Transmission time determination, indoor angle measurement method and device

Abstract

The application provides a time determination method and device, which can include: determining a transmission time length and a synchronization error of signal transmission between a to-be-tested device and a goniometric device; determining a receiving time slot of the goniometric device for receiving an ultrasonic goniometric signal sent by the to-be-tested device; wherein the goniometric device is used for receiving ultrasonic goniometric signals sent by multiple to-be-tested devices, and the goniometric device receives ultrasonic goniometric signals sent by different to-be-tested devices in different receiving time slots; and determining a sending time of the ultrasonic goniometric signal according to the receiving time slot, the transmission time length and the synchronization error. Through the technical solution of the application, the goniometric device can receive ultrasonic goniometric signals sent by different to-be-tested devices in different receiving time slots, the problem that it is difficult to distinguish ultrasonic goniometric signals sent by different to-be-tested devices is avoided, and accurate goniometry of different to-be-tested devices is realized.

Description

Technical Field

[0001] This disclosure relates to the field of positioning technology, and more specifically, to a method for determining transmission time, a device for determining transmission time, an indoor angle measurement method, an indoor angle measurement device, a terminal, and a computer-readable storage medium. Background Technology

[0002] With the development of smartphones and smart homes, precise angle measurement for indoor smart devices is finding increasingly wider applications. Ultrasonic angle measurement technology is currently one of the more mature solutions for achieving high-precision angle measurement.

[0003] However, in scenarios where there are multiple devices under test around the angle measuring device, the angle measuring device may receive ultrasonic angle measuring signals from multiple devices under test. Since the ultrasonic angle measuring signals emitted by multiple devices under test may interfere with each other, the angle measuring device cannot distinguish the received ultrasonic angle measuring signals, and thus cannot accurately measure the indoor angles of multiple devices under test. Summary of the Invention

[0004] In view of the above, embodiments of this disclosure provide a method for determining transmission time, a device for determining transmission time, an indoor angle measurement method, an indoor angle measurement device, a terminal, and a computer-readable storage medium to solve the technical problems in the related art.

[0005] Specifically, this application achieves its purpose through the following technical solution:

[0006] According to a first aspect of this application, a method for determining transmission time is proposed, applied to a device under test (DUT), comprising: determining the transmission duration and synchronization error of signal transmission between the DUT and an angle measuring device; determining the reception time slot for the angle measuring device to receive ultrasonic angle measuring signals transmitted by the DUT; wherein the angle measuring device is used to receive ultrasonic angle measuring signals transmitted by multiple DUTs, and the angle measuring device receives ultrasonic angle measuring signals transmitted by different DUTs in different reception time slots; and determining the transmission time of the ultrasonic angle measuring signal based on the reception time slot, the transmission duration, and the synchronization error.

[0007] According to a second aspect of this application, an indoor angle measurement method is proposed, applied to an angle measuring device, comprising: exchanging a synchronization signal with a device under test (DUT) to enable the DUT to determine the transmission duration and synchronization error of the signal transmission between the DUT and the angle measuring device; instructing the DUT on a receiving time slot for an ultrasonic angle measuring signal, wherein the transmission duration, the synchronization error, and the receiving time slot are used by the DUT to determine the transmission time of the ultrasonic angle measuring signal, and the receiving time slot is different for different DUTs; and receiving the ultrasonic angle measuring signal transmitted by the DUT in the receiving time slot to perform indoor angle measurement on the DUT.

[0008] According to a third aspect of this application, a transmission time determination device is proposed, applied to a device under test, comprising: a parameter determination module configured to determine the transmission duration and synchronization error of signal transmission between the device under test and an angle measuring device; a time slot determination module configured to determine the reception time slot for the angle measuring device to receive ultrasonic angle measuring signals transmitted by the device under test; wherein the angle measuring device is used to receive ultrasonic angle measuring signals transmitted by multiple devices under test, and the angle measuring device receives ultrasonic angle measuring signals transmitted by different devices under test in different reception time slots; and the transmission time determination module configured to determine the transmission time of the ultrasonic angle measuring signal based on the reception time slot, the transmission duration, and the synchronization error.

[0009] According to a fourth aspect of this application, an indoor angle measuring device is proposed, applied to an angle measuring equipment, comprising: a signal interaction module configured to interact with a device under test (DUT) to synchronize signals, enabling the DUT to determine the transmission duration and synchronization error of signal transmission between the DUT and the angle measuring equipment; an indication module configured to indicate a receiving time slot of an ultrasonic angle measuring signal to the DUT, wherein the transmission duration, the synchronization error, and the receiving time slot are used by the DUT to determine the transmission time of the ultrasonic angle measuring signal, and the indicated receiving time slot is different for different DUTs; and a receiving module configured to receive the ultrasonic angle measuring signal transmitted by the DUT in the receiving time slot, so as to perform indoor angle measuring on the DUT.

[0010] According to a fifth aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor executes the executable instructions to implement the method as described in the embodiments of the first aspect above.

[0011] According to a sixth aspect of the present application, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the steps of the method as described in the embodiments of the first aspect above.

[0012] According to a seventh aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor executes the executable instructions to implement the method as described in the embodiments of the second aspect above.

[0013] According to an eighth aspect of the present application, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the steps of the method as described in the embodiments of the second aspect above.

[0014] As can be seen from the technical solutions provided in this application above, the device under test can determine the transmission duration and synchronization error of the signal transmission between itself and the angle measuring device, for example, by signal interaction with the angle measuring device. It can also determine the receiving time slot for the angle measuring device to receive the ultrasonic angle measuring signal, for example, by an indication from the angle measuring device.

[0015] Furthermore, given the transmission duration and synchronization error, and considering the required receiving time slot of the angle measuring device, the transmission time of the ultrasonic angle measuring signal can be accurately determined. This ensures that the ultrasonic angle measuring signal is received by the angle measuring device during the required receiving time slot, enabling the angle measuring device to accurately control the receiving time. This ensures that the angle measuring device receives ultrasonic angle measuring signals from different devices under test in different receiving time slots, avoiding the aforementioned problem of difficulty in distinguishing ultrasonic angle measuring signals from different devices under test, and achieving accurate angle measurement for different devices under test. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] Figure 1a This is a schematic diagram of an indoor angle measurement scene according to an exemplary embodiment of the present disclosure;

[0018] Figure 1b This is a schematic flowchart illustrating a method for determining transmission time according to an embodiment of the present disclosure;

[0019] Figure 2 This is a schematic diagram illustrating the transmission of ultrasonic angle measurement signals between a device under test and an angle measuring device according to an embodiment of this disclosure;

[0020] Figure 3 This is a schematic diagram illustrating yet another method for determining transmission time according to an embodiment of the present disclosure;

[0021] Figure 4 This is a schematic diagram illustrating yet another method for determining transmission time according to an embodiment of the present disclosure;

[0022] Figure 5 This is a schematic diagram illustrating an indoor angle measurement method according to an embodiment of the present disclosure;

[0023] Figure 6 This is a schematic diagram illustrating an indoor angle measurement method according to an embodiment of the present disclosure;

[0024] Figure 7 This is a schematic diagram illustrating an indoor angle measurement method according to an embodiment of the present disclosure;

[0025] Figure 8This is a schematic block diagram illustrating a transmission time determination device according to an embodiment of the present disclosure;

[0026] Figure 9 This is a schematic block diagram of an indoor angle measuring device according to an embodiment of the present disclosure;

[0027] Figure 10 This is a schematic block diagram of a terminal according to an embodiment of the present disclosure.

