Phase ranging method, system and device

Abstract

The present application discloses a phase ranging method, system and device, which belongs to the field of wireless communication and positioning technology. The method includes: a first terminal establishes a Bluetooth connection with a second terminal, sends and receives a carrier signal at a predetermined frequency hopping interval within a predetermined frequency range, performs IQ sampling on the received carrier signal to obtain the IQ signal of the first terminal and the IQ signal of the second terminal; the first terminal receives an IQ data packet sent by the second terminal, the IQ data packet includes the IQ signal of the second terminal, and calculates the phase of the carrier signal; finally, the distance between the first terminal and the second terminal is determined based on the phase of the carrier signal. The solution of the present invention utilizes Bluetooth frequency hopping technology to realize multi-frequency carrier transmission across the entire Bluetooth frequency band, which can effectively reduce the impact caused by ground reflection and multipath, and ultimately achieve higher positioning accuracy.

Description

Technical Field

[0001] The present application relates to the field of wireless communication and positioning technology, and in particular to a phase ranging method, system and device. Background Art

[0002] Passive Entry and Passive Start (PEPS) systems are a key development in the automotive industry. Mobile-based PEPS systems utilize mobile devices as virtual vehicle keys, eliminating the need for dedicated vehicle keys and enabling keyless entry and start.

[0003] Currently, the first-generation Bluetooth PEPS system uses the Bluetooth Received Signal Strength Indication (RSSI) feature to locate the vehicle key area. Its positioning principle is based on the physical relationship between RSSI value changes and the distance between the receiver and transmitter. However, the RSSI feature is easily affected by ground reflection and multipath, and it will be significantly attenuated when disturbed by human interference, resulting in reduced key positioning accuracy and large positioning errors. Summary of the Invention

[0004] In order to solve the problems in the related art, this application provides a phase ranging method, system and device. The technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a phase ranging method, applied to a first terminal, the method comprising:

[0006] Establishing a Bluetooth connection with the second terminal;

[0007] transmitting and receiving a carrier signal at a predetermined frequency hopping interval within a predetermined frequency range;

[0008] Performing in-phase and quadrature (IQ) sampling on the received carrier signal to obtain a first terminal IQ signal;

[0009] receiving an IQ data packet sent by the second terminal, where the IQ data packet includes an IQ signal of the second terminal measured by the second terminal;

[0010] Calculating a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal;

[0011] The distance between the first terminal and the second terminal is determined according to the phase of the carrier signal.

[0012] In a second aspect, an embodiment of the present application provides a phase ranging method, applied to a second terminal, the method comprising:

[0013] Establishing a Bluetooth connection with the first terminal;

[0014] transmitting and receiving a carrier signal at a predetermined frequency hopping interval within a predetermined frequency range;

[0015] Performing IQ sampling on the received carrier signal to obtain a measured IQ signal of the second terminal;

[0016] An IQ data packet is sent to the first terminal, where the IQ data packet includes an IQ signal of the second terminal.

[0017] In a third aspect, an embodiment of the present application provides a phase ranging system, including a first terminal and a second terminal, wherein the first terminal and the second terminal are used to execute any of the above-mentioned phase ranging methods.

[0018] In a fourth aspect, an embodiment of the present application provides a phase ranging device, applied to a first terminal, the device comprising:

[0019] A first connection module, configured to establish a Bluetooth connection with a second terminal;

[0020] A first transmission module, configured to transmit and receive a carrier signal within a predetermined frequency range and at a predetermined frequency hopping interval;

[0021] A first sampling module is configured to perform in-phase orthogonal IQ sampling on the received carrier signal to obtain a first terminal IQ signal;

[0022] a data receiving module, configured to receive an IQ data packet sent by the second terminal, where the IQ data packet includes an IQ signal of the second terminal measured by the second terminal;

[0023] a phase calculation module, configured to calculate a carrier signal phase according to the IQ signal of the first terminal and the IQ signal of the second terminal;

[0024] The distance determination module is configured to determine the distance between the first terminal and the second terminal according to the phase of the carrier signal.

