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

Abstract

The present application discloses a ranging method, a ranging device, a terminal system and a computer-readable storage medium. The ranging method includes: using a first communication technology to transmit a first check code from a transmitting end to a receiving end; using a second communication technology to transmit a modulated signal from a transmitting end to a receiving end, the modulated signal carries a second check code, and the first communication technology is different from the second communication technology; obtaining a first moment when the transmitting end transmits the modulated signal and a second moment when the receiving end receives the modulated signal; demodulating the second check code in the modulated signal; obtaining a ranging confidence according to the first check code and the demodulated second check code; obtaining a measured distance between the transmitting end and the receiving end according to the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence. The ranging method of the present application has a higher measurement frequency than the reflection ranging method when measuring the same distance, and can combine the ranging confidence to ensure that the obtained measured distance is accurate and reliable.

Description

Technical Field

[0001] The present application relates to the field of ranging, and more specifically, to a ranging method, a ranging device, a terminal system and a non-volatile computer-readable storage medium. Background Art

[0002] At present, most ranging methods are based on integrated transceiver modules, that is, after the detection signal is sent, the signal reflected by the object is detected, and the time taken for the signal to travel back and forth is calculated based on the time difference between the sending and receiving signals, thereby realizing the ranging function. Since the signal after reflection is greatly affected by the reflective material, it is often difficult to accurately identify the received signal, especially when the transmission angle of the detection signal is too large, the transmission signal is too diffuse, which will cause the power to decay faster with increasing distance, the range is too small, and it is difficult to distinguish from the interference signal. In addition, this reflection-based ranging method, since the detection signal needs to travel back and forth between the transmitter and the object being measured, the measurement frequency will decrease significantly as the measurement distance increases. Summary of the invention

[0003] Embodiments of the present application provide a ranging method, a ranging device, a terminal system, and a non-volatile computer-readable storage medium.

[0004] The ranging method of the embodiment of the present application includes: using a first communication technology to transmit a first check code from a transmitting end to a receiving end; using a second communication technology to transmit a modulated signal from the transmitting end to the receiving end, the modulated signal carrying a second check code, and the first communication technology is different from the second communication technology; obtaining a first time when the transmitting end transmits the modulated signal and a second time when the receiving end receives the modulated signal; demodulating the second check code in the modulated signal; obtaining a ranging confidence based on the first check code and the demodulated second check code; and obtaining a measured distance between the transmitting end and the receiving end based on the first time, the second time, the transmission speed of the modulated signal, and the ranging confidence.

[0005] The ranging device of the embodiment of the present application includes a transmitting module, an acquisition module, a demodulation module, a confidence module, and a calculation module. The transmitting module is used to transmit a first check code from a transmitting end to a receiving end using a first communication technology. The transmitting module is also used to transmit a modulated signal from the transmitting end to the receiving end using the second communication technology, and the modulated signal carries a second check code, and the first communication technology is different from the second communication technology. The acquisition module is used to obtain the first moment when the transmitting end transmits the modulated signal and the second moment when the receiving end receives the modulated signal; the demodulation module is used to demodulate the second check code in the modulated signal. The confidence module is used to obtain the ranging confidence according to the first check code and the demodulated second check code. The calculation module is used to obtain the measured distance between the transmitting end and the receiving end according to the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence.

[0006] The terminal system of the embodiment of the present application includes a transmitter, a receiver, one or more processors, a memory and one or more programs. One or more of the programs are stored in the memory and executed by one or more of the processors, and the program includes instructions for executing the following: using a first communication technology to transmit a first check code from the transmitter to the receiver; using the second communication technology to transmit a modulated signal from the transmitter to the receiver, the modulated signal carries a second check code, and the first communication technology is different from the second communication technology; obtaining the first moment when the transmitter transmits the modulated signal and the second moment when the receiver receives the modulated signal; demodulating the second check code in the modulated signal; obtaining ranging confidence according to the first check code and the demodulated second check code; obtaining the measured distance between the transmitter and the receiver according to the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence.

[0007] The non-volatile computer-readable storage medium of the embodiment of the present application includes a computer program. When the computer program is executed by one or more processors, the one or more processors implement the following ranging method: using a first communication technology to transmit a first check code from a transmitting end to a receiving end; using the second communication technology to transmit a modulated signal from the transmitting end to the receiving end, the modulated signal carrying a second check code, and the first communication technology is different from the second communication technology; obtaining a first time when the transmitting end transmits the modulated signal and a second time when the receiving end receives the modulated signal; demodulating the second check code in the modulated signal; obtaining a ranging confidence based on the first check code and the demodulated second check code; and obtaining a measured distance between the transmitting end and the receiving end based on the first time, the second time, the transmission speed of the modulated signal, and the ranging confidence.

[0008] In the ranging method, ranging device, terminal system and non-volatile computer-readable storage medium of the embodiments of the present application, the modulated signal can obtain the measured distance between the transmitter and the receiver without returning to the transmitter. When measuring the same distance, it has a higher measurement frequency than the reflection ranging method, and can obtain more measurement data in the same time, and it is easier to identify error data, interference data, abnormal data and other data with low reliability in the measurement data.