[0028] Figure 11 This is a schematic block diagram of a terminal according to an embodiment of the present disclosure. Detailed Implementation

[0029] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0030] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0031] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0032] The embodiments of this application will now be described in detail.

[0033] All embodiments disclosed herein are primarily applied to scenarios where an angle measuring device performs indoor angle measurement on multiple devices under test. The angle measuring device can perform indoor angle measurement by receiving ultrasonic angle measurement signals sent by the devices under test, and specific angle measurement algorithms include, but are not limited to, the cross-correlation first path estimation method.

[0034] Figure 1a This is a schematic diagram of an indoor angle measurement scene according to an exemplary embodiment of the present disclosure.

[0035] like Figure 1a As shown, Main1 is the angle measuring device, and Sub1, Sub2, ..., SubN are the devices under test. Main1 can receive the ultrasonic angle measuring signals sent by Sub1, Sub2, ..., SubN, and use an angle measuring algorithm to perform indoor angle measurement on Sub1, Sub2, ..., SubN to obtain the values ​​of ∠α, ∠β, and ∠γ in the figure. Based on the angles measured by the above indoor angle measurement, the angle measuring device can determine the orientation of the device under test relative to itself, thereby facilitating the control of the device under test.

[0036] However, in scenarios where the angle measuring device performs indoor angle measurement on multiple devices under test, the angle measuring device may (for example, in the same time slot) receive ultrasonic angle measurement signals from multiple devices under test. Since the ultrasonic angle measurement signals emitted by multiple devices under test may interfere with each other, the angle measuring device cannot distinguish the received ultrasonic angle measurement signals, and thus cannot accurately perform indoor angle measurement on multiple devices under test.

[0037] For example, when an angle measuring device performs indoor angle measurement on n devices under test, the relationship between each device under test and the angle measuring device will be different. For example, the distance, angle, and obstacles in the signal propagation path will be different. These factors will cause the transmission time of the ultrasonic angle measuring signal from different devices under test to the angle measuring device to be different.

[0038] If the transmission time of the ultrasonic angle measurement signal sent by the device under test is controlled only according to the required reception time, it will be difficult to accurately control the reception time of the ultrasonic angle measurement signal when the transmission duration is unknown.

[0039] like Figure 1a As shown, the distance between Sub1 and Main1 is L1, the distance between Sub2 and Main1 is L1, and the distance between SubN and Main1 is L2, with L2 being greater than L1.

[0040] Taking indoor angle measurement of Sub1 and Sub2 from Main1 as an example, since the distance between Sub1 and Main1 is the same as the distance between Sub2 and Main1, the transmission time of the ultrasonic angle measurement signal from Sub1 and Sub2 to Main1 is the same, without considering other factors. If Sub1 and Sub2 send ultrasonic angle measurement signals at the same time, the ultrasonic angle measurement signals sent by Sub1 and Sub2 will arrive at Main1 simultaneously (e.g., in the same time slot).

[0041] Taking indoor angle measurement of Sub2 and SubN by Main1 as an example, since the distance between SubN and Main1 is greater than the distance between Sub2 and Main1, the transmission time of the ultrasonic angle measurement signal from SubN to Main1 is longer than the transmission time from Sub2 to Main1, without considering other factors. If the transmission time of the ultrasonic angle measurement signal from Sub2 is later than the transmission time of the ultrasonic signal from SubN, then because the transmission time of the ultrasonic angle measurement signal from SubN to Main1 is longer than the transmission time from Sub2 to Main1, the ultrasonic angle measurement signals transmitted by Sub2 and SubN may still arrive at Main1 simultaneously (e.g., in the same time slot).

[0042] Moreover, in addition to different transmission durations, different devices under test also have different synchronization errors with the angle measuring device, which makes it difficult to accurately control the reception time.

[0043] In situations where it is difficult to accurately control the receiving time, multiple ultrasonic angle measurement signals sent by the devices under test may be received in the same time slot. This makes it difficult to distinguish the ultrasonic angle measurement signals sent by different devices under test, and thus makes it impossible to accurately complete the angle measurement of each device under test.

[0044] Figure 1b This is a schematic flowchart illustrating a method for determining transmission time according to an exemplary embodiment of the present disclosure. Figure 1b As shown, this method can be applied to the device under test, which can communicate with the angle measuring device. The device under test includes, but is not limited to, smart home devices (TVs, air conditioners, speakers, robot vacuums, washing machines, etc.), mobile phones, tablets, wearable devices, sensors, IoT devices, and other electronic devices.

[0045] like Figure 1b As shown, the method for determining the sending time may include the following steps:

[0046] In step S101, the transmission duration and synchronization error of the signal transmission between the device under test and the angle measuring device are determined;

[0047] In step S102, the receiving time slot for the angle measuring device to receive the ultrasonic angle measuring signal sent by the device under test is determined; wherein, the angle measuring device is used to receive ultrasonic angle measuring signals sent by multiple devices under test, and the angle measuring device receives ultrasonic angle measuring signals sent by different devices under test in different receiving time slots;

[0048] In step S103, the transmission time of the ultrasonic angle measurement signal is determined based on the receiving time slot, the transmission duration, and the synchronization error.

[0049] In one embodiment, the transmission duration and synchronization error of the signal transmission between the device under test and the angle measuring device can be determined by exchanging synchronization signals with the angle measuring device, as detailed below. Figure 3 and Figure 4 The relevant details in the illustrated embodiments will not be elaborated here.

[0050] In one embodiment, the receiving time slot for the angle measuring device to receive the ultrasonic angle measuring signal sent by the device under test can be indicated by the angle measuring device. For example, the angle measuring device can instruct the device under test to receive the ultrasonic angle measuring signal sent by the device under test by setting a correspondence between the device under test and the receiving time slot and sending the correspondence to the device under test.

[0051] In embodiments of this disclosure, the device under test (DUT) can determine the transmission duration and synchronization error of the signal transmission with the angle measuring device, for example, through signal interaction with the angle measuring device. It can also determine the receiving time slot at which the angle measuring device needs to receive the ultrasonic angle measuring signal, for example, by an indication from the angle measuring device.

[0052] Furthermore, given the transmission duration and synchronization error, and considering the required receiving time slot of the angle measuring device, the transmission time of the ultrasonic angle measuring signal can be accurately determined. This ensures that the ultrasonic angle measuring signal is received by the angle measuring device during the required receiving time slot, enabling the angle measuring device to accurately control the receiving time. This ensures that the angle measuring device receives ultrasonic angle measuring signals from different devices under test in different receiving time slots, avoiding the aforementioned problem of difficulty in distinguishing ultrasonic angle measuring signals from different devices under test, and achieving accurate angle measurement for different devices under test.

[0053] It should be noted that the embodiments of this disclosure can be applied to scenarios where the angle measuring device performs indoor angle measurement on multiple devices under test. That is, each device under test in this scenario can execute the method in the embodiments of this disclosure.

