Method for determining the confidence level of distance measurement value and related device

Abstract

The embodiment of the present application provides a method and related device for determining the confidence of a ranging value, including: determining the relative position information between terminals through information interaction between UWB communication modules, the relative position information including azimuth and ranging value, the azimuth being used to characterize the signal arrival angle AOA of the second terminal relative to the first terminal; determining the target confidence of the ranging value according to the azimuth and preset rules, the preset rules being used to detect the credibility of the ranging value according to the distribution law of the antenna gain corresponding to the azimuth of the true value and abnormal value of the ranging value. In this way, the confidence of the measured distance value can be determined according to the distribution law of the antenna gain and the azimuth, thereby filtering out the ranging abnormal value, and improving the efficiency and accuracy of determining the confidence of the ranging value.

Description

Technical Field

[0001] The present application relates to the field of electronic technologies, and in particular, to a method for determining the confidence level of a ranging value and related devices. Background Art

[0002] Currently, with the rapid development of wireless communication technologies, the demand for wireless positioning services through wireless communication technologies is increasing day by day. Commonly used positioning technologies include Bluetooth, Ultra Wide Band (UWB), Wireless Fidelity (WIFI), etc. Among them, UWB wireless positioning technology has gradually become popular, and it has advantages such as low power consumption, fast transmission rate, strong penetration ability, and high positioning accuracy.

[0003] However, in actual deployment, the accuracy of UWB positioning is easily affected by the environment, resulting in inaccurate position information obtained through UWB positioning. Summary of the Invention

[0004] The present application provides a method for determining the confidence level of a ranging value and related devices, in order to improve the efficiency and accuracy of determining the confidence level of a ranging value.

[0005] In a first aspect, an embodiment of the present application provides a method for determining the confidence level of a ranging value, which is applied to a first terminal in a positioning system. The positioning system includes the first terminal and a second terminal.

[0006] The first terminal is provided with a first ultra-wideband communication module, and the second terminal is provided with a second ultra-wideband communication module. The method includes:

[0007] Performing signal interaction between the first ultra-wideband communication module and the second ultra-wideband communication module to determine the relative position information between the first terminal and the second terminal. The relative position information includes a ranging value and an azimuth angle, and the azimuth angle is used to represent the signal arrival angle of the second terminal relative to the first terminal.

[0008] Determining the target confidence level of the ranging value according to the azimuth angle and a preset rule. The preset rule is used to implement the credibility detection of the ranging value according to the distribution law of the true value and the abnormal value of the ranging value in the antenna gain corresponding to the azimuth angle.

[0009] In a second aspect, an embodiment of the present application provides a device for determining the confidence level of a ranging value. The device includes:

[0010] A relative position information determination unit is configured to determine the relative position information between the first terminal and the second terminal by performing signal interaction between the first ultra-wideband communication module and the second ultra-wideband communication module. The relative position information includes a ranging value and an azimuth angle, and the azimuth angle is used to represent the signal arrival angle of the second terminal relative to the first terminal.

[0011] A confidence level determination unit is configured to determine the target confidence level of the ranging value according to the azimuth angle and a preset rule. The preset rule is used to detect the credibility of the ranging value according to the distribution law of the true value and the outlier of the ranging value in the antenna gain corresponding to the azimuth angle.

[0012] In a third aspect, an embodiment of the present application provides a terminal, including a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and configured to be executed by the processor. The programs include instructions for performing the steps in the first aspect of the embodiments of the present application.

[0013] In a fourth aspect, an embodiment of the present application provides a computer storage medium for storing a computer program for electronic data exchange. The computer program causes a computer to execute some or all of the steps described in the first aspect of the present embodiment.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product. The computer program product includes a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiments of the present application.

[0015] It can be seen that in the embodiment of the present application, the first terminal first performs UWB signal interaction with the second terminal to determine the relative position information between the first terminal and the second terminal. The relative position information includes an azimuth angle and a ranging value. Secondly, the target confidence level of the ranging value is calculated according to the azimuth angle and a preset rule. Since the preset rule is used to detect the credibility of the ranging value according to the distribution law of the true value and the outlier of the ranging value in the antenna gain corresponding to the azimuth angle, compared with the existing complex calculation scheme for determining whether the ranging value is accurate, the present application can determine the confidence level of the measured ranging value through the measured azimuth angle and the preset rule, improving the efficiency and accuracy of determining the confidence level of the ranging value. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1a is a schematic diagram of a positioning system provided by an embodiment of the present application;

[0018] Figure 1b is a schematic structural diagram of a terminal provided by an embodiment of the present application;

[0019] Figure 2a is a schematic process diagram of a method for determining the confidence level of a ranging value provided by an embodiment of the present application;

[0020] Figure 2b is a schematic diagram of the layout of a mobile phone antenna provided by an embodiment of the present application;

[0021] Figure 2c is a schematic diagram of an azimuth angle provided by an embodiment of the present application;

[0022] Figure 2d is a schematic diagram of two-way ranging interaction provided by an embodiment of the present application;

[0023] Figure 2e is a schematic diagram of the PDoA principle provided by an embodiment of the present application;

[0024] Figure 2f is a schematic diagram of an antenna radiation pattern provided by an embodiment of the present application;

[0025] Figure 3 is a block diagram of the functional units of a device for determining the confidence level of a ranging value provided by an embodiment of the present application;

[0026] Figure 4 is a structural block diagram of a device for determining the confidence level of a ranging value provided by an embodiment of the present application. Detailed implementation manners

[0027] To enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0028] In the description, claims and the above-mentioned drawings of this application, terms such as "first" and "second" are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0029] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0030] First, the relevant terms involved in this application will be introduced below.

