Speed ​​measurement method, device, electronic equipment and medium

Abstract

The present application discloses a speed measurement method, apparatus, electronic device, and medium, belonging to the field of communication technology. The method is applied to an electronic device, the electronic device including at least a first receiving antenna and a second receiving antenna. The method comprises: transmitting a first UWB pulse; receiving, via the first receiving antenna and the second receiving antenna, a second UWB pulse after the first UWB pulse is reflected from the ground; determining speed information of the electronic device based on a first arrival phase difference; wherein the first arrival phase difference is the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; and the speed information comprises at least one of the following: motion speed and acceleration.

Description

Technical Field

[0001] This application belongs to the field of communication technology and specifically relates to a speed measurement method, device, electronic device and medium. Background Art

[0002] Generally, speed is an important characteristic parameter for measuring the motion state of an object. Electronic devices can measure the speed of an object using various speed measurement methods, including accelerometers, satellite positioning and navigation, and high-speed cameras. Specifically, the accelerometer method calculates the speed of the object being measured by integrating acceleration over time; the satellite positioning and navigation method determines the speed of the object being measured based on navigation signals transmitted by satellites; and the high-speed camera method uses image analysis to determine the speed of the object being measured.

[0003] However, among the above-mentioned speed measurement methods, the speed measurement error of the acceleration sensor method will continue to increase with the increase of the integrated time. The satellite positioning navigation method is not suitable for indoor speed measurement and has low speed measurement accuracy. The high-speed camera method is expensive and easily affected by light. This results in poor efficiency of electronic equipment in measuring the speed of moving objects. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a speed measurement method, device, electronic device and medium, which can solve the problem of poor efficiency of electronic devices in measuring the speed of moving objects.

[0005] In a first aspect, an embodiment of the present application provides a speed measurement method, which is applied to an electronic device, wherein the electronic device includes at least a first receiving antenna and a second receiving antenna, and the method includes: transmitting a first UWB pulse; receiving a second UWB pulse after the first UWB pulse is reflected by the ground through the first receiving antenna and the second receiving antenna; determining the speed information of the electronic device based on a first arrival phase difference; wherein the first arrival phase difference is: the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; the speed information includes at least one of the following: movement speed, acceleration.

[0006] In a second aspect, an embodiment of the present application provides a speed measurement device for use in an electronic device, the electronic device including at least a first receiving antenna and a second receiving antenna, the device including: a transmitting module, a receiving module, and a determining module. The transmitting module is configured to transmit a first UWB pulse. The receiving module is configured to receive, through the first receiving antenna and the second receiving antenna, a second UWB pulse after the first UWB pulse is reflected by the ground. The determining module is configured to determine the speed information of the electronic device based on a first arrival phase difference, the first arrival phase difference being: the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; the speed information includes at least one of the following: movement speed, acceleration.

[0007] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0008] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0009] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0010] In a sixth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the method described in the first aspect.

[0011] In an embodiment of the present application, an electronic device can transmit a first UWB pulse, and receive a second UWB pulse after the first UWB pulse is reflected by the ground through a first receiving antenna and a second receiving antenna, so as to determine the movement speed and / or acceleration of the electronic device based on the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna. Through this solution, on the one hand, there is no need to use obstacles directly in front of or behind the velocity vector direction (i.e., the moving direction) of the object to reflect the UWB pulse, but the ground is used to reflect the UWB pulse to achieve speed measurement, which greatly expands the use scenarios of speed measurement using UWB radar; on the other hand, in the process of speed measurement, it is only necessary to measure the arrival angle of the UWB pulse, and there is no need to measure the flight time of the UWB pulse, which reduces one measurement dimension of the UWB radar and simplifies the speed measurement process; thus, the efficiency of electronic devices in measuring the speed information of moving objects is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is the speed measurement principle diagram of UWB technology in traditional solutions;

[0013] Figure 2 This is a flow chart of a speed measurement method provided by an embodiment of the present application;

[0014] Figure 3 This is one of the schematic diagrams of a speed measurement method provided in an embodiment of the present application;

[0015] Figure 4This is a second schematic diagram of a speed measurement method provided in an embodiment of the present application;

[0016] Figure 5 1 is a schematic structural diagram of a speed measurement device provided in an embodiment of the present application;