[0054] For example, when an angle measuring device measures the angles of n devices under test (DUTs), the transmission duration determined for the i-th DUT can be called the i-th transmission duration, and the determined synchronization error can be called the i-th synchronization error. For the i-th DUT, the angle measuring device can determine that it will receive the ultrasonic angle measuring signal in the i-th time slot. Based on the i-th time slot, the i-th transmission duration, and the i-th synchronization error, the i-th DUT can determine the i-th transmission time and send the ultrasonic angle measuring signal to the angle measuring device at the i-th transmission time, ensuring that the angle measuring device receives the ultrasonic angle measuring signal sent by the i-th DUT in the i-th time slot. Similarly, the angle measuring device receives the ultrasonic angle measuring signal sent by the (i+1)-th DUT in the (i+1)-th time slot. Therefore, this ensures that ultrasonic angle measuring signals sent by different DUTs are received by the angle measuring device in different time slots.

[0055] Therefore, according to this embodiment, it can be ensured that the angle measuring device receives only one ultrasonic angle measuring signal sent by the device under test in one time slot, avoiding mutual interference when ultrasonic angle measuring signals sent by multiple devices under test arrive at the angle measuring device in the same time slot. This allows the angle measuring device to accurately receive and identify the ultrasonic angle measuring signals of each device under test, and realize indoor angle measurement of multiple devices under test.

[0056] It should be noted that the phrase "the angle measuring device receives ultrasonic angle measuring signals sent by different devices under test in different receiving time slots" in all embodiments of this disclosure refers to multiple devices under test sending ultrasonic angle measuring signals to the angle measuring device in the same frequency band. The method by which multiple devices under test send angle measuring signals in this frequency band can be understood as Time Division Multiple Access (TDMA).

[0057] Of course, in addition to receiving ultrasonic angle measurement signals sent by different devices under test in different receiving time slots, the angle measuring device in this embodiment can also receive ultrasonic angle measurement signals sent by different devices under test in different frequency bands. The method of multiple devices under test sending angle measurement signals in different frequency bands can be understood as Frequency Division Multiple Access (FDMA).

[0058] In one embodiment, when the angle measuring device needs to receive ultrasonic angle measuring signals from N (N>1) devices under test, the device can divide the frequency range into M (M>1) frequency bands, each corresponding to N / M devices under test. For example, if the angle measuring device needs to perform indoor angle measuring on 8 devices under test (e.g., referred to as Sub1, Sub2, ..., Sub8), and can receive ultrasonic angle measuring signals from these 8 devices, the device can determine two different frequency bands: a first frequency band (e.g., 20kHz~24kHz) and a second frequency band (e.g., 25kHz~29kHz), and divide the 8 devices under test into two parts. Signal interaction is performed with 4 of the 8 devices under test (e.g., referred to as Sub1, Sub2, Sub3, Sub4) through the first frequency band, and with the other 4 devices under test (e.g., referred to as Sub5, Sub6, Sub7, Sub8) through the second frequency band.

[0059] Figure 2 This is a schematic diagram illustrating the transmission of ultrasonic angle measurement signals between a device under test and an angle measuring device according to an embodiment of this disclosure. Figure 2 As shown, for each frequency band, ultrasonic angle measurement signals sent by four devices under test can be received in four time slots.

[0060] For example, for the first frequency band, the angle measuring device can divide the receiving time into four time slots: slot#1, slot#2, slot#3, and slot#4 (which can be periodic). On slot#1, it can receive the ultrasonic angle measuring signal sent by Sub1; on slot#2, it can receive the ultrasonic angle measuring signal sent by Sub2; on slot#3, it can receive the ultrasonic angle measuring signal sent by Sub3; and on slot#4, it can receive the ultrasonic angle measuring signal sent by Sub4.

[0061] For the second frequency band, the angle measurement device can divide the receiving time into four time slots: slot #1, slot #2, slot #3, and slot #4. Slot #1 can receive the ultrasonic angle measurement signal transmitted by Sub5, slot #2 can receive the ultrasonic angle measurement signal transmitted by Sub6, slot #3 can receive the ultrasonic angle measurement signal transmitted by Sub7, and slot #4 can receive the ultrasonic angle measurement signal transmitted by Sub8.

[0062] Therefore, for devices under test that transmit ultrasonic angle measurement signals through the same frequency band, determining the transmission time of the ultrasonic angle measurement signal based on their respective receiving time slots, transmission durations, and synchronization errors can ensure that the angle measuring device receives ultrasonic angle measurement signals transmitted by different devices under test in different receiving time slots.

[0063] Figure 3 This is a schematic diagram illustrating another method for determining transmission time according to an embodiment of this disclosure. Figure 3 As shown, determining the transmission duration of the signal transmission between the device under test and the angle measuring device includes:

[0064] In step S301, the first reception time for receiving the first synchronization signal sent by the angle measuring device is determined;

[0065] In step S302, the second transmission time for transmitting the second synchronization signal is determined;

[0066] In step S303, the first transmission time of the angle measuring device sending the first synchronization signal and the second reception time of the angle measuring device receiving the second synchronization signal are determined.

[0067] In step S304, the transmission duration is determined based on the first sending time, the first receiving time, the second sending time, and the second receiving time.

[0068] In one embodiment, the first synchronization signal and the second synchronization signal can be ultrasonic signals. When the device under test (DUT) sends the second synchronization signal to the angle measuring device, and when the angle measuring device sends the first synchronization signal to the DUT, the synchronization signal can be repeatedly transmitted multiple times, thereby ensuring that the receiver accurately receives the synchronization signal. Furthermore, the preset interval between each transmission helps to avoid mutual interference between continuously transmitted synchronization signals.

[0069] In one embodiment, the device under test can receive a first synchronization signal sent by the angle measuring device and record the reception time of receiving the first synchronization signal as the first reception time.

[0070] In one embodiment, the first synchronization signal includes at least one of the following: a first frequency sweep signal; a packet count; and at least one data block; wherein the first frequency sweep signal is used to enable the device under test (DUT) to determine the first reception time, the packet count is used to indicate the number of data blocks carried in the first synchronization signal, and the data blocks are used to carry first delay information of the DUT and identification information of the DUT.

[0071] In one embodiment, the identification information can be sent in advance by the device under test to the angle measuring device via a local area network, and the first delay information can be pre-configured by the angle measuring device.

[0072] In one embodiment, if the angle measuring device interacts with different devices under test through multiple frequency bands, the first synchronization signal may include identification information of multiple devices under test that interact with the angle measuring device through the same frequency band and first time delay information.

[0073] Figure 4 This is a schematic diagram illustrating the transmission of a first synchronization signal according to an embodiment of the present disclosure. Figure 4 As shown, the angle measuring device interacts with the devices under test (Sub1, Sub2, Sub3, Sub4) via the first frequency band (20kHz~24kHz) and with the devices under test (Sub5, Sub6, Sub7, Sub8) via the second frequency band (25kHz~29kHz). The angle measuring device can repeatedly transmit a first synchronization signal containing the identification information and first delay information of the devices under test (Sub1, Sub2, Sub3, Sub4) three times via the first frequency band, with a preset protection interval between each transmission; similarly, it can repeatedly transmit the first synchronization signal containing the identification information and first delay information of the devices under test (Sub5, Sub6, Sub7, Sub8) three times via the second frequency band, with a preset protection interval between each transmission.

[0074] In one embodiment, determining the first reception time of receiving the first synchronization signal sent by the angle measuring device includes: determining the first reception time based on the signal correlation of the first sweep frequency signal.

