Uwb ranging method and apparatus, electronic device, and storage medium

Abstract

The application discloses a UWB ranging method, a UWB ranging device and electronic equipment, and belongs to the technical field of ranging. The embodiment of the application provides a UWB ranging method, which comprises the following steps: acquiring a change rate of a received signal strength of a first UWB device, wherein the received signal strength is the strength of a UWB ranging signal received by the first UWB device from a second UWB device based on a first UWB channel; determining whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree according to the change rate; and in the case of yes, switching the first UWB device and the second UWB device to a second UWB channel.

Description

Technical Field

[0001] The present application belongs to the field of ranging technology, and specifically relates to a UWB ranging method, device and electronic equipment. Background Art

[0002] Ultra-Wide Band (UWB) technology is a wireless carrier communication technology. Based on UWB's precise distance and angle measurement capabilities, UWB is currently widely used in various scenarios, such as using UWB technology for distance measurement. Currently, UWB distance measurement generally uses the Time of Flight (ToF) method, which calculates the distance between two devices by calculating the flight time of the UWB signal in the air. However, although UWB technology has a certain degree of resistance to multipath interference, reflection interference caused by ground reflections can still cause device disconnection and other phenomena. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a UWB ranging method, device and electronic device that can solve the problem of reflection interference caused by ground reflection, which leads to device disconnection.

[0004] In a first aspect, an embodiment of the present application provides a method, comprising: obtaining a rate of change of a received signal strength of a first UWB device, wherein the received signal strength is the strength of a UWB ranging signal received by the first UWB device from a second UWB device based on a first UWB channel, determining whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree based on the rate of change, and if so, switching the first UWB device and the second UWB device to the second UWB channel.

[0005] Optionally, obtaining the rate of change of the received signal strength of the first UWB device includes: taking the distance between the first UWB device and the second UWB device obtained by UWB ranging measurement as the first straight-line distance, determining the second straight-line distance based on the first straight-line distance, the changing trend of the distance between the first UWB device and the second UWB device, and a preset distance interval, and obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance. Determining whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree based on the change rate includes: determining whether the rate of change of the received signal strength of the first UWB device reaches a preset degree when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0006] Optionally, obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is a second straight-line distance includes: finding out the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance based on a preset mapping relationship between the straight-line distance and the received signal strength.

[0007] Optionally, obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance includes: obtaining the received signal strength of the first UWB device as the first signal strength when the distance between the first UWB device and the second UWB device is the first straight-line distance, determining the received signal strength of the first UWB device as the second signal strength when the distance between the first UWB device and the second UWB device is the second straight-line distance, calculating the difference between the second signal strength and the first signal strength, calculating the ratio of the difference to the distance interval, and using the ratio as the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0008] Optionally, when determining that the distance between the first UWB device and the second UWB device is a second straight-line distance, the received signal strength of the first UWB device is used as the second signal strength, including: determining the second signal strength based on the second straight-line distance, the height of the first UWB device, the height of the second UWB device, the antenna gain of the first UWB device, the antenna gain of the second UWB device, the transmission power of the second UWB device, and the frequency of the first UWB channel.

[0009] Optionally, when the first UWB device does not receive the UWB ranging signal transmitted by the second UWB device within a preset time period, the first UWB device and the second UWB device are switched to the second UWB channel.

[0010] Optionally, before switching the first UWB device and the second UWB device to the second UWB channel, the method further includes: determining the second UWB channel by negotiation based on the Bluetooth connection between the first UWB device and the second UWB device.

[0011] In second aspect, an embodiment of the present application provides a device comprising: an acquisition module for acquiring the rate of change of the received signal strength of a first UWB device, wherein the received signal strength is the strength of the UWB ranging signal received by the first UWB device from the second UWB device based on the first UWB channel; a determination module for determining whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree based on the rate of change; and a first switching module for switching the first UWB device and the second UWB device to the second UWB channel if yes.

