UWB ranging method, UWB ranging device and storage medium

Abstract

This disclosure relates to a UWB ranging method, a UWB ranging device, and a storage medium. This disclosure uses a low-pass filter to filter the flight time acquired for UWB ranging, and then performs UWB ranging based on the filtered flight time. This removes jitter from the flight time, ensuring the accuracy of the UWB ranging results.

Description

Technical Field

[0001] The present disclosure relates to the field of UWB technology, and in particular to a UWB ranging method, a UWB ranging device, and a storage medium. Background Art

[0002] Ultra Wide Band (UWB) technology is used in scenarios where smart homes are controlled by pointing. Users hold their mobile phones and point them at smart homes that support UWB functions, taking advantage of the high-precision distance and angle measurement of UWB technology to achieve the purpose of pointing control of the mobile phone. Pointing control can be understood as the control of the smart home by pointing the mobile phone at it. For example, when the mobile phone is pointed at the smart home, the control of the smart home can be completed according to the control card that pops up in the mobile phone. In the above application scenarios, the mobile phone and the controlled smart home must be within the agreed distance range before control can be performed. However, in UWB-based ranging applications, the final ranging result will jitter due to factors such as jitter of system parameters, random errors in the measurement process, and / or environmental interference. When the jitter range is large, it will affect actual use. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a UWB ranging method, a UWB ranging device and a storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, a UWB ranging method is provided, comprising: in response to obtaining a flight time for UWB ranging, filtering the flight time based on a low-pass filter; and performing UWB ranging based on the filtered flight time.

[0005] In one embodiment, filtering the flight time based on a low-pass filter includes:

[0006] Determine the sampling frequency and cutoff frequency of the low-pass filter; determine the state transfer equation of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter; and filter the flight time based on the state transfer equation of the low-pass filter.

[0007] In one embodiment, a state transition equation of the low-pass filter is determined based on the sampling frequency and cutoff frequency of the low-pass filter, including: determining state transition equation parameters of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter, and determining the order n of the low-pass filter; determining n processed flight times, the processed flight times being n flight times adjacent to the currently acquired flight time and processed by the low-pass filter, obtained based on a ranging period before the currently acquired flight time; and generating a state transition equation of the low-pass filter based on the state transition equation parameters, the n processed flight times, and the currently acquired flight time.

[0008] In one embodiment, the flight time is filtered based on the state transition equation of the low-pass filter, including: iteratively processing the currently acquired flight time based on the state transition equation and n processed flight times to obtain the filtered flight time.

[0009] In one embodiment, the state transition equation satisfies the following formula:

[0010] y(n)=b0x(n)-b1y(n-1)-b2y(n-2)

[0011] Wherein, y(n) represents the nth processed flight time; b0 represents the first state transfer equation parameter; b1 represents the second state transfer equation parameter; b2 represents the third state transfer equation parameter; x(n) represents the nth flight time; y(n-1) represents the n-1th processed flight time; y(n-2) represents the n-2th processed flight time.

[0012] In one implementation, the cutoff frequency is determined in the following manner: based on a correspondence between ranging scenarios and cutoff frequencies, a current cutoff frequency corresponding to the current ranging scenario is determined.

[0013] In one implementation, the correspondence between the ranging scenario and the cutoff frequency is determined in the following manner:

[0014] For impulse response signals corresponding to multiple flight times monitored in a specified ranging scenario, determine a frequency spectrum interval of the flight time in the specified ranging scenario; determine a cutoff frequency of a low-pass filter corresponding to the impulse response signal that retains the frequency spectrum interval; and establish a correspondence between the specified ranging scenario and the cutoff frequency.

[0015] In one embodiment, the flight time is acquired based on a ranging period, and a sampling frequency of the low-pass filter is determined based on a ranging frequency determined by the ranging period.

[0016] According to a second aspect of an embodiment of the present disclosure, a UWB ranging device is provided, the UWB ranging device comprising:

[0017] The filtering processing unit is used to filter the flight time based on a low-pass filter in response to the flight time obtained for UWB ranging; the ranging unit is used to perform UWB ranging based on the flight time after filtering.

[0018] In one embodiment, the filtering processing unit is used to: determine the sampling frequency and cutoff frequency of the low-pass filter; determine the state transfer equation of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter; and filter the flight time based on the state transfer equation of the low-pass filter.

[0019] In one embodiment, the filtering processing unit is used to: determine the state transfer equation parameters of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter, and determine the order n of the low-pass filter; determine n processed flight times, where the processed flight times are n flight times adjacent to the currently acquired flight time and processed by the low-pass filter, obtained based on the ranging period before the currently acquired flight time; and generate the state transfer equation of the low-pass filter based on the state transfer equation parameters, the n processed flight times and the currently acquired flight time.

[0020] In one embodiment, the filtering processing unit is configured to: perform iterative processing on the currently acquired flight time based on the state transfer equation and the processed flight time to obtain the filtered flight time.