[0009] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0011] Figure 1 is a flow chart of a distance measurement method in some embodiments of the present application;

[0012] Figure 2 is a schematic diagram of the structure of a terminal system of certain implementation modes of the present application;

[0013] Figure 3 is a schematic diagram of the structure of a distance measuring device in some embodiments of the present application;

[0014] Figure 4 is a schematic diagram of an event-time axis of a distance measurement method according to certain embodiments of the present application;

[0015] Figure 5 is a flow chart of a distance measurement method in some embodiments of the present application;

[0016] Figure 6 is a flow chart of a distance measurement method in some embodiments of the present application;

[0017] Figure 7 is a flow chart of a distance measurement method in some embodiments of the present application;

[0018] Figure 8 is a flow chart of a distance measurement method in some embodiments of the present application;

[0019] Fig. 9 is a schematic diagram of an event-timeline of a ranging method according to certain embodiments of the present application;

[0020] Fig.10 is a schematic diagram of an event-timeline of a ranging method according to certain embodiments of the present application;

[0021] Fig.11 is a schematic diagram of a calibration table of a distance measurement method in certain embodiments of the present application;

[0022] Fig.12 is a flow chart of a distance measurement method in some embodiments of the present application;

[0023] Fig.13 is a flow chart of a distance measurement method in some embodiments of the present application;

[0024] Fig.14 is a flow chart of a distance measurement method in some embodiments of the present application;

[0025] Fig.15 It is a schematic diagram of the connection status of a computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0027] See also Figures 1 to 3 , the present application embodiment provides a distance measurement method. The distance measurement method includes:

[0028] 01: using the first communication technology to transmit a first check code from the transmitting end 100 to the receiving end 200;

[0029] 02: a modulated signal is transmitted from the transmitting end 100 to the receiving end 200 using the second communication technology, the modulated signal carries a second check code, and the first communication technology is different from the second communication technology;

[0030] 03: Obtaining a first moment when the transmitting end 100 transmits a modulated signal and a second moment when the receiving end 200 receives the modulated signal;

[0031] 04: Demodulate the second check code in the modulated signal;

[0032] 05: Obtain ranging confidence according to the first check code and the demodulated second check code; and

[0033] 06: Obtain the measured distance between the transmitting end 100 and the receiving end 200 according to the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence.

[0034] See also Figure 2 The embodiment of the present application also provides a terminal system 1000, which includes a transmitter 100, a receiver 200, one or more processors 30, a memory 20, and one or more programs. The transmitter 100 can transmit a first check code to the receiver 200, and transmit a modulated signal to the receiver 200, so as to obtain a measured distance between the transmitter 100 and the receiver 200. In one embodiment, the transmitter 100 and the receiver 200 can be a remote control device and a movable platform, respectively. For example, the transmitter 100 is a remote control, and the receiver 200 is a drone, an unmanned vehicle, an intelligent robot, etc., which are not listed here one by one. In another embodiment, the transmitting end 100 and the receiving end 200 may be a signal station and a movable platform, respectively, for example, the transmitting end 100 is a base station and the receiving end 200 is a drone; for another example, the transmitting end 100 is a charging station for a sweeping robot and the receiving end 200 is a sweeping robot; for another example, the transmitting end 100 is a parking space navigator in a parking lot and the receiving end 200 is a vehicle; in another embodiment, the transmitting end 100 and the receiving end 200 may be an electronic device and a beacon, respectively, for example, the transmitting end 100 is an electronic device such as a mobile phone, a camera, a smart watch, a head-mounted display device, and the receiving end 200 is a calibration board. In summary of the above embodiments, the transmitting end 100 may be a fixed object or a movable object, and the receiving end 200 may also be a fixed object or a movable object. In the above embodiment, the object used as the transmitting end 100 can also be used as the receiving end 200, and the object used as the receiving end 200 can also be used as the transmitting end 100. For example, in one embodiment, the transmitting end 100 is a drone, an unmanned vehicle, an intelligent robot, etc., and the receiving end 200 is a remote controller, or a receiving device of the above drone, unmanned vehicle, or intelligent robot, and the receiving device is used to provide supplies, inspection, maintenance, etc. to the drone, unmanned vehicle, or intelligent robot. It should be noted that the types of the transmitting end 100 and the receiving end 200 of the embodiment of the present application are not limited to the types listed in the above embodiment, and are not limited here.

[0035] The processor 30 may be disposed at the transmitting end 100, or the processor 30 may be disposed at the receiving end 200, or both the transmitting end 100 and the receiving end 200 may be provided with the processor 30, which is not limited herein. One or more programs are stored in the memory 20 and executed by one or more processors 30. The program includes instructions for executing the above-mentioned ranging methods 01, 02, 03, 04, 05 and 06. The processor 30 may be used to execute the methods in 01, 02, 03, 04, 05 and 06. That is, the processor 30 can be used to: use the first communication technology to transmit a first check code from the transmitting end 100 to the receiving end 200; use the second communication technology to transmit a modulated signal from the transmitting end 100 to the receiving end 200, and the modulated signal carries a second check code; obtain a first moment when the transmitting end 100 transmits the modulated signal and a second moment when the receiving end 200 receives the modulated signal; demodulate the second check code in the modulated signal; obtain a ranging confidence based on the first check code and the demodulated second check code; and obtain a measured distance between the transmitting end 100 and the receiving end 200 based on the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence.

[0036] See also Figure 3 The embodiment of the present application further provides a distance measuring device 10, which can be applied to the terminal system 1000. The distance measuring device 10 includes a transmitting module 11, an acquisition module 13, a demodulation module 14, a confidence module 15, and a calculation module 16. The transmitting module 11 can be used to execute the methods in 01 and 02, the acquisition module 13 can be used to execute the method in 03, the demodulation module 14 can be used to execute the method in 04, the confidence module 15 can be used to execute the method in 05, and the calculation module 16 can be used to execute the method in 06. That is, the transmitting module 11 can be used to transmit a first check code from the transmitting end 100 to the receiving end 200 using a first communication technology; the transmitting module 11 can also be used to transmit a modulated signal from the transmitting end 100 to the receiving end 200 using a second communication technology, and the modulated signal carries a second check code; the acquisition module 13 can be used to obtain a first moment when the transmitting end 100 transmits the modulated signal and a second moment when the receiving end 200 receives the modulated signal; the demodulation module 14 can be used to demodulate the second check code in the modulated signal; the confidence module 15 can be used to obtain the ranging confidence based on the first check code and the demodulated second check code; the calculation module 16 can be used to obtain the measured distance between the transmitting end 100 and the receiving end 200 based on the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence.