[0025] In a fifth aspect, an embodiment of the present application provides a phase ranging device, applied to a second terminal, the device comprising:

[0026] A second connection module, configured to establish a Bluetooth connection with the first terminal;

[0027] a second transmission module, configured to transmit and receive carrier signals within a predetermined frequency range and at a predetermined frequency hopping interval;

[0028] a second sampling module, configured to perform IQ sampling on the received carrier signal to obtain a measured IQ signal of a second terminal;

[0029] A data sending module is configured to send an IQ data packet to the first terminal, where the IQ data packet includes an IQ signal of the second terminal.

[0030] The technical solution of this application has at least the following advantages:

[0031] In the solution of the present invention, a first terminal establishes a Bluetooth connection with a second terminal, transmits and receives carrier signals within a predetermined frequency range at predetermined frequency hopping intervals, performs IQ sampling on the received carrier signals to obtain the first terminal IQ signal and the second terminal IQ signal. The first terminal receives an IQ data packet sent by the second terminal, which includes the second terminal IQ signal, and calculates the phase of the carrier signal. Finally, the distance between the first and second terminals is determined based on the phase of the carrier signal. This solution utilizes Bluetooth frequency hopping technology to implement multi-frequency carrier transmission across the entire Bluetooth frequency band, effectively minimizing the effects of ground reflections and multipath, ultimately achieving high positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] Figure 1 A schematic flow chart of a phase ranging method according to an embodiment of the present invention is shown;

[0034] Figure 2 Schematic diagram showing the reconstruction effect of the carrier signal;

[0035] Figure 3 A schematic diagram showing the effect of complex number expansion and distance estimation is shown;

[0036] Figure 4 shows a schematic diagram of the ranging results under human body occlusion;

[0037] Figure 5 A comparison chart of the algorithm output results before and after optimization is shown;

[0038] Figure 6 The figure shows a block diagram of the device structure of a phase ranging system provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0039] The following is a clear and complete description of the technical solutions of this application, with reference to the accompanying drawings. It should be understood that the embodiments described herein constitute only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of this application without inventive effort are intended to fall within the scope of protection of this application.

[0040] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal connections between two components; they can refer to wireless connections or wired connections. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0042] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0043] like Figure 1 As shown, an embodiment of the present application provides a phase ranging method, which is applied to a first terminal and a second terminal, wherein the first terminal and the second terminal constitute a phase ranging system, and the first terminal and the second terminal perform short-range wireless communication (such as Bluetooth connection).

[0044] It should be noted that in the embodiments of the present application, the first terminal is a vehicle-mounted device (such as a control terminal in the vehicle) and the second terminal is a smart mobile device (such as a smart physical key, a smart phone that can control the vehicle, etc.) as an example for schematic description; in other possible methods, if the signal processing is on the smart mobile device side, the first terminal is the smart mobile device and the second terminal is the vehicle-mounted device, and this is not limited.

[0045] like Figure 1 As shown, the method includes:

[0046] Step 101: A first terminal establishes a Bluetooth connection with a second terminal.

[0047] Step 102: The second terminal establishes a Bluetooth connection with the first terminal.

[0048] Step 103: The first terminal and the second terminal transmit and receive carrier signals within a predetermined frequency range and at a predetermined frequency hopping interval.

[0049] Step 104: The first terminal performs IQ sampling on the received carrier signal to obtain a first terminal IQ signal.

[0050] Step 105: The second terminal performs IQ sampling on the received carrier signal to obtain a measured second terminal IQ signal.

[0051] During the frequency hopping sampling process (i.e., transmitting and receiving carrier signals within a predetermined frequency range and at predetermined frequency hopping intervals) between the first and second terminals, the first and second terminals each collect carrier signals from the other. Correspondingly, the first terminal collects the carrier signal from the second terminal and performs IQ sampling to obtain a first-terminal IQ signal. The second terminal collects the carrier signal from the first terminal and performs IQ sampling to obtain a second-terminal IQ signal.

[0052] After the Bluetooth connection is established, the frequency modulation sampling times are n times, where n≥2.

[0053] Step 106: The second terminal sends an IQ data packet to the first terminal. The IQ data packet includes an IQ signal of the second terminal measured by the second terminal.

