Ultra-wideband ranging methods, devices and systems

Abstract

This application provides an ultra-wideband (UWB) ranging method, apparatus, and system. The UWB ranging method is applied to a first electronic device, which includes a main UWB module and a secondary UWB module. The method includes: the main UWB module sending trigger information to the secondary UWB module; the main UWB module performing a first ranging communication with at least one second electronic device, such that the at least one second electronic device determines a first distance between itself and the main UWB module; the secondary UWB module performing a second ranging communication with at least one second electronic device based on the trigger information, such that the at least one second electronic device determines a second distance between itself and the secondary UWB module; and the main UWB module and / or the secondary UWB module receiving the first and second distances sent by the at least one second electronic device. This technical solution can improve the ranging accuracy between the first and second electronic devices.

Description

Technical Field

[0001] This application relates to the field of communication technology, and more specifically, to an ultra-wideband ranging method, apparatus, and system. Background Technology

[0002] Ultra-wideband (UWB) technology is a wireless carrier communication technology with advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is particularly suitable for high-speed wireless access in dense, multipath-rich environments such as indoors. Therefore, UWB technology has been increasingly applied and popularized in various communication scenarios.

[0003] When UWB modules communicate to perform functions such as ranging, certain industry standards must be met, such as the Fira standard or the 802.15.4z standard. These industry standards only specify ranging scenarios between a single UWB initiating module and a UWB responding module, which is not conducive to improving the ranging accuracy between devices and cannot meet the application requirements in complex environments such as subways and shopping malls.

[0004] Therefore, how to provide a ranging method with high accuracy is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides an ultra-wideband ranging method, apparatus, and system that can achieve high ranging accuracy.

[0006] In a first aspect, an ultra-wideband (UWB) ranging method is provided, applied to a first electronic device. The first electronic device includes a primary UWB module and a secondary UWB module. The UWB ranging method includes: the primary UWB module sending trigger information to the secondary UWB module; the primary UWB module performing a first ranging communication with at least one second electronic device, such that at least one second electronic device determines a first distance between itself and the primary UWB module; the secondary UWB module performing a second ranging communication with at least one second electronic device according to the trigger information, such that at least one second electronic device determines a second distance between itself and the secondary UWB module; and the primary UWB module and / or the secondary UWB module receiving the first and second distances sent by at least one second electronic device.

[0007] Through the technical solution of this application embodiment, in the first electronic device, the secondary UWB module can execute a second ranging communication with at least one second electronic device according to the trigger information sent by the primary UWB module. The primary UWB module itself can also execute a first ranging communication with at least one second electronic device. The second electronic device can send both its first distance to the primary UWB module and its second distance to the secondary UWB module according to the two ranging communications. This facilitates accurate positioning of the second electronic device by the first electronic device and improves the ranging accuracy between the two electronic devices. Furthermore, in this embodiment, the primary UWB module and / or secondary UWB module in the first electronic device can directly obtain the first and second distances based on the ranging communication with at least one second electronic device, without requiring channel synchronization between the primary and secondary UWB modules. The overall implementation is relatively simple, thus promoting the widespread adoption and use of the ranging method.

[0008] In some possible implementations, the triggering information includes: ranging control information (RCM); wherein, the main UWB module performs a first ranging communication with at least one second electronic device, including: the main UWB module performs the first ranging communication with at least one second electronic device according to the RCM; the secondary UWB module performs a second ranging communication with at least one second electronic device according to the triggering information, including: the secondary UWB module performs the second ranging communication with at least one second electronic device according to the RCM.

[0009] In this implementation, using RCM as trigger information not only triggers the secondary UWB module to execute second ranging communication with at least one second electronic device, but also sends the control information for this second ranging communication to the secondary UWB module. This allows the secondary UWB module to conveniently execute second ranging communication with at least one second electronic device based on the RCM, improving the overall UWB ranging efficiency. Furthermore, the RCM can be configured in the primary UWB module; therefore, the first and second ranging communications can be adjusted according to design requirements, ensuring that the first and second ranging communication processes are controllable and detectable.

[0010] In some possible implementations, the RCM is used to indicate the ranging method of the first ranging communication and the second ranging communication; before the main UWB module performs the first ranging communication with at least one second electronic device, the ultra-wideband ranging method further includes: the main UWB module sending the RCM to at least one second electronic device so that at least one second electronic device identifies the ranging method of the first ranging communication and the second ranging communication according to the RCM.

[0011] Through the technical solution of this implementation, the RCM sent by the main UWB module can be used to indicate the ranging method to the second electronic device. The RCM can be adjusted during the ranging process. Therefore, the RCM can flexibly indicate different ranging methods. The second electronic device can use different ranging methods according to the RCM to conduct ranging communication with the main UWB module and the secondary UWB module in the first electronic device, so that the ranging communication can be compatible with more application scenarios and has better ranging performance.

[0012] In some possible implementations, RCM is used to indicate the ranging information type of each ranging step in the first ranging communication and the second ranging communication, and at least one second electronic device is used to identify the ranging method of the first ranging communication and the second ranging communication based on the ranging information type.

[0013] In some possible implementations, the RCM is used to indicate that the ranging step of the first ranging communication and / or the second ranging communication has a final ranging message RFM, and at least one second electronic device is used to identify the first ranging communication and / or the second ranging communication as a bilateral bidirectional ranging method based on the information indicating the RFM in the RCM.

[0014] Through the technical solution of this embodiment, at least one second electronic device can easily identify the bilateral bidirectional ranging method based on the information indicating RFM in the RCM, ensuring that at least one second electronic device and the first electronic device can achieve reliable ranging communication.

[0015] In some possible implementations, the main UWB module sends an RCM to at least one second electronic device, including: when the distance between the main UWB module and at least one second electronic device is less than a preset threshold, the main UWB module sends an RCM to at least one second electronic device, the RCM being used to indicate that the first ranging communication and / or the second ranging communication is a bilateral bidirectional ranging method.

[0016] The technical solution of this implementation allows the main UWB module and / or the secondary UWB module to be adapted to at least one second electronic device at close range, and to achieve more accurate ranging with at least one second electronic device based on the bilateral bidirectional ranging method, thereby improving ranging performance.

[0017] In some possible implementations, the RCM is used to indicate that the ranging steps of the first ranging communication and / or the second ranging communication have a ranging initiation message RIM and a ranging response message RRM but no ranging final message RFM, and at least one second electronic device is used to identify the first ranging communication and / or the second ranging communication as a one-sided two-way ranging method based on the information indicating RIM and RRM in the RCM.

[0018] Through the technical solution of this embodiment, at least one second electronic device can easily identify the one-sided bidirectional ranging method based on the information indicating RIM and RRM in the RCM, ensuring that at least one second electronic device and the first electronic device can achieve reliable ranging communication.

[0019] In some possible implementations, the main UWB module sends an RCM to at least one second electronic device, including: when the distance between the main UWB module and at least one second electronic device is greater than a preset threshold, the main UWB module sends an RCM to at least one second electronic device, the RCM being used to indicate that the first ranging communication and / or the second ranging communication is a one-sided two-way ranging method.

[0020] The technical solution of this implementation allows the main UWB module and / or the secondary UWB module to perform ranging on more than one second electronic device at a distance based on a one-sided two-way ranging method, thereby comprehensively improving the ranging performance of the system.

[0021] In some possible implementations, RCM is also used to indicate the ranging timing, initiator role, and initiator address of each ranging step in the first ranging communication and the second ranging communication.

[0022] Through the technical solution of this implementation, the RCM has relatively comprehensive control information for the first and second ranging communications. The main UWB module and the secondary UWB module can conveniently execute each step of the first and second ranging communications according to the ranging method indicated in the RCM, ensuring the orderly and reliable execution of the first and second ranging communications.

[0023] In some possible implementations, the ranging methods of the first ranging communication and the second ranging communication are the same.

[0024] This implementation allows the second electronic device to easily measure distances with both the main and secondary UWB modules using the same ranging method. The first and second distances exhibit good correspondence, which helps improve ranging accuracy. Furthermore, using the same ranging method for both the main and secondary UWB modules facilitates the design and control of the overall communication process.

[0025] In some possible implementations, the primary UWB module performs a first ranging communication with at least one second electronic device, and the secondary UWB module performs a second ranging communication with at least one second electronic device according to trigger information, including: the primary UWB module sending first ranging information to at least one second electronic device; the secondary UWB module sending second ranging information of the same type as the first ranging information to at least one second electronic device according to trigger information; and the primary UWB module and the secondary UWB module receiving response information corresponding to the first ranging information and the second ranging information sent by at least one second electronic device.

