Ranging method, terminal, controller, time synchronization method, and positioning method

Abstract

The present application relates to a ranging method, terminal, controller, time synchronization method, positioning method, two devices respectively transmit respective first sinusoidal wave signals to each other; respectively determine the first phase difference between the received first sinusoidal wave signal and the respective internal reference sinusoidal wave signal; respectively transmit second sinusoidal wave signals and information of the first time to each other at the respective first time; respectively determine the second phase difference between the received second sinusoidal wave signal and the respective internal reference sinusoidal wave signal; determine the second time of receiving the second sinusoidal wave signal from the other party; and determine the distance between the devices according to the difference between the respective determined second time and the first time from the other party, and synchronize the clock.

Description

Technical Field

[0001] This invention relates to a ranging method, a terminal, a controller, a time synchronization method, and a positioning method. Specifically, it relates to a pure phase measurement method based on phase change, which can obtain the phase difference and integer number of cycles without the need for additional pulse time interval measurement, thereby achieving high-precision time synchronization and high-precision ranging and positioning. Background Technology

[0002] In existing time synchronization and time difference measurements, this is usually achieved by measuring the pulse time interval. Existing terrestrial UWB (Ultra Wide Band) wireless positioning uses the time interval between beacon pulses arriving at multiple base stations to achieve positioning, which suffers from low measurement accuracy and short positioning distance.

[0003] To further improve measurement accuracy, many existing systems measure time difference by measuring the phase difference between two sinusoidal signals. However, the measurement of sinusoidal phase difference can only measure the time difference within one cycle, not the time difference across multiple cycles. Therefore, there is a problem of resolving ambiguity related to the number of cycles. Common methods for resolving ambiguity include the impulse method and the method combining historical data analysis.

[0004] A more effective and direct method for resolving whole-cycle ambiguity is the pulse method. This requires additional hardware and software for pulse signal measurement and processing in addition to phase measurement, and the pulse time interval measurement accuracy must be better than half a cycle. This requires a steep rise edge of the pulse, thus requiring a large signal strength, which limits the distance between the signal source and the receiver.

[0005] The historical data analysis method typically works when there is no pulse signal or the pulse signal measurement accuracy is insufficient. By combining previous measurement data analysis and other constraints, unlikely scenarios are eliminated, thus yielding a possible estimate of the number of cycles. Therefore, this method suffers from problems such as computational complexity and difficulty in obtaining the true value of the total number of cycles.

[0006] Therefore, there is a need for a simple and highly accurate ranging method, positioning method, and device. Summary of the Invention

[0007] Technical issues

[0008] The purpose of this invention is to provide a ranging method, a terminal, a controller, a time synchronization method, and a positioning method that can perform accurate ranging, positioning, and time synchronization by measuring the phase change of a sinusoidal signal without the need for additional pulse time interval measurements.

[0009] Technical solution

[0010] As one embodiment of the present invention, a ranging method is provided, which may include the following steps: Step 1, a first device and a second device respectively transmit their respective first sine wave signals to each other, wherein the respective first sine wave signals transmitted by the first device and the second device are synchronized with their respective internal reference sine wave signals; Step 2, the first device and the second device respectively receive the first sine wave signals from each other, and determine a first phase difference between the first sine wave signals received by the first device and the first sine wave signals received by the second device and their respective internal reference sine wave signals; Step 3, the first device and the second device respectively transmit their respective second sine wave signals with angular frequencies different from their respective first sine wave signals and information of the first moment to each other at their respective first moments; Step 4, the first device and the second device respectively receive the second sine wave signals from each other and... The information at the first moment is used to determine the second phase difference between the second sine wave signals received by the first device and the second device and their respective internal reference sine wave signals; step 5, based on the first phase difference and the second phase difference determined by the first device, the second moment when the first device receives the second sine wave signal from the second device is determined, and based on the first phase difference and the second phase difference determined by the second device, the second moment when the second device receives the second sine wave signal from the first device is determined; and step 6, the difference between the second moment determined by the first device and the first moment transmitted by the second device and the difference between the second moment determined by the second device and the first moment transmitted by the first device are added together and divided by 2 to obtain the corrected signal transmission time between the first device and the second device, thereby determining the distance between the first device and the second device.

[0011] In some embodiments, the angular frequencies of the internal reference sine wave signals of the first device and the second device may be the same, and the angular frequencies of the second sine wave signals emitted by the first device and the second device may be different from the angular frequencies of their respective internal reference sine wave signals.

[0012] In some embodiments, in step 4, at at least one third moment for each of the first device and the second device, a second phase difference between the second sine wave signal received by each of the first device and the second device and the internal reference sine wave signal of each of the first device and the second device is measured. In step 5, a second moment for each of the first device and the second device is determined based on the first phase difference for each of the first device and the second device, the angular frequency difference between the angular frequency of the second sine wave signal received from the other and the angular frequency of the second sine wave signal, and the second phase difference measured at at least one third moment.

[0013] In some embodiments, in step 6, the propagation speed of the first sinusoidal signal emitted by the first device or the second device is multiplied by the signal transmission time to determine the distance between the first device and the second device.

[0014] In some embodiments, in step 2, the first phase difference determined by the first device and the first phase difference determined by the second device are added together and then divided by 2 to obtain the corrected first phase difference; in step 6, the integer part of the value obtained by dividing the transmission time by the period of the first sine wave signal emitted by the first device or the second device is determined as the number of integer cycles of the first sine wave signal propagating between the first device and the second device, and the distance between the first device and the second device is determined based on the number of integer cycles and the corrected first phase difference.

[0015] As one embodiment of the present invention, a terminal is provided, which may include: a transceiver for transmitting and receiving a first sine wave signal and a second sine wave signal; and a controller communicatively connected to the transceiver, wherein the controller is configured to: cause the transceiver to transmit the first sine wave signal of the terminal synchronized with the internal reference sine wave signal of the terminal to another terminal; cause the transceiver to receive the first sine wave signal from the other terminal, and determine a first phase difference between the first sine wave signal received by the transceiver and the internal reference sine wave signal of the terminal, wherein the first sine wave signal of the other terminal and the internal reference sine wave signal of the other terminal are synchronized with the internal reference sine wave signal of the terminal. The terminal synchronizes its internal reference sine wave signal; the transceiver transmits a second sine wave signal with an angular frequency different from the first sine wave signal and information from the first moment to the other terminal at a first moment; the transceiver receives the second sine wave signal and information from the other terminal, and determines a second phase difference between the second sine wave signal received by the terminal and the terminal's internal reference sine wave signal; based on the first and second phase differences determined by the terminal, the transceiver determines a second moment when it receives the second sine wave signal from the other terminal; the terminal receives the second moment from the other terminal and synchronizes it with the first moment... The time difference information is obtained by adding the difference between the second time determined by the terminal and the first time transmitted by the other terminal, and the difference between the second time and the first time from the other terminal, and then dividing by 2 to obtain the corrected signal transmission time between the terminal and the other terminal, thereby determining the distance between the terminal and the other terminal. The information regarding the difference between the second time and the first time from the other terminal is determined as follows: the other terminal transmits a first sine wave signal synchronized with its internal reference sine wave signal to the terminal; the other terminal receives the first sine wave signal from the terminal and determines the distance between them. A first phase difference exists between a first sine wave signal received by another terminal and an internal reference sine wave signal of the other terminal; the other terminal transmits a second sine wave signal with an angular frequency different from the first sine wave signal and information about the first moment to the other terminal at a first moment; the other terminal receives the second sine wave signal and the information about the first moment from the other terminal, and determines a second phase difference between the second sine wave signal received by the other terminal and the internal reference sine wave signal of the other terminal; based on the first phase difference and the second phase difference determined by the other terminal, a second moment when the other terminal receives the second sine wave signal from the other terminal is determined.

