Distance measurement methods and devices, storage media

Abstract

This disclosure provides a ranging method, apparatus, and storage medium. The method includes: in response to receiving ranging signals transmitted by a second device in at least two UWB channels, respectively measuring the target phase of the ranging signals reaching a first device; wherein the ranging signals are signals transmitted by the second device using the same initial phase in at least two channels; determining candidate distance values ​​between the first and second devices based on the differences between each pair of target phases; and correcting the candidate distance values ​​based on a reference distance value to obtain a target distance value; wherein the reference distance value is the distance between the first and second devices determined by the UWB ranging method. This disclosure combines the UWB ranging method with the phase ranging method, enabling the farthest ranging distance to reach the farthest UWB ranging distance while improving ranging accuracy.

Description

Technical Field

[0001] This disclosure relates to the field of communications, and in particular to ranging methods and apparatus, and storage media. Background Technology

[0002] Ultra-wideband (UWB) ranging is a high-precision ranging technology. Currently, UWB ranging can be applied in fields such as car keys, smart homes, contactless navigation, and contactless payment. The maximum ranging distance is 100 meters, and the ranging accuracy is ±10 centimeters. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a ranging method and apparatus, and a storage medium.

[0004] According to a first aspect of the present disclosure, a ranging method is provided, the method being performed by a first device, comprising:

[0005] In response to receiving ranging signals transmitted by a second device in at least two ultra-wideband UWB channels, the target phase of the ranging signals arriving at the first device is measured respectively; wherein the ranging signals are signals transmitted by the second device in the at least two channels using the same initial phase;

[0006] Based on the differences between each pair of target phases, alternative distance values ​​between the first device and the second device are determined;

[0007] Based on the reference distance value, the candidate distance value is corrected to obtain the target distance value; wherein, the reference distance value is the distance between the first device and the second device determined by the UWB ranging method.

[0008] Optionally, determining the alternative distance values ​​between the first device and the second device based on the pairwise differences between the target phases includes:

[0009] Based on the one-to-one correspondence between the phase difference and the candidate distance value, the candidate distance value corresponding to the difference between each pair of the target phase is determined; wherein, the candidate distance value is less than or equal to a preset distance value, and the preset distance value is the least common multiple between each pair of channel wavelengths.

[0010] Optionally, the step of correcting the candidate distance values ​​based on the reference distance value to obtain the target distance value includes:

[0011] Determine the quotient of the reference distance value and the preset distance value; wherein the preset distance value is the least common multiple of all pairwise channel wavelengths;

[0012] When the quotient is 0, the reference distance value is determined as the target distance value;

[0013] When the quotient is greater than 0, determine the product of the quotient minus 1 and the preset distance value;

[0014] The sum of the product and the candidate distance values ​​is determined as the target distance value.

[0015] Optionally, the method further includes:

[0016] The initial phase is determined through negotiation with the second device.

[0017] According to a second aspect of the present disclosure, a ranging method is provided, the method being performed by a second device, comprising:

[0018] At at least one target time point, in at least two ultra-wideband UWB channels, ranging signals are transmitted to the first device using the same initial phase; wherein, the target time point is any time point during the UWB ranging process between the second device and the first device, or any time point after the UWB ranging process ends.

[0019] Optionally, the method further includes:

[0020] The initial phase is determined through negotiation with the first device.

[0021] According to a third aspect of the present disclosure, a ranging device is provided, the device being applied to a first device, comprising:

[0022] A measurement module is configured to, in response to receiving ranging signals transmitted by a second device in at least two ultra-wideband UWB channels, respectively, measure the target phase of the ranging signals arriving at the first device; wherein the ranging signals are signals transmitted by the second device in the at least two channels using the same initial phase;

[0023] The first determining module is configured to determine an alternative distance value between the first device and the second device based on the difference between each pair of the target phases.

[0024] The second determining module is configured to correct the candidate distance value based on a reference distance value to obtain a target distance value; wherein the reference distance value is the distance between the first device and the second device determined by UWB ranging.