[0075] After receiving the first synchronization signal, the device under test can detect the arrival time of the first synchronization signal based on the correlation of the first frequency sweep signal contained in the first synchronization signal, and parse the data block contained in the first synchronization signal based on the number of packets contained in the first synchronization signal to determine the first delay information corresponding to its own identification information.

[0076] In one embodiment, determining the second transmission time for sending the second synchronization signal includes: parsing the first synchronization signal to determine the first delay information corresponding to the device under test; and determining the second transmission time based on the first reception time and the first delay information.

[0077] The device under test (DUT) can start timing from the first reception time of the first synchronization signal and wait for a preset duration indicated by the first delay information obtained from parsing. When the preset duration is reached, it sends a second synchronization signal.

[0078] In one embodiment, the device under test (DUT) may be unable to obtain the transmission time of the second synchronization signal due to the computer's own settings when transmitting the second synchronization signal. Therefore, after transmitting the second synchronization signal, the DUT can determine the reception time of the second synchronization signal based on the correlation of the second sweep frequency signal carried in the second synchronization signal, and use this reception time as the second transmission time of the second synchronization signal.

[0079] In one embodiment, the second synchronization signal includes a second sweep frequency signal, which is used by the angle measuring device to determine the second reception time. The second sweep frequency signal is different from the first sweep frequency signal.

[0080] In one embodiment, the second sweep frequency signal included in the second synchronization signal sent by the device under test (DUT) and the first sweep frequency signal included in the first synchronization signal sent by the angle measuring device can be sweep frequency signals obtained by sweeping frequencies in different ways. This allows the DUT and the angle measuring device to distinguish the received synchronization signal by using the sweep frequency signal included in the synchronization signal after receiving it, thus avoiding false detections.

[0081] In one embodiment, determining the first transmission time of the angle measuring device sending the first synchronization signal and the second reception time of the angle measuring device receiving the second synchronization signal includes:

[0082] The third synchronization signal sent by the angle measuring device is received, and the third synchronization signal carries the first sending time and the second receiving time.

[0083] In one embodiment, after the device under test (DUT) sends a second synchronization signal to the angle measuring device, the angle measuring device can record a second reception time of receiving the second synchronization signal, and the angle measuring device can also record a first transmission time of the first synchronization signal when sending the first synchronization signal to the DUT. The angle measuring device can then carry the recorded first transmission time and second reception time in a third synchronization signal and send it to the DUT.

[0084] The method by which the angle measuring device records the second receiving time and the first receiving time can be found in the relevant content of the above embodiment regarding the determination of the first receiving time and the second sending time by the device under test, which will not be repeated here.

[0085] In one embodiment, the third synchronization signal received by the device under test (DUT) may include multiple correspondences between the DUT and the first transmission time and the second reception time recorded by the angle measuring device. The DUT parses the third synchronization signal after receiving it to determine the first transmission time and the second reception time corresponding to its own identification information.

[0086] In one embodiment, after determining the first transmission time and first reception time of the first synchronization signal, and the second transmission time and second reception time of the second synchronization signal, the device under test can determine the transmission duration of the signal transmission between the device under test and the angle measuring device using the following formula (1):

[0087] (1)

[0088] Where d represents the transmission time of the signal between the device under test and the angle measuring device, t4 represents the second reception time of the second synchronization signal, t1 represents the first transmission time of the first synchronization signal, t3 represents the transmission time of the second synchronization signal, and t2 represents the first reception time of the first synchronization signal.

[0089] Figure 5 This is a schematic diagram illustrating yet another method for determining transmission time according to embodiments of the present disclosure. Figure 5 As shown, in Figure 3 Based on the illustrated embodiment, determining the synchronization error between the angle measuring device and the device under test includes:

[0090] In step S501, the synchronization error is determined based on the second sending time, the second receiving time, and the transmission duration.

[0091] In one embodiment, since there may be a clock synchronization error between the recording thread used by the angle measuring device and the device under test to receive the synchronization signal, the time difference between the signal reception time and the transmission time may not be consistent with the signal transmission duration when the device under test transmits signals to the angle measuring device. Therefore, the synchronization error between the device under test and the angle measuring device can be determined by the following formula (2):

[0092] (2)

[0093] in, t4 represents the synchronization error between the device under test and the angle measuring device, t3 represents the reception time of the second synchronization signal, t4 represents the transmission time of the second synchronization signal, and d represents the transmission duration of the signal between the device under test and the angle measuring device.

[0094] In one embodiment, after determining the transmission duration of the signal transmission between the device under test (DUT) and the angle measuring device, as well as the synchronization error between the DUT and the angle measuring device, if it is determined that the receiving time slot of the angle measuring device receiving the ultrasonic angle measuring signal sent by the DUT is... Then the transmission time of the ultrasonic angle measurement signal can be determined by the following formula (3):

[0095] (3)

[0096] Among them, T t T represents the transmission time of the ultrasonic angle measurement signal sent by the device under test. r The time slot for the angle measuring device to receive the ultrasonic angle measuring signal sent by the device under test is indicated by d, where d represents the transmission time of the signal between the device under test and the angle measuring device. This indicates the synchronization error between the device under test and the angle measuring device.

[0097] In a scenario where an angle measuring device performs indoor angle measurement on multiple devices under test, the transmission time of the ultrasonic angle measuring signal can be calculated separately for each device under test according to the above formula.

[0098] For example, an angle measuring device measures the angles of n devices under test, and the transmission duration determined for the i-th device among the n devices is d. i The determined synchronization error is i For the i-th device under test, the angle measuring device can determine the receiving time slot for receiving the ultrasonic angle measuring signal as T. ri Based on T ri d i , i The i-th device under test can determine T i and in T iSending ultrasonic angle measurement signals to the angle measuring device ensures that the angle measuring device is within T... ri The ultrasonic angle measurement signal sent by the i-th device under test is received. Similarly, the angle measuring device at T... r(i+1) The ultrasonic angle measurement signal sent by the (i+1)th device under test is received. Therefore, this ensures that ultrasonic angle measurement signals sent by different devices under test are received by the angle measurement device in different time slots.

[0099] As can be seen from the technical solutions provided in this application above, the device under test can determine the transmission duration and synchronization error of the signal transmission between itself and the angle measuring device, for example, by signal interaction with the angle measuring device. It can also determine the receiving time slot for the angle measuring device to receive the ultrasonic angle measuring signal, for example, by an indication from the angle measuring device.

[0100] Furthermore, given the transmission duration and synchronization error, and considering the required receiving time slot of the angle measuring device, the transmission time of the ultrasonic angle measuring signal can be accurately determined. This ensures that the ultrasonic angle measuring signal is received by the angle measuring device during the required receiving time slot, enabling the angle measuring device to accurately control the receiving time. This ensures that the angle measuring device receives ultrasonic angle measuring signals from different devices under test in different receiving time slots, avoiding the aforementioned problem of difficulty in distinguishing ultrasonic angle measuring signals from different devices under test, and achieving accurate angle measurement for different devices under test.

[0101] Figure 6 This is a schematic flowchart illustrating an indoor angle measurement method according to an embodiment of the present disclosure. The indoor angle measurement method shown in this embodiment can be executed by an angle measuring device, which can communicate with the device under test. The communication devices between the angle measuring device and the device under test include, but are not limited to, mobile phones, tablets, wearable devices, sensors, IoT devices, etc.