[0012] Optionally, the acquisition module includes: a measurement submodule, used to use the distance between the first UWB device and the second UWB device obtained by UWB ranging measurement as the first straight-line distance, a first determination submodule, used to determine the second straight-line distance based on the first straight-line distance, the changing trend of the distance between the first UWB device and the second UWB device, and a preset distance interval, a first acquisition submodule, used to obtain the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance, and the determination module is also used to determine whether the rate of change of the received signal strength of the first UWB device reaches a preset level when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0013] Optionally, the first acquisition submodule is further used to: find out the change rate of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is a second straight-line distance according to a preset mapping relationship between the straight-line distance and the received signal strength.

[0014] Optionally, the first acquisition submodule includes: a second acquisition submodule, used to obtain the received signal strength of the first UWB device as the first signal strength when the distance between the first UWB device and the second UWB device is a first straight-line distance; a second determination submodule, used to determine the received signal strength of the first UWB device as the second signal strength when the distance between the first UWB device and the second UWB device is a second straight-line distance; a first calculation submodule, used to calculate the difference between the second signal strength and the first signal strength, calculate the ratio of the difference to the distance interval, and use the ratio as the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0015] Optionally, the second determination submodule is further used to determine the second signal strength based on the second straight-line distance, the height of the first UWB device, the height of the second UWB device, the antenna gain of the first UWB device, the antenna gain of the second UWB device, the transmission power of the second UWB device, and the frequency of the first UWB channel.

[0016] Optionally, the apparatus further includes: a second switching module, configured to switch the first UWB device and the second UWB device to a second UWB channel if the first UWB device does not receive the UWB ranging signal transmitted by the second UWB device within a preset time period.

[0017] Optionally, before switching the first UWB device and the second UWB device to the second UWB channel, the apparatus further includes: a negotiation module configured to determine the second UWB channel through negotiation based on the Bluetooth connection between the first UWB device and the second UWB device.

[0018] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0019] 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.

[0020] 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.

[0021] In this embodiment of the present application, the rate of change of the received signal strength of the ranging signal received by the UWB device on the current channel is used to determine whether the attenuation of the device's received signal strength has reached a preset level, that is, whether it is experiencing multipath interference caused by ground reflection. If the attenuation of the received signal strength reaches the preset level, the current channel is switched to avoid multipath interference caused by ground reflection, allowing the UWB device to continue ranging. This improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a flow chart of a UWB ranging method provided by an embodiment of the present application;

[0023] Figure 2is a schematic diagram of an example of a method embodiment provided in an embodiment of the present application;

[0024] Figure 3 This is a schematic structural diagram of a UWB ranging device provided in an embodiment of the present application;

[0025] Figure 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0026] Figure 5 It is a structural diagram of an electronic device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] The UWB ranging method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0030] Please see Figure 1 , which is a flow chart of a UWB ranging method provided by an embodiment of the present application. Figure 1 As shown, the method may include steps S11 to S13, and may be applied to a first UWB device and a second UWB device. Detailed description is given below.

[0031] Step S11 : Acquire a change rate of a received signal strength of a first UWB device, wherein the received signal strength is the strength of a UWB ranging signal received by the first UWB device from a second UWB device based on a first UWB channel.

[0032] In an example of this embodiment, the first UWB device and the second UWB device are both provided with a UWB module, which can support multiple UWB channels for communication. For example, the first UWB device and the second UWB device can support two channels, CH5 and CH9, for UWB communication, wherein the frequency of the UWB ranging signal transmitted by the first UWB device and the second UWB device in the CH5 channel is different from the frequency of the UWB ranging signal transmitted in the CH9 channel.

[0033] In one example of this embodiment, Figure 2 As shown, when a UWB device performs continuous ranging using ToF, a second UWB device needs to send a UWB ranging signal to the first UWB device. Upon receiving the UWB ranging signal, the first UWB device will send another UWB ranging signal to the second UWB device. The distance S1 between the two UWB devices is determined by the time the second UWB device sends and receives the UWB signal. When the horizontal distance between the second UWB device and the first UWB device is within a certain distance, the phase of the ground-reflected UWB ranging signal sent by the second UWB device to the first UWB device is opposite to the original phase of the UWB ranging signal sent by the second UWB device to the first UWB device. The two signals cancel each other out, causing a sharp decrease in the rate of change of the received signal strength of the UWB signal received by the first UWB device. This indicates the presence of multipath interference caused by ground reflection.