[0016] As one embodiment of the present invention, a controller is provided, the controller being configured to: cause a first terminal and a second terminal to respectively transmit their respective first sine wave signals to each other, wherein the respective first sine wave signals transmitted by the first terminal and the second terminal are synchronized with their respective internal reference sine wave signals; cause the first terminal and the second terminal to respectively receive the first sine wave signals from each other, and determine a first phase difference between the first sine wave signals received by the first terminal and the second terminal and their respective internal reference sine wave signals; cause the first terminal and the second terminal to respectively transmit their respective second sine wave signals with angular frequencies different from their respective first sine wave signals and information of the first time to each other at their respective first moments; cause the first terminal and the second terminal to respectively receive the second sine wave signals from each other and the information of the first moment. The system obtains information and determines the second phase difference between the second sine wave signals received by the first terminal and the second terminal and their respective internal reference sine wave signals; based on the first phase difference and the second phase difference determined by the first terminal, it determines the second time when the first terminal receives the second sine wave signal from the second terminal; based on the first phase difference and the second phase difference determined by the second terminal, it determines the second time when the second terminal receives the second sine wave signal from the first terminal; and by adding the difference between the second time determined by the first terminal and the first time transmitted by the second terminal and the difference between the second time determined by the second terminal and the first time transmitted by the first terminal, and dividing by 2, it obtains the corrected signal transmission time between the first terminal and the second terminal, thereby determining the distance between the first terminal and the second terminal.

[0017] As another embodiment of the present invention, a time synchronization method is provided, comprising: step 1, a first device and a second device respectively transmitting their respective first sine wave signals to each other, wherein the respective first sine wave signals transmitted by the first device and the second device are synchronized with their respective internal reference sine wave signals; step 2, the first device and the second device respectively receiving the first sine wave signals from each other, and determining a first phase difference between the first sine wave signals received by the first device and the second device and their respective internal reference sine wave signals; step 3, the first device and the second device respectively transmitting their respective second sine wave signals with angular frequencies different from their respective first sine wave signals and information of the first time to each other at their respective first moments; step 4, the first device and the second device respectively receiving the first sine wave signals from each other at their respective first moments. The system uses two sine wave signals and information from a first moment to determine a second phase difference between the second sine wave signals received by the first and second devices and their respective internal reference sine wave signals. Step 5 involves determining the second moment when the first device receives the second sine wave signal from the second device based on the first and second phase differences determined by the first device, and the second moment when the second device receives the second sine wave signal from the first device based on the first and second phase differences determined by the second device. Step 6 involves adjusting the clocks of the first or second device so that the difference between the second moment determined by the first device and the first moment transmitted by the second device is equal to the difference between the second moment determined by the second device and the first moment transmitted by the first device, thereby synchronizing the clocks of the first and second devices.

[0018] As another embodiment of the present invention, a positioning method is provided, which may include the following steps: Step 1, a first device transmits a first sine wave signal to a second device, a third device, a fourth device, and a fifth device, wherein the internal reference sine wave signals and their respective clocks of the second, third, fourth, and fifth devices have been pre-synchronized; Step 2, the second, third, fourth, and fifth devices receive the first sine wave signal and determine a first phase difference between the first sine wave signal received by the second, third, fourth, and fifth devices and their respective internal reference sine wave signals; Step 3, the first device transmits a signal with an angular frequency different from the first sine wave signal to the second, third, fourth, and fifth devices. The second sine wave signal; Step IV, the second device, the third device, the fourth device and the fifth device respectively receive the second sine wave signal from the first device, and determine the second phase difference between the second sine wave signal received by the second device, the third device, the fourth device and the fifth device and their respective internal reference sine wave signals; Step V, based on the second phase difference and the first phase difference determined by the second device, the third device, the fourth device and the fifth device, determine the reception time of the second sine wave signal received by the second device, the third device, the fourth device and the fifth device from the first device; and Step VI, based on the positions of the second device, the third device, the fourth device and the fifth device and the reception time, determine the position of the first device.

[0019] Beneficial effects

[0020] One embodiment of the present invention provides a ranging method, terminal, controller, and positioning method that can perform accurate positioning by measuring the phase change of a sinusoidal signal without requiring additional pulse time interval measurements. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a ranging method according to one embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram illustrating a first device and a second device in a ranging method according to an embodiment of the present invention.

[0023] Figure 3 This is a graph showing the phase difference determined by the second device according to one embodiment of the present invention as a function of time.

[0024] Figure 4 This is a schematic diagram illustrating one embodiment of the present invention and another terminal.

[0025] Figure 5 This is a schematic diagram illustrating a positioning method according to another embodiment of the present invention.

[0026] Figure Labels

[0027] 11: First device;

[0028] 12: Second device;

[0029] 21: Terminal;

[0030] 211: Signal transceiver;

[0031] 212: Controller;

[0032] 22: Another terminal;

[0033] 31: First equipment;

[0034] 32: Second equipment;

[0035] 33: Third equipment;

[0036] 34: The fourth piece of equipment;

[0037] 35: The fifth piece of equipment. Detailed Implementation

[0038] The following describes one or more embodiments of the present invention in detail with reference to the accompanying drawings. Obviously, these embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0039] The terminology used in the following embodiments is for illustrative or explanatory purposes only and is not intended to limit the scope of protection of the present invention. Furthermore, the singular expressions used in this invention, such as "a," "an," "the," "the," "the," and "this," are intended to include plural forms such as "one or more," unless the context clearly indicates otherwise. It should also be understood that, in embodiments of the present invention, the use of terms such as "one or more," "at least one," and "more than one" is intended to include cases of one, two, and at least three.

[0040] Furthermore, when the terms "in one embodiment," "in some embodiments," or "in one or more embodiments" are used in the description of this invention, it is intended that one or more embodiments of the invention may include specific technical features described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," and "in one or more embodiments" appearing in different parts of this specification do not necessarily refer to the same embodiment, but may refer to both the same embodiment and different embodiments, unless the specific technical features described in those embodiments cannot be used alone or in combination.

[0041] Furthermore, in this invention, when an element is described as "comprising," "containing," or "having" another element, it is intended to be an open-ended definition, meaning that the element may include other elements besides the other element. Conversely, when an element is described as "comprising only," "containing only," "having only," or "consisting of another element," it is intended to be a closed-ended definition, meaning that the element does not include other elements besides the other element. However, it should be noted that when the term "formed by another element" is used to describe the formation relationship between multiple elements, this term is not intended to be a closed-ended definition; it should be considered that the other element forms part of the first element, and the first element may include other elements besides the other element.

[0042] It should be understood that when sequential terms such as "first" and "second" are used in this document to describe various elements, these sequential terms are only used to distinguish one element from another, and should not be interpreted as indicating a primary or secondary relationship, or a sequential relationship. Without departing from the scope of this invention, a first element may be labeled as a second element, and a second element may be labeled as a first element.

[0043] In this invention, when describing the positional relationship between two or more elements, if terms such as "above", "below", or "between" are used, it indicates that one or more other elements may be set between the two or more elements, unless terms such as "exactly" or "adjacent" are used.

[0044] Hereinafter, one or more embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can clearly and completely understand the present invention. When the description of well-known structures or features would unnecessarily obscure the main points of the present invention, the description of such well-known structures or features will be omitted.

