Distance measurement method, device, system, storage medium and computer device

Abstract

The application discloses a ranging method, device, system, storage medium and computer equipment, and relates to the technical field of communication. The method comprises the following steps: receiving a broadcast data frame issued by a base station, wherein the broadcast data frame carries identification information of the base station; sending a ranging data frame carrying an anonymous identifier to the base station, and receiving a reply data frame sent by the base station, wherein the reply data frame carries the identification information of the base station, time stamp information of the base station receiving the ranging data frame and time stamp information of the base station sending the reply data frame. The ranging solution and the positioning solution can only be completed locally on the mobile device, so that the security of the calculated distance information and positioning information is ensured. In addition, in the whole communication process, the base station cannot obtain the identity information of the mobile device, the distance information between the mobile device and the base station and the position information of the mobile device, so that the privacy security of the user holding the mobile device can be effectively protected.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a ranging method, apparatus, system, storage medium, and computer equipment. Background Technology

[0002] With the rapid development of communication technology, ranging and positioning technologies driven by communication technology have gradually received more and more attention and importance. Some well-known ranging and positioning technologies include UWB (Ultra Wideband), radio frequency, WiFi, Bluetooth, and acoustic ranging and positioning technologies. Among them, UWB ranging and positioning technology can achieve centimeter-level ranging and positioning by using non-sinusoidal narrow pulses to transmit data at the nanosecond to microsecond level. It is more suitable for applications in densely populated urban areas and enclosed indoor spaces where high ranging and positioning accuracy is required.

[0003] One signal transmission and reception method of UWB ranging and positioning technology is to use the Time-of-Flight (TOF) positioning algorithm to measure the distance and location of the device to be located. In existing technologies, methods using the TOF algorithm for ranging and positioning often employ non-public protocols. During positioning, the positioning base station and the device to be located mutually confirm their identities and exchange device identification information before initiating communication. The timestamp information from the communication signal and the location information of the positioning base station are then reported to the host for processing. The host calculates the location information of the device to be located and then sends the location information back to the device. However, this positioning method poses a significant risk of exposing user location privacy, making it difficult for UWB ranging and positioning technology to be effectively applied in open environments such as shopping malls and museums. Summary of the Invention

[0004] In view of this, this application provides a ranging method, system, storage medium, and computer device, the main purpose of which is to solve the technical problem that UWB ranging and positioning technology cannot protect user location privacy and security.

[0005] According to a first aspect of the present invention, a ranging method is provided, the method comprising:

[0006] Receive broadcast data frames sent by the base station, wherein the broadcast data frames carry the base station's identification information;

[0007] The system sends ranging data frames carrying an anonymous identifier to the base station and receives reply data frames sent by the base station. The reply data frames carry the base station's identification information, the timestamp information of the base station receiving the ranging data frames, and the timestamp information of the base station sending the reply data frames.

[0008] In one implementation, the anonymous identifier is specifically a random number.

[0009] In one implementation, sending a ranging data frame carrying an anonymous identifier to a base station includes: generating a random number and adding the random number to the ranging data frame before sending it to the base station.

[0010] In one embodiment, sending ranging data frames carrying an anonymous identifier to a base station and receiving response data frames sent by the base station includes: sending ranging data frames carrying an anonymous identifier to at least one base station and recording the timestamp information of each ranging data frame sent by the current device; receiving response data frames sent by at least one base station and recording the timestamp information of each response data frame received by the current device.

[0011] In one embodiment, the method further includes: obtaining the distance information between the current device and the base station using a TOF ranging algorithm based on the ranging data frame and the response data frame.

[0012] In one implementation, distance information between the current device and the base station is obtained using a Time-of-Flight (TOF) ranging algorithm based on ranging data frames and response data frames. This includes obtaining the distance information between the current device and the base station based on the difference between the timestamp information of the current device receiving the response data frame and the timestamp information of the current device sending the ranging data frame, and the difference between the timestamp information of the base station sending the response data frame and the timestamp information of the base station receiving the ranging data frame.

[0013] In one embodiment, the broadcast data frame also carries the location information of the base station; then the method further includes: obtaining the location information of the current device based on the location information of at least three base stations and the distance information between the current device and at least three base stations.

[0014] In one implementation, obtaining the location information of the current device based on the location information of at least three base stations and the distance information between the current device and at least three base stations includes: obtaining the location information of at least three base stations that sent the reply data frames based on the identification information of the base stations carried in at least three reply data frames and the identification information of the base stations carried in at least three broadcast data frames; and obtaining the location information of the current device using triangulation based on the location information of at least three base stations and the distance information between the current device and at least three base stations.

[0015] In one embodiment, the method further includes: displaying distance information between the current device and the base station, and / or displaying the location information of the current device.

[0016] In one embodiment, after receiving a broadcast data frame sent by a base station, the method further includes: determining whether the base station identification information carried in the broadcast data frame is in the ranging list; if the base station identification information carried in the broadcast data frame is not in the ranging list, adding the base station identification information carried in the broadcast data frame to the ranging list.

[0017] In one embodiment, the method further includes: sequentially determining whether the identification information of each base station in the ranging list is in the broadcast data frames received within a first preset time period; if the identification information of the base station in the ranging list is not in the broadcast data frames received within the first preset time period, then deleting the identification information of the base station from the ranging list.

[0018] In one implementation, sending ranging data frames carrying an anonymous identifier to a base station and receiving response data frames sent by the base station includes: sending ranging data frames carrying an anonymous identifier to base stations in the ranging list and recording the timestamp information of each ranging data frame sent by the current device; receiving response data frames sent by the base station and recording the timestamp information of each response data frame received by the current device.

[0019] In one embodiment, the method further includes: sequentially determining whether the identification information of each base station in the ranging list is in the response data frame received within a second preset time period; if the identification information of the base station in the ranging list is not in the response data frame received within the second preset time period, then deleting the identification information of the base station from the ranging list.

[0020] According to a second aspect of the present invention, a ranging method is provided, the method comprising:

[0021] Broadcast data frames are periodically sent out, and the periodically sent broadcast data frames carry the current base station's identification information and current base station's location information;

[0022] The system receives ranging data frames carrying anonymous identifiers sent by mobile devices and sends reply data frames to mobile devices. The reply data frames carry the identifier information of the current base station, the timestamp information of the current base station receiving the ranging data frames, and the timestamp information of the current base station sending the reply data frames.

[0023] In one implementation, periodically transmitting broadcast data frames includes: periodically transmitting broadcast data frames via a WIFI communication channel and / or a Bluetooth communication channel and / or a UWB communication channel.

[0024] In one embodiment, receiving a ranging data frame carrying an anonymous identifier sent by a mobile device and sending a reply data frame to the mobile device includes: receiving the ranging data frame carrying an anonymous identifier sent by the mobile device and recording the timestamp information of the current base station receiving the ranging data frame; sending a first reply data frame to the mobile device and recording the timestamp information of the current base station sending the first reply data frame, wherein the first reply data frame carries the identifier information of the current base station; and sending a second reply data frame to the mobile device, wherein the second reply data frame carries the identifier information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the first reply data frame.

[0025] According to a third aspect of the present invention, a ranging device is provided, the device comprising:

[0026] The data receiving module is used to receive broadcast data frames sent by the base station, wherein the broadcast data frames carry the identification information of the base station;

[0027] The data transmission module is used to send ranging data frames carrying anonymous identifiers to the base station;

[0028] The data receiving module is also used to receive a reply data frame sent by the base station, wherein the reply data frame carries the base station's identification information, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the reply data frame.

[0029] In one embodiment, the data sending module is specifically used to generate a random number and add the random number to the ranging data frame and send it to the base station.

[0030] In one embodiment, the data sending module is further configured to send ranging data frames carrying an anonymous identifier to at least one base station, and record the timestamp information of each ranging data frame sent by the current device; the data receiving module is further configured to receive reply data frames sent by at least one base station, and record the timestamp information of each reply data frame received by the current device.

[0031] In one embodiment, the device further includes a data processing module, configured to obtain distance information between the current device and the base station based on the ranging data frame and the response data frame using a TOF ranging algorithm.