[0034] In an example of this embodiment, the received signal strength may be the received power of the UWB ranging signal received by the first UWB device.

[0035] In one example of this embodiment, obtaining the rate of change of the received signal strength of the first UWB device includes: using the distance between the first UWB device and the second UWB device obtained by UWB ranging measurement as the first straight-line distance, determining the second straight-line distance based on the first straight-line distance, the changing trend of the distance between the first UWB device and the second UWB device, and a preset distance interval; obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance; and determining whether the degree of attenuation of the received signal strength of the first UWB device reaches a preset degree based on the rate of change, including: determining whether the rate of change of the received signal strength of the first UWB device reaches a preset degree when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0036] In one example of this embodiment, after the first and second UWB devices begin measuring, they can directly determine the current distance between the two devices and use the currently measured distance as the first linear distance. Furthermore, based on the continuously measured distance changes between the two devices, it can be determined whether the distance between the first and second UWB devices is trending towards closer or farther distances. For example, if the distance between the two devices decreases, it can be determined that the two devices are approaching. After determining the current first linear distance and the distance change trend between the first and second UWB devices, a second linear distance can be determined based on a preset distance interval. The second linear distance is the distance that the first and second UWB devices will eventually be apart. In one example, if the first linear distance is 50 meters, the distance between the first and second UWB devices is trending towards farther distances, and the preset distance interval is set to 3 meters, the second linear distance can be determined to be 53 meters.

[0037] In an example of this embodiment, obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance includes: obtaining the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the first straight-line distance as the first signal strength, determining the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance as the second signal strength, calculating the difference between the second signal strength and the first signal strength, calculating the ratio of the difference to the distance interval, and using the ratio as the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0038] In one example of this embodiment, after determining the second straight-line distance, the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance can be obtained. Specifically, the received signal strength at the current distance when the distance between the first UWB device and the second UWB device is the first straight-line distance can be obtained. At the current distance, the first UWB device can receive the UWB signal sent by the second UWB device. When receiving the UWB signal, the current received signal strength can be obtained. The current received signal strength is used as the first signal strength.

[0039] In an example of this embodiment, when the distance between the first UWB device and the second UWB device is determined to be the second straight-line distance, the received signal strength of the first UWB device is used as the second signal strength, including: determining the second signal strength based on the second straight-line distance, the height of the first UWB device, the height of the second UWB device, the antenna gain of the first UWB device, the antenna gain of the second UWB device, the transmission power of the second UWB device, and the frequency of the first UWB channel.

[0040] In one example of this embodiment, the UWB modules in the first UWB device and the second UWB device can also measure the height of the first UWB device and the second UWB device. Specifically, the UWB module of the first UWB device can transmit a UWB signal vertically toward the ground and receive the reflected UWB signal. According to Formula 1:

[0041]

[0042] Among them, t T is the time when the signal is transmitted, t R is the moment when the signal is received. By calculating the flight time of the UWB signal, the height of the UWB device above the ground can be obtained.

[0043] After determining the second straight-line distance, the received signal power P of the first UWB device can be determined according to Formula 2 when the distance between the first UWB device and the second device is the second straight-line distance. r :

[0044]

[0045] Among them, P t P is the transmission power of the UWB ranging signal transmitted by the second UWB device, G1 and G2 are the antenna gains of the first UWB device and the second UWB device respectively, and R is an inherent parameter. t , G1, G2, and R can all be directly obtained during calculation. λ is the wavelength of the UWB ranging signal. Because the frequency of the UWB signal in the first UWB channel is fixed, λ can be determined based on the frequency of the UWB signal in the first UWB channel. φ is the phase difference between the direct path UWB signal and the path reflected by the ground. It can be obtained using formula (3).