[0017] Figure 6 This is one of the hardware structure diagrams of an electronic device provided in an embodiment of the present application;

[0018] Figure 7 This is the second hardware structure diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0020] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0021] The speed measurement provided by the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0022] Speed ​​is one of the most important characteristic parameters for measuring the motion state of an object. Speed ​​measurement technology is widely used in fields such as smartphones, wearable devices, and smart cars. Various speed measurement technologies have been widely studied in academia and industry, such as speed measurement technologies based on accelerometers, speed measurement technologies based on satellite positioning and navigation systems, and speed measurement technologies based on high-speed cameras. However, these speed measurement technologies have the following main problems:

[0023] 1) Accelerometer-based velocity measurement (accelerometer method): This method measures the acceleration of the object over time and integrates the acceleration over time to obtain the velocity of the object. Because this method requires calibration of the velocity value at the starting point of the integration, the velocity measurement error increases as the integration time increases.

[0024] 2) Speed ​​measurement technology based on satellite positioning and navigation systems (satellite positioning and navigation method): This method uses navigation signals transmitted by satellites such as the Global Positioning System (GPS) and Beidou to determine the change in the position of the object under test over time. This determines the change in the distance traveled by the object under test over time, and then calculates the first-order derivative of the distance traveled with respect to time to obtain the speed information of the object under test. Because this method requires receiving navigation signals in an open area, it is not suitable for indoor speed measurement. Furthermore, the positioning accuracy of the navigation signals is only on the order of meters, resulting in poor speed measurement accuracy.

[0025] 3) High-speed camera-based speed measurement (high-speed camera method): This method uses a set of time-varying images of the object being measured and analyzes them to determine its speed. This method is costly and susceptible to lighting conditions, making it unsuitable for nighttime scenarios.

[0026] In addition, ultra-wideband (UWB) technology has gradually become one of the technologies that have attracted much attention in the fields of smart phones and wearable devices. The characteristic of UWB technology is that it uses short pulses of the nanosecond level to achieve centimeter-level precise positioning, so that high-precision real-time speed measurement can be achieved using UWB technology. In traditional solutions, the speed measurement principle of UWB technology is as follows: Figure 1 As shown in the figure, the electronic device uses the UWB radar function to transmit UWB pulses through the transmitting (Tx) antenna, which are reflected by the obstruction and received by the receiving (Rx) antenna. By calculating the time difference between the transmitted UWB pulse and the received UWB pulse, the time-varying distance between the electronic device and the obstruction can be obtained, and the moving speed of the electronic device can be obtained. However, a typical problem with traditional UWB speed measurement methods is that an obstruction must be present directly in front of or behind the moving direction of the object to reflect the UWB pulse, and most speed measurement scenarios (such as running on a playground) cannot meet this requirement.

[0027] In order to solve the above technical problems, the embodiment of the present application proposes a solution for speed measurement by means of ground-reflected UWB pulses. The electronic device transmits a UWB pulse through the transmitting (Tx) antenna. After being reflected by the ground, the UWB pulse propagates along the shortest path and is first received by the receiving (Rx) antenna. According to the phase difference of arrival (PDOA) of the Rx antenna, the speed information of the electronic device is obtained by mathematical conversion. Compared with the traditional solution, the embodiment of the present application has the following advantages:

[0028] 1) Instead of relying on obstacles directly in front of or behind the object's velocity vector (i.e., its direction of movement) to reflect the UWB pulse, the device uses the ground to reflect the UWB pulse to measure velocity. This means the velocity of the object being measured and the direction of the UWB pulse transmission are now perpendicular to each other, rather than being restricted by a specific environment.

[0029] 2) Traditional UWB radar speed measurement methods measure speed by measuring the flight time of UWB pulses. However, in the embodiments of the present application, speed is measured by measuring the PDOA of UWB pulses, reducing one measurement dimension of the UWB radar and thus simplifying the speed measurement process.

[0030] 3) In general radar applications, the device carrying the UWB module is used as a base point to measure the distance, speed, and other motion parameters of the measured object. However, in the embodiments of this application, the ground of the measured object is used as a base point to measure the motion state of the device carrying the UWB module, greatly expanding the use cases of speed measurement using UWB radar.

