WO2022000354A1

WO2022000354A1 - Method for ranging and terminal device

Info

Publication number: WO2022000354A1
Application number: PCT/CN2020/099601
Authority: WO
Inventors: 罗朝明; 茹昭; 张军
Original assignee: Oppo广东移动通信有限公司
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2022-01-06
Also published as: CN115443665A

Abstract

A method for ranging and a terminal device. The method comprises: a first device sends first Bluetooth low energy (BLE) broadcast information, the first BLE broadcast information comprising a first constant tone extension (CTE) signal (S101); the first device records a first transmitting timestamp of the first CTE signal (S102); the first device receives second BLE broadcast information sent by a second device, the second BLE broadcast information comprising a second CTE signal; the first device records a second receiving timestamp of the second CTE signal, the first transmitting timestamp and the second receiving timestamp being used for calculating the distance between the first device and the second device (S103). By using the method, timestamp information used for ranging can be obtained at lower cost.

Description

Method and terminal device for ranging

technical field

The present application relates to the technical field of the Internet of Things, and more particularly, to a method and terminal device for ranging.

Background technique

Commonly used ranging techniques include Received Signal Strength Indication (RSSI), Time of Arrival (TOA), Angle of Arrival (AOA)/Angle of Departure, AOD) and other methods. Bluetooth Low Energy (BLE) technology has low power consumption and can provide an indication of received signal strength. The BLE-based RSSI ranging method obtains the received signal strength through signal sampling at the Bluetooth receiver end, and estimates the distance between the transmitter and the receiver according to the electromagnetic wave propagation characteristics and signal strength.

However, due to the phenomenon of reflection, diffraction and scattering in the environment, which may lead to multipath effect, the RSSI value measured based on BLE fluctuates greatly, and the estimated distance accuracy lower. In addition, in the BLE-based AoA/AoD estimation distance, the receiver or transmitter needs to have an antenna array, usually more than three antenna devices are required to measure the position and distance, and the cost is high.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide a method and a terminal device for distance measurement, and the information required for calculating the terminal distance can be obtained by using the embodiments of the present application.

An embodiment of the present application provides a method for ranging, including:

The first device sends first low-power Bluetooth BLE broadcast information, where the first BLE broadcast information includes a first fixed-frequency extended CTE signal; the first device records a first transmission timestamp of the first CTE signal;

The first device receives second BLE broadcast information sent by the second device, where the second BLE broadcast information includes a second CTE signal; the first device records a second reception timestamp of the second CTE signal; The first sending timestamp and the second receiving timestamp are used to calculate the distance between the first device and the second device.

The embodiment of the present application also provides a terminal device, including:

a first sending module, configured to send first low-power Bluetooth BLE broadcast information, where the first BLE broadcast information includes a first fixed frequency extended CTE signal;

a first recording module, configured to record the first transmission time stamp of the first CTE signal;

a first receiving module, configured to receive second BLE broadcast information sent by a second device, where the second BLE broadcast information includes a second CTE signal;

a second recording module, configured to record a second reception timestamp of the second CTE signal; wherein the first transmission timestamp and the second reception timestamp are used to calculate the relationship between the first device and the first device. The distance between the two devices.

An embodiment of the present application further provides a terminal device, including: a processor and a memory, where the memory is used to store a computer program, the processor invokes and runs the computer program stored in the memory, and executes the method of distance measurement.

An embodiment of the present application further provides a chip, including: a processor configured to call and run a computer program from a memory, so that a device on which the chip is installed executes the method for ranging as described above.

Embodiments of the present application further provide a computer-readable storage medium for storing a computer program, wherein the computer program causes a computer to execute the method for ranging as described above.

Embodiments of the present application also provide a computer program product, including computer program instructions, wherein the computer program instructions cause a computer to execute the above-described method for controlling transmit power.

Embodiments of the present application also provide a computer program, the computer program causing a computer to execute the method for ranging as described above.

Using the embodiments of the present application, the terminal device uses the low-power Bluetooth BLE broadcast information carrying the fixed frequency extended CTE signal, and records the transmission timestamp and reception timestamp information of the CTE signal. For the group time stamp information, the time error of the multiple groups of time stamp information obtained based on the embodiment of the present application is small, and the calculated distance between devices has high precision.

Description of drawings

Figure 1 is a schematic diagram of the logical principle effect of unilateral bidirectional ranging.

FIG. 2 and FIG. 3 are schematic diagrams of the logical principle effect of the four-message mode and the three-message mode of bilateral two-way ranging, respectively.

FIG. 4 is a flowchart of a method for ranging on a first device side according to an embodiment of the present application.

FIG. 5 is a flowchart of a method for ranging on a second device side according to an embodiment of the present application.

FIG. 6 is a flowchart of a method for ranging on an electronic device side according to an embodiment of the present application.

FIG. 7 is a schematic diagram of information interaction between two devices in Embodiment 1 of the present application.

FIG. 8 is a schematic diagram of various timestamp information obtained by interaction according to the embodiment of FIG. 7 .

FIG. 9 is a flowchart of a method for ranging on a third device side according to an embodiment of the present application.

FIG. 10 is a flowchart of a method for ranging on a fourth device side according to an embodiment of the present application.

FIG. 11 is a schematic diagram of information interaction between two devices in Embodiment 2 of the present application.

FIG. 12 is a schematic diagram of various timestamp information obtained by interaction according to the embodiment of FIG. 11 .

13 and 14 are schematic structural block diagrams of the first device and the second device according to the embodiments of the present application.

FIG. 15 is a schematic structural block diagram of an electronic device according to an embodiment of the present application.

16 and 17 are schematic structural block diagrams of the third device and the fourth device according to the embodiments of the present application.

FIG. 18 is a schematic block diagram of a communication device according to an embodiment of the present application.

FIG. 19 is a schematic block diagram of a chip according to an embodiment of the present application.

detailed description

The technical solutions of the embodiments of the present application are described below with reference to the drawings of the embodiments of the present application, including various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. For clarity and conciseness, descriptions of well-known functions and well-known structures are omitted in the following description.

The embodiments of this application describe various embodiments based on terminal equipment, where the terminal equipment may also be referred to as user equipment (User Equipment, UE), access terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote station Terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user equipment, etc.

In this embodiment of the present application, the terminal device may be a mobile phone (Mobile Phone), a tablet computer (Pad), a computer with a wireless transceiver function, a virtual reality (Virtual Reality, VR) terminal device, and an augmented reality (Augmented Reality, AR) terminal equipment, wireless terminal equipment in industrial control, wireless terminal equipment in unmanned driving, wireless terminal equipment in remote medical, wireless terminal equipment in smart grid, transportation safety ( Wireless terminal equipment in transportation safety), wireless terminal equipment in smart city or wireless terminal equipment in smart home, etc.

As an example and not a limitation, in this embodiment of the present application, the terminal device may also be a wearable device. Wearable devices can also be called wearable smart devices, which are the general term for the intelligent design of daily wear and the development of wearable devices using wearable technology, such as glasses, gloves, watches, clothing and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothing or accessories. Wearable device is not only a hardware device, but also realizes powerful functions through software support, data interaction, and cloud interaction. In a broad sense, wearable smart devices include full-featured, large-scale, complete or partial functions without relying on smart phones, such as smart watches or smart glasses, and only focus on a certain type of application function, which needs to cooperate with other devices such as smart phones. Use, such as all kinds of smart bracelets, smart jewelry, etc. for physical sign monitoring.

In order to clearly illustrate the idea of the embodiments of the present application, the unilateral/bilateral bidirectional ranging method is briefly described first. In the relevant regulations, the transmitter physical layer records the time when a specific signal (such as RMARKER) is sent, and the receiver physical layer records the arrival time of the specific signal, calculates the time difference, and then estimates the distance between the two according to the physical characteristics of electromagnetic wave propagation. The technical key point of this method is to reduce the timing error by timing the physical layer, improve the accuracy, and improve the detection success rate by using a specific signal. Based on this, there are several calculation methods as follows.

1. Single-sided Two-way Ranging (SS-TWR)

Referring to Figure 1, SS-TWR is a simple measurement of time for a single round-trip message, device A actively sends data to device B, and device B responds to device A with data. Generally speaking, the ranging process is as follows: Device A actively sends (TX) data, and records the sending time stamp, and device B records the receiving time stamp after receiving (RX); _{after delaying T reply} , device B sends data and records the sending time at the same time. Stamp, device A receives the data, and records the receiving timestamp at the same time.

According to the four time stamp data, two time difference data can be obtained, the time difference T _{round of} device A and the time difference T _{reply of} device B, and finally the flight time or propagation time T _{prop of the} wireless signal is obtained:

T _prop = 1/2(T _round d–T _reply )

T _prop = 1/2 (T _{round –} T _reply (1 – Coffs))

where Coffs is the clock offset between device A's receiver and remote device B's transmitter. The distance between device A and device B can be obtained by multiplying the propagation time T _{prop of the signal by the speed of light c.}

2. Double-sided Two-way Ranging (DS-TWR)

DS-TWR is an extended method of unilateral two-way ranging. It needs to record the time stamps of two round trips, and finally get the flight time. Although it increases the response time, it can reduce the ranging error.

According to the number of messages sent, the bilateral two-way ranging algorithm can be divided into two-way two-way ranging 4 message mode (DS-TWR with 4 messages), and bilateral two-way ranging 3 message mode (DS-TWR with 3 messages).