[0037] In the ranging method, ranging device 10, and ranging system of the embodiment of the present application, the modulated signal can obtain the measured distance between the transmitting end 100 and the receiving end 200 without returning to the transmitting end 100. When measuring the same distance, it has a higher measurement frequency than the reflection ranging method, and can obtain more measurement data in the same time, and it is easier to identify the error data, interference data, abnormal data, and other data with low reliability in the measurement data. The ranging method, ranging device 10, and ranging system of the embodiment of the present application obtain the ranging confidence according to the first check code and the second check code during ranging, so that the reliability of the measured distance can be evaluated according to the ranging confidence, which is convenient for the user to determine whether to retain the measured distance as the ranging result; the measured distance can also be obtained based on the ranging confidence. Since the ranging confidence can evaluate the reliability of the measurement data, the measurement distance obtained based on the ranging confidence can filter out some measurement data with low reliability, so that the obtained measurement distance has a higher reliability.

[0038] The following is a further description with reference to the accompanying drawings.

[0039] See also Figure 1 , 01: using the first communication technology to transmit the first check code from the transmitting end 100 to the receiving end 200; 02: using the second communication technology to transmit a modulated signal from the transmitting end 100 to the receiving end 200, the modulated signal carries the second check code, and the first communication technology is different from the second communication technology.

[0040] The types of the first check code and the second check code may be a parity check code, a Hamming check code, a cyclic redundancy check code, an MD5 (Message-Digest Algorithm 5, MD5) check code, etc., which are not limited here. In some embodiments, the ranging method further includes modulating the second check code onto a signal of the second communication technology according to a predetermined signal modulation method to obtain a modulated signal. For example, the second communication technology is an acoustic wave communication technology, and the second check code may be modulated onto an acoustic wave signal to obtain a modulated signal.

[0041] Among them, the first communication technology and the second communication technology are different communication technologies. Specifically, the first communication technology is used for communication interaction between the transmitting end 100 and the receiving end 200, and the demand for the first communication technology is to ensure the timeliness and stability of signal transmission. Based on the demand for the first communication technology, the first communication technology can be a wired communication technology such as optical fiber communication, hardware cable communication (electrical connection communication), etc., which is not limited here. Wired communication technology has the advantages of fast transmission, low latency and good stability; the first communication technology can also be a wireless communication technology such as radio frequency communication, microwave communication (such as satellite communication), and optical wave communication, which is not limited here. Some wireless communication technologies including the above-mentioned technologies can also meet high timeliness and stability, and have the advantage of not being restricted by wired connections. The second communication technology is used to transmit a modulated signal, so as to calculate the straight-line distance d between the transmitting end 100 and the receiving end 200 according to the time it takes for the modulated signal to be transmitted from the transmitting end 100 to be received by the receiving end 200, that is, the flight time t, combined with the flight transmission speed v of the modulated signal. Specifically, the measured distance d between the transmitting end 100 and the receiving end 200 is calculated according to the formula: d=vt. Therefore, the second communication technology can adopt wireless communication technology, such as sound wave communication technology, light wave communication technology, etc., so as to be able to transmit a modulated signal along a straight path (a straight line from a macroscopic perspective) between the transmitting end 100 and the receiving end 200, thereby calculating the measured distance d based on the flight time t of the modulated signal.

[0042] Further, in some embodiments, the delay of transmitting a signal using the first communication technology is less than the delay of transmitting a signal using the second communication technology, so as to ensure that even when the transmitting end 100 simultaneously transmits the first check code using the first communication technology and transmits the modulated signal using the second communication technology, the receiving end 200 can first receive the first check code and then receive the modulated signal (here, after the first check code is transmitted, a delay of a period of time t should be no less than the maximum delay of the first communication technology). For example, the first communication technology is light wave communication, and the second communication technology is sound wave communication technology. Obviously, the speed of light is greater than the speed of sound. At this time, the delay of transmitting a signal using the first communication technology is less than the delay of transmitting a signal using the second communication technology. If the first communication technology is simultaneously used to transmit the first check code and the second communication technology is used to transmit the modulated signal, the receiving end 200 will inevitably receive the first check code first and then receive the modulated signal.

[0043] Further, in some embodiments, after the first check code is transmitted, the second check code is transmitted after a delay of a period of time tx. The time tx is greater than or equal to the maximum delay of the first communication technology, so as to ensure that the receiving end 200 can receive the first check code first and then receive the modulated signal. In this way, regardless of whether the delay of transmitting the signal using the first communication technology is less than the delay of transmitting the signal using the second communication technology, as long as the maximum delay of the first communication technology is known, it can be ensured that the receiving end 200 can receive the first check code first and then receive the modulated signal.

[0044] In some implementations, the delay of the signal transmitted by the first communication technology and the delay of the signal transmitted by the second communication technology are extremely small and can be ignored. Therefore, the modulation signal can be transmitted by the second communication technology while the first verification code is transmitted by the first communication technology, and the transmission time and arrival time of the first verification code are used as the transmission time and arrival time of the modulation signal.

[0045] In some implementations, the modulated signal is transmitted from the transmitting end 100 after being amplified, so that the transmitted modulated signal has a larger power, thereby preventing the modulated signal from being attenuated before reaching the receiving end 200 .

[0046] See also Figure 1 and Figure 4 , 03: Obtain the first moment when the transmitting end 100 transmits the modulated signal and the second moment when the receiving end 200 receives the modulated signal. Figure 4 As shown, the flight time t can be determined based on the first time t1 and the second time t2.

[0047] The flight time t is the difference between the first time t1 when the transmitting end 100 transmits the modulated signal and the second time t2 when the receiving end 200 receives the modulated signal, that is, t=t2-t1.

