Hybrid UWB and second wireless communication technology range finding method, computer readable storage medium and program product

Abstract

The invention relates to a distance measurement method based on UWB and second wireless communication technologies, a computer readable storage medium and a program product. The limitation of the UWB technology on transmission power and effective distance measurement range is overcome. According to the method, connection between the devices and UWB parameter synchronization are achieved through the second wireless communication module, and it is ensured that the devices of the two parties can carry out accurate ranging communication. In a ranging task, both parties use UWB modules to send and receive SP3 frame types in a specified time slot, and a ranging round index and message round-trip and response time are recorded. The initiator generates and sends a first measurement report, wherein the first measurement report comprises Troud1 and Treply 2 measured by the initiator; and the responder generates and sends a second measurement report, wherein the second measurement report comprises the Treplay1 and the Tround2 measured by the responder. And finally, any party calculates the distance according to the measurement report data of the two parties. According to the method, the long-distance transmission advantage of the second wireless communication technology relative to the UWB is utilized, the defect that the effective distance of the UWB under the SP0 frame type is insufficient is overcome, the effective range of the distance measurement system is remarkably expanded, and meanwhile the high precision of distance measurement is kept.

Description

Technical Field

[0001] The present invention relates to wireless distance measurement technology, in particular to a distance measurement method of hybrid UWB and second wireless communication technology. Background Art

[0002] Ultra-Wideband (UWB) is a carrier-free communication technology that does not rely on traditional carrier transmission methods. Instead, it sends short-duration pulse signals and uses orthogonal frequency division modulation or direct sequencing to expand these pulses to a wide frequency range. The advantage of this technology is that the absolute bandwidth of its signal is very wide, not less than 500 MHz, which provides a basis for high-precision positioning systems and can achieve centimeter-level positioning accuracy.

[0003] However, the application of UWB technology also faces some challenges. First, the power spectral density of the UWB system in the frequency range of 3.1 GHz to 10.6 GHz does not exceed -41.3 dBm / MHz, which limits its transmission power. Second, there are two main frame types used for ranging in UWB technology: SP0 and SP3. The SP0 frame type has a higher sensitivity (about -94dBm) and is suitable for data transmission; while the SP3 frame type has a lower sensitivity (about -102dBm) and is specifically used for positioning. Although the effective transmission distance of the SP3 frame type is farther than that of the SP0 frame type at the same transmission power, the effective range of UWB ranging is still limited to approximately 50 meters to 100 meters, mainly due to the sensitivity and transmission power limitations of the SP0 frame type.

[0004] It should be noted that the information disclosed in the above background technology section is only used for understanding the background of the present application, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the invention

[0005] The main purpose of the present invention is to overcome the defects existing in the above-mentioned background technology and provide a method for hybrid UWB and second wireless communication technology ranging.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A method for hybrid UWB and second wireless communication technology ranging, comprising the following steps: S1. The initiator and the responder establish a connection through their respective second wireless communication modules, and synchronize the UWB parameters of both parties through the second wireless communication modules, so that both devices can use their respective UWB modules for accurate ranging communication; wherein the second wireless communication modules communicate based on the second wireless communication technology, and the effective data transmission distance of the second wireless communication technology is greater than the effective data transmission distance of UWB; S2. The initiator sends control information for controlling the execution of ranging tasks to the responder through the second wireless communication module; S3. According to the control information, the initiator and the responder perform the ranging task in the specified time slot through their respective UWB modules, send and receive SP3 frame types without data content through the UWB module, and the initiator and the responder each record the ranging round index and the ranging-related message round-trip time and response time; S4. The initiator generates a first measurement report and sends it to the responder through the second wireless communication module, the first measurement report includes a ranging round index, a message round trip time Tround1 measured by the initiator, and a response time Treply2 measured by the initiator; S5. The responder generates a second measurement report, the second measurement report includes a ranging round index, a response time Treply1 measured by the responder, and a message round trip time Tround2 measured by the responder; S6. The responder receives the first measurement report from the initiator through the second wireless communication module, and calculates the distance between the initiator and the responder based on the message round-trip time Tround1 measured by the initiator, the response time Treply2 measured by the initiator, the response time Treply1 measured by the responder, and the message round-trip time Tround2 measured by the responder.