[0025] According to a fourth aspect of the present disclosure, a ranging device is provided, the device being applied to a second device, comprising:

[0026] The transmitting module is configured to transmit ranging signals to the first device at at least one target time point in at least two ultra-wideband UWB channels using the same initial phase; wherein the target time point is any time point during the UWB ranging process between the second device and the first device, or any time point after the UWB ranging process ends.

[0027] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, the storage medium storing a computer program for performing the ranging method described in any of the preceding claims.

[0028] According to a sixth aspect of the present disclosure, a ranging device is provided, comprising:

[0029] processor;

[0030] Memory used to store processor-executable instructions;

[0031] The processor is configured to perform any of the ranging methods described above.

[0032] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0033] In this embodiment of the disclosure, UWB ranging method and phase ranging method can be combined to achieve the maximum ranging distance of UWB ranging while improving ranging accuracy.

[0034] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0036] Figure 1 This is a schematic diagram illustrating a distance measurement method according to an exemplary embodiment.

[0037] Figure 2 This is a schematic diagram of a UWB ranging scenario according to an exemplary embodiment.

[0038] Figure 3 This is a schematic diagram illustrating another ranging method flow according to an exemplary embodiment.

[0039] Figure 4 This is a schematic diagram illustrating another ranging method flow according to an exemplary embodiment.

[0040] Figure 5 This is a block diagram of a ranging device according to an exemplary embodiment.

[0041] Figure 6 This is a block diagram of another ranging device according to an exemplary embodiment.

[0042] Figure 7 This is a schematic diagram of a ranging device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0044] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of at least one associated listed item.

[0045] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0046] Currently, although UWB ranging can achieve ranging over long distances, its ranging accuracy is low, generally at the centimeter level.

[0047] To improve ranging accuracy, phase ranging can be used. Relevant information about the center spectrum of UWB is shown in Table 1.

[0048] Table 1

[0049]

[0050] Phase ranging can achieve millimeter-level accuracy, typically ±2 millimeters. While improving accuracy, phase ranging suffers from periodic errors, and the resulting inter-device distance d is shown in Formula 1.

[0051]

[0052] Where N can be in the range of [0, M], M is the product of the channel wavelength and the maximum ranging value of UWB, and a is the phase difference between the transmission and reception of the ranging signal.

[0053] In other words, although phase ranging has high ranging accuracy, it cannot uniquely determine the distance between devices.

[0054] In order to achieve the maximum distance for UWB ranging while improving ranging accuracy, this disclosure provides the following ranging method, apparatus and storage medium.

[0055] The ranging method provided in this disclosure will now be introduced from the perspective of the first device.

[0056] This disclosure provides a ranging method, referring to... Figure 1 As shown, Figure 1 This is a flowchart illustrating a ranging method according to an embodiment, which can be executed by a first device, wherein the first device includes, but is not limited to, a mobile phone, a laptop, a desktop computer, a tablet computer, etc. Figure 1 As shown, the method may include the following steps:

[0057] In step 101, in response to receiving ranging signals transmitted by the second device in at least two ultra-wideband UWB channels, the target phase of the ranging signals reaching the first device is measured respectively.

[0058] In this embodiment of the disclosure, the first device may pre-negotiate with the second device to determine the initial phase of the ranging signal. Exemplarily, the initial phase may be any phase within the range of [0, 360].

[0059] The second device can transmit the ranging signal to the first device at a target time point, using the same initial phase in at least two UWB channels. The target time point can be any point in the UWB ranging process between the second and first devices, or any point in time after the UWB ranging process has ended.

[0060] That is, the second device can send the ranging signal to the first device in at least two UWB channels during or after the UWB ranging process.

[0061] When the first device receives the ranging signal, it measures the target phase of the ranging signal arriving at the first device to obtain a target phase corresponding to each channel.

[0062] In step 102, an alternative distance value between the first device and the second device is determined based on the difference between each pair of the target phases.