[0021] In one embodiment, the state transition equation satisfies the following formula:

[0022] y(n)=b0x(n)-b1y(n-1)-b2y(n-2)

[0023] Wherein, y(n) represents the nth processed flight time; b0 represents the first state transfer equation parameter; b1 represents the second state transfer equation parameter; b2 represents the third state transfer equation parameter; x(n) represents the nth flight time; y(n-1) represents the n-1th processed flight time; y(n-2) represents the n-2th processed flight time.

[0024] In one implementation, the cutoff frequency is determined in the following manner: based on a correspondence between ranging scenarios and cutoff frequencies, a current cutoff frequency corresponding to the current ranging scenario is determined.

[0025] In one implementation, the correspondence between the ranging scenario and the cutoff frequency is determined in the following manner:

[0026] For impulse response signals corresponding to multiple flight times monitored in a specified ranging scenario, determine a frequency spectrum interval of the flight time in the specified ranging scenario; determine a cutoff frequency of a low-pass filter corresponding to the impulse response signal that retains the frequency spectrum interval; and establish a correspondence between the specified ranging scenario and the cutoff frequency.

[0027] In one embodiment, the flight time is acquired based on a ranging period, and a sampling frequency of the low-pass filter is determined based on a ranging frequency determined by the ranging period.

[0028] According to a third aspect of an embodiment of the present disclosure, a UWB ranging device is provided, including:

[0029] A processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the UWB ranging method described in any one of the embodiments of the first aspect.

[0030] According to a fourth aspect of an embodiment of the present disclosure, a storage medium is provided, in which instructions are stored. When the instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal is enabled to execute the UWB ranging method described in any one of the embodiments of the first aspect.

[0031] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: the flight time acquired for UWB ranging is filtered using a low-pass filter, and UWB ranging is performed based on the filtered flight time. This removes jitter in the flight time and ensures the accuracy of the UWB ranging results.

[0032] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0034] Figure 1 The diagram is a principle diagram of a bilateral two-way ranging method according to an exemplary embodiment.

[0035] Figure 2 The figure is a flow chart showing a UWB ranging method according to an exemplary embodiment.

[0036] Figure 3 FIG. 4 is a flowchart showing a filtering process according to an exemplary embodiment.

[0037] Figure 4The flowchart of determining the correspondence between a ranging scenario and a filter cutoff frequency according to an exemplary embodiment is shown.

[0038] Figure 5 The figure is a flowchart showing an example of applying a distance measurement method to an IoT device according to an exemplary embodiment.

[0039] Figure 6 The figure is a flowchart showing a filtering process performed in an IoT device according to an exemplary embodiment.

[0040] Figure 7 The flowchart of a UWB ranging method applied to a first UWB device is shown according to an exemplary embodiment.

[0041] Figure 8 The flowchart of a UWB ranging method applied to a second UWB device is shown according to an exemplary embodiment.

[0042] Figure 9 It is a schematic diagram showing filtering processing of time of flight in a second UWB device according to an exemplary embodiment.

[0043] Figure 10 The figure is a block diagram showing a UWB ranging device according to an exemplary embodiment. DETAILED DESCRIPTION

[0044] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0045] UWB technology is a wireless communication technology that uses pulsed signal transmission. Compared to wireless communication technologies that use continuous carrier modulation, such as WiFi, Bluetooth, and Zigbee, UWB technology boasts high bandwidth, high signal-to-noise ratio, and strong anti-interference capabilities. It is currently widely used in smart homes, data transmission, digital encryption keys, real-time positioning, and other fields. In scenarios where UWB technology is used, the high-precision advantages of UWB in ranging and angle measurement are primarily used to measure the distance between two devices.

[0046] There are many ranging solutions based on UWB technology. In point-to-point ranging applications, the double-side two-way ranging (DS-TWR) method is often used. Figure 1FIG. 1 is a schematic diagram showing a bilateral two-way ranging method according to an exemplary embodiment. Figure 1 As shown in Figure 1, three interactions between the two devices yield four parameters: Tround1, Tround2, Treply1, and Treply2. Using these four parameters, Tprop, or Time of Flight, can be calculated using the following formula.

[0047]

[0048] Where Tprop is the time of flight (ToF) of the signal between the two devices. Tround1 is the time difference between device A sending a ranging signal and receiving a ranging response signal. Treply1 is the time difference between device B receiving a ranging signal and sending a ranging response signal. Tround2 is the time difference between device B sending a ranging response signal and receiving a ranging completion signal. Treply2 is the time difference between device A receiving a ranging response signal and sending a ranging completion signal.

[0049] According to ToF and the speed of light, the distance value S between the two devices is obtained based on S=ToF×c, where c is the speed of light.

