Method and terminal device for ranging

Abstract

A method and terminal device for distance measurement, the method comprising: a first device sends a first low-power Bluetooth BLE broadcast information, the first BLE broadcast information includes a first fixed frequency extended CTE signal (S101); the first device records a first sending timestamp of the first CTE signal (S102); the first device receives a second BLE broadcast information sent by a second device, the second BLE broadcast information includes a second CTE signal; 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 distance between the first device and the second device (S103). The method can be used to obtain timestamp information for distance measurement at a relatively low cost.

Description

Background Art

[0002] Commonly used ranging technologies include methods based on received signal strength indication (RSSI), time of arrival (TOA), angle of arrival (AOA) / angle of departure (AOD), etc. Bluetooth Low Energy (BLE) technology has the characteristics of low power consumption and can provide received signal strength indication. The RSSI ranging method based on BLE obtains the received signal strength through signal sampling at the Bluetooth receiver end, and estimates the distance between the transmitter and the receiver based on the electromagnetic wave propagation characteristics and signal strength.

[0003] However, due to the multipath effect caused by reflection, diffraction and scattering in the environment, the RSSI value measured based on BLE fluctuates greatly, and the estimated distance accuracy is low. In addition, in the AoA / AoD distance estimation based on BLE, the receiver or transmitter needs to have an antenna array, and usually more than three antenna devices are required to measure the position and distance, which is costly. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a method and a terminal device for ranging, and the embodiments of the present application can be used to obtain the information required for calculating the terminal distance.

[0005] The present application provides a method for ranging, including:

[0006] A first device sends a first low-power Bluetooth BLE broadcast message, wherein the first BLE broadcast message includes a first fixed frequency extended CTE signal; and the first device records a first sending timestamp of the first CTE signal.

[0007] The first device receives second BLE broadcast information sent by the second device, wherein the second BLE broadcast information includes a second CTE signal; 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 distance between the first device and the second device.

[0008] The present application also provides a terminal device, including:

[0009] A first sending module, configured to send first low-power Bluetooth BLE broadcast information, wherein the first BLE broadcast information includes a first fixed frequency extended CTE signal;

[0010] A first recording module, configured to record a first sending timestamp of the first CTE signal;

[0011] A first receiving module, configured to receive second BLE broadcast information sent by a second device, wherein the second BLE broadcast information includes a second CTE signal;

[0012] The second recording module is used to record the second receiving timestamp of the second CTE signal; wherein the first sending timestamp and the second receiving timestamp are used to calculate the distance between the first device and the second device.

[0013] An embodiment of the present application also provides a terminal device, including: a processor and a memory, wherein the memory is used to store a computer program, and the processor calls and runs the computer program stored in the memory to execute the method for ranging as described above.

[0014] An embodiment of the present application further provides a chip, comprising: a processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method for ranging as described above.

[0015] An embodiment of the present application further provides a computer-readable storage medium for storing a computer program, wherein the computer program enables a computer to execute the method for ranging as described above.

[0016] An embodiment of the present application also provides a computer program product, including computer program instructions, wherein the computer program instructions enable a computer to execute the method for controlling transmission power as described above.

[0017] An embodiment of the present application also provides a computer program, which enables a computer to execute the method for ranging as described above.

[0018] Using the embodiments of the present application, the terminal device uses a low-power Bluetooth BLE broadcast information carrying a fixed-frequency extended CTE signal. By recording the sending timestamp and receiving timestamp information of the CTE signal, multiple sets of timestamp information that meet the conditions can be obtained at a lower cost. The time error of the multiple sets of timestamp information obtained based on the embodiments of the present application is small, and the calculated distance between devices is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the logical principle and effect of unilateral bidirectional ranging.

[0020] Figure 2 and Figure 3 They are schematic diagrams of the logical principles and effects of the four-message method and the three-message method of bilateral two-way ranging.

[0021] Figure 4 It is a flowchart of a method for ranging on the first device side of an embodiment of the present application.

[0022] Figure 5 It is a flowchart of a method for ranging on the second device side of an embodiment of the present application.

[0023] Figure 6 It is a flowchart of a method for ranging on the electronic device side of an embodiment of the present application.

[0024] Figure 7 This is a schematic diagram of information interaction between two devices in Example 1 of the present application.

[0025] Figure 8 is in accordance with Figure 7 Schematic diagram of various timestamp information obtained through interaction in an embodiment.

[0026] Fig. 9 It is a flowchart of a method for ranging on the third device side of an embodiment of the present application.

[0027] Fig.10 It is a flowchart of a method for ranging on the fourth device side of an embodiment of the present application.

[0028] Fig.11 This is a schematic diagram of information interaction between two devices in Example 2 of the present application.

[0029] Fig.12 is in accordance with Fig.11 Schematic diagram of various timestamp information obtained through interaction in an embodiment.

[0030] Fig.13 and 14 It is a schematic structural block diagram of the first device and the second device of an embodiment of the present application.

[0031] Fig.15 A schematic structural block diagram of an electronic device according to an embodiment of the present application.

[0032] Fig.16 and 17 It is a schematic structural block diagram of the third device and the fourth device of the embodiment of the present application.

[0033] Fig.18 It is a schematic block diagram of a communication device according to an embodiment of the present application.

[0034] Fig.19 It is a schematic block diagram of the chip of an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solutions of the embodiments of the present application are described below in conjunction with the accompanying drawings of the embodiments of the present application, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. For the sake of clarity and conciseness, the description of well-known functions and well-known structures is omitted in the following description.

[0036] The embodiments of the present application describe various embodiments based on terminal equipment, wherein the terminal equipment may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent or user device, etc.

[0037] In the embodiments of the present application, the terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in unmanned driving, a wireless terminal device in remote medical, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, or a wireless terminal device in a smart home, etc.

[0038] As an example but not limitation, in the embodiments of the present application, the terminal device may also be a wearable device. Wearable devices may also be referred to as wearable smart devices, which are a general term for wearable devices that are intelligently designed and developed using wearable technology for daily wear, 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 clothes or accessories. Wearable devices are not only hardware devices, but also powerful functions achieved through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include full-featured, large-sized, and fully or partially independent of smartphones, such as smart watches or smart glasses, as well as devices that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various types of smart bracelets and smart jewelry for vital sign monitoring.

[0039] In order to clearly explain the idea of ​​the embodiment of the present application, the unilateral / bilateral bidirectional ranging method is first briefly described. 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 based on the physical characteristics of electromagnetic wave propagation. The technical key point of this method is to reduce the timing error and improve the accuracy by timing at the physical layer, and to improve the success rate of detection by using specific signals. Based on this, there are the following calculation methods.

[0040] 1. Single-sided Two-way Ranging (SS-TWR)

[0041] refer to Figure 1 SS-TWR is a simple measurement of the time of a single round-trip message. Device A actively sends data to device B, and device B returns data to respond to device A. In general, the ranging process is: device A actively sends (TX) data and records the sending timestamp at the same time. Device B receives (RX) data and records the receiving timestamp; the delay T reply Afterwards, device B sends data and records the sending timestamp, and device A receives data and records the receiving timestamp.

[0042] According to the four timestamp data, two time difference data can be obtained. The time difference T of device A round The time difference T with device B reply , and finally get the wireless signal flight time or propagation time T prop :

[0043] T prop =1 / 2(T roun d–T reply )

[0044] T prop =1 / 2(T round –T reply (1–Coffs)

[0045] Where Coffs is the clock offset between the receiver of device A and the transmitter of remote device B. prop Multiplying it by the speed of light c gives the distance between device A and device B.