[0007] Furthermore, the control information includes a ranging interval step, a receiving device management list number and a receiving device management list, wherein the management list includes a ranging role, an allocated time slot index, an address of a ranging device and a UWB message ID in a time slot.

[0008] Furthermore, step S3 specifically includes: S3.1. The initiator sends a ranging start message to the responder's UWB module through its UWB module; S3.2. After receiving the ranging start message, the responder sends a ranging response message back to the initiator's UWB module through its UWB module; S3.3. After receiving the ranging response message, the initiator sends a ranging end message to the responder's UWB module through its UWB module again to complete a complete ranging interaction; The UWB module of the initiator records the round-trip time from the initiator sending the ranging start message to the initiator receiving the ranging response message, that is, Tround1, the response time from the initiator receiving the ranging response message to the initiator sending the ranging end message, that is, Treply2, and the ranging round index, to generate a first measurement report; Among them, the UWB module of the responder records the response time from the responder receiving the ranging start message to sending the ranging response message, that is, Treply1, the round-trip time from the responder sending the ranging response message to receiving the ranging end message, that is, Tround2, and the ranging round index to generate a second measurement report.

[0009] Furthermore, in step S6, the distance between the initiator and the responder is calculated according to the following formula: .

[0010] Furthermore, the second wireless communication technology includes any one of BLE, WiFi and StarFlash.

[0011] A method for hybrid UWB and second wireless communication technology ranging, comprising the following steps: S1. The initiator and the responder establish a connection through their respective second wireless communication modules, and synchronize the UWB parameters of both parties through the second wireless communication modules, so that both devices can use their respective UWB modules for accurate ranging communication; wherein the second wireless communication modules communicate based on the second wireless communication technology, and the effective data transmission distance of the second wireless communication technology is greater than the effective data transmission distance of UWB; S2. The initiator sends control information for controlling the execution of ranging tasks to the responder through the second wireless communication module; S3. According to the control information, the initiator and the responder perform the ranging task in the specified time slot through their respective UWB modules, send and receive SP3 frame types without data content through the UWB module, and the initiator and the responder each record the ranging round index and the ranging-related message round-trip time and response time; S4. The initiator generates a first measurement report, which includes a ranging round index, a message round trip time Tround1 measured by the initiator, and a response time Treply2 measured by the initiator; S5. The responder generates a second measurement report and sends it to the initiator through the second wireless communication module, the second measurement report includes a ranging round index, a response time Treply1 measured by the responder, and a message round trip time Tround2 measured by the responder; S6. The initiator receives the second measurement report of the responder through the second wireless communication module, and calculates the distance between the initiator and the responder based on the message round-trip time Tround1 measured by the initiator, the response time Treply2 measured by the initiator, the response time Treply1 measured by the responder, and the message round-trip time Tround2 measured by the responder.

[0012] Furthermore, the control information includes a step size, a receiving device management list number and a receiving device management list, wherein the management list includes a ranging role, an allocated time slot index, an address of a ranging device and a UWB message ID in a time slot.

[0013] Furthermore, step S3 specifically includes: S3.1. The initiator sends a ranging start message to the responder's UWB module through its UWB module; S3.2. After receiving the ranging start message, the responder sends a ranging response message back to the initiator's UWB module through its UWB module; S3.3. After receiving the ranging response message, the initiator sends a ranging end message to the responder's UWB module through its UWB module again to complete a complete ranging interaction; The UWB module of the initiator records the round-trip time from the initiator sending the ranging start message to the initiator receiving the ranging response message, that is, Tround1, the response time from the initiator receiving the ranging response message to the initiator sending the ranging end message, that is, Treply2, and the ranging round index, to generate a first measurement report; Among them, the UWB module of the responder records the response time from the responder receiving the ranging start message to sending the ranging response message, that is, Treply1, the round-trip time from the responder sending the ranging response message to receiving the ranging end message, that is, Tround2, and the ranging round index to generate a second measurement report.