[0050] In related technologies, high-precision positioning of indoor parking lots is performed based on UWB and Kalman. A UWB positioning base station is installed at a fixed location in the parking lot, and a positioning tag is installed on the car. Based on the ToF between the positioning base station and the positioning tag, the distance between the positioning tag and the base station is calculated. Based on the distance between the positioning tag and the base station, the exact position of the vehicle is determined. In order to improve the accuracy of the vehicle's position, a Kalman filter is used to correct the vehicle's position. In other words, the use of Kalman filtering requires error correction in combination with the current vehicle speed.

[0051] In a targeted control scenario for a smart home, UWB technology is used to control the smart home from a control device. In this scenario, a smart home refers to Internet of Things (IoT) devices that support UWB technology. IoT devices can include televisions, air conditioners, washing machines, and more. In this targeted control scenario, control of a smart home requires that the control device and the controlled IoT device be within a specified distance range. This prevents interference from remote attackers.

[0052] In UWB-based ranging applications, the final ranging result fluctuates due to factors such as jitter in system parameters, random errors during the measurement process, and / or environmental interference. When the jitter range is large, it can affect applications based on the ranging results. Therefore, to improve the accuracy of the ranging results, it is necessary to process the raw measurement values ​​to reduce adverse effects. In this disclosure, the raw ranging value is ToF.

[0053] When the solutions in the above-mentioned related technologies are applied to the application scenarios of the present disclosure to improve the accuracy of ranging results, at least one of the following problems may occur.

[0054] 1. Additional sensors are needed.

[0055] Related technologies using Kalman filtering to correct position require the vehicle's speed. This means that in addition to the ToF value generated by UWB ranging, these technologies also require an independent input reference—speed. Each additional input reference requires an additional sensor device, increasing device cost. IoT devices lack other reference parameters besides the ToF value, making Kalman filtering unsuitable.

[0056] 2. Increase the complexity of the processing end.

[0057] In related technologies, processing can only be performed on mobile devices. If applied to smart home pointing control scenarios, the processing needs to be performed on the phone and integrated with sensors such as accelerometers or gyroscopes. In the one-to-many ranging scenario of the present disclosure, the phone needs to process the ToF values ​​input by multiple IoT devices simultaneously, which increases the complexity of the phone.

[0058] In view of this, the present disclosure provides a UWB ranging method, which is applied to devices supporting UWB functions. This UWB ranging method filters the ToF obtained for UWB ranging based on a low-pass filter. UWB ranging is performed based on the filtered ToF. In this way, jitter in the ToF can be removed, ensuring the accuracy of the UWB ranging results. The ToF is determined by using the existing UWB ranging process between two devices supporting UWB functions. It can be seen that the present disclosure does not require the addition of additional sensors, reducing complexity.

[0059] In the embodiments of the present disclosure, the execution subject of the ranging method can be a hardware device with data information capabilities and / or the software required to drive the operation of the hardware device. In the present disclosure, the execution subject can be a device that supports UWB functions, such as a mobile phone and / or an IoT device.

[0060] In the context of pointing control, ToF filtering can be performed on the IoT device. In other words, after acquiring the ToF value, the IoT device filters it using a low-pass filter. This filtered value is then transmitted back to the mobile phone for distance calculation between the IoT device and the phone. This eliminates the need for additional processing logic on the mobile phone, reducing the complexity of one-to-many pointing control.

[0061] It should be noted that, for ease of understanding, the above embodiments illustrate the ToF filtering process performed in an IoT device, using a mobile phone pointing at the IoT device as an example. This does not limit the application of the present disclosure to IoT devices alone; the ToF filtering process can also be performed on a mobile phone. It should be understood that any device that utilizes the UWB ranging method disclosed herein is within the scope of protection of the present disclosure.

[0062] The following embodiments will illustrate the UWB ranging method provided by the present disclosure with reference to the accompanying drawings.

[0063] Figure 2 FIG. 1 is a flow chart of a UWB ranging method according to an exemplary embodiment. Figure 2 As shown, the UWB ranging method includes the following steps.

[0064] In step S11 , in response to obtaining the ToF for UWB ranging, filtering processing is performed on the ToF based on a low-pass filter.

[0065] In the disclosed embodiments, ToF is acquired based on a ranging period. The ranging period can be set according to the actual ranging scenario. ToF is filtered using a low-pass filter to remove jitter caused by factors such as jitter in system parameters, random errors in the measurement process, and / or environmental interference.

[0066] In step S12 , UWB ranging is performed based on the filtered ToF.

[0067] This disclosure is combined with the attached Figure 3 The following describes the process of filtering ToF signals using a low-pass filter. Figure 3 FIG. 1 is a flowchart of a filtering process according to an exemplary embodiment. Figure 3 As shown, the ToF is filtered based on a low-pass filter, including the following steps S21 to S23.

[0068] In step S21 , the sampling frequency and cutoff frequency of the low-pass filter are determined.