[0026] Through this implementation, at least one second electronic device can uniformly reply with response information based on the same type of ranging information sent by the main UWB module and the secondary UWB module, thereby efficiently realizing ranging communication between the main UWB module, the secondary UWB module, and at least one second electronic device. Furthermore, this technical solution is also compatible with related technologies where at least one second electronic device responds to a single UWB module. The design of the RCM for at least one second electronic device remains unchanged; only the design of the UWB module for the first electronic device needs to be modified.

[0027] In some possible implementations, the first ranging communication and the second ranging communication are a one-sided two-way ranging method. The first ranging information and the second ranging information include: a ranging initiation message RIM and a ranging measurement report message RMRM. The response information includes: a ranging response message RRM corresponding to RIM and a ranging result report message RRRM corresponding to RMRM.

[0028] In some possible implementations, the first ranging communication and the second ranging communication are bilateral bidirectional ranging methods. The first ranging information and the second ranging information include: a ranging initiation message RIM and a ranging final message RFM. The response information includes: a ranging response message RRM corresponding to RIM and a ranging result report message RRRM corresponding to RFM.

[0029] In some possible implementations, the RRRM carries a first distance between at least one second electronic device and the secondary UWB module, and a second distance between at least one second electronic device and the secondary UWB module.

[0030] The technical solution of this implementation method can utilize the RRRM in the ranging communication process to send the first distance and the second distance to the main UWB module and the auxiliary UWB module by at least one second electronic device. The implementation method is simple and has high reliability.

[0031] In some possible implementations, before the secondary UWB module performs a second ranging communication with at least one second electronic device based on the trigger information, the ultra-wideband ranging method further includes: the secondary UWB module receiving ranging information sent by the primary UWB module; and after the secondary UWB module receives the ranging information for a target time period, the secondary UWB module performs a second ranging communication with at least one second electronic device, wherein the target time period is equal to the time period between the time when the secondary UWB module receives the trigger information and the time when it receives the ranging information.

[0032] This implementation method reliably ensures that the primary and secondary UWB modules will not simultaneously transmit ranging information, thus preventing air channel conflicts and guaranteeing ranging performance between the primary and secondary UWB modules and at least one second electronic device. Furthermore, this method, while ensuring ranging performance, also ensures that the ranging methods of the primary and secondary UWB modules are compatible with relevant protocols and specifications, facilitating the promotion and use of the ranging method.

[0033] In some possible implementations, the ultra-wideband ranging method further includes: a primary UWB module and / or a secondary UWB module determining the relative distance between at least one second electronic device and the target area in the first electronic device based on a first distance and a second distance.

[0034] In some possible implementations, the main UWB module and / or the secondary UWB module have multiple antennas, and the ultra-wideband ranging method further includes: multiple antennas receiving response information sent by at least one second electronic device in the first ranging communication and / or the second ranging communication, and the phase difference of the response information received by the multiple antennas being used to determine the relative direction between at least one second electronic device and the first electronic device.

[0035] The technical solution of this implementation method can further improve the ranging performance of the ranging system and facilitate mutual control between the second electronic device and the first electronic device.

[0036] In some possible implementations, there are multiple secondary UWB modules, and each secondary UWB module performs a second ranging communication with at least one second electronic device according to trigger information, including: each of the multiple secondary UWB modules performs a second ranging communication with at least one second electronic device according to trigger information.

[0037] In some possible implementations, the first electronic device is a gate and the second electronic device is a smart terminal.

[0038] The technical solution of this implementation method enables the UWB ranging method to be applied to complex application scenarios such as subways and shopping malls, thereby improving the user experience.

[0039] Secondly, an ultra-wideband ranging method is provided, applied to a UWB module in a second electronic device. The ultra-wideband ranging method includes: performing a first ranging communication with a main UWB module in a first electronic device; performing a second ranging communication with a secondary UWB module in the first electronic device; determining a first distance with the main UWB module and a second distance with the secondary UWB module based on the first ranging communication and the second ranging communication; and sending the first distance and the second distance to the main UWB module and / or the secondary UWB module.

[0040] In some possible implementations, before performing the first ranging communication with the main UWB module in the first electronic device, the ultra-wideband ranging method further includes: receiving ranging control information (RCM) sent by the main UWB module; and identifying the ranging methods of the first ranging communication and the second ranging communication based on the RCM.

[0041] In some possible implementations, the RCM is used to indicate the ranging information type of each ranging step in the first ranging communication and the second ranging communication; wherein, identifying the ranging method of the first ranging communication and the second ranging communication according to the RCM includes: identifying the ranging method of the first ranging communication and the second ranging communication according to the information in the RCM indicating the ranging information type.

[0042] In some possible implementations, the RCM is used to indicate that the ranging steps of the first ranging communication and / or the second ranging communication have an RFM; the ranging method of identifying the first ranging communication and the second ranging communication based on the information indicating the type of ranging information in the RCM includes: identifying the first ranging communication and / or the second ranging communication as a bilateral bidirectional ranging method based on the information indicating RFM in the RCM.

[0043] In some possible implementations, receiving ranging control information (RCM) sent by the main UWB module includes: receiving the RCM sent by the main UWB module when the distance between the main UWB module and the second electronic device is less than a preset threshold. The RCM is used to indicate that the first ranging communication and / or the second ranging communication is a bilateral bidirectional ranging method.

[0044] In some possible implementations, the RCM is used to indicate that the ranging steps of the first ranging communication and / or the second ranging communication have a ranging initiation message RIM and a ranging response message RRM but no ranging final message RFM; the ranging method of the first ranging communication and the second ranging communication is identified based on the information in the RCM indicating the type of ranging information, including: identifying the first ranging communication and / or the second ranging communication as a one-sided two-way ranging method based on the information in the RCM indicating RIM and RRM.

[0045] In some possible implementations, receiving ranging control information (RCM) sent by the main UWB module includes: receiving the RCM sent by the main UWB module when the distance between the main UWB module and the second electronic device is greater than a preset threshold. The RCM is used to indicate that the first ranging communication and / or the second ranging communication is a one-sided two-way ranging method.

[0046] In some possible implementations, RCM is also used to indicate the ranging timing, initiator role, and initiator address of each ranging step in the first ranging communication and the second ranging communication.

[0047] In some possible implementations, the ranging methods of the first ranging communication and the second ranging communication are the same.

[0048] In some possible implementations, performing a first ranging communication with a primary UWB module in the first electronic device and performing a second ranging communication with a secondary UWB module in the first electronic device includes: receiving first ranging information sent by the primary UWB module; receiving second ranging information sent by the secondary UWB module; and sending response information corresponding to the first ranging information and the second ranging information to the primary UWB module and the secondary UWB module.

[0049] In some possible implementations, the first ranging communication and the second ranging communication are a one-sided two-way ranging method. The first ranging information and the second ranging information include: a ranging initiation message RIM and a ranging measurement report message RMRM. The response information includes: a ranging response message RRM corresponding to RIM and a ranging result report message RRRM corresponding to RMRM.

[0050] In some possible implementations, the first ranging communication and the second ranging communication are bilateral bidirectional ranging methods. The first ranging information and the second ranging information include: a ranging initiation message RIM and a ranging final message RFM. The response information includes: a ranging response message RRM corresponding to RIM and a ranging result report message RRRM corresponding to RFM.

[0051] In some possible implementations, the RRRM carries a first distance between at least one second electronic device and the secondary UWB module, and a second distance between at least one second electronic device and the secondary UWB module.

[0052] In some possible implementations, the number of secondary UWB modules in the first electronic device is multiple; wherein, performing a second ranging communication with the secondary UWB modules in the first electronic device includes: performing a second ranging communication with multiple secondary UWB modules in the first electronic device.

[0053] In some possible implementations, the first electronic device is a gate and the second electronic device is a smart terminal.

[0054] Thirdly, an ultra-wideband ranging device is provided, comprising: a processor for executing a program stored in a memory, wherein when the program stored in the memory is executed, the processor is configured to execute an ultra-wideband ranging method in the first aspect or any possible implementation thereof, or to execute an ultra-wideband ranging method in the second aspect or any possible implementation thereof.

[0055] Fourthly, an ultra-wideband ranging system is provided, comprising: a first electronic device including a main ultra-wideband UWB module and a secondary ultra-wideband UWB module, the main UWB module and the secondary UWB module being used to perform the ultra-wideband ranging method in the first aspect or any possible implementation thereof; and at least one second electronic device, each of the at least one second electronic device including a UWB module, the UWB module being used to perform the ultra-wideband ranging method in the second aspect or any possible implementation thereof. Attached Figure Description

[0056] Figure 1 This is a diagram illustrating the architecture of a UWB ranging system provided in an embodiment of this application.