[0045] Additionally, in the following description, an internal reference sine wave signal refers to a signal that has the same angular frequency as and is synchronized with a first sine wave signal emitted by a device. A "device clock" refers to the clock used by the device to measure time. A specific moment in a device refers to a moment measured or quantified using the device's clock. For example, a first moment in a first device refers to a first moment measured using the first device's clock, a first moment in a second device refers to a first moment measured using the second device's clock, a second moment in a first device refers to a second moment quantified using the first device's clock, and a second moment in a second device refers to a second moment quantified using the second device's clock.

[0046] Furthermore, for ease of discussion below, it is agreed that the signal transmission and reception times are the times after deducting the effects of transmission and reception delays. It should be understood that in actual measurements, those skilled in the art need to consider transmission and reception delays, which is well known to them and will not be explained here.

[0047] Figure 1 This is a flowchart illustrating a ranging method according to one embodiment of the present invention. Figure 2 This is a schematic diagram illustrating a first device and a second device in a ranging method according to an embodiment of the present invention.

[0048] According to one embodiment of the present invention, a ranging method is provided, which may include the following steps: Step 1, a first device 11 and a second device 12 respectively transmit their respective first sine wave signals to each other, wherein the respective first sine wave signals transmitted by the first device 11 and the second device 12 are synchronized with their respective internal reference sine wave signals; Step 2, the first device 11 and the second device 12 respectively receive the first sine wave signals from each other, and determine a first phase difference between the first sine wave signals received by the first device 11 and the second device 12 and their respective internal reference sine wave signals; Step 3, the first device 11 and the second device 12 respectively transmit their respective second sine wave signals with angular frequencies different from their respective first sine wave signals and information of the first time to each other at their respective first moments; Step 4, the first device 11 and the second device 12 respectively receive the second sine wave signals from each other. The system firstly obtains information about the signal and the first moment, and determines the second phase difference between the second sinusoidal signals received by the first device 11 and the second device 12 and their respective internal reference sinusoidal signals; step 5, based on the first and second phase differences determined by the first device 11, determines the second moment when the first device 11 receives the second sinusoidal signal from the second device 12, and based on the first and second phase differences determined by the second device 12, determines the second moment when the second device 12 receives the second sinusoidal signal from the first device 11; and step 6, adds the difference between the second moment determined by the first device 11 and the first moment emitted by the second device 12, and the difference between the second moment determined by the second device 12 and the first moment emitted by the first device 11, and divides by 2 to obtain the corrected signal transmission time between the first device 11 and the second device 12, thereby determining the distance between the first device 11 and the second device 12. Thus, by measuring only the phase change of the sinusoidal signal without additional pulse time interval measurement, the signal transmission time of the second sinusoidal signal propagating between the two devices can be determined, thereby enabling accurate measurement of the distance between the first device 11 and the second device 12. Furthermore, since the internal reference sine wave signals (i.e., internal clocks) of the first device 11 and the second device 12 may be synchronized or asynchronous, after determining the difference between the second time measured by the internal clocks of the two devices and the first time informed by the other device by transmitting the first sine wave signal and the second sine wave signal to each other between the two devices, the difference between the two second times and the first time is added together and divided by 2 to eliminate the measurement error caused by the clock asynchrony between the two devices, thereby obtaining an accurate signal transmission time.

[0049] In one implementation, the angular frequencies of the internal reference sine wave signals of the first device 11 and the second device 12 can be the same. In this case, since the first sine wave signals emitted by the first device 11 and the second device 12 are synchronized with their respective internal reference sine wave signals, the first sine wave signals emitted by the first device 11 and the second device 12 are identical to their respective internal reference sine wave signals. Therefore, in step 2, the first phase difference between the first sine wave signals received by the first device 11 and the second device 12 and their respective internal reference sine wave signals is a value that does not change with time. Alternatively, in another implementation, the angular frequencies of the second sine wave signals emitted by the first device 11 and the second device 12 can be different from the angular frequencies of their respective internal reference sine wave signals. For example, there may be a predetermined angular frequency difference between the angular frequencies of the second sine wave signals emitted by the first device 11 and the second device 12 and their respective internal reference sine wave signals. Therefore, in step 4, the second phase difference between the second sine wave signals received by the first device 11 and the second device 12 and their respective internal reference sine wave signals changes with the aforementioned angular frequency difference as the slope, starting from the second sine wave signals received by the first device 11 and the second device 12 from each other.

[0050] As a specific example, the process of determining the second moment of the second device 12 (i.e., the second moment based on the internal clock of the second device 12) will be described in detail below, taking the case of the first sine wave signal and the second sine wave signal sent by the first device 11 to the second device 12 as an example.

[0051] When the first device 11 transmits a sine wave signal to the second device 12, firstly, the first device 11 can transmit a first sine wave signal as shown in mathematical formula 1 to the second device 12, and the second device 12 receives the first sine wave signal from the first device 11 as shown in mathematical formula 2; the first device 11 can transmit a second sine wave signal as shown in mathematical formula 3 to the second device 12, and the second device 12 receives the second sine wave signal from the first device 11 as shown in mathematical formula 4.

[0052] Mathematical formula 1:

[0053] P 11 =Acos(ωt)

[0054] Among them, P 11 Let A be the amplitude of the first sine wave signal emitted by the first device 11, ω be the angular frequency of the first sine wave signal emitted by the first device 11, and t be the time based on the internal clock of the first device 11.

[0055] Mathematical formula 2:

[0056] P 12 =Bcos(ωt+Φ1)

[0057] Among them, P 12 Let B be the first sine wave signal received by the second device 12 from the first device 11, let ω be the amplitude of the first sine wave signal received by the second device 12 from the first device 11, let t be the internal clock time of the second device 12, and let Φ1 be the first phase difference between the first sine wave signal received by the second device 12 from the first device 11 and the internal reference sine wave signal of the second device 12 (Φ1 only includes the phase difference within one period, and does not include the phase difference corresponding to an integer multiple of the period of the first sine wave signal from the first device 11).

[0058] Mathematical formula 3:

[0059] P 21 =A'cos(ωt+Δω(t-t1))

[0060] Among them, P 21 Let A' be the amplitude of the second sine wave signal emitted by the first device 11, ω be the angular frequency of the second sine wave signal emitted by the first device 11, Δω be the angular frequency difference between the angular frequency of the second sine wave signal emitted by the first device 11 and the angular frequency of the first sine wave signal emitted by the first device 11, t be the time based on the internal clock of the first device 11, and t1 be the first moment of the first device 11.

[0061] Mathematical formula 4:

[0062] P 22 =B'cos(ωt+Φ2)=B'cos(ωt+Δω(t-t2)+Φ1)

[0063] Among them, P 22Let B' be the second sinusoidal signal received by the second device 12 from the first device 11, B' be the amplitude of the second sinusoidal signal received by the second device 12 from the first device 11, ω be the angular frequency of the second sinusoidal signal received by the second device 12 from the first device 11, Δω be the angular frequency difference between the angular frequency of the second sinusoidal signal received by the second device 12 from the first device 11 and the angular frequency of the first sinusoidal signal received by the second device 12 from the first device 11, and t be the time based on the internal clock of the second device 12. t2 is the second time of the second device 12 based on the internal clock of the second device 12, Φ1 is the first phase difference between the first sine wave signal received by the second device 12 from the first device 11 and the internal reference sine wave signal of the second device 12, and Φ2 is the second phase difference between the second sine wave signal received by the second device 12 from the first device 11 and the internal reference sine wave signal of the second device 12 (Φ1 only includes the phase difference within one period, and does not include the phase difference corresponding to an integer multiple of the period of the first sine wave signal from the first device 11).

[0064] Figure 3 This is a graph showing the phase difference determined by the second device according to one embodiment of the present invention as a function of time.