[0032] In one embodiment, the data processing module is specifically used to obtain the distance information between the current device and the base station based on the difference between the timestamp information of the current device receiving the reply data frame and the timestamp information of the current device sending the ranging data frame, and the difference between the timestamp information of the base station sending the reply data frame and the timestamp information of the base station receiving the ranging data frame.

[0033] In one implementation, the broadcast data frame also carries the location information of the base station; then the data processing module is further configured to obtain the location information of the current device based on the location information of at least three base stations and the distance information between the current device and at least three base stations.

[0034] In one embodiment, the data processing module is further configured to obtain the location information of at least three base stations that sent the reply data frames based on the base station identification information carried in at least three reply data frames and the base station identification information carried in at least three broadcast data frames; and to obtain the location information of the current device by using triangulation based on the location information of the at least three base stations and the distance information between the current device and the at least three base stations.

[0035] In one embodiment, the device further includes: a display module for displaying distance information between the current device and the base station; the display module is also used to display the location information of the current device.

[0036] In one embodiment, the apparatus further includes: a data judgment module, configured to determine whether the base station identification information carried in the broadcast data frame is in the ranging list; if the base station identification information carried in the broadcast data frame is not in the ranging list, the base station identification information carried in the broadcast data frame is added to the ranging list.

[0037] In one embodiment, the data judgment module is further configured to sequentially determine whether the identification information of each base station in the ranging list is in the broadcast data frames received within the first preset time period; if the identification information of the base station in the ranging list is not in the broadcast data frames received within the first preset time period, the identification information of the base station is deleted from the ranging list.

[0038] In one embodiment, the data sending module is further configured to send ranging data frames carrying anonymous identifiers to base stations in the ranging list, and record the timestamp information of each ranging data frame sent by the current device; the data receiving module is further configured to receive reply data frames sent by base stations, and record the timestamp information of each reply data frame received by the current device.

[0039] In one embodiment, the data judgment module is further configured to sequentially determine whether the identification information of each base station in the ranging list is in the response data frame received within the second preset time period; if the identification information of the base station in the ranging list is not in the response data frame received within the second preset time period, the identification information of the base station is deleted from the ranging list.

[0040] According to a fourth aspect of the present invention, a ranging device is provided, the device comprising:

[0041] The data delivery module is used to periodically deliver broadcast data frames, which carry the current base station's identification information and location information.

[0042] The data receiving module is used to receive ranging data frames carrying anonymous identifiers sent by mobile devices;

[0043] The data transmission module is used to send a reply data frame to the mobile device. The reply data frame carries the identification information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the reply data frame.

[0044] In one embodiment, the data transmission module is specifically used to periodically transmit broadcast data frames through a WIFI communication channel and / or a Bluetooth communication channel and / or a UWB communication channel.

[0045] In one embodiment, the data receiving module is specifically configured to receive ranging data frames carrying an anonymous identifier sent by a mobile device, and record the timestamp information of the current base station receiving the ranging data frames; the data sending module is specifically configured to send a first reply data frame to the mobile device, and record the timestamp information of the current base station sending the first reply data frame, wherein the first reply data frame carries the identification information of the current base station; the data sending module is further configured to send a second reply data frame to the mobile device, wherein the second reply data frame carries the identification information of the current base station, the timestamp information of the current base station receiving the ranging data frames, and the timestamp information of the current base station sending the first reply data frames.

[0046] According to a fifth aspect of the present invention, a ranging system is provided, the system comprising at least one base station and a mobile device, wherein the base station is equipped with a ranging module, and the mobile device is equipped with a ranging module and a positioning calculation module, wherein...

[0047] The base station is used to periodically send broadcast data frames, wherein the periodically sent broadcast data frames carry the base station's identification information and the base station's location information;

[0048] The mobile device is used to receive broadcast data frames periodically sent by the base station and send ranging data frames carrying an anonymous identifier to the base station.

[0049] The base station is also used to receive ranging data frames carrying anonymous identifiers sent by mobile devices, and to send reply data frames to mobile devices. The reply data frames carry the base station's identifier information, the timestamp information of the base station receiving the ranging data frames, and the timestamp information of the base station sending the reply data frames.

[0050] The mobile device is also used to receive response data frames sent by the base station.

[0051] In one embodiment, the distance between two adjacent base stations in at least one base station is 15m to 20m.

[0052] In one embodiment, the ranging module includes a clock unit, a data transmitting unit, a data receiving unit, a data processing unit, and a data storage unit.

[0053] According to a sixth aspect of the present invention, a storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the above-described ranging method.

[0054] According to a seventh aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described ranging method.

[0055] This invention provides a ranging method, apparatus, storage medium, and computer device. First, a base station periodically broadcasts data frames, enabling a mobile device to receive these broadcast frames and send ranging data frames carrying an anonymous identifier to the base station, as well as receive response data frames from the base station. The ranging method provided by this invention constructs a communication timing sequence between the base station and the mobile device, ensuring that the ranging and positioning calculations can only be completed locally on the mobile device, thus guaranteeing the security of the calculated distance and positioning information. Furthermore, throughout the communication process, the base station cannot obtain the mobile device's identity information, the distance information between the mobile device and the base station, or the mobile device's location information; therefore, it effectively protects the privacy and security of the user holding the mobile device.

[0056] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0057] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0058] Figure 1 A schematic diagram of a ranging system provided by an embodiment of the present invention is shown;

[0059] Figure 2 This diagram illustrates a scenario of another ranging system provided by an embodiment of the present invention.

[0060] Figure 3A flowchart illustrating a ranging method provided by an embodiment of the present invention is shown;

[0061] Figure 4 A flowchart illustrating another ranging method provided by an embodiment of the present invention is shown;

[0062] Figure 5 A flowchart illustrating another ranging method provided by an embodiment of the present invention is shown;

[0063] Figure 6 A flowchart illustrating another ranging method provided by an embodiment of the present invention is shown;

[0064] Figure 7 A schematic diagram of a scenario for a ranging method provided by an embodiment of the present invention is shown;

[0065] Figure 8 A schematic diagram of a scenario for another ranging method provided by an embodiment of the present invention is shown;

[0066] Figure 9 A schematic diagram of a ranging device provided in an embodiment of the present invention is shown;

[0067] Figure 10 A schematic diagram of another ranging device provided in an embodiment of the present invention is shown;

[0068] Figure 11 A schematic diagram of another ranging device provided in an embodiment of the present invention is shown. Detailed Implementation

[0069] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the present application can be combined with each other.

[0070] The ranging methods provided in the embodiments of this application can be applied to, for example... Figure 1 and Figure 2 In the distance measurement system shown, such as Figure 1 As shown and Figure 2The system includes at least one base station 101 and a mobile device 102. The at least one base station 101 and the mobile device can communicate via UWB data frames, Bluetooth, or Wi-Fi channels. The mobile device 102 can receive broadcast data frames from the at least one base station 101, then send ranging data frames to the at least one base station 101 and receive reply data frames from the at least one base station 101, thereby achieving communication with the at least one base station. The mobile device 101 can be various personal computers, laptops, mobile phones, tablets, and portable wearable devices, etc., equipped with a ranging module and a positioning calculation module. The base station 102 can be a micro base station, small base station, medium base station, large base station, etc., deployed indoors or outdoors and equipped with a ranging module. The ranging module can specifically be a UWB ranging module, a Bluetooth ranging module, or a Wi-Fi ranging module, etc., and can include units such as a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit. Through the ranging module, the base station 101 and the mobile device 102 can send and receive data frames and record the timestamp information of the sent and received data frames.

[0071] In one embodiment, such as Figure 3 As shown, a ranging method is provided, which is applied to... Figure 1 and Figure 2 The following steps are used as an example in the distance measuring system shown:

[0072] 201. The base station periodically sends out broadcast data frames.

[0073] Specifically, the ranging system may include at least one base station, which, when powered on and without faults, can periodically transmit broadcast data frames. In this embodiment, the broadcast data frames transmitted by the base station can be millisecond-level UWB data frames (e.g., each UWB data frame requires a 1-millisecond time slot), or Bluetooth or Wi-Fi data frames. The transmission period of the broadcast data frames can be preset and adjusted at any time. In some implementations, to ensure the immediacy of communication, the transmission period of the base station can be sub-second, such as 100 milliseconds. In each period, each base station can transmit at least one broadcast data frame, which may carry the base station's identification information. The base station's identification information can be used to identify the identity of the base station transmitting the broadcast data frame.