[0057] Figure 2 This is a schematic flowchart illustrating a UWB ranging method provided in an embodiment of this application.

[0058] Figure 3 A schematic flowchart illustrating another UWB ranging method provided in an embodiment of this application.

[0059] Figure 4 This is a schematic diagram of a distance measuring wheel provided in an embodiment of this application.

[0060] Figure 5 A schematic flowchart illustrating another UWB ranging method provided in an embodiment of this application.

[0061] Figure 6 A schematic flowchart is provided for another UWB ranging method in the SS-TWR ranging direction for embodiments of this application.

[0062] Figure 7 A schematic flowchart is provided for another UWB ranging method in the DS-TWR ranging direction for embodiments of this application.

[0063] Figure 8 This is a schematic diagram of two distance measuring wheels provided in the embodiments of this application.

[0064] Figure 9 A schematic flowchart illustrating another UWB ranging method provided in an embodiment of this application.

[0065] Figure 10This is a schematic structural block diagram of a UWB ranging device provided in an embodiment of this application.

[0066] Figure 11 This is a schematic structural block diagram of a UWB ranging system provided in an embodiment of this application. Detailed Implementation

[0067] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0068] This application relates to UWB ranging technology. UWB ranging primarily employs the two-way ranging (TWR) method, which generally involves two nodes: device A and device B. Device A initiates the ranging process, and device B responds; both have internal UWB modules. Two-way ranging is mainly divided into two methods: single-sided two-way ranging (SS-TWR) and double-sided two-way ranging (DS-TWR). In the SS-TWR method, device A actively sends data to device B, and device B responds with data to device A. Device A can calculate the time-of-flight of the data based on the timestamps of the sent and returned data, and thus calculate the distance between it and device B. In the DS-TWR method, device A initiates the first ranging message, device B responds, and after receiving the response data from device B, device A sends a second ranging message. Device B can obtain the timestamps of Device A sending two ranging messages and the timestamp of Device A receiving the response data. Simultaneously, Device B can also calculate the data flight time based on its own timestamps of receiving the two ranging messages and sending the response message. Although this method increases the overall ranging time, it reduces the ranging error. It should be noted that, in addition to the above description, the specific implementations of the SS-TWR and DS-TWR methods involved in this application can be found in detailed solutions in related technologies, which will not be elaborated upon here.

[0069] Because UWB modules offer highly stable connections with virtually no interference and provide accurate ranging capabilities, they maintain excellent performance even in congested multipath environments. Therefore, UWB modules can be applied to a variety of everyday scenarios, such as transportation, healthcare, home appliances, security, and industrial control.

[0070] Figure 1 This paper illustrates an architecture diagram of a UWB ranging system provided in an embodiment of this application.

[0071] like Figure 1As shown, the UWB ranging system 100 may include two or more electronic devices, each of which may be equipped with a UWB module to enable UWB ranging communication between the two devices.

[0072] In some application scenarios, the UWB ranging system 100 may include a turnstile 101 (or access control device) and a smart terminal 102. The turnstile 101 may be equipped with at least one point-of-sale (POS) machine 1011 to facilitate data interaction with the smart terminal 102. The smart terminal 102 can take various forms, for example, in... Figure 1 In the illustrated embodiment, the smart terminal 102 may include: a mobile phone, a smart wearable device (such as a bracelet, a watch, etc.), a tag device, etc.

[0073] Both the POS machine 1011 and the smart terminal 102 are equipped with UWB modules. When the smart terminal 102 enters the UWB communication range of the POS machine 1011, the UWB module in the POS machine 1011 can establish a communication connection with the UWB module in the smart terminal 102. The UWB module in the POS machine 1011 can act as an initiator, and the UWB module in the smart terminal 102 can act as a responder. The two can measure the distance between the POS machine 1011 and the smart terminal 102. Furthermore, after determining the relative positional relationship between the smart terminal 102 and the POS machine 1011, the smart terminal 102 can perform corresponding control on the gate 101 where the POS machine 1011 is located. For example, the smart terminal 102 can control the gate 101 to open or close.

[0074] Some relevant protocols or specifications, such as the Fira or 802.15.4z specifications, only define the ranging method between a single initiator and at least one responder. In complex scenarios, there may be a need for ranging between multiple initiators and at least one responder. For example, in a subway turnstile scenario, two POS machines are installed at both ends of the turnstile. The UWB modules (initiators) in both POS machines need to confirm the relative distance between themselves and the UWB module (responder) in the smart terminal to accurately determine the relative position of the smart terminal from the turnstile. Current industry standards cannot meet the ranging requirements in this complex scenario.

[0075] In some related technologies, the UWB modules of the primary and secondary POS machines communicate with the UWB module of at least one smart terminal in a time-sharing manner to perform distance measurement. The secondary POS machine then sends the measured distance information to the primary POS machine, allowing the primary POS machine to combine multiple distance data to determine the relative position of at least one smart terminal. However, this technology requires a synchronization channel between the secondary and primary POS machines, making the implementation complex and time-consuming, which is not conducive to achieving fast and accurate distance measurement between multiple POS machines and at least one smart terminal.

[0076] In view of this, this application provides a new UWB ranging method that can meet the ranging requirements between multiple initiating ends and at least one responding end. This ranging method not only improves ranging accuracy but also has a simple implementation.

[0077] The UWB ranging method provided in this application is applicable not only to the above-mentioned methods. Figure 1 The UWB ranging system 100 shown is included. This UWB ranging system 100 may include, in addition to, the following: Figure 1 In addition to the gate 101 and the smart terminal 102 shown, other types of electronic devices may also be included. These electronic devices are intended to include UWB modules to achieve UWB ranging communication. The specific type of such electronic device is not limited in this application embodiment.

[0078] Figure 2 A schematic flowchart of a UWB ranging method 200 provided in an embodiment of this application is shown. This UWB ranging method 200 can be applied between a UWB module in a first electronic device and a UWB module in a second electronic device. Specifically, the first electronic device includes multiple UWB modules. For ease of distinction, when the first electronic device includes two UWB modules, these two UWB modules can be referred to as the main UWB module and the secondary UWB module. As an example, Figure 2 Two second electronic devices are shown, labeled as second electronic device #1 and second electronic device #2, respectively.

[0079] Optionally, in some embodiments, the first electronic device and the second electronic device can be respectively described above. Figure 1 The device shown includes a turnstile 101 and a smart terminal 102. The main UWB module and the secondary UWB module in the first electronic device can be the main POS machine and the secondary POS machine respectively installed in the turnstile 101.

[0080] like Figure 2 As shown, the UWB ranging method 200 may include the following steps.

[0081] S210: The main UWB module sends a trigger message to the secondary UWB module.

[0082] S220: The main UWB module performs first ranging communication with at least one second electronic device.

[0083] S230: The secondary UWB module performs a second ranging communication with at least one second electronic device based on the trigger information.

[0084] S240: Each of the at least one second electronic device determines a first distance from the main UWB module based on the first ranging communication.

[0085] S250: Each of the at least one second electronic device determines a second distance with the sub-UWB module according to a second ranging communication.

[0086] S261 and S262: At least one second electronic device sends a first distance and a second distance to the main UWB module and / or the auxiliary UWB module.

[0087] S270: The primary UWB module and / or secondary UWB module receive the first distance and the second distance.

[0088] Specifically, in step S210, the main UWB module may send trigger information to the secondary UWB module to instruct the secondary UWB module to perform a second ranging communication with each of the at least one secondary electronic device.

[0089] In step S220, the main UWB module may also perform a first ranging communication with each of the at least one second electronic device. This first and second ranging communication can be used to support each of the at least one second electronic device in achieving ranging between the main UWB module and the sub-UWB module.

[0090] Specifically, in this application, each second electronic device is also equipped with a UWB module, and the ranging communication between the second electronic device and the main UWB module and the secondary UWB module is specifically the ranging communication between the UWB module in the second electronic device and the main UWB module and the secondary UWB module.

[0091] Optionally, in some embodiments, the first and second ranging communications described above can be communication processes involved in the DS-TWR or SS-TWR ranging methods. Alternatively, in other embodiments, the first and second ranging communications can also be communication processes involved in other related ranging methods, and this application does not specifically limit them.

[0092] During the first ranging communication between the primary UWB module and at least one second electronic device, the ranging information sent by the primary UWB module can be received by each of the at least one second electronic device. Similarly, during the second ranging communication between the secondary UWB module and at least one second electronic device, the ranging information sent by the secondary UWB module can be received by each of the at least one second electronic device.