[0031] The present invention provides a method for measuring speed. Figure 2 FIG1 shows a flow chart of a speed measurement method provided by an embodiment of the present application. The method can be applied to an electronic device, which includes at least a first receiving antenna and a second receiving antenna. Figure 2 As shown, the speed measurement method provided in the embodiment of the present application may include the following steps 201 to 203.

[0032] Step 201: The electronic device transmits a first UWB pulse.

[0033] Step 202: The electronic device receives, through the first receiving antenna and the second receiving antenna, a second UWB pulse after the first UWB pulse is reflected by the ground.

[0034] In an embodiment of the present application, the electronic device can transmit a first UWB pulse and receive a second UWB pulse after the first UWB pulse is reflected by the ground through a first receiving antenna and a second receiving antenna, so as to determine the movement speed and / or acceleration of the electronic device based on the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna.

[0035] Optionally, in an embodiment of the present application, the electronic device (which may be referred to as a UWB object) may carry a UWB radar module (hereinafter referred to as a UWB module), which may include a UWB signal processing chip, and the antenna configuration of the electronic device includes at least one transmitting antenna and at least two receiving antennas. The electronic device may transmit a first UWB pulse generated by the UWB signal processing chip through one of the at least one transmitting antenna, and receive a second UWB pulse after the first UWB pulse is reflected by the ground through a first receiving antenna and a second receiving antenna of the at least two receiving antennas.

[0036] Optionally, in an embodiment of the present application, the electronic device can transmit UWB pulses, such as a first UWB pulse, in real time. The transmitted UWB pulses propagate freely in the air and are reflected or scattered upon encountering the ground. The reflected or scattered UWB pulses continue to propagate in the air for a distance before reaching the first and second receiving antennas of the electronic device.

[0037] Optionally, in an embodiment of the present application, the electronic device may periodically transmit a first UWB pulse.

[0038] Optionally, in an embodiment of the present application, the electronic device receives a second UWB pulse after the first UWB pulse is reflected by the ground through the first receiving antenna and the second receiving antenna. This can be understood as: the electronic device receives the second UWB pulse through the first receiving antenna and receives the second UWB pulse through the second receiving antenna.

[0039] Optionally, in an embodiment of the present application, after the electronic device receives the second UWB pulse through the first receiving antenna and the second receiving antenna, it is solved by the UWB signal processing chip to obtain the arrival phase difference of the second UWB pulse at the first receiving antenna and the second receiving antenna.

[0040] Step 203: The electronic device determines speed information of the electronic device based on the first arrival phase difference.

[0041] In the embodiment of the present application, the first arrival phase difference is: the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; the speed information includes at least one of the following: movement speed, acceleration.

[0042] Optionally, in an embodiment of the present application, the speed information may be movement speed, or acceleration, or movement speed and acceleration.

[0043] Optionally, in the embodiment of the present application, the speed information may be the speed information when transmitting the first UWB pulse, or may be the speed information when receiving the second UWB pulse. Specific information may be determined based on actual use requirements and is not limited in the embodiment of the present application.

[0044] For example, Figure 3 Schematic diagram of the speed measurement principle of the UWB object in the embodiment of the present application. Figure 3 As shown, at t T,i At time (i=1,2,3,…,n), the UWB object transmits the i-th UWB pulse at position x1. The UWB pulse is reflected by the ground along the first path and then at t R,i (i=1,2,3,…,n) is received by the UWB object at position x2. The vertical distances between the UWB object and the ground at positions x1 and x2 are not equal. When the i-th UWB pulse propagates along the first path, the angle θ between the incident wave and the normal direction of the ground is in and the angle θ between the reflected wave and the normal direction of the ground re and the angle θ at which the reflected wave reaches the receiving antenna i The following relationship is satisfied:

[0045] θ i =θ in =θ re (i=1,2,3,…,n) (1)

[0046] Therefore, the flight time of the i-th UWB pulse can be expressed as:

[0047] Δt i =t R,i -t T,i (i=1,2,3,…,n) (2)

[0048] The propagation speed of electromagnetic waves in air is approximately c = 3 × 10 8 m / s. Therefore, the length of the path of the i-th pulse propagating in the air can be expressed as:

[0049] s i =s in +s re =cΔt i =c(t R,i -t T,i )(i=1,2,3,…,n) (3)

[0050] Among them, s in and s rerepresent the lengths of the propagation paths of the incident wave and the reflected wave, respectively.