[0031] Ultra Wide Band (UWB) technology: It refers to a wireless carrier communication technology that uses a frequency bandwidth above 1 GHz. It does not use a sine carrier, but uses non-sine wave narrow pulses at the nanosecond level to transmit data, and the impulse pulse has a very high positioning accuracy.

[0032] Phase Difference of Arrival (PDOA): It refers to judging the angle and distance of the identification object from itself according to the phase difference of the same signal received by two antennas.

[0033] Two-Way-Ranging (TWR): Determine the distance between two devices through the average of the flight times of multiple signals between the two devices.

[0034] Angle of Arrival (AOA): It refers to the direction of arrival of the signal of the transmitting node perceived by the hardware device.

[0035] Radiation pattern: Also known as antenna radiation pattern and antenna direction pattern, it refers to the graph of the relative field strength of the radiation field changing with direction at a certain distance from the antenna, and it is a graphical description method of the radiation characteristics of the antenna.

[0036] Antenna gain: It refers to the ratio of the power density of the signal generated by the actual antenna and the ideal radiation unit at the same point in space under the condition of equal output power. It quantitatively describes the degree to which an antenna concentrates and radiates the input power, and has a close relationship with the antenna radiation pattern.

[0037] To better understand the technical solutions of the embodiments of the present application, the advertising placement system and electronic devices that may be involved in the embodiments of the present application will be introduced below.

[0038] Please refer to Figure 1a , Figure 1a which is a schematic diagram of a positioning system provided by an embodiment of the present application. As shown in the figure, the positioning system 100 includes a first terminal 101 and a second terminal 102, and the first terminal 101 and the second terminal 102 are communicatively connected. The second terminal 102 is used to perform UWB signal interaction with the first terminal 101, so that the first antenna and the second antenna in the first UWB communication module in the first terminal 101 can receive the UWB signal sent by the second terminal 102, and the second terminal 102 includes at least one UWB antenna. In this way, the first terminal 101 can calculate the relative position information of the second terminal relative to the first terminal according to the UWB signals received by the two antennas respectively, and then determine the confidence level of the ranging value according to the azimuth angle and the preset rules. One first terminal 101 can correspond to multiple second terminals 102 at the same time, or the positioning system 100 includes multiple first terminals, and each first terminal corresponds to one or more second terminals.

[0039] Specifically, as Figure 1a described, the structures of the first terminal and the second terminal can be referred to Figure 1b , Figure 1b which is a schematic diagram of the structure of a terminal provided by an embodiment of the present application. As Figure 1b shown, the terminal 110 can implement the steps in the method for determining the confidence level of the ranging value. The terminal 110 includes a processor 120, a memory 130, a communication interface 140, and one or more programs 131. Among them, the one or more programs 131 are stored in the above-mentioned memory 130 and are configured to be executed by the above-mentioned processor 120. The one or more programs 131 include instructions for executing any step in the above-mentioned method embodiment.

[0040] Among them, the communication interface can also be a transceiver, a transceiver circuit, etc., for supporting the communication between the first electronic device and other devices. The memory is used to store the program code and data of the terminal. The processor can also be a controller, for example, it can be a Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in connection with the disclosure of the present application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.

[0041] The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM) and direct rambus random access memory (DR RAM).

[0042] In a specific implementation, the processor is used to execute any step performed by the electronic device in the above method embodiment, and when performing data transmission such as sending, the communication interface can be selectively called to complete the corresponding operation.

[0043] At present, antenna communication technology is developing rapidly, and UWB wireless positioning technology has gradually become popular in the wireless positioning industry because of its many advantages. In an ideal environment, the positioning accuracy of UWB wireless positioning technology is very high. However, in actual application scenarios, due to the different environments where the devices are located, the environment will affect the positioning accuracy of UWB, and the measured position information will also be inaccurate, affecting the normal use of the devices and the acquisition of information.

[0044] To solve the above problems, the embodiments of the present application provide a method and related device for determining the confidence level of a ranging value. The method is applied to a first terminal in a positioning system, and the positioning system includes a first terminal and a second terminal, where UWB signal interaction is performed between the first terminal and the second terminal. Through information interaction between the terminals, the first terminal can obtain the relative position information of the second terminal relative to the first terminal. Compared with the existing complex calculation scheme for determining whether a ranging value is accurate, the present application can determine the confidence level of the measured ranging value through the measured azimuth angle and a preset rule, improving the efficiency and accuracy of determining the confidence level of the ranging value. According to the obtained confidence level, we can filter out abnormal ranging values and leave the ranging values of the true distance for use as ranging results, thereby ensuring the accuracy of positioning information.

[0045] The following introduces the process of the method for determining the confidence level of a ranging value involved in the embodiments of the present application from the perspective of method embodiments.

[0046] Please refer to Figure 2a , Figure 2a which is a schematic diagram of the process of a method for determining the confidence level of a ranging value provided by the embodiments of the present application, applied to a first terminal in a positioning system. The positioning system includes the first terminal and a second terminal. The first terminal is provided with a first ultra-wideband communication module, and the second terminal is provided with a second ultra-wideband communication module. The method includes the following steps:

[0047] Step 201: Perform signal interaction through the first ultra-wideband communication module and the second ultra-wideband communication module to determine the relative position information between the first terminal and the second terminal;

[0048] Wherein, the relative position information includes a ranging value and an azimuth angle, and the azimuth angle is used to represent the angle of arrival of the signal of the second terminal relative to the first terminal (AOA).