[0048] In the reflection-type ranging method, the transmitting end 100 is also the receiving end 200, so the same device can record the time when the ranging signal is transmitted from the device and the time when the ranging signal is received by the device.

[0049] In the ranging method of the embodiment of the present application, the second communication technology is not used for the communication interaction between the transmitter 100 and the receiver 200, so the receiver 200 cannot directly obtain the first time t1 when the transmitter 100 transmits the modulated signal using the second communication technology. Figure 4, the ranging method of the embodiment of the present application enables the receiving end 200 to receive the first check code and the transmitting end 100 to transmit the modulated signal to occur simultaneously at the first time t1, so as to determine the first time t1 at which the transmitting end 100 transmits the modulated signal according to the time at which the receiving end 200 receives the first check code. Specifically, after transmitting the first check code, the transmitting end 100 waits for the transmission delay △t of the first check code and then transmits the modulated signal, so that the time at which the receiving end 200 receives the first check code is the same as the time at which the transmitting end 100 transmits the modulated signal. Among them, the transmission delay △t of the first check code is the time from the transmitting end 100 transmitting the first check code to the receiving end 200 receiving the first check code.

[0050] Specifically, see Figure 5 and Figure 6 In some embodiments, the transmission delay Δt of the first check code is a fixed known quantity, that is, Δt=c, where c is a constant that is not 0. The ranging method further includes 07: obtaining the transmission delay of the first check code. 02: transmitting a modulated signal from the transmitting end 100 to the receiving end 200, including:

[0051] 021: After the transmitter 100 transmits the modulated signal, the modulated signal is transmitted from the transmitter 100 to the receiver 200 after a transmission delay.

[0052] See also Figure 2 In some embodiments, the program further includes instructions for executing the above-mentioned ranging methods 07 and 021. The processor 30 may also be used to execute the methods in 07 and 021. That is, the processor 30 may also be used to: after the transmitting end 100 transmits the modulated signal, transmit the modulated signal from the transmitting end 100 to the receiving end 200 after a transmission delay.

[0053] See also Figure 3 In some implementations, the acquisition module 13 can also be used to execute the method in 07, and the transmission module 12 can also be used to execute the method in 021. That is, the acquisition module 13 can also be used to: obtain the transmission delay of transmitting the first check code. The transmission module 12 can also be used to: after the transmitting end 100 transmits the modulated signal, after the transmission delay, the modulated signal is transmitted from the transmitting end 100 to the receiving end 200.

[0054] Please combine Figure 1 , Figure 4 and Figure 5In one embodiment, the transmission delay △t of the first verification code may be known information pre-entered into the receiving end 200, and method 07 is performed before method 01: using the first communication technology to transmit the first verification code from the transmitting end 100 to the receiving end 200. In another embodiment, the transmission delay △t may also be information transmitted together with the transmitting end 100 when transmitting the first verification code, and method 07 is performed simultaneously with method 01.

[0055] Specifically, see Figure 4 In one embodiment, at the zeroth moment t0, the transmitting end 100 uses the first communication technology to transmit the first check code; after the transmission delay △t, at the first moment t1, the transmitting end 100 uses the second communication technology to transmit the modulated signal, and the receiving end 200 receives the first check code and records the timestamp T1 of receiving the first check code. At the second moment t2, the receiving end 200 receives the modulated signal and records the timestamp T2 of receiving the modulated signal. Among them, the time recorded by the timestamp T1 is the first moment t1, and the time recorded by the timestamp T2 is the second moment t2. When the receiving end 200 has obtained the moment t1 and the second moment t2, the flight time t can be calculated according to t=t2-t1.

[0056] In some embodiments, the transmission delay △t of the first check code is very small, that is, △t≈0, and the transmission delay △t can be ignored when calculating the flight time t, that is, the transmission of the first check code by the transmitting end 100 and the reception of the first check code by the receiving end 200 occur almost simultaneously. In this case, in order to make the moment when the receiving end 200 receives the first check code and the moment when the transmitting end 100 transmits the modulated signal the same time, it is necessary to transmit the modulated signal to the receiving end 200 at the same time as the transmitting end 100 transmits the first check code.

[0057] Specifically, see Figure 7 , 02: transmitting a modulated signal from the transmitting end 100 to the receiving end 200, further comprising:

[0058] 022: When the transmitting end 100 transmits the first check code, a modulated signal is transmitted to the receiving end 200.

[0059] See also Figure 2 In some implementations, the program further includes instructions for executing the above method 022. The processor 30 may also be used to execute the method in 022. That is, the processor 30 may also be used to: transmit a modulated signal to the receiving end 200 when the transmitting end 100 transmits the first check code.

[0060] See also Figure 3In some implementations, the transmitting module 12 may also be used to execute the method in 022. That is, the transmitting module 12 may also be used to: transmit a modulated signal to the receiving end 200 when the transmitting end 100 transmits the first check code.

[0061] See also Figure 4 and Figure 7 , when the transmission delay △t can be ignored and △t=0, the zeroth time t0 and the first time t1 coincide on the time axis, and the transmitting end 100 transmits the first check code and transmits the modulated signal at the same time. In this case, the receiving end 200 can calculate the flight time t according to the first time t1 recorded by the timestamp T1 and the second time t2 recorded by the timestamp T2.

[0062] For further information, see Figure 4 and Figure 8 In some embodiments, the ranging method further comprises:

[0063] 08: Synchronize the clock information of the transmitter 100 and the receiver 200 according to the transmission delay.

[0064] See also Figure 2 In some implementations, the program further includes instructions for executing the above method 08. The processor 30 may also be used to execute the method in 08. That is, the processor 30 may also be used to: synchronize the clock information of the transmitter 100 and the receiver 200 according to the transmission delay.