[0102] like Figure 6 As shown, the indoor angle measurement method may include the following steps:

[0103] In step 601, by exchanging synchronization signals with the device under test, the device under test determines the transmission duration and synchronization error of the signal transmission between it and the angle measuring device;

[0104] In step 602, the device under test is instructed with a time slot for receiving the ultrasonic angle measurement signal, wherein the transmission duration, the synchronization error, and the time slot are used by the device under test to determine the transmission time of the ultrasonic angle measurement signal, and the time slot indicated is different for different devices under test;

[0105] In step 603, the ultrasonic angle measurement signal sent by the device under test is received in the receiving time slot to perform indoor angle measurement on the device under test.

[0106] All embodiments disclosed herein are primarily applied to scenarios where an angle measuring device performs indoor angle measurement on multiple devices under test. The angle measuring device can perform indoor angle measurement by receiving ultrasonic angle measurement signals sent by the devices under test. Specific angle measurement algorithms include, but are not limited to, cross-correlation first path estimation. However, in scenarios where an angle measuring device performs indoor angle measurement on multiple devices under test, the device may receive ultrasonic angle measurement signals from multiple devices under test (e.g., in the same time slot). Since the ultrasonic angle measurement signals from multiple devices under test may interfere with each other, the angle measuring device cannot distinguish the received ultrasonic angle measurement signals, thus failing to accurately perform indoor angle measurement on multiple devices under test.

[0107] For example, when an angle measuring device performs indoor angle measurement on n devices under test, the relationship between each device under test and the angle measuring device will be different. For example, the distance, angle, and obstacles in the signal propagation path will be different. These factors will cause the transmission time of the ultrasonic angle measuring signal from different devices under test to the angle measuring device to be different.

[0108] If the transmission time of the ultrasonic angle measurement signal sent by the device under test (DUT) is controlled solely based on the required reception time, it will be difficult to accurately control the reception time of the angle measurement signal when the transmission duration is unknown. Furthermore, different DUTs not only have different transmission durations but also different synchronization errors with the angle measurement device, which also makes accurate control of the reception time difficult.

[0109] In situations where it is difficult to accurately control the receiving time, multiple ultrasonic angle measurement signals sent by the devices under test may be received in the same time slot. This makes it difficult to distinguish the ultrasonic angle measurement signals sent by different devices under test, and thus makes it impossible to accurately complete the angle measurement of each device under test.

[0110] In one embodiment, the transmission duration and synchronization error of the signal transmission between the device under test (DUT) and the angle measuring device can be determined by the DUT through the exchange of synchronization signals with the angle measuring device. For details, please refer to the following: Figure 7 The relevant details in the illustrated embodiments will not be elaborated here.

[0111] In one embodiment, the angle measuring device can instruct the device under test (DUT) on the receiving time slot for receiving the ultrasonic angle measuring signal sent by the DUT, enabling the DUT to determine the transmission time of the ultrasonic angle measuring signal based on the determined transmission duration, synchronization error, and the receiving time slot indicated by the angle measuring device. For example, the angle measuring device can instruct the DUT on the receiving time slot for receiving the ultrasonic angle measuring signal by setting a correspondence between the DUT and the receiving time slot and sending this correspondence to the DUT.

[0112] In embodiments of this disclosure, the angle measuring device can interact with the device under test (DUT) to synchronize signals, enabling the DUT to determine the transmission duration and synchronization error of the signal transmission between the angle measuring device and the angle measuring device. The angle measuring device can also indicate the ultrasonic signal reception time slot to the DUT, enabling the DUT to determine the reception time slot in which the angle measuring device needs to receive the ultrasonic angle measuring signal.

[0113] This allows the device under test (DUT), given a known transmission duration and synchronization error, to accurately determine the transmission time of the ultrasonic angle measurement signal by combining the receiving time slot indicated by the angle measuring device. Accordingly, the angle measuring device can receive the ultrasonic angle measurement signal transmitted by the DUT at the required receiving time slot, achieving precise control of the receiving time. This ensures that ultrasonic angle measurement signals from different DUTs are received in different receiving time slots, avoiding the aforementioned problem of difficulty in distinguishing ultrasonic angle measurement signals from different DUTs, and enabling accurate angle measurement of different DUTs.

[0114] It should be noted that the embodiments of this disclosure can be applied to scenarios where the angle measuring device performs indoor angle measurement on multiple devices under test. That is, the angle measuring device can execute the method of the embodiments of this disclosure on each device under test in the scenario.

[0115] For example, an angle measuring device measures the angles of n devices under test. The angle measuring device can interact with the i-th device under test by exchanging synchronization signals, allowing the i-th device to determine the transmission duration (called the i-th transmission duration) and the synchronization error (called the i-th synchronization error) between the signal transmission and the angle measuring device. Furthermore, the angle measuring device can indicate the i-th time slot for receiving the ultrasonic signal as the i-th time slot, enabling the i-th device to determine the i-th transmission time based on the i-th time slot, the i-th transmission duration, and the i-th synchronization error, and to send an ultrasonic angle measuring signal to the angle measuring device at the i-th transmission time. Accordingly, the angle measuring device can receive the ultrasonic angle measuring signal sent by the i-th device under test in the i-th time slot. Similarly, the angle measuring device receives the ultrasonic angle measuring signal sent by the (i+1)-th device under test in the (i+1)-th time slot. Therefore, the angle measuring device can receive ultrasonic angle measuring signals sent by different devices under test in different time slots.

[0116] Therefore, according to this embodiment, it can be ensured that the angle measuring device receives only one ultrasonic angle measuring signal sent by the device under test in one time slot, avoiding mutual interference when ultrasonic angle measuring signals sent by multiple devices under test arrive at the angle measuring device in the same time slot. This allows the angle measuring device to accurately receive and identify the ultrasonic angle measuring signals of each device under test, and realize indoor angle measurement of multiple devices under test.

[0117] It should be noted that the "different receiving time slots indicated for different devices under test" in all embodiments of this disclosure refers to multiple devices under test sending ultrasonic angle measurement signals to the angle measuring device in the same frequency band. The method by which multiple devices under test send angle measurement signals in this frequency band can be understood as Time Division Multiple Access (TDMA).

[0118] Of course, in addition to receiving ultrasonic angle measurement signals sent by different devices under test in different receiving time slots, the angle measuring device in this embodiment can also receive ultrasonic angle measurement signals sent by different devices under test in different frequency bands. The method of multiple devices under test sending angle measurement signals in different frequency bands can be understood as Frequency Division Multiple Access (FDMA).

[0119] In one embodiment, when the angle measuring device needs to receive ultrasonic angle measuring signals from N (N>1) devices under test, the device can divide the frequency range into M (M>1) frequency bands, each corresponding to N / M devices under test. For example, if the angle measuring device needs to perform indoor angle measuring on 8 devices under test (e.g., referred to as Sub1, Sub2, ..., Sub8), and can receive ultrasonic angle measuring signals from these 8 devices, the device can determine two different frequency bands: a first frequency band (e.g., 20kHz~24kHz) and a second frequency band (e.g., 25kHz~29kHz), and divide the 8 devices under test into two parts. Signal interaction is performed with 4 of the 8 devices under test (e.g., referred to as Sub1, Sub2, Sub3, Sub4) through the first frequency band, and with the other 4 devices under test (e.g., referred to as Sub5, Sub6, Sub7, Sub8) through the second frequency band.