[0046]

[0047] Among them, Figure 2As shown in Figure 1, S1 is the direct path length of the UWB signal, i.e., the second straight-line distance, and S2 is the path length of the UWB signal after it is reflected from the ground and reaches the second UWB device. After determining the second straight-line distance, the path length S2 of the UWB signal after it is reflected from the ground and reaches the second UWB device can be calculated according to formulas (4) and (5).

[0048]

[0049]

[0050] Where d is the horizontal distance between the first and second UWB devices. After determining the second straight-line distance S1, the horizontal distance d between the first and second UWB devices can be calculated using formula (4). Furthermore, formula (5) can be used to calculate the path length S2 of the UWB signal reflected from the ground to the second UWB device.

[0051] Through the above calculation, it can be determined that when the distance between the first UWB device and the second UWB device is the second straight-line distance, the received signal strength P of the first UWB device r , that is, the second signal strength.

[0052] After obtaining the first signal strength and the second signal strength, the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance can be calculated based on the ratio of the difference between the first signal strength and the second signal strength to the preset distance interval.

[0053] In this example, by obtaining the current straight-line distance between the first UWB device and the second UWB device, the rate of change of the received signal strength of the first UWB device at the second straight-line distance, i.e., its future location, can be determined. This rate of change in received signal strength can then be used to determine whether to switch channels. This approach allows the first UWB device to switch channels before it reaches the location of multipath interference caused by ground reflections, preventing disconnection between the first and second UWB devices and enabling continuous ranging between the UWB devices, thus improving the user experience.

[0054] Step S12: determining whether the attenuation degree of the received signal strength of the first UWB device at the target location reaches a preset degree according to the change rate.

[0055] Step S13: If yes, switch the first UWB device and the second UWB device to the second UWB channel.

[0056] After obtaining the rate of change of the received signal strength when the distance between the first UWB device and the second UWB device is the second straight-line distance, the degree of attenuation of the received signal strength can be determined based on the rate of change. For example, if the rate of change decreases sharply, it can be determined that the received signal strength has decreased sharply, that is, the first UWB device is experiencing multipath interference caused by ground reflection when receiving the UWB ranging signal, resulting in a sharp increase in the attenuation of the received signal strength of the first UWB device. When the attenuation reaches a preset level, another channel is switched to perform ranging.

[0057] In this embodiment, because the UWB ranging signals transmitted by UWB devices on different channels have different frequencies, according to formula (3), when the UWB ranging signal frequencies are different, the phase difference between the UWB signal on the direct path and the UWB signal on the path reflected by the ground is also different. Therefore, when a UWB device experiences multipath interference from a ground-reflected UWB signal on a single channel, it can avoid multipath interference by switching channels, allowing the UWB device to continue performing ranging.

[0058] In an example of this embodiment, obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is a second straight-line distance includes: finding out the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance based on a preset mapping relationship between the straight-line distance and the received signal strength.

[0059] In an example of this embodiment, after the first UWB device and the second UWB device perform ranging, the mapping relationship between the preset straight-line distance based on the current channel frequency and the height of the UWB device and the received signal strength can be calculated by the aforementioned method. By looking up the mapping relationship of the corresponding distance, the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance can be obtained.

[0060] In an example of this embodiment, when the first UWB device does not receive the UWB ranging signal transmitted by the second UWB device within a preset time period, the first UWB device and the second UWB device are switched to the second UWB channel.

[0061] In this example, the preset duration can be set based on actual circumstances. If the first UWB device fails to receive a UWB ranging signal within the preset duration, it's possible that the UWB ranging signal sent by the second UWB device to the first UWB device is experiencing multipath interference from ground reflection, causing the first UWB device to fail to recognize the UWB ranging signal. In this case, switching channels can eliminate the interference caused by ground reflection, allowing the first and second UWB devices to continue ranging.

[0062] In an example of this embodiment, before switching the first UWB device and the second UWB device to the second UWB channel, the method further includes: determining the second UWB channel by negotiation based on the Bluetooth connection between the first UWB device and the second UWB device.