Bilateral two-way ranging is divided into two ranging. Device A actively initiates the first ranging message, and device B responds. When device A receives the data, it returns the data, and finally four time differences can be obtained: T _round1 , T _reply1 , T _round2 , T _reply2 . FIG. 2 shows a schematic diagram of the principle of the bilateral two-way ranging 4 message mode, and FIG. 3 shows a schematic schematic diagram of the principle of the bilateral two-way ranging 3 message mode. Comparing Figure 2 and Figure 3, where T _round1 , T _reply1 , T _round2 , and T _{reply2 are calculated} in different ways, the propagation time T _prop can be calculated as follows:

At present, user terminal equipment such as mobile phones or other terminals do not have modules that support the above functions, such as Ultra Wide Band (UWB) modules. Therefore, for unilateral two-way ranging or bilateral two-way ranging related functions are not supported.

To this end, the embodiments of the present application provide a method for assisting ranging, and the main purpose is to obtain timestamp information of signal waves transmitted and received between devices. The terminal device of the embodiments of the present application uses Bluetooth Low Energy (Bluetooth Low Energy) , BLE) fixed frequency extension (Constant Tone Extension, CTE) signal, can realize unilateral two-way ranging or bilateral two-way ranging function of terminal equipment, low cost and good effect.

Regarding the CTE signal in the embodiment of the present application, it is a special Bluetooth signal with the characteristics of low-power Bluetooth BLE. The CTE signal has the characteristics of a long transmission time, and the receiver can extract the in-phase quadrature signal (In-phase Quadrature signal). Signal, IQ) sample data without interfering with the modulation, and the CTE signal is transmitted at the end of the corresponding physical link data packet, so it will not affect the cyclic redundancy check of the data packet.

In the embodiments of the present application, when a CTE signal is sent or a CTE signal is received for signal sampling, for example, when recording an IQ sample, the clock time of the recording itself is increased. For this purpose, the BLE physical layer implementation can be modified, for example, the physical layer recording The time is the end time point of the guard interval (Guard period) or the end time point of the reference interval (Reference period), the calculation is based on the specific Switch slot where the signal of the sampled switch slot (Switch slot) is located and the duration of the signal Error correction is performed to obtain relatively accurate signal reception times, and the results can be recorded in the random access memory (RAM) of the Bluetooth low energy chip (BLE SoC). Optionally, when a CTE signal is sent or when a CTE signal is received for signal sampling, the IQ sample may not be recorded but only the clock time of the self may be recorded, which can reduce the amount of computation and storage space.

The embodiments of the present application use the CTE signal of BLE to assist in implementing the unilateral/bilateral bidirectional ranging process, and the specific implementation process is described below through multiple embodiments. In the following embodiments, the target device for ranging, that is, the device to be tested is referred to as the first device, and the test device is referred to as the second device. Both the first device and the second device are capable of sending/receiving CTE signals of BLE.

Example 1: Using BLE broadcast packets carrying CTE signals

A BLE broadcast packet carrying a CTE signal may also be referred to as a "connectionless CTE" (Connectionless CTE). Referring to FIG. 4 , an embodiment of the present application provides a method for ranging, which is applied to a first device, and the method includes:

S101, the first device sends first BLE broadcast information, where the first BLE broadcast information includes a first CTE signal;

S102, the first device records a first transmission timestamp of the first CTE signal;

S103, the first device receives second BLE broadcast information sent by the second device, where the second BLE broadcast information includes a second CTE signal;

S104, the first device records a second receiving timestamp of the second CTE signal; wherein the first sending timestamp and the second receiving timestamp are used to calculate the relationship between the first device and the first The distance between the two devices.

In the embodiment of the present application, the first device continuously broadcasts a low-power Bluetooth BLE broadcast packet, and the BLE broadcast packet carries a fixed-frequency extended CTE signal, and the first device can record the sending time stamp of the CTE signal as a A time parameter for subsequent distance calculation. When other devices receive the BLE broadcast packet sent by the first device, they can return a BLE broadcast packet that also carries the CTE signal. When the first device receives the returned BLE broadcast packet, it can be recorded. The receiving timestamp of the CTE signal is used as another time parameter in the subsequent calculation of the distance.

Therefore, the terminal device in the embodiment of the present application uses the fixed frequency of low-power Bluetooth BLE to extend the CTE signal, and can obtain multiple time stamp parameters for calculating the distance between devices, thereby realizing the ranging function of the terminal device.

It can be seen that the terminal device of the embodiment of the present application can, without installing a special function module (such as the aforementioned UWB module), based on the transmission time stamp and the reception time stamp of the CTE signal, according to the calculation of, for example, unilateral bidirectional ranging The distance between devices can be calculated using the formula, and further, if the transmission and feedback process of the CTE signal is repeated many times, multiple sets of time stamp information can be obtained, and then the distance between devices can be calculated according to the principle of bilateral two-way ranging, which has low cost and reliable test results. Sexual advantage.

Corresponding to the foregoing embodiment, referring to FIG. 5 , an embodiment of the present application further provides a method for ranging, which is applied to a second device, including:

S201, a second device receives first BLE broadcast information sent by a first device, where the first BLE broadcast information includes a first CTE signal;

S202, the second device records a first reception timestamp of the first CTE signal;

S203, the second device sends second BLE broadcast information to the first device, where the second BLE broadcast information includes a second CTE signal;

S204, the second device records a second sending timestamp of the second CTE signal; wherein the first receiving timestamp and the second sending timestamp are used to calculate the relationship between the first device and the first The distance between the two devices.

In the embodiment of the present application, the second device may receive the BLE broadcast packet carrying the CTE signal sent by the first device, and record the time stamp of reception, and the second device will feed back the BLE broadcast containing the CTE signal to the first device. packet, and record the sending time stamp for subsequent calculation of the distance between the first device and the second device.

In the embodiment of the present application, for the second device, similarly, the timestamp information required for calculating the distance between devices can be obtained without installing a special function module, which has the characteristics of low test cost and high reliability of results.

Various implementation manners of the embodiments of the present application are described in detail below.

The first device and the second device in the embodiment of the present application respectively have two working modes: a broadcast mode and a search mode, and the default switching duration of the two working modes is the first duration.

Specifically, the first device sends the first BLE broadcast information in a broadcast mode, and the first device switches to a search mode after continuing in the broadcast mode for the first duration;

After the first device switches from the broadcast mode to the search mode, it starts to search for the second BLE broadcast information sent by the second device, if the first device receives the second device within the first time period The second BLE broadcast information sent by the second device is directly switched to the broadcast mode; if the first device does not receive the second BLE broadcast information sent by the second device within the first time Switch to broadcast mode for the first time.

For example, the first duration may be, for example, 100ms, continuously sending broadcast information to the outside in the broadcast mode, and receiving broadcast information sent externally in the search mode;

Regarding the switching method, the first device or the second device continues to send BLE broadcast information containing CTE signals in broadcast mode, for example, after 100ms, it switches to search mode and starts to search for information. If no external information is searched, the search mode reaches 100ms Switch back to the broadcast mode again when it starts to send broadcast packets, and so on; however, if it receives BLE broadcast information from the outside in search mode, it directly switches to broadcast mode and starts to send broadcast packets instead of waiting for 100ms. switch.

Among them, regarding the default switching duration, that is, the value of the first duration, if the first duration is too short, external information may not be searched; if the first duration is too long, the accumulated time error will increase. The value of the first duration is set according to specific conditions and application accuracy requirements.

The above switching method is applicable to both the first device and the second device, that is, the two devices constantly switch between the broadcast mode and the search mode. Once the BLE broadcast packet containing the CTE signal is received in the search mode, it will immediately switch to the broadcast mode. And send a BLE broadcast packet containing the CTE signal, so that each of the two devices can obtain the sending timestamp and the receiving timestamp of the CTE signal for calculating the distance.

Specifically, processing performed after the first device switches from the search mode to the broadcast mode is described below.

After the first device is switched from the search mode to the broadcast mode, the third BLE broadcast information is sent to the second device, and the third BLE broadcast information includes the third CTE signal;

The first device records the third transmission timestamp of the third CTE signal;

After the first device switches from the broadcast mode to the search mode, it receives fourth BLE broadcast information sent by the second device, where the fourth BLE broadcast information includes a fourth CTE signal;

The first device records the fourth reception timestamp of the fourth CTE signal;

Wherein, the third sending timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

Correspondingly, the following describes the processing performed by the second device after switching from the search mode to the broadcast mode.

The second device receives third BLE broadcast information sent by the first device in the search mode, where the third BLE broadcast information includes a third CTE signal;

The second device records the third reception timestamp of the third CTE signal;

After the second device is switched from the search mode to the broadcast mode, the second device sends fourth BLE broadcast information to the first device, where the fourth BLE broadcast information includes a fourth CTE signal;

The second device records the fourth transmission timestamp of the fourth CTE signal;

Wherein, the third receiving timestamp and the fourth sending timestamp are used to calculate the distance between the first device and the second device.

