus provided in the above embodiment, when the distance determining method is executed, only the division of the above functional modules is used as an example, in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the distance determining device and the distance determining method provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the distance determining device and the distance determining method are detailed in the method embodiments, which are not repeated herein.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is merely illustrative of the possible embodiments of the present application and is not intended to limit the present application, but any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims (11)

1. A method of determining a distance, the method comprising:
determining a first distance between the terminal and the target based on the ultra-bandwidth ranging;
acquiring a second distance, wherein the second distance is determined based on spatial positioning and is the distance between the terminal and the target;
determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance;
And determining a weighted sum between the first distance and the second distance based on the first distance and the first weight and the second distance and the second weight, and obtaining the actual distance between the terminal and the target.
2. The method of claim 1, wherein the determining a first weight for the first distance and a second weight for the second distance based on the first distance or the second distance comprises:
inputting the first distance or the second distance into a weight function to obtain the first weight;
a value minus the first weight is determined as the second weight.
3. The method of claim 2, wherein the inputting the first distance or the second distance into a weight function results in the first weight, comprising:
inputting the first distance into the weight function to obtain the first weight when the first distance is greater than or equal to a first threshold value;
and under the condition that the first distance is smaller than the first threshold value, inputting the second distance into the weight function to obtain the first weight.
4. A method according to any one of claims 1 to 3, wherein determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance comprises:
and when the second distance is acquired, the step of determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance is executed.
5. The method according to claim 4, wherein the method further comprises:
performing exception processing on the first distance under the condition that the second distance is not acquired;
adding the first distance to a buffer queue under the condition that the first distance is not an abnormal value, wherein the buffer queue comprises N distance values, the N distance values comprise the first distance, the N distance values are distances obtained based on the ultra-bandwidth ranging, and the N is an integer greater than 2;
and removing the maximum value and the minimum value in the N distance values, and then solving an average value to obtain the actual distance between the terminal and the target.
6. The method according to claim 4, wherein the method further comprises:
Performing exception processing on the first distance under the condition that the second distance is not acquired;
in case the first distance is an outlier, rejecting the first distance;
acquiring N distance values in a buffer queue, wherein the N distance values do not comprise the first distance, the N distance values are distances obtained based on the ultra-bandwidth ranging, and the N is an integer greater than 2;
and removing the maximum value and the minimum value in the N distance values, and then solving an average value to obtain the actual distance between the terminal and the target.
7. A method according to any one of claims 1 to 3, wherein the method further comprises:
performing exception handling on the first distance;
adding the first distance to a buffer queue if the first distance is not an outlier; or, in the case that the first distance is an outlier, rejecting the first distance;
after exception handling, N distance values in the buffer queue are obtained, wherein the N distance values are distances obtained based on the ultra-bandwidth ranging, and N is an integer greater than 2;
removing the maximum value and the minimum value in the N distance values, and then obtaining an average value to obtain a filtered distance;
Determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the filtered distance;
and determining a weighted sum between the first distance and the second distance based on the first distance and the first weight and the second distance and the second weight, and obtaining the actual distance between the terminal and the target.
8. A distance determining apparatus, the apparatus comprising:
the ranging module is used for determining a first distance between the terminal and the target based on the ultra-bandwidth ranging;
an acquisition module for acquiring a second distance, the second distance being a distance between the terminal and the target determined based on spatial positioning;
the determining module is used for determining a first weight occupied by the first distance and a second weight occupied by the second distance based on the first distance or the second distance;
the determining module is configured to determine a weighted sum between the first distance and the second distance based on the first distance and the first weight, and the second distance and the second weight, and obtain an actual distance between the terminal and the target.
9. A terminal comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the distance determination method of any one of claims 1 to 7.
10. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement the distance determination method of any one of claims 1 to 7.
11. A computer program product, the computer program product comprising computer instructions stored in a computer readable storage medium; a processor of a computer device reads the computer instructions from the computer readable storage medium, which processor, when executing the computer instructions, implements the distance determination method according to any of claims 1 to 7.
CN202310082522.XA 2023-02-03 2023-02-03 Distance determination method, device, apparatus, medium and program product Pending CN116068566A (en)

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