[0063] In this embodiment, the need for a channel switch is determined based on the rate of change in the received strength of the UWB ranging signal. This means that before a channel switch occurs, the received strength of the UWB signal may have already dropped dramatically, resulting in poor UWB communication conditions and potentially making it impossible to negotiate a channel switch. In this case, a negotiation can be performed based on the Bluetooth connection between the first and second UWB devices to determine the channel to be used by the first and second UWB devices and the parameters required for the UWB connection, so that the channel switch can be performed.

[0064] Corresponding to the above embodiment, see Figure 3 The embodiment of the present application further provides a UWB ranging device 100, comprising:

[0065] An acquisition module 110 is configured to acquire a rate of change of a received signal strength of the first UWB device, wherein the received signal strength is the strength of a UWB ranging signal received by the first UWB device from the second UWB device based on the first UWB channel;

[0066] a determination module 120, configured to determine whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree according to the change rate;

[0067] The first switching module 130 is configured to switch the first UWB device and the second UWB device to the second UWB channel if yes.

[0068] Optionally, the acquisition module includes: a measurement submodule, used to use the distance between the first UWB device and the second UWB device obtained by UWB ranging measurement as the first straight-line distance, a first determination submodule, used to determine the second straight-line distance based on the first straight-line distance, the changing trend of the distance between the first UWB device and the second UWB device, and a preset distance interval, a first acquisition submodule, used to obtain the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance, and the determination module is also used to determine whether the rate of change of the received signal strength of the first UWB device reaches a preset level when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0069] Optionally, the first acquisition submodule is further configured to find, based on a preset mapping relationship between straight-line distance and received signal strength, a change rate of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is a second straight-line distance.

[0070] Optionally, the first acquisition submodule includes: a second acquisition submodule, used to obtain the received signal strength of the first UWB device as the first signal strength when the distance between the first UWB device and the second UWB device is the first straight-line distance; a second determination submodule, used to determine the received signal strength of the first UWB device as the second signal strength when the distance between the first UWB device and the second UWB device is the second straight-line distance; a first calculation submodule, used to calculate the difference between the second signal strength and the first signal strength, calculate the ratio of the difference to the distance interval, and use the ratio as the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0071] Optionally, the second determination submodule is further used to determine the second signal strength based on the second straight-line distance, the height of the first UWB device, the height of the second UWB device, the antenna gain of the first UWB device, the antenna gain of the second UWB device, the transmission power of the second UWB device, and the frequency of the first UWB channel.

[0072] Optionally, the apparatus further includes: a second switching module, configured to switch the first UWB device and the second UWB device to a second UWB channel if the first UWB device does not receive the UWB ranging signal transmitted by the second UWB device within a preset time period.

[0073] Optionally, before switching the first UWB device and the second UWB device to the second UWB channel, the apparatus further includes: a negotiation module configured to determine the second UWB channel through negotiation based on the Bluetooth connection between the first UWB device and the second UWB device.

[0074] The UWB ranging device in the embodiments of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), an ATM, or an kiosks, etc., which are not specifically limited in the embodiments of the present application.

[0075] The UWB ranging 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.

[0076] The UWB ranging device provided in the embodiment of the present application can implement each process implemented in the above method embodiment, and to avoid repetition, it will not be described here.

[0077] Corresponding to the above embodiment, optionally, Figure 4 As shown, an embodiment of the present application further provides an electronic device 800, including a processor 801, a memory 802, and a program or instruction stored in the memory 802 and executable on the processor 801. When the program or instruction is executed by the processor 801, each process of the above-mentioned UWB ranging method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0078] 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.

[0079] Figure 5 A schematic diagram of the hardware structure of an electronic device implementing an embodiment of the present application.

[0080] The electronic device 900 includes but is not limited to components such as a radio frequency unit 901 , a network module 902 , an audio output unit 903 , an input unit 904 , a sensor 905 , a display unit 906 , a user input unit 907 , an interface unit 908 , a memory 909 , and a processor 910 .

[0081] Those skilled in the art will understand that the electronic device 900 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 910 through a power management system, thereby implementing functions such as charging, discharging, and power consumption management through the power management system. Figure 5 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.