[0093] In steps S220 and S230, the main UWB module and the secondary UWB module can sequentially perform ranging communication with at least one second electronic device, so that at least one second electronic device can sequentially receive ranging information sent by the main UWB module and the secondary UWB module, thereby reliably realizing ranging between at least one electronic device and the main UWB module and the secondary UWB module without causing problems such as air channel conflict.

[0094] In steps S240 and S250, each of the at least one second electronic device can determine a first distance with the main UWB module based on the first ranging communication, and determine a second distance with the sub-UWB module based on the second ranging communication.

[0095] In steps S261 to S270, each of the at least one second electronic device sends a first distance and a second distance to the main UWB module and / or the auxiliary UWB module in the first electronic device. Therefore, after receiving the first and second distances, the main UWB module and / or the auxiliary UWB module can accurately locate each of the at least one second electronic device based on these distances, which facilitates more efficient and reliable subsequent operations between the second and first electronic devices.

[0096] Through the technical solution of this application embodiment, in the first electronic device, the secondary UWB module can execute a second ranging communication with at least one second electronic device according to the trigger information sent by the primary UWB module. The primary UWB module itself can also execute a first ranging communication with at least one second electronic device. The second electronic device can send both its first distance to the primary UWB module and its second distance to the secondary UWB module according to the two ranging communications. This facilitates accurate positioning of the second electronic device by the first electronic device and improves the ranging accuracy between the two electronic devices. Furthermore, in this embodiment, the primary UWB module and / or secondary UWB module in the first electronic device can directly obtain the first and second distances based on the ranging communication with at least one second electronic device, without requiring channel synchronization between the primary and secondary UWB modules. The overall implementation is relatively simple, thus promoting the widespread adoption and use of the ranging method.

[0097] Optionally, in some implementations, the triggering information includes: Ranging Control Message (RCM). Optionally, the RCM can be the ranging control message defined under the Fira specification.

[0098] In this case, step S220 may include: the primary UWB module performing a first ranging communication with at least one second electronic device according to the RCM. And step S230 may include: the secondary UWB module performing a second ranging communication with at least one second electronic device according to the RCM.

[0099] In this implementation, using RCM as trigger information not only triggers the secondary UWB module to execute second ranging communication with at least one second electronic device, but also sends the control information for this second ranging communication to the secondary UWB module. This allows the secondary UWB module to conveniently execute second ranging communication with at least one second electronic device based on the RCM, improving the overall UWB ranging efficiency. Furthermore, the RCM can be configured in the primary UWB module; therefore, the first and second ranging communications can be adjusted according to design requirements, ensuring that the first and second ranging communication processes are controllable and detectable.

[0100] Optionally, RCM can be used to indicate the ranging methods of the first and second ranging communications described above. In this case, Figure 3 A schematic flowchart of another UWB ranging method 300 provided in an embodiment of this application is shown.

[0101] like Figure 3 As shown, the UWB ranging method 300 may include the following steps.

[0102] S310: The main UWB module sends RCM.

[0103] S320: At least one second electronic device identifies the ranging method of the first ranging communication and the second ranging communication according to RCM.

[0104] S330: The main UWB module performs first ranging communication with at least one second electronic device according to RCM.

[0105] S340: The secondary UWB module performs second ranging communication with at least one second electronic device according to RCM.

[0106] S350: Each of at least one second electronic device determines a first distance from the main UWB module based on a first ranging communication.

[0107] S360: Each of the at least one second electronic device determines a second distance with the sub-UWB module according to a second ranging communication.

[0108] S371 and S372: At least one second electronic device sends a first distance and a second distance to the main UWB module and / or the secondary UWB module.

[0109] S380: The primary UWB module and / or secondary UWB module receive the first distance and the second distance.

[0110] Specifically, in the embodiments of this application, the relevant technical solutions for steps S330 to S380 can be found above. Figure 2 The relevant descriptions of steps S220 to S270 in the illustrated embodiment will not be elaborated upon here.

[0111] In step 310, the primary UWB module sends an RCM, which is received not only by the secondary UWB module but also by at least one second electronic device. The RCM can be used to indicate the ranging method for the first ranging communication between the primary UWB module and the at least one second electronic device, and can also be used to indicate the ranging method for the second ranging communication between the secondary UWB module and the at least one second electronic device.

[0112] In step S320, each of the at least one second electronic devices can identify the ranging method of the first ranging communication and the second ranging communication according to the RCM, and then realize ranging communication with the main UWB module and / or the sub-UWB according to the ranging method.

[0113] In some related technologies, the second electronic device needs to configure additional parameters to determine the ranging method for ranging communication. For example, in the Fira specification, before operation, the UWB module in the second electronic device can configure UWB parameters with the BLE module in the first electronic device via the Bluetooth Low Energy (BLE) module in the second electronic device. This parameter configuration is used to inform the second electronic device of the ranging method to be used during UWB ranging.

[0114] This technical solution requires both the first and second electronic devices to have additional BLE modules, and also requires an additional parameter configuration process for the second electronic device to acquire the UWB ranging method. Furthermore, this technical solution only allows the same ranging method to be used in UWB ranging communication, and cannot be flexibly adjusted according to actual conditions.

[0115] The technical solution in this application embodiment does not require the parameter configuration process between the aforementioned BLE modules, and the UWB ranging communication process is not limited to a single ranging method. Specifically, the RCM sent by the main UWB module can be used to indicate the ranging method to the second electronic device. This RCM can be adjusted during the ranging process, thus flexibly indicating different ranging methods. The second electronic device can use different ranging methods according to the RCM to conduct ranging communication with the main UWB module and the secondary UWB module in the first electronic device, making the ranging communication compatible with more application scenarios and having better ranging performance.

[0116] Optionally, in some embodiments, the RCM can be used to indicate the ranging information type of each ranging step in the first ranging communication and the second ranging communication. In step S320, at least one second electronic device can identify the ranging method of the first ranging communication and the second ranging communication according to the ranging information type in the RCM.

[0117] As an example, the first and second ranging communications between the main UWB module and the secondary UWB module and the second electronic device can be a ranging wheel defined in the Fira specification, which can simultaneously include both the first and second ranging communications. Figure 4 As shown, each ranging step in the first ranging communication and the second ranging communication can be understood as a ranging slot in the ranging wheel, and the slot length of each ranging slot can be equal.

[0118] To ensure the orderly execution of the first and second ranging communications, RCM can design and configure the ranging information in each Ranging Slot. The ranging information in a Ranging Slot can include: a Ranging Initiation Message (RIM), a Ranging Response Message (RRM), a Ranging Final Message (RFM), a Ranging Measurement Report Message (RMRM), and a Ranging Result Report Message (RRRM), etc.

[0119] Alternatively, different identifiers can be used in RCM to identify different types of ranging information. As an example, Table 1 below shows an example of using hexadecimal identifiers to identify different types of ranging information.

[0120] Table 1

[0121]

[0122] Optionally, to further improve the accuracy of RCM's control over the first and second ranging communications, RCM may further instruct the ranging timing, initiator role, and initiator address for each ranging step in the first and second ranging communications. For example, such as Figure 4 As shown, the ranging timing sequence of each ranging step in the first and second ranging communications can be the index of the Ranged Slot in the Ranged Round. The initiator role indicates whether the ranging initiator belongs to the controller or the controller. In this embodiment, the controller is the UWB module in the first electronic device, and the controller is the UWB module in the second electronic device. The initiator address is the address of the ranging initiator.

[0123] Specifically, corresponding to the actual ranging wheels (i.e., the first ranging communication and the second ranging communication), the RCM may include control elements for each ranging slot (i.e., ranging step) in the ranging wheels. Each control element may include: a ranging role, a ranging slot index, an initiator address, and predefined ranging information. The predefined ranging information may include any of the ranging information shown in Table 1 above, which can be identified using hexadecimal identifiers. Similarly, the ranging role can also be identified using identifiers, for example, "1" represents the main UWB module in the first electronic device, and "0" represents the UWB module in the second electronic device.

[0124] In the first electronic device, the primary UWB module and the secondary UWB module can execute their respective ranging slots as initiators according to the control elements in the RCM. At least one second electronic device can also execute its own ranging slot as an initiator according to the control elements in the RCM.

[0125] Table 2 below shows a schematic table of multiple control elements in an RCM.