It can be seen that, by switching the working mode, the first device and the second device can respectively obtain multiple transmission timestamps and multiple reception timestamps of the CTE signal, which can be used to calculate the distance. For example, the first device can be made to send the recorded time stamp information to the second device, and the second device with computing capability can substitute it into the corresponding calculation formula to obtain the distance between the devices; The information is sent to the first device, and the distance is calculated by the first device with computing capabilities; alternatively, the first device and the second device can each send the recorded timestamp information to a third party for calculation, for example, to a server for calculation. The purpose of the embodiments of the present application for ranging can be achieved.

Optionally, the first device and the second device in this embodiment of the present application further record the sending channel number of the CTE signal in each sent BLE broadcast information.

Optionally, each BLE broadcast information in this embodiment of the present application further includes an identification ID, where the identification ID is used to identify the corresponding BLE broadcast information.

For example, the ID field of the BLE broadcast information can be set to a length of 1-16 bytes, which does not exceed the number of bytes available in the broadcast packet. The value n of the ID field can be set to an auto-incrementing integer or a timestamp value. , not 0. The identification ID is used to uniquely identify the BLE broadcast packet.

Optionally, each BLE broadcast information in this embodiment of the present application is provided with a receiving identification ID field, a receiving timestamp field, and a receiving channel field; wherein,

The receiving identification ID field represents the identification ID of the received BLE broadcast information;

The reception timestamp field represents the reception timestamp when the CTE signal in the BLE broadcast information is received;

The receiving channel field indicates the receiving channel number of the CTE signal in the received BLE broadcast information.

For example, the receiving identifier ID field value is the identifier value of the received broadcast packet of the opposite end, the receiving timestamp field value is the timestamp when the CTE signal of the broadcast packet is received, and the receiving channel number is the location where the broadcast packet CTE signal was received. The broadcast channel (such as 37, 38, 39 channels), the default value can be 0.

Optionally, when sending the third BLE broadcast information, the first device adds the received identification ID, reception timestamp and reception channel number of the second BLE broadcast information to the third BLE broadcast information, respectively. in the Receive Identification ID field, the Receive Timestamp field, and the Receive Channel field.

Correspondingly, when sending the second BLE broadcast information, the second device adds the received identification ID, receiving timestamp and receiving channel number of the first BLE broadcast information to the second BLE broadcast information respectively. In the receiving identification ID field, the receiving timestamp field and the receiving channel field in the information.

In the above manner, for the first device and the second device, when sending the BLE broadcast information, the identification ID, the receiving timestamp and the receiving channel number of the last received BLE broadcast information are carried in the sent BLE broadcast information, and the sent BLE broadcast information is sent. to the peer device. In this way, the first device and the second device can distinguish different BLE broadcast information according to the identification ID of the BLE broadcast information, thereby distinguishing different CTE signals, and can also determine the corresponding CTE signal according to the receiving channel number and the transmitting channel number, and according to the corresponding CTE signal The sending time stamp and receiving time stamp of the signal calculate the distance between the devices to ensure that the data is correct.

Different from the above methods, the first device and the second device in the embodiment of the present application may not carry the identification ID, the receiving timestamp and the receiving channel number in the BLE broadcast packet to be sent, but complete the sending of multiple BLE broadcast packets. After the receiving process and the receiving process, the recorded multiple receiving time stamps, identification IDs and receiving channel numbers are separately sent to the opposite end device in the form of broadcast packets for calculating the distance.

Based on the above two manners, the processing procedures of the first device and the second device are respectively described below.

①The first device receives the timestamp and other information recorded by the second device

Optionally, the first device obtains the first reception timestamp of the first CTE signal, the reception channel number, and the identification ID of the first BLE broadcast information,

obtaining, by the first device, a third reception timestamp, a reception channel number, and an identification ID of the third BLE broadcast information of the third CTE signal;

The first reception time stamp is a time stamp when the second device receives the first CTE signal, and the third reception time stamp is when the second device receives the third CTE signal The first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.

Optionally, the first reception timestamp, reception channel number, and identification ID of the first BLE broadcast information of the first CTE signal are carried in the second BLE broadcast information, and the first reception time stamp of the third CTE signal is carried in the second BLE broadcast information. 3. The receiving timestamp, the receiving channel number, and the identification ID of the third BLE broadcast information are carried in the fourth BLE broadcast information;

Optionally, the first reception timestamp, the reception channel number and the ID of the first BLE broadcast information of the first CTE signal, and the third reception timestamp and reception channel number of the third CTE signal and the identification ID of the third BLE broadcast information is sent by the second device to the first device after sending the fourth BLE broadcast information.

Optionally, the first device obtains a second transmission timestamp of the second CTE signal and a fourth transmission timestamp of the fourth CTE signal.

②The first device sends the recorded timestamp and other information to the second device

Optionally, the first device sends the second reception timestamp of the second CTE signal, the reception channel number and the identification ID of the second BLE broadcast information to the second device,

The first device sends the fourth reception time stamp of the fourth CTE signal, the reception channel number and the identification ID of the fourth BLE broadcast information to the second device,

Wherein, the second reception time stamp is a time stamp when the first device receives the second CTE signal, and the fourth reception time stamp is when the first device receives the fourth CTE signal The second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

Optionally, the second reception timestamp, the reception channel number, and the ID of the second BLE broadcast information of the second CTE signal are carried in the third BLE broadcast information, and the third BLE broadcast information of the fourth CTE signal. 4. The receiving timestamp, the receiving channel number and the identification ID of the fourth BLE broadcast information are carried in the fifth BLE broadcast information;

Optionally, the second reception time stamp, the reception channel number, and the ID of the second BLE broadcast information of the second CTE signal, and the fourth reception time stamp and reception channel number of the fourth CTE signal and the identification ID of the fourth BLE broadcast information is sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.

Optionally, the first device sends the first transmission timestamp of the first CTE signal and the third transmission timestamp of the third CTE signal to the second device.

③ The second device sends the recorded timestamp and other information to the first device

Optionally, the second device sends the first receiving timestamp, the receiving channel number and the identification ID of the first BLE broadcast information of the first CTE signal to the first device,

The second device sends the third reception timestamp of the third CTE signal, the reception channel number, and the identification ID of the third BLE broadcast information to the first device,

Optionally, the second device sends the second transmission timestamp of the second CTE signal and the fourth transmission timestamp of the fourth CTE signal to the first device.

④The second device receives the timestamp and other information recorded by the first device

The second device acquires the second reception timestamp, the reception channel number and the identification ID of the second BLE broadcast information of the second CTE signal,

The second device obtains the fourth reception timestamp of the fourth CTE signal, the reception channel number, and the identification ID of the fourth BLE broadcast information,

Optionally, the second device obtains a first transmission timestamp of the first CTE signal and a third transmission timestamp of the third CTE signal.

After at least one of the above-mentioned processing methods, the first device or the second device calculates the distance between the first device and the second device after obtaining multiple timestamp information required for the calculation. The difference between the sending timestamp and the receiving timestamp corresponding to the ID and having the same sending channel number and receiving channel number is calculated.

In some embodiments of the present application, the following situations may occur: since BLE will send the same broadcast packet of the application layer on channels 37, 38 and 39, respectively, there may be 1, The broadcast packet records of 2 or 3 physical layers are distinguished by the transmission channel number, that is, the transmission channel numbers of the broadcast packets of the same application layer may be different.

When calculating the distance, it needs to be calculated based on the difference between the sending time stamp and the receiving time stamp with the same sending channel number and receiving channel number. Among the three transmission time stamps, the fourth transmission time stamp, the first reception time stamp, the second reception time stamp, the third reception time stamp and the fourth reception time stamp), there is no transmission time with the same transmission channel number and reception channel number Stamp and receiving timestamp, indicating that the timestamp record of the sender needs to be adjusted. Specifically, the value of the sending timestamp can be adjusted according to the difference between the sending channel number and the receiving channel number, as well as the time interval between adjacent broadcast channels. . This will be explained below with specific examples.

Corresponding to the processing of the above-mentioned first device and second device, an embodiment of the present application further provides a method for ranging. Referring to FIG. 6 , the method includes:

S301: Receive a first sending timestamp, a second sending timestamp, a third sending timestamp, a fourth sending timestamp, a first receiving timestamp, a second receiving timestamp, and a third sending timestamp sent by a first device and a second device. The receiving time stamp and the fourth receiving time stamp, and the identification ID, the sending channel number and the receiving channel number corresponding to each time stamp;

S302: Calculate the distance between the first device and the second device based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and having the same sending channel number and receiving channel number.

According to the embodiment of the present application, after the first device and the second device obtain the time stamps and other information required for calculation, the information can be sent to a third-party device in a unified manner, such as a server device with powerful computing capabilities, to calculate the first device and the second device. The distance of the second device, for a terminal device with weak computing capability, such as a mobile phone, this solution can save the resources and power consumption of the terminal device.

The respective processing procedures of the first device and the second device are described above. The interaction process between the first device (hereinafter referred to as device A) and the second device (hereinafter referred to as device B) will be described in detail below through specific examples.

Referring to FIG. 7 , this embodiment takes device A as the device to be tested and device B as a mobile phone as an example. Device A switches between broadcast mode and search mode every 100 milliseconds, that is, sends broadcast packets for 100 milliseconds, and then switches to search mode. , in which, if a broadcast packet is received in the search mode, it will switch back to the broadcast mode, and if no broadcast packet has been received in the search mode, it will switch back to the broadcast mode after the search continues for 100 milliseconds.