[0046] 2. Double-sided Two-way Ranging (DS-TWR)

[0047] DS-TWR is an extended method of unilateral two-way ranging. It requires recording the timestamps of two round trips and finally obtaining the flight time. Although it increases the response time, it can reduce the ranging error.

[0048] According to the number of messages sent, the bilateral two-way ranging algorithm can be divided into a bilateral two-way ranging 4-message method (DS-TWR with 4messages) and a bilateral two-way ranging 3-message method (DS-TWR with3messages).

[0049] Bilateral two-way ranging is divided into two ranging times. Device A actively initiates the first ranging message, and device B responds. After device A receives the data, it returns the data. Finally, four time differences can be obtained: T round1 、T reply1 、T round2 、T reply2 . Figure 2 The schematic diagram of the principle of bilateral two-way ranging 4-message method is shown. Figure 3 The schematic diagram shows the principle of the bilateral two-way ranging 3-message method. Figure 2 and Figure 3 , where T is calculated round1 、T reply1 、T round2 、T reply2 Different ways, the propagation time T prop It can be calculated as follows:

[0050]

[0051] Currently, user terminal devices such as mobile phones or other terminals do not have modules that support the above functions, such as ultra-wideband modules (Ultra Wide Band, UWB), and therefore, related functions of unilateral two-way ranging or bilateral two-way ranging are not supported.

[0052] To this end, an embodiment of the present application provides a method for assisted ranging, the main purpose of which is to obtain timestamp information of signal waves transmitted and received between devices. The terminal device of an embodiment of the present application uses a constant tone extension (CTE) signal of low-power Bluetooth LowEnery (BLE), which can realize unilateral two-way ranging or bilateral two-way ranging functions of the terminal device, with low cost and good effect.

[0053] 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 characteristic of a long transmission time. The receiver can extract the in-phase quadrature signal (IQ) sample data without interfering with the modulation. Moreover, 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.

[0054] In an embodiment of the present application, when sending a CTE signal or receiving a CTE signal for signal sampling, for example, while recording an IQ sample, the recording of the own clock time is added. For this purpose, the BLE physical layer implementation can be modified. For example, the time recorded by the physical layer is the end time point of the guard period or the end time point of the reference period. When calculating, error correction is performed according to the Switch slot where the sampled signal of the switch slot is located and the duration of the signal to obtain a relatively accurate signal reception time. The result can be recorded in the random access memory (RAM) of the low-power Bluetooth chip (BLE SoC). Optionally, when sending a CTE signal or receiving a CTE signal for signal sampling, the IQ sample can be no longer recorded but only the own clock time can be recorded, which can reduce the amount of calculation and storage space.

[0055] The embodiments of the present application use the CTE signal of BLE to assist in the unilateral / bilateral bidirectional ranging process. The specific implementation process is described in the following 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 have the ability to send / receive the CTE signal of BLE.

[0056] Example 1: Using a BLE advertising packet carrying a CTE signal

[0057] The BLE advertising packet carrying the CTE signal is also called "Connectionless CTE", see Figure 4 The present application embodiment provides a method for ranging, which is applied to a first device, and the method includes:

[0058] S101, a first device sends first BLE broadcast information, where the first BLE broadcast information includes a first CTE signal;

[0059] S102, the first device records a first sending timestamp of the first CTE signal;

[0060] 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;

[0061] 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 a distance between the first device and the second device.

[0062] In an embodiment of the present application, the first device continuously broadcasts a low-power Bluetooth BLE broadcast packet to the outside, and the BLE broadcast packet carries a fixed-frequency extended CTE signal. The first device can record the sending timestamp of the CTE signal as 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 record the receiving timestamp of the CTE signal therein as another time parameter for subsequent distance calculation.

[0063] Therefore, the terminal device of the embodiment of the present application uses the fixed frequency extended CTE signal of the low-power Bluetooth BLE to obtain multiple timestamp parameters for calculating the distance between devices, thereby realizing the ranging function of the terminal device.

[0064] It can be seen that the terminal device of the embodiment of the present application can calculate the distance between devices based on the transmission timestamp and reception timestamp of the CTE signal without installing a special function module (such as the aforementioned UWB module), according to a calculation formula such as unilateral two-way ranging. Furthermore, if the transmission and feedback process of the CTE signal is repeated multiple times, multiple sets of timestamp information can be obtained, and then the distance between the devices can be calculated according to the principle of bilateral two-way ranging, which has the advantages of low cost and high reliability of test results.

[0065] Corresponding to the above embodiment, refer to Figure 5 The embodiment of the present application further provides a method for ranging, which is applied to a second device and includes:

[0066] 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;

[0067] S202, the second device records a first receiving timestamp of the first CTE signal;

[0068] S203, the second device sends second BLE broadcast information to the first device, where the second BLE broadcast information includes a second CTE signal;

[0069] 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 distance between the first device and the second device.

[0070] In an embodiment of the present application, the second device can receive a BLE broadcast packet carrying a CTE signal sent by the first device and record the timestamp of the reception. The second device will also feedback a BLE broadcast packet containing a CTE signal to the first device and record the sending timestamp for subsequent calculation of the distance between the first device and the second device.

[0071] In the embodiment of the present application, for the second device, similarly, there is no need to install a special function module to obtain the timestamp information required for calculating the distance between devices, which has the characteristics of low testing cost and high result reliability.

[0072] The following describes in detail various implementation methods of the embodiments of the present application.

[0073] 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. The default switching duration of the two working modes is the first duration.

[0074] Specifically, the first device sends the first BLE broadcast information in a broadcast mode, and the first device switches to a search mode after being in the broadcast mode for the first time period;

[0075] After the first device switches from the broadcast mode to the search mode, it starts searching for the second BLE broadcast information sent by the second device. If the first device receives the second BLE broadcast information sent by the second device within the first time period, it directly switches 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 period, it switches to the broadcast mode when the first time period is reached.

[0076] For example, the first duration may be, for example, 100 ms, and the broadcast information is continuously sent outward in the broadcast mode, and the broadcast information sent outward is received in the search mode;

[0077] Regarding the switching method, the first device or the second device continuously sends BLE broadcast information containing the CTE signal in the broadcast mode, and switches to the search mode after, for example, 100ms, and starts searching for information. If no external information is found, the search mode is switched back to the broadcast mode when 100ms has passed, and broadcast packets are started to be sent, and the cycle continues. However, if BLE broadcast information containing the CTE signal is received from the outside in the search mode, it is directly switched to the broadcast mode and starts sending broadcast packets, without waiting for 100ms to switch.

[0078] 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 time accumulation error will increase. In practice, the value of the first duration can be set according to the specific situation and application accuracy requirements.

[0079] The above switching method is applicable to both the first device and the second device, that is, the two devices continuously switch between the broadcast mode and the search mode. Once a BLE broadcast packet containing a 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 the two devices can each obtain the sending timestamp and receiving timestamp of the CTE signal for calculating the distance.

[0080] Specifically, the following describes a process performed after the first device switches from the search mode to the broadcast mode.

[0081] After the first device switches from the search mode to the broadcast mode, the first device sends third BLE broadcast information to the second device, where the third BLE broadcast information includes a third CTE signal;

[0082] The first device records a third sending timestamp of the third CTE signal;

[0083] After the first device switches from the broadcast mode to the search mode, receiving fourth BLE broadcast information sent by the second device, wherein the fourth BLE broadcast information includes a fourth CTE signal;

[0084] The first device records a fourth receiving timestamp of the fourth CTE signal;

[0085] The third sending timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

[0086] Correspondingly, the following describes the processing performed after the second device switches from the search mode to the broadcast mode.