[0054] Furthermore, after the frequency hopping sampling is completed, the second terminal sends an IQ data packet including an IQ signal of the second terminal to the first terminal, and the first terminal performs an algorithm process of subsequent steps.

[0055] Step 107: The first terminal receives the IQ data packet sent by the second terminal.

[0056] Step 108: The first terminal calculates a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal.

[0057] In a possible implementation manner, this step includes the following content and is performed by the first terminal.

[0058] Content 1: Calculate a first directional phase of a carrier signal according to an IQ signal of a first terminal.

[0059] Content 2: Calculate the second direction phase of the carrier signal according to the IQ signal of the second terminal.

[0060] Content 3. Calculate the sum of the first direction phase and the second direction phase, and record it as the carrier signal phase.

[0061] Among them, the IQ signal of each terminal is represented in the form of a vector, and its angle is 0~2π. Perform phase calculations.

[0062] Then the first direction phase is expressed as

[0063]

[0064] Wherein, A refers to the first terminal, B refers to the second terminal, refers to the first direction (i.e., the calculated phase corresponding to the IQ signal sent by the second terminal to the first terminal), f base is the starting frequency (e.g. 2401MHz), f h It is a customizable frequency hopping interval (but must comply with the Bluetooth protocol specification). is the initial phase of the wireless carrier, is the phase error caused by the phase-locked loop of the hardware device itself, d is the distance between the first terminal and the second terminal, c is the speed of light, and i is the number of frequency hopping.

[0065] Then the second direction phase is expressed as

[0066]

[0067] in, Refers to the second direction (ie, the calculated phase corresponding to the IQ signal sent by the first terminal to the second terminal).

[0068] Finally, calculate the sum of the first direction phase and the second direction phase, which is recorded as the carrier signal phase

[0069]

[0070] In one example, the frequency range is 2401 to 2480 MHz (f base is 2401MHz), with 1M as f h , then the frequency hopping is performed 80 times, then the first terminal collects 80 groups of IQ signals, and the second terminal collects 80 groups of IQ signals. After the frequency hopping sampling is completed, the second terminal sends the 80 groups of collected second terminal IQ signals to the first terminal via Bluetooth communication.

[0071] Step 109: The first terminal determines the distance between the first terminal and the second terminal according to the phase of the carrier signal.

[0072] In a possible implementation manner, this step includes the following content and is performed by the first terminal.

[0073] Content 1. Reconstructing the phase of a carrier signal, wherein the reconstructed phase value is a corrected phase value.

[0074] Content 2: Perform complex expansion on the reconstructed carrier signal phase.

[0075] Content 3. Determine the correspondence between the ranging quality factor and the estimated distance based on the complex number expansion result of the carrier signal phase.

[0076] In the related art, according to the above carrier signal phase We can further calculate:

[0077]

[0078] Then ideally, the frequency f is the horizontal axis and the The vertical axis is the distance and the slope of this curve However, in practice, noise, multipath interference, and measurement errors can cause phase measurement errors. Therefore, it is very difficult to obtain the true distance by extracting the true curve slope.

[0079] The present invention solves this problem. First, the carrier signal phase obtained by the above calculation is reconstructed, wherein the reconstructed phase value is the corrected phase value.

[0080] In one possible implementation, "reconstructing the carrier signal phase" includes the following: unfolding the carrier signal phase; filtering the unfolded carrier signal phase (Kalman filtering or Wiener filtering); and folding the filtered carrier signal phase, mapping the carrier signal phase to the interval (-π, π), to obtain a reconstructed phase value.

[0081] like Figure 2 As shown, it shows a schematic diagram of the reconstruction effect of the carrier signal, wherein the collected IQ signal includes the IQ signal of the first terminal and the IQ signal of the second terminal; I Signal refers to the signal in the same direction, and Q Signal refers to the signal in the orthogonal direction; frequency sequence refers to the horizontal coordinate of the frequency sequence, and phase refers to the vertical coordinate of the phase (where the unit is rad).