[0074] 202. The mobile device receives broadcast data frames sent by the base station.

[0075] Specifically, the mobile device can receive broadcast data frames from at least one base station within the effective communication range. Furthermore, the mobile device can record the timestamp information of the moment it receives each broadcast data frame from each base station. In this embodiment, if the distance between the mobile device and the base station exceeds the effective communication range for broadcast data frames sent by the base station—for example, exceeding the effective communication range for UWB data frames, Bluetooth data frames, or Wi-Fi data frames—then the mobile device cannot receive the broadcast data frames sent by the corresponding base station.

[0076] In this embodiment, in order to reduce the power consumption of the mobile device, the broadcast data frame received by the mobile device can be a Bluetooth data frame. The UWB communication function is activated after the mobile device receives the Bluetooth data frame, thereby saving power consumption.

[0077] 203. The mobile device sends a ranging data frame carrying an anonymous identifier to the base station.

[0078] Specifically, the mobile device can proactively send ranging data frames carrying an anonymous identifier to the base station and record the timestamp information of each ranging data frame sent by the device. The timestamp information of each ranging data frame sent by the device refers to the timestamp information of the moment when each ranging data frame is sent. The anonymous identifier is used to hide the identity information of the mobile device (such as device ID). In this embodiment, the anonymous identifier is an identifier that is completely unrelated to the identity information of the mobile device. After receiving the ranging data frame carrying the anonymous identifier, the base station cannot obtain the identity information of the mobile device from the anonymous identifier, thereby protecting the location privacy and security of the mobile device.

[0079] In this embodiment, the mobile device can only send ranging data frames to base stations within its effective communication range. Specifically, when the mobile device receives a broadcast data frame from a base station within a preset time range, it can send a ranging data frame carrying an anonymous identifier to that base station based on the base station's identification information carried in the broadcast data frame. If the mobile device does not receive a broadcast data frame from a base station within the preset time, it cannot send a ranging data frame carrying an anonymous identifier to that base station.

[0080] In this embodiment, in order to ensure the accuracy of ranging or positioning, the ranging data frame sent by the mobile device can specifically be a UWB data frame.

[0081] 204. The base station receives ranging data frames carrying anonymous identifiers sent by mobile devices.

[0082] Specifically, the base station can receive ranging data frames carrying anonymous identifiers sent to it by mobile devices, and record the timestamp information of the ranging data frame received by the base station. The timestamp information of the ranging data frame received by the base station refers to the timestamp information of the moment the base station receives the ranging data frame.

[0083] 205. The base station sends a reply data frame to the mobile device.

[0084] Specifically, the base station can send a reply data frame to the mobile device based on the anonymous identifier carried in the ranging data frame. The reply data frame carries the base station's identification information, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the reply data frame. The timestamp information of the base station sending the reply data frame refers to the timestamp information of the time when the base station sends the reply data frame.

[0085] In this embodiment, the response data frame sent by the base station can be one or more frames. These frames collectively carry information such as the base station's identification information, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the response data frame. The base station sends the response data frame to the mobile device based on the anonymous identifier carried in the ranging data frame. Therefore, the base station cannot determine the mobile device's identity information, nor can it ascertain the specific location and distance between the mobile device and the base station. This effectively protects the user's privacy and security.

[0086] Specifically, in one optional embodiment, the base station can send at least two response data frames in each cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. Therefore, the timestamp information of the first frame can be carried by the second frame. This method can improve the accuracy of the timestamp information, thereby improving the positioning accuracy, and is more suitable for applications with high ranging or positioning accuracy requirements. Applications with high positioning accuracy requirements include, for example, locating mobile terminals moving at high speeds, specifically locating vehicles or people holding handheld mobile terminals inside vehicles.

[0087] Specifically, in another optional embodiment, the base station can send at least one response data frame in each cycle, and at least one data frame carries the timestamp information of a response data frame sent by the base station in the previous cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. For example, in one scenario, the base station can send only one response data frame in each cycle, but the timestamp information of the transmission time of this response data frame is carried by the data frame of the next cycle. In this way, the mobile terminal can obtain the timestamp information of the transmission time of the response data frame in the first cycle by receiving response data frames for two consecutive cycles. This method can reduce the resource consumption of response data frames and reduce the power consumption of the base station, and is more suitable for applications in situations where the base stations are densely deployed or where there are requirements for the power consumption of the base station.

[0088] Specifically, in another optional implementation, the base station may send at least one response data frame per cycle, and the at least one response data frame carries timestamp information of the pre-transmission time of the response data frame sent by the base station in the current cycle. For example, in one scenario, the base station may send only one response data frame per cycle. In this way, the mobile device can obtain valid timestamp information by receiving the response data frames of one cycle.

[0089] In this embodiment, in order to ensure the accuracy of ranging or positioning, the reply data frame sent by the base station can specifically be a UWB data frame.

[0090] 206. The mobile device receives the reply data frame sent by the base station.

[0091] Specifically, the mobile device can receive the response data frame sent by the base station and record the timestamp information of the time when the mobile device receives the response data frame. Then, based on the base station identification information carried in the response data frame, the response data frame and the ranging data frame are associated to obtain multiple timestamp information, including the timestamp information of the mobile device sending the ranging data frame, the timestamp information of the base station receiving the ranging data frame, the timestamp information of the base station sending the response data frame, and the timestamp information of the mobile device receiving the response data frame. With these four timestamp information, the mobile device can choose whether to perform ranging calculation and positioning calculation to obtain the distance information between the mobile device and the base station and / or the location information of the mobile device.

[0092] In this implementation, the initiative for solving the problem lies with the mobile device. Users holding mobile devices can choose to perform ranging and positioning calculations, or choose to abandon ranging and positioning calculations. Regardless of whether the user chooses to perform the calculations or abandons them, the base station cannot obtain all the timestamp information and therefore cannot perform the calculations to obtain the distance information between the mobile device and the base station. In addition, the base station cannot know the identity information of the mobile device, thus more effectively protecting the user's privacy and security.

[0093] The ranging method provided in this embodiment first utilizes a base station to periodically transmit broadcast data frames, enabling the mobile device to receive these broadcast data frames and send ranging data frames carrying an anonymous identifier to the base station, as well as receive reply data frames from the base station. This embodiment constructs a communication timing sequence between the base station and the mobile device, ensuring that the ranging and positioning calculations can only be completed locally on the mobile device, thus guaranteeing the security of the calculated distance and positioning information. Furthermore, throughout the entire communication process, the base station cannot obtain the mobile device's identity information, the distance information between the mobile device and the base station, or the mobile device's location information; therefore, it effectively protects the privacy and security of the user holding the mobile device.

[0094] In one embodiment, such as Figure 4 As shown, a distance measurement method is also provided, which can be applied to... Figure 1 and Figure 2 Taking the distance measuring system shown as an example, this method includes the following steps:

[0095] 301. At least one base station periodically sends out broadcast data frames.

[0096] Specifically, the ranging system provided in this embodiment may include at least one base station. When powered on and without faults, the at least one base station can periodically transmit data frames. Each data frame periodically transmitted by the base station carries the base station's location information and identification information. In this embodiment, the broadcast data frames transmitted by the base station can be UWB data frames in the nanosecond to microsecond range, or Bluetooth or Wi-Fi data frames. The period of the data frames transmitted by the base station can be preset and can be adjusted at any time.

[0097] In this embodiment, the location information of the base station can be absolute location information, such as longitude, latitude, and altitude; it can also be relative location information, such as x-axis, y-axis, and z-axis coordinates in a three-dimensional space; or it can be a combination of absolute and relative coordinates, such as longitude, latitude, and floor level. The location information of the base station can be pre-recorded in the base station or automatically obtained by the base station based on its orientation and distance from other base stations. Specifically, the identification information of the base station can be the base station's device ID, which is used to identify the identity of the base station sending the broadcast data frame.

[0098] 302. The mobile device receives a broadcast data frame sent by at least one base station.