[0049] Optionally, the first terminal and the second terminal in the positioning system need to include at least a UWB communication module, a UWB antenna, and related processors, memories, etc. The UWB communication module is at least a radio frequency transceiver that can support the UWB protocol of IEEE802.15.4, and can also support two-way ranging, so as to enable UWB signal interaction between the two terminals, and perform ranging based on the received and transmitted UWB signals.

[0050] In a possible embodiment, the first ultra-wideband communication module includes a first antenna and a second antenna; the signal interaction between the first ultra-wideband communication module and the second ultra-wideband communication module to determine the relative position information between the first terminal and the second terminal includes: receiving signals through the first antenna and the second antenna respectively to determine the ultra-wideband signal; calculating the relative position information according to a preset algorithm, a preset antenna spacing, and the received ultra-wideband signal.

[0051] Among them, the preset algorithm includes the phase difference PDoA algorithm and the two-way ranging TWR algorithm, and the antenna spacing is the distance between the first antenna and the second antenna. Among them, the first terminal needs at least 2 UWB antennas (Antenna, ANT). Because in actual AOA measurement, it is required that there are more than two antennas at the signal receiving end to receive signals, and then calculate the phase difference of the UWB signal sent by the signal sending end arriving at the two antennas, and use the measured phase difference to calculate the azimuth angle AOA of the sending end relative to the receiving end. Here, the receiving end corresponds to the first terminal in the solution, and the sending end corresponds to the second terminal in the solution. Correspondingly, since it is the first terminal that receives the signal to calculate the azimuth angle, the first terminal needs to support at least PDoA or AOA measurement. And since the second terminal is not responsible for the azimuth angle and relative position information, there is no such requirement for the second terminal, that is, it can only include 1 UWB antenna, and the second terminal does not need to support PDoA or AOA measurement.

[0052] Among them, as Figure 2b shown, Figure 2b is a schematic diagram of the layout of a mobile phone antenna provided by an embodiment of the present application. If the first terminal is a mobile phone, then the UWB antennas UWB ANT1 and UWB ANT2 that usually support AOA measurement will be arranged on the back of the mobile phone like this. The two antennas are horizontally arranged, and there are certain restrictions on the spacing, which need to meet the antenna spacing d < λ / 2, that is, the antenna spacing is less than half of the signal wavelength. The second terminal can be a mobile phone with the same configuration as the first terminal, or a device with a UWB tag, or a UWB base station, which is not limited here. After meeting the configuration requirements of the above terminals, the relative position information obtained by the first terminal, including the azimuth angle and the distance, as Figure 2c described, Figure 2cIt is a schematic diagram of azimuth angles provided by an embodiment of the present application. Among them, AOA is the azimuth angle of the second UWB terminal relative to the first UWB terminal. This azimuth angle takes the midpoint between the two antennas of the first UWB terminal as the axis, and the angle deviating towards the second UWB terminal is the magnitude. At the same time, it can also represent the signal arrival angle of the UWB signal transmitted by the second UWB terminal reaching the first UWB terminal. D shown in the figure is the measured ranging value.

[0053] It can be seen that in this example, UWB signal interaction is carried out between the first terminal and the second terminal. The first antenna and the second antenna in the first terminal respectively receive signals, and the relative position information of the second terminal relative to the first terminal is calculated based on the received signals. In this way, the relative position information can be calculated through the setting of the two antennas in the first terminal, so that the confidence level of the ranging value can be further judged using the measured azimuth angle later.

[0054] In a possible embodiment, calculating the relative position information according to a preset algorithm, a preset antenna spacing, and the received ultra-wideband signal includes: determining the ranging value according to the two-way ranging algorithm and the received ultra-wideband signal; determining the azimuth angle according to the phase difference algorithm, the antenna spacing, and the received ultra-wideband signal.

[0055] Among them, through the interaction of UWB signals, the corresponding position information to be measured can be calculated between terminals through signals and algorithms. Since both terminals support two-way ranging, the distance value between the two terminals can be calculated through the TWR algorithm. Since the first terminal supports the measurement of PDoA or AOA, finally, the first terminal receives the signal to complete the interaction between UWB signals, and the first terminal determines the azimuth angle. Among them, the measured distance value, that is, the ranging value, may not be the real distance between the terminals. It may be larger than the real value. The main reasons affecting its authenticity are as follows: the influence of multipath effect, the influence of non-line-of-sight (NLOS) propagation, and the influence of signal penetration attenuation. The multipath effect means that the UWB positioning signal will be reflected and refracted by surrounding objects such as walls, floors, and desktops during the propagation process, resulting in the multipath effect, causing signal power attenuation and signal-to-noise ratio decrease. As a result, the first-arrival signal received by the receiving end is not the direct signal, causing ranging errors. Non-line-of-sight propagation means that the communication is not line-of-sight propagation, that is, the line of sight between the two communication points is blocked, and the signal cannot reach directly and can only reach after reflection, refraction, etc. This will also cause ranging errors. Similarly, the measured AOA angle may also have deviations because the arriving signal may not be the direct signal.