Device A records the sending time stamp TXAn, the corresponding identification field value n and the sending channel number CAn when it sends the CTE signal of each broadcast packet. Here, since BLE will send the same broadcast packet of the application layer on channels 37, 38 and 39, respectively, for an application layer broadcast packet, there may be 1, 2 or 3 physical layer broadcast packets. Records are distinguished by sending channel numbers.

Device B starts searching, and device B switches between broadcast mode and search mode every 100 milliseconds. Similarly, if a broadcast packet is received in search mode, it switches to broadcast mode, sends a broadcast packet for 100 milliseconds, and then switches back to search mode . When receiving the broadcast packet from device A, device B records the reception timestamp RXBn, the corresponding identification field value n and the receiving channel number CBn when the CTE signal of the broadcast packet is received, and then sends out a corresponding broadcast packet (identification field value is m), and fill in the receiving fields: RXBn, n and CBn in the broadcast packet, and record the transmission time stamp TXBm, the corresponding identification field value m and the transmission channel number CBm when the CTE signal of the broadcast packet is sent.

After device A switches to search, it receives the broadcast packet sent by device B (the value of the identification field is m), and device A records the reception timestamp RXAm, the value of the corresponding identification field m and the receiving channel when the CTE signal of the broadcast packet is received. No. CAm.

Optionally, device A and device B may not transmit information such as receiving timestamps for each broadcast packet, but after the above steps, send a separate broadcast packet to record the multiple receiving timestamps, corresponding identification values and The received channel number is sent to the opposite end in a centralized manner.

Through the above interaction process between device A and device B, multiple time stamp information as shown in FIG. 8 can be obtained. Select TXAn and RXBn, TXBm and RXAm, TXAx and RXBx, and TXBy and RXAy with the same transmit channel number and receive channel number in the record, in order to obtain multiple time stamp records that satisfy the above conditions (the transmit channel number and receive channel number are the same) , the foregoing process can be repeated multiple times, as shown in FIG. 7 , until the time stamp data that meets the conditions is obtained.

In the embodiment of the present application, if the TXAn and RXBn records with the same transmit channel number and receive channel number are not successfully obtained, the time record of the transmit end can be adjusted according to the relevant Bluetooth core protocol and the channel number of the receive end to compensate for the channel number. The amount of offset, here, the sender knows and records the actual transmission interval IntA and IntB between its two broadcast channels.

During adjustment, for example, if CAn of TXAn is channel number 37 and CBn of RXBn is channel number 39, the adjustment is TXAn=TXAn+2×IntA. For another example, if CBy of TXBy is channel number 39, and CAy of RXAy is channel number 38, the adjustment is TXBy=TXBy−1×IntB.

After obtaining the time stamp data that meets the conditions, each time stamp data can be substituted into the calculation formula, such as the calculation formula of unilateral two-way ranging SS-TWR and bilateral two-way ranging DS-TWR, as follows:

1) Calculated according to SS-TWR:

Tround=RXAm-TXAn,

Treply=TXBm-RXBn

2) Calculated according to DS-TWR (4messages):

Tround1=RXAm-TXAn,

Treply1=TXBm-RXBn,

Tround2=RXAy-TXAx,

Treply2=TXBy-RXBx

3) Calculated according to DS-TWR (3messages):

Ground1=RXAm-TXAn

Treply1=TXBm-RXBn

Tround2=RXBx-TXBm

Treply2=RXAm-TXAx

Finally, by substituting the three corresponding formulas given above, the distance between device A and device B can be calculated.

Example 2: Using BLE request-response packets carrying CTE signals

The BLE request-response packet carrying the CTE signal may also be referred to as a "connected CTE" (Connection CTE). include:

S401, a third device sends first BLE request information to a fourth device;

S402, the third device receives the first BLE response information sent by the fourth device, where the first BLE response information includes the first CTE signal;

S403, the third device records a first reception timestamp of the first CTE signal; wherein the first reception timestamp is used to calculate the distance between the third device and the fourth device.

Correspondingly, an embodiment of the present application further provides a method for ranging, which is applied to a fourth device. Referring to FIG. 10 , the method includes:

S501, the fourth device receives the first BLE request information sent by the third device;

S502, the fourth device sends first BLE response information to the third device, where the first BLE response information includes a first CTE signal;

S503, the fourth device records a first sending timestamp of the first CTE signal; the first sending timestamp is used to calculate the distance between the third device and the fourth device.

Different from the foregoing Embodiment 1, this embodiment of the present application uses a BLE request response packet carrying a CTE signal, rather than the BLE broadcast packet of Embodiment 1, so that the third device and the fourth device can exchange request information and response information point-to-point. , and record the sending time stamp and the corresponding receiving time stamp of the CTE signal during the interaction process, which are used to calculate the distance between the two devices.

Optionally, the third device receives the second BLE request information sent by the fourth device;

The third device sends second BLE response information to the fourth device, where the second BLE response information includes a second CTE signal; the third device records a second sending timestamp of the second CTE signal ; wherein, the second sending timestamp is used to calculate the distance between the third device and the fourth device.

Correspondingly, the fourth device sends second BLE request information to the third device;

The fourth device receives the second BLE response information sent by the third device, where the second BLE response information includes a second CTE signal; the fourth device records the second receiving time of the second CTE signal where the second received timestamp is used to calculate the distance between the third device and the fourth device.

Through multiple rounds of information exchange as described above, multiple sets of sending timestamps and receiving timestamps can be obtained, which can be calculated using various formulas to improve calculation accuracy.

Optionally, each BLE request information includes a timestamp field, which indicates the sending timestamp of the last received CTE signal.

Optionally, each BLE response information includes a timestamp field, which indicates the reception timestamp of the last CTE signal sent.

That is to say, in the embodiment of the present application, when the third device and the fourth device alternately send request information and response information, the device that sends the response information records the sending time stamp of the CTE signal, and the device that receives the response information records the time stamp of the CTE signal. The received timestamp of the CTE signal is recorded to record the timestamp information required for the calculation.

Optionally, before the third device sends the second BLE response information to the fourth device, the third device adds the first reception timestamp to the second BLE response information. Correspondingly, before the fourth device sends the second BLE request information to the third device, the fourth device adds the first sending timestamp to the second BLE request information. In this way, the timestamp information required for the calculation is sent to the peer device.

Optionally, when calculating the distance between the third device and the fourth device, the calculation is performed based on the difference between the corresponding sending timestamp and the receiving timestamp. The distance between the two devices can be calculated by substituting the sending timestamp and the receiving timestamp into the corresponding calculation formula.

The following describes the information exchange process between devices in the embodiment of the present application by using a specific example, wherein the third device is denoted as device A, and the fourth device is denoted as device B.

Referring to FIG. 11 , device A and device B alternately send BLE request information carrying CTE signals (denoted as LL_CTE_REQ in FIG. 11 ) and BLE response information carrying CTE signals (denoted as LL_CTE_RSP in FIG. 11 );

During multiple interactions, the device sending LL_CTE_RSP records the time stamp of sending CTE, and the device receiving LL_CTE_RSP records the time stamp of receiving CTE.

Optionally, you can modify the LL_CTE_REQ data packet, and add the recorded receiving timestamp of the last CTE in LL_CTE_REQ; optionally, you can also modify the LL_CTE_RSP data packet, and add the recorded sending timestamp of the last CTE in LL_CTE_RSP, In this way, the application layer data packets that are finally used to collect multiple timestamp data in the interaction process can be reduced, the processing time can be compressed to a certain extent, and the processing efficiency can be improved.

Through the above interaction process between device A and device B, multiple time stamp information as shown in FIG. 12 can be obtained.

1) Calculated according to SS-TWR:

Tround=RXB2-TXB1,

Treply=TXA2-RXA1,

2) Calculated according to DS-TWR (4messages):

Ground1=RXB2-TXB1,

Treply1=TXA2-RXA1,

Tround2=RXB4–TXB3,

Treply2=TXA4–RXA3,

3) Calculated according to DS-TWR (3messages):

Ground1=RXB2-TXB1,

Treply1=TXA2-RXA1,

Ground2=RXA3-TXA2

Treply2=TXB3-RXB2

Based on the above content, the various embodiments of the present application can be implemented by using the Bluetooth modules commonly found on most smart terminals such as mobile phones, and the implementation process does not require an antenna array or multiple auxiliary positioning devices, and can more accurately measure the Measuring the distance between the device and the mobile phone can improve the user experience and reduce the cost. In practical applications, the time error is small and the ranging accuracy is high.

The specific settings and implementations of the embodiments of the present application have been described above through multiple embodiments from different perspectives. Corresponding to the processing method of at least one of the above embodiments, an embodiment of the present application further provides a terminal device 100, which may be referred to as a first device. Referring to FIG. 13, the terminal device 100 includes:

The first sending module 101 is configured to send first low-power Bluetooth BLE broadcast information, where the first BLE broadcast information includes a first fixed frequency extended CTE signal;

a first recording module 102, configured to record the first transmission time stamp of the first CTE signal;

a first receiving module 103, configured to receive second BLE broadcast information sent by a second device, where the second BLE broadcast information includes a second CTE signal;

A second recording module 104, configured to record the second reception timestamp of the second CTE signal;

The first sending timestamp and the second receiving timestamp are used to calculate the distance between the first device and the second device.