[0065] exist Figure 3 In the diagram, the horizontal axis represents the time t based on the internal clock of the second device 12, and the vertical axis represents the phase difference Φ between the sine wave signal (including the first sine wave signal and the second sine wave signal) received by the second device 12 from the first device 11 and the internal reference sine wave signal of the second device 12. t = 0 indicates the moment when the first device 11 starts transmitting the first sine wave signal based on the internal clock of the second device 12, t0 indicates the moment when the second device 12 starts receiving the first sine wave signal based on the internal clock of the second device 12, t1 indicates the first moment of the first device 11 based on the internal clock of the second device 12, t2 indicates the second moment of the second device 12 based on the internal clock of the second device 12, t3 indicates the third moment described later, Φ1 indicates the first phase difference determined by the second device 12, Φ2 indicates the second phase difference determined by the second device 12, and Φ3 indicates the instantaneous value of the second phase difference determined by the second device 12 measured at the third moment based on the internal clock of the second device 12.

[0066] Reference Figure 3 In conjunction with the above, the phase difference Φ between the sinusoidal signal (i.e., the first sinusoidal signal and the second sinusoidal signal) received by the second device 12 from the first device 11 and the internal reference sinusoidal signal of the second device 12 can be expressed by mathematical formula 5.

[0067] Mathematical formula 5:

[0068]

[0069] Wherein, Φ is the phase difference between the sinusoidal signal (including the first sinusoidal signal and the second sinusoidal signal) received by the second device 12 from the first device 11 and the internal reference sinusoidal signal of the second device 12; Δω is the angular frequency difference between the second sinusoidal signal received by the second device 12 from the first device 11 and the first sinusoidal signal received by the second device 12 from the first device 11; t is the time based on the internal clock of the second device 12; t0 is the moment when the second device 12 starts receiving the first sinusoidal signal based on the internal clock of the second device 12; t2 is the second moment of the second device 12 based on the internal clock of the second device 12; Φ1 is the first phase difference between the first sinusoidal signal received by the second device 12 from the first device 11 and the internal reference sinusoidal signal of the second device 12; and Φ2 is the second phase difference between the second sinusoidal signal received by the second device 12 from the first device 11 and the internal reference sinusoidal signal of the second device 12.

[0070] The following is a detailed explanation of the calculation process of the second moment of the second device 12 as a specific example. Therefore, in the calculation process of the second moment of the second device 12, the time is based on the time of the internal clock of the second device 12, and the phase difference is the phase difference between the sine wave signal received by the second device 12 from the first device 11 and the internal reference sine wave signal of the second device 12.

[0071] In step 4, at least at a third time t3, the second phase difference Φ3 = Φ2(t3) between the second sinusoidal signal received by the second device 12 from the first device 11 and the internal reference sinusoidal signal of the second device 12 can be measured. At this time, the third time t3 is the measurement time of the second sinusoid after the second time t2. Thus, the second time t2 can be accurately calculated by measuring more than one instantaneous value Φ3 of the second phase difference Φ2, which changes with time from the first phase difference Φ1 starting from the second time t2, at at least at a third time t3. Specifically, in this particular example, in step 5, the second time t2 = t3 - (Φ3 - Φ1) / Δω is determined based on the first phase difference Φ1, the angular frequency difference Δω between the angular frequency of the second sinusoidal signal emitted by the first device 11 and the angular frequency of the first sinusoidal signal emitted by the first device 11, and the instantaneous value Φ3 of the second phase difference Φ2 measured at the third time t3. When determining the second time by measurement at a third time t3, the angular frequency difference Δω needs to be known in advance. Furthermore, when the second phase difference Φ3 = Φ2(t3) is measured at two or more third moments t3, by measuring the instantaneous value Φ3 of the second phase difference Φ2, which changes with time from the first phase difference Φ1 starting from the second moment t2, at least two third moments t3, the second moment t2 and the angular frequency difference Δω can be accurately calculated. Figure 3 The slope of the middle slope). In other words, when measuring the second phase difference Φ2 at multiple third times t3, compared to measuring the second phase difference Φ2 at a single third time t3, it is not necessary to know the angular frequency difference Δω beforehand to determine the angular frequency difference Δω. Figure 3 (The slope of the middle slope), and can more accurately determine the second time t2.

[0072] The process of determining the second time point based on the internal clock of the second device 12, i.e., the second time point of the second device 12, has been described above. The process of determining the second time point of the first device 11 (i.e., the second time point based on the internal clock of the first device 11) based on the first and second sine wave signals sent by the second device 12 to the first device 11 can also be determined in the same way; therefore, a detailed description is omitted here. Having determined the second times points of both the first device 11 and the second device 12, the signal transmission time between the first device 11 and the second device 12 will next be determined based on their respective first and second times.

[0073] Specifically, since the internal clocks of the first device 11 and the second device 12 are not synchronized, there may be a time difference. At this time, the relationship between the first moment of the first device 11 and the second moment of the second device 12 is as shown in mathematical formula 6, and the relationship between the first moment of the second device 12 and the second moment of the first device 11 is as shown in mathematical formula 7.

[0074] Mathematical formula 6:

[0075] t a1 +Δt+Δt'=t b2

[0076] Among them, t a1 Let Δt be the first moment of the first device 11, Δt be the signal transmission time between the first device 11 and the second device 12, and Δt' be the time difference between the internal clock of the second device 12 and the internal clock of the first device 11. b2 This is the second moment of the second device 12.

[0077] Mathematical expression 7:

[0078] t b1 +Δt-Δt'=t a2

[0079] Among them, t b1 Let Δt be the first moment of the second device 12, Δt be the signal transmission time between the first device 11 and the second device 12, and Δt' be the time difference between the internal clock of the second device 12 and the internal clock of the first device 11. a2 This is the second moment of the first device 11.

[0080] Based on the determined first and second times of the first device 11 and the second device 12, the signal transmission time Δt between the first device 11 and the second device 12, and the time difference Δt' between the internal clock of the second device 12 and the internal clock of the first device 11, can be calculated using mathematical formulas 6 and 7. Specifically, according to step 6, the difference between the second time determined by the first device 11 and the first time transmitted by the second device 12, and the difference between the second time determined by the second device 12 and the first time transmitted by the first device 11, are added together and divided by 2 to obtain the corrected signal transmission time Δt between the first device 11 and the second device 12. Furthermore, the difference between the second time determined by the second device 12 and the second time determined by the first device 11, and the difference between the first time transmitted by the second device 12 and the first time transmitted by the first device 11, are added together and divided by 2 to obtain the time difference Δt' between the internal clocks of the second device 12 and the first device 11. Therefore, in addition to being able to measure the distance between the first device 11 and the second device 12, by adjusting the clocks of the first device 11 or the second device 12 so that the difference between the second time determined by the first device 11 and the first time transmitted by the second device 12 is equal to the difference between the second time determined by the second device 12 and the first time transmitted by the first device 11, the clocks of the first device 11 and the second device 12 can be synchronized.

[0081] Next, the distance between the first device 11 and the second device 12 is determined based on the determined signal transmission time Δt. As one implementation, in step 6, the propagation speed of the first sinusoidal signal emitted by the first device 11 or the second device 12 can be multiplied by the signal transmission time to determine the distance between the first device 11 and the second device 12. That is, the speed of light is multiplied by the corrected signal transmission time between the first device 11 and the second device 12 to determine the distance between them.

[0082] As another implementation, the distance between the first device 11 and the second device 12 can be determined based on the precise number of integer cycles and phase difference of the first sinusoidal signal emitted by the first device 11 or the second device 12 propagating between the first device 11 and the second device 12.

[0083] Specifically, in step 2, the first phase difference determined by the first device 11 and the first phase difference determined by the second device 12 can be added together and then divided by 2 to obtain the corrected first phase difference.