[0120] like Figure 2 As shown, for each frequency band, ultrasonic angle measurement signals sent by four devices under test can be received in four time slots.

[0121] For example, for the first frequency band, the angle measuring device can divide the receiving time into four time slots: slot #1, slot #2, slot #3, and slot #4. In slot #1, it can receive the ultrasonic angle measuring signal sent by Sub1; in slot #2, it can receive the ultrasonic angle measuring signal sent by Sub2; in slot #3, it can receive the ultrasonic angle measuring signal sent by Sub3; and in slot #4, it can receive the ultrasonic angle measuring signal sent by Sub4.

[0122] For the second frequency band, the angle measurement device can divide the receiving time into four time slots: slot #1, slot #2, slot #3, and slot #4. Slot #1 can receive the ultrasonic angle measurement signal transmitted by Sub5, slot #2 can receive the ultrasonic angle measurement signal transmitted by Sub6, slot #3 can receive the ultrasonic angle measurement signal transmitted by Sub7, and slot #4 can receive the ultrasonic angle measurement signal transmitted by Sub8.

[0123] Therefore, for devices under test (DUTs) transmitting ultrasonic angle measurement signals through the same frequency band, the transmission time of the ultrasonic angle measurement signal can be determined based on their respective receiving time slots, transmission durations, and synchronization errors. The angle measurement device can receive ultrasonic angle measurement signals transmitted by different DUTs at their respective determined transmission times in different receiving time slots.

[0124] Figure 7 This is a schematic flowchart illustrating another indoor angle measurement method according to embodiments of the present disclosure. Figure 7 As shown, in Figure 6 Based on the illustrated embodiment, the step of exchanging synchronization signals with the device under test (DUT) to enable the DUT to determine the transmission duration and synchronization error of the signal transmission between the DUT and the angle measuring device includes:

[0125] In step S701, a first synchronization signal is sent to the device under test;

[0126] In step S702, the second synchronization signal sent by the device under test is received;

[0127] The first transmission time and the first reception time of the first synchronization signal, and the second transmission time and the second reception time of the second synchronization signal are used by the device under test to determine the transmission duration and synchronization error of the signal transmission between the device under test and the angle measuring device.

[0128] In one embodiment, the angle measuring device can send a first synchronization signal to the device under test and record the transmission time of the first synchronization signal. It can also receive a second synchronization signal returned by the device under test based on the received first synchronization signal and record the reception time of the second synchronization signal.

[0129] In one embodiment, after receiving the second synchronization signal sent by the device under test, the angle measuring device can carry the transmission time of the first synchronization signal and the reception time of the second synchronization signal recorded by itself in the third synchronization signal and send them to the device under test.

[0130] Figure 8 This is a schematic diagram illustrating the interaction of synchronization signals between an angle measuring device and a device under test, according to an embodiment of this disclosure. Figure 8As shown, the angle measuring device can send a first synchronization signal s1 to the device under test (DUT) and record the first transmission time of the first synchronization signal s1 as t1. After the first synchronization signal s1 arrives at the DUT, the DUT can record the first reception time of receiving the first synchronization signal s1 as t2.

[0131] After receiving the first synchronization signal s1, the device under test (DUT) can analyze the first synchronization signal s1 to determine its corresponding first time delay information. After waiting for a preset time based on the analyzed first time delay information, it sends a second synchronization signal s2, and records the transmission time of the second synchronization signal s2 as t3. The angle measuring device can receive the second synchronization signal s2 sent by the DUT and records the second reception time of receiving the second synchronization signal s2 as t4.

[0132] Furthermore, the angle measuring device can carry its recorded first transmission time t1 and second reception time t4 in a third synchronization signal s3 and send it to the device under test (DUT). This allows the DUT to determine the first transmission time and first reception time of the first synchronization signal, as well as the second transmission time and second reception time of the second synchronization signal. Thus, the DUT can determine the transmission duration of the signal between the DUT and the angle measuring device according to the above formula (1), and determine the synchronization error of the signal transmission between the DUT and the angle measuring device according to the above formula (2).

[0133] In one embodiment, the first synchronization signal and the second synchronization signal can be ultrasonic signals. When the device under test (DUT) sends the second synchronization signal to the angle measuring device, and when the angle measuring device sends the first synchronization signal to the DUT, the synchronization signal can be repeatedly transmitted multiple times, thereby ensuring that the receiver accurately receives the synchronization signal. Furthermore, the preset interval between each transmission helps to avoid mutual interference between continuously transmitted synchronization signals.

[0134] In one embodiment, the first synchronization signal includes at least one of the following: a first frequency sweep signal; a packet count; and at least one data block; wherein the first frequency sweep signal is used to enable the device under test (DUT) to determine the first reception time, the packet count is used to indicate the number of data blocks carried in the first synchronization signal, and the data blocks are used to carry first delay information of the DUT and identification information of the DUT.

[0135] In one embodiment, before sending the first synchronization signal, the angle measuring device can receive the identification information sent by the device under test via a local area network, and configure the first delay information for each device under test that needs to perform indoor angle measurement.

[0136] In one embodiment, if the angle measuring device interacts with different devices under test through multiple frequency bands, the first synchronization signal may include identification information of multiple devices under test that interact with the angle measuring device through the same frequency band and first time delay information.

[0137] like Figure 4 As shown, the angle measuring device interacts with the devices under test (Sub1, Sub2, Sub3, Sub4) via the first frequency band (20kHz~24kHz) and with the devices under test (Sub5, Sub6, Sub7, Sub8) via the second frequency band (25kHz~29kHz). The angle measuring device can repeatedly transmit a first synchronization signal containing the identification information and first delay information of the devices under test (Sub1, Sub2, Sub3, Sub4) three times via the first frequency band, with a preset protection interval between each transmission; similarly, it can repeatedly transmit the first synchronization signal containing the identification information and first delay information of the devices under test (Sub5, Sub6, Sub7, Sub8) three times via the second frequency band, with a preset protection interval between each transmission.

[0138] In one embodiment, the angle measuring device may be unable to obtain the transmission time of the first synchronization signal when transmitting it due to the computer's own settings. Therefore, after transmitting the first synchronization signal, the angle measuring device can determine the reception time of the first synchronization signal itself based on the correlation of the first sweep frequency signal carried in the first synchronization signal, and use this reception time as the first transmission time of the first synchronization signal.

[0139] In one embodiment, the second synchronization signal includes a second sweep frequency signal, which is used by the angle measuring device to determine the second reception time. The second sweep frequency signal is different from the first sweep frequency signal.

[0140] In one embodiment, the second sweep frequency signal included in the second synchronization signal sent by the device under test (DUT) and the first sweep frequency signal included in the first synchronization signal sent by the angle measuring device can be sweep frequency signals obtained by sweeping frequencies in different ways. This allows the DUT and the angle measuring device to distinguish the received synchronization signal by using the sweep frequency signal included in the synchronization signal after receiving it, thus avoiding false detections.

[0141] Corresponding to the embodiments of the aforementioned method for determining transmission time, this disclosure also provides embodiments of a device for determining transmission time.

[0142] Figure 9 This is a schematic block diagram illustrating a transmission time determination apparatus according to an exemplary embodiment of the present disclosure. Figure 9As shown, the device can be a terminal, or a device composed of modules within a terminal. The terminal includes, but is not limited to, electronic devices such as mobile phones, tablets, wearable devices, sensors, and IoT devices. The terminal can communicate with a base station as a user equipment, and the base station includes, but is not limited to, 4G, 5G, and 6G base stations.