[0056] Optionally, UWB ranging calculates the propagation time of a wireless signal from a transmitting device to a receiving device by recording the timestamps of the transmission and reception of ranging messages through Time of Flight (TOF) / Time of Arrival (TOA), and then obtains the distance between the devices through the speed of light. In an actual situation, the ranging message transmission method is divided into two types, one is one-way ranging and the other is two-way ranging. Among them, different from this solution, one-way ranging is used to measure the distance. One-way ranging means that the ranging message only propagates unidirectionally. Therefore, to obtain the time of flight between the devices, it is necessary to meet the prerequisite that both devices maintain precise clock synchronization. This is relatively complex and slightly costly in actual system deployment and implementation, but ranging can be completed with unidirectional propagation. The solution adopted in this application is two-way ranging. The advantage compared with one-way ranging is that there is no requirement for clock synchronization between the two devices, and the complexity and cost of actual system implementation are very low, but signal interaction between the devices is required to achieve ranging.

[0057] Exemplarily, in the case of two-way ranging, as Figure 2d shown, the Figure 2d is a schematic diagram of two-way ranging interaction provided by an embodiment of the present application. The UWB signal interaction actions of the first terminal and the second terminal are as follows: The first terminal sends a ranging request message to the second terminal and records the timestamp of sending the ranging request message as the first timestamp t g1 , and the ranging request message is used to instruct the second terminal to send a ranging response message; the second terminal receives the ranging request message and records the timestamp of receiving the ranging request message as the second timestamp t b1 ; the second terminal responds to the ranging request message and sends the ranging response message to the first terminal, and records the timestamp of sending the ranging response message as the third timestamp t b2 , and the ranging response message carries the second timestamp t b1 and the third timestamp t b2 ; the first terminal receives the ranging response message and records the timestamp of receiving the ranging response message as the fourth timestamp t g2 . After the interaction between the first terminal and the second terminal is completed, the first terminal calculates according to the obtained multiple timestamps using a preset TWR algorithm. The TWR algorithm formula is as follows:

[0058] D = 0.5 * c * (△t g -△t b ), △t g = t g2 -t g1 , △t b = t b2 -tb1

[0059] Where D is the ranging value and c is the speed of light.

[0060] Exemplarily, when UWB information is being exchanged, the first terminal is also simultaneously calculating the AOA angle. The principle is as Figure 2e shown, and the Figure 2e is a schematic diagram of the PDoA principle provided by an embodiment of the present application. Among them, the UWB module with two antennas is the first ultra-wideband communication module of the first terminal, and the UWB module with one antenna is the second ultra-wideband communication module of the second terminal. The antenna ant0 of the second ultra-wideband communication module transmits a specific UWB data packet to the antennas ant1 and ant2 of the first ultra-wideband communication module, and both antennas on the first terminal can receive the UWB data packet. It should be emphasized that the relationship between the path distances from ant0 to ant1 and from ant0 to ant2 is related to the azimuth angle of the second terminal relative to the first terminal, and the difference between these two path distances is △p. Due to the distance difference, a phase difference PDoA will be generated in the propagation of the wireless signal. PDoA is calculated by the first terminal through the following formula:

[0061] PDoA = POA ant1 -POA ant2

[0062] Where POA ant1 is the phase of the UWB signal received by ant1, and POA ant2 is the phase of the UWB signal received by ant2. Parameters such as PDoA, POA ant1 and POA ant2 are measured by the UWB module in the first terminal. Finally, the first terminal calculates the azimuth angle AOA of the second terminal relative to the first terminal through a preset function based on the calculated PDoA and the antenna spacing d.

[0063] It can be seen that in this example, through the signal interaction between terminals, and then respectively combining the TWR algorithm and the PDoA algorithm in the preset algorithm with the received signal, the distance and azimuth angle of the relative position can be calculated. In this way, the true value of the measured distance can be determined based on the azimuth angle and the preset rules. Since the preset rules are used to detect the confidence of the ranging value according to the distribution law of the antenna gain corresponding to the azimuth angle for the true value and the outlier of the ranging value, compared with the existing complex calculation scheme for determining whether the ranging value is accurate, the present application can determine the confidence of the measured ranging value through the measured azimuth angle and the preset rules, improving the efficiency and accuracy of determining the confidence of the ranging value.

[0064] Step 202: Determine the target confidence of the distance measurement value according to the azimuth and a preset rule.

[0065] Wherein, the preset rules are used to detect the credibility of the ranging value according to the distribution law of the antenna gain corresponding to the azimuth of the true value and abnormal value of the ranging value. Since the measured azimuth and ranging value are calculated by the same signal, the authenticity of the azimuth and ranging value are also the same, so the authenticity of the ranging value can be determined according to the azimuth and the preset rules. The preset rules are set according to the relationship between the true value and abnormal value of the ranging value and the distribution law of the antenna gain in a large number of experiments, so it can meet the credibility detection of the ranging value.

[0066] Optionally, the state of the distance measurement value can be determined by setting a threshold. For example, when it is determined that the determined target confidence is greater than / equal to a preset threshold, the distance measurement value is marked as a credible state, and the credible state means that the distance measurement value is a true value / line-of-sight value / non-abnormal value. Correspondingly, when it is determined that the determined target confidence is less than a preset threshold, the distance measurement value is marked as an untrustworthy state, and the untrustworthy state means that the distance measurement value is a non-true value / non-line-of-sight value / abnormal value.

[0067] In a possible embodiment, the first ultra-wideband communication module includes a first antenna and a second antenna, the first antenna is an antenna for transmitting ultra-wideband signals; the determining the target confidence of the distance measurement value according to the azimuth angle and the preset rule includes: obtaining the radiation pattern of the first antenna; determining the target confidence of the distance measurement value according to the azimuth angle and the radiation pattern of the first antenna.