[0084] More specifically, there may be an inherent deviation Φ' between the internal reference sine wave signals of the first device 11 and the second device 12. In this case, the relationship between the first phase difference between the first sine wave signal emitted by the first device 11 and the internal reference sine wave signal of the first device 11 and the first phase difference between the first sine wave signal received by the second device 12 from the first device 11 and the internal reference sine wave signal of the second device 12 is shown in Equation 8. The relationship between the first phase difference between the first sine wave signal emitted by the second device 12 and the internal reference sine wave signal of the second device 12 and the first phase difference between the first sine wave signal received by the first device 11 from the second device 12 and the internal reference sine wave signal of the first device 11 is shown in Equation 9.

[0085] Mathematical formula 8:

[0086] Φ A1 +Φ T +Φ'=Φ A2

[0087] Where, Φ A1 Φ is the phase difference between the first sinusoidal signal emitted by the first device 11 and the internal reference sinusoidal signal of the first device 11. T Φ' is the phase difference generated by the transmission of the signal between the first device 11 and the second device 12, and Φ' is the inherent deviation between the internal reference sine wave signals of the first device 11 and the second device 12. A2 The first phase difference is the first sine wave signal received by the second device 12 from the first device 11 and the internal reference sine wave signal of the second device 12.

[0088] Mathematical expression 9:

[0089] Φ B1 +Φ T -Φ'=Φ B2

[0090] Where, Φ B1 Φ is the phase difference between the first sinusoidal signal emitted by the second device 12 and the internal reference sinusoidal signal of the second device 12. T Φ' is the phase difference generated by the transmission of the signal between the first device 11 and the second device 12, and Φ' is the inherent deviation between the internal reference sine wave signals of the first device 11 and the second device 12. B2 The first phase difference is the first sine wave signal received by the first device 11 from the second device 12 and the internal reference sine wave signal of the first device 11.

[0091] As described above, the first sinusoidal wave signals emitted by the first device 11 and the second device 12 are synchronized with their respective internal reference sinusoidal wave signals. Therefore, the phase difference Φ between the first sinusoidal wave signal emitted by the first device 11 and the internal reference sinusoidal wave signal of the first device 11 is... A1 The phase difference Φ between the first sinusoidal signal emitted by the second device 12 and the internal reference sinusoidal signal of the second device 12 B1 All are zero. Then, the first phase difference Φ between the first sinusoidal signal received by the second device 12 from the first device 11 and the internal reference sinusoidal signal of the second device 12, determined according to the method described above, is... A2 The first phase difference Φ between the first sinusoidal signal received by the first device 11 from the second device 12 and the internal reference sinusoidal signal of the first device 11 B2 By using mathematical formulas 8 and 9, the phase difference Φ generated by the signal transmission between the first device 11 and the second device 12 can be determined. T (That is, the corrected first phase difference) and the inherent deviation Φ' between the internal reference sine wave signals of the first device 11 and the second device 12, respectively. In other words, the corrected first phase difference Φ can be obtained by adding the first phase difference determined by the first device 11 and the first phase difference determined by the second device 12 and dividing by 2. T .

[0092] Next, in step 6, the integer part of the value obtained by dividing the signal transmission time by the period of the first sine wave signal emitted by the first device 11 or the second device 12 can be determined as the number of whole cycles of the first sine wave signal propagating between the first device 11 and the second device 12, and the distance between the first device 11 and the second device 12 can be determined based on the number of whole cycles and the corrected first phase difference.

[0093] Specifically, the number of integer cycles N0 is calculated using mathematical formula 10 or mathematical formula 11. This allows for the accurate determination of the number of integer cycles N0.

[0094] Mathematical formula 10:

[0095]

[0096] Where N0 is the number of integer cycles, c is the speed of light, Δt is the signal transmission time, λ is the wavelength of the first sinusoidal signal emitted by the first device 11 or the second device 12, and [] represents the rounding function.

[0097] Mathematical formula 11:

[0098]

[0099] Where N0 is the number of integer cycles, Δt is the signal transmission time, T is the period of the first sine wave signal emitted by the first device 11 or the second device 12, and [] represents the rounding function.

[0100] Finally, based on the integer number N0 determined as described above and the corrected first phase difference Φ... T The distance L between the first device 11 and the second device 12 is calculated using mathematical formula 12.

[0101] Mathematical formula 12:

[0102]

[0103] Where L is the distance between the first device 11 and the second device 12, N0 is the number of integer cycles, and Φ T This is the first phase difference after correction.

[0104] Therefore, in this embodiment, the true value of the whole cycle of the first sinusoidal signal propagating between the first device 11 and the second device 12 can be determined simply by measuring the phase change of the sinusoidal signal without the need for additional pulse time interval measurement, thereby enabling accurate measurement of the distance between the first device 11 and the second device 12 (i.e., one-dimensional positioning).

[0105] Based on this, in this embodiment, multiple (e.g., three or more) first or second devices can be used to accurately locate other devices using triangulation (i.e., three-dimensional positioning). Detailed description of this positioning process is omitted here.

[0106] In related technical fields, there exists a method for determining the distance between two devices and the receiving end using the following approach. In this method, the transmitting end transmits a sinusoidal signal with wavelength λ1 to the reflecting end (immediately after receiving the signal, a signal of the same frequency is transmitted, with the receiving and transmitting delays pre-determined). The sinusoidal signal is reflected at the reflecting end and returns to the transmitting end. The transmitting end receives the reflected sinusoidal signal. The number of integer cycles the sinusoidal signal takes from the transmitting end to the reflecting end is denoted as N1, and the phase of the reflected wave received by the transmitting end is denoted as Φ1. Then, the transmitting end changes the frequency of the transmitted sinusoidal signal, for example, by increasing the frequency, until the phase difference between the phase of the reflected wave received by the transmitting end and the initial reflected wave signal is 2π. The wavelength of the sinusoidal signal transmitted by the transmitting end at this point is denoted as λ2, and the phase of the reflected wave received by the transmitting end is Φ2 = Φ1 + 2π. Since the initially transmitted sinusoidal signal and the frequency-converted sinusoidal signal travel the same distance, we have: 2N1×λ1+Φ1×λ1 / π=2N1×λ2+Φ2×λ2 / π. Therefore, N1=λ2 / (λ1-λ2)-Φ1 / 2π. This allows us to determine the number of integer cycles the sinusoidal signal travels from the transmitting end to the reflecting end, and thus the distance between the transmitting end and the reflecting end. However, this method requires determining the frequencies of two signals with a cycle number difference of 1 to calculate the total number of cycles. To determine the frequencies of two signals with a cycle number difference of 1, the frequencies can only be gradually increased or decreased, which has drawbacks such as long trial time, close coordination between the transmitting and reflecting ends, and high frequency resolution when the number of cycles is large. In contrast, the ranging method described above uses the instant of frequency switching (i.e., the moment when the second sine wave signal first arrives at the second or first device) as the marker for the second moment to determine the accurate second moment. The magnitude of the frequency conversion is not particularly strict, only that it is suitable for phase demodulation within a certain range. Therefore, the coordination between the first and second devices is not required, and the cycle number calculation time is short.

[0107] Figure 4 This is a schematic diagram illustrating one embodiment of the present invention and another terminal.

[0108] The following is for reference Figure 4 The following describes in detail a terminal 21 utilizing the above-described ranging method according to one embodiment of the present invention. The terminal 21 may include: a transceiver 211 for transmitting and receiving a first sine wave signal and a second sine wave signal; and a controller 212 communicatively connected to the transceiver 211.