[0143] like Figure 9 As shown, the transmission time determination device may include:

[0144] The parameter determination module 901 is configured to determine the transmission duration and synchronization error of the signal transmission between the device under test and the angle measuring device;

[0145] The time slot determination module 902 is configured to determine the receiving time slot for the angle measuring device to receive the ultrasonic angle measuring signal sent by the device under test; wherein, the angle measuring device is used to receive ultrasonic angle measuring signals sent by multiple devices under test, and the angle measuring device receives ultrasonic angle measuring signals sent by different devices under test in different receiving time slots;

[0146] The transmission time determination module 903 is configured to determine the transmission time of the ultrasonic angle measurement signal based on the receiving time slot, the transmission duration, and the synchronization error.

[0147] Optionally, the parameter determination module includes: a first time determination submodule, configured to determine a first reception time for receiving the first synchronization signal sent by the angle measuring device; a second time determination submodule, configured to determine a second transmission time for sending a second synchronization signal; a third time determination submodule, configured to determine the first transmission time for the angle measuring device to send the first synchronization signal and the second reception time for the angle measuring device to receive the second synchronization signal; and a transmission duration determination submodule, configured to determine the transmission duration based on the first transmission time, the first reception time, the second transmission time, and the second reception time.

[0148] Optionally, the parameter determination module includes a synchronization error determination submodule, configured to determine the synchronization error based on the second sending time, the second receiving time, and the transmission duration.

[0149] Optionally, the first synchronization signal includes at least one of the following: a first frequency sweep signal; a packet count; at least one data block; wherein the first frequency sweep signal is used to enable the device under test to determine the first reception time, the packet count is used to indicate the number of data blocks carried in the first synchronization signal, and the data blocks are used to carry first delay information of the device under test and identification information of the device under test.

[0150] Optionally, the second time determination submodule is configured to: parse the first synchronization signal to determine the first delay information corresponding to the device under test; and determine the second transmission time based on the first reception time and the first delay information.

[0151] Optionally, the second synchronization signal includes a second sweep frequency signal, which is used by the angle measuring device to determine the second receiving time. The second sweep frequency signal is different from the first sweep frequency signal.

[0152] Optionally, the third time determination submodule is configured to: receive a third synchronization signal sent by the angle measuring device, wherein the third synchronization signal carries the first sending time and the second receiving time.

[0153] Figure 10 This is a schematic block diagram illustrating an indoor angle measuring device according to an exemplary embodiment of the present disclosure. Figure 10 As shown, the device can be a terminal, or a device composed of modules within a terminal. The terminal includes, but is not limited to, electronic devices such as mobile phones, tablets, wearable devices, sensors, and IoT devices. The terminal can communicate with a base station as a user equipment, and the base station includes, but is not limited to, 4G, 5G, and 6G base stations.

[0154] like Figure 10 As shown, the indoor angle measuring device may include:

[0155] The signal interaction module 1001 is configured to interact with the device under test (DUT) to synchronize signals, so that the DUT can determine the transmission duration and synchronization error of the signal transmission between the DUT and the angle measuring device.

[0156] The indication module 1002 is configured to indicate the receiving time slot of the ultrasonic angle measurement signal to the device under test, wherein the transmission duration, the synchronization error and the receiving time slot are used for the device under test to determine the transmission time of the ultrasonic angle measurement signal, and the receiving time slot indicated is different for different devices under test;

[0157] The receiving module 1003 is configured to receive the ultrasonic angle measurement signal sent by the device under test in the receiving time slot, so as to perform indoor angle measurement on the device under test.

[0158] Optionally, the signal interaction module is configured to: send a first synchronization signal to the angle measuring device; and receive a second synchronization signal sent by the angle measuring device; wherein the first transmission time and the first reception time of the first synchronization signal, and the second transmission time and the second reception time of the second synchronization signal are used for the device under test to determine the transmission duration and synchronization error of the signal transmission between it and the angle measuring device.

[0159] Optionally, the first synchronization signal includes at least one of the following: a first frequency sweep signal; a packet count; at least one data block; wherein the first frequency sweep signal is used to enable the device under test to determine the first reception time, the packet count is used to indicate the number of data blocks carried in the first synchronization signal, and the data blocks are used to carry first delay information of the device under test and identification information of the device under test.

[0160] Optionally, the second synchronization signal includes a second sweep frequency signal, which is used by the angle measuring device to determine the second receiving time. The second sweep frequency signal is different from the first sweep frequency signal.

[0161] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0162] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0163] Embodiments of this disclosure also provide a terminal, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the transmission time determination method described in any of the above embodiments.

[0164] Embodiments of this disclosure also propose a terminal, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to implement the indoor angle measurement method described in any of the above embodiments.

[0165] Embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the transmission time determination method described in any of the above embodiments.

[0166] Embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps in the indoor angle measurement method described in any of the above embodiments.

[0167] Figure 11This is a schematic block diagram illustrating a terminal 1100 according to an embodiment of the present disclosure. For example, the terminal 1100 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc.

[0168] Reference Figure 11 Terminal 1100 may include one or more of the following components: processing component 1102, memory 1104, power supply component 1106, multimedia component 1108, audio component 1110, input / output (I / O) interface 1112, sensor component 1114, and communication component 1116.

[0169] Processing component 1102 typically controls the overall operation of terminal 1100, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 1102 may include one or more processors 1120 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 1102 may include one or more modules to facilitate interaction between processing component 1102 and other components. For example, processing component 1102 may include a multimedia module to facilitate interaction between multimedia component 1108 and processing component 1102.

[0170] Memory 1104 is configured to store various types of data to support operation on terminal 1100. Examples of this data include instructions for any application or method operating on terminal 1100, contact data, phonebook data, messages, pictures, videos, etc. Memory 1104 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0171] Power supply component 1106 provides power to various components of terminal 1100. Power supply component 1106 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to terminal 1100.

[0172] Multimedia component 1108 includes a screen that provides an output interface between the terminal 1100 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 1108 includes a front-facing camera and / or a rear-facing camera. When the terminal 1100 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0173] Audio component 1110 is configured to output and / or input audio signals. For example, audio component 1110 includes a microphone (MIC) configured to receive external audio signals when terminal 1100 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 1104 or transmitted via communication component 1116. In some embodiments, audio component 1110 also includes a speaker for outputting audio signals.