[0068] Optionally, the radiation pattern obtained can be the first antenna or the second antenna, or other antennas that may be provided on the first terminal. This is not limited here, but one point that needs to be satisfied is that this antenna is the antenna used by the first terminal to transmit UWB signals in the aforementioned interaction between the terminals, because only when the antenna is used to realize the function of transmitting signals will its radiation pattern exist. Optionally, the radiation pattern of the first antenna can be stored in the first terminal, or it can be obtained from other devices through other communication methods.

[0069] For example, there are multiple antennas on the first terminal in the positioning system, namely, the first antenna, the second antenna, and the third antenna, wherein the third antenna is used to transmit UWB signals, then the radiation pattern obtained by the first terminal is used to characterize the radiation characteristics of the third antenna, and the confidence of the measured distance value can be determined by combining the measured azimuth and the radiation pattern.

[0070] ​It can be seen that in this example, by obtaining the radiation pattern of the antenna that emits the UWB signal and combining the measured azimuth angle, the confidence level of the ranging value is determined. In this way, the credibility of the ranging value can be determined according to the relationship between the preset rules and the actually detected signal arrival angle.

[0071] In a possible embodiment, determining the target confidence level of the ranging value according to the azimuth angle and the radiation pattern of the first antenna includes: determining the target antenna gain value in the same direction as the azimuth angle in the radiation pattern of the first antenna; determining the target confidence level according to the target antenna gain value and the maximum antenna gain value in the radiation pattern.

[0072] Among them, the antenna gain value corresponding to the signal arrival direction can be determined through the azimuth angle and the radiation pattern, and the maximum antenna gain value can be directly determined according to the radiation pattern. Optionally, the radiation pattern can be three-dimensional or in the horizontal direction, and there is no limitation here.

[0073] Exemplarily, as Figure 2f shown, Figure 2f is a schematic diagram of an antenna radiation pattern provided by an embodiment of the present application. The irregular figure depicted by the black line in the figure is formed by connecting the antenna gain values of each angle. Among them, the numbers shown in the outermost circle: 0, 30, -30, 60, etc. are the angle degrees in the horizontal plane. Among them, the direction corresponding to 0 degrees is the due front of the first terminal, that is, the middle position perpendicular to the connection line between the first antenna and the second antenna. The -14.00, -8.00, -2.00, etc. shown inside the circle represent the magnitudes of the antenna gain values, and the unit is dBi. It can be understood that by obtaining the radiation pattern, the maximum antenna gain value and the target antenna gain value in the same direction as the azimuth angle can be obtained.

[0074] It can be seen that in this example, by obtaining the antenna radiation pattern, the antenna gain value corresponding to the antenna arrival angle and the maximum antenna gain value can be determined. In this way, the confidence level of the measured ranging value can be judged according to the subsequent preset method.

[0075] In a possible embodiment, determining the target confidence level according to the target antenna gain value and the maximum antenna gain value in the radiation pattern includes: obtaining an antenna gain difference according to the target antenna gain value and the maximum antenna gain value; judging whether the antenna gain difference is less than a preset threshold: if so, the target confidence level is 0; if not, the target confidence level is 1.

[0076] Among them, through the radiation pattern and the measured azimuth angle, the antenna gain value Gain(dB) in the direction angle direction and the maximum antenna gain value Gainmax(dB) in the figure can be obtained. Then, △G is calculated according to the calculation formula, where the calculation formula is △G = Gain(dB) - Gainmax(dB). If △G is less than the preset threshold, the confidence level of the ranging value D is 0; otherwise, the confidence level is 1 (100%).

[0077] Optionally, the threshold should be set according to a large number of prior experiments to analyze the distribution law of the true value and the outlier of the ranging value in the antenna gain corresponding to the azimuth angle. The threshold may also be adjusted according to the need for accuracy. If higher accuracy is required, the threshold is increased, thereby also narrowing the angular range of the azimuth angle that can meet the conditions. Correspondingly, if lower accuracy is required, the threshold is decreased, thereby also widening the angular range of the azimuth angle that can meet the conditions.

[0078] Optionally, when it is determined that the confidence level of the ranging value D is 1, the first terminal may mark the ranging value as a credible state, where the credible state means that the ranging value is the true value / line-of-sight value / non-outlier value. Correspondingly, when it is determined that the confidence level of the ranging value D is 0, the ranging value is marked as an uncredible state, where the uncredible state means that the ranging value is a non-true value / non-line-of-sight value / outlier value. Using the credible state and the uncredible state to mark and distinguish the measured ranging values is convenient for subsequent terminals to filter out the outliers of the ranging values and retain the true values of the ranging values for functions such as target positioning.

[0079] Exemplarily, as Figure 2f shown Figure 2f is a schematic diagram of an antenna radiation pattern provided by an embodiment of the present application. Among them, the direction pointed to by the dashed part is the corresponding direction of the azimuth angle. The first UWB terminal queries that the antenna Gain at an angle phi of -80° in the azimuth plane (horizontal plane) of the antenna 2D radiation pattern is -5dBi, and the Gain in the maximum radiation direction is 5dBi. Then, △G is -10dB. Assuming the threshold is -8dB, the confidence level η = 0.

[0080] It can be seen that in this example, the antenna gain difference is obtained according to the target antenna gain value and the maximum antenna gain value; then, whether the ranging value is credible is determined according to the preset threshold. In this way, the confidence level of the ranging value can be comprehensively judged through the multi-level correspondence relationship of ranging value - azimuth angle - antenna gain, and the confidence level of the ranging value can be determined quickly and effectively. Furthermore, the uncredible UWB ranging outliers can be filtered out, the ranging accuracy can be improved, and the needs of users and product functions can be met.