[0014] Furthermore, in step S6, the distance between the initiator and the responder is calculated according to the following formula: .

[0015] Furthermore, the second wireless communication technology includes any one of BLE, WiFi and StarFlash.

[0016] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the hybrid UWB and second wireless communication technology ranging method is implemented.

[0017] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the method for hybrid UWB and second wireless communication technology ranging is implemented.

[0018] The present invention has the following beneficial effects: The present invention provides a method for hybrid UWB and second wireless communication technology ranging, which combines the high-precision advantage of UWB in ranging and positioning with the long-distance advantage of the second wireless communication technology (such as BLE, WiFi, and star flash, etc.) in data transmission. Through this hybrid method, the present invention can effectively overcome the challenges faced by UWB technology in applications, especially the limitation of power spectrum density in the frequency range of 3.1 GHz to 10.6 GHz, which usually limits the transmission power and effective range of UWB ranging. The present invention makes up for the shortcomings of UWB in the effective distance of data transmission by utilizing the long-distance data transmission capability of the second wireless communication technology. This method not only improves the effective range of the ranging system, but also further improves the accuracy and reliability of ranging by using the second wireless communication technology to transmit control messages, measurement report messages, and ranging result report messages during the UWB ranging process. Through this hybrid communication system, the present invention achieves a wider ranging coverage while maintaining high ranging accuracy, which has important practical significance for application scenarios that require precise positioning and long-distance communication.

[0019] Other beneficial effects of the embodiments of the present invention will be further described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a flowchart of a method for hybrid UWB and second wireless communication technology ranging according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope and application of the present invention.

[0022] The present invention proposes a ranging method that mixes ultra-wideband (UWB) and a second wireless communication technology, aiming to overcome the limitations of UWB technology in transmission power and effective ranging range. The method realizes the connection between devices and synchronization of UWB parameters through a second wireless communication module, ensuring that the devices of both parties can perform accurate ranging communication. In the ranging task, both parties use the UWB module to send and receive the SP3 frame type in a specified time slot, and record the ranging round index and the message round trip and response time. The initiator generates and sends a first measurement report, including its measured Tround1 and Treply2; the responder generates and sends a second measurement report, including its measured Treply1 and Tround2. Finally, either party can calculate the distance based on the measurement report data of both parties. This method utilizes the long-distance transmission advantage of the second wireless communication technology compared to UWB, makes up for the insufficient effective distance of UWB under the SP0 frame type, significantly improves the effective range of the ranging system, and maintains the high accuracy of ranging.

[0023] See also Figure 1 The embodiment of the present invention provides a method for hybrid UWB and second wireless communication technology ranging, comprising the following steps: Step S1. The initiator and the responder establish a connection through their respective second wireless communication modules, and synchronize the UWB parameters of both parties through the second wireless communication modules, so that both devices can use their respective UWB modules for accurate ranging communication. In some scenarios, the initiator can be a controller, such as a smart phone, and the responder can be a controlled party, that is, a remotely controlled device, such as a vehicle, a vehicle-mounted terminal, etc. The second wireless communication modules communicate based on the second wireless communication technology, and the effective data transmission distance of the second wireless communication technology is greater than the effective data transmission distance of UWB. The second wireless communication technology can be (but not limited to) BLE, WiFi, and Star Flash, etc.

[0024] Taking BLE as an example, BLE (Bluetooth Low Energy) is a short-range wireless communication technology that runs in the 2.4GHz free frequency band. In terms of data transmission function, the effective working distance between the transmitting and receiving devices of Bluetooth 5.0 can reach 300 meters. In this step, the initiator and the responder perform the following operations through the BLE (Bluetooth Low Energy) module: 1. Discover positioning devices: The initiator uses BLE broadcast signals to search and identify nearby positioning devices, namely the responder. 2. Establish connection: After discovering the responder, the initiator establishes a BLE connection with the responder to ensure that the two devices can perform subsequent data exchange and communication. 3. Synchronize UWB parameters: Through the established BLE connection, the initiator synchronizes the parameters required for UWB (ultra-wideband) communication to the responder. These parameters may include: Channel number, Device address, Slot duration, Ranging duration, STS index, Preamble code index, SFD ID, Preamble duration, PRF mode, STS IV, STS length, and Session Key.