[0087] The second device receives, in the search mode, third BLE broadcast information sent by the first device, where the third BLE broadcast information includes a third CTE signal;

[0088] The second device records a third receiving timestamp of the third CTE signal;

[0089] After the second device switches 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;

[0090] The second device records a fourth sending timestamp of the fourth CTE signal;

[0091] The third receiving timestamp and the fourth sending timestamp are used to calculate the distance between the first device and the second device.

[0092] It can be seen that by switching the working mode, the first device and the second device can respectively obtain multiple sending timestamps and multiple receiving timestamp information of the CTE signal, which can be used to calculate the distance. For example, the first device can send the recorded timestamp 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; or, the second device can send the recorded timestamp information to the first device, and the first device with computing capability can calculate the distance; or, the first device and the second device can each send the recorded timestamp information to a third party for calculation, such as sending it to a server to calculate the distance, which can achieve the purpose of the embodiment of the present application for distance measurement.

[0093] Optionally, the first device and the second device in the embodiment of the present application further record the sending channel number of the CTE signal in each sent BLE broadcast information.

[0094] Optionally, each BLE broadcast information in the embodiment of the present application also includes an identification ID, and the identification ID is used to identify the corresponding BLE broadcast information.

[0095] For example, the ID field of the BLE broadcast information can be set to a length of 1-16 bytes, not exceeding the number of bytes available for the broadcast packet, and the value n of the ID field can be set to an auto-increment integer or a timestamp value, not 0. The ID is used to uniquely identify the BLE broadcast packet.

[0096] Optionally, each BLE broadcast message in the embodiment of the present application is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein,

[0097] The receiving identification ID field indicates the identification ID of the received BLE broadcast information;

[0098] The receiving timestamp field indicates the receiving timestamp when the CTE signal in the BLE broadcast information is received;

[0099] The receiving channel field indicates the receiving channel number of the CTE signal in the received BLE broadcast information.

[0100] For example, the receiving identification ID field value is the identification value of the received broadcast packet from the other 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 broadcast channel (such as channels 37, 38, and 39) when the broadcast packet CTE signal is received. The default values ​​can all be 0.

[0101] Optionally, when sending the third BLE broadcast information, the first device adds the identification ID, reception timestamp and reception channel number of the received second BLE broadcast information to the reception identification ID field, reception timestamp field and reception channel field in the third BLE broadcast information respectively.

[0102] Correspondingly, when sending the second BLE broadcast information, the second device adds the identification ID, receiving timestamp and receiving channel number of the received first BLE broadcast information to the receiving identification ID field, receiving timestamp field and receiving channel field in the second BLE broadcast information respectively.

[0103] In the above manner, for the first device and the second device, when sending BLE broadcast information, the identification ID, receiving timestamp and receiving channel number of the last received BLE broadcast information are carried in the sent BLE broadcast information and sent to the opposite device. In this way, the first device and the second device distinguish different BLE broadcast information according to the identification ID of the BLE broadcast information, and then distinguish different CTE signals. The corresponding CTE signal can also be determined according to the receiving channel number and the sending channel number, and the distance between the devices can be calculated according to the sending timestamp and receiving timestamp of the corresponding CTE signal to ensure that the data is correct.

[0104] Different from the above method, the first device and the second device of 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 after completing the sending and receiving process of multiple BLE broadcast packets, the recorded multiple receiving timestamps, identification IDs and receiving channel numbers are sent to the other device in the form of broadcast packets for calculating the distance.

[0105] Based on the above two methods, the processing processes of the first device and the second device are described below respectively.

[0106] ①The first device receives the timestamp and other information recorded by the second device

[0107] Optionally, the first device obtains a first receiving timestamp, a receiving channel number, and an identification ID of the first BLE broadcast information of the first CTE signal,

[0108] The first device obtains a third receiving timestamp, a receiving channel number, and an identification ID of the third BLE broadcast information of the third CTE signal;

[0109] Among them, the first receiving timestamp is the timestamp when the second device receives the first CTE signal, the third receiving timestamp is the timestamp when the second device receives the third CTE signal, and the first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.

[0110] Optionally, the first receiving timestamp, the receiving channel number and the identification ID of the first BLE broadcast information of the first CTE signal are carried in the second BLE broadcast information, and the third receiving timestamp, the receiving channel number and the identification ID of the third BLE broadcast information of the third CTE signal are carried in the fourth BLE broadcast information;

[0111] Optionally, the first reception timestamp, reception channel number and identification ID of the first BLE broadcast information of the first CTE signal, and the third reception timestamp, reception channel number and identification ID of the third BLE broadcast information of the third CTE signal are sent to the first device by the second device after sending the fourth BLE broadcast information.

[0112] Optionally, the first device obtains a second sending timestamp of the second CTE signal and a fourth sending timestamp of the fourth CTE signal.

[0113] ②The first device sends the recorded timestamp and other information to the second device

[0114] Optionally, the first device sends a second receiving timestamp, a receiving channel number, and an identification ID of the second BLE broadcast information of the second CTE signal to the second device,

[0115] The first device sends a fourth receiving timestamp, a receiving channel number, and an identification ID of the fourth BLE broadcast information of the fourth CTE signal to the second device,

[0116] The second receiving timestamp is the timestamp when the first device receives the second CTE signal, the fourth receiving timestamp is the timestamp when the first device receives the fourth CTE signal, and the second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

[0117] Optionally, the second reception timestamp, the reception channel number and the identification ID of the second BLE broadcast information of the second CTE signal are carried in the third BLE broadcast information, and the fourth reception timestamp, the reception channel number and the identification ID of the fourth BLE broadcast information of the fourth CTE signal are carried in the fifth BLE broadcast information;

[0118] Optionally, the second reception timestamp, reception channel number and identification ID of the second BLE broadcast information of the second CTE signal, and the fourth reception timestamp, reception channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.

[0119] Optionally, the first device sends a first sending timestamp of the first CTE signal and a third sending timestamp of the third CTE signal to the second device.

[0120] ③The second device sends the recorded timestamp and other information to the first device

[0121] Optionally, the second device sends a first receiving timestamp, a receiving channel number, and an identification ID of the first BLE broadcast information of the first CTE signal to the first device,

[0122] The second device sends a third receiving timestamp, a receiving channel number, and an identification ID of the third BLE broadcast information of the third CTE signal to the first device,

[0123] Among them, the first receiving timestamp is the timestamp when the second device receives the first CTE signal, the third receiving timestamp is the timestamp when the second device receives the third CTE signal, and the first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.

[0124] Optionally, the first receiving timestamp, the receiving channel number and the identification ID of the first BLE broadcast information of the first CTE signal are carried in the second BLE broadcast information, and the third receiving timestamp, the receiving channel number and the identification ID of the third BLE broadcast information of the third CTE signal are carried in the fourth BLE broadcast information;

[0125] Optionally, the first reception timestamp, reception channel number and identification ID of the first BLE broadcast information of the first CTE signal, and the third reception timestamp, reception channel number and identification ID of the third BLE broadcast information of the third CTE signal are sent to the first device by the second device after sending the fourth BLE broadcast information.

[0126] Optionally, the second device sends a second sending timestamp of the second CTE signal and a fourth sending timestamp of the fourth CTE signal to the first device.