[0069] Set the ranging period based on the actual ranging scenario. Determine the ranging frequency based on the ranging period. Use the ranging frequency as the sampling frequency of the low-pass filter. Determine the cutoff frequency based on the actual ranging scenario. In this embodiment, filtering is primarily performed to remove high-frequency jitter from the system's UWB signal processing. Therefore, when implementing this disclosure, the cutoff frequency can be set to 1 Hz.

[0070] In step S22, a state transition equation of the low-pass filter is determined based on the sampling frequency and cutoff frequency of the low-pass filter.

[0071] In the embodiment of the present disclosure, the state transition equation of the low-pass filter is determined through the following steps.

[0072] In step S221 , based on the sampling frequency and the cutoff frequency of the low-pass filter, the state transition equation parameters of the low-pass filter are determined, and the order n of the low-pass filter is determined.

[0073] In the disclosed embodiments, taking the smart home pointing control scenario as an example, a user holds a terminal to control the IoT device in front of them. The terminal remains essentially stationary or moves slowly throughout the entire process. Therefore, the jitter caused by ToF measurement primarily comes from high-frequency jitter during the system's UWB signal processing. Therefore, a lower cutoff frequency, such as 1Hz, can be set.

[0074] The state transition equation parameters of the low-pass filter are used to determine the weights of the n processed ToFs when the n processed ToFs perform iterative processing on the currently acquired ToF.

[0075] The order n of the low-pass filter is a positive integer. In the disclosed embodiment, a second-order low-pass filter or a third-order low-pass filter can be selected. The higher the order of the low-pass filter, the higher the accuracy of the determined filtering processing result. The low-pass filter is selected according to the actual scenario.

[0076] In step S222 , n processed ToFs are determined.

[0077] In this disclosure, a processed ToF is n ToFs adjacent to the currently acquired ToF acquired based on the ranging cycle before the currently acquired ToF, and the n ToFs adjacent to the currently acquired ToF are ToFs processed by a low-pass filter. The number n of processed ToFs is determined by the order of the low-pass filter.

[0078] For example, the ToF to be processed is represented by x(n) and the processed ToF is represented by y(n), and the processed ToF for the n-1th time and the processed ToF for the n-2th time are determined. If a second-order Butterworth low-pass filter is used, two processed ToFs are required.

[0079] In step S223 , a state transition equation of a low-pass filter is generated based on the state transition equation parameters, the processed ToF, and the currently acquired ToF.

[0080] In step S23, the ToF is filtered based on the state transition equation of the low-pass filter.

[0081] In the embodiment of the present disclosure, the currently acquired ToF is iteratively processed based on the state transfer equation and the processed ToF to obtain the filtered ToF.

[0082] Continuing from the previous example, a second-order Butterworth low-pass filter is used to filter the ToF signal, including:

[0083] The ToF of the first UWB ranging is obtained, and the ToF of the first UWB ranging is filtered to obtain the ToF after the first filtering process.

[0084] The ToF of the second UWB ranging is obtained, and based on the ToF after the first filtering process, the ToF of the second UWB ranging is filtered to obtain the ToF after the second filtering process.

[0085] The ToF of the third UWB ranging is obtained, and the ToF of the third UWB ranging is filtered based on the ToF after the first filtering process and the ToF after the second filtering process to obtain the ToF after the third filtering process.

[0086] The ToF of the fourth UWB ranging is obtained, and the ToF of the fourth UWB ranging is filtered based on the ToF after the second filtering process and the ToF after the third filtering process to obtain the ToF after the fourth filtering process.

[0087] Similarly, the currently acquired ToF is iteratively processed using two adjacent filtered ToFs to obtain the currently acquired ToF after filtering.

[0088] In the embodiment of the present disclosure, the state transition equation of the low-pass filter satisfies the following formula:

[0089] y(n)=b0x(n)-b1y(n-1)-b2y(n-2)

[0090] Wherein, y(n) represents the nth processed ToF; b0 represents the first state transfer equation parameter; b1 represents the second state transfer equation parameter; b2 represents the third state transfer equation parameter; x(n) represents the nth ToF; y(n-1) represents the n-1th processed ToF; y(n-2) represents the n-2th processed ToF.

[0091] In the embodiment of the present disclosure, the cutoff frequency of the low-pass filter is determined in the following manner: based on the correspondence between the ranging scenario and the cutoff frequency, the current cutoff frequency corresponding to the current ranging scenario is determined.

[0092] In one example, multiple ranging scenarios and cutoff frequencies corresponding to the respective ranging scenarios are provided. In actual application, the current cutoff frequency corresponding to the current ranging scenario is determined according to the current ranging scenario.

[0093] This disclosure is combined with the attached Figure 4 Describe the process of determining the correspondence between ranging scenarios and cutoff frequencies. Figure 4 FIG. 1 is a flow chart showing a method for determining a corresponding relationship between a ranging scenario and a cutoff frequency according to an exemplary embodiment. Figure 4 As shown, in the embodiment of the present disclosure, the correspondence between the ranging scenario and the cutoff frequency is determined in the following manner.