[0025] Step S2. The initiator sends control information for controlling the execution of the ranging task to the responder through the second wireless communication module.

[0026] The control information may include: Stride length, Receive Device Management List Number and Receive Device Management List. The contents of the Receive Device Management List may include: Ranging Role (0: responder; 1: initiator), allocated slot index, address of ranging device and ID of UWB message in the slot.

[0027] Step S3. According to the control information, the initiator and the responder perform the ranging task in the specified time slot through their respective UWB modules, send and receive SP3 frame types without data content through the UWB modules, and the initiator and the responder each record the ranging round index and the ranging-related message round-trip time and response time.

[0028] In one embodiment, step S3 specifically includes: S3.1. The initiator sends a ranging start message to the responder's UWB module through its UWB module; S3.2. After receiving the ranging start message, the responder sends a ranging response message back to the initiator's UWB module through its UWB module; S3.3. After receiving the ranging response message, the initiator again sends a ranging end message to the UWB module of the responder through its UWB module to complete a complete ranging interaction.

[0029] Among them, the initiator's UWB module records the round-trip time from the initiator sending the ranging start message to receiving the ranging response message, that is, Tround1, the response time from the initiator receiving the ranging response message to sending the ranging end message, that is, Treply2, and the ranging round index, and generates the first measurement report based on these recorded information.

[0030] Among them, the UWB module of the responder records the response time from the responder receiving the ranging start message to the responder sending the ranging response message, that is, Treply1, the round-trip time from the responder sending the ranging response message to the responder receiving the ranging end message, that is, Tround2, and the ranging round index, and generates a second measurement report based on these recorded information.

[0031] Step S4. The initiator generates a first measurement report, which includes a ranging round index, a message round trip time Tround1 measured by the initiator, and a response time Treply2 measured by the initiator.

[0032] In one embodiment, the initiator also sends the generated first measurement report to the responder via the second wireless communication module, and the responder performs distance calculation. In another embodiment, the initiator may not send the first measurement report to the responder, and the distance calculation is completed at the initiator.

[0033] Step S5. The responder generates a second measurement report, which includes a ranging round index, a response time Treply1 measured by the responder, and a message round trip time Tround2 measured by the responder.

[0034] In one embodiment, the responder also sends the generated second measurement report to the initiator through the second wireless communication module, and the initiator performs the distance calculation. In another embodiment, the responder may not send the second measurement report to the initiator, and the distance calculation will be completed at the responder.

[0035] Step S6. The responder receives the first measurement report of the initiator through the second wireless communication module, and calculates the distance between the initiator and the responder based on the first measurement report and the second measurement report, that is, based on the message round-trip time Tround1 measured by the initiator, the response time Treply2 measured by the initiator, the response time Treply1 measured by the responder, and the message round-trip time Tround2 measured by the responder. Alternatively, the initiator receives the second measurement report of the responder through the second wireless communication module, and calculates the distance between the initiator and the responder based on the first measurement report and the second measurement report, that is, based on the message round-trip time Tround1 measured by the initiator, the response time Treply2 measured by the initiator, the response time Treply1 measured by the responder, and the message round-trip time Tround2 measured by the responder.

[0036] Specifically, in step S6, the distance between the initiator and the responder can be calculated according to the following formula: .