[0127] ④The second device receives the timestamp and other information recorded by the first device

[0128] The second device obtains a second receiving timestamp, a receiving channel number and an identification ID of the second BLE broadcast information of the second CTE signal,

[0129] The second device obtains a fourth receiving timestamp, a receiving channel number and an identification ID of the fourth BLE broadcast information of the fourth CTE signal,

[0130] The second receiving timestamp is the timestamp when the first device receives the second CTE signal, the fourth receiving timestamp is the timestamp when the first device receives the fourth CTE signal, and the second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

[0131] Optionally, the second reception timestamp, the reception channel number and the identification ID of the second BLE broadcast information of the second CTE signal are carried in the third BLE broadcast information, and the fourth reception timestamp, the reception channel number and the identification ID of the fourth BLE broadcast information of the fourth CTE signal are carried in the fifth BLE broadcast information;

[0132] Optionally, the second reception timestamp, reception channel number and identification ID of the second BLE broadcast information of the second CTE signal, and the fourth reception timestamp, reception channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.

[0133] Optionally, the second device obtains a first sending timestamp of the first CTE signal and a third sending timestamp of the third CTE signal.

[0134] 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 calculation. When calculating, the calculation is based on the difference between the sending timestamp and the receiving timestamp that correspond to the identification ID and have the same sending channel number and receiving channel number.

[0135] In some embodiments of the present application, the following situation may occur: since BLE will send the same broadcast packet of the application layer once on channels 37, 38 and 39 respectively, there may be 1, 2 or 3 physical layer broadcast packet records for one application layer broadcast packet, which are distinguished by the sending channel number, that is, the sending channel numbers of the broadcast packets of the same application layer may be different.

[0136] When calculating the distance, the difference between the sending timestamp and the receiving timestamp with the same sending channel number and receiving channel number needs to be calculated. If there are no sending timestamps and receiving timestamps with the same sending channel number and receiving channel number among all the recorded timestamps (the first sending timestamp, the second sending timestamp, the third sending timestamp, the fourth sending timestamp, the first receiving timestamp, the second receiving timestamp, the third receiving timestamp and the fourth receiving timestamp), it means 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, and the time interval between adjacent broadcast channels. This will be explained below through a specific example.

[0137] Corresponding to the processing of the first device and the second device, the embodiment of the present application also provides a method for ranging, referring to Figure 6 , the method comprising:

[0138] S301, receiving a first sending timestamp, a second sending timestamp, a third sending timestamp, a fourth sending timestamp, a first receiving timestamp, a second receiving timestamp, a third receiving timestamp and a fourth receiving timestamp sent by a first device and a second device, as well as an identification ID, a sending channel number and a receiving channel number corresponding to each timestamp;

[0139] S302: Calculate the distance between the first device and the second device based on the difference between the sending timestamp and the receiving timestamp whose identification IDs correspond and whose sending channel numbers and receiving channel numbers are the same.

[0140] According to an embodiment of the present application, after the first device and the second device obtain information such as the timestamp required for calculation, this information can be provided to a third-party device in a unified manner, such as a server device with powerful computing power to calculate the distance between the first device and the second device. For terminal devices with weaker computing power, such as mobile phones, this solution can save resources and power consumption of the terminal devices.

[0141] The above describes the processing of the first device and the second device. The following describes the interaction process of the first device (hereinafter referred to as device A) and the second device (hereinafter referred to as device B) in detail through a specific example.

[0142] refer to Figure 7 In this embodiment, device A is taken as the device to be tested and device B is taken as a mobile phone. Device A switches between broadcast mode and search mode every 100 milliseconds, that is, it sends a broadcast packet carrying a CTE signal for 100 milliseconds and then switches to the search mode. If a broadcast packet carrying a CTE signal is received in the search mode, it switches back to the broadcast mode. If no broadcast packet is received in the search mode, it switches back to the broadcast mode after the search continues for 100 milliseconds.

[0143] Device A records the transmission timestamp TXAn, the corresponding identification field value n, and the transmission channel number CAn when it sends the CTE signal of each advertising packet. Here, since BLE will send the same advertising packet of the application layer on channels 37, 38, and 39, there may be 1, 2, or 3 physical layer advertising packet records for one application layer advertising packet, which are distinguished by the transmission channel number.

[0144] Device B starts searching, and switches between broadcast mode and search mode every 100 milliseconds. Similarly, if a broadcast packet carrying a CTE signal is received in search mode, it switches to broadcast mode, sends a 100-millisecond broadcast packet carrying a CTE signal, and then switches back to search mode. When receiving a broadcast packet carrying a CTE signal from device A, device B records the receiving timestamp RXBn, the corresponding identification field value n, and the receiving channel number CBn when the broadcast packet CTE signal is received, and then sends a corresponding broadcast packet carrying a CTE signal (the identification field value is m), and fills in the receiving fields: RXBn, n, and CBn in the broadcast packet, and records the sending timestamp TXBm, the corresponding identification field value m, and the sending channel number CBm when the CTE signal of the broadcast packet is sent.

[0145] After device A switches to search, it receives a broadcast packet (identification field value is m) carrying a CTE signal from device B. Device A records the receiving timestamp RXAm, the corresponding identification field value m, and the receiving channel number CAm when the CTE signal of the broadcast packet is received.

[0146] Optionally, device A and device B may not transmit information such as the receiving timestamp in each broadcast packet, but instead send a separate broadcast packet after the above steps to send the aforementioned recorded multiple receiving timestamps, corresponding identification values ​​and receiving channel numbers to the other end.

[0147] Through the above interaction process between device A and device B, we can get the following Figure 8 Select TXAn and RXBn, TXBm and RXAm, TXAx and RXBx, and TXBy and RXAy in the records with the same sending channel number and receiving channel number. To obtain multiple timestamp records that meet the above conditions (the sending channel number and the receiving channel number are the same), the above process can be repeated multiple times, such as Figure 7 As shown, until the timestamp data that meets the conditions is obtained.

[0148] In an embodiment of the present application, if the TXAn and RXBn records with the same transmitting channel number and receiving channel number are not successfully obtained, the time record of the transmitting end can be adjusted according to the channel number of the receiving end according to the relevant Bluetooth core protocol to compensate for the amount of channel offset. Here, the transmitting end knows and records the actual transmission intervals IntA and IntB between its two broadcast channels.

[0149] During adjustment, for example, if CAn of TXAn is channel number 37 and CBn of RXBn is channel number 39, then 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, then the adjustment is TXBy=TXBy–1×IntB.

[0150] After obtaining the timestamp data that meets the conditions, each timestamp data can be substituted into the calculation formula, such as the calculation formula of single-side two-way ranging SS-TWR and double-side two-way ranging DS-TWR, as follows:

[0151] 1) According to SS-TWR calculation:

[0152] Tround=RXAm-TXAn,

[0153] Treply=TXBm-RXBn

[0154] 2) According to DS-TWR (4 messages), we have:

[0155] Tround1=RXAm-TXAn,

[0156] Treply1=TXBm-RXBn,

[0157] Tround2=RXAy-TXAx,

[0158] Treply2=TXBy-RXBx

[0159] 3) According to DS-TWR (3 messages), we have:

[0160] Tround1=RXAm-TXAn

[0161] Treply1=TXBm-RXBn

[0162] Tround2=RXBx-TXBm

[0163] Treply2=RXAm-TXAx

[0164] Finally, substitute the three corresponding formulas given above to calculate the distance between device A and device B.

[0165] Example 2: Using a BLE request response packet carrying a CTE signal

[0166] The BLE request response packet carrying the CTE signal is also called "Connection CTE", see Fig. 9 The embodiment of the present application further provides a method for ranging, which is applied to a third device, and the method includes:

[0167] S401, the third device sends a first BLE request message to the fourth device;

[0168] S402, the third device receives first BLE response information sent by the fourth device, where the first BLE response information includes a first CTE signal;

[0169] S403: The third device records a first receiving timestamp of the first CTE signal; wherein the first receiving timestamp is used to calculate a distance between the third device and the fourth device.