[0099] Specifically, the mobile device can receive broadcast data frames from at least one base station within the effective communication range, and the mobile device can also record the timestamp information of the time when it receives each broadcast data frame from each base station. In this embodiment, the effective communication range of the broadcast data frame can refer to the effective communication range of the UWB data frame, the effective communication range of the Bluetooth data frame, or the effective communication range of the WIFI data frame. In this embodiment, the length of the effective communication range depends on information such as the channel and signal strength of the broadcast data frame.

[0100] In this embodiment, in order to reduce the power consumption of the mobile device, the broadcast data frame received by the mobile device can be a Bluetooth data frame. The UWB communication function is activated after the mobile device receives the Bluetooth data frame, thereby saving power consumption.

[0101] 303. The mobile device sends a ranging data frame carrying an anonymous identifier to at least one base station.

[0102] Specifically, the mobile device can proactively send ranging data frames carrying an anonymous identifier to at least one base station and record the timestamp information of each ranging data frame sent by the device. The timestamp information refers to the time when each ranging data frame was sent. The anonymous identifier is used to hide the mobile device's identity information (such as device ID). In this embodiment, the anonymous identifier can be a random number. Before sending the ranging data frame, a random number can be generated and then added to the ranging data frame before being sent to the base station. It is understood that the random number generated by the mobile device is highly likely to be different each time, and the random number itself is unrelated to the mobile device's identity information. After receiving the ranging data frame carrying the anonymous identifier, the base station cannot obtain the mobile device's identity information from the anonymous identifier, thus protecting the location privacy and security of the mobile device.

[0103] In this embodiment, in order to ensure the accuracy of ranging or positioning, the ranging data frame sent by the mobile device can specifically be a UWB data frame.

[0104] 304. At least one base station receives ranging data frames carrying anonymous identifiers sent by a mobile device.

[0105] Specifically, at least one base station can receive ranging data frames carrying anonymous identifiers sent to it by mobile devices, and record the timestamp information of the base station receiving the ranging data frames. The timestamp information of the base station receiving the ranging data frames refers to the timestamp information of the moment the base station receives the ranging data frames.

[0106] 305. At least one base station sends a reply data frame to the mobile device.

[0107] Specifically, the base station can send a reply data frame to the mobile device based on the anonymous identifier carried in the ranging data frame. The reply data frame carries the base station's identification information, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the reply data frame. The timestamp information of the base station sending the reply data frame refers to the timestamp information of the time when the base station sends the reply data frame.

[0108] In one possible implementation, the response data frame sent by the base station may include at least two data frames. Sending the response data frame may include the following steps: first, sending a first response data frame to the mobile device and recording the timestamp information of the first response data frame sent by the base station, wherein the first response data frame carries the identification information of the current base station; then, sending a second response data frame to the mobile device, wherein the second response data frame carries the identification information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the first response data frame. Generally, the UWB module can only obtain the timestamp information of the first frame transmission time at the base station after the first frame is sent; therefore, the timestamp information of the first frame can be carried by the second frame.

[0109] Specifically, in one optional embodiment, the base station can send at least two response data frames in each cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. Therefore, the timestamp information of the first frame can be carried by the second frame. This method can improve the accuracy of the timestamp information, thereby improving the positioning accuracy, and is more suitable for applications with high ranging or positioning accuracy requirements. Applications with high positioning accuracy requirements include, for example, locating mobile terminals moving at high speeds, specifically locating vehicles or people holding handheld mobile terminals inside vehicles.

[0110] Specifically, in another optional embodiment, the base station can send at least one response data frame in each cycle, and at least one data frame carries the timestamp information of a response data frame sent by the base station in the previous cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. For example, in one scenario, the base station can send only one response data frame in each cycle, but the timestamp information of the transmission time of this response data frame is carried by the data frame of the next cycle. In this way, the mobile terminal can obtain the timestamp information of the transmission time of the response data frame in the first cycle by receiving response data frames for two consecutive cycles. This method can reduce the resource consumption of response data frames and reduce the power consumption of the base station, and is more suitable for applications in situations where the base stations are densely deployed or where there are requirements for the power consumption of the base station.

[0111] Specifically, in another optional implementation, the base station may send at least one response data frame per cycle, and the at least one response data frame carries timestamp information of the pre-transmission time of the response data frame sent by the base station in the current cycle. For example, in one scenario, the base station may send only one response data frame per cycle. In this way, the mobile device can obtain valid timestamp information by receiving the response data frames of one cycle.

[0112] In this embodiment, in order to ensure the accuracy of ranging or positioning, the reply data frame sent by the base station can specifically be a UWB data frame.

[0113] 306. The mobile device receives a reply data frame sent by at least one base station.

[0114] Specifically, the mobile device can receive the reply data frame sent by the base station and record the timestamp information of the time when the mobile device receives the reply data frame. Then, based on the base station identification information carried in the reply data frame, the reply data frame and the ranging data frame are associated to obtain multiple timestamp information, including the timestamp information of the mobile device sending the ranging data frame, the timestamp information of the base station receiving the ranging data frame, the timestamp information of the base station sending the reply data frame, and the timestamp information of the mobile device receiving the reply data frame.

[0115] 307. The mobile device obtains the distance information between the current device and at least one base station by using the TOF ranging algorithm based on the ranging data frame and the response data frame.

[0116] Specifically, the mobile device can obtain the distance information between the current device and at least one base station by using the TOF ranging algorithm based on the four timestamp information mentioned in step 306: the timestamp information of the mobile device sending the ranging data frame, the timestamp information of the base station receiving the ranging data frame, the timestamp information of the base station sending the reply data frame, and the timestamp information of the mobile device receiving the reply data frame.

[0117] In this implementation, refer to Figure 7 and Figure 8 The formula for obtaining the distance information between the current device and the base station using four timestamps is as follows:

[0118]

[0119] Where T4 is the timestamp information of the mobile device receiving the reply data frame, T1 is the timestamp information of the mobile device sending the ranging data frame, T3 is the timestamp information of the base station sending the reply data frame, T2 is the timestamp information of the base station receiving the ranging data frame, c is the speed of light in the air, and d is the distance between the base station and the mobile device.

[0120] 308. The mobile device displays the distance information between the current device and at least one base station.

[0121] Specifically, mobile devices can display the distance information between the current device and at least one base station through the display module. In this way, users holding mobile devices can intuitively view the distance information between themselves and the surrounding base stations.

[0122] For example, in a real-world scenario, the base station could be a POS machine in a coffee shop in a shopping mall. Users with handheld mobile devices can intuitively see the distance information between themselves and the POS machine. At the same time, the identity information and distance information of the user's handheld mobile device are not known to the POS machine, effectively protecting user privacy.

[0123] In one embodiment, such as Figure 5 As shown, a distance measurement method is also provided, which can be applied to... Figure 1 and Figure 2 Taking the distance measuring system shown as an example, this method includes the following steps:

[0124] 401. At least three base stations periodically send broadcast data frames.

[0125] Specifically, the ranging system provided in this embodiment may include at least three base stations. The distance between any two adjacent base stations should be between 15m and 20m. When powered on and without faults, all three base stations can periodically transmit data frames. Each data frame periodically transmitted by a base station carries its location information and identification information. In this embodiment, the broadcast data frames transmitted by the base stations can be UWB data frames in the nanosecond to microsecond range, or Bluetooth or Wi-Fi data frames. The period of the data frames transmitted by the base stations can be preset and adjustable at any time.

[0126] 402. The mobile device receives broadcast data frames from at least three base stations.

[0127] Specifically, the mobile device can receive broadcast data frames from at least three base stations within the effective communication range, and the mobile device can also record the timestamp information of the moment it receives each broadcast data frame from each base station. In this embodiment, the effective communication range of the broadcast data frame can refer to the effective communication range of the UWB data frame, the effective communication range of the Bluetooth data frame, or the effective communication range of the WIFI data frame. In this embodiment, the length of the effective communication range depends on information such as the channel and signal strength of the broadcast data frame.

[0128] In this embodiment, in order to reduce the power consumption of the mobile device, the broadcast data frame received by the mobile device can be a Bluetooth data frame. The UWB communication function is activated after the mobile device receives the Bluetooth data frame, thereby saving power consumption.