Corresponding to the processing method of the above at least one embodiment, an embodiment of the present application further provides a terminal device 200, which may be referred to as a second device. Referring to FIG. 14, the terminal device 200 includes:

A first receiving module 201, configured to receive first BLE broadcast information sent by a first device, where the first BLE broadcast information includes a first CTE signal;

a first recording module 202, configured to record the first reception timestamp of the first CTE signal;

a first sending module 203, configured to send second BLE broadcast information to the first device, where the second BLE broadcast information includes a second CTE signal;

a first recording module 204, configured to record the second transmission time stamp of the second CTE signal;

The first receiving timestamp and the second sending timestamp are used to calculate the distance between the first device and the second device.

Corresponding to the processing method of at least one of the above embodiments, an embodiment of the present application further provides an electronic device 300, referring to FIG. 15, which includes:

A receiving module 301, configured to receive a first sending timestamp, a second sending timestamp, a third sending timestamp, a fourth sending timestamp, a first receiving timestamp, and a second receiving time sent by the first device and the second device stamp, the third receiving time stamp and the fourth receiving time stamp, and the identification ID, the sending channel number and the receiving channel number corresponding to each time stamp;

The calculation module 302 is configured to calculate the distance between the first device and the second device based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and having the same sending channel number and receiving channel number.

Corresponding to the processing method of the above at least one embodiment, an embodiment of the present application further provides a terminal device 400, which may be referred to as a third device. Referring to FIG. 16, the terminal device 400 includes:

The first sending module 401 is configured to send the first BLE request information to the fourth device;

The first receiving module 402 is configured to receive the first BLE response information sent by the fourth device, where the first BLE response information includes the first CTE signal;

a first recording module 403, configured to record the first reception timestamp of the first CTE signal;

Wherein, the first received timestamp is used to calculate the distance between the third device and the fourth device.

Corresponding to the processing method of the above at least one embodiment, an embodiment of the present application further provides a terminal device 500, which may be referred to as a fourth device. Referring to FIG. 17, the terminal device 500 includes:

The first receiving module 501 is configured to receive the first BLE request information sent by the third device;

a first sending module 502, configured to send first BLE response information to the third device, where the first BLE response information includes a first CTE signal;

a first recording module 503, configured to record the first transmission time stamp of the first CTE signal;

Wherein, the first sending timestamp is used to calculate the distance between the third device and the fourth device.

The

terminal devices

100 , 200 , 400 and 500 and the electronic device 300 in the embodiments of the present application can implement the corresponding functions of the terminal device and the server in the foregoing method embodiments, and each module (submodule, unit or component, etc.) corresponds to For the processes, functions, implementations, and beneficial effects, reference may be made to the corresponding descriptions in the foregoing method embodiments, which will not be repeated here.

It should be noted that the functions described by the

terminal devices

100 , 200 , 400 , and 500 and the various modules (submodules, units, or components, etc.) in the electronic device 300 in the embodiments of the present application may be described by different modules (submodules, units, etc.). or components, etc.), or can be implemented by the same module (sub-module, unit or component, etc.), for example, the first sending module and the second sending module may be different modules, or the same module, both Corresponding functions of the terminal device in the embodiments of the present application can be implemented.

18 is a schematic structural diagram of a communication device 600 according to an embodiment of the present application, wherein the communication device 600 includes a processor 610, and the processor 610 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

Optionally, the communication device 600 may also include a memory 620 . The processor 610 may call and run a computer program from the memory 620 to implement the methods in the embodiments of the present application.

The memory 620 may be a separate device independent of the processor 610 , or may be integrated in the processor 610 .

Optionally, the communication device 600 may further include a transceiver 630, and the processor 610 may control the transceiver 630 to communicate with other devices, specifically, may send information or data to other devices, or receive information or data sent by other devices .

Among them, the transceiver 630 may include a transmitter and a receiver. The transceiver 630 may further include antennas, and the number of the antennas may be one or more.

Optionally, the communication device 600 may be a terminal device of an embodiment of the present application, such as any one of the terminal devices shown in FIGS. 13-14 and 16-17 , and the communication device 600 may implement the following For the sake of brevity, the corresponding process implemented by the terminal device will not be repeated here.

19 is a schematic structural diagram of a chip 700 according to an embodiment of the present application, wherein the chip 700 includes a processor 710, and the processor 710 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

Optionally, the chip 700 may further include a memory 720 . The processor 710 may call and run a computer program from the memory 720 to implement the methods in the embodiments of the present application.

The memory 720 may be a separate device independent of the processor 710 , or may be integrated in the processor 710 .

Optionally, the chip 700 may further include an input interface 730 . The processor 710 may control the input interface 730 to communicate with other devices or chips, and specifically, may acquire information or data sent by other devices or chips.

Optionally, the chip 700 may further include an output interface 740 . The processor 710 can control the output interface 740 to communicate with other devices or chips, and specifically, can output information or data to other devices or chips.

Optionally, the chip can be applied to the terminal device in the embodiments of the present application, such as any one of the terminal devices shown in FIGS. 13-14 and 16-17 , and the chip can implement the various methods in the embodiments of the present application by the terminal device. For the sake of brevity, the corresponding process of implementation will not be repeated here.

It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, a system-on-chip, a system-on-chip, or a system-on-a-chip, or the like.

The processor mentioned above may be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC) or Other programmable logic devices, transistor logic devices, discrete hardware components, etc. The general-purpose processor mentioned above may be a microprocessor or any conventional processor or the like.

The memory mentioned above may be either volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically programmable Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory. Volatile memory may be random access memory (RAM).

It should be understood that the above memory is an example but not a limitative description, for example, the memory in the embodiment of the present application may also be a static random access memory (static RAM, SRAM), a dynamic random access memory (dynamic RAM, DRAM), Synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and so on. That is, the memory in the embodiments of the present application is intended to include but not limited to these and any other suitable types of memory.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. The computer instructions may be stored on or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted over a wire from a website site, computer, server or data center (eg coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (eg infrared, wireless, microwave, etc.) means to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media integrated. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), among others.

It should be understood that, in various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not be dealt with in the embodiments of the present application. implementation constitutes any limitation.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

It should be understood that the term "and/or" herein is used to describe the association relationship of associated objects, for example, it means that there can be three relationships between the associated objects before and after, for example, A and/or B can mean: A alone exists, A exists at the same time and B, and B alone exists in these three cases. The character "/" in this document generally indicates that the related objects are "or".

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art who is familiar with the technical scope disclosed in the present application can easily think of changes or substitutions. Covered within the scope of protection of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A method for ranging, applied to a first device, comprising:

The first device sends first low-power Bluetooth BLE broadcast information, where the first BLE broadcast information includes a first fixed-frequency extended CTE signal; the first device records a first transmission timestamp of the first CTE signal;

The first device receives second BLE broadcast information sent by the second device, where the second BLE broadcast information includes a second CTE signal; the first device records a second reception timestamp of the second CTE signal;

The first sending timestamp and the second receiving timestamp are used to calculate the distance between the first device and the second device.
The method according to claim 1, wherein the working mode of the first device includes a broadcast mode and a search mode, and the default switching duration of the two working modes is the first duration;

Wherein, the first device sends the first BLE broadcast information in the broadcast mode, and the first device switches to the search mode after continuing in the broadcast mode for the first duration;

After the first device switches from the broadcast mode to the search mode, it starts to search for the second BLE broadcast information sent by the second device, if the first device receives the second device within the first time period The second BLE broadcast information sent by the second device is directly switched to the broadcast mode; if the first device does not receive the second BLE broadcast information sent by the second device within the first time Switch to broadcast mode for the first time.
The method of claim 2, further comprising:

After the first device switches from the search mode to the broadcast mode, it sends third BLE broadcast information to the second device, where the third BLE broadcast information includes a third CTE signal; the first device records the third BLE broadcast information. The third transmission timestamp of the three CTE signals;

After the first device switches from the broadcast mode to the search mode, it receives fourth BLE broadcast information sent by the second device, where the fourth BLE broadcast information includes a fourth CTE signal; the first device records the fourth BLE broadcast information. the fourth received timestamp of the CTE signal;

Wherein, the third sending timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.
The method of any one of claims 1 to 3, further comprising:

The first device further records the sending channel number of the CTE signal in each sent BLE broadcast information.
The method according to any one of claims 1 to 4, wherein,

Each BLE broadcast information further includes an identification ID, where the identification ID is used to identify the corresponding BLE broadcast information.
The method according to any one of claims 1 to 5, wherein,

Each BLE broadcast information is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein,

The receiving identification ID field represents the identification ID of the received BLE broadcast information;

The reception timestamp field represents the reception timestamp when the CTE signal in the BLE broadcast information is received;

The receiving channel field indicates the receiving channel number of the CTE signal in the received BLE broadcast information.
The method of claim 6, further comprising:

When sending the third BLE broadcast information, the first device adds the identification ID, the receiving timestamp and the receiving channel number of the second BLE broadcast information to the receiving identification ID in the third BLE broadcast information, respectively field, receive timestamp field, and receive channel field.
The method of any one of claims 1 to 6, further comprising:

The first device obtains the first reception timestamp of the first CTE signal, the reception channel number, and the identification ID of the first BLE broadcast information,

obtaining, by the first device, a third reception timestamp, a reception channel number, and an identification ID of the third BLE broadcast information of the third CTE signal;