[0170] Correspondingly, the embodiment of the present application further provides a method for ranging, which is applied to a fourth device, referring to Fig.10 , the method comprising:

[0171] S501, the fourth device receives first BLE request information sent by the third device;

[0172] S502, the fourth device sends a first BLE response message to the third device, where the first BLE response message includes a first CTE signal;

[0173] S503: The fourth device records a first sending timestamp of the first CTE signal; the first sending timestamp is used to calculate a distance between the third device and the fourth device.

[0174] Different from the aforementioned Example 1, the embodiment of the present application uses a BLE request response packet carrying a CTE signal, rather than the BLE broadcast packet of Example 1. Therefore, the third device and the fourth device can exchange request information and response information point-to-point, and record the sending timestamp and corresponding receiving timestamp of the CTE signal during the interaction process to calculate the distance between the two devices.

[0175] Optionally, the third device receives second BLE request information sent by the fourth device;

[0176] The third device sends a second BLE response message to the fourth device, wherein the second BLE response message 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.

[0177] Correspondingly, the fourth device sends second BLE request information to the third device;

[0178] The fourth device receives a second BLE response message sent by the third device, wherein the second BLE response message includes a second CTE signal; the fourth device records a second receiving timestamp of the second CTE signal; wherein the second receiving timestamp is used to calculate the distance between the third device and the fourth device.

[0179] Through multiple rounds of information interaction as described above, multiple sets of sending timestamps and receiving timestamp information can be obtained, and multiple formulas can be used for calculation to improve calculation accuracy.

[0180] Optionally, each BLE request message includes a timestamp field, indicating a sending timestamp of a last received CTE signal.

[0181] Optionally, each BLE response message includes a timestamp field, indicating a reception timestamp of a last CTE signal sent.

[0182] That is to say, in an 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 timestamp of the CTE signal, and the device that receives the response information records the receiving timestamp of the CTE signal, thereby recording the timestamp information required for the calculation.

[0183] Optionally, before the third device sends the second BLE response information to the fourth device, the third device adds the first receiving 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 calculation is sent to the peer device.

[0184] 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 receiving timestamp. The sending timestamp and the receiving timestamp can be substituted into a corresponding calculation formula to calculate the distance between the two devices.

[0185] The following describes the information interaction process between devices in an embodiment of the present application through a specific example, wherein the third device is recorded as device A and the fourth device is recorded as device B.

[0186] refer to Fig.11 , device A and device B send BLE request messages carrying CTE signals alternately ( Fig.11 LL_CTE_REQ) and the BLE response message carrying the CTE signal ( Fig.11 denoted as LL_CTE_RSP);

[0187] During multiple interactions, the device sending LL_CTE_RSP records the timestamp of sending CTE, and the device receiving LL_CTE_RSP records the timestamp of receiving CTE.

[0188] Optionally, the LL_CTE_REQ data packet can be modified by adding the recorded reception timestamp of the last CTE in LL_CTE_REQ; optionally, the LL_CTE_RSP data packet can also be modified by adding the recorded transmission timestamp of the last CTE in LL_CTE_RSP. In this way, the application layer data packets used to collect multiple timestamp data in the interaction process can be reduced, which can compress the processing time and improve the processing efficiency to a certain extent.

[0189] Through the above interaction process between device A and device B, we can get the following Fig.12 Multiple timestamp information is shown.

[0190] 1) According to SS-TWR calculation:

[0191] Tround=RXB2-TXB1,

[0192] Treply=TXA2-RXA1,

[0193] 2) According to DS-TWR (4 messages), we have:

[0194] Tround1=RXB2-TXB1,

[0195] Treply1=TXA2-RXA1,

[0196] Tround2=RXB4–TXB3,

[0197] Treply2=TXA4–RXA3,

[0198] 3) According to DS-TWR (3 messages), we have:

[0199] Tround1=RXB2-TXB1,

[0200] Treply1=TXA2-RXA1,

[0201] Tround2 = RXA3 - TXA2

[0202] Treply2 = TXB3-RXB2

[0203] Finally, substitute the three corresponding formulas given above to calculate the distance between device A and device B.

[0204] Based on the above content, various embodiments of the present application can be implemented using the Bluetooth modules commonly available on most smart terminals such as mobile phones. The implementation process does not require an antenna array or multiple auxiliary positioning devices, and can accurately measure the distance between the device to be tested and the mobile phone, thereby improving user experience and reducing costs. In actual applications, the time error is small and the ranging accuracy is high.

[0205] The above describes the specific configuration and implementation of the embodiments of the present application from different perspectives through multiple embodiments. Corresponding to the processing method of at least one of the above embodiments, the embodiments of the present application also provide a terminal device 100, which can be referred to as a first device, Fig.13 , which includes:

[0206] A first sending module 101 is configured to send first low-power Bluetooth BLE broadcast information, wherein the first BLE broadcast information includes a first fixed frequency extended CTE signal;

[0207] A first recording module 102, configured to record a first sending timestamp of the first CTE signal;

[0208] The first receiving module 103 is used to receive second BLE broadcast information sent by a second device, where the second BLE broadcast information includes a second CTE signal;

[0209] A second recording module 104, configured to record a second receiving timestamp of the second CTE signal;

[0210] The first sending timestamp and the second receiving timestamp are used to calculate the distance between the first device and the second device.

[0211] Corresponding to the processing method of at least one of the above embodiments, the embodiment of the present application further provides a terminal device 200, which can be referred to as a second device. Fig.14 , which includes:

[0212] A first receiving module 201 is configured to receive first BLE broadcast information sent by a first device, wherein the first BLE broadcast information includes a first CTE signal;

[0213] A first recording module 202, configured to record a first receiving timestamp of the first CTE signal;

[0214] 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;

[0215] A first recording module 204, configured to record a second sending timestamp of the second CTE signal;

[0216] The first receiving timestamp and the second sending timestamp are used to calculate the distance between the first device and the second device.

[0217] Corresponding to the processing method of at least one of the above embodiments, the embodiment of the present application further provides an electronic device 300, referring to Fig.15 , which includes:

[0218] A receiving module 301 is configured to 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, a third receiving timestamp, and a fourth receiving timestamp sent by a first device and a second device, as well as an identification ID, a sending channel number, and a receiving channel number corresponding to each timestamp;

[0219] The calculation module 302 is used to calculate the distance between the first device and the second device based on the difference between the sending timestamp and the receiving timestamp whose identification IDs correspond and whose sending channel numbers and receiving channel numbers are the same.

[0220] Corresponding to the processing method of at least one of the above embodiments, the embodiment of the present application further provides a terminal device 400, which can be called a third device, referring to Fig.16 , which includes:

[0221] A first sending module 401, configured to send first BLE request information to a fourth device;

[0222] The first receiving module 402 is configured to receive first BLE response information sent by a fourth device, wherein the first BLE response information includes a first CTE signal;

[0223] A first recording module 403, configured to record a first receiving timestamp of the first CTE signal;

[0224] The first receiving timestamp is used to calculate the distance between the third device and the fourth device.

[0225] Corresponding to the processing method of at least one of the above embodiments, the embodiment of the present application further provides a terminal device 500, which can be called a fourth device, referring to Fig.17 , which includes:

[0226] The first receiving module 501 is used to receive the first BLE request information sent by the third device;

[0227] A first sending module 502 is configured to send a first BLE response message to the third device, wherein the first BLE response message includes a first CTE signal;

[0228] A first recording module 503, configured to record a first sending timestamp of the first CTE signal;

[0229] The first sending timestamp is used to calculate the distance between the third device and the fourth device.