[0094] In step S31, a frequency spectrum interval of ToF in the specified ranging scenario is determined based on impulse response signals corresponding to multiple ToFs monitored in the specified ranging scenario.

[0095] For example, through experiments, the impulse response signals corresponding to multiple ToFs monitored in different specified ranging scenarios are determined. Based on the impulse response signals corresponding to multiple ToFs monitored in each specified ranging scenario, the spectrum interval of the ToF in the specified ranging scenario is determined. The specified ranging scenario includes different user movement frequencies during the user's pointing control. For example, ranging scenarios in which the user is moving slowly or ranging scenarios in which the user is walking.

[0096] In step S32, the cutoff frequency of the low-pass filter corresponding to the impulse response signal in the reserved spectrum interval is determined.

[0097] In step S33, a correspondence between a specified ranging scenario and a cutoff frequency is created.

[0098] The present disclosure provides different ranging scenarios and cutoff frequencies corresponding to different ranging scenarios for selection when performing UWB ranging, so that the filtering process is closer to the ranging scenario and the accuracy of the filtering process result is improved.

[0099] The present disclosure directly performs filtering processing on the ToF acquired for UWB ranging based on a low-pass filter, without adding additional sensors, thereby reducing processing costs.

[0100] In one embodiment, the present disclosure is combined with the Figure 5 This section describes how to apply ranging methods to IoT devices. Figure 5 FIG. 1 is a flow chart showing the application of the ranging method to IoT devices according to an exemplary embodiment. Figure 5 In the embodiment, the control terminal device 101 can be a mobile phone or other device with UWB ranging function. The IoT device 102 has UWB function. Figure 5 As shown in FIG, in the IoT device, a low-pass filter is used to filter the ToF value.

[0101] The control end device 101 first wakes up the IoT device 102 through an out-of-band method (Bluetooth, WiFi, etc.). When waking up the IoT device 102, the control end device 101 transmits ranging related parameters, such as ranging period, UWB channel, etc.

[0102] After the IoT device 102 is awakened, the control terminal device 101 initiates UWB ranging at a predetermined period. After each round of ranging, the IoT device 102 will obtain the ToF value of the ranging round.

[0103] After the IoT device 102 obtains the ToF value, the low-pass filter performs filtering processing on the ToF value to obtain a smooth ToF value after filtering.

[0104] The IoT device 102 transmits the filtered ToF value back to the control device 101 , and the control device 101 calculates the final distance value based on the filtered ToF value.

[0105] This disclosure is combined with the attached Figure 6 Describes the filtering process performed in IoT devices. Figure 6 FIG. 1 is a flow chart showing a filtering process performed in an IoT device according to an exemplary embodiment. Figure 6 As shown, the filtering process performed in the IoT device includes the following steps.

[0106] After the control end device 101 wakes up the IoT device 102 via Bluetooth, in step S41 , a ranging period is obtained.

[0107] In step S42, the sampling frequency and the cutoff frequency are set. For example, the cutoff frequency is set to 1 Hz.

[0108] In step S43 , various state transfer equation parameters in the filter state transfer equation shown in Formula 1 may be generated based on the sampling frequency and the cutoff frequency.

[0109] y(n)=b0x(n)-b1y(n-1)-b2y(n-2) Formula 1

[0110] In step S44 , it is detected whether distance measurement is started. In this example, the distance measurement is initiated by the control terminal device 101 .

[0111] After each round of ranging is completed, IoT device 102 obtains a ToF value. That is, in step S45, it is determined whether a ToF value has been obtained. If the current round of ranging fails, IoT device 102 cannot obtain a ToF value. To ensure the proper functioning of the low-pass filter, in the event of a ranging failure, the ToF value from the previous round is maintained in step S46. That is, the previous ToF value is used for processing.

[0112] In step S47 , the low-pass filter performs iterative calculation according to the filter state transition equation shown in Formula 1 to obtain the ToF value after filtering.

[0113] In step S48, the filtered ToF value is transmitted back to the control end device.

[0114] The present disclosure is applicable to devices supporting UWB functionality. In two devices supporting UWB functionality, ToF filtering can be performed in one of the two devices, or in the other. In the following embodiments, the device initiating the ranging initialization frame is characterized by the second UWB device. The device receiving the ranging initialization frame is characterized by the first UWB device.

[0115] In one embodiment, Figure 7 FIG. 1 is a flow chart showing a UWB ranging method applied to a first UWB device according to an exemplary embodiment. Figure 7 As shown, performing ToF filtering processing in the first UWB device includes the following steps.

[0116] In step S51 , a ranging initialization frame is received and the time when the ranging initialization frame is received is recorded.