[0082] Furthermore, the reconstructed carrier signal phase is complex-expanded, and the corresponding relationship between the ranging quality factor and the estimated distance is determined based on the complex-expanded result of the carrier signal phase. The result of the complex-expanded result is used as the final input for the distance estimation, and the corresponding relationship between the final output ranging quality factor and the estimated distance is as follows:

[0083]

[0084]

[0085] in, is the ranging quality factor, N refers to the number of frequency hopping, and B is a custom parameter. The larger the sampling interval B is, the greater the computing resource consumption is and the higher the accuracy is.

[0086] because It can be analyzed that d max Inversely proportional to Δf, this specific implementation selects Δf = 1MHz, so d max =150m(when In open air scenarios (i.e., with less multipath interference and co-channel interference), the ranging quality factor has a significant peak value, and the ranging effect is better.

[0087] like Figure 3 As shown in FIG, it shows a schematic diagram of the effect of complex number expansion and distance estimation, where rea1(Z) represents the real part of the complex number, imag(Z) represents the imaginary part of the complex number, Estimated Distance (real distance = 1m) refers to the estimated distance (actual distance = 1m), and Distance Quality Indicator refers to the distance quality indicator. Figure 3 It can be seen that at this time, the estimated distance corresponding to the maximum value of the ranging quality factor is selected, d estimate =4.395m.

[0088] Furthermore, considering the impact of the environment and the equipment itself, distance calibration is required. The above examples are all based on the case where the actual distance is 1m.

[0089] Then the calibration deviation value d offset For: d offset =4.395–1=3.395m.

[0090] Then the final output distance d result For: d result =d estimate -d offset .

[0091] Content 4. Obtain an estimated distance corresponding to a peak point of a ranging quality factor that meets predetermined conditions.

[0092] Considering the multipath interference problem, this step proposes a high-precision distance estimation algorithm with threshold optimization, which is content four.

[0093] First, let's analyze the impact of multipath. The impact of multipath on phase measurement can be divided into two categories: cancellation effect, that is, the amplitude cancellation of the same-frequency signal leads to a lower amplitude or even the opposite-phase cancellation is zero, causing the receiver to be unable to receive the signal; superposition effect, that is, the amplitude superposition of the same-frequency signal leads to an increase in amplitude. If the same-phase superposition is performed, only the amplitude is affected and the phase will not be affected; if the different-phase superposition is performed, the phase will be affected. The actual impact on the algorithm is that there are multiple peaks in the measurement quality factor, and the maximum peak is no longer the corresponding actual distance, but may correspond to the path distance of multipath reflection. Take the specific algorithm curve when there is human body obstruction as an example, Figure 4 As shown in , the ranging scenario corresponding to the measurement curve is a complex office with human body occlusion (i.e. Non Line of Sight (NLOS), the actual distance between devices is 1m, and the human body blocks the second terminal antenna). Figure 4 As shown, if the maximum peak point is selected, the result is calculated as follows:

[0094] d result =d estimate -do ffset =5.566-3.395=2.201m

[0095] According to the results, it is not possible to determine the estimated distance based solely on the maximum peak point of the quality factor. Therefore, the following four specific contents are proposed.

[0096] In one possible implementation, a maximum value of a ranging quality factor is obtained, denoted as γ. When γ satisfies a first predetermined condition, a maximum peak point of the ranging quality factor is obtained, where the first predetermined condition is ValueA≤γ≤1. When γ satisfies a second predetermined condition, a first peak point of the ranging quality factor greater than ValueB is obtained, where the second predetermined condition is ValueB≤γ≤ValueA. When γ satisfies a third predetermined condition, a first peak point of the ranging quality factor greater than ValueC is obtained, where the third predetermined condition is ValueC≤γ≤ValueB. ValueA, ValueB, and ValueC are predetermined thresholds, and ValueC<ValueB<ValueA.

[0097] Content 5. Determine the distance between the first terminal and the second terminal according to the estimated distance corresponding to the peak point of the ranging quality factor that meets the predetermined condition.

[0098] In one possible implementation, a distance deviation value is obtained, which is calculated based on a distance-known scenario; a difference between an estimated distance corresponding to a ranging quality factor peak point that meets a predetermined condition and the distance deviation value is calculated to calculate the distance between the first terminal and the second terminal.