[0230] The terminal devices 100, 200, 400 and 500 and the electronic device 300 of the embodiments of the present application can implement the corresponding functions of the terminal devices and the server in the aforementioned method embodiments. The corresponding processes, functions, implementation methods and beneficial effects of each module (sub-module, unit or component, etc.) therein can be found in the corresponding description in the aforementioned method embodiments, and will not be repeated here.

[0231] It should be noted that the functions described in the terminal devices 100, 200, 400 and 500 and the various modules (sub-modules, units or components, etc.) in the electronic device 300 of the embodiments of the present application can be implemented by different modules (sub-modules, units or components, etc.) or by the same module (sub-modules, units or components, etc.). For example, the first sending module and the second sending module can be different modules or the same module, and both can implement the corresponding functions of the terminal devices of the embodiments of the present application.

[0232] Fig.18 It 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.

[0233] Optionally, the communication device 600 may further include a memory 620. The processor 610 may call and run a computer program from the memory 620 to implement the method in the embodiment of the present application.

[0234] The memory 620 may be a separate device independent of the processor 610 , or may be integrated into the processor 610 .

[0235] 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.

[0236] The transceiver 630 may include a transmitter and a receiver. The transceiver 630 may further include an antenna, and the number of the antennas may be one or more.

[0237] Optionally, the communication device 600 may be a terminal device in an embodiment of the present application, such as Figure 13-14 , any terminal device in 16-17, and the communication device 600 can implement the corresponding processes implemented by the terminal device in the various methods of the embodiments of the present application, which will not be repeated here for the sake of brevity.

[0238] Fig.19 It 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.

[0239] 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 method in the embodiment of the present application.

[0240] The memory 720 may be a separate device independent of the processor 710 , or may be integrated into the processor 710 .

[0241] 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 obtain information or data sent by other devices or chips.

[0242] Optionally, the chip 700 may further include an output interface 740. The processor 710 may control the output interface 740 to communicate with other devices or chips, and specifically, may output information or data to other devices or chips.

[0243] Optionally, the chip can be applied to the terminal device in the embodiment of the present application, such as Figure 13-14 , any terminal device in 16-17, and the chip can implement the corresponding processes implemented by the terminal device in each method of the embodiments of the present application, which will not be repeated here for the sake of brevity.

[0244] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0245] 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. Among them, the general-purpose processor mentioned above may be a microprocessor or any conventional processor, etc.

[0246] The memory mentioned above may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) or a flash memory. The volatile memory may be a random access memory (RAM).

[0247] It should be understood that the above-mentioned memory is exemplary but not restrictive. For example, the memory in the embodiments of the present application may also be static random access memory (static RAM, SRAM), 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 link dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM), etc. That is to say, 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.

[0248] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using 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 instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instruction can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0249] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0250] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0251] It should be understood that the term "and / or" is used herein to describe the association relationship of associated objects, for example, to indicate that there are three possible relationships between the associated objects. For example, A and / or B can indicate that A exists alone, A and B exist at the same time, and B exists alone. The character " / " herein generally indicates that the associated objects are in an "or" relationship.

[0252] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. 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 sending 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 receiving 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 working mode of the first device includes a broadcast mode and a search mode, and the default switching duration between the two working modes is the first duration; Wherein, the method further comprises: The first device sends the first BLE broadcast information in a broadcast mode, and the first device switches to a search mode after being in the broadcast mode for the first time period; After the first device switches from the broadcast mode to the search mode, the first device starts searching for the second BLE broadcast information sent by the second device. If the first device receives the second BLE broadcast information sent by the second device within the first duration, the first device directly switches to the broadcast mode; if the first device does not receive the second BLE broadcast information sent by the second device within the first duration, the first device switches to the broadcast mode when the first duration is reached; After the first device switches from the search mode to the broadcast mode, the first device sends a third BLE broadcast message to the second device, wherein the third BLE broadcast message includes a third CTE signal; and the first device records a third sending timestamp of the third CTE signal; After the first device switches from the broadcast mode to the search mode, the first device receives fourth BLE broadcast information sent by the second device, wherein the fourth BLE broadcast information includes a fourth CTE signal; the first device records a fourth receiving timestamp of the fourth CTE signal, The third sending timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device; The first device acquires a second sending timestamp of the second CTE signal and a fourth sending timestamp of the fourth CTE signal; The first device obtains a first receiving timestamp, a receiving channel number, and an identification ID of the first BLE broadcast information of the first CTE signal, The first device obtains a third receiving timestamp, a receiving channel number, and an identification ID of the third BLE broadcast information of the third CTE signal; Among the first sending timestamp, the second sending timestamp, the third sending timestamp, the fourth sending timestamp, the first receiving timestamp, the second receiving timestamp, the third receiving 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, the value of the sending timestamp is adjusted according to the difference between the sending channel number and the receiving channel number, and the time interval between adjacent broadcast channels.

2. The method according to claim 1, further comprising: The first device also records the sending channel number of the CTE signal in each sent BLE broadcast information.

3. The method according to claim 1, wherein: Each BLE broadcast information also includes an identification ID, and the identification ID is used to identify the corresponding BLE broadcast information.

4. The method according to any one of claims 1 to 3, wherein: Each BLE broadcast message is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein, The receiving identification ID field indicates the identification ID of the received BLE broadcast information; The receiving timestamp field indicates the receiving 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.

5. The method according to claim 4, further comprising: When sending the third BLE broadcast information, the first device adds the identification ID, reception timestamp and reception channel number of the second BLE broadcast information to the reception identification ID field, reception timestamp field and reception channel field in the third BLE broadcast information respectively.

6. The method according to any one of claims 1 to 3, in, The first receiving timestamp is the timestamp when the second device receives the first CTE signal, the third receiving timestamp is the timestamp when the second device receives the third CTE signal, and the first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.

7. The method according to claim 6, wherein: The first receiving timestamp, receiving 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 receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are carried in the fourth BLE broadcast information; or, The first receiving timestamp, receiving channel number and identification ID of the first BLE broadcast information of the first CTE signal, and the third receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are sent to the first device by the second device after sending the fourth BLE broadcast information.

8. The method according to any one of claims 1 to 3, further comprising: The first device sends a second receiving timestamp, a receiving channel number, and an identification ID of the second BLE broadcast information of the second CTE signal to the second device, The first device sends a fourth receiving timestamp, a receiving channel number, and an identification ID of the fourth BLE broadcast information of the fourth CTE signal to the second device, The second receiving timestamp is the timestamp when the first device receives the second CTE signal, the fourth receiving timestamp is the timestamp when the first device receives the fourth CTE signal, and the second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

9. The method according to claim 8, wherein: The second receiving timestamp, receiving channel number and identification ID of the second BLE broadcast information of the second CTE signal are carried in the third BLE broadcast information, and the fourth receiving timestamp, receiving channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are carried in the fifth BLE broadcast information; or, The second reception timestamp, reception channel number and identification ID of the second BLE broadcast information of the second CTE signal, as well as the fourth reception timestamp, reception channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.

10. The method according to any one of claims 1 to 3, wherein: The first device sends a first sending timestamp of the first CTE signal and a third sending timestamp of the third CTE signal to the second device.

11. The method according to any one of claims 1 to 3, 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 whose identification IDs correspond and whose sending channel numbers and receiving channel numbers are the same.