[0117] In step S52, a ranging response frame is sent, and the time of sending the ranging response frame is recorded.

[0118] In step S53 , a ranging end frame is received and the time at which the ranging end frame is received is recorded.

[0119] In step S54, a measurement report frame is received.

[0120] The measurement report frame includes a first time interval between the second UWB device sending the ranging initialization frame and receiving the ranging response frame, and a second time interval between the second UWB device receiving the ranging response frame and sending the ranging end frame.

[0121] In step S55 , the ToF used for UWB ranging is determined based on the time when the ranging initialization frame is received, the time when the ranging response frame is sent, and the time when the ranging end frame is received, as well as the first time interval and the second time interval.

[0122] In step S56, the ToF is filtered based on a low-pass filter;

[0123] In step S57 , the filtered ToF is sent, so that the second UWB device performs UWB ranging based on the filtered ToF.

[0124] The above embodiment describes the execution of ToF filtering processing in the first UWB device. The following embodiment describes the steps involved in executing ToF filtering processing in the second UWB device.

[0125] Figure 8 FIG. 1 is a flow chart showing a UWB ranging method applied to a second UWB device according to an exemplary embodiment. Figure 8As shown, the UWB ranging method applied to the second UWB device includes the following steps.

[0126] In step S61, a ranging initialization frame is sent, and the time of sending the ranging initialization frame is recorded.

[0127] In step S62, a ranging response frame is received and the time of receiving the ranging response frame is recorded.

[0128] In step S63, a ranging end frame is sent, and the time of sending the ranging end frame is recorded.

[0129] In step S64, a measurement report frame is sent, wherein the measurement report frame includes a first time interval between the second UWB device sending the ranging initialization frame and receiving the ranging response frame, and a second time interval between the second UWB device receiving the ranging response frame and sending the ranging end frame.

[0130] In step S65, a ranging result frame is received, wherein the ranging result frame includes the ToF used for UWB ranging determined by the first UWB device based on the time when the ranging initialization frame is received, the time when the ranging response frame is sent, the time when the ranging end frame is received, and the first time interval and the second time interval.

[0131] In step S66 , the ToF signal is filtered using a low-pass filter.

[0132] In step S67 , UWB ranging is performed based on the ToF after filtering.

[0133] It should be noted that Figure 7 and Figure 8 It is not intended to be an example of two UWB-enabled devices interacting with each other when a UWB ranging method is performed on either device. Figure 7 This is the process of filtering ToF in the first UWB device. Figure 8 This is the process of filtering the ToF signal in the second UWB device. It can be seen that the process of filtering the ToF signal can be performed in both the first UWB device and the second UWB device.

[0134] Combined with attachment Figure 9 The process of performing filtering processing on ToF in the second UWB device is described. Figure 9 FIG. 4 is a schematic diagram showing filtering processing for ToF in a second UWB device according to an exemplary embodiment. Figure 9 The central control terminal device is the second UWB device, and the IoT device is the first UWB device.

[0135] Based on the same concept, an embodiment of the present disclosure also provides a UWB ranging device.

[0136] It is understandable that the UWB ranging device provided in the embodiments of the present disclosure includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in the embodiments of the present disclosure, the embodiments of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to realize the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present disclosure.

[0137] The present disclosure provides a UWB ranging device comprising: a filtering processing unit for filtering the flight time based on a low-pass filter in response to obtaining the flight time for UWB ranging; and a ranging unit for performing UWB ranging based on the filtered flight time.

[0138] In one embodiment, the filtering processing unit is used to: determine the sampling frequency and cutoff frequency of the low-pass filter; determine the state transfer equation of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter; and filter the flight time based on the state transfer equation of the low-pass filter.

[0139] In one embodiment, the filtering processing unit is used to: determine the state transfer equation parameters of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter, and determine the order n of the low-pass filter; determine n processed flight times, where the processed flight times are n flight times adjacent to the currently acquired flight time and processed by the low-pass filter based on the ranging period before the currently acquired flight time; and generate the state transfer equation of the low-pass filter based on the state transfer equation parameters, the n processed flight times, and the currently acquired flight time.

[0140] In one embodiment, the filtering processing unit is configured to: perform iterative processing on the currently acquired flight time based on the state transfer equation and the processed flight time to obtain the filtered flight time.

[0141] In one embodiment, the state transition equation satisfies the following formula:

[0142] y(n)=b0x(n)-b1y(n-1)-b2y(n-2)

[0143] Wherein, y(n) represents the nth processed flight time; b0 represents the first state transfer equation parameter; b1 represents the second state transfer equation parameter; b2 represents the third state transfer equation parameter; x(n) represents the nth flight time; y(n-1) represents the n-1th processed flight time; y(n-2) represents the n-2th processed flight time.

[0144] In one implementation, the cutoff frequency is determined in the following manner: based on a correspondence between ranging scenarios and cutoff frequencies, a current cutoff frequency corresponding to the current ranging scenario is determined.