[0174] I / O interface 1112 provides an interface between processing component 1102 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0175] Sensor assembly 1114 includes one or more sensors for providing state assessments of various aspects of terminal 1100. For example, sensor assembly 1114 may detect the on / off state of terminal 1100, the relative positioning of components such as the display and keypad of terminal 1100, changes in position of terminal 1100 or a component of terminal 1100, the presence or absence of user contact with terminal 1100, the orientation or acceleration / deceleration of terminal 1100, and temperature changes of terminal 1100. Sensor assembly 1114 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1114 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1114 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0176] Communication component 1116 is configured to facilitate wired or wireless communication between terminal 1100 and other devices. Terminal 1100 can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G LTE, 5G NR, or combinations thereof. In one exemplary embodiment, communication component 1116 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1116 further includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0177] In an exemplary embodiment, terminal 1100 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0178] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1104 including instructions, which can be executed by a processor 1120 of a terminal 1100 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0179] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for determining transmission time, characterized in that, Applied to the device under test, the method includes: The transmission duration and synchronization error of the signal transmission between the device under test (DUT) and the angle measuring device are determined. Determining the transmission duration includes: determining a first reception time for receiving a first synchronization signal sent by the angle measuring device, wherein the first synchronization signal includes at least one data block carrying first delay information and identification information of the DUT; parsing the first synchronization signal to determine the first delay information corresponding to the DUT; determining a second transmission time for sending a second synchronization signal based on the first reception time and the first delay information; determining the first transmission time for the angle measuring device to send the first synchronization signal and the second reception time for the angle measuring device to receive the second synchronization signal; and determining the transmission duration based on the first transmission time, the first reception time, the second transmission time, and the second reception time. The receiving time slot corresponding to the device under test indicated by the angle measuring device is determined. The receiving time slot is used for the angle measuring device to receive the ultrasonic angle measuring signal sent by the device under test. The angle measuring device is used to receive ultrasonic angle measuring signals sent by multiple devices under test, and the angle measuring device receives ultrasonic angle measuring signals sent by different devices under test in different receiving time slots. The transmission time of the ultrasonic angle measurement signal is determined based on the receiving time slot, the transmission duration, and the synchronization error, wherein the ultrasonic angle measurement signal is used by the angle measuring device to determine the angle of the device under test relative to the angle measuring device.

2. The method according to claim 1, characterized in that, Determining the synchronization error between the angle measuring device and the device under test includes: The synchronization error is determined based on the second sending time, the second receiving time, and the transmission duration.

3. The method according to claim 1, characterized in that, The first synchronization signal further includes at least one of the following: First sweep frequency signal; Number of packages; Wherein, the first frequency sweep signal is used to enable the device under test to determine the first reception time, and the packet number is used to indicate the number of data blocks carried in the first synchronization signal.

4. The method according to claim 3, characterized in that, The second synchronization signal includes a second sweep frequency signal, which is used by the angle measuring device to determine the second receiving time. The second sweep frequency signal is different from the first sweep frequency signal.

5. The method according to claim 1, characterized in that, Determining the first transmission time of the angle measuring device sending the first synchronization signal and the second reception time of the angle measuring device receiving the second synchronization signal includes: The third synchronization signal sent by the angle measuring device is received, and the third synchronization signal carries the first sending time and the second receiving time.

6. An indoor angle measurement method, characterized in that, Applied to an angle measuring device, the method includes: By interacting with the device under test (DUT) using synchronization signals, the DUT determines the transmission duration and synchronization error of the signal transmission with the angle measuring device. The transmission duration is determined based on the following method: determining a first reception time for receiving a first synchronization signal sent by the angle measuring device, the first synchronization signal including at least one data block carrying first delay information and identification information of the DUT; parsing the first synchronization signal to determine the first delay information corresponding to the DUT; determining a second transmission time for sending a second synchronization signal based on the first reception time and the first delay information; determining the first transmission time of the angle measuring device sending the first synchronization signal and the second reception time of the angle measuring device receiving the second synchronization signal; and determining the transmission duration based on the first transmission time, the first reception time, the second transmission time, and the second reception time. The device under test is instructed to receive the ultrasonic angle measurement signal corresponding to the device under test, wherein the transmission duration, the synchronization error and the receiving time slot are used for the device under test to determine the transmission time of the ultrasonic angle measurement signal, and the receiving time slot indicated is different for different devices under test; The ultrasonic angle measurement signal sent by the device under test is received in the receiving time slot to perform indoor angle measurement on the device under test, wherein the ultrasonic angle measurement signal is used by the angle measuring device to determine the angle of the device under test relative to the angle measuring device.

7. The method according to claim 6, characterized in that, The first synchronization signal further includes at least one of the following: First sweep frequency signal; Number of packages; Wherein, the first frequency sweep signal is used to enable the device under test to determine the first reception time, and the packet number is used to indicate the number of data blocks carried in the first synchronization signal.

8. The method according to claim 7, characterized in that, The second synchronization signal includes a second sweep frequency signal, which is used by the angle measuring device to determine the second receiving time. The second sweep frequency signal is different from the first sweep frequency signal.

9. A transmission time determination device, characterized in that, The device, applied to the device under test, includes: The parameter determination module is configured to determine the transmission duration and synchronization error of the signal transmission between the device under test (DUT) and the angle measuring device. Determining the transmission duration includes: determining a first reception time for receiving a first synchronization signal sent by the angle measuring device, wherein the first synchronization signal includes at least one data block carrying first delay information and identification information of the DUT; parsing the first synchronization signal to determine the first delay information corresponding to the DUT; determining a second transmission time for sending a second synchronization signal based on the first reception time and the first delay information; determining the first transmission time for the angle measuring device to send the first synchronization signal and the second reception time for the angle measuring device to receive the second synchronization signal; and determining the transmission duration based on the first transmission time, the first reception time, the second transmission time, and the second reception time. The time slot determination module is configured to determine the receiving time slot corresponding to the device under test indicated by the angle measuring device, wherein the receiving time slot is used for the angle measuring device to receive the ultrasonic angle measuring signal sent by the device under test; wherein the angle measuring device is used to receive ultrasonic angle measuring signals sent by multiple devices under test, and the angle measuring device receives ultrasonic angle measuring signals sent by different devices under test in different receiving time slots; The transmission time determination module is configured to determine the transmission time of the ultrasonic angle measurement signal based on the reception time slot, the transmission duration, and the synchronization error, wherein the ultrasonic angle measurement signal is used by the angle measuring device to determine the angle of the device under test relative to the angle measuring device.

10. An indoor angle measuring device, characterized in that, Applied to angle measuring equipment, the device includes: A signal interaction module is configured to interact with a device under test (DUT) to synchronize signals, enabling the DUT to determine the transmission duration and synchronization error of the signal transmission with the angle measuring device. The transmission duration is determined based on the following methods: determining a first reception time for receiving a first synchronization signal sent by the angle measuring device, the first synchronization signal including at least one data block carrying first delay information and identification information of the DUT; parsing the first synchronization signal to determine the first delay information corresponding to the DUT; determining a second transmission time for sending a second synchronization signal based on the first reception time and the first delay information; determining the first transmission time for the angle measuring device to send the first synchronization signal and the second reception time for the angle measuring device to receive the second synchronization signal; and determining the transmission duration based on the first transmission time, the first reception time, the second transmission time, and the second reception time. The indication module is configured to indicate to the device under test the receiving time slot of the ultrasonic angle measurement signal corresponding to the device under test, wherein the transmission duration, the synchronization error and the receiving time slot are used for the device under test to determine the transmission time of the ultrasonic angle measurement signal, and the receiving time slot indicated is different for different devices under test; A receiving module is configured to receive an ultrasonic angle measurement signal sent by the device under test (DUT) during the receiving time slot, so as to perform indoor angle measurement on the DUT, wherein the ultrasonic angle measurement signal is used by the angle measuring device to determine the angle of the DUT relative to the angle measuring device.

11. A terminal, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor implements the transmission time determination method as described in any one of claims 1-5 by running the executable instructions.

12. A terminal, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor implements the indoor angle measurement method as described in any one of claims 6-8 by running the executable instructions.

13. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the transmission time determination method as described in any one of claims 1-5.

14. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the indoor angle measurement method as described in any one of claims 6-8.

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