12. A method for ranging, applied to a second device, comprising: The second device receives first BLE broadcast information sent by the first device, where the first BLE broadcast information includes a first CTE signal; The second device records a first receiving 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 working mode of the second device includes a broadcast mode and a search mode, and the default switching duration between the two working modes is the first duration; Wherein, the method further comprises: The second device sends the second BLE broadcast information in the broadcast mode, and the second device switches to the search mode after being in the broadcast mode for the first time period; After the second device switches from the broadcast mode to the search mode, the second device starts searching for the third BLE broadcast information sent by the first device. If the second device receives the third BLE broadcast information sent by the first device within the first duration, the second device directly switches to the broadcast mode; if the second device does not receive the third BLE broadcast information sent by the first device within the first duration, the second device switches to the broadcast mode when the first duration is reached; The second device receives the third BLE broadcast information sent by the first device in the search mode, wherein the third BLE broadcast information includes a third CTE signal; the second device records a third receiving timestamp of the third CTE signal; After the second device switches from the search mode to the broadcast mode, the second device sends a fourth BLE broadcast message to the first device, wherein the fourth BLE broadcast message includes a fourth CTE signal; the second device records a fourth sending timestamp of the fourth CTE signal, The third receiving timestamp and the fourth sending timestamp are used to calculate the distance between the first device and the second device; The second device obtains a first sending timestamp of the first CTE signal and a third sending timestamp of the third CTE signal; The second device obtains a second receiving timestamp, a receiving channel number and an identification ID of the second BLE broadcast information of the second CTE signal, The second device obtains a fourth receiving timestamp, a receiving channel number, and an identification ID of the fourth BLE broadcast information of the fourth CTE signal; Among the first sending timestamp, the second sending timestamp, the third sending timestamp, the fourth sending timestamp, the first receiving timestamp, the second receiving timestamp, the third receiving 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, the value of the sending timestamp is adjusted according to the difference between the sending channel number and the receiving channel number, and the time interval between adjacent broadcast channels.

13. The method according to claim 12, further comprising: The second device also records the sending channel number of the CTE signal in each sent BLE broadcast information.

14. The method according to claim 12, wherein: Each BLE broadcast information also includes an identification ID, and the identification ID is used to identify the corresponding BLE broadcast information.

15. The method according to any one of claims 12 to 14, wherein: Each BLE broadcast message is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein, The receiving identification ID field indicates the identification ID of the received BLE broadcast information; The receiving timestamp field indicates the receiving 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.

16. The method according to claim 15, further comprising: When sending the second BLE broadcast information, the second device adds the identification ID, receiving timestamp and receiving channel number of the first BLE broadcast information to the receiving identification ID field, receiving timestamp field and receiving channel field in the second BLE broadcast information respectively.

17. The method according to any one of claims 12 to 14, further comprising: The second device sends a first receiving timestamp, a receiving channel number, and an identification ID of the first BLE broadcast information of the first CTE signal to the first device, The second device sends a third receiving timestamp, a receiving channel number, and an identification ID of the third BLE broadcast information of the third CTE signal to the first device, Among them, the first receiving timestamp is the timestamp when the second device receives the first CTE signal, the third receiving timestamp is the timestamp when the second device receives the third CTE signal, and the first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.

18. The method according to claim 17, wherein: The first receiving timestamp, receiving 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 receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are carried in the fourth BLE broadcast information; or, The first receiving timestamp, receiving channel number and identification ID of the first BLE broadcast information of the first CTE signal, and the third receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are sent to the first device by the second device after sending the fourth BLE broadcast information.

19. The method according to any one of claims 12 to 14, in, The second receiving timestamp is the timestamp when the first device receives the second CTE signal, the fourth receiving timestamp is the timestamp when the first device receives the fourth CTE signal, and the second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

20. The method according to claim 19, wherein: The second receiving timestamp, receiving channel number and identification ID of the second BLE broadcast information of the second CTE signal are carried in the third BLE broadcast information, and the fourth receiving timestamp, receiving channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are carried in the fifth BLE broadcast information; or, The second reception timestamp, reception channel number and identification ID of the second BLE broadcast information of the second CTE signal, as well as the fourth reception timestamp, reception channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.

21. The method according to any one of claims 12 to 14, wherein: The second device sends a second sending timestamp of the second CTE signal and a fourth sending timestamp of the fourth CTE signal to the first device.

22. The method according to any one of claims 12 to 14, 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 whose identification IDs correspond and whose sending channel numbers and receiving channel numbers are the same.

23. A terminal device, the terminal device being a first device, comprising: A first sending module, configured to send first low-power Bluetooth BLE broadcast information, wherein the first BLE broadcast information includes a first fixed frequency extended CTE signal; A first recording module, configured to record a first sending timestamp of the first CTE signal; A first receiving module, configured to receive second BLE broadcast information sent by a second device, wherein the second BLE broadcast information includes a second CTE signal; A second recording module, configured to record a second receiving 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 working mode of the first device includes a broadcast mode and a search mode, and the default switching duration between 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 a broadcast mode, and the first device to switch to a search mode after being in the broadcast mode for the first time period; After the first device switches from the broadcast mode to the search mode, the first device starts searching for the second BLE broadcast information sent by the second device. If the first device receives the second BLE broadcast information sent by the second device within the first duration, the first device directly switches to the broadcast mode; if the first device does not receive the second BLE broadcast information sent by the second device within the first duration, the first device switches to the broadcast mode when the first duration is reached; 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, wherein the third BLE broadcast information includes a third CTE signal; A third recording module, configured to record a third sending timestamp of the third CTE signal; A second receiving module, configured to receive fourth BLE broadcast information sent by the second device after switching from the broadcast mode to the search mode, wherein the fourth BLE broadcast information includes a fourth CTE signal; a fourth recording module, recording a fourth receiving timestamp of the fourth CTE signal; The third sending timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device; A third acquisition module, configured to acquire a second sending timestamp of the second CTE signal and a fourth sending timestamp of the fourth CTE signal; A first acquisition module is used to acquire a first receiving timestamp, a receiving channel number and an identification ID of the first BLE broadcast information of the first CTE signal, A second acquisition module, used to acquire a third receiving timestamp, a receiving channel number and an identification ID of the third BLE broadcast information of the third CTE signal; The terminal also includes an adjustment module, which is used to adjust the value of the sending timestamp according to the difference between the sending channel number and the receiving channel number, and the time interval between adjacent broadcast channels, when there are no sending timestamps and receiving timestamps with the same sending channel number among the first sending timestamp, the second sending timestamp, the third sending timestamp, the fourth sending timestamp, the first receiving timestamp, the second receiving timestamp, the third receiving timestamp and the fourth receiving timestamp.

24. The terminal device according to claim 23, further comprising: The fifth recording module is used to record the sending channel number of the CTE signal in each sent BLE broadcast information.

25. The terminal device according to claim 23, wherein: Each BLE broadcast information also includes an identification ID, and the identification ID is used to identify the corresponding BLE broadcast information.

26. The terminal device according to any one of claims 23 to 25, wherein: Each BLE broadcast message is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein, The receiving identification ID field indicates the identification ID of the received BLE broadcast information; The receiving timestamp field indicates the receiving 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.

27. The terminal device according to claim 26, further comprising: An adding module is used to add the identification ID, receiving timestamp and receiving channel number of the second BLE broadcast information to the receiving identification ID field, receiving timestamp field and receiving channel field in the third BLE broadcast information respectively when the first device sends the third BLE broadcast information.

28. The terminal device according to any one of claims 23 to 25, in, The first receiving timestamp is the timestamp when the second device receives the first CTE signal, the third receiving timestamp is the timestamp when the second device receives the third CTE signal, and the first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.