[0126] Table 2

[0127]

[0128] Specifically, in the illustrative Table 2 above, the RCM may include four control elements, which can be used to control the first ranging communication between the main UWB module and the second electronic device. Corresponding to the first control element, in the first ranging time slot, the ranging initiator is the main UWB module, which can send ranging information marked "0", i.e., the ranging start message RIM. Corresponding to the second control element, in the second ranging time slot, the ranging initiator is the UWB module in the second electronic device, which can send ranging information marked "1", i.e., the ranging response message RRM. Similarly, corresponding to the third and fourth control elements, in the third and fourth ranging time slots, the main UWB module sends a ranging measurement report message RMRM marked "4", and the UWB module in the second electronic device sends a ranging result report message RRRM marked "5".

[0129] It should be noted that Table 2 above is only for illustration, showing schematic information of several control elements in an RCM. In actual application, other numbers of control elements can be designed in the RCM according to application requirements, and the relevant information in each control element can be defined to realize the relevant design of the first ranging communication and the second ranging communication.

[0130] Through the technical solutions of the above-mentioned application embodiments, RCM has relatively comprehensive control information for the first ranging communication and the second ranging communication. The main UWB module and the secondary UWB module can conveniently execute each step of the first ranging communication and the second ranging communication according to the ranging method indicated in RCM, ensuring the orderly and reliable execution of the first ranging communication and the second ranging communication.

[0131] Based on the RCM related technical solutions introduced in the above embodiments, in some implementations, RCM can be used to indicate that the ranging step of the first ranging communication and / or the second ranging communication has RFM, and the at least one second electronic device can be used to identify the first ranging communication and / or the second ranging communication as DS-TWR according to the information in the RCM used to indicate the RFM.

[0132] Specifically, due to the unique ranging method of the DS-TWR, RFM (Range Function Messaging) will appear in the ranging communication using the DS-TWR. Therefore, at least one second electronic device can easily identify the DS-TWR based on the RFM indication information in the RCM. For example, as shown in Table 1 above, the identifier used to indicate RFM in the RCM is "0x2". By checking whether 0x2 exists in each element of the RCM, the ranging method can be confirmed as DS-TWR. In addition, the address of the initiator in the element containing 0x2 can be used to determine whether the DS-TWR is the ranging method for the first ranging communication between the main UWB module and at least one second electronic device, or the ranging method for the second ranging communication between the secondary UWB module and at least one second electronic device.

[0133] Optionally, in some embodiments, in addition to determining the ranging method through RFM, other ranging information in the DS-TWR can also be combined to comprehensively determine the ranging method. For example, if the elements in the RCM are used to indicate RIM-RRM-RFM, the ranging method can be determined to be the DS-TWR method. Optionally, in addition to RIM, RRM, and RFM, the DS-TWR ranging method may also include RMRM and RRRM.

[0134] Because DS-TWR has the characteristics of high ranging accuracy but small ranging capacity, it is more suitable for scenarios where the first electronic device and the second electronic device are close to each other, so as to make the ranging more accurate. Therefore, in some embodiments, when the distance between the main UWB module and at least one second electronic device is less than a preset threshold, the main UWB module sends an RCM to at least one second electronic device. The RCM is used to indicate that the first ranging communication and / or the second ranging communication is DS-TWR.

[0135] Optionally, in this embodiment, the main UWB module can first use other ranging methods, such as the SS-TWR ranging method, to measure distance with at least one second electronic device. If the measured distance is less than a preset threshold, the main UWB module can adjust its RCM, that is, adjust the ranging method of the first ranging communication and / or the second ranging communication indicated by the RCM to DS-TWR, so that the main UWB module and / or the secondary UWB module can adapt to at least one second electronic device at close range, and achieve more accurate ranging with at least one second electronic device based on DS-TWR, thereby improving ranging performance.

[0136] In addition to DS-TWR, in some other embodiments, RCM can be used to indicate that the ranging steps of the first ranging communication and / or the second ranging communication have RIM and RRM but not RFM, and the at least one second electronic device can be used to identify the first ranging communication and / or the second ranging communication as SS-TWR based on the information in the RCM used to indicate RIM and RRM.

[0137] Specifically, since the SS-TWR does not contain an RFM but contains an RIM and an RRM, at least one second electronic device can easily identify the SS-TWR based on the information indicating the RIM and RRM in the RCM.

[0138] Optionally, in some embodiments, besides determining the ranging method as SS-TWR based on RIM and RRM, the ranging method can also be determined by combining other ranging information in SS-TWR. For example, if the elements in RCM are used to indicate RIM-RRM-RMRM respectively, the ranging method can be determined to be the SS-TWR method. Optionally, in addition to RIM, RRM, and RMRM, the SS-TWR ranging method may also include RRRM.

[0139] Because SS-TWR has lower ranging accuracy but higher ranging capacity, it is more suitable for scenarios where the distance between the first electronic device and the second electronic device is far, allowing the first electronic device to perform ranging on a larger number of distant second electronic devices. In some embodiments, when the distance between the main UWB module and at least one second electronic device is greater than a preset threshold, the main UWB module sends an RCM to at least one second electronic device, which indicates that the first ranging communication and / or the second ranging communication is SS-TWR.

[0140] The technical solution of this implementation allows the main UWB module and / or the secondary UWB module to perform ranging on more than one second electronic device at a distance based on SS-TWR, thereby comprehensively improving the ranging performance of the system.

[0141] In some possible implementations, the ranging method corresponding to the first ranging communication in the above embodiments is the same as the ranging method corresponding to the second ranging communication. For example, both the first and second ranging communications use the SS-TWR ranging method, or both the first and second ranging communications use the DS-TWR ranging method.

[0142] This implementation allows the second electronic device to easily measure distances with both the main and secondary UWB modules using the same ranging method. The first and second distances exhibit good correspondence, which helps improve ranging accuracy. Furthermore, using the same ranging method for both the main and secondary UWB modules facilitates the design and control of the overall communication process.

[0143] In this case, the ranging information involved in the first ranging communication is of the same type as the ranging information involved in the second ranging communication. Figure 5 A schematic flowchart of another UWB ranging method 400 provided in an embodiment of this application is shown.

[0144] like Figure 5 As shown, the UWB ranging method 400 may include the following steps.

[0145] S410: The main UWB module sends a trigger message to the secondary UWB module.

[0146] S420: The main UWB module sends first ranging information to at least one second electronic device.

[0147] S430: The secondary UWB module sends second ranging information of the same type as the first ranging information to at least one second electronic device based on the trigger information.

[0148] S441 and S442: At least one electronic device sends response information corresponding to the first ranging information and the second ranging information to the main UWB module and the secondary UWB module.

[0149] Specifically, in the embodiments of this application, steps S420 to S442 can be as described above. Figure 2 One implementation of steps S220 and S230 in the illustrated embodiment. After step S442, the ranging method 300 in this embodiment may further include... Figure 2 The specific implementation of steps S240 to S270 in the illustrated embodiment can be found in the description above, and will not be elaborated further here.

[0150] In steps S420 and S430, the main UWB module and the secondary UWB module can sequentially send first ranging information and second ranging information of the same type to at least one second electronic device. Since the first ranging information and the second ranging information are of the same type, in steps S441 and S442, at least one second electronic device can send the same response information based on the first ranging information and the second ranging information. This response information can be received by both the main UWB module and the secondary UWB module to achieve the ranging function.

[0151] It should be noted that when there are multiple second electronic devices, for example, such as Figure 4 As shown, the ranging system includes a second electronic device #1 and a second electronic device #2. The second electronic device #1 and the second electronic device #2 do not send response information simultaneously, but rather send response information in a time-division manner. The main UWB module and the auxiliary UWB module in the first electronic device can receive response information sent by different second electronic devices in a time-division manner to avoid air channel conflicts.

[0152] Through the technical solution of this application embodiment, at least one second electronic device can uniformly reply with response information based on the same type of ranging information sent by the main UWB module and the secondary UWB module, thereby efficiently realizing ranging communication between the main UWB module, the secondary UWB module and at least one second electronic device. Furthermore, this technical solution is also compatible with related technologies where at least one second electronic device responds to a single UWB module. The design of the RCM for at least one second electronic device does not need to be changed; only the design of the UWB module for the first electronic device needs to be modified.

[0153] In some implementations, when both the first ranging communication and the second ranging communication use the SS-TWR ranging method, the ranging information in the first ranging communication and the second ranging communication may include: RIM, RRM, RMRM and RRRM, wherein RRM may be the response information corresponding to RIM and RRRM may be the response information corresponding to RMRM.

[0154] Figure 6 A schematic flowchart of another UWB ranging method 500 under the SS-TWR ranging method is shown.