[0129] 403. The mobile device sends ranging data frames carrying an anonymous identifier to at least three base stations.

[0130] Specifically, the mobile device can proactively send ranging data frames carrying an anonymous identifier to at least three base stations and record the timestamp information of each ranging data frame sent by the device. The timestamp information refers to the time of transmission of each ranging data frame. The anonymous identifier is used to hide the mobile device's identity information (such as device ID). In this embodiment, the anonymous identifier can be a random number. Before sending the ranging data frame, a random number can be generated and then added to the ranging data frame before being sent to the base station. It is understood that the random number generated by the mobile device is generally different each time, and the random number itself is unrelated to the mobile device's identity information. After receiving the ranging data frame carrying the anonymous identifier, the base station cannot obtain the mobile device's identity information from the anonymous identifier, thus protecting the location privacy and security of the mobile device.

[0131] In this embodiment, in order to ensure the accuracy of ranging or positioning, the ranging data frame sent by the mobile device can specifically be a UWB data frame.

[0132] 404. At least three base stations receive ranging data frames carrying anonymous identifiers sent by mobile devices.

[0133] Specifically, at least three base stations can receive ranging data frames carrying anonymous identifiers sent to them by mobile devices, and record the timestamp information of the base stations receiving the ranging data frames. The timestamp information of the base stations receiving the ranging data frames refers to the timestamp information of the moment the base stations receive the ranging data frames.

[0134] 405. At least three base stations send reply data frames to the mobile device.

[0135] Specifically, the base station can send a reply data frame to the mobile device based on the anonymous identifier carried in the ranging data frame. The reply data frame carries the base station's identification information, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the reply data frame. The timestamp information of the base station sending the reply data frame refers to the timestamp information of the time when the base station sends the reply data frame.

[0136] Specifically, in one optional embodiment, the base station can send at least two response data frames in each cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. Therefore, the timestamp information of the first frame can be carried by the second frame. This method can improve the accuracy of the timestamp information, thereby improving the positioning accuracy, and is more suitable for applications with high ranging or positioning accuracy requirements. Applications with high positioning accuracy requirements include, for example, locating mobile terminals moving at high speeds, specifically locating vehicles or people holding handheld mobile terminals inside vehicles.

[0137] Specifically, in another optional embodiment, the base station can send at least one response data frame in each cycle, and at least one data frame carries the timestamp information of a response data frame sent by the base station in the previous cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. For example, in one scenario, the base station can send only one response data frame in each cycle, but the timestamp information of the transmission time of this response data frame is carried by the data frame of the next cycle. In this way, the mobile terminal can obtain the timestamp information of the transmission time of the response data frame in the first cycle by receiving response data frames for two consecutive cycles. This method can reduce the resource consumption of response data frames and reduce the power consumption of the base station, and is more suitable for applications in situations where the base stations are densely deployed or where there are requirements for the power consumption of the base station.

[0138] Specifically, in another optional implementation, the base station may send at least one response data frame per cycle, and the at least one response data frame carries timestamp information of the pre-transmission time of the response data frame sent by the base station in the current cycle. For example, in one scenario, the base station may send only one response data frame per cycle. In this way, the mobile device can obtain valid timestamp information by receiving the response data frames of one cycle.

[0139] In this embodiment, in order to ensure the accuracy of ranging or positioning, the reply data frame sent by the base station can specifically be a UWB data frame.

[0140] 406. The mobile device receives reply data frames sent by at least three base stations.

[0141] Specifically, the mobile device can receive the reply data frame sent by the base station and record the timestamp information of the time when the mobile device receives the reply data frame. Then, based on the base station identification information carried in the reply data frame, the reply data frame and the ranging data frame are associated to obtain multiple timestamp information, including the timestamp information of the mobile device sending the ranging data frame, the timestamp information of the base station receiving the ranging data frame, the timestamp information of the base station sending the reply data frame, and the timestamp information of the mobile device receiving the reply data frame.

[0142] 407. Based on the ranging data frame and the response data frame, the mobile device obtains the distance information between the current device and at least three base stations through the TOF ranging algorithm.

[0143] Specifically, the mobile device can obtain the distance information between the current device and at least three base stations based on the four timestamp information mentioned in step 306: the timestamp information of the mobile device sending the ranging data frame, the timestamp information of the base station receiving the ranging data frame, the timestamp information of the base station sending the reply data frame, and the timestamp information of the mobile device receiving the reply data frame, through the TOF ranging algorithm.

[0144] 408. The mobile device obtains its current location information based on the location information of at least three base stations and the distance information between the current device and at least three base stations.

[0145] Specifically, the mobile device can obtain the location information of at least three base stations that sent the reply data frames based on the base station identification information carried in at least three reply data frames and at least three broadcast data frames. Then, based on the location information of the at least three base stations and the distance information between the current device and the at least three base stations, it can obtain the current location information of the device through triangulation. Triangulation is a common technique in the prior art and will not be elaborated here.

[0146] 409. Mobile devices display the current location information of the device.

[0147] Specifically, mobile devices can display their current location information via a display module. In one implementation, the mobile device can display only information related to its current location, such as longitude, latitude, and floor level. In another implementation, the mobile device can display a map of its surrounding space and mark its location on the map. In this implementation, the mobile device can also display other relevant information in conjunction with the map, such as room number and floor level. In this way, users holding mobile devices can intuitively see their current location.

[0148] For example, in a real-world scenario, a shopping mall may have multiple base stations deployed at intervals of 15 to 20 meters. The fixed positional relationship between the coffee shop and the base stations deployed in the mall is known. Through distance measurement, positioning calculation, and display on a mobile device, users holding mobile devices can intuitively see their positional relationship with the coffee shop. At the same time, the user's identity and location information are not known to the coffee shop or the mall, effectively protecting user privacy.

[0149] In one embodiment, such as Figure 6 As shown, a distance measurement method is also provided, which can be applied to... Figure 1 and Figure 2 Taking the distance measuring system shown as an example, this method includes the following steps:

[0150] 501. The base station periodically sends out broadcast data frames.

[0151] Specifically, the ranging system provided in this embodiment may include at least one base station. The distance between any two adjacent base stations should be between 15m and 20m. When powered on and without faults, at least one base station can periodically transmit data frames. Each data frame periodically transmitted by a base station carries the base station's location information and identification information. In this embodiment, the broadcast data frames transmitted by the base station can be UWB data frames in the nanosecond to microsecond range, or Bluetooth or Wi-Fi data frames. The period of the data frames transmitted by the base station can be preset and can be adjusted at any time.

[0152] 502. The mobile device receives broadcast data frames sent by the base station.

[0153] Specifically, the mobile device can receive broadcast data frames sent by base stations within the effective communication range, and the mobile device can also record the timestamp information of the time when it receives each broadcast data frame sent by each base station. In this embodiment, the effective communication range of the broadcast data frame can refer to the effective communication range of the UWB data frame, the effective communication range of the Bluetooth data frame, or the effective communication range of the WIFI data frame. In this embodiment, the length of the effective communication range depends on information such as the channel and signal strength of the broadcast data frame.

[0154] In this embodiment, in order to reduce the power consumption of the mobile device, the broadcast data frame received by the mobile device can be a Bluetooth data frame. The UWB communication function is activated after the mobile device receives the Bluetooth data frame, thereby saving power consumption.

[0155] 503. The mobile device determines whether the base station identification information carried in the broadcast data frame is in the ranging list.

[0156] 504. If the base station identification information carried in the broadcast data frame is not in the ranging list, add the base station identification information carried in the broadcast data frame to the ranging list.

[0157] Specifically, after receiving a broadcast data frame, the mobile device can first determine whether the base station identification information carried in the broadcast data frame is in the ranging list. If the base station identification information carried in the broadcast data frame is not in the ranging list, then the base station identification information carried in the broadcast data frame is added to the ranging list.

[0158] 505. The mobile device sequentially determines whether the identification information of each base station in the ranging list is in the broadcast data frame received within the first preset time period.

[0159] 506. If the identification information of a base station in the ranging list is not in the broadcast data frame received within the first preset time period, the identification information of the base station shall be deleted from the ranging list.