[0051] Assume that the distance between the two Rx antennas is d r , the wavelength of the UWB pulse is denoted as λ, and the arrival phase difference between the two Rx antennas when receiving the i-th UWB pulse is Therefore, the angle at which the i-th UWB pulse reflection wave reaches the Rx antenna can be expressed as:

[0052]

[0053] During the time period from the transmission to the reception of the i-th UWB pulse, the UWB object moves along Figure 3 The distance moved in the moving direction shown in can be expressed as:

[0054] d i =s in sinθ in +s re sinθ re (i=1,2,3,…,n) (5)

[0055] Substituting formulas (1), (3) and (4) into formula (5) yields:

[0056]

[0057] According to the basic principles of kinematics, velocity is the first-order derivative of distance with respect to time. Therefore, the average velocity of the UWB object during the time period from the transmission to the reception of the i-th UWB pulse can be expressed as:

[0058]

[0059] From formula (7), we can see that the moving speed of the UWB object is related to the arrival phase difference Δφ i The velocity measurement method provided by the present invention is not affected by displacement perpendicular to the ground.

[0060] An embodiment of the present application provides a speed measurement method, in which an electronic device can transmit a first UWB pulse and receive a second UWB pulse after the first UWB pulse is reflected by the ground through a first receiving antenna and a second receiving antenna, so as to determine the movement speed and / or acceleration of the electronic device based on the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna. Through this solution, on the one hand, there is no need to use obstacles directly in front of or behind the speed vector direction (i.e., the moving direction) of the object to reflect the UWB pulse, but the ground is used to reflect the UWB pulse to achieve speed measurement, which greatly expands the use scenarios of speed measurement using UWB radar; on the other hand, in the process of speed measurement, it is only necessary to measure the arrival angle of the UWB pulse, and there is no need to measure the flight time of the UWB pulse, which reduces one measurement dimension of the UWB radar and simplifies the speed measurement process; thus, the efficiency of electronic devices in measuring the speed information of moving objects is improved.

[0061] It should be noted that the embodiment of the present application uses the transmission of a UWB pulse as an example to illustrate the determination of the speed information of the electronic device at that moment. In actual implementation, the electronic device can transmit UWB pulses in real time to determine the speed information of the electronic device at different moments.

[0062] Optionally, in an embodiment of the present application, the above step 202 can be specifically implemented through the following steps 202a and 202b.

[0063] Step 202a: The electronic device receives at least one third UWB pulse via the first receiving antenna and the second receiving antenna.

[0064] Optionally, in an embodiment of the present application, the electronic device receives at least one third UWB pulse through the first receiving antenna and the second receiving antenna, which can be understood as: the electronic device receives at least one third UWB pulse through the first receiving antenna and receives at least one third UWB pulse through the second receiving antenna.

[0065] Optionally, in the embodiment of the present application, since the antenna is directional, the first UWB pulse transmitted by the Tx antenna will propagate in different directions in free space. The propagation paths of the first UWB pulse mainly include the following paths:

[0066] 1) The first UWB pulse transmitted by the Tx antenna is reflected by the ground and received by the Rx antenna;

[0067] 2) The first UWB pulse transmitted by the Tx antenna is received by the Rx antenna after being scattered by the ground;

[0068] 3) The first UWB pulse transmitted by the Tx antenna is directly received by the Rx antenna.

[0069] It can be understood that the above-mentioned at least one third UWB pulse includes at least one of the following UWB pulses: a UWB pulse after the first UWB pulse is reflected by the ground (i.e., the second UWB pulse), a UWB pulse after the first UWB pulse is scattered by the ground, and a UWB pulse after the first UWB pulse is directly received by the electronic device.

[0070] For example, Figure 4 Figure 1 is a schematic diagram of UWB pulses propagating along different propagation paths. Figure 4 As shown in (A) in the figure, the UWB pulse is transmitted into the air through the Tx antenna. Since the antenna is directional, the UWB pulse will propagate in the air along different paths and will be reflected or scattered when it encounters the ground. Figure 4 As shown in (B) in FIG, UWB pulses propagating along different paths are reflected or scattered by the ground and received by two receiving antennas of the electronic device.