[0109] The controller 212 is configured to: transmit a first sine wave signal from terminal 21 synchronized with its internal reference sine wave signal to another terminal 22 via transceiver 211; receive the first sine wave signal from the other terminal 22 via transceiver 211 and determine a first phase difference between the first sine wave signal received by transceiver 211 and the internal reference sine wave signal of terminal 21, wherein the first sine wave signal of the other terminal 22 is synchronized with its internal reference sine wave signal; transmit a second sine wave signal with an angular frequency different from the first sine wave signal and information of the first moment from terminal 21 to the other terminal 22 at a first moment; and receive the first sine wave signal from the other terminal 22 via transceiver 211. The system uses the information of the second sine wave signal and the first moment to determine the second phase difference between the second sine wave signal received by terminal 21 and the internal reference sine wave signal of terminal 21. Based on the first and second phase differences determined by terminal 21, it determines the second moment when the transceiver 21 receives the second sine wave signal from another terminal 22. It then enables terminal 21 to receive the information of the difference between the second moment and the first moment from another terminal 22. The system adds the difference between the second moment of terminal 21 and the first moment transmitted by another terminal 22, as determined by terminal 21, to the difference between the second moment of another terminal 22 and the first moment from another terminal 22, and divides the sum by 2 to obtain the corrected signal transmission time between terminal 21 and another terminal 22, thereby determining the distance between terminal 21 and another terminal 22.

[0110] On the other hand, the information regarding the difference between the second time and the first time from the other terminal 22 is determined as follows: the other terminal 22 transmits a first sine wave signal synchronized with the internal reference sine wave signal of the other terminal 22 to the terminal 21; the other terminal 22 receives the first sine wave signal from the terminal 21 and determines a first phase difference between the first sine wave signal received by the other terminal 22 and the internal reference sine wave signal of the other terminal 22; the other terminal 22 transmits a second sine wave signal with an angular frequency different from the first sine wave signal and the information of the first time to the terminal 21 at the first time of the other terminal 22; the other terminal 22 receives the second sine wave signal and the information of the first time from the terminal 21 and determines a second phase difference between the second sine wave signal received by the other terminal 22 and the internal reference sine wave signal of the other terminal 22; based on the first phase difference and the second phase difference determined by the other terminal 22, the second time at which the other terminal 22 receives the second sine wave signal from the terminal 21 is determined.

[0111] More specific operation of the terminal according to one embodiment of the present invention can be found in the distance measurement method of one embodiment of the present invention described above, and will not be repeated here. Thus, the distance between the first terminal and the second terminal can be accurately measured.

[0112] Hereinafter, a controller utilizing the above-described ranging method according to one embodiment of the present invention will be described in detail.

[0113] In one embodiment of the present invention, the controller can be configured to: cause a first terminal and a second terminal to respectively transmit their respective first sine wave signals to each other, wherein the respective first sine wave signals transmitted by the first terminal and the second terminal are synchronized with their respective internal reference sine wave signals; cause the first terminal and the second terminal to respectively receive the first sine wave signals from each other, and determine a first phase difference between the first sine wave signals received by the first terminal and the second terminal and their respective internal reference sine wave signals; cause the first terminal and the second terminal to respectively transmit their respective second sine wave signals with angular frequencies different from their respective first sine wave signals and information of the first time to each other at their respective first moments; and cause the first terminal and the second terminal to respectively receive the second sine wave signals from each other and the information of the first time. The system obtains information and determines the second phase difference between the second sine wave signals received by the first terminal and the second terminal and their respective internal reference sine wave signals; based on the first phase difference and the second phase difference determined by the first terminal, it determines the second time when the first terminal receives the second sine wave signal from the second terminal; based on the first phase difference and the second phase difference determined by the second terminal, it determines the second time when the second terminal receives the second sine wave signal from the first terminal; and by adding the difference between the second time determined by the first terminal and the first time transmitted by the second terminal and the difference between the second time determined by the second terminal and the first time transmitted by the first terminal, and dividing by 2, it obtains the corrected signal transmission time between the first terminal and the second terminal, thereby determining the distance between the first terminal and the second terminal.

[0114] More specific operation of the controller according to one embodiment of the present invention can be found in the distance measurement method according to one embodiment of the present invention described above, and will not be repeated here. Thus, the distance between the first terminal and the second terminal can be accurately measured.

[0115] Figure 5 This is a schematic diagram illustrating a positioning method according to another embodiment of the present invention.

[0116] The following is for reference Figure 5 A positioning method according to another embodiment of the present invention will be described in detail.

[0117] The positioning method may include the following steps: Step I, a first device 31 transmits a first sine wave signal to a second device 32, a third device 33, a fourth device 34, and a fifth device 35, wherein the internal reference sine wave signals and their respective clocks of the second device 32, the third device 33, the fourth device 34, and the fifth device 35 have been pre-synchronized; Step II, the second device 32, the third device 33, the fourth device 34, and the fifth device 35 receive the first sine wave signal and determine a first phase difference between the first sine wave signal received by the second device 32, the third device 33, the fourth device 34, and the fifth device 35 and their respective internal reference sine wave signals; Step III, the first device 31 transmits a second sine wave signal with an angular frequency different from the first sine wave signal to the second device 32, the third device 33, the fourth device 34, and the fifth device 35. Step IV: The second device 32, the third device 33, the fourth device 34, and the fifth device 35 respectively receive the second sine wave signal from the first device 31, and determine the second phase difference between the second sine wave signal received by the second device 32, the third device 33, the fourth device 34, and the fifth device 35 and their respective internal reference sine wave signals; Step V: Based on the second phase difference and the first phase difference determined by the second device 32, the third device 33, the fourth device 34, and the fifth device 35, determine the reception time of the second sine wave signal received by the second device 32, the third device 33, the fourth device 34, and the fifth device 35 from the first device 31; and Step VI: Based on the positions of the second device 32, the third device 33, the fourth device 34, and the fifth device 35 and the reception time, determine the position of the first device 31.

[0118] In this embodiment, the position of the first device 31 can be determined using four or more devices that have been pre-synchronized and whose positions are known, such as the second device 32 to the fifth device 35. The internal clocks of the second device 32 to the fifth device 35 are pre-synchronized, while the clock of the first device 31 may not be synchronized with the internal clocks of the second device 32 to the fifth device 35. Using the positioning method of this embodiment as described above, it is not necessary for the second device 32 to the fifth device 35 to exchange signals with the first device 31 for synchronization, as described in the method for determining distance between two devices by exchanging sine wave signals according to the present invention. The time synchronization between the second device 32 to the fifth device 35 can be performed using the time synchronization method described in the above embodiment, or other known clock synchronization methods.

[0119] In detail, in steps I to V, the process of determining the reception time of the second sine wave signal from the first device 31 for the second device 32, the third device 33, the fourth device 34, and the fifth device 35 can refer to the method for determining the second time of the first device or the second device in the positioning method of one embodiment of the present invention described above. Hereinafter, step VI will be explained in detail.

[0120] Specifically, the three-dimensional coordinates of the second device 32, the third device 33, the fourth device 34, and the fifth device 35 can be predetermined, for example, spatial rectangular coordinates (x, y, x). i ,y i ,z i Then, the positional relationships between the first device 31 and the second device 32, the third device 33, the fourth device 34, and the fifth device 35 are determined by mathematical formula 13.

[0121] Mathematical formula 13:

[0122]

[0123] Where i is an integer from 2 to 5, L i Let t be the distance between the first device 31 and the i-th device. i Let t1 be the reception time when the i-th device receives the second sine wave signal from the first device 31, and let t1 be the transmission time when the first device 31 transmits the second sine wave signal, determined based on the internal clocks (synchronization clocks) of the second devices 32 to the fifth devices 35. i Let x be the x-coordinate of the i-th device, and y be the y-coordinate of the i-th device. i Let z be the y-coordinate of the i-th device. i Let z be the z-coordinate of the i-th device.