[0081] In a possible embodiment, determining the target confidence according to the target antenna gain value and the maximum antenna gain value in the radiation pattern includes: obtaining an antenna gain difference according to the target antenna gain value and the maximum antenna gain value; determining the target confidence according to a preset function and the antenna gain difference; and determining whether the target confidence is greater than a preset threshold: if so, determining that the ranging value is credible; if not, determining that the ranging value is not credible.

[0082] Wherein, the preset function is a monotonically increasing function, and the target confidence increases as the antenna gain difference increases. After determining the target confidence according to the preset function and the antenna gain difference, the calculation result is divided into two intervals of credible and not credible by a preset threshold. If the calculation result falls into the credible interval, it is determined that the ranging value is credible; if the calculation result falls into the not credible interval, it is determined that the ranging value is not credible.

[0083] Exemplarily, as Figure 2f shown, Figure 2f is a schematic diagram of an antenna radiation pattern provided by an embodiment of the present application. The first UWB terminal queries that the antenna Gain at phi = -80° in the antenna radiation pattern is -5dBi, and the Gain in the maximum radiation direction is 5dBi, so △G is -10dB. Let η = f(△G) be as follows, then the confidence η = 0.

[0084]

[0085] It can be seen that in this example, an antenna gain difference is obtained according to the target antenna gain value and the maximum antenna gain value; then the confidence of the ranging value is calculated according to the preset function, and finally it is determined whether the ranging value is credible according to the confidence and the preset threshold. In this way, the credibility of the ranging value can be comprehensively judged through the multi-level correspondence relationship of ranging value - azimuth angle - antenna gain, and the unreliable UWB ranging outliers can be quickly and effectively filtered out, improving the ranging accuracy and meeting the requirements of users and product functions.

[0086] In a possible embodiment, the method further includes: if the target confidence indicates that the ranging value is credible, determining the ranging value as the ranging result; if the target confidence indicates that the ranging value is not credible, compensating the ranging value to determine the ranging result.

[0087] Among them, if the target confidence level indicates that the ranging value is not credible, it means that the UWB signal corresponding to the measured ranging value is not a direct signal. This signal may be affected by non-line-of-sight propagation such as refraction and reflection or multipath effects, resulting in a longer signal propagation time, so that the distance value calculated by the terminal also becomes larger. Therefore, compensating for the non-credible ranging value can make its data closer to the true value.

[0088] Exemplarily, when the target confidence level of the ranging value determined by the terminal is 0, the terminal marks this ranging value as non-credible. Then, through a preset or acquired ranging error value D e , subtract the error value D from the non-credible ranging value D e , and the final ranging result D can be obtained t , that is, it satisfies the formula: D t = D - D e , D t is closer to the true distance value.

[0089] It can be seen that in this example, the target confidence level is used to determine whether the ranging value is credible. If the ranging value is not credible, the ranging value is compensated to determine the final ranging result; if the ranging value is credible, it is directly determined as the final ranging result. In this way, the untrue ranging value caused by environmental influences can be corrected through subsequent operations, so as to obtain the final ranging result with only one measurement, and this ranging result is equal to or close to the true distance. At the same time, this also facilitates the implementation of subsequent functions of the terminal and saves the time for the terminal to interact and calculate again for re-ranging.

[0090] In a possible embodiment, compensating the ranging value to determine the ranging result includes: acquiring a preset ranging error value; determining the ranging result according to the ranging error value and the ranging value.

[0091] Optionally, this ranging error value can be preset in the first terminal or acquired from other devices or servers.

[0092] Among them, the ranging error value should be related to the channel environment of signal propagation and the distribution law of the angle of arrival (AOA) of the signal. Specifically, the channel environment of signal propagation can be divided into multiple types, such as "bad urban", "urban", "suburban", "rural", etc., which are not limited here. In order to make the ranging result more accurate and cover all situations, the types of channel environments can also be divided more finely to ensure that a similar or identical channel environment can be matched to determine the error value. Before ranging, various classified channel environments are subjected to a large number of simulation experiments, and on this basis, combined with the distribution law of AOA, the magnitude of the ranging error value that appears under different AOA and channel environment conditions is determined. Then, the corresponding relationship between all ranging error values and the corresponding AOA and channel environment types is stored in the first terminal or the server, so that in the subsequent formal ranging work, the ranging error value can be obtained to compensate for the untrustworthy ranging value to determine the final ranging result.

[0093] It can be seen that in this example, a preset ranging error value is obtained to compensate the ranging value, and a ranging value close to the true value is obtained as the ranging result. In this way, there is no need for the device to interact multiple times to re-obtain and determine the ranging value, saving a large amount of time and effort. By directly processing the numerical results, the impact of environmental problems on the ranging value result is alleviated, the problem of how to obtain an accurate ranging result is solved, accurate data support is provided for the subsequent work of the terminal, and the efficiency of the terminal work is improved.

[0094] It can be seen that Figure 2a FIG. is a schematic process diagram of a method for determining the confidence level of a ranging value provided in an embodiment of the present application. The first terminal first performs UWB signal interaction with the second terminal to determine the relative position information between the first terminal and the second terminal. The relative position information includes the azimuth angle and the ranging value. Secondly, the target confidence level of the ranging value is calculated according to the azimuth angle and a preset rule. Since the preset rule is used to detect the credibility of the ranging value according to the distribution law of the antenna gain corresponding to the azimuth angle of the true value and the outlier of the ranging value, compared with the existing complex calculation scheme for determining whether the ranging value is accurate, the present application can determine the confidence level of the measured ranging value through the measured azimuth angle and the preset rule, improving the efficiency and accuracy of determining the confidence level of the ranging value.