[0160] Specifically, the mobile device can sequentially determine whether the identification information of each base station in the ranging list is in the broadcast data frames received within the first preset time period. If the identification information of the base station in the ranging list is not in the broadcast data frames received within the first preset time period, it means that the mobile device has not received the broadcast data frames sent by that base station for a period of time. At this time, the mobile device can delete the identification information of that base station from the ranging list.

[0161] 507. The mobile device sends a ranging data frame carrying an anonymous identifier to a base station in the ranging list.

[0162] Specifically, the mobile device can proactively send ranging data frames carrying an anonymous identifier to base stations in the ranging list, and record the timestamp information of each ranging data frame sent by the device. The timestamp information refers to the time when each ranging data frame was sent. The anonymous identifier is used to hide the mobile device's identity information (such as device ID). In this embodiment, the anonymous identifier can be a random number. Before sending the ranging data frame, a random number can be generated and then added to the ranging data frame before being sent to the base station. It is understood that the random number generated by the mobile device is generally different each time, and the random number itself is unrelated to the mobile device's identity information. After receiving the ranging data frame carrying the anonymous identifier, the base station cannot obtain the mobile device's identity information from the anonymous identifier, thus protecting the location privacy and security of the mobile device.

[0163] In this embodiment, in order to ensure the accuracy of ranging or positioning, the ranging data frame sent by the mobile device can specifically be a UWB data frame.

[0164] 508. The base station receives ranging data frames carrying anonymous identifiers sent by mobile devices.

[0165] Specifically, the base station can receive ranging data frames carrying anonymous identifiers sent to it by mobile devices, and record the timestamp information of the ranging data frame received by the base station. The timestamp information of the ranging data frame received by the base station refers to the timestamp information of the moment the base station receives the ranging data frame.

[0166] 509. The base station sends a reply data frame to the mobile device.

[0167] Specifically, the base station can send a reply data frame to the mobile device based on the anonymous identifier carried in the ranging data frame. The reply data frame carries the base station's identification information, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the reply data frame. The timestamp information of the base station sending the reply data frame refers to the timestamp information of the time when the base station sends the reply data frame.

[0168] Specifically, in one optional embodiment, the base station can send at least two response data frames in each cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. Therefore, the timestamp information of the first frame can be carried by the second frame. This method can improve the accuracy of the timestamp information, thereby improving the positioning accuracy, and is more suitable for applications with high ranging or positioning accuracy requirements. Applications with high positioning accuracy requirements include, for example, locating mobile terminals moving at high speeds, specifically locating vehicles or people holding handheld mobile terminals inside vehicles.

[0169] Specifically, in another optional embodiment, the base station can send at least one response data frame in each cycle, and at least one data frame carries the timestamp information of a response data frame sent by the base station in the previous cycle. Generally, the timestamp information of the first frame transmission time recorded and obtained by the UWB module in the base station after the first frame is sent is more accurate. For example, in one scenario, the base station can send only one response data frame in each cycle, but the timestamp information of the transmission time of this response data frame is carried by the data frame of the next cycle. In this way, the mobile terminal can obtain the timestamp information of the transmission time of the response data frame in the first cycle by receiving response data frames for two consecutive cycles. This method can reduce the resource consumption of response data frames and reduce the power consumption of the base station, and is more suitable for applications in situations where the base stations are densely deployed or where there are requirements for the power consumption of the base station.

[0170] Specifically, in another optional implementation, the base station may send at least one response data frame per cycle, and the at least one response data frame carries timestamp information of the pre-transmission time of the response data frame sent by the base station in the current cycle. For example, in one scenario, the base station may send only one response data frame per cycle. In this way, the mobile device can obtain valid timestamp information by receiving the response data frames of one cycle.

[0171] In this embodiment, in order to ensure the accuracy of ranging or positioning, the reply data frame sent by the base station can specifically be a UWB data frame.

[0172] 510. The mobile device receives the reply data frame sent by the base station.

[0173] Specifically, the mobile device can receive the response data frame sent by the base station and record the timestamp information of the time when the mobile device receives the response data frame. Then, based on the base station identification information carried in the response data frame, the response data frame and the ranging data frame are associated to obtain multiple timestamp information, including the timestamp information of the mobile device sending the ranging data frame, the timestamp information of the base station receiving the ranging data frame, the timestamp information of the base station sending the response data frame, and the timestamp information of the mobile device receiving the response data frame. With these four timestamp information, the mobile device can choose whether to perform ranging calculation and positioning calculation to obtain the distance information between the mobile device and the base station and / or the location information of the mobile device.

[0174] 511. The mobile device sequentially determines whether the identification information of each base station in the ranging list is in the response data frame received within the second preset time period.

[0175] 512. If the identification information of a base station in the ranging list is not in the response data frame received within the second preset time period, the identification information of the base station shall be deleted from the ranging list.

[0176] Specifically, the mobile device sequentially determines whether the identification information of each base station in the ranging list is in the response data frame received within the second preset time period. If the identification information of the base station in the ranging list is not in the response data frame received within the second preset time period, it means that the mobile device has not received a response data frame sent by that base station for a period of time. At this time, the mobile device can delete the identification information of that base station from the ranging list.

[0177] This embodiment improves communication efficiency by establishing a ranging list and communicating with the corresponding base stations based on the identification information in the ranging list. At the same time, the mobile device can add and delete the identification information of the base stations in the ranging list according to specific conditions, which can improve the accuracy of communication, prevent invalid communication, and save communication resources.

[0178] Furthermore, as Figures 1 to 8 The specific implementation of the method shown in this embodiment provides a ranging device, such as... Figure 9 As shown, the device includes: a data receiving module 61 and a data transmitting module 62, wherein:

[0179] The data receiving module 61 is used to receive broadcast data frames sent by the base station, wherein the broadcast data frames carry the identification information of the base station;

[0180] The data transmission module 62 is used to send ranging data frames carrying anonymous identifiers to the base station;

[0181] The data receiving module 61 is also used to receive the reply data frame sent by the base station, wherein the reply data frame carries the base station's identification information, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the reply data frame.

[0182] In a specific application scenario, the data sending module 62 is specifically used to generate random numbers and add the random numbers to the ranging data frame and send them to the base station.

[0183] In specific application scenarios, the data sending module 62 is further configured to send ranging data frames carrying anonymous identifiers to at least one base station and record the timestamp information of each ranging data frame sent by the current device; the data receiving module 61 is further configured to receive reply data frames sent by at least one base station and record the timestamp information of each reply data frame received by the current device.

[0184] In specific application scenarios, such as Figure 10 As shown, the device further includes a data processing module 63, used to obtain the distance information between the current device and the base station based on the ranging data frame and the response data frame using the TOF ranging algorithm.

[0185] In specific application scenarios, the data processing module 63 is specifically used to obtain the distance information between the current device and the base station based on the difference between the timestamp information of the current device receiving the reply data frame and the timestamp information of the current device sending the ranging data frame, and the difference between the timestamp information of the base station sending the reply data frame and the timestamp information of the base station receiving the ranging data frame.

[0186] In specific application scenarios, the broadcast data frame also carries the location information of the base station; then the data processing module 63 is also used to obtain the location information of the current device based on the location information of at least three base stations and the distance information between the current device and at least three base stations.

[0187] In specific application scenarios, the data processing module 63 is further used to obtain the location information of at least three base stations that sent the reply data frames based on the base station identification information carried in at least three reply data frames and the base station identification information carried in at least three broadcast data frames; and to obtain the location information of the current device by using triangulation based on the location information of at least three base stations and the distance information between the current device and at least three base stations.

[0188] In specific application scenarios, such as Figure 10 As shown, the device further includes: a display module 64, used to display the distance information between the current device and the base station; the display module 64 is also used to display the location information of the current device.

[0189] In specific application scenarios, such as Figure 10 As shown, the device further includes a data judgment module 65, used to determine whether the base station identification information carried in the broadcast data frame is in the ranging list; if the base station identification information carried in the broadcast data frame is not in the ranging list, the base station identification information carried in the broadcast data frame is added to the ranging list.