[0065] See also Figure 3 In some embodiments, the distance measuring device 10 further includes a clock synchronization module 17, and the clock synchronization module 17 can be used to execute the method in 08. That is, the clock synchronization module 17 can be used to synchronize the clock information of the transmitting end 100 and the receiving end 200 according to the transmission delay.

[0066] See also Figure 4 and Figure 8 , 08: Synchronizing the clock information of the transmitting end 100 and the receiving end 200 according to the transmission delay occurs when the receiving end 200 receives the first check code. The transmission delay of the first check code can be used to synchronize the clock information of the transmitting end 100 and the receiving end 200. Synchronizing the clock information of the transmitting end 100 and the receiving end 200 each time the receiving end 200 receives the first check code can reduce the timing error caused by the electronic clocks of the transmitting end 100 and the receiving end 200 due to different hardware structures.

[0067] Specifically, please combine Fig. 9 In one embodiment, the transmission delay of the first check code is △t=1s. Figure 4At the illustrated zeroth time t0, the clock time of the transmitter 100 (hereinafter referred to as the transmitter 100 time) is 10:00:00, and the clock time of the receiver 200 (hereinafter referred to as the receiver 200 time) is 10:00:02. At this time, the transmitter 100 records the timestamp T0, which is "10:00:00", and transmits the first check code and the timestamp T0. Figure 4 At the illustrated moment t1, the time of the transmitter 100 is 10:00:01, and the time of the receiver 200 is 10:00:03. At this time, the transmitter 100 transmits the first check code, and the receiver 200 receives the first check code and the timestamp T0, and adds the transmission delay △t to the time "10:00:00" recorded in the timestamp T0 to obtain the time "10:00:01", and records the time "10:00:01" as the timestamp T1, thereby synchronizing the clock information of the transmitter 100 and the receiver 200. Figure 4 At the illustrated time t2, the time of the transmitter 100 is 10:00:11, and the time of the receiver 200 is 10:00:11 (if clock synchronization is not performed, the time of the receiver 200 is 10:00:13). At this time, the receiver 200 receives the modulated signal and records the timestamp T2 of the receiver 200, which is "10:00:11".

[0068] After clock synchronization, the time when the clocks of the transmitting end 100 and the receiving end 200 record the event "the transmitting end 100 transmits the modulated signal" is consistent, and the time when the clocks of the receiving end 200 record the event "the receiving end 200 receives the modulated signal" is consistent, thereby unifying the first moment t1 and the second moment t2 for the transmitting end 100 and the receiving end 200, and eliminating the phase error between the clocks of the transmitting end 100 and the clocks of the receiving end 200.

[0069] Please combine Fig.10 In another embodiment, the transmission delay Δt of the first check code can be ignored. Then the receiving end 200 can directly use the time recorded by the timestamp T0 as the time of the timestamp T1 to synchronize the clock information of the transmitting end 100 and the receiving end 200 .

[0070] See also Figure 1 In some implementations, 05: obtaining ranging confidence according to the first check code and the demodulated second check code. Specifically, the receiving end 200 stores a preset check table, which can verify the correspondence and degree of correspondence between the first check code received by the receiving end 200 and the demodulated second check code in the check table to determine the ranging confidence.

[0071] See also Fig.11, taking a 1-byte check code as an example. In the check table, according to the preset corresponding relationship, when the first check code is "00001001", the corresponding second check code is "00000110"; when the first check code is "00001101", the corresponding second check code is "00000010". First, find the second check code corresponding to the first check code M1 in the check table according to the first check code M1 received by the receiving end 200, and then compare the correspondence degree of each bit of the demodulated second check code M2 ​​with the second check code corresponding to the first check code M1 in the check table to determine the ranging confidence. If the first check code identical to the first check code M1 is not recorded in the check table, the ranging confidence is set to 0.

[0072] For example, in one ranging measurement, the first check code M1 received is "00001001", and the second check code M2 ​​received and demodulated is "00000111". According to the check table, it can be determined that the second check code corresponding to the first check code M1 is "00000110", and the second check code M2 ​​obtained after demodulation is "00000111". The last digit of the second check code M2 ​​is different from the second check code in the check table, so the ranging confidence A corresponding to this ranging measurement is (7 / 8) × 100% = 87.5%. In another ranging measurement, the first check code M1 received is "00001000". Since the first check code with the value of "00001000" is not recorded in the check table, the ranging confidence A corresponding to this ranging measurement is set to 0%.

[0073] Fig.11 In the illustrated embodiment, in the check table, the preset corresponding relationship between the first check code and the second check code is: the first 4 bits take the same value, and the last 4 bits take the opposite value (1 corresponds to 0, and 0 corresponds to 1). In other embodiments, the preset corresponding relationship between the first check code and the second check code in the check table can also be other corresponding relationships, such as all taking the same value, all taking the opposite value, etc., which are not listed here one by one.

[0074] In some embodiments, the check table may also be a correspondence between the waveform diagrams of the first check code and the second check code. When obtaining the ranging confidence, first find the second check code corresponding to the first check code M1 in the check table according to the waveform diagram of the first check code M1 received by the receiving end 200, and then compare the waveform diagram of the demodulated second check code M2 ​​with the waveform diagram of the second check code corresponding to the first check code M1 in the check table to determine the ranging confidence.

[0075] The manner of obtaining the ranging confidence according to the first check code and the demodulated second check code is not limited to the manner in the above embodiment, and the ranging confidence may be calculated using different calculation rules according to different types of check algorithms.