[0071] Step 202b: The electronic device determines a second UWB pulse from the at least one third UWB pulse.

[0072] It should be noted that, among the UWB pulses propagating through different paths, the UWB pulse received by the Rx antenna after being reflected by the ground is the best UWB received pulse.

[0073] Optionally, in an embodiment of the present application, the electronic device may determine the second UWB pulse from the at least one third UWB pulse based on information such as the signal strength of the at least one third UWB pulse.

[0074] In an embodiment of the present application, the electronic device can determine a second UWB pulse after the first UWB pulse is reflected by the ground from at least one third UWB pulse received, and determine the movement speed and / or acceleration of the electronic device based on the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; in this way, the UWB pulse is reflected by the ground to achieve speed measurement, which greatly expands the use scenarios of speed measurement using UWB radar, thereby improving the efficiency of electronic devices in measuring speed information of moving objects.

[0075] Optionally, in the embodiment of the present application, the at least one third UWB pulse includes a plurality of third UWB pulses. The step 202b can be specifically implemented by the following step 202b1.

[0076] Step 202b1: The electronic device determines, based on the signal strengths of the plurality of third UWB pulses, a third UWB pulse having the strongest signal strength among the plurality of third UWB pulses as the second UWB pulse.

[0077] It should be noted that because UWB pulses propagating along the shortest path experience less path loss in the air and their reflection on the ground conforms to the law of reflection (i.e., the angle between the incident wave and the ground normal is equal to the angle between the reflected wave and the ground normal), UWB pulses propagating along the shortest path have higher signal strength when they reach the first and second receiving antennas. In other words, the UWB pulses propagating along the shortest path can be determined by determining their received signal strength.

[0078] In an embodiment of the present application, the electronic device can determine the best UWB reception pulse corresponding to the first UWB pulse from multiple third UWB pulses based on information such as the signal strength of the received multiple third UWB pulses, and determine the movement speed and / or acceleration of the electronic device based on the arrival phase difference of the best UWB reception pulse between the first receiving antenna and the second receiving antenna; in this way, the UWB pulse is reflected by the ground to achieve speed measurement, which greatly expands the use scenarios of speed measurement using UWB radar, thereby improving the efficiency of electronic devices in measuring speed information of moving objects.

[0079] Optionally, in the embodiment of the present application, the speed information includes acceleration. The above step 203 can be specifically implemented by the following step 203a.

[0080] Step 203a: The electronic device determines the acceleration of the electronic device based on the first arrival phase difference and the second arrival phase difference.

[0081] In the embodiment of the present application, the second arrival phase difference is: the arrival phase difference of the third UWB pulse between the first receiving antenna and the second receiving antenna.

[0082] The third UWB pulse is: a UWB pulse resulting from the fourth UWB pulse emitted by the electronic device and reflected by the ground; the first UWB pulse and the fourth UWB pulse are adjacent UWB pulses emitted by the electronic device.

[0083] Optionally, in the embodiment of the present application, the third UWB pulse and the second UWB pulse may be adjacent best UWB reception pulses received by the electronic device.

[0084] Optionally, in the embodiment of the present application, the fourth UWB pulse may be a UWB transmit pulse transmitted before transmitting the first UWB pulse, or a UWB transmit pulse transmitted after transmitting the first UWB pulse. Correspondingly, the third UWB pulse may be an optimal UWB receive pulse received before receiving the second UWB pulse, or an optimal UWB receive pulse received after receiving the second UWB pulse.

[0085] It should be noted that, for the description of the third UWB pulse and the fourth UWB pulse, reference may be made to the relevant description of the first UWB pulse and the second UWB pulse in the above embodiment, which will not be repeated here.

[0086] Optionally, in the embodiment of the present application, the above step 203a can be specifically implemented through the following step 203a1.

[0087] Step 203a1: The electronic device determines the acceleration according to the first arrival phase difference, the second arrival phase difference, and the pulse repetition rate.