[0082] Among them, the processor 910 is used to obtain the change rate of the received signal strength of the first UWB device, wherein the received signal strength is the strength of the UWB ranging signal received by the first UWB device from the second UWB device based on the first UWB channel, and determine whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree based on the change rate. If so, switch the first UWB device and the second UWB device to the second UWB channel.

[0083] Optionally, obtaining the rate of change of the received signal strength of the first UWB device includes: taking the distance between the first UWB device and the second UWB device obtained by UWB ranging measurement as the first straight-line distance, determining the second straight-line distance based on the first straight-line distance, the changing trend of the distance between the first UWB device and the second UWB device, and a preset distance interval, and obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance. Determining whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree based on the change rate includes: determining whether the rate of change of the received signal strength of the first UWB device reaches a preset degree when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0084] Optionally, obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is a second straight-line distance includes: finding out the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance based on a preset mapping relationship between the straight-line distance and the received signal strength.

[0085] Optionally, obtaining the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance includes: obtaining the received signal strength of the first UWB device as the first signal strength when the distance between the first UWB device and the second UWB device is the first straight-line distance, determining the received signal strength of the first UWB device as the second signal strength when the distance between the first UWB device and the second UWB device is the second straight-line distance, calculating the difference between the second signal strength and the first signal strength, calculating the ratio of the difference to the distance interval, and using the ratio as the rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance.

[0086] Optionally, when determining that the distance between the first UWB device and the second UWB device is a second straight-line distance, the received signal strength of the first UWB device is used as the second signal strength, including: determining the second signal strength based on the second straight-line distance, the height of the first UWB device, the height of the second UWB device, the antenna gain of the first UWB device, the antenna gain of the second UWB device, the transmission power of the second UWB device, and the frequency of the first UWB channel.

[0087] Optionally, the processor 910 is configured to switch the first UWB device and the second UWB device to a second UWB channel if the first UWB device does not receive a UWB ranging signal transmitted by the second UWB device within a preset time period.

[0088] Optionally, the processor 910 is configured to negotiate and determine the second UWB channel based on the Bluetooth connection between the first UWB device and the second UWB device before switching the first UWB device and the second UWB device to the second UWB channel.

[0089] It should be understood that in an embodiment of the present application, the input unit 904 may include a graphics processing unit (GPU) 9041 and a microphone 9042, and the graphics processor 9041 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 906 may include a display panel 9061, and the display panel 9061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 907 includes a touch panel 9071 and other input devices 9072. The touch panel 9071 is also called a touch screen. The touch panel 9071 may include two parts: a touch detection device and a touch controller. Other input devices 9072 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 a joystick, which will not be repeated here. The memory 909 can be used to store software programs and various data, including but not limited to applications and operating systems. The processor 910 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understood that the modem processor may not be integrated into the processor 910.

[0090] 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 UWB ranging method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0091] 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), random access memory (RAM), a magnetic disk, or an optical disk.

[0092] 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 UWB ranging method embodiment, and can achieve the same technical effects. To avoid repetition, they are not described here.

[0093] 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.

[0094] 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 sentence "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.

[0095] Through the description of the above embodiments, 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. Of course, they can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present application, 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) and includes 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.

[0096] 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 UWB ranging method, characterized in that: include: Using the distance between the first UWB device and the second UWB device obtained by UWB ranging measurement as a first straight-line distance; determining a second straight-line distance according to the first straight-line distance, a change trend of the distance between the first UWB device and the second UWB device, and a preset distance interval; Obtaining a rate of change of a received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance, wherein the received signal strength is the strength of a UWB ranging signal received by the first UWB device from the second UWB device based on the first UWB channel; The obtaining of a change rate of a received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance includes: acquiring, when the distance between the first UWB device and the second UWB device is the first straight-line distance, a received signal strength of the first UWB device as a first signal strength; When determining that the distance between the first UWB device and the second UWB device is the second straight-line distance, the received signal strength of the first UWB device is used as the second signal strength; Calculating a difference between the second signal strength and the first signal strength, calculating a ratio of the difference to the distance interval, and using the ratio as a rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance; determining, based on the change rate, whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree; If yes, the first UWB device and the second UWB device are switched to a second UWB channel.