[0145] In one embodiment, the correspondence between the ranging scenario and the cutoff frequency is determined in the following manner:

[0146] For impulse response signals corresponding to multiple flight times monitored in a specified ranging scenario, a frequency spectrum interval of the flight time in the specified ranging scenario is determined; a cutoff frequency of a low-pass filter corresponding to the impulse response signal in the retained frequency spectrum interval is determined; and a correspondence between the specified ranging scenario and the cutoff frequency is established.

[0147] In one embodiment, the flight time is acquired based on a ranging period, and a sampling frequency of the low-pass filter is determined based on a ranging frequency determined by the ranging period.

[0148] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0149] Figure 10 2 is a block diagram of a UWB ranging device according to an exemplary embodiment. For example, the device 200 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0150] Reference Figure 10 , apparatus 200 may include one or more of the following components: a processing component 202 , a memory 204 , a power component 206 , a multimedia component 208 , an audio component 210 , an input / output (I / O) interface 212 , a sensor component 214 , and a communication component 216 .

[0151] The processing component 202 generally controls the overall operation of the device 200, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 202 may include one or more processors 220 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 202 may include one or more modules to facilitate interaction between the processing component 202 and other components. For example, the processing component 202 may include a multimedia module to facilitate interaction between the multimedia component 208 and the processing component 202.

[0152] The memory 204 is configured to store various types of data to support operations on the device 200. Examples of such data include instructions for any application or method operating on the device 200, contact data, phone book data, messages, pictures, videos, etc. The memory 204 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0153] The power component 206 provides power to the various components of the device 200. The power component 206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device 200.

[0154] The multimedia component 208 includes a screen that provides an output interface between the device 200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 208 includes a front camera and / or a rear camera. When the device 200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0155] The audio component 210 is configured to output and / or input audio signals. For example, the audio component 210 includes a microphone (MIC) that is configured to receive external audio signals when the device 200 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 204 or transmitted via the communication component 216. In some embodiments, the audio component 210 further includes a speaker for outputting audio signals.

[0156] I / O interface 212 provides an interface between processing component 202 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: a home button, volume buttons, a start button, and a lock button.

[0157] The sensor assembly 214 includes one or more sensors for providing various aspects of the status assessment of the device 200. For example, the sensor assembly 214 can detect the open / closed state of the device 200, the relative positioning of components, such as the display and keypad of the device 200. The sensor assembly 214 can also detect changes in the position of the device 200 or a component of the device 200, the presence or absence of user contact with the device 200, the orientation or acceleration / deceleration of the device 200, and temperature changes of the device 200. The sensor assembly 214 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 214 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 214 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0158] The communication component 216 is configured to facilitate wired or wireless communication between the device 200 and other devices. The device 200 can access a wireless network based on a communication standard, such as WiFi, 4G or 5G, or a combination thereof. In an exemplary embodiment, the communication component 216 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 216 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0159] In an exemplary embodiment, the apparatus 200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0160] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as the memory 204 including instructions, which can be executed by the processor 220 of the apparatus 200 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0161] It is understood that in this disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of related objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0162] It will be further understood that the terms "first," "second," and the like are used to describe various types of information, but such information should not be limited to these terms. These terms are used solely to distinguish information of the same type from one another and do not indicate a particular order or level of importance. In fact, the terms "first," "second," and the like are fully interchangeable. For example, first information could be referred to as second information, and similarly, second information could be referred to as first information without departing from the scope of this disclosure.

[0163] It is further understood that, unless otherwise specified, “connection” includes a direct connection where there are no other components between the two elements, and also includes an indirect connection where there are other elements between the two elements.

[0164] It is further understood that although operations are described in a particular order in the drawings in the embodiments of the present disclosure, this should not be construed as requiring that the operations be performed in the particular order shown or in a serial order, or that all of the operations shown be performed to obtain the desired results. In certain circumstances, multitasking and parallel processing may be advantageous.

[0165] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0166] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. A UWB ranging method, characterized in that: The UWB ranging method includes: In response to acquiring a flight time for UWB ranging, filtering the flight time based on a low-pass filter; Perform UWB ranging based on the filtered flight time; The filtering process of the flight time based on a low-pass filter includes: Determining a sampling frequency and a cutoff frequency of the low-pass filter; Determining a state transition equation of the low-pass filter based on a sampling frequency and a cutoff frequency of the low-pass filter; The flight time is filtered based on a state transition equation of the low-pass filter.

2. The UWB ranging method according to claim 1, wherein: Determining a state transition equation of the low-pass filter based on the sampling frequency and the cutoff frequency of the low-pass filter includes: Determining state transfer equation parameters of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter, and determining the order n of the low-pass filter; Determining n processed flight times, where the processed flight times are n flight times adjacent to the currently acquired flight time and acquired based on a ranging cycle before the currently acquired flight time and processed by the low-pass filter; A state transfer equation of the low-pass filter is generated based on the state transfer equation parameters, the n processed flight times, and the currently acquired flight time.