[0190] In specific application scenarios, the data judgment module 65 is also used to sequentially determine whether the identification information of each base station in the ranging list is in the broadcast data frame received within the first preset time period; if the identification information of the base station in the ranging list is not in the broadcast data frame received within the first preset time period, the identification information of the base station is deleted from the ranging list.

[0191] In specific application scenarios, the data sending module 62 is further used to send ranging data frames carrying anonymous identifiers to base stations in the ranging list, and record the timestamp information of each ranging data frame sent by the current device; the data receiving module 61 is further used to receive reply data frames sent by base stations, and record the timestamp information of each reply data frame received by the current device.

[0192] In specific application scenarios, the data judgment module 65 is also used to sequentially judge whether the identification information of each base station in the ranging list is in the reply data frame received within the second preset time period; if the identification information of the base station in the ranging list is not in the reply data frame received within the second preset time period, the identification information of the base station is deleted from the ranging list.

[0193] It should be noted that other corresponding descriptions of the functional units involved in the ranging device provided in this embodiment can be found in [reference needed]. Figure 1 , Figure 2 The corresponding description in [the document] will not be repeated here.

[0194] Furthermore, as Figures 1 to 8 The specific implementation of the method shown in this embodiment provides a ranging device, such as... Figure 11 As shown, the device includes: a data delivery module 71, a data receiving module 72, and a data sending module 73, wherein:

[0195] The data delivery module 71 is used to periodically deliver broadcast data frames, wherein the periodically delivered broadcast data frames carry the identification information and location information of the current base station;

[0196] The data receiving module 72 is used to receive ranging data frames carrying anonymous identifiers sent by the mobile device;

[0197] The data transmission module 73 is used to send a reply data frame to the mobile device. The reply data frame carries the identification information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the reply data frame.

[0198] In specific application scenarios, the data transmission module 71 is specifically used to periodically transmit broadcast data frames through WIFI communication channels and / or Bluetooth communication channels and / or UWB communication channels.

[0199] In a specific application scenario, the data receiving module 72 is specifically used to receive ranging data frames carrying anonymous identifiers sent by the mobile device, and record the timestamp information of the current base station receiving the ranging data frames; the data sending module 73 is specifically used to send a first reply data frame to the mobile device, and record the timestamp information of the current base station sending the first reply data frame, wherein the first reply data frame carries the identifier information of the current base station; the data sending module 73 is also specifically used to send a second reply data frame to the mobile device, wherein the second reply data frame carries the identifier information of the current base station, the timestamp information of the current base station receiving the ranging data frames, and the timestamp information of the current base station sending the first reply data frame.

[0200] It should be noted that other corresponding descriptions of the functional units involved in the ranging device provided in this embodiment can be found in [reference needed]. Figure 1 , Figure 2 The corresponding description in [the document] will not be repeated here.

[0201] In one embodiment, such as Figure 1 and Figure 2 As shown, a ranging system is also provided, which includes at least one base station 101 and a mobile device 102. The base station 101 is equipped with a ranging module, and the mobile device 102 is equipped with a ranging module and a positioning calculation module.

[0202] The base station 101 is used to periodically send broadcast data frames, wherein the periodically sent broadcast data frames carry the base station's identification information and the base station's location information.

[0203] The mobile device 102 is used to receive broadcast data frames periodically sent by the base station and send ranging data frames carrying an anonymous identifier to the base station.

[0204] The base station 101 is also used to receive ranging data frames carrying anonymous identifiers sent by mobile devices, and to send reply data frames to mobile devices. The reply data frames carry the base station's identifier information, the timestamp information of the base station receiving the ranging data frames, and the timestamp information of the base station sending the reply data frames.

[0205] The mobile device 102 is also used to receive reply data frames sent by the base station.

[0206] In specific application scenarios, the distance between two adjacent base stations in at least one base station 101 is 15m to 20m.

[0207] In specific application scenarios, the ranging module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit.

[0208] It should be noted that other corresponding descriptions of the functional units involved in the ranging device provided in this embodiment can be found in [reference needed]. Figures 1 to 8 The corresponding description in [the document] will not be repeated here.

[0209] Based on the above, Figures 3-8 Accordingly, this embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the above-described method. Figures 1 to 8 The distance measurement method shown.

[0210] Based on this understanding, the technical solution of this application can be embodied in the form of a software product. The software product to be identified can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive), including several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods described in the various implementation scenarios of this application.

[0211] Based on the above, Figures 3-8 The method shown, and Figures 9-11 To achieve the above objectives, the illustrated ranging device embodiment also provides a physical ranging device, which can be a personal computer, server, smartphone, tablet computer, smartwatch, or other network device, etc. This physical device includes a storage medium and a processor; the storage medium stores a computer program; the processor executes the computer program to achieve the above-described objectives. Figures 3-8 The method shown.

[0212] Optionally, the physical device may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, etc. The user interface may include a display screen, input units such as a keyboard, etc., and optional user interfaces may also include USB interfaces, card reader interfaces, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.

[0213] Those skilled in the art will understand that the physical device structure for ranging provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0214] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the aforementioned physical device, supporting the operation of information processing programs and other software and / or programs to be identified. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0215] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platform, or it can be implemented by hardware.

[0216] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Those skilled in the art will understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be modified to be located in one or more apparatuses different from this embodiment. The modules of the above-described embodiment can be combined into one module, or further divided into multiple sub-modules.

[0217] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of any particular implementation scenario. The above disclosures are merely a few specific implementation scenarios of this application; however, this application is not limited thereto, and any variations conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A ranging method applied in a mobile device, characterized in that, The method includes: Receive broadcast data frames sent by the base station, wherein the broadcast data frames carry the identification information of the base station; Sending a ranging data frame carrying an anonymous identifier to the base station and receiving a response data frame sent by the base station, wherein the response data frame carries the identification information of the base station, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the response data frame; sending the ranging data frame carrying an anonymous identifier to the base station includes: generating a random number and adding the random number to the ranging data frame and sending it to the base station; Based on the ranging data frame and the response data frame, the distance information between the current device and the base station is obtained through the TOF ranging algorithm.

2. The method according to claim 1, characterized in that, The step of sending a ranging data frame carrying an anonymous identifier to the base station and receiving a reply data frame sent by the base station includes: Send ranging data frames carrying anonymous identifiers to at least one base station, and record the timestamp information of each ranging data frame sent by the current device; The device receives response data frames from at least one base station and records the timestamp information of each response data frame received by the current device.

3. The method according to claim 1, characterized in that, The step of obtaining the distance information between the current device and the base station based on the ranging data frame and the response data frame using the TOF ranging algorithm includes: The distance information between the current device and the base station is obtained based on the difference between the timestamp information of the current device receiving the reply data frame and the timestamp information of the current device sending the ranging data frame, and the difference between the timestamp information of the base station sending the reply data frame and the timestamp information of the base station receiving the ranging data frame.

4. The method according to claim 1, characterized in that, The broadcast data frame also carries the location information of the base station; therefore, the method further includes: The location information of the current device is obtained based on the location information of at least three base stations and the distance information between the current device and the at least three base stations.

5. The method according to claim 4, characterized in that, The step of obtaining the location information of the current device based on the location information of at least three base stations and the distance information between the current device and the at least three base stations includes: Based on the base station identification information carried in at least three of the reply data frames and the base station identification information carried in at least three of the broadcast data frames, the location information of at least three base stations that sent the reply data frames is obtained. Based on the location information of the at least three base stations and the distance information between the current device and the at least three base stations, the location information of the current device is obtained by triangulation.

6. The method according to claim 1 or 4, characterized in that, The method further includes: Displays the distance information between the current device and the base station. And / or display the location information of the current device.

7. The method according to claim 1, characterized in that, After receiving the broadcast data frame sent by the base station, the method further includes: Determine whether the base station identification information carried in the broadcast data frame is in the ranging list; If the base station identification information carried in the broadcast data frame is not in the ranging list, the base station identification information carried in the broadcast data frame is added to the ranging list.

8. The method according to claim 7, characterized in that, The method further includes: Sequentially determine whether the identification information of each base station in the ranging list is in the broadcast data frames received within the first preset time period; If the identification information of a base station in the ranging list is not in the broadcast data frames received within the first preset time period, then the identification information of the base station will be deleted from the ranging list.