The first reception time stamp is a time stamp when the second device receives the first CTE signal, and the third reception time stamp is when the second device receives the third CTE signal The first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.
The method of claim 8, wherein,

The first reception timestamp, reception channel number, and identification ID of the first BLE broadcast information of the first CTE signal are carried in the second BLE broadcast information, and the third reception timestamp of the third CTE signal , the receiving channel number and the identification ID of the third BLE broadcast information are carried in the fourth BLE broadcast information;

or,

The first reception timestamp, the reception channel number, and the identification ID of the first BLE broadcast information of the first CTE signal, and the third reception timestamp, reception channel number, and the third CTE signal of the third CTE signal. The identification ID of the third BLE broadcast information is sent by the second device to the first device after sending the fourth BLE broadcast information.
The method of any one of claims 1 to 9, further comprising:

The first device sends the second receiving time stamp of the second CTE signal, the receiving channel number and the identification ID of the second BLE broadcast information to the second device,

The first device sends the fourth reception timestamp of the fourth CTE signal, the reception channel number, and the identification ID of the fourth BLE broadcast information to the second device,

Wherein, the second reception time stamp is a time stamp when the first device receives the second CTE signal, and the fourth reception time stamp is when the first device receives the fourth CTE signal The second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.
The method of claim 10, wherein,

The second reception timestamp of the second CTE signal, the reception channel number, and the identification ID of the second BLE broadcast information are carried in the third BLE broadcast information, and the fourth reception timestamp of the fourth CTE signal , the receiving channel number and the identification ID of the fourth BLE broadcast information are carried in the fifth BLE broadcast information;

or,

The second reception timestamp, the reception channel number, and the identification ID of the second BLE broadcast information of the second CTE signal, and the fourth reception timestamp, reception channel number, and the fourth CTE signal of the fourth CTE signal. The identification ID of the four BLE broadcast information is sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.
The method of any one of claims 1 to 11, wherein,

The first device acquires a second transmission timestamp of the second CTE signal and a fourth transmission timestamp of the fourth CTE signal.
The method of any one of claims 1 to 12, wherein,

The first device sends the first transmission timestamp of the first CTE signal and the third transmission timestamp of the third CTE signal to the second device.
The method of any one of claims 1 to 13, wherein,

When calculating the distance between the first device and the second device, the calculation is performed based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and having the same sending channel number and receiving channel number.
The method of any one of claims 1 to 14, wherein,

At the first transmission time stamp, the second transmission time stamp, the third transmission time stamp, the fourth transmission time stamp, the first reception time stamp, the second reception time stamp, the third reception time stamp In the timestamp and the fourth receiving timestamp, if there is no sending timestamp and receiving timestamp with the same sending channel number and receiving channel number, according to the difference between the sending channel number and the receiving channel number, and the adjacent broadcast channel The time interval between, adjust the value of the send timestamp.
A method for ranging, applied to a second device, comprising:

The second device receives the first BLE broadcast information sent by the first device, where the first BLE broadcast information includes the first CTE signal; the second device records the first reception timestamp of the first CTE signal;

The second device sends second BLE broadcast information to the first device, where the second BLE broadcast information includes a second CTE signal; the second device records a second sending timestamp of the second CTE signal ;

The first receiving timestamp and the second sending timestamp are used to calculate the distance between the first device and the second device.
The method according to claim 16, wherein the working mode of the second device includes a broadcast mode and a search mode, and the default switching duration of the two working modes is the first duration;

Wherein, the first device sends the first BLE broadcast information in the broadcast mode, and the first device switches to the search mode after continuing in the broadcast mode for the first duration;

After the first device switches from the broadcast mode to the search mode, it starts to search for the second BLE broadcast information sent by the second device, if the first device receives the second device within the first time period The second BLE broadcast information sent by the second device is directly switched to the broadcast mode; if the first device does not receive the second BLE broadcast information sent by the second device within the first time Switch to broadcast mode for the first time.
The method of claim 17, further comprising:

The second device receives third BLE broadcast information sent by the first device in the search mode, where the third BLE broadcast information includes a third CTE signal; the second device records the third CTE signal. the third receive timestamp;

After the second device switches from the search mode to the broadcast mode, it sends fourth BLE broadcast information to the first device, where the fourth BLE broadcast information includes a fourth CTE signal; the second device records the first BLE broadcast information. The fourth transmission timestamp of the four-CTE signal;

Wherein, the third receiving timestamp and the fourth sending timestamp are used to calculate the distance between the first device and the second device.
The method of any one of claims 16 to 18, further comprising:

The second device further records the sending channel number of the CTE signal in each sent BLE broadcast information.
The method of any one of claims 16 to 19, wherein,

Each BLE broadcast information further includes an identification ID, where the identification ID is used to identify the corresponding BLE broadcast information.
The method of any one of claims 16 to 20, wherein,

Each BLE broadcast information is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein,

The receiving identification ID field represents the identification ID of the received BLE broadcast information;

The reception timestamp field represents the reception timestamp when the CTE signal in the BLE broadcast information is received;

The receiving channel field indicates the receiving channel number of the CTE signal in the received BLE broadcast information.
The method of claim 21, further comprising:

When sending the second BLE broadcast information, the second device adds the identification ID, the receiving timestamp and the receiving channel number of the first BLE broadcast information to the receiving identification ID in the second BLE broadcast information, respectively field, receive timestamp field, and receive channel field.
The method of any one of claims 16 to 22, further comprising:

The second device sends the first receiving timestamp, the receiving channel number and the identification ID of the first BLE broadcast information of the first CTE signal to the first device,

The second device sends the third reception timestamp of the third CTE signal, the reception channel number, and the identification ID of the third BLE broadcast information to the first device,

The first reception time stamp is a time stamp when the second device receives the first CTE signal, and the third reception time stamp is when the second device receives the third CTE signal The first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.
The method of claim 23, wherein,

The first reception timestamp, reception channel number, and identification ID of the first BLE broadcast information of the first CTE signal are carried in the second BLE broadcast information, and the third reception timestamp of the third CTE signal , the receiving channel number and the identification ID of the third BLE broadcast information are carried in the fourth BLE broadcast information;

or,

The first reception time stamp, reception channel number, and the ID of the first BLE broadcast information of the first CTE signal, and the third reception time stamp, reception channel number, and the third CTE signal of the third CTE signal. The identification ID of the third BLE broadcast information is sent by the second device to the first device after sending the fourth BLE broadcast information.
The method of any one of claims 16 to 24, further comprising:

The second device acquires the second reception timestamp, the reception channel number and the identification ID of the second BLE broadcast information of the second CTE signal,

The second device obtains the fourth reception timestamp of the fourth CTE signal, the reception channel number, and the identification ID of the fourth BLE broadcast information,

Wherein, the second reception time stamp is a time stamp when the first device receives the second CTE signal, and the fourth reception time stamp is when the first device receives the fourth CTE signal The second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.
The method of claim 25, wherein,

The second reception timestamp of the second CTE signal, the reception channel number, and the identification ID of the second BLE broadcast information are carried in the third BLE broadcast information, and the fourth reception timestamp of the fourth CTE signal , the receiving channel number and the identification ID of the fourth BLE broadcast information are carried in the fifth BLE broadcast information;

or,

The second reception timestamp, the reception channel number, and the identification ID of the second BLE broadcast information of the second CTE signal, and the fourth reception timestamp, reception channel number, and the fourth CTE signal of the fourth CTE signal. The identification ID of the four BLE broadcast information is sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.
A method according to claims 16 to 26, wherein,

The second device acquires a first transmission timestamp of the first CTE signal and a third transmission timestamp of the third CTE signal.
A method according to claims 16 to 27, wherein,

The second device sends the second transmission timestamp of the second CTE signal and the fourth transmission timestamp of the fourth CTE signal to the first device.
A method according to claims 16 to 28, wherein,

When calculating the distance between the first device and the second device, the calculation is performed based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and having the same sending channel number and receiving channel number.
A method according to claims 16 to 29, wherein,

At the first transmission time stamp, the second transmission time stamp, the third transmission time stamp, the fourth transmission time stamp, the first reception time stamp, the second reception time stamp, the third reception time stamp In the timestamp and the fourth receiving timestamp, if there is no sending timestamp and receiving timestamp with the same sending channel number and receiving channel number, according to the difference between the sending channel number and the receiving channel number, and the adjacent broadcast channel The time interval between, adjust the value of the send timestamp.
A method for ranging, the method based on the method of any one of claims 1 to 30, the method for ranging comprising:

Receive the first sending timestamp, the second sending timestamp, the third sending timestamp, the fourth sending timestamp, the first receiving timestamp, the second receiving timestamp, and the third receiving time sent by the first device and the second device stamp and the fourth receiving time stamp, and the identification ID, sending channel number and receiving channel number corresponding to each time stamp;

The distance between the first device and the second device is calculated based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and having the same sending channel number and receiving channel number.
A method for ranging, applied to a third device, comprising:

The third device sends the first Bluetooth low energy BLE request information to the fourth device;

The third device receives the first BLE response information sent by the fourth device, where the first BLE response information includes the first CTE signal; the third device records the first reception timestamp of the first CTE signal;

Wherein, the first received timestamp is used to calculate the distance between the third device and the fourth device.
The method of claim 32, further comprising:

The third device receives the second BLE request information sent by the fourth device;