[0088] In the embodiment of the present application, the pulse repetition rate is the frequency of transmitting UWB pulses.

[0089] According to the above formula (7), the average speed of the electronic device during the time period from the transmission to the reception of the i-th UWB pulse, combined with the basic principles of calculus, the speed at the time of transmission of the i-th UWB pulse can be expressed as:

[0090]

[0091] Therefore, the speed of the emission moment of the i-th UWB pulse can be expressed as:

[0092]

[0093] The UWB module sends UWB pulses at a certain frequency, called the pulse repetition rate, denoted as f prf . So we can get:

[0094]

[0095] Therefore, the above formula (9) can be further expressed as:

[0096]

[0097] In an embodiment of the present application, the electronic device determines the acceleration of the electronic device based on the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna and the arrival phase difference of the third UWB pulse between the first receiving antenna and the second receiving antenna. In this way, not only the moving speed of the electronic device can be measured, but also the acceleration of the electronic device can be measured, thereby improving the efficiency of the electronic device in measuring the speed information of the moving object. In addition, since the fluctuation of speed is information worthy of attention in many scenarios, for example, the fluctuation of speed during running directly reflects the motion state of the athlete. By measuring the fluctuation of speed, the motion state of the human body during exercise can be more accurately monitored, thereby facilitating further evaluation of the motion state of the human body.

[0098] The speed measurement method provided in the embodiment of the present application can be executed by a speed measurement device. In the embodiment of the present application, the speed measurement device provided in the embodiment of the present application is described by taking the speed measurement method performed by the speed measurement device as an example.

[0099] Figure 5 A possible structural diagram of a speed measurement device involved in an embodiment of the present application is shown, and the speed measurement device is applied to an electronic device, and the electronic device includes at least a first receiving antenna and a second receiving antenna. Figure 5 As shown, the speed measurement device 50 may include: a transmitting module 51 , a receiving module 52 and a determining module 53 .

[0100] The transmitting module 51 is configured to transmit a first UWB pulse. The receiving module 52 is configured to receive, via a first receiving antenna and a second receiving antenna, a second UWB pulse after the first UWB pulse is reflected from the ground. The determining module 52 is configured to determine the speed information of the electronic device based on a first arrival phase difference; the first arrival phase difference is the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna. The speed information includes at least one of the following: velocity and acceleration.

[0101] An embodiment of the present application provides a speed measurement device. On the one hand, it does not need to rely on obstacles directly in front of or behind the object's velocity vector direction (i.e., the moving direction) to reflect UWB pulses. Instead, it relies on the ground to reflect UWB pulses to achieve speed measurement, which greatly expands the use scenarios of using UWB radar for speed measurement. On the other hand, during the speed measurement process, it is only necessary to measure the arrival angle of the UWB pulse, and there is no need to measure the flight time of the UWB pulse, which reduces one measurement dimension of the UWB radar and simplifies the speed measurement process. In this way, the measurement efficiency of the speed information of the moving object is improved.

[0102] In a possible implementation, the receiving module 52 is specifically configured to receive at least one third UWB pulse through the first receiving antenna and the second receiving antenna; and determine the second UWB pulse from the at least one third UWB pulse.

[0103] In one possible implementation, the at least one third UWB pulse includes multiple third UWB pulses. The receiving module 52 is specifically configured to determine, based on signal strengths of the multiple third UWB pulses, a third UWB pulse with the strongest signal strength as the second UWB pulse.

[0104] In one possible implementation, the velocity information includes acceleration. The determination module 53 is specifically configured to determine the acceleration of the electronic device based on the first arrival phase difference and the second arrival phase difference. The second arrival phase difference is the arrival phase difference of the third UWB pulse between the first receiving antenna and the second receiving antenna. The third UWB pulse is the UWB pulse of the fourth UWB pulse transmitted by the electronic device after being reflected from the ground. The first UWB pulse and the fourth UWB pulse are adjacent UWB pulses transmitted by the electronic device.

[0105] In a possible implementation, the determination module 53 is specifically configured to determine the acceleration based on the first arrival phase difference, the second arrival phase difference, and a pulse repetition rate, where the pulse repetition rate is the frequency of transmitting the UWB pulse.