9. The method according to claim 8, characterized in that, The step of sending a ranging data frame carrying an anonymous identifier to the base station and receiving a reply data frame sent by the base station includes: Send ranging data frames carrying anonymous identifiers to base stations in the ranging list, and record the timestamp information of each ranging data frame sent by the current device; The device receives response data frames sent by the base station and records the timestamp information of each response data frame received by the current device.

10. The method according to claim 9, characterized in that, The method further includes: Sequentially determine whether the identification information of each base station in the ranging list is in the response data frame received within the second preset time period; If the identification information of a base station in the ranging list is not in the response data frame received within the second preset time period, then the identification information of the base station will be deleted from the ranging list.

11. A ranging method applied in a base station, characterized in that, The method includes: Broadcast data frames are periodically sent out, wherein the periodically sent broadcast data frames carry the identification information of the current base station and the location information of the current base station; The system receives a ranging data frame carrying an anonymous identifier sent by a mobile device and sends a response data frame to the mobile device, so that the mobile device can obtain the distance information between the current device and the base station based on the ranging data frame and the response data frame using a Time-of-Flight (TOF) ranging algorithm. The response data frame carries the identifier information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the response data frame. Receiving the ranging data frame carrying the anonymous identifier sent by the mobile device includes receiving the ranging data frame sent by the mobile device with an added random number, the random number being generated by the mobile device.

12. The method according to claim 11, characterized in that, The periodic transmission of broadcast data frames includes: Broadcast data frames are periodically sent through WIFI communication channels and / or Bluetooth communication channels and / or UWB communication channels.

13. The method according to claim 11, characterized in that, The process of receiving a ranging data frame carrying an anonymous identifier sent by a mobile device and sending a reply data frame to the mobile device includes: Receive ranging data frames carrying anonymous identifiers sent by mobile devices, and record the timestamp information of the current base station receiving the ranging data frames; Send a first response data frame to the mobile device and record the timestamp information of the first response data frame sent by the current base station, wherein the first response data frame carries the identification information of the current base station; A second response data frame is sent to the mobile device, wherein the second response data frame carries the identification information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the first response data frame.

14. A ranging device, installed in a mobile device, characterized in that, The device includes: A data receiving module is used to receive broadcast data frames sent by a base station, wherein the broadcast data frames carry the identification information of the base station; A data transmission module is used to send a ranging data frame carrying an anonymous identifier to the base station, including: generating a random number and adding the random number to the ranging data frame and sending it to the base station; The data receiving module is further configured to receive a response data frame sent by the base station, wherein the response data frame carries the identification information of the base station, the timestamp information of the base station receiving the ranging data frame, and the timestamp information of the base station sending the response data frame; The data processing module is used to obtain the distance information between the current device and the base station based on the ranging data frame and the response data frame using the TOF ranging algorithm.

15. The apparatus according to claim 14, characterized in that, The data transmission module is further configured to send ranging data frames carrying anonymous identifiers to at least one base station, and record the timestamp information of each ranging data frame sent by the current device. The data receiving module is further configured to receive response data frames sent by at least one base station, and record the timestamp information of each response data frame received by the current device.

16. The apparatus according to claim 14, characterized in that, The data processing module is specifically used to obtain the distance information between the current device and the base station based on the difference between the timestamp information of the current device receiving the reply data frame and the timestamp information of the current device sending the ranging data frame, and the difference between the timestamp information of the base station sending the reply data frame and the timestamp information of the base station receiving the ranging data frame.

17. The apparatus according to claim 14, characterized in that, The broadcast data frame also carries the location information of the base station; The data processing module is further configured to obtain the location information of the current device based on the location information of at least three base stations and the distance information between the current device and the at least three base stations.

18. The apparatus according to claim 17, characterized in that, The data processing module is further configured to obtain the location information of at least three base stations that sent the reply data frames based on the base station identification information carried in at least three reply data frames and the base station identification information carried in at least three broadcast data frames. Based on the location information of the at least three base stations and the distance information between the current device and the at least three base stations, the location information of the current device is obtained by triangulation.

19. The apparatus according to claim 14 or 17, characterized in that, The device further includes: The display module is used to display the distance information between the current device and the base station; The display module is also used to display the location information of the current device.

20. The apparatus according to claim 14, characterized in that, The device further includes: The data judgment module is used to determine whether the base station identification information carried in the broadcast data frame is in the ranging list; If the base station identification information carried in the broadcast data frame is not in the ranging list, the base station identification information carried in the broadcast data frame is added to the ranging list.

21. The apparatus according to claim 20, characterized in that, The data judgment module is also used to sequentially determine whether the identification information of each base station in the ranging list is in the broadcast data frame received within the first preset time period; If the identification information of a base station in the ranging list is not in the broadcast data frames received within the first preset time period, then the identification information of the base station will be deleted from the ranging list.

22. The apparatus according to claim 21, characterized in that, The data transmission module is further configured to send ranging data frames carrying anonymous identifiers to base stations in the ranging list, and record the timestamp information of each ranging data frame sent by the current device. The data receiving module is further configured to receive the response data frames sent by the base station and record the timestamp information of each response data frame received by the current device.

23. The apparatus according to claim 22, characterized in that, The data judgment module is also used to sequentially judge whether the identification information of each base station in the ranging list is in the reply data frame received within the second preset time period; If the identification information of a base station in the ranging list is not in the response data frame received within the second preset time period, then the identification information of the base station will be deleted from the ranging list.

24. A ranging device, installed in a base station, characterized in that, The device includes: The data delivery module is used to periodically deliver broadcast data frames, wherein the periodically delivered broadcast data frames carry the identification information of the current base station and the location information of the current base station; The data receiving module is used to receive ranging data frames carrying anonymous identifiers sent by a mobile device, specifically including: receiving the ranging data frames with added random numbers sent by the mobile device, wherein the random numbers are generated by the mobile device; The data transmission module is used to send a response data frame to the mobile device, so that the mobile device can obtain the distance information between the current device and the base station based on the ranging data frame and the response data frame using the TOF ranging algorithm. The response data frame carries the identification information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the response data frame.

25. The apparatus according to claim 24, characterized in that, The data transmission module is specifically used to periodically transmit broadcast data frames through WIFI communication channels and / or Bluetooth communication channels and / or UWB communication channels.

26. The apparatus according to claim 24, characterized in that, The data receiving module is specifically used to receive ranging data frames carrying anonymous identifiers sent by mobile devices, and to record the timestamp information of the current base station receiving the ranging data frames. The data sending module is specifically used to send a first response data frame to the mobile device and record the timestamp information of the first response data frame sent by the current base station, wherein the first response data frame carries the identification information of the current base station; The data sending module is further configured to send a second response data frame to the mobile device, wherein the second response data frame carries the identification information of the current base station, the timestamp information of the current base station receiving the ranging data frame, and the timestamp information of the current base station sending the first response data frame.

27. A ranging system, characterized in that, The system includes at least one base station and a mobile device. The base station is equipped with a ranging module, and the mobile device is equipped with a ranging module and a positioning calculation module. The base station is used to periodically send broadcast data frames, wherein the periodically sent broadcast data frames carry the identification information and location information of the base station. The mobile device is used to receive broadcast data frames periodically sent by the base station and send ranging data frames carrying an anonymous identifier to the base station. Specifically, it includes generating a random number and adding the random number to the ranging data frame and sending it to the base station. The base station is also configured to receive ranging data frames carrying anonymous identifiers sent by the mobile device, and send reply data frames to the mobile device, wherein the reply data frames carry the identification information of the base station, the timestamp information of the base station receiving the ranging data frames, and the timestamp information of the base station sending the reply data frames. The mobile device is also configured to receive a response data frame sent by the base station, and obtain the distance information between the current device and the base station based on the ranging data frame and the response data frame using a TOF ranging algorithm.

28. The system according to claim 27, characterized in that, The distance between two adjacent base stations in the at least one base station is 15m to 20m.

29. The system according to claim 27, characterized in that, The ranging module includes a clock unit, a data sending unit, a data receiving unit, a data processing unit, and a data storage unit.

30. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

31. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

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