[0099] In one example, according to a threshold optimization process, Figure 4 The distance estimation result is re-performed on the distance measurement result shown, and the peak point is selected as the first peak point with a value greater than 0.4. The distance estimation result is as follows:

[0100] d result =d estimate -do ffset =4.395-3.395=1m

[0101] The final output distance result is consistent with the actual distance.

[0102] The algorithm after threshold optimization is compatible with different scenarios (such as open space and garage) and can improve the distance measurement effect in complex environments. This optimization effect has been tested and verified. For example: the scene is selected as a garage, the distance between the first terminal and the second terminal is fixed at 10m, and a person is blocked between the first terminal and the second terminal (the distance between the person and the second terminal is 2m). The distance result output by the distance estimation algorithm before optimization is compared with the distance result output by the distance estimation algorithm after optimization. Figure 5 As shown in the figure, the upper line segment represents the actual distance (1000cm), and the lower line segment represents the estimated distance output by the algorithm. It can be seen that in the case of human occlusion, the output results of the optimized algorithm are more accurate and robust than those of the unoptimized algorithm.

[0103] In summary, the solution of the present invention utilizes Bluetooth frequency hopping technology to implement multi-frequency carrier transmission across the entire Bluetooth frequency band, which can effectively reduce the impact of ground reflection and multipath, and ultimately achieve higher positioning accuracy (centimeter-level accuracy).

[0104] Please refer to Figure 6 , which shows a block diagram of the device structure of a phase ranging system provided by one embodiment of the present application. The system includes a device structure applied to a first terminal and a device structure applied to a second terminal. Each device can be implemented as all or part of a computer device through software, hardware, or a combination of both.

[0105] The device applied to the first terminal includes:

[0106] A first connection module 601 is configured to establish a Bluetooth connection with a second terminal;

[0107] A first transmission module 602 is configured to transmit and receive carrier signals within a predetermined frequency range and at a predetermined frequency hopping interval;

[0108] A first sampling module 603 is configured to perform in-phase orthogonal IQ sampling on the received carrier signal to obtain a first terminal IQ signal;

[0109] A data receiving module 604 is configured to receive an IQ data packet sent by the second terminal, where the IQ data packet includes an IQ signal of the second terminal measured by the second terminal;

[0110] A phase calculation module 605 is configured to calculate a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal;

[0111] The distance determining module 606 is configured to determine the distance between the first terminal and the second terminal according to the phase of the carrier signal.

[0112] Optionally, the phase calculation module 605 includes:

[0113] a first calculation unit, configured to calculate a first directional phase of the carrier signal according to the IQ signal of the first terminal;

[0114] a second calculation unit, configured to calculate a second directional phase of the carrier signal according to the IQ signal of the second terminal;

[0115] The third calculation unit is used to calculate the sum of the first direction phase and the second direction phase, which is recorded as the carrier signal phase.

[0116] Optionally, the distance determination module 606 includes:

[0117] A first determining unit is configured to reconstruct the phase of the carrier signal, wherein the reconstructed phase value is a corrected phase value;

[0118] A second determining unit, configured to perform complex expansion on the reconstructed carrier signal phase;

[0119] a third determining unit, configured to determine a correspondence between a ranging quality factor and an estimated distance according to a complex expansion result of the carrier signal phase;

[0120] a fourth determining unit, configured to obtain an estimated distance corresponding to a peak point of a ranging quality factor that meets a predetermined condition;

[0121] a fifth determining unit, configured to determine a distance between the first terminal and the second terminal according to the estimated distance corresponding to the ranging quality factor peak point that meets a predetermined condition;

[0122] The fourth determining unit is further configured to:

[0123] Obtaining the maximum value of the ranging quality factor, denoted as γ;

[0124] When γ satisfies a first predetermined condition, obtaining a maximum peak point of the ranging quality factor, wherein the first predetermined condition is ValueA≤γ≤1;

[0125] When γ satisfies a second predetermined condition, obtaining a first ranging quality factor peak point greater than ValueB, wherein the second predetermined condition is ValueB≤γ≤ValueA;

[0126] When γ satisfies a third predetermined condition, obtaining a first ranging quality factor peak point greater than ValueC, wherein the third predetermined condition is ValueC≤γ≤ValueB;

[0127] Among them, ValueA, ValueB, and ValueC are predetermined thresholds, and ValueC<ValueB<ValueA.