[0095] Consistent with the above-described embodiment, please refer to Figure 3 , Figure 3 FIG. is a block diagram of the functional units of a device for determining the confidence level of a ranging value provided in an embodiment of the present application, as Figure 3As shown, the device 300 for determining the confidence level of the ranging value includes: a relative position information determination unit 301, configured to perform signal interaction between the first ultra-wideband communication module and the second ultra-wideband communication module to determine the relative position information between the first terminal and the second terminal, where the relative position information includes a ranging value and an azimuth angle, and the azimuth angle is used to represent the angle of arrival of the signal of the second terminal relative to the first terminal, i.e., AOA; a confidence level determination unit 302, configured to determine the target confidence level of the ranging value according to the azimuth angle and a preset rule, and the preset rule is used to detect the credibility of the ranging value according to the distribution law of the true value and the outlier of the ranging value in the antenna gain corresponding to the azimuth angle.

[0096] In a possible example, the first ultra-wideband communication module includes a first antenna and a second antenna, and the first antenna is an antenna for transmitting ultra-wideband signals; in terms of determining the target confidence level of the ranging value according to the azimuth angle and the preset rule, the confidence level determination unit 302 is specifically configured to: obtain the radiation pattern of the first antenna; determine the target confidence level of the ranging value according to the azimuth angle and the radiation pattern of the first antenna.

[0097] In a possible example, in terms of determining the target confidence level of the ranging value according to the azimuth angle and the radiation pattern of the first antenna, the confidence level determination unit 302 is specifically configured to: determine the target antenna gain value in the same direction as the azimuth angle in the radiation pattern of the first antenna; determine the target confidence level according to the target antenna gain value and the maximum antenna gain value in the radiation pattern.

[0098] In a possible example, in terms of determining the target confidence level according to the target antenna gain value and the maximum antenna gain value in the radiation pattern, the confidence level determination unit 302 is specifically configured to: obtain the antenna gain difference according to the target antenna gain value and the maximum antenna gain value; determine whether the antenna gain difference is less than a preset threshold: if so, the target confidence level is 0; if not, the target confidence level is 1.

[0099] In a possible example, in terms of determining the target confidence level according to the target antenna gain value and the maximum antenna gain value in the radiation pattern, the confidence level determination unit 302 is specifically further configured to: obtain the antenna gain difference according to the target antenna gain value and the maximum antenna gain value; determine the target confidence level according to a preset function and the antenna gain difference, the preset function is a monotonically increasing function, and the target confidence level increases as the antenna gain difference increases; determine whether the target confidence level is greater than a preset threshold: if so, determine that the ranging value is credible; if not, determine that the ranging value is not credible.

[0100] In a possible example, the first ultra-wideband communication module includes a first antenna and a second antenna; in terms of performing signal interaction between the first ultra-wideband communication module and the second ultra-wideband communication module to determine the relative position information between the first terminal and the second terminal, the relative position information determination unit 301 is specifically configured to: receive signals through the first antenna and the second antenna respectively to determine the ultra-wideband signal; calculate the relative position information according to a preset algorithm, a preset antenna spacing, and the received ultra-wideband signal, where the preset algorithm includes a phase difference algorithm and a two-way ranging algorithm, and the antenna spacing is the distance between the first antenna and the second antenna.

[0101] In a possible example, in terms of calculating the relative position information according to a preset algorithm, a preset antenna spacing, and the received ultra-wideband signal, the relative position information determination unit 301 is specifically configured to: determine the ranging value according to the two-way ranging algorithm and the received ultra-wideband signal; determine the azimuth angle according to the phase difference algorithm, the antenna spacing, and the received ultra-wideband signal.

[0102] In a possible example, the device 300 for determining the ranging value confidence is specifically further configured to: if the target confidence indicates that the ranging value is credible, determine the ranging value as the ranging result; if the target confidence indicates that the ranging value is not credible, compensate the ranging value to determine the ranging result.

[0103] In a possible example, in terms of compensating the ranging value to determine the ranging result, the device 300 for determining the ranging value confidence is specifically configured to: obtain a preset ranging error value; determine the ranging result according to the ranging error value and the ranging value.

[0104] It can be seen that the device for determining the ranging value confidence provided in the embodiment of the present application calculates the relative position information between terminal devices through information interaction between UWB communication modules; then, according to the azimuth angle in the relative position information and a preset rule, the target confidence of the ranging value in the relative position information is determined, and the preset rule is used to implement the credibility detection of the ranging value according to the distribution law of the true value and the abnormal value of the ranging value in the antenna gain corresponding to the azimuth angle. In this way, the device for determining the ranging value confidence can determine the confidence of the measured distance value according to the distribution law of the antenna gain and the azimuth angle, thereby filtering out the ranging abnormal values and improving the efficiency and accuracy of determining the ranging value confidence.

[0105] It can be understood that since the method embodiments and the apparatus embodiments are different presentation forms of the same technical concept, the content of the method embodiments in this application should be synchronously adapted to the apparatus embodiments, which will not be elaborated here.

[0106] In the case of adopting an integrated unit, as Figure 4 shown, Figure 4 is the structural block diagram of another apparatus for determining the confidence level of a ranging value provided by an embodiment of the present application. In Figure 4 , the apparatus 400 for determining the confidence level of a ranging value includes: a processing module 402 and a communication module 401. The processing module 402 is used to control and manage the actions of the device identification device. For example, it determines the steps of the relative position information unit 301 and the confidence level determination unit 302, and / or is used to execute other processes of the technologies described herein. The communication module 401 is used to support the interaction between the apparatus for determining the confidence level of a ranging value and other devices. As Figure 4 shown, the apparatus for determining the confidence level of a ranging value may further include a storage module 403, and the storage module 403 is used to store the program code and data of the device identification device.