The third device sends second BLE response information to the fourth device, where the second BLE response information includes a second CTE signal; the third device records a second sending timestamp of the second CTE signal ;

Wherein, the second sending timestamp is used to calculate the distance between the third device and the fourth device.
A method according to claim 32 or 33, wherein,

Each BLE request message includes a timestamp field, which indicates the sending timestamp of the last received CTE signal.
The method of any one of claims 32 to 34, wherein,

Each BLE response message includes a timestamp field, which indicates the reception timestamp of the last CTE signal sent.
The method of any one of claims 32 to 34, further comprising:

Before the third device sends the second BLE response information to the fourth device, the third device adds the first reception timestamp to the second BLE response information.
The method of any one of claims 32 to 36, wherein,

When calculating the distance between the third device and the fourth device, the calculation is performed based on the difference between the corresponding sending timestamp and the receiving timestamp.
A method for ranging, applied to a fourth device, comprising:

The fourth device receives the first BLE request information sent by the third device;

The fourth device sends first BLE response information to the third device, where the first BLE response information includes the first CTE signal; the fourth device records the first sending timestamp of the first CTE signal ;

Wherein, the first sending timestamp is used to calculate the distance between the third device and the fourth device.
The method of claim 32, further comprising:

sending, by the fourth device, second BLE request information to the third device;

The fourth device receives the second BLE response information sent by the third device, where the second BLE response information includes a second CTE signal; the fourth device records the second reception time of the second CTE signal stamp;

Wherein, the second received timestamp is used to calculate the distance between the third device and the fourth device.
A method according to claim 32 or 33, wherein,

Each BLE request message includes a timestamp field, which indicates the sending timestamp of the last received CTE signal.
The method of any one of claims 32 to 34, wherein,

Each BLE response message includes a timestamp field, which indicates the reception timestamp of the last CTE signal sent.
The method of any one of claims 32 to 34, further comprising:

Before the fourth device sends the second BLE request information to the third device, the fourth device adds the first transmission timestamp to the second BLE request information.
A method according to claims 16 to 28, wherein,

When calculating the distance between the third device and the fourth device, the calculation is performed based on the difference between the corresponding sending timestamp and the receiving timestamp.
A terminal device, the terminal device is a first device, comprising:

a first sending module, configured to send first low-power Bluetooth BLE broadcast information, where the first BLE broadcast information includes a first fixed frequency extended CTE signal;

a first recording module, configured to record the first transmission time stamp of the first CTE signal;

a first receiving module, configured to receive second BLE broadcast information sent by a second device, where the second BLE broadcast information includes a second CTE signal;

a second recording module, configured to record the second reception timestamp of the second CTE signal;

The first sending timestamp and the second receiving timestamp are used to calculate the distance between the first device and the second device.
The terminal device according to claim 44, wherein the working mode of the first device includes a broadcast mode and a search mode, and the default switching duration of the two working modes is the first duration;

The first device also includes:

a switching module, configured to enable the first device to send the first BLE broadcast information in the broadcast mode, and the first device to switch to the search mode after the broadcast mode continues for the first duration;

After the first device switches from the broadcast mode to the search mode, it starts to search for the second BLE broadcast information sent by the second device, if the first device receives the second device within the first time period The second BLE broadcast information sent by the second device is directly switched to the broadcast mode; if the first device does not receive the second BLE broadcast information sent by the second device within the first time Switch to broadcast mode for the first time.
The terminal device of claim 45, further comprising:

a second sending module, configured to send third BLE broadcast information to the second device after switching from the search mode to the broadcast mode, where the third BLE broadcast information includes a third CTE signal;

a third recording module, configured to record the third transmission timestamp of the third CTE signal;

The second receiving module is configured to receive fourth BLE broadcast information sent by the second device after switching from the broadcast mode to the search mode, where the fourth BLE broadcast information includes a fourth CTE signal;

a fourth recording module, recording the fourth received timestamp of the fourth CTE signal;

Wherein, the third sending timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.
The terminal device according to any one of claims 44 to 46, further comprising:

The fifth recording module is used to record the sending channel number of the CTE signal in each sent BLE broadcast information.
The terminal device according to any one of claims 44 to 47, wherein,

Each BLE broadcast information further includes an identification ID, where the identification ID is used to identify the corresponding BLE broadcast information.
The terminal device according to any one of claims 44 to 48, wherein,

Each BLE broadcast information is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein,

The receiving identification ID field represents the identification ID of the received BLE broadcast information;

The reception timestamp field represents the reception timestamp when the CTE signal in the BLE broadcast information is received;

The receiving channel field indicates the receiving channel number of the CTE signal in the received BLE broadcast information.
The terminal device of claim 49, further comprising:

The adding module is configured to add the identification ID, receiving timestamp and receiving channel number of the second BLE broadcast information to the third BLE broadcast information respectively when the first device sends the third BLE broadcast information in the Receive Identification ID field, the Receive Timestamp field, and the Receive Channel field.
The terminal device according to any one of claims 44 to 49, further comprising:

a first acquisition module, configured to acquire the first reception timestamp of the first CTE signal, the reception channel number and the identification ID of the first BLE broadcast information,

a second acquisition module, configured to acquire the third reception timestamp, the reception channel number and the identification ID of the third BLE broadcast information of the third CTE signal;

The first reception time stamp is a time stamp when the second device receives the first CTE signal, and the third reception time stamp is when the second device receives the third CTE signal The first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.
The terminal device of claim 51, wherein,

The first reception timestamp, reception channel number, and identification ID of the first BLE broadcast information of the first CTE signal are carried in the second BLE broadcast information, and the third reception timestamp of the third CTE signal , the receiving channel number and the identification ID of the third BLE broadcast information are carried in the fourth BLE broadcast information;

or,

The first reception timestamp, the reception channel number, and the identification ID of the first BLE broadcast information of the first CTE signal, and the third reception timestamp, reception channel number, and the third CTE signal of the third CTE signal. The identification ID of the third BLE broadcast information is sent by the second device to the first device after sending the fourth BLE broadcast information.
The terminal device according to any one of claims 44 to 52, further comprising:

a third sending module, configured to send the second receiving timestamp of the second CTE signal, the receiving channel number and the identification ID of the second BLE broadcast information to the second device,

a fourth sending module, configured to send the fourth receiving timestamp of the fourth CTE signal, the receiving channel number and the identification ID of the fourth BLE broadcast information to the second device,

Wherein, the second reception time stamp is a time stamp when the first device receives the second CTE signal, and the fourth reception time stamp is when the first device receives the fourth CTE signal The second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.
The terminal device of claim 53, wherein,

The second reception timestamp of the second CTE signal, the reception channel number, and the identification ID of the second BLE broadcast information are carried in the third BLE broadcast information, and the fourth reception timestamp of the fourth CTE signal , the receiving channel number and the identification ID of the fourth BLE broadcast information are carried in the fifth BLE broadcast information;

or,

The second reception timestamp, the reception channel number, and the identification ID of the second BLE broadcast information of the second CTE signal, and the fourth reception timestamp, reception channel number, and the fourth CTE signal of the fourth CTE signal. The identification ID of the four BLE broadcast information is sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.
The terminal device according to any one of claims 44 to 54, wherein,

A third acquiring module, configured to acquire the second transmission timestamp of the second CTE signal and the fourth transmission timestamp of the fourth CTE signal.
The terminal device according to any one of claims 44 to 55, wherein,

A third sending module, configured to send the first sending timestamp of the first CTE signal and the third sending timestamp of the third CTE signal to the second device.
The terminal device according to any one of claims 44 to 56, wherein,

The calculation module is used for calculating the distance between the first device and the second device based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and the sending channel number and the receiving channel number are the same. calculate.
The terminal device according to any one of claims 44 to 57, wherein,

an adjustment module, configured to set the first sending time stamp, the second sending time stamp, the third sending time stamp, the fourth sending time stamp, the first receiving time stamp, the second receiving time stamp, In the third receiving time stamp and the fourth receiving time stamp, when there is no sending time stamp and receiving time stamp with the same sending channel number and receiving channel number, according to the difference between the sending channel number and the receiving channel number, As well as the time interval between adjacent broadcast channels, adjust the value of the send timestamp.
A terminal device, the terminal device is a second device, comprising:

a first receiving module, configured to receive first BLE broadcast information sent by a first device, where the first BLE broadcast information includes a first CTE signal;

a first recording module, configured to record the first reception timestamp of the first CTE signal;

a first sending module, configured to send second BLE broadcast information to the first device, where the second BLE broadcast information includes a second CTE signal;

a second recording module, configured to record the second transmission time stamp of the second CTE signal;

The first receiving timestamp and the second sending timestamp are used to calculate the distance between the first device and the second device.
The terminal device according to claim 59, wherein the working modes of the second device include a broadcast mode and a search mode, and the default switching duration of the two working modes is the first duration;

The terminal equipment also includes:

a switching module, configured to enable the first device to send the first BLE broadcast information in the broadcast mode, and the first device to switch to the search mode after the broadcast mode continues for the first duration;