[0106] The speed measuring device in the embodiment of the present application can be an electronic device or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. For example, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a mobile Internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc. It can also be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., and the embodiment of the present application does not specifically limit it.

[0107] The speed measurement device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0108] The speed measurement device provided in the embodiment of the present application can achieve Figures 2 to 4 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0109] Alternatively, as Figure 6As shown, an embodiment of the present application further provides an electronic device 600, including a processor 601 and a memory 602, wherein the memory 602 stores a program or instruction that can be run on the processor 601. When the program or instruction is executed by the processor 601, the various steps of the above-mentioned speed measurement method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they are not described here.

[0110] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0111] Figure 7 A schematic diagram of the hardware structure of an electronic device implementing an embodiment of the present application.

[0112] The electronic device 100 includes but is not limited to components such as a radio frequency unit 101 , a network module 102 , an audio output unit 103 , an input unit 104 , a sensor 105 , a display unit 106 , a user input unit 107 , an interface unit 108 , a memory 109 , and a processor 110 .

[0113] Those skilled in the art will understand that the electronic device 100 may also include a power source (such as a battery) to power each component, and the power source may be logically connected to the processor 110 through a power management system, thereby implementing functions such as charging, discharging, and power consumption management through the power management system. Figure 7 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be repeated here.

[0114] The radio frequency unit 101 is configured to transmit a first UWB pulse. The radio frequency unit 101 is further configured to receive, via a first receiving antenna and a second receiving antenna, a second UWB pulse after the first UWB pulse is reflected from the ground. The processor 110 is configured to determine velocity information of the electronic device based on a first arrival phase difference; the first arrival phase difference is the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; the velocity information includes at least one of the following: velocity and acceleration.

[0115] An embodiment of the present application provides an electronic device. On the one hand, it does not need to rely on obstacles directly in front of or behind the object's velocity vector direction (i.e., the moving direction) to reflect UWB pulses, but instead relies on the ground to reflect UWB pulses to achieve speed measurement, greatly expanding the use scenarios of using UWB radar for speed measurement; on the other hand, during the speed measurement process, it is only necessary to measure the arrival angle of the UWB pulse, and there is no need to measure the flight time of the UWB pulse, which reduces one measurement dimension of the UWB radar and simplifies the speed measurement process; in this way, the efficiency of the electronic device in measuring the speed information of the moving object is improved.

[0116] Optionally, in the embodiment of the present application, the RF unit 101 is specifically configured to receive at least one third UWB pulse through the first receiving antenna and the second receiving antenna; and determine the second UWB pulse from the at least one third UWB pulse.

[0117] Optionally, in the embodiment of the present application, the at least one third UWB pulse includes multiple third UWB pulses. The RF unit 101 is specifically configured to determine, based on signal strengths of the multiple third UWB pulses, a third UWB pulse with the strongest signal strength among the multiple third UWB pulses as the second UWB pulse.

[0118] Optionally, in an embodiment of the present application, the velocity information includes acceleration. The processor 110 is specifically configured to determine the acceleration of the electronic device based on the first arrival phase difference and the second arrival phase difference. The second arrival phase difference is the arrival phase difference of the third UWB pulse between the first receiving antenna and the second receiving antenna. The third UWB pulse is the UWB pulse of the fourth UWB pulse transmitted by the electronic device after being reflected from the ground; the first UWB pulse and the fourth UWB pulse are adjacent UWB pulses transmitted by the electronic device.

[0119] Optionally, in the embodiment of the present application, the processor 110 is specifically configured to determine the acceleration based on the first arrival phase difference, the second arrival phase difference, and a pulse repetition rate, wherein the pulse repetition rate is a frequency of transmitting UWB pulses.

[0120] It should be understood that in an embodiment of the present application, the input unit 104 may include a graphics processing unit (GPU) 1041 and a microphone 1042, and the graphics processor 1041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 107 includes a touch panel 1071 and at least one of other input devices 1072. The touch panel 1071 is also called a touch screen. The touch panel 1071 may include two parts: a touch detection device and a touch controller. Other input devices 1072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and an operating stick, which will not be repeated here.