[0124] That is, for each integer i from 2 to 5, mathematical expressions 13 can be obtained for the second device 32, the third device 33, the fourth device 34, and the fifth device 35. Given the three-dimensional coordinates of the second device 32, the third device 33, the fourth device 34, and the fifth device 35, and the receiving times of the second sinusoidal signal from the first device 31, the four unknowns x in mathematical expression 13 can be calculated using the system of equations formed by these mathematical expressions. i y i z i And t1, that is, the x-coordinate, y-coordinate, z-coordinate of the first device 31 and the time of transmitting the second sine wave signal, thereby determining the spatial rectangular coordinates (x1, y1, z1) of the first device 31.

[0125] Therefore, compared with the positioning method based on one embodiment of the present invention, although the above positioning method uses more devices, it does not require signal exchange between two devices and can achieve accurate positioning by only transmitting signals in one direction.

[0126] In the above embodiments, the first device, second device, terminal, another terminal, first terminal, second terminal, and first equipment were described as devices for transmitting the first and second sine wave signals, and the first device, second device, terminal, another terminal, first terminal, second terminal, second equipment, third equipment, fourth equipment, and fifth equipment were described as devices for receiving the first and second sine wave signals. However, it should be noted that these descriptions are merely for descriptive convenience and the present invention is not limited thereto. The first device, second device, terminal, another terminal, first terminal, second terminal, and first equipment (collectively referred to as transmitters) on the signal transmitting side can be the same device or different devices. Similarly, the first device, second device, terminal, another terminal, first terminal, second terminal, second equipment, third equipment, fourth equipment, and fifth equipment (collectively referred to as receivers) on the signal receiving side can also be the same device or different devices. Furthermore, the first device, terminal, first terminal, and first equipment and the second device, another terminal, second terminal, second equipment, third equipment, fourth equipment, and fifth equipment can be two different devices within the same system or device. The transmitter and receiver can be interconnected (e.g., networked). In a networked transmitter-receiver deployment, the transmitter and receiver can operate as a server, client, or both in a server-client network environment. Alternatively, the transmitter and receiver can also function as peer-to-peer (P2P) (or other distributed) network environments. Furthermore, the transmitter and receiver can be a UE, eNodeB, AP, STA, personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, smartphone, network device, network router, switch, or bridge, or any device capable of executing instructions specifying the actions to be taken by the transmitter or receiver (action instructions for the positioning method described herein).

[0127] Furthermore, there can be one transmitter or multiple transmitters distributed in a distributed manner. Similarly, there can be one receiver or multiple receivers distributed in a distributed manner. When three or more distributed transmitters or receivers are used, in addition to positioning using the positioning method of the present invention, methods such as triangulation can also be used to accurately locate the device equipped with the transmitter or receiver.

[0128] Furthermore, in the above embodiments, a controller (collectively referred to as a control device) is described as an apparatus for performing the positioning method described herein. The control device may include a hardware processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), main memory, and / or static memory, some or all of which may communicate with each other via interconnect links (e.g., a bus).

[0129] Additionally, the transmitter and / or receiver described above may also include a display unit, an alphanumeric input device (e.g., a keyboard), and a user interface (UI) navigation device (e.g., a mouse). In the example, the display unit, input device, and UI navigation device may be a touchscreen display. The machine may additionally include a storage device (e.g., a drive unit), a signal generating device (e.g., a speaker), a network interface device, and one or more sensors, such as a Global Positioning System (GPS) sensor, a compass, an accelerometer, or other sensors.

[0130] The transmitter and / or receiver may include an output controller, for example, a serial (e.g., Universal Serial Bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection, to communicate with or control one or more peripheral devices (e.g., printers, card readers, etc.).

[0131] Additionally, the transmitter, receiver, and / or control device may also include a storage device (e.g., a hard disk, etc.), which may include a machine-readable medium having stored thereon one or more sets of data structures and instructions (e.g., software) embodying or used by any one or more of the techniques or functions described herein. The instructions may also reside wholly or at least partially within main memory, static memory, or a hardware processor during execution by a processor. One or any combination of a hardware processor, main memory, static memory, and storage device may constitute a machine-readable medium.

[0132] The term “machine-readable medium” can include a single medium or multiple media (e.g., a centralized or distributed database and / or associated cache and server) configured to store one or more instructions.

[0133] The term "machine-readable medium" can include any medium capable of storing, encoding, or carrying machine-executable instructions and causing a machine to perform any one or more of the technologies disclosed herein, or capable of storing, encoding, or carrying data structures used by or associated with those instructions. Examples of non-limiting machine-readable media can include solid-state memory as well as optical and magnetic media. Specific examples of machine-readable media can include: non-volatile memory, such as semiconductor memory devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM)) and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; random access memory (RAM); and CD-ROM and DVD-ROM disks. In some examples, machine-readable media can include non-transitory machine-readable media. In some examples, machine-readable media can include machine-readable media that are not transient for propagating signals.

[0134] The transmitter, receiver, and / or control device can also send or receive instructions via a communication network using a transmission medium, through a network interface device that utilizes any of a variety of transmission protocols (e.g., Frame Relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Exemplary communication networks may include local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), conventional telephone (POTS) networks, and wireless data networks (e.g., referred to as…). The Institute of Electrical and Electronics Engineers (IEEE) 802.11 series of standards, known as This includes standards such as the IEEE 802.16 series, IEEE 802.15.4 series, LTE series, Universal Mobile Telecommunications System (UMTS) series, or peer-to-peer (P2P) networks. In the examples, the network interface device may include one or more physical jacks (e.g., Ethernet, coaxial, or telephone jacks) or one or more antennas for connection to a communication network. The network interface device may include multiple antennas to perform wireless communication using at least one of Single-Input Multiple-Output (SIMO), Multiple-Input Multiple-Output (MIMO), and Multiple-Input Single-Output (MISO) technologies. In some examples, the network interface device may use multi-user MIMO technology for wireless communication.

[0135] The embodiments of the present invention have been described above, but this is only for the purpose of helping to fully understand the present invention. The present invention is not limited thereto, and those skilled in the art can make various modifications and variations based on these descriptions. Therefore, the technical concept of the present invention is not limited to the above-described embodiments, and the appended claims and their equivalents or variations are all within the scope of the present invention.

Claims

1. A distance measurement method, characterized in that, Includes the following steps: Step 1: The first device and the second device respectively transmit their respective first sine wave signals to each other, and the first sine wave signals transmitted by the first device and the second device are synchronized with their respective internal reference sine wave signals. Step 2: The first device and the second device respectively receive the first sine wave signal from each other, and determine the first phase difference between the first sine wave signal received by the first device and the second device and the internal reference sine wave signal of the first device and the second device respectively. Step 3: The first device and the second device respectively transmit their respective second sine wave signals with angular frequencies different from their respective first sine wave signals to each other at their respective first moments, as well as information from the first moment. Step 4: The first device and the second device respectively receive the second sine wave signal and the information at the first moment from each other, and determine the second phase difference between the second sine wave signal received by the first device and the second device and the internal reference sine wave signal of the first device and the second device respectively; Step 5: Based on the first phase difference and the second phase difference determined by the first device, determine the second moment when the first device receives the second sine wave signal from the second device; based on the first phase difference and the second phase difference determined by the second device, determine the second moment when the second device receives the second sine wave signal from the first device. as well as Step 6: Add the difference between the second time determined by the first device and the first time transmitted by the second device and the difference between the second time determined by the second device and the first time transmitted by the first device, and divide by 2 to obtain the corrected signal transmission time between the first device and the second device, thereby determining the distance between the first device and the second device.