29. The terminal device according to claim 28, wherein: The first receiving timestamp, receiving 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 receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are carried in the fourth BLE broadcast information; or, The first receiving timestamp, receiving channel number and identification ID of the first BLE broadcast information of the first CTE signal, and the third receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are sent to the first device by the second device after sending the fourth BLE broadcast information.

30. The terminal device according to any one of claims 23 to 25, further comprising: A third sending module is used to send a second receiving timestamp, a receiving channel number and an identification ID of the second BLE broadcast information of the second CTE signal to the second device, a fourth sending module, configured to send a fourth receiving timestamp, a receiving channel number, and an identification ID of the fourth BLE broadcast information of the fourth CTE signal to the second device, The second receiving timestamp is the timestamp when the first device receives the second CTE signal, the fourth receiving timestamp is the timestamp when the first device receives the fourth CTE signal, and the second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

31. The terminal device according to claim 30, wherein: The second receiving timestamp, receiving channel number and identification ID of the second BLE broadcast information of the second CTE signal are carried in the third BLE broadcast information, and the fourth receiving timestamp, receiving channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are carried in the fifth BLE broadcast information; or, The second reception timestamp, reception channel number and identification ID of the second BLE broadcast information of the second CTE signal, as well as the fourth reception timestamp, reception channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.

32. The terminal device according to any one of claims 23 to 25, wherein: The third sending module is 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.

33. The terminal device according to any one of claims 23 to 25, wherein: The calculation module is used 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 identification ID and the same sending channel number and receiving channel number.

34. A terminal device, the terminal device being a second device, comprising: A first receiving module, configured to receive first BLE broadcast information sent by a first device, wherein the first BLE broadcast information includes a first CTE signal; A first recording module, configured to record a first receiving timestamp of the first CTE signal; A first sending module, configured to send second BLE broadcast information to the first device, wherein the second BLE broadcast information includes a second CTE signal; A second recording module, configured to record 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 working mode of the second device includes a broadcast mode and a search mode, and the default switching duration between the two working modes is the first duration; The terminal device further includes: a switching module, configured to enable the second device to send the second BLE broadcast information in a broadcast mode, and the second device to switch to a search mode after being in the broadcast mode for the first time period; After the second device switches from the broadcast mode to the search mode, the second device starts searching for the third BLE broadcast information sent by the first device. If the second device receives the third BLE broadcast information sent by the first device within the first duration, the second device directly switches to the broadcast mode; if the second device does not receive the third BLE broadcast information sent by the first device within the first duration, the second device switches to the broadcast mode when the first duration is reached; A second receiving module, configured to receive third BLE broadcast information sent by the first device in a search mode, wherein the third BLE broadcast information includes a third CTE signal; A third recording module, configured to record a third receiving 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, wherein the fourth BLE broadcast information includes a fourth CTE signal; a fourth recording module, configured to record a fourth sending timestamp of the fourth CTE signal, The third receiving timestamp and the fourth sending timestamp are used to calculate the distance between the first device and the second device; A third acquisition module, configured to acquire a first sending timestamp of the first CTE signal and a third sending timestamp of the third CTE signal; A first acquisition module is used to acquire a second receiving timestamp, a receiving channel number and an identification ID of the second BLE broadcast information of the second CTE signal, A second acquisition module, used to acquire a fourth receiving timestamp, a receiving channel number and an identification ID of the fourth BLE broadcast information of the fourth CTE signal; An adjustment module is used to adjust the value of the sending timestamp according to the difference between the sending channel number and the receiving channel number, and the time interval between adjacent broadcast channels, when there is no sending timestamp and receiving timestamp with the same sending channel number among the first sending timestamp, the second sending timestamp, the third sending timestamp, the fourth sending timestamp, the first receiving timestamp, the second receiving timestamp, the third receiving timestamp and the fourth receiving timestamp.

35. The terminal device according to claim 34, further comprising: The fifth recording module is used to record the sending channel number of the CTE signal in each sent BLE broadcast information.

36. The terminal device according to claim 34, wherein: Each BLE broadcast information also includes an identification ID, and the identification ID is used to identify the corresponding BLE broadcast information.

37. The terminal device according to any one of claims 34 to 36, wherein: Each BLE broadcast message is provided with a receiving identification ID field, a receiving timestamp field and a receiving channel field; wherein, The receiving identification ID field indicates the identification ID of the received BLE broadcast information; The receiving timestamp field indicates the receiving 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.

38. The terminal device according to claim 37, further comprising: An adding module is used to add the identification ID, receiving timestamp and receiving channel number of the first BLE broadcast information to the receiving identification ID field, receiving timestamp field and receiving channel field in the second BLE broadcast information respectively when sending the second BLE broadcast information.

39. The terminal device according to any one of claims 34 to 36, further comprising: A third sending module is configured to send a first receiving timestamp, a receiving channel number, and an identification ID of the first BLE broadcast information of the first CTE signal to the first device, a fourth sending module, configured to send a third receiving timestamp, a receiving channel number, and an identification ID of the third BLE broadcast information of the third CTE signal to the first device, Among them, the first receiving timestamp is the timestamp when the second device receives the first CTE signal, the third receiving timestamp is the timestamp when the second device receives the third CTE signal, and the first receiving timestamp and the third receiving timestamp are used to calculate the distance between the first device and the second device.

40. The terminal device according to claim 39, wherein: The first receiving timestamp, receiving 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 receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are carried in the fourth BLE broadcast information; or, The first receiving timestamp, receiving channel number and identification ID of the first BLE broadcast information of the first CTE signal, and the third receiving timestamp, receiving channel number and identification ID of the third BLE broadcast information of the third CTE signal are sent to the first device by the second device after sending the fourth BLE broadcast information.

41. The terminal device according to any one of claims 34 to 36, in, The second receiving timestamp is the timestamp when the first device receives the second CTE signal, the fourth receiving timestamp is the timestamp when the first device receives the fourth CTE signal, and the second receiving timestamp and the fourth receiving timestamp are used to calculate the distance between the first device and the second device.

42. The terminal device according to claim 41, wherein: The second receiving timestamp, receiving channel number and identification ID of the second BLE broadcast information of the second CTE signal are carried in the third BLE broadcast information, and the fourth receiving timestamp, receiving channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are carried in the fifth BLE broadcast information; or, The second reception timestamp, reception channel number and identification ID of the second BLE broadcast information of the second CTE signal, as well as the fourth reception timestamp, reception channel number and identification ID of the fourth BLE broadcast information of the fourth CTE signal are sent to the second device by the first device after sending the fifth BLE broadcast information to the second device.

43. The terminal device according to any one of claims 34 to 36, wherein: The fifth sending module is configured to send a second sending timestamp of the second CTE signal and a fourth sending timestamp of the fourth CTE signal to the first device.

44. The terminal device according to any one of claims 34 to 36, wherein: The calculation module is used 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 identification ID and the same sending channel number and receiving channel number.

45. A terminal device, comprising: A processor and a memory, wherein the memory is used to store a computer program, and the processor calls and runs the computer program stored in the memory to perform the steps of the method for ranging as claimed in any one of claims 1 to 22.

46. ​​A chip, comprising: A processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the steps of the method for ranging as claimed in any one of claims 1 to 22.

47. A computer-readable storage medium for storing a computer program, wherein: The computer program enables a computer to execute the steps of the method for ranging according to any one of claims 1 to 22.

48. A computer program product comprising computer program instructions, wherein: The computer program instructions cause a computer to execute the steps of the method for ranging according to any one of claims 1 to 22.

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