[0063] In this embodiment of the disclosure, although there is a periodic error in phase ranging, as shown in Formula 1, if the candidate distance values ​​obtained by phase ranging between devices are limited to a specified range, the difference between each pair of target phases corresponds one-to-one with the candidate distance values.

[0064] In one example, the candidate distance value is less than or equal to a preset distance value, which is the least common multiple of all pairwise channel wavelengths. The channel wavelengths are the wavelengths of at least two UWB channels in step 101 that receive the ranging signal sent by the second device. Assuming the first device receives the ranging signal sent by the second device in two UWB channels (taking channels 5 and 9 in Table 1 as examples), the difference between the target phase ω1 measured in channel 5 and the initial phase ω alone cannot uniquely determine the candidate distance value between the first and second devices.

[0065] Alternatively, using only the difference between the target phase ω2 and the initial phase ω measured in channel 9 cannot uniquely determine the alternative distance value between the first and second devices.

[0066] If the least common multiple of the channel wavelengths of channels 5 and 9 is 1702 mm, then the first device can determine that when the candidate distance value is within the range of [0, 1702], there is a one-to-one correspondence between the difference between the target phases ω1 and ω2 and the candidate distance value. Based on the above correspondence, the first device can determine the unique candidate distance value corresponding to the difference between ω1 and ω2.

[0067] In step 103, the candidate distance value is corrected based on the reference distance value to obtain the target distance value.

[0068] In this embodiment, although step 102 can uniquely determine the candidate distance value within a certain distance range, there may still be periodic errors between the candidate distance value and the actual distance value. For example, if the candidate distance value is 1000 mm, the first device cannot determine whether the target distance value between it and the second device is 1000 mm, 2702 mm, or some other distance value. Therefore, in this embodiment, it is necessary to correct the candidate distance value based on a reference distance value to obtain the target distance value. The reference distance value can be the distance between the first device and the second device determined by UWB ranging.

[0069] In one possible implementation, the first device and the second device may determine the reference distance value using, but not limited to, a bilateral two-way ranging method.

[0070] Reference Figure 2 As shown, the second device sends a ranging signal to the first device. After receiving the ranging signal, the first device sends a ranging signal to the second device again. After receiving the ranging signal, the second device sends a ranging signal to the first device again. The ranging signal is timestamped when it is sent and received.

[0071] The first device can calculate the flight time of the ranging signal using the following formula 2.

[0072]

[0073] The first device calculates the reference distance value d' using the following formula 3:

[0074]

[0075] Where c is the speed of light, typically 3 × 10⁻⁶. 8 meters per second.

[0076] In this embodiment of the disclosure, the first device can calculate the reference distance value d' based on the above formulas 2 and 3, and calibrate the alternative distance value d based on the reference distance value d' to obtain the target distance value D.

[0077] Specifically, the first device can first calculate the quotient of the reference distance value d' and the preset distance value. The preset distance value is the least common multiple of all pairwise channel wavelengths.

[0078] Taking two channels, channel 5 and channel 9, as an example, with a preset distance value of 1702 mm, the first device calculates the quotient m of d' and 1702. Here, m is a non-negative integer, such as 0, 1, 2, etc.

[0079] Furthermore, when the quotient is 0, it means that the reference distance value obtained by using UWB ranging is less than the preset distance value. Since the first device has uniquely determined the candidate distance value within the range of [0, 1702], the first device can directly determine the candidate distance value as the target distance value.

[0080] When the quotient is greater than 0, the first device can calculate the product s of the quotient and the preset distance value, that is, the first device can calculate the periodic distance value that differs between the candidate distance value and the reference distance value.

[0081] Furthermore, the first device determines the target distance value D as the sum of the product s and the alternative distance value d.

[0082] For example, if the reference distance is 1600 mm, the alternative distance is 1602 mm, the preset distance is 1702 mm, and the quotient m is 0, then the first device determines the target distance D to be 1602 mm.