2. The ranging method according to claim 1, characterized in that, The first device and the second device each have the same internal reference sine wave signal with the same angular frequency. The angular frequency of the second sine wave signal emitted by the first device and the second device is different from the angular frequency of their respective internal reference sine wave signal.

3. The ranging method according to claim 1 or 2, characterized in that, In step 4, at at least one third moment for each of the first and second devices, the second phase difference between the second sinusoidal signal received by each of the first and second devices and the internal reference sinusoidal signal of each of the first and second devices is measured. In step 5, the second time of each of the first device and the second device is determined based on the first phase difference of each of the first device and the second device, the angular frequency difference between the angular frequency of the second sine wave signal received from the other party and the angular frequency of the second sine wave signal, and the second phase difference measured at at least one third time.

4. The ranging method according to claim 3, characterized in that, In step 6, the propagation speed of the first sinusoidal signal emitted by the first device or the second device is multiplied by the signal transmission time to determine the distance between the first device and the second device.

5. The ranging method according to claim 3, characterized in that, In step 2, the first phase difference determined by the first device and the first phase difference determined by the second device are added together and then divided by 2 to obtain the corrected first phase difference; In step 6, the integer part of the value obtained by dividing the transmission time by the period of the first sine wave signal emitted by the first device or the second device is determined as the number of whole cycles of the first sine wave signal propagating between the first device and the second device, and the distance between the first device and the second device is determined based on the number of whole cycles and the corrected first phase difference.

6. A terminal, characterized in that, include: A signal transceiver used to transmit and receive a first sine wave signal and a second sine wave signal; as well as The controller is communicatively connected to the signal transceiver. in, The controller is configured to: The transceiver transmits a first sine wave signal, synchronized with the terminal's internal reference sine wave signal, to another terminal. The transceiver receives a first sine wave signal from the other terminal and determines a first phase difference between the first sine wave signal received by the transceiver and the internal reference sine wave signal of the terminal, wherein the first sine wave signal of the other terminal is synchronized with the internal reference sine wave signal of the other terminal. The transceiver transmits a second sine wave signal with an angular frequency different from the first sine wave signal, along with information from the first moment, to the other terminal at the first moment at the terminal. The transceiver receives a second sine wave signal and information from the other terminal at a first moment, and determines a second phase difference between the second sine wave signal received by the terminal and the terminal's internal reference sine wave signal. Based on the first phase difference and the second phase difference determined by the terminal, the second moment when the signal transceiver receives the second sine wave signal from the other terminal is determined; The terminal receives information from the other terminal regarding the difference between the second and first time points. The difference between the second time determined by the terminal and the first time transmitted by the other terminal, and the difference between the second time and the first time from the other terminal, are added together and then divided by 2 to obtain the corrected signal transmission time between the terminal and the other terminal, thereby determining the distance between the terminal and the other terminal. The information regarding the difference between the second time point and the first time point from the other terminal is determined as follows: The other terminal transmits a first sine wave signal to the other terminal, which is synchronized with the internal reference sine wave signal of the other terminal; The other terminal receives a first sine wave signal from the terminal and determines a first phase difference between the first sine wave signal received by the other terminal and the internal reference sine wave signal of the other terminal; The other terminal transmits a second sine wave signal with an angular frequency different from the first sine wave signal and information from the first moment to the other terminal at the first moment. The other terminal receives a second sine wave signal and information from the terminal at a first moment, and determines a second phase difference between the second sine wave signal received by the other terminal and the internal reference sine wave signal of the other terminal; Based on the first phase difference and the second phase difference determined by the other terminal, the second moment when the other terminal receives the second sine wave signal from the terminal is determined.

7. A controller, characterized in that, The controller is configured to: The first terminal and the second terminal respectively transmit their respective first sine wave signals to each other, and the first sine wave signals transmitted by the first terminal and the second terminal are synchronized with their respective internal reference sine wave signals. The first terminal and the second terminal respectively receive a first sine wave signal from each other, and determine a first phase difference between the first sine wave signal received by the first terminal and the second terminal and their respective internal reference sine wave signal; The first terminal and the second terminal respectively transmit their respective second sine wave signals with angular frequencies different from their respective first sine wave signals and information from the first moment to each other at their respective first moments; The first terminal and the second terminal respectively receive a second sine wave signal and information at a first moment from each other, and determine a second phase difference between the second sine wave signal received by the first terminal and the second terminal and their respective internal reference sine wave signal; Based on the first phase difference and the second phase difference determined by the first terminal, the second moment when the first terminal receives the second sine wave signal from the second terminal is determined; based on the first phase difference and the second phase difference determined by the second terminal, the second moment when the second terminal receives the second sine wave signal from the first terminal is determined. as well as The difference between the second time determined by the first terminal and the first time transmitted by the second terminal is added together with the difference between the second time determined by the second terminal and the first time transmitted by the first terminal, and then divided by 2, to obtain the corrected signal transmission time between the first terminal and the second terminal, thereby determining the distance between the first terminal and the second terminal.

8. A time synchronization method, characterized in that, include: Step 1: The first device and the second device respectively transmit their respective first sine wave signals to each other, and the first sine wave signals transmitted by the first device and the second device are synchronized with their respective internal reference sine wave signals. Step 2: The first device and the second device respectively receive the first sine wave signal from each other, and determine the first phase difference between the first sine wave signal received by the first device and the second device and the internal reference sine wave signal of the first device and the second device respectively. Step 3: The first device and the second device respectively transmit their respective second sine wave signals with angular frequencies different from their respective first sine wave signals to each other at their respective first moments, as well as information from the first moment. Step 4: The first device and the second device respectively receive the second sine wave signal and the information at the first moment from each other, and determine the second phase difference between the second sine wave signal received by the first device and the second device and the internal reference sine wave signal of the first device and the second device respectively; Step 5: Based on the first phase difference and the second phase difference determined by the first device, determine the second moment when the first device receives the second sine wave signal from the second device; based on the first phase difference and the second phase difference determined by the second device, determine the second moment when the second device receives the second sine wave signal from the first device. as well as Step 6: Adjust the clock of the first device or the second device so that the difference between the second time determined by the first device and the first time transmitted by the second device is equal to the difference between the second time determined by the second device and the first time transmitted by the first device, thereby synchronizing the clock of the first device and the clock of the second device.

9. A positioning method, characterized in that, Includes the following steps: Step 1: The first device transmits a first sine wave signal to the second device, the third device, the fourth device, and the fifth device. The internal reference sine wave signals and their respective clocks of the second device, the third device, the fourth device, and the fifth device have been pre-synchronized. Step II: The second device, the third device, the fourth device, and the fifth device receive the first sine wave signal and determine the first phase difference between the first sine wave signal received by the second device, the third device, the fourth device, and the fifth device and the internal reference sine wave signal of the second device, the third device, the fourth device, and the fifth device, respectively. Step III: The first device transmits a second sine wave signal with an angular frequency different from the first sine wave signal to the second device, the third device, the fourth device, and the fifth device. Step IV: The second device, the third device, the fourth device, and the fifth device respectively receive the second sine wave signal from the first device, and determine the second phase difference between the second sine wave signal received by the second device, the third device, the fourth device, and the fifth device and the internal reference sine wave signal of the second device, the third device, the fourth device, and the fifth device respectively. Step V: Based on the second phase difference and the first phase difference determined by the second device, the third device, the fourth device, and the fifth device, determine the receiving time when the second device, the third device, the fourth device, and the fifth device receive the second sine wave signal from the first device. as well as Step VI: Determine the position of the first device based on the positions of the second device, the third device, the fourth device, and the fifth device, as well as the receiving time.

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