[0155] like Figure 6 As shown, the UWB ranging method 500 may include the following steps.

[0156] S510: The main UWB module sends RCM.

[0157] S520: The main UWB module sends RIM.

[0158] S530: The secondary UWB module sends RIM.

[0159] S531: Second electronic device #1 sends RRM.

[0160] S532: Second electronic device #2 sends RRM.

[0161] S540: The main UWB module sends RMRM.

[0162] S550: The secondary UWB module sends RMRM.

[0163] S561: Second electronic device #1 sends RRRM.

[0164] S562: Second electronic device #2 sends RRRM.

[0165] Specifically, in the embodiments of this application, step S510 can be... Figure 2 and Figure 5 One implementation of steps S210 and S410 is as follows: the trigger information in steps S210 and S410 is an RCM. In this case, the RCM can be sent not only from the main UWB module to the secondary UWB module, but also from the main UWB module to all the second electronic devices. The entire ranging system can perform ranging communication based on this RCM. This RCM is used to indicate each ranging step in the SS-TWR ranging method.

[0166] In steps S520 and S530, the main UWB module and the secondary UWB module can sequentially send RIM to at least one second electronic device. Steps S520 and S530 can be described above. Figure 4 One implementation of steps S420 and S430.

[0167] In steps S531 and S532, the second electronic device #1 and the second electronic device #2 can sequentially send RRMs based on RIM responses to the main UWB module and the sub-UWB module, respectively. The main UWB module can determine a first distance with the two second electronic devices based on its sent RIM and received RRM. The sub-UWB module can determine a second distance with the two second electronic devices based on its sent RIM and received RRM. Steps S531 and S532 can be described above. Figure 5 One implementation of steps S441 and S442.

[0168] After the primary UWB module determines the first distance and the secondary UWB module determines the second distance, both can send the first and second distance information to at least one secondary electronic device via RMRM. That is, in steps S540 to S550, the primary UWB module and the secondary UWB module can send RMRM to at least one secondary electronic device sequentially.

[0169] In steps S561 to S562, the second electronic device #1 and the second electronic device #2 can send response RRRMs to the main UWB module and the sub-UWB module respectively. The RRRM can carry a first distance and a second distance, so that both the main UWB module and the sub-UWB module can receive both distances, thereby achieving accurate distance measurement between the first electronic device and the second electronic device.

[0170] In this embodiment, the first ranging communication between the primary UWB module and the second electronic device #1 may include steps S520, S531, S540, and S561. The second ranging communication between the secondary UWB module and the second electronic device #1 may include steps S530, S531, S550, and S561. It is understood that some ranging steps in the first and second ranging communications between the primary and secondary UWB modules and the same second electronic device may overlap; that is, the response steps of the second electronic device to the primary and secondary UWB modules may overlap.

[0171] In other embodiments, when both the first ranging communication and the second ranging communication use the DS-TWR ranging method, the ranging information in the first ranging communication and the second ranging communication may include: RIM, RRM, RFM and RRRM, wherein RRM may be the response information corresponding to RIM and RRRM may be the response information corresponding to RFM.

[0172] Figure 7 A schematic flowchart of another UWB ranging method 600 under the DS-TWR ranging method is shown.

[0173] like Figure 7 As shown, the UWB ranging method 600 may include the following steps.

[0174] S610: The main UWB module sends RCM.

[0175] S620: The main UWB module sends RIM.

[0176] S630: The secondary UWB module sends RIM.

[0177] S631: Second electronic device #1 sends RRM.

[0178] S632: Second electronic device #2 sends RRM.

[0179] S640: The main UWB module sends an RFM.

[0180] S650: The secondary UWB module sends RFM.

[0181] S681: Second electronic device #1 sends RRRM.

[0182] S682: Second electronic device #2 sends RRRM.

[0183] Specifically, in this embodiment, step S610 can be similar to step S410 above. The RCM sent by the main UWB module can be sent not only to the secondary UWB module, but also to all the second electronic devices. The entire ranging system can perform ranging communication based on this RCM. This RCM is used to indicate each ranging step in the DS-TWR.

[0184] In steps S620 and S630, the primary UWB module and the secondary UWB module may send RIMs sequentially to at least one second electronic device. In steps S631 and S632, the second electronic device #1 and the second electronic device #2 may send RRMs based on RIM responses sequentially to the primary UWB module and the secondary UWB module.

[0185] In steps S640 to S650, the main UWB module and the secondary UWB module can send RFM to at least one second electronic device in sequence. The at least one second electronic device can measure the first distance with the main UWB module and the second distance with the secondary UWB module based on the RFM and the previous RIM and RRM.

[0186] In order to send the information of the first distance and the second distance to the main UWB module and the secondary UWB module, in steps S681 to S682, the second electronic device #1 and the second electronic device #2 can send RRRM based on RFM response to the main UWB module and the secondary UWB module respectively.

[0187] Optionally, in order to further improve the ranging accuracy, in some embodiments, after steps S640 and S650, the ranging method 600 may also include steps S660 and S670, that is, the main UWB module and the secondary UWB module may send RMRM to the second electronic device in sequence.

[0188] In this embodiment, the first ranging communication between the main UWB module and the second electronic device #1 may include steps S620, S631, S640, S660, and S681. The second ranging communication between the secondary UWB module and the second electronic device #1 may include steps S630, S631, S650, S670, and S681. (This is consistent with the above.) Figure 5 Similarly, in the embodiments of this application, the ranging steps of the first ranging communication and the second ranging communication between the main UWB module and the secondary UWB module and the same second electronic device can also overlap, that is, the response steps of the second electronic device to the main UWB module and the secondary UWB module can overlap.

[0189] In both of the above embodiments, at least one second electronic device sends an RRRM to both the main UWB module and the secondary UWB module. This RRRM may carry a first distance and a second distance determined by the at least one second electronic device based on the first ranging communication and the second ranging communication. This technical solution utilizes the RRRM during the ranging communication process to allow at least one second electronic device to send the first and second distances to both the main and secondary UWB modules, resulting in a simple implementation and high reliability.

[0190] The above text Figure 6 and Figure 7 Two ranging methods are shown for the main UWB module and the secondary UWB module in a first electronic device to be used with at least one second electronic device. The ranging process in these two methods can be a ranging round. In the next ranging round, the main UWB module of the first electronic device resends the RCM to indicate that it has entered the next ranging round.

[0191] Additionally, in the above text Figures 2 to 7 In the illustrated embodiments, the first electronic device includes two UWB modules, and the ranging system includes two second electronic devices as examples. It is understood that the ranging system may also include a greater number of second electronic devices, and the first electronic device may also include a greater number of UWB modules. In this case, the first electronic device may include a main UWB module and multiple sub-UWB modules, each of which can perform second ranging communication with at least one second electronic device according to the ranging method described above.

[0192] As an example, the first electronic device may include M UWB modules, and the ranging system may include N second electronic devices, where M is any positive integer greater than 1, and N is any positive integer. In this case, Figure 8 Two schematic diagrams of the rangefinder wheel are shown. Among them, Figure 8 Figure (a) shows a schematic diagram of the ranging wheel under the SS-TWR ranging method, where both the first and second ranging communications are based on the first ranging communication method. Figure 8 Figure (b) shows a schematic diagram of the ranging wheel under the DS-TWR ranging method, where both the first and second ranging communications are based on the first ranging communication method.

[0193] like Figure 8 As shown in Figures (a) and (b), I M This indicates a RIM initiated by the Mth UWB module, R N Represents an RRM initiated by the Nth second electronic device, RR N This indicates an RRRM initiated by the Nth second electronic device. For example... Figure 8 As shown in Figure (a), MR MThis indicates an RMRM initiated by the Mth UWB module, such as Figure 8 As shown in Figure (b), F M This indicates an RFM initiated by the Mth UWB module.

[0194] exist Figure 8 In the ranging wheel shown in Figure (a), after the main UWB module sends the RCM, M UWB modules sequentially send the RIM, each RIM can be received by N second electronic devices. The N second electronic devices sequentially send the RRM, each RRM can be received by M UWB modules. The M UWB modules sequentially send the RMRM, each RMRM can be received by N second electronic devices. The N second electronic devices sequentially send the RRRM, each RRRM can be received by M UWB modules.

[0195] exist Figure 8 In the ranging wheel shown in Figure (b), after the main UWB module sends the RCM, M UWB modules sequentially send the RIM, each RIM can be received by N second electronic devices. The N second electronic devices sequentially send the RRM, each RRM can be received by M UWB modules. The M UWB modules sequentially send the RFM, each RFM can be received by N second electronic devices. The N second electronic devices sequentially send the RRRM, each RRRM can be received by M UWB modules.