[0037] The technical innovation mechanism of the present invention is to mix the two communication systems of UWB and the second wireless communication technology to give full play to their respective advantages and overcome the challenges of UWB technology in ranging applications. UWB technology is known for its high-precision positioning capability, but its effective ranging range is limited by the sensitivity and transmission power of the SP0 frame type, usually not exceeding 50 meters to 100 meters. The present invention introduces the second wireless communication technology and uses its longer data transmission distance relative to UWB to make up for the shortcomings of UWB in long-distance data transmission. Specifically, during the ranging process, the present invention synchronizes UWB parameters through the second wireless communication module to ensure that both devices can communicate accurately. In the ranging task, both devices send and receive SP3 frame types through the UWB module to record key ranging data, such as message round-trip time and response time. These data are then used to generate measurement reports and exchanged through the second wireless communication module so that either party can calculate the distance between the two parties. The advantage of the present invention is that it not only improves the accuracy of ranging, but also significantly expands the effective range of ranging by combining the long-distance transmission capability of the second wireless communication technology. This method allows the system to maintain the advantages of UWB high-precision positioning while taking advantage of the long-distance transmission characteristics of the second wireless communication technology, thereby achieving more effective ranging in a wider range of application scenarios. In addition, by using the second wireless communication technology in UWB's precise ranging protocol FiRa (fine ranging) to transmit control messages, measurement report messages, and ranging result report messages, the present invention provides a more flexible and reliable ranging solution, which is particularly important for modern wireless communication systems that require precise positioning and long-distance communication.

[0038] An embodiment of the present invention further provides a storage medium for storing a computer program, which at least performs the above method when executed.

[0039] An embodiment of the present invention further provides a control device, comprising a processor and a storage medium for storing a computer program; wherein the processor is configured to execute at least the method described above when executing the computer program.

[0040] An embodiment of the present invention further provides a processor, wherein the processor executes a computer program and at least executes the method described above.

[0041] The storage medium can be implemented by any type of non-volatile storage device, or a combination thereof. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a ferromagnetic random access memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The storage medium described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0042] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0043] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0044] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0045] A person skilled in the art can understand that: all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), disks or optical disks, etc. Various media that can store program codes.

[0046] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0047] The methods disclosed in the several method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0048] The features disclosed in several product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0049] The features disclosed in several method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0050] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art of the present invention, several equivalent substitutions or obvious variations can be made without departing from the concept of the present invention, and the performance or use is the same, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A method for hybrid UWB and second wireless communication technology ranging, characterized in that: The following steps are involved: S1. The initiator and the responder establish a connection through their respective second wireless communication modules, and synchronize the UWB parameters of both parties through the second wireless communication modules, so that the devices of both parties can use their respective UWB modules for accurate ranging communication; wherein the second wireless communication modules communicate based on the second wireless communication technology, and the effective data transmission distance of the second wireless communication technology is greater than the effective data transmission distance of UWB; S2. The initiator sends control information for controlling the execution of the ranging task to the responder through the second wireless communication module; S3. According to the control information, the initiator and the responder perform the ranging task in the specified time slot through their respective UWB modules, send and receive SP3 frame types without data content through the UWB module, and the initiator and the responder each record the ranging round index and the ranging-related message round-trip time and response time; S4. The initiator generates a first measurement report and sends it to the responder through the second wireless communication module, wherein the first measurement report includes a ranging round index, a message round trip time Tround1 measured by the initiator, and a response time Treply2 measured by the initiator; S5. The responder generates a second measurement report, which includes a ranging round index, a response time Treply1 measured by the responder, and a message round trip time Tround2 measured by the responder; S6. The responder receives the first measurement report of the initiator through the second wireless communication module, and calculates the distance between the initiator and the responder based on the message round-trip time Tround1 measured by the initiator, the response time Treply2 measured by the initiator, the response time Treply1 measured by the responder, and the message round-trip time Tround2 measured by the responder.

2. The method for hybrid UWB and second wireless communication technology ranging according to claim 1, characterized in that: Step S3 specifically includes: S3.

1. The initiator sends a ranging start message to the responder's UWB module through its UWB module; S3.

2. After receiving the ranging start message, the responder sends a ranging response message back to the initiator's UWB module through its UWB module; S3.