3. The UWB ranging method according to claim 1, wherein: The time of flight is filtered based on a state transition equation of the low-pass filter, comprising: Based on the state transfer equation and the processed flight time, the currently acquired flight time is iteratively processed to obtain the flight time after filtering.

4. The UWB ranging method according to any one of claims 1 to 3, wherein: The state transition equation satisfies the following formula: y(n)=b0x(n)-b1y(n-1)-b2y(n-2) Wherein, y(n) represents the nth processed flight time; b0 represents the first state transfer equation parameter; b1 represents the second state transfer equation parameter; b2 represents the third state transfer equation parameter; x(n) represents the nth flight time; y(n-1) represents the n-1th processed flight time; y(n-2) represents the n-2th processed flight time.

5. The UWB ranging method according to any one of claims 1 to 3, wherein: The cut-off frequency is determined as follows: Based on the correspondence between the ranging scenario and the cutoff frequency, a current cutoff frequency corresponding to the current ranging scenario is determined.

6. The UWB ranging method according to claim 5, wherein: The correspondence between the ranging scenario and the cutoff frequency is determined in the following manner: Determining, for impulse response signals corresponding to a plurality of flight times monitored in a specified ranging scenario, a frequency spectrum interval of the flight time in the specified ranging scenario; Determining a cutoff frequency of a low-pass filter corresponding to the impulse response signal retaining the frequency spectrum interval; A correspondence between the specified ranging scenario and the cutoff frequency is created.

7. The UWB ranging method according to any one of claims 1 to 3, wherein: The flight time is acquired based on a ranging period, and a sampling frequency of the low-pass filter is determined based on a ranging frequency determined by the ranging period.

8. A UWB ranging device, characterized in that: The UWB ranging device includes: a filtering processing unit, configured to, in response to acquiring the flight time for UWB ranging, filter the flight time based on a low-pass filter; A ranging unit for performing UWB ranging based on the filtered time of flight; The filtering processing unit is used for: Determining a sampling frequency and a cutoff frequency of the low-pass filter; Determining a state transition equation of the low-pass filter based on a sampling frequency and a cutoff frequency of the low-pass filter; The flight time is filtered based on a state transition equation of the low-pass filter.

9. The UWB ranging device according to claim 8, characterized in that: The filtering processing unit is used for: Determining state transfer equation parameters of the low-pass filter based on the sampling frequency and cutoff frequency of the low-pass filter, and determining the order n of the low-pass filter; Determining n processed flight times, where the processed flight times are n flight times adjacent to the currently acquired flight time and acquired based on a ranging cycle before the currently acquired flight time and processed by the low-pass filter; A state transfer equation of the low-pass filter is generated based on the state transfer equation parameters, the n processed flight times, and the currently acquired flight time.

10. The UWB ranging device according to claim 8, wherein: The filtering processing unit is used for: Based on the state transfer equation and the n processed flight times, the currently acquired flight time is iteratively processed to obtain the flight time after filtering.

11. The UWB ranging device according to any one of claims 8 to 10, characterized in that: The state transition equation satisfies the following formula: y(n)=b0x(n)-b1y(n-1)-b2y(n-2) Wherein, y(n) represents the nth processed flight time; b0 represents the first state transfer equation parameter; b1 represents the second state transfer equation parameter; b2 represents the third state transfer equation parameter; x(n) represents the nth flight time; y(n-1) represents the n-1th processed flight time; y(n-2) represents the n-2th processed flight time.

12. The UWB ranging device according to any one of claims 8 to 10, characterized in that: The cut-off frequency is determined as follows: Based on the correspondence between the ranging scenario and the cutoff frequency, a current cutoff frequency corresponding to the current ranging scenario is determined.

13. The UWB ranging device according to claim 12, wherein: The correspondence between the ranging scenario and the cutoff frequency is determined in the following manner: Determining, for impulse response signals corresponding to a plurality of flight times monitored in a specified ranging scenario, a frequency spectrum interval of the flight time in the specified ranging scenario; Determining a cutoff frequency of a low-pass filter corresponding to the impulse response signal retaining the frequency spectrum interval; A correspondence between the specified ranging scenario and the cutoff frequency is created.

14. The UWB ranging device according to any one of claims 8 to 10, characterized in that: The flight time is acquired based on a ranging period, and a sampling frequency of the low-pass filter is determined based on a ranging frequency determined by the ranging period.

15. A UWB ranging device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the UWB ranging method according to any one of claims 1 to 7.

16. A storage medium, characterized in that The storage medium stores instructions, and when the instructions in the storage medium are executed by a processor of the mobile terminal, the mobile terminal is enabled to execute the UWB ranging method according to any one of claims 1 to 7.

Images