[0196] Optionally, at the end of the two ranging wheels, the main UWB module can send RCUM to notify other UWB modules and the second electronic device to update RCM.

[0197] Optionally, in the above Figure 8 In the ranging wheel shown, each ranging time slot is of the same length, and each ranging time slot includes one ranging message. For example... Figure 6 and Figure 7 As shown, the length of the ranging time slot can be the time difference between the moment the primary UWB module sends the RCM and the moment it sends the RIM. This ranging gap length can be a preset agreed value, or the secondary UWB module and the second electronic device can determine the ranging gap length based on the moment they receive the RCM and the moment they receive the RIM.

[0198] Figure 9 A schematic flowchart of another UWB ranging method 700 provided in an embodiment of this application is shown.

[0199] like Figure 9 As shown, the UWB ranging method 700 may include the following steps.

[0200] S710: The main UWB module sends trigger information to the secondary UWB module.

[0201] S720: The main UWB module sends ranging information to the secondary UWB module and at least one second electronic device.

[0202] S730: The secondary UWB module performs second ranging communication after receiving the trigger information within the target time period.

[0203] Specifically, in step S710, the triggering information includes, but is not limited to, RCM.

[0204] In step S720, the primary UWB module sends ranging information. Besides at least one second electronic device being able to receive this ranging information to perform the first ranging communication, the secondary UWB module can also receive this ranging information. This ranging information can be the first ranging message sent by the primary UWB module after the trigger message. For example, this ranging information can be as described above. Figure 6 and Figure 7 RIM in the illustrated embodiment.

[0205] In step S730, the secondary UWB module may send ranging information to at least one second electronic device after receiving the ranging information within a target time period to perform second ranging communication.

[0206] The technical solution of this implementation method can reliably ensure that the main UWB module and the secondary UWB module will not send ranging information at the same time to cause air channel conflict, and ensure the ranging performance between the main UWB module and the secondary UWB module and at least one second electronic device.

[0207] Optionally, in some implementations, the target time period is equal to the time period between the moment the secondary UWB module receives the trigger information and the moment it receives the ranging information.

[0208] Specifically, when the trigger information is in the RCM (Real-Time Measuring) state, after sending the RCM, the primary UWB module sends a first ranging information (e.g., RIM) to at least one second electronic device at a preset time interval. The length of this preset time interval is the ranging gap length. The length of the time interval between the moment the secondary UWB module receives the RCM and the moment it receives the ranging information is the ranging gap length. Therefore, in this embodiment, the length of the target time interval is equal to the ranging gap length.

[0209] The technical solution of this implementation method ensures ranging performance while making the ranging methods of the main UWB module and the auxiliary UWB module compatible with relevant protocols and specifications, which facilitates the promotion and use of the ranging method.

[0210] It should be noted that, in the ranging method 700 provided in the embodiments of this application, except for Figure 9In addition to steps S710 to S730 shown, after step 730, the ranging method 700 in this embodiment may further include the above-mentioned steps. Figure 2 The specific implementation of steps S240 to S270 in the illustrated embodiment can be found in the description above, and will not be elaborated further here.

[0211] In some implementations, after the main UWB module and / or the secondary UWB module receive a first distance and a second distance sent by at least one second electronic device, any of the above-mentioned UWB ranging methods may further include: the main UWB module and / or the secondary UWB module determining the relative distance between at least one second electronic device and the first electronic device based on the first distance and the second distance.

[0212] Specifically, the main UWB module and the auxiliary UWB module can be distributed within the first electronic device. For example, if the first electronic device is a turnstile, the main UWB module and the auxiliary UWB module can be respectively located at both ends of the turnstile. When both the main UWB module and / or the auxiliary UWB module receive the first distance and the second distance between the second electronic device and the two modules, the main UWB module and / or the auxiliary UWB module can more accurately determine the relative distance between the target area in the first electronic device (e.g., the opening area of ​​the turnstile) and the second electronic device, thereby facilitating the accurate control of the turnstile by the second electronic device.

[0213] In some implementations, the main UWB module and / or the secondary UWB module have multiple antennas. In this case, any of the above-described UWB ranging methods may further include: multiple antennas receiving response information transmitted by at least one second electronic device in a first ranging communication and / or a second ranging communication, wherein the phase difference of the multiple antennas receiving the response information is used to determine the relative direction between the at least one second electronic device and the first electronic device.

[0214] As an example, the main UWB module and / or the secondary UWB module may have two antennas, and the first electronic device can use the phase difference of the received signals from the two antennas (PDOA) to measure the relative direction between at least one second electronic device and the first electronic device.

[0215] When the first electronic device is a turnstile, the phase difference can be used to determine whether the second electronic device is in the entrance or exit direction of the turnstile.

[0216] The technical solution of this implementation method can further improve the ranging performance of the ranging system and facilitate mutual control between the second electronic device and the first electronic device.

[0217] In addition to the UWB ranging methods mentioned above, such as Figure 10As shown, this application embodiment also provides a UWB ranging device 800, including: a memory 820 and a processor 810, wherein the memory 820 is used to store a program, and the processor 810 is used to execute the program stored in the memory 820. When the program stored in the memory 820 is executed, the processor 810 is used to execute the UWB ranging method in any of the above embodiments.

[0218] Optionally, the UWB ranging device 800 may include the main UWB module and the secondary UWB module in the first electronic device in the above embodiments, or the UWB ranging device may also be the UWB module in the second electronic device in the above embodiments. Each UWB module in the first and second electronic devices may specifically be a UWB chip, which may include processors and other related functional units.

[0219] Specifically, the processor in the UWB module may include a transceiver interface for receiving and sending data in the UWB ranging method. Additionally, the processor in the UWB ranging device may also include a data processing unit for performing data processing in the UWB ranging method.

[0220] like Figure 11 As shown in the illustration, this application also provides a UWB ranging system 900, including a first electronic device 910 and at least one second electronic device 920. The first electronic device 910 includes a main UWB module and a secondary UWB module, and each of the at least one second electronic device 920 includes a UWB module. The main and secondary UWB modules in the first electronic device 910 and the UWB modules in the at least one second electronic device 920 can execute the ranging method described in any of the above embodiments to achieve UWB ranging communication between the first electronic device 910 and the at least one second electronic device 920.

[0221] In some implementations, the first electronic device 910 can be a turnstile or access control system. The second electronic device 920 can be a smart terminal, such as a mobile phone, a smart bracelet, or a tag device.

[0222] It should be understood that the specific examples in this document are only intended to help those skilled in the art better understand the embodiments of this application, and are not intended to limit the scope of the embodiments of this application.

[0223] It should also be understood that, in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0224] It should also be understood that the various implementation methods described in this specification can be implemented individually or in combination, and the embodiments of this application are not limited in this respect.

[0225] Unless otherwise stated, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0226] It should be understood that the processor or processing module in the embodiments of this application can be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method embodiments can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the method disclosed in the embodiments of this application can be directly embodied as being executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can reside in a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0227] The memory or storage module in the embodiments of this application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.

[0228] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0229] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0230] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0231] The units described as separate components may or may not be physically separate. 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0232] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0233] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0234] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An ultra-wideband ranging method, characterized in that, The method is applied to a turnstile, which includes a main UWB module and a secondary UWB module. The ultra-wideband ranging method includes: The main UWB module sends ranging control information (RCM) to the secondary UWB module and at least one smart terminal. The main UWB module performs a first ranging communication with the at least one smart terminal according to the RCM, so that the at least one smart terminal determines a first distance with the main UWB module; The secondary UWB module performs a second ranging communication with the at least one smart terminal according to the RCM, so that the at least one smart terminal determines a second distance with the secondary UWB module; The main UWB module and / or the secondary UWB module receive the first distance and the second distance sent by the at least one smart terminal; The RCM is used to indicate the ranging information type, ranging timing, initiator role, and initiator address of each ranging step in the first ranging communication and the second ranging communication. The at least one smart terminal is used to identify the ranging method of the first ranging communication and the second ranging communication based on the ranging information type.

2. The ultra-wideband ranging method according to claim 1, characterized in that, The RCM is used to indicate that the ranging step of the first ranging communication and / or the second ranging communication has a final ranging message RFM, and the at least one smart terminal is used to identify the first ranging communication and / or the second ranging communication as a bilateral bidirectional ranging method based on the information in the RCM that indicates the RFM.