[0128] The first determining unit is further configured to:

[0129] Used to expand the phase of the carrier signal;

[0130] Filtering the phase of the unfolded carrier signal;

[0131] The phase of the carrier signal after filtering is folded, and the phase of the carrier signal is mapped to the interval (-π, π) to obtain the reconstructed phase value.

[0132] Optionally, the fifth determining unit is further configured to:

[0133] Obtaining a distance deviation value, where the distance deviation value is calculated based on a scene with known distance;

[0134] The difference between the estimated distance corresponding to the ranging quality factor peak point that meets the predetermined condition and the distance deviation value is calculated to calculate the distance between the first terminal and the second terminal.

[0135] The device applied to the second terminal includes:

[0136] The second connection module 611 is used to establish a Bluetooth connection with the first terminal;

[0137] The second transmission module 612 is configured to transmit and receive carrier signals within a predetermined frequency range and at a predetermined frequency hopping interval;

[0138] A second sampling module 613 is configured to perform IQ sampling on the received carrier signal to obtain a measured second terminal IQ signal;

[0139] The data sending module 614 is configured to send an IQ data packet to the first terminal, where the IQ data packet includes an IQ signal of the second terminal.

[0140] Optionally, the present application also provides a computer-readable storage medium, in which a program is stored. The program is loaded and executed by a processor to implement the phase ranging method of the above method embodiment.

[0141] Optionally, the present application also provides a computer product, which includes a computer-readable storage medium, in which a program is stored. The program is loaded and executed by a processor to implement the phase ranging method of the above method embodiment.

[0142] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of this application.

Claims

1. A phase ranging method, characterized in that: The method comprises: The first terminal establishes a Bluetooth connection with the second terminal; transmitting and receiving a carrier signal at a predetermined frequency hopping interval within a predetermined frequency range; Performing in-direction orthogonal IQ sampling on the received carrier signal to obtain a first terminal IQ signal; receiving an IQ data packet sent by the second terminal, where the IQ data packet includes an IQ signal of the second terminal measured by the second terminal; Calculating a carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal; determining a distance between the first terminal and the second terminal according to a phase of a carrier signal; The determining the distance between the first terminal and the second terminal according to the phase of the carrier signal includes: Reconstructing the phase of the carrier signal, wherein the reconstructed phase value is a corrected phase value; Performing complex expansion on the reconstructed carrier signal phase; Determining a corresponding relationship between a ranging quality factor and an estimated distance according to a complex expansion result of the carrier signal phase; Obtaining an estimated distance corresponding to a peak point of a ranging quality factor that meets a predetermined condition; The distance between the first terminal and the second terminal is determined according to the estimated distance corresponding to the ranging quality factor peak point that meets the predetermined condition.

2. The method according to claim 1, characterized in that The calculating the carrier signal phase according to the first terminal IQ signal and the second terminal IQ signal includes: Calculating a first directional phase of the carrier signal according to the IQ signal of the first terminal; Calculating a second directional phase of the carrier signal according to the second terminal IQ signal; The sum of the first direction phase and the second direction phase is calculated and recorded as the carrier signal phase.

3. The method according to claim 1, characterized in that The reconstructing the phase of the carrier signal includes: Expanding the phase of the carrier signal; Filtering the phase of the unfolded carrier signal; The phase of the carrier signal after filtering is folded, and the phase of the carrier signal is mapped to the interval (-π,π) to obtain the reconstructed phase value.

4. The method according to claim 1, wherein The obtaining of the estimated distance corresponding to the peak point of the ranging quality factor that meets a predetermined condition includes: Obtaining the maximum value of the ranging quality factor, denoted as γ; When γ satisfies a first predetermined condition, obtaining a maximum peak point of the ranging quality factor, wherein the first predetermined condition is ValueA≤γ≤1; When γ satisfies a second predetermined condition, obtaining a first ranging quality factor peak point greater than ValueB, wherein the second predetermined condition is ValueB≤γ≤ValueA; When γ satisfies a third predetermined condition, obtaining a first ranging quality factor peak point greater than ValueC, wherein the third predetermined condition is ValueC≤γ≤ValueB; Among them, ValueA, ValueB, and ValueC are predetermined thresholds, and ValueC<ValueB<ValueA.