2. The method according to claim 1, characterized in that Determining whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree based on the change rate includes: determining whether the change rate of the received signal strength of the first UWB device reaches a preset degree when the distance between the first UWB device and the second UWB device is the second straight-line distance.

3. The method according to claim 1, characterized in that The obtaining of a change rate of a received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance includes: According to a preset mapping relationship between the straight-line distance and the received signal strength change rate, the change rate of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is a second straight-line distance is found.

4. The method according to claim 1, wherein The determining that the distance between the first UWB device and the second UWB device is the second straight-line distance, using the received signal strength of the first UWB device as the second signal strength, includes: The second signal strength is determined based on the second straight-line distance, the height of the first UWB device, the height of the second UWB device, the antenna gain of the first UWB device, the antenna gain of the second UWB device, the transmission power of the second UWB device, and the frequency of the first UWB channel.

5. The method according to claim 1, wherein The method further comprises: When the first UWB device does not receive the UWB ranging signal transmitted by the second UWB device within a preset time period, the first UWB device and the second UWB device are switched to the second UWB channel.

6. The method according to any one of claims 1 to 5, characterized in that Before switching the first UWB device and the second UWB device to the second UWB channel, the method further includes: The second UWB channel is determined by negotiation based on the Bluetooth connection between the first UWB device and the second UWB device.

7. A UWB ranging device, characterized in that: include: a measurement submodule, configured to use the distance between the first UWB device and the second UWB device obtained by UWB ranging measurement as a first straight-line distance; A first determining submodule, configured to determine a second straight-line distance based on the first straight-line distance, a change trend of the distance between the first UWB device and the second UWB device, and a preset distance interval; a first acquisition submodule, configured to acquire a rate of change of a received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance; wherein the received signal strength is the strength of a UWB ranging signal received by the first UWB device from the second UWB device based on the first UWB channel; The first acquisition submodule includes: a second acquiring submodule, configured to acquire, when the distance between the first UWB device and the second UWB device is the first straight-line distance, a received signal strength of the first UWB device as a first signal strength; a second determining submodule, configured to determine, when the distance between the first UWB device and the second UWB device is the second straight-line distance, the received signal strength of the first UWB device as the second signal strength; a first calculation submodule, configured to calculate a difference between the second signal strength and the first signal strength, calculate a ratio of the difference to the distance interval, and use the ratio as a rate of change of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance; a determination module, configured to determine whether the attenuation degree of the received signal strength of the first UWB device reaches a preset degree based on the change rate; The first switching module is configured to, if yes, switch the first UWB device and the second UWB device to a second UWB channel.

8. The device according to claim 7, characterized in that The determining module is further configured to determine whether a change rate of a received signal strength of the first UWB device reaches a preset level when the distance between the first UWB device and the second UWB device is the second straight-line distance.

9. The device according to claim 7, characterized in that The first acquisition submodule is further configured to: According to a preset mapping relationship between the straight-line distance and the received signal strength, a change rate of the received signal strength of the first UWB device when the distance between the first UWB device and the second UWB device is the second straight-line distance is found.

10. The device according to claim 7, characterized in that The second determining submodule is further configured to: The second signal strength is determined based on the second straight-line distance, the height of the first UWB device, the height of the second UWB device, the antenna gain of the first UWB device, the antenna gain of the second UWB device, the transmission power of the second UWB device, and the frequency of the first UWB channel.

11. The device according to claim 7, characterized in that The apparatus further includes: a second switching module configured to switch the first UWB device and the second UWB device to the second UWB channel if the first UWB device does not receive the UWB ranging signal transmitted by the second UWB device within a preset time period.

12. The device according to claims 7-11, characterized in that Before switching the first UWB device and the second UWB device to the second UWB channel, the apparatus further includes: a negotiation module configured to determine the second UWB channel through negotiation based on the Bluetooth connection between the first UWB device and the second UWB device.

13. An electronic device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the UWB ranging method according to any one of claims 1 to 6.

14. 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 UWB ranging method according to any one of claims 1 to 6 are implemented.

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