3. After receiving the ranging response message, the initiator again sends a ranging end message to the UWB module of the responder through its UWB module to complete a complete ranging interaction; The UWB module of the initiator records the round-trip time from the initiator sending the ranging start message to the initiator receiving the ranging response message, that is, Tround1, the response time from the initiator receiving the ranging response message to the initiator sending the ranging end message, that is, Treply2, and the ranging round index, to generate a first measurement report; Among them, the UWB module of the responder records the response time from the responder receiving the ranging start message to sending the ranging response message, that is, Treply1, the round-trip time from the responder sending the ranging response message to receiving the ranging end message, that is, Tround2, and the ranging round index to generate a second measurement report.

3. The method for hybrid UWB and second wireless communication technology ranging as claimed in claim 2, characterized in that: In step S6, the distance between the initiator and the responder is calculated according to the following formula: .

4. The method for hybrid UWB and second wireless communication technology ranging according to any one of claims 1 to 3, characterized in that: The second wireless communication technology includes any one of BLE, WiFi and StarFlash.

5. A method for hybrid UWB and second wireless communication technology ranging, characterized in that: The following steps are involved: S1. The initiator and the responder establish a connection through their respective second wireless communication modules, and synchronize the UWB parameters of both parties through the second wireless communication modules, so that the devices of both parties can use their respective UWB modules for accurate ranging communication; wherein the second wireless communication modules communicate based on the second wireless communication technology, and the effective data transmission distance of the second wireless communication technology is greater than the effective data transmission distance of UWB; S2. The initiator sends control information for controlling the execution of the ranging task to the responder through the second wireless communication module; S3. According to the control information, the initiator and the responder perform the ranging task in the specified time slot through their respective UWB modules, send and receive SP3 frame types without data content through the UWB module, and the initiator and the responder each record the ranging round index and the ranging-related message round-trip time and response time; S4. The initiator generates a first measurement report, which includes a ranging round index, a message round trip time Tround1 measured by the initiator, and a response time Treply2 measured by the initiator; S5. The responder generates a second measurement report and sends it to the initiator through the second wireless communication module, wherein the second measurement report includes a ranging round index, a response time Treply1 measured by the responder, and a message round trip time Tround2 measured by the responder; S6. The initiator receives the second measurement report of the responder through the second wireless communication module, and calculates the distance between the initiator and the responder based on the message round-trip time Tround1 measured by the initiator, the response time Treply2 measured by the initiator, the response time Treply1 measured by the responder, and the message round-trip time Tround2 measured by the responder.

6. The method for hybrid UWB and second wireless communication technology ranging as claimed in claim 5, characterized in that: Step S3 specifically includes: S3.

1. The initiator sends a ranging start message to the responder's UWB module through its UWB module; S3.

2. After receiving the ranging start message, the responder sends a ranging response message back to the initiator's UWB module through its UWB module; S3.

3. After receiving the ranging response message, the initiator again sends a ranging end message to the UWB module of the responder through its UWB module to complete a complete ranging interaction; The UWB module of the initiator records the round-trip time from the initiator sending the ranging start message to the initiator receiving the ranging response message, that is, Tround1, the response time from the initiator receiving the ranging response message to the initiator sending the ranging end message, that is, Treply2, and the ranging round index, to generate a first measurement report; Among them, the UWB module of the responder records the response time from the responder receiving the ranging start message to sending the ranging response message, that is, Treply1, the round-trip time from the responder sending the ranging response message to receiving the ranging end message, that is, Tround2, and the ranging round index to generate a second measurement report.

7. The method for hybrid UWB and second wireless communication technology ranging as claimed in claim 6, characterized in that: In step S6, the distance between the initiator and the responder is calculated according to the following formula: .

8. The method for hybrid UWB and second wireless communication technology ranging according to any one of claims 5 to 7, characterized in that: The second wireless communication technology includes any one of BLE, WiFi and StarFlash.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for hybrid UWB and second wireless communication technology ranging is implemented as claimed in any one of claims 1 to 8.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for hybrid UWB and second wireless communication technology ranging is implemented as claimed in any one of claims 1 to 8.

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