[0076] In some embodiments, the first check code and the second check code include multiple characters, and the number of characters of the second check code is the same as the number of characters of the first check code. The more characters of the first check code and the second check code, the more accurate the distance confidence obtained according to the first check code and the demodulated second check code; the fewer characters of the first check code and the second check code in the same time, the more times the distance measurement can be performed, and the higher the distance measurement efficiency. In this way, the length of the first check code and the second check code can be dynamically adjusted according to the application scenario of the distance measurement, for example, when the first check code and the second check code include multiple characters, the length of the characters is dynamically adjusted to meet the requirements of different application scenarios for the accuracy of the confidence and the requirements for the distance measurement efficiency. For example, when the speed of obtaining the measured distance is required to be higher (when the drone is getting farther and farther away from the remote control), the length of the first check code and the second check code should be respectively smaller than the length of the first check code and the second check code in the case where the speed of obtaining the measured distance is required to be lower (when the drone is getting closer and closer to the remote control).

[0077] In some embodiments, the bit width of the first check code is the same as the bit width of the second check code, and the bit width of the first check code and the bit width of the second check code can be dynamically adjusted each time the ranging is performed. Since the second check code is modulated to the modulation signal for transmission, the bit width of the second check code determines the transmission frequency of the modulation signal, and the transmission frequency of the modulation signal is also the ranging frequency. Thus, the bit width of the second check code can be dynamically adjusted according to the application scenario of the ranging to meet the requirements of the ranging frequency in different application scenarios. In addition, the bit width of the second check code can be dynamically adjusted to improve the anti-interference ability of the terminal system 1000. For example, a malicious signal is transmitted to the receiving end 200 with a bit width of 8 bits in each ranging cycle, and the transmitting end 100 transmits the second check code with a bit width of 8 bits, 16 bits, 16 bits, and 8 bits in multiple ranging cycles, and the receiving end 200 receives the second check code according to this rule to avoid malicious signal interference to a certain extent.

[0078] In some embodiments, the first check code and the second check code include an identity character and a bit width character. The identity character is used to verify the first check code and the second check code by the verification algorithm to obtain the ranging confidence, and the ranging confidence depends on the correspondence degree of the identity characters of the first check code and the second check code. The bit width character is used to determine the bit width corresponding to the check code to align the identity characters of the first check code and the second check code. For example, the first check code is 123J and the second check code is 123K. Among them, "123" in the first check code and the second check code is an identity character, "J" in the first check code and "K" in the second check code are bit width characters, and the character "J" and the character "K" represent different bit widths respectively. If the character "J" represents a bit width of 8 bits and the character "K" represents a bit width of 16 bits, the receiving end 200 obtains the identity character "123" of the first check code according to the 8-bit bit width, and obtains the identity character "123" of the second check code according to the 16-bit bit width, so that when obtaining the ranging confidence, the positions of the characters "1", "2", and "3" of the first check code are aligned with the positions of the characters "1", "2", and "3" of the second check code. The identity character of the first check code can be the same or different from the identity character of the second check code, depending on the verification algorithm. The bit width character of the first check code can be the same or different from the bit width character of the second check code, depending on whether the bit width of the transmitted first check code is the same as the bit width of the transmitted second check code. When the bit width of transmitting the first check code is different from the bit width of transmitting the second check code, the anti-interference capability of the terminal system 1000 can be further improved.

[0079] The obtained ranging confidence is used to evaluate the reliability of the distance value measured within a ranging cycle. In some embodiments, the time between two adjacent transmissions of the first check code by the transmitter 100 is a ranging cycle. The duration of the ranging cycle can be set according to the estimated maximum measurement distance. The longer the estimated maximum measurement distance, the longer the flight time of the modulated signal is according to the estimated maximum measurement distance, and the longer the time the receiving end 200 waits to receive the modulated signal, so that the duration of the ranging cycle is longer. Conversely, when the estimated maximum measurement distance is shorter, a shorter ranging cycle can be set. In this way, the maximum measurement distance can be estimated according to the application scenario of the ranging to set an appropriate ranging cycle, thereby improving the ranging efficiency while ensuring the maximum measurement distance.

[0080] In some embodiments, at the end of each ranging cycle, the terminal system 1000 outputs the measured distance obtained in the ranging cycle and the ranging confidence corresponding to the measured distance. The user can decide whether to accept the measured distance data according to the ranging confidence.

[0081] In some implementations, the terminal system 1000 obtains the measured distance based on the distance measurement confidence. Fig.12, 06: Obtain the measured distance according to the first moment, the second moment, the transmission speed of the modulation signal and the ranging confidence, including:

[0082] 061: Obtain a first distance according to the first moment, the second moment, and the transmission speed of the modulated signal; and

[0083] 062: When the confidence level is higher than a preset confidence level threshold, the first distance is used as the measurement distance.

[0084] See also Figure 2 In some embodiments, the program further includes instructions for executing the above methods 061 and 062. The processor 30 may also be used to execute the methods in 061 and 062. That is, the processor 30 may also be used to: obtain the first distance according to the first moment, the second moment, and the transmission speed of the modulated signal; and when the confidence level is higher than a preset confidence level threshold, use the first distance as the measured distance.

[0085] See also Figure 3 In some implementations, the calculation module 16 can also be used to execute the methods in 061 and 062. That is, the calculation module 16 can also be used to: obtain the first distance according to the first moment, the second moment, and the transmission speed of the modulated signal; and when the confidence level is higher than a preset confidence level threshold, use the first distance as the measured distance.

[0086] Please combine Figure 4 and Fig.12 According to the first time t1, the second time t2, and the transmission speed v of the modulated signal, the first distance d can be calculated, and the first distance d=v×t=v×(t2-t1). The ranging confidence A can evaluate the reliability of the first distance d. When the ranging confidence A corresponding to the first distance d is higher than the preset confidence threshold, the first distance d is considered to be a reliable distance value, and the terminal system 1000 receives the first distance d and outputs the first distance d as the measured distance.