[0121] The memory 109 can be used to store software programs and various data. The memory 109 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 109 may include a volatile memory or a non-volatile memory, or the memory 109 may include both volatile and 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), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM), and a direct memory bus random access memory (DRRAM). The memory 109 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0122] Processor 110 may include one or more processing units. Optionally, processor 110 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 110.

[0123] An embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned speed measurement method embodiment is implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0124] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0125] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned speed measurement method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0126] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0127] An embodiment of the present application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-mentioned speed measurement method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0128] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0129] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0130] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A speed measurement method, characterized in that: Applied to an electronic device, the electronic device includes at least a first receiving antenna and a second receiving antenna, and the method includes: Transmitting a first UWB pulse; receiving, through the first receiving antenna and the second receiving antenna, a second UWB pulse after the first UWB pulse is reflected by the ground; determining speed information of the electronic device based on the first arrival phase difference; The first arrival phase difference is: the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; The speed information includes acceleration; The determining, based on a first arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna, speed information of the electronic device includes: determining an acceleration of the electronic device based on the first arrival phase difference and the second arrival phase difference; The second arrival phase difference is: the arrival phase difference of the third UWB pulse between the first receiving antenna and the second receiving antenna; The third UWB pulse is: a UWB pulse obtained by reflecting the fourth UWB pulse emitted by the electronic device through the ground; the first UWB pulse and the fourth UWB pulse are adjacent UWB pulses emitted by the electronic device.

2. The method according to claim 1, characterized in that The receiving, by the first receiving antenna and the second receiving antenna, a second UWB pulse after the first UWB pulse is reflected by the ground, includes: receiving at least one third UWB pulse via the first receiving antenna and the second receiving antenna; From the at least one third UWB pulse, the second UWB pulse is determined.

3. The method according to claim 2, characterized in that The at least one third UWB pulse includes a plurality of third UWB pulses; and determining the second UWB pulse from the at least one third UWB pulse includes: Based on the signal strengths of the plurality of third UWB pulses, a third UWB pulse having the strongest signal strength among the plurality of third UWB pulses is determined as the second UWB pulse.

4. The method according to claim 1, wherein The determining the acceleration of the electronic device based on the first arrival phase difference and the second arrival phase difference includes: determining the acceleration according to the first arrival phase difference, the second arrival phase difference, and a pulse repetition rate; The pulse repetition rate is the frequency of transmitting UWB pulses.

5. A speed measuring device, characterized in that: Applied to electronic equipment, the electronic equipment includes at least a first receiving antenna and a second receiving antenna, and the device includes: a transmitting module, a receiving module and a determining module; The transmitting module is used to transmit a first UWB pulse; The receiving module is configured to receive, through the first receiving antenna and the second receiving antenna, a second UWB pulse after the first UWB pulse is reflected by the ground; The determining module is configured to determine speed information of the electronic device based on the first arrival phase difference; The first arrival phase difference is: the arrival phase difference of the second UWB pulse between the first receiving antenna and the second receiving antenna; The speed information includes acceleration; The determining module is specifically configured to determine the acceleration of the electronic device based on the first arrival phase difference and the second arrival phase difference; The second arrival phase difference is: the arrival phase difference of the third UWB pulse between the first receiving antenna and the second receiving antenna; The third UWB pulse is: a UWB pulse obtained by reflecting the fourth UWB pulse emitted by the electronic device through the ground; the first UWB pulse and the fourth UWB pulse are adjacent UWB pulses emitted by the electronic device.

6. The device according to claim 5, characterized in that The receiving module is specifically configured to receive at least one third UWB pulse through the first receiving antenna and the second receiving antenna; and determine the second UWB pulse from the at least one third UWB pulse.

7. The device according to claim 6, characterized in that The at least one third UWB pulse includes multiple third UWB pulses; the receiving module is specifically configured to determine, based on the signal strengths of the multiple third UWB pulses, a third UWB pulse with the strongest signal strength among the multiple third UWB pulses as the second UWB pulse.

8. The device according to claim 5, characterized in that The determining module is specifically configured to determine the acceleration according to the first arrival phase difference, the second arrival phase difference, and a pulse repetition rate; The pulse repetition rate is the frequency of transmitting UWB pulses.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the speed measurement method according to any one of claims 1 to 4 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the speed measurement method according to any one of claims 1 to 4 are implemented.

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