[0107] Among them, the processing module 402 may be a processor or a controller. For example, it may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor may also be a combination that realizes computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication module 401 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 403 may be a memory.

[0108] Among them, all relevant contents of each scenario involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, which will not be elaborated here. The above apparatus 400 for determining the confidence level of a ranging value can all execute the method for determining the confidence level of a ranging value shown in the above Figure 2a .

[0109] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more collections of available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0110] An embodiment of the present application also provides a computer storage medium. The computer storage medium stores a computer program for electronic data exchange, and the computer program causes a computer to execute some or all of the steps of any of the methods described in the above method embodiments.

[0111] An embodiment of the present application also provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any of the methods described in the above method embodiments.

[0112] It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0113] In several embodiments provided in the present application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of the units is only a logical function division, and there can be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the apparatuses or units can be in electrical, mechanical, or other forms.

[0114] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can be physically included separately, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0116] The integrated unit implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, magnetic disks, optical disks, volatile memories, or non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM), etc., various media that can store program codes.

[0117] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, all within the protection scope of the present invention.

Claims

1. A method for determining the confidence of a distance measurement value, characterized in that: A first terminal is applied to a positioning system, the positioning system includes the first terminal and the second terminal, the first terminal is provided with a first ultra-wideband communication module, the second terminal is provided with a second ultra-wideband communication module, the first ultra-wideband communication module includes a first antenna and a second antenna, the first antenna is an antenna for transmitting an ultra-wideband signal; the method includes: Determine relative position information between the first terminal and the second terminal by performing signal interaction between the first ultra-wideband communication module and the second ultra-wideband communication module, wherein the relative position information includes a ranging value and an azimuth, and the azimuth is used to characterize a signal arrival angle of the second terminal relative to the first terminal; Acquire the radiation pattern of the first antenna; determine a target antenna gain value in the radiation pattern of the first antenna in the same direction as the azimuth; and determine a target confidence level according to the target antenna gain value and a maximum antenna gain value in the radiation pattern.

2. The method according to claim 1, characterized in that The determining the target confidence according to the target antenna gain value and the maximum antenna gain value in the radiation pattern includes: Obtaining an antenna gain difference according to the target antenna gain value and the maximum antenna gain value; Determine whether the antenna gain difference is less than a preset threshold: If so, the target confidence is 0; If not, the target confidence is 1.

3. The method according to claim 1, characterized in that The determining the target confidence according to the target antenna gain value and the maximum antenna gain value in the radiation pattern includes: Obtaining an antenna gain difference according to the target antenna gain value and the maximum antenna gain value; Determining the target confidence according to a preset function and the antenna gain difference, wherein the preset function is a monotonically increasing function, and the target confidence increases as the antenna gain difference increases; Determine whether the target confidence is greater than a preset threshold: If yes, it is determined that the distance measurement value is credible; If not, it is determined that the distance measurement value is unreliable.

4. The method according to claim 1, characterized in that: The determining the relative position information between the first terminal and the second terminal by performing signal interaction between the first ultra-wideband communication module and the second ultra-wideband communication module includes: Receiving signals through the first antenna and the second antenna respectively, and determining an ultra-wideband signal; The relative position information is calculated according to a preset algorithm, a preset antenna spacing and the received ultra-wideband signal, the preset algorithm includes a phase difference algorithm or a two-way ranging algorithm, and the antenna spacing is the distance between the first antenna and the second antenna.

5. The method according to claim 4, characterized in that The calculating and obtaining the relative position information according to a preset algorithm, a preset antenna spacing and the received ultra-wideband signal includes: Determining the ranging value according to the two-way ranging algorithm and the received ultra-wideband signal; The azimuth angle is determined according to the phase difference algorithm, the antenna spacing and the received ultra-wideband signal.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: If the target confidence indicates that the ranging value is credible, determining that the ranging value is a ranging result; If the target confidence indicates that the distance measurement value is unreliable, the distance measurement value is compensated to determine the distance measurement result.

7. The method according to claim 6, characterized in that The compensating the ranging value to determine the ranging result includes: Get the preset ranging error value; The ranging result is determined according to the ranging error value and the ranging value.

8. A device for determining the confidence level of a distance measurement value, characterized in that: A first terminal applied to a positioning system, the positioning system comprising the first terminal and the second terminal, the first terminal being provided with a first ultra-wideband communication module, the second terminal being provided with a second ultra-wideband communication module, the first ultra-wideband communication module comprising a first antenna and a second antenna, the first antenna being an antenna for transmitting an ultra-wideband signal; the device comprising: a relative position information determination unit, configured to determine relative position information between the first terminal and the second terminal by performing signal interaction with the second ultra-wideband communication module through the first ultra-wideband communication module, wherein the relative position information includes a ranging value and an azimuth, and the azimuth is used to characterize a signal arrival angle of the second terminal relative to the first terminal; A confidence determination unit is used to obtain the radiation pattern of the first antenna; determine a target antenna gain value in the radiation pattern of the first antenna in the same direction as the azimuth; and determine a target confidence based on the target antenna gain value and the maximum antenna gain value in the radiation pattern.

9. A terminal, characterized in that: The method comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 7.

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