[0087] In some embodiments, the step of transmitting the first verification code from the transmitter 100 to the receiver 200 using the first communication technology to the step of obtaining the measured distance between the transmitter 100 and the receiver 200 according to the first time, the second time, the transmission speed of the modulated signal and the ranging confidence is performed within one ranging cycle. The terminal system 1000 can obtain the measured distance of the current ranging cycle based on the ranging confidence and the measured distance of the previous ranging cycle. For details, please refer to Fig.13 , the ranging method also includes:

[0088] 09: Get the measured distance of the previous ranging cycle and use it as the reference distance; and

[0089] 010: Obtain the measured distance of the current ranging cycle according to the first moment, the second moment, the transmission speed of the modulation signal, the ranging confidence, and the reference distance.

[0090] See also Figure 2 In some embodiments, the program further includes instructions for executing the above-mentioned ranging methods 09 and 010. The processor 30 may also be used to execute the methods in 09 and 010. That is, the processor 30 may also be used to: obtain the measured distance of the previous ranging cycle and use it as the reference distance; and obtain the measured distance of the current ranging cycle according to the first moment, the second moment, the transmission speed of the modulated signal, the ranging confidence, and the reference distance.

[0091] See also Figure 3 In some embodiments, the acquisition module 13 can also be used to execute the method in 09, and the calculation module 16 can also be used to execute the method in 010. That is, the acquisition module 13 can also be used to: obtain the measured distance of the previous ranging cycle and use it as the reference distance. The calculation module 16 can also be used to: obtain the measured distance of the current ranging cycle according to the first moment, the second moment, the transmission speed of the modulated signal, the ranging confidence, and the reference distance.

[0092] Specifically, see Fig.14 , 010: obtaining the measured distance of the current ranging cycle according to the first moment, the second moment, the transmission speed of the modulation signal, the ranging confidence, and the reference distance, including:

[0093] 0101: Obtain a first distance according to the first moment, the second moment, and the transmission speed of the modulated signal; and

[0094] 0102: Obtain a measured distance according to the first distance, the reference distance and the distance measurement confidence, wherein the distance measurement confidence is used to obtain the proportion of the first distance and the reference distance in the measured distance.

[0095] See also Figure 2 In some embodiments, the program further includes instructions for executing the above-mentioned ranging methods 09 and 010. The processor 30 may also be used to execute the methods in 0101 and 0102. That is, the processor 30 may also be used to: obtain the first distance according to the first moment, the second moment, and the transmission speed of the modulated signal; and obtain the measured distance according to the first distance, the reference distance, and the ranging confidence, wherein the ranging confidence is used to obtain the proportion of the first distance and the reference distance in the measured distance.

[0096] See also Figure 3In some implementations, the calculation module 16 can also be used to execute the methods in 0101 and 0102. That is, the calculation module 16 can also be used to: obtain the first distance according to the first moment, the second moment, and the transmission speed of the modulated signal; and obtain the measured distance according to the first distance, the reference distance, and the ranging confidence, wherein the ranging confidence is used to obtain the proportion of the first distance and the reference distance in the measured distance.

[0097] For example, in one embodiment, the relative position between the transmitting end 100 and the receiving end 200 is fixed, or the relative motion transmission speed between the transmitting end 100 and the receiving end 200 is low. The measured distance of the last ranging cycle is d1, and d1 = 100m is set as the reference distance. Figure 4 , in the current ranging cycle, the first distance d2' can be obtained according to the first moment t1, the second moment t2, and the transmission speed v of the modulated signal, d2 = v × (t2-t1), and d2' = 102m. Assume that the ranging confidence A2 obtained in the current ranging cycle is 80%. According to the ranging confidence A2, it can be determined that the proportion of the first distance d2' in the measured distance of the current ranging cycle is 80%, and the proportion of the reference distance d1 is 20%. Then the measured distance d2 of the current ranging cycle is d2 = d2' × A2 + d1 × (1-A2). Substituting d1 = 100m, d2' = 102m, and A2 = 80% into the above formula, we can get: d2 = 102m × 80% + 100m × 20% = 101.6m, that is, the measured distance d2 of the current ranging cycle is 101.6m. In this way, the higher the ranging confidence A2 in the current ranging cycle, the higher the proportion of the distance value measured currently, that is, the value of the first distance d2' in the value of the measured distance d2 in the current ranging cycle; the lower the ranging confidence A2 in the current ranging cycle, the higher the proportion of the distance value measured historically, that is, the value of the reference distance d1 in the value of the measured distance d2 in the current ranging cycle, thereby ensuring the accuracy of the measured distance d2 in the current ranging cycle.

[0098] For example, in one embodiment, the relative motion transmission speed between the transmitting end 100 and the receiving end 200 is relatively large. When the measured distance d2 of the secondary ranging cycle is d2'×A2×Q1+d1×(1-A2)×Q2. Among them, Q1 and Q2 are weights determined according to the relative motion transmission speed between the transmitting end 100 and the receiving end 200. The greater the relative motion transmission speed between the transmitting end 100 and the receiving end 200, the greater Q1 and the smaller Q2; the smaller the relative motion transmission speed between the transmitting end 100 and the receiving end 200, the closer the values ​​of Q1 and Q2 are to 1. Further, when the relative position between the transmitting end 100 and the receiving end 200 is fixed, the values ​​of Q1 and Q2 are both 1.

[0099] In summary, in the ranging method of the embodiment of the present application, the transmitting end 100 can use different communication technologies to transmit the first check code and the transmission modulated signal to the receiving end 200 to obtain the ranging confidence and the measured distance, and has a higher measurement frequency when measuring the same distance compared with the reflection ranging method; and the ranging method of the embodiment of the present application can also combine the ranging confidence to ensure that the obtained measured distance is accurate and reliable.