5. The method according to claim 1, wherein The determining the distance between the first terminal and the second terminal according to the estimated distance corresponding to the ranging quality factor peak point that meets the predetermined condition includes: Obtaining a distance deviation value, where the distance deviation value is calculated based on a scene with known distance; The difference between the estimated distance corresponding to the ranging quality factor peak point that meets the predetermined condition and the distance deviation value is calculated to calculate the distance between the first terminal and the second terminal.

6. A phase ranging system, characterized in that: The method comprises a first terminal and a second terminal, and executes the method according to any one of claims 1 to 5.

7. A phase ranging device, characterized in that: The device includes a first terminal and a second terminal; The first terminal includes: A first connection module, configured to establish a Bluetooth connection with a second terminal; A first transmission module, configured to transmit and receive a carrier signal within a predetermined frequency range and at a predetermined frequency hopping interval; A first sampling module is configured to perform in-phase orthogonal IQ sampling on the received carrier signal to obtain a first terminal IQ signal; a data receiving module, configured to receive an IQ data packet sent by the second terminal, where the IQ data packet includes an IQ signal of the second terminal measured by the second terminal; a phase calculation module, configured to calculate a carrier signal phase according to the IQ signal of the first terminal and the IQ signal of the second terminal; A distance determination module is configured to determine the distance between the first terminal and the second terminal based on a carrier signal phase; the distance determination module comprises: a first determination unit configured to reconstruct the carrier signal phase, wherein the reconstructed phase value is a corrected phase value; a second determination unit configured to perform complex expansion on the reconstructed carrier signal phase; a third determination unit configured to determine a correspondence between a ranging quality factor and an estimated distance based on the complex expansion result of the carrier signal phase; a fourth determination unit configured to obtain an estimated distance corresponding to a ranging quality factor peak point that meets a predetermined condition; and a fifth determination unit configured to determine the distance between the first terminal and the second terminal based on the estimated distance corresponding to the ranging quality factor peak point that meets the predetermined condition.

8. The phase ranging device according to claim 7, characterized in that: The phase calculation module includes: a first calculation unit, configured to calculate a first directional phase of the carrier signal according to the IQ signal of the first terminal; a second calculation unit, configured to calculate a second directional phase of the carrier signal according to the IQ signal of the second terminal; The third calculation unit is used to calculate the sum of the first direction phase and the second direction phase, which is recorded as the carrier signal phase.

9. The phase ranging device according to claim 7, characterized in that: The fourth determining unit is further configured to: Obtaining the maximum value of the ranging quality factor, denoted as γ; When γ satisfies a first predetermined condition, obtaining a maximum peak point of the ranging quality factor, wherein the first predetermined condition is ValueA≤γ≤1; When γ satisfies a second predetermined condition, obtaining a first ranging quality factor peak point greater than ValueB, wherein the second predetermined condition is ValueB≤γ≤ValueA; When γ satisfies a third predetermined condition, obtaining a first ranging quality factor peak point greater than ValueC, wherein the third predetermined condition is ValueC≤γ≤ValueB; Among them, ValueA, ValueB, and ValueC are predetermined thresholds, and ValueC<ValueB<ValueA.

10. The phase ranging device according to claim 7, characterized in that: The first determining unit is further configured to: Used to expand the phase of the carrier signal; Filtering the phase of the unfolded carrier signal; The phase of the carrier signal after filtering is folded, and the phase of the carrier signal is mapped to the interval (-π,π) to obtain the reconstructed phase value.

11. The phase ranging device according to claim 7, characterized in that: The fifth determining unit is further configured to: Obtaining a distance deviation value, where the distance deviation value is calculated based on a scene with known distance; The difference between the estimated distance corresponding to the ranging quality factor peak point that meets the predetermined condition and the distance deviation value is calculated to calculate the distance between the first terminal and the second terminal.

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