3. The ultra-wideband ranging method according to claim 2, characterized in that, The main UWB module sends the RCM to the at least one smart terminal, including: When the distance between the main UWB module and the at least one smart terminal is less than a preset threshold, the main UWB module sends the RCM to the at least one smart terminal. The RCM is used to indicate that the first ranging communication and / or the second ranging communication is a bilateral bidirectional ranging method.

4. The ultra-wideband ranging method according to claim 1, characterized in that, The RCM is used to indicate that the ranging steps of the first ranging communication and / or the second ranging communication have a ranging start message RIM and a ranging response message RRM but no ranging final message RFM. The at least one smart terminal is used to identify the first ranging communication and / or the second ranging communication as a one-sided two-way ranging method based on the information in the RCM that indicates the RIM and the RRM.

5. The ultra-wideband ranging method according to claim 4, characterized in that, The main UWB module sends the RCM to the at least one smart terminal, including: When the distance between the main UWB module and the at least one smart terminal is greater than a preset threshold, the main UWB module sends the RCM to the at least one smart terminal. The RCM is used to indicate that the first ranging communication and / or the second ranging communication is a one-sided two-way ranging method.

6. The ultra-wideband ranging method according to any one of claims 1 to 5, characterized in that, The ranging methods of the first ranging communication and the second ranging communication are the same.

7. The ultra-wideband ranging method according to claim 6, characterized in that, The main UWB module performs a first ranging communication with at least one smart terminal based on the RCM, and the secondary UWB module performs a second ranging communication with at least one smart terminal based on the RCM, including: The main UWB module sends first ranging information to the at least one smart terminal; The secondary UWB module sends second ranging information of the same type as the first ranging information to the at least one smart terminal according to the RCM; The main UWB module and the secondary UWB module receive response information sent by the at least one smart terminal, corresponding to the first ranging information and the second ranging information.

8. The ultra-wideband ranging method according to claim 7, characterized in that, The first ranging communication and the second ranging communication are a one-sided two-way ranging method. The first ranging information and the second ranging information include: a ranging initiation message RIM and a ranging measurement report message RMRM. The response information includes: a ranging response message RRM corresponding to the RIM and a ranging result report message RRRM corresponding to the RMRM.

9. The ultra-wideband ranging method according to claim 7, characterized in that, The first ranging communication and the second ranging communication are bilateral bidirectional ranging methods. The first ranging information and the second ranging information include a ranging initiation message (RIM) and a ranging final message (RFM). The response information includes a ranging response message (RRM) corresponding to the RIM and a ranging result report message (RRRM) corresponding to the RFM.

10. The ultra-wideband ranging method according to claim 8, characterized in that, The RRRM carries a first distance between the at least one smart terminal and the main UWB module, and a second distance between the at least one smart terminal and the secondary UWB module.

11. The ultra-wideband ranging method according to any one of claims 1 to 5, characterized in that, Before the secondary UWB module performs a second ranging communication with the at least one smart terminal according to the RCM, the ultra-wideband ranging method further includes: The secondary UWB module receives ranging information sent by the primary UWB module; After the secondary UWB module receives the ranging information within the target time period, the secondary UWB module performs a second ranging communication with the at least one smart terminal. The target time period is equal to the time period between the moment when the secondary UWB module receives the RCM and the moment when it receives the ranging information.

12. The ultra-wideband ranging method according to any one of claims 1 to 5, characterized in that, The ultra-wideband ranging method also includes: The main UWB module and / or the secondary UWB module determine the relative distance between the at least one smart terminal and the target area in the gate based on the first distance and the second distance.

13. The ultra-wideband ranging method according to any one of claims 1 to 5, characterized in that, The main UWB module and / or the secondary UWB module have multiple antennas, and the ultra-wideband ranging method further includes: The plurality of antennas receive response information sent by the at least one smart terminal in the first ranging communication and / or the second ranging communication, and the phase difference of the response information received by the plurality of antennas is used to determine the relative direction between the at least one smart terminal and the gate.

14. The ultra-wideband ranging method according to any one of claims 1 to 5, characterized in that, The number of secondary UWB modules is multiple, and each secondary UWB module performs a second ranging communication with the at least one smart terminal according to the RCM, including: Each of the plurality of the sub-UWB modules performs a second ranging communication with the at least one smart terminal according to the RCM.

15. An ultra-wideband ranging method, characterized in that, The ultra-wideband ranging method, applied to UWB modules in smart terminals, includes: Receive ranging control information (RCM) sent by the main UWB module in the gate; The ranging method for identifying the first ranging communication and the second ranging communication is based on the RCM; Perform the first ranging communication with the main UWB module in the gate; Perform the second ranging communication with the secondary UWB module in the gate; Based on the first ranging communication and the second ranging communication, a first distance with the main UWB module and a second distance with the secondary UWB module are determined; Send the first distance and the second distance to the main UWB module and / or the secondary UWB module; The RCM is used to indicate the ranging information type, ranging timing, initiator role, and initiator address of each ranging step in the first ranging communication and the second ranging communication.

16. The ultra-wideband ranging method according to claim 15, characterized in that, The RCM is used to indicate that the ranging step of the first ranging communication and / or the second ranging communication has an RCM; The ranging method for identifying the first ranging communication and the second ranging communication based on the RCM includes: The first ranging communication and / or the second ranging communication are identified as bilateral, two-way ranging methods based on the information in the RCM that indicates the RFM; or... The RCM is used to indicate that the ranging step of the first ranging communication and / or the second ranging communication has a ranging start message RIM and a ranging response message RRM, but does not have a ranging final message RFM; The ranging method for identifying the first ranging communication and the second ranging communication based on the RCM includes: The information in the RCM that indicates the RIM and the RRM identifies the first ranging communication and / or the second ranging communication as a one-sided two-way ranging method.

17. The ultra-wideband ranging method according to claim 16, characterized in that, The receiving of ranging control information (RCM) sent by the main UWB module includes: When the distance between the main UWB module and the smart terminal is less than a preset threshold, the RCM sent by the main UWB module is received. The RCM is used to indicate that the first ranging communication and / or the second ranging communication is a bilateral bidirectional ranging method; or... When the distance between the main UWB module and the smart terminal is greater than a preset threshold, the RCM sent by the main UWB module is received. The RCM is used to indicate that the first ranging communication and / or the second ranging communication is a one-sided two-way ranging method.

18. The ultra-wideband ranging method according to any one of claims 15 to 17, characterized in that, The ranging methods of the first ranging communication and the second ranging communication are the same.

19. The ultra-wideband ranging method according to claim 18, characterized in that, The execution of the first ranging communication with the main UWB module in the gate and the execution of the second ranging communication with the secondary UWB module in the gate include: Receive the first ranging information sent by the main UWB module; Receive the second ranging information sent by the secondary UWB module; The main UWB module and the secondary UWB module send response information corresponding to the first ranging information and the second ranging information.

20. The ultra-wideband ranging method according to claim 19, characterized in that, The first ranging communication and the second ranging communication are a one-sided bidirectional ranging method. The first ranging information and the second ranging information include: a ranging initiation message (RIM) and a ranging measurement report message (RMRM). The response information includes: a ranging response message (RRM) corresponding to the RIM and a ranging result report message (RRRM) corresponding to the RMRM; or, The first ranging communication and the second ranging communication are bilateral bidirectional ranging methods. The first ranging information and the second ranging information include a ranging initiation message (RIM) and a ranging final message (RFM). The response information includes a ranging response message (RRM) corresponding to the RIM and a ranging result report message (RRRM) corresponding to the RFM.

21. The ultra-wideband ranging method according to claim 20, characterized in that, The RRRM carries a first distance between the smart terminal and the main UWB module and a second distance between the smart terminal and the secondary UWB module.

22. The ultra-wideband ranging method according to any one of claims 15 to 17, characterized in that, The number of secondary UWB modules in the gate is multiple; The step of performing the second ranging communication with the secondary UWB module in the gate includes: Perform the second ranging communication with the plurality of the secondary UWB modules in the gate.

23. An ultra-wideband ranging device, characterized in that, include: A memory for storing a program, and a processor for executing the program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to execute the ultra-wideband ranging method according to any one of claims 1 to 14, or the processor is configured to execute the ultra-wideband ranging method according to any one of claims 15 to 22.

24. An ultra-wideband ranging system, characterized in that, include: A gate includes a main UWB module and a secondary UWB module, wherein the main UWB module and the secondary UWB module are used to execute the ultra-wideband ranging method according to any one of claims 1 to 14; At least one smart terminal, each of the at least one smart terminal including a UWB module, the UWB module being used to perform the ultra-wideband ranging method according to any one of claims 15 to 22.

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