[0100] See also Fig.15 The embodiment of the present application also provides a non-volatile computer-readable storage medium 400 including a computer program 401. When the computer program 401 is executed by one or more processors 30, the one or more processors 30 execute the ranging method of any of the above embodiments. The non-volatile computer-readable storage medium 400 can be set in the terminal system 1000, or in a cloud server or other device. In this case, the terminal system 1000 can communicate with the cloud server or other device to obtain the corresponding computer program 410.

[0101] Please combine Figure 2 For example, when the computer program 401 is executed by one or more processors 30, the one or more processors 30 execute the methods in 01, 02, 03, 04, 05, 06, 07, 08, 09, 010, 021, 022, 061, 062, 0101 and 0102. For example, the following application ranging method is executed:

[0102] 01: using the first communication technology to transmit a first check code from the transmitting end 100 to the receiving end 200;

[0103] 02: a modulated signal is transmitted from the transmitting end 100 to the receiving end 200 using the second communication technology, the modulated signal carries a second check code, and the first communication technology is different from the second communication technology;

[0104] 03: Obtaining a first moment when the transmitting end 100 transmits a modulated signal and a second moment when the receiving end 200 receives the modulated signal;

[0105] 04: Demodulate the second check code in the modulated signal;

[0106] 05: Obtain ranging confidence according to the first check code and the demodulated second check code; and

[0107] 06: Obtain the measured distance between the transmitting end 100 and the receiving end 200 according to the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence.

[0108] For another example, when the computer program 401 is executed by one or more processors 30, the one or more processors 30 execute the following ranging method:

[0109] 01: using the first communication technology to transmit a first check code from the transmitting end 100 to the receiving end 200;

[0110] 07: Get the transmission delay of the first check code;

[0111] 08: Synchronize the clock information of the transmitter 100 and the receiver 200 according to the transmission;

[0112] 02: a modulated signal is transmitted from the transmitting end 100 to the receiving end 200 using the second communication technology, the modulated signal carries a second check code, and the first communication technology is different from the second communication technology;

[0113] 03: Obtaining a first moment when the transmitting end 100 transmits a modulated signal and a second moment when the receiving end 200 receives the modulated signal;

[0114] 04: Demodulate the second check code in the modulated signal;

[0115] 05: Obtain ranging confidence according to the first check code and the demodulated second check code;

[0116] 09: Get the measured distance of the previous ranging cycle and use it as the reference distance; and

[0117] 010: Obtain the measured distance of the current ranging cycle according to the first moment, the second moment, the transmission speed of the modulation signal, the ranging confidence, and the reference distance.

[0118] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0119] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0120] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A distance measurement method, characterized in that: The ranging method comprises: Acquire an application scenario of ranging, and dynamically adjust the character length of the first check code and the bit width for transmitting the first check code, and the character length of the second check code and the bit width for transmitting the second check code according to the application scenario; The first verification code is transmitted from a transmitting end to a receiving end using a first communication technology, and the receiving end stores a preset verification table; Transmitting a modulated signal from the transmitting end to the receiving end using a second communication technology, wherein the modulated signal carries the second check code, and the first communication technology is different from the second communication technology; Acquire a first time when the transmitting end transmits the modulated signal and a second time when the receiving end receives the modulated signal; Demodulating the second check code in the modulated signal; Determine the ranging confidence according to the correspondence relationship and degree of correspondence between the first check code and the second check code received by the receiving end in the check table; and The measured distance between the transmitting end and the receiving end is obtained according to the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence.

2. The distance measurement method according to claim 1, characterized in that: The delay of transmitting a signal using the first communication technology is shorter than the delay of transmitting a signal using the second communication technology.

3. The distance measurement method according to claim 1, characterized in that: The ranging method further includes: Obtaining a transmission delay for transmitting the first verification code; and The clock information of the transmitting end and the receiving end are synchronized according to the transmission delay.

4. The distance measurement method according to claim 1, characterized in that: The transmitting a modulated signal from the transmitting end to the receiving end includes: transmitting a modulated signal to the receiving end when the transmitting end transmits the first check code; or After the transmitting end transmits the first check code, a modulated signal is transmitted from the transmitting end to the receiving end after a transmission delay.

5. The distance measurement method according to claim 1, characterized in that: The obtaining the measured distance according to the first moment, the second moment, the transmission speed of the modulated signal and the ranging confidence level includes: Obtaining a first distance according to the first moment, the second moment, and a transmission speed of the modulated signal; and When the confidence level is higher than a preset confidence level threshold, the first distance is used as the measurement distance.

6. The distance measurement method according to claim 1, characterized in that: The step of transmitting the first check code from the transmitting end to the receiving end using the first communication technology to the step of obtaining the measured distance between the transmitting end and the receiving end according to the first time, the second time, the transmission speed of the modulated signal and the ranging confidence is performed within one ranging cycle; the ranging method also includes: Obtaining the measured distance of the last ranging cycle and using it as a reference distance; and The measured distance of the current ranging cycle is acquired according to the first moment, the second moment, the transmission speed of the modulated signal, the ranging confidence, and the reference distance.

7. The distance measurement method according to claim 6, characterized in that: The acquiring the measured distance of the current ranging cycle according to the first moment, the second moment, the transmission speed of the modulated signal, the ranging confidence, and the reference distance includes: Obtaining a first distance according to the first moment, the second moment, and a transmission speed of the modulated signal; and A measured distance is acquired according to the first distance, the reference distance, and the distance measurement confidence, wherein the distance measurement confidence is used to acquire the proportion of the first distance and the reference distance in the measured distance.

8. A terminal system, characterized in that: include: Transmitter; Receiver; One or more processors, memory; and One or more programs, wherein one or more of the programs are stored in the memory and executed by one or more of the processors, and the programs include instructions for executing the ranging method according to any one of claims 1 to 7.

9. A non-volatile computer-readable storage medium containing a computer program, which, when executed by one or more processors, implements the ranging method according to any one of claims 1 to 7.

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