After the first device switches from the broadcast mode to the search mode, it starts to search for the second BLE broadcast information sent by the second device, if the first device receives the second device within the first time period The second BLE broadcast information sent by the second device is directly switched to the broadcast mode; if the first device does not receive the second BLE broadcast information sent by the second device within the first time Switch to broadcast mode for the first time.
The terminal device according to claim 60, further comprising:

a second receiving module, configured to receive third BLE broadcast information sent by the first device in a search mode, where the third BLE broadcast information includes a third CTE signal;

a third recording module, configured to record the third received timestamp of the third CTE signal;

a second sending module, configured to send fourth BLE broadcast information to the first device after switching from the search mode to the broadcast mode, where the fourth BLE broadcast information includes a fourth CTE signal;

a fourth recording module, configured to record the fourth transmission time stamp of the fourth CTE signal;

Wherein, the third receiving timestamp and the fourth sending timestamp are used to calculate the distance between the first device and the second device.
The terminal device according to any one of claims 59 to 61, further comprising:

The fifth recording module is used to record the sending channel number of the CTE signal in each sent BLE broadcast information.
The terminal device according to any one of claims 59 to 62, wherein,

Each BLE broadcast information further includes an identification ID, where the identification ID is used to identify the corresponding BLE broadcast information.
The terminal device according to any one of claims 59 to 63, wherein,

Each BLE broadcast information is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein,

The receiving identification ID field represents the identification ID of the received BLE broadcast information;

The reception timestamp field represents the reception timestamp when the CTE signal in the BLE broadcast information is received;

The receiving channel field indicates the receiving channel number of the CTE signal in the received BLE broadcast information.
The terminal device of claim 64, further comprising:

The adding module is configured to add the identification ID, the receiving timestamp and the receiving channel number of the first BLE broadcasting information to the receiving identification ID in the second BLE broadcasting information respectively when sending the second BLE broadcasting information field, receive timestamp field, and receive channel field.
The terminal device according to any one of claims 59 to 65, further comprising:

a third sending module, configured to send the first receiving timestamp of the first CTE signal, the receiving channel number and the identification ID of the first BLE broadcast information to the first device,

a fourth sending module, configured to send the third receiving timestamp of the third CTE signal, the receiving channel number and the identification ID of the third BLE broadcast information to the first device,

The first reception time stamp is a time stamp when the second device receives the first CTE signal, and the third reception time stamp is when the second device receives the third CTE signal The first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.
The terminal device of claim 66, wherein,

The first reception timestamp, reception channel number, and identification ID of the first BLE broadcast information of the first CTE signal are carried in the second BLE broadcast information, and the third reception timestamp of the third CTE signal , the receiving channel number and the identification ID of the third BLE broadcast information are carried in the fourth BLE broadcast information;

or,

The first reception timestamp, the reception channel number, and the identification ID of the first BLE broadcast information of the first CTE signal, and the third reception timestamp, reception channel number, and the third CTE signal of the third CTE signal. The identification ID of the third BLE broadcast information is sent by the second device to the first device after sending the fourth BLE broadcast information.
The terminal device according to any one of claims 59 to 67, further comprising:

a first acquisition module, configured to acquire the second reception timestamp, the reception channel number and the identification ID of the second BLE broadcast information of the second CTE signal,

a second obtaining module, configured to obtain the fourth receiving timestamp, the receiving channel number and the identification ID of the fourth BLE broadcast information of the fourth CTE signal,

Wherein, the second reception time stamp is a time stamp when the first device receives the second CTE signal, and the fourth reception time stamp is when the first device receives the fourth CTE signal The second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.
The terminal device of claim 68, wherein,

The second reception timestamp of the second CTE signal, the reception channel number, and the identification ID of the second BLE broadcast information are carried in the third BLE broadcast information, and the fourth reception timestamp of the fourth CTE signal , the receiving channel number and the identification ID of the fourth BLE broadcast information are carried in the fifth BLE broadcast information;

or,

The second reception timestamp, the reception channel number, and the identification ID of the second BLE broadcast information of the second CTE signal, and the fourth reception timestamp, reception channel number, and the fourth CTE signal of the fourth CTE signal. The identification ID of the four BLE broadcast information is sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.
The terminal device according to claims 59 to 69, wherein,

A third acquiring module, configured to acquire a first transmission timestamp of the first CTE signal and a third transmission timestamp of the third CTE signal.
The terminal device according to claims 59 to 70, wherein,

A fifth sending module, configured to send the second sending timestamp of the second CTE signal and the fourth sending timestamp of the fourth CTE signal to the first device.
The terminal device according to claims 59 to 71, wherein,

The calculation module is used for calculating the distance between the first device and the second device based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and the sending channel number and the receiving channel number are the same. calculate.
A terminal device according to claims 59 to 72, wherein,

an adjustment module, configured to set the first sending time stamp, the second sending time stamp, the third sending time stamp, the fourth sending time stamp, the first receiving time stamp, the second receiving time stamp, In the third receiving timestamp and the fourth receiving timestamp, when there is no sending timestamp and receiving timestamp with the same sending channel number and receiving channel number, according to the difference between the sending channel number and the receiving channel number, As well as the time interval between adjacent broadcast channels, adjust the value of the send timestamp.
An electronic device based on the method according to any one of claims 1 to 30, the electronic device comprising:

A receiving module, configured to receive the first sending timestamp, the second sending timestamp, the third sending timestamp, the fourth sending timestamp, the first receiving timestamp, and the second receiving timestamp sent by the first device and the second device , the third receiving time stamp and the fourth receiving time stamp, and the identification ID, the sending channel number and the receiving channel number corresponding to each time stamp;

A calculation module, configured to calculate the distance between the first device and the second device based on the difference between the sending timestamp and the receiving timestamp corresponding to the ID and having the same sending channel number and receiving channel number.
A terminal device, the terminal device is a third device, comprising:

a first sending module, configured to send the first low-power bluetooth BLE request information to the fourth device;

a first receiving module, configured to receive the first BLE response information sent by the fourth device, where the first BLE response information includes the first CTE signal;

a first recording module, configured to record the first reception timestamp of the first CTE signal;

Wherein, the first received timestamp is used to calculate the distance between the third device and the fourth device.
The terminal device of claim 75, further comprising:

a second receiving module, configured to receive the second BLE request information sent by the fourth device;

a second sending module, configured to send second BLE response information to the fourth device, where the second BLE response information includes a second CTE signal;

a second recording module, configured to record the second transmission time stamp of the second CTE signal;

Wherein, the second sending timestamp is used to calculate the distance between the third device and the fourth device.
The terminal device according to claim 75 or 76, wherein,

Each BLE request message includes a timestamp field, which indicates the sending timestamp of the last received CTE signal.
The terminal device according to any one of claims 75 to 77, wherein,

Each BLE response message includes a timestamp field, which indicates the reception timestamp of the last CTE signal sent.
The terminal device according to any one of claims 75 to 78, further comprising:

An adding module is configured to add the first reception timestamp to the second BLE response information before the third device sends the second BLE response information to the fourth device.
The terminal device according to any one of claims 75 to 79, wherein,

The calculation module is configured to perform calculation based on the difference between the corresponding sending timestamp and the receiving timestamp when calculating the distance between the third device and the fourth device.
A terminal device, the terminal device is a fourth device, comprising:

a first receiving module, configured to receive the first BLE request information sent by the third device;

a first sending module, configured to send first BLE response information to the third device, where the first BLE response information includes a first CTE signal;

a first recording module, configured to record the first transmission time stamp of the first CTE signal;

Wherein, the first sending timestamp is used to calculate the distance between the third device and the fourth device.
The terminal device of claim 81, further comprising:

a second sending module, configured to send second BLE request information to the third device;

a second receiving module, configured to receive second BLE response information sent by the third device, where the second BLE response information includes a second CTE signal;

a second recording module, configured to record the second reception timestamp of the second CTE signal;

Wherein, the second received timestamp is used to calculate the distance between the third device and the fourth device.
The terminal device according to claim 81 or 82, wherein,

Each BLE request message includes a timestamp field, which indicates the sending timestamp of the last received CTE signal.
The terminal device according to any one of claims 81 to 83, wherein,

Each BLE response message includes a timestamp field, which indicates the reception timestamp of the last CTE signal sent.
The terminal device according to any one of claims 81 to 84, further comprising:

An adding module is configured to add the first sending timestamp to the second BLE request information before the fourth device sends the second BLE request information to the third device.
The terminal device according to claims 81 to 85, wherein,

The calculation module is configured to perform calculation based on the difference between the corresponding sending timestamp and the receiving timestamp when calculating the distance between the third device and the fourth device.
A terminal device, comprising: a processor and a memory, the memory is used to store a computer program, the processor calls and runs the computer program stored in the memory, and executes any one of claims 1 to 30 and 32 to 43. A step of the method for ranging.
An electronic device, comprising: a processor and a memory, the memory is used to store a computer program, the processor calls and runs the computer program stored in the memory, and executes the method for ranging according to claim 31. steps of the method.
A chip that includes:

A processor for invoking and running a computer program from the memory to cause the device on which the chip is installed to perform the steps of the method for ranging as claimed in any one of claims 1 to 30 and 32 to 43.
A computer-readable storage medium for storing a computer program, wherein,

The computer program causes a computer to perform the steps of the method for ranging as claimed in any one of claims 1 to 30 and 32 to 43.
A computer program product comprising computer program instructions, wherein,

The computer program instructions cause a computer to perform the steps of the method for ranging as claimed in any one of claims 1 to 30 and 32 to 43.
A computer program that causes a computer to perform the steps of the method for ranging as claimed in any one of claims 1 to 30 and 32 to 43.