[0083] For example, the reference distance is 3312 mm, the alternative distance is 1602 mm, the preset distance is 1702 mm, the quotient m is 1, and the product of the quotient m and the preset distance s is 1702 mm. The first device determines the target distance D as (1702 + 1602) = 3304 mm.

[0084] The above is merely an illustrative example. In practical applications, any scheme that corrects the alternative distance value obtained by phase ranging using the reference distance value between the first device and the second device determined by UWB ranging should fall within the protection scope of this disclosure.

[0085] In the above embodiments, the difference in target phase received by the first device can uniquely determine the candidate distance value between the first device and the second device within a certain range, improving the ranging accuracy to the millimeter level. Then, by combining the reference distance value obtained through UWB ranging, the candidate distance value is corrected to obtain the target distance value, enabling the maximum ranging distance to reach the maximum UWB ranging distance. This disclosure combines UWB ranging with phase ranging, achieving the maximum ranging distance of UWB while improving ranging accuracy.

[0086] In some alternative embodiments, the first device may, at any point in time before the ranging channel reaches the target phase of the first device, negotiate with the second device to determine the initial phase for transmitting ranging signals in at least two channels. This initial phase can be any phase within the range [0, 360].

[0087] In one possible implementation, the second device can directly determine an initial phase and inform the first device. For example, if the second device determines that the initial phase is 0, then the second device can directly send information to the first device indicating that the initial phase is 0.

[0088] In another possible implementation, the second device may determine an initial phase range and inform the first device, which then determines an initial phase within that range and informs the second device. For example, the second device determines the initial phase range as [0, 40], and the first device determines the initial phase to be 0 within that range and sends information indicating that the initial phase is 0 to the second device.

[0089] In another possible implementation, the second and first devices determined through the above negotiation can be interchanged. For example, the first device can directly determine an initial phase and inform the second device. Alternatively, the first device can determine an initial phase range and inform the second device, which then determines an initial phase within that range and informs the first device.

[0090] The above is merely an illustrative example. In practical applications, any scheme in which the initial phase is determined through negotiation between the first device and the second device should fall within the scope of protection of this disclosure.

[0091] In the above embodiments, the first device can negotiate with the second device to determine the initial phase so that the corresponding alternative distance value can be determined directly based on the difference between the received target phases, which is simple to implement and highly available.

[0092] The ranging method provided in this disclosure will now be introduced from the perspective of the second device.

[0093] This disclosure provides a ranging method, referring to... Figure 3 As shown, Figure 3 This is a flowchart illustrating a ranging method according to one embodiment, which can be executed by a second device, wherein the second device includes, but is not limited to, a mobile phone, a laptop, a desktop computer, a tablet computer, etc. Figure 3 As shown, the method may include the following steps:

[0094] In step 301, at at least one target time point, ranging signals are transmitted to the first device using the same initial phase in at least two ultra-wideband UWB channels.

[0095] In this embodiment of the disclosure, the number of target time points can be one or more.

[0096] In one example, the target time point can be any point in time during the UWB ranging process between the second device and the first device.

[0097] In another example, the target time point is any point in time after the UWB ranging process between the second device and the first device has ended.

[0098] For example, the second device can Figure 2 At time points T1, T2, or T3, ranging signals are sent to the first device using the same initial phase in at least two channels.

[0099] The first device can determine the target distance between the two devices using steps 101 to 103 described above. The specific implementation method is already described in [the original text]. Figure 1 The embodiments described therein are described, and will not be repeated here.

[0100] In the above embodiments, UWB ranging and phase ranging can be combined to achieve the maximum ranging distance of UWB ranging while improving ranging accuracy.

[0101] In some alternative embodiments, the second device may negotiate with the first device to determine an initial phase before performing step 201. The initial phase may be any phase within the range of [0, 360].

[0102] The negotiation method has already been introduced on the first equipment side, and will not be repeated here.

[0103] In the above embodiments, the first device can negotiate with the second device to determine the initial phase so that the corresponding alternative distance value can be determined directly based on the difference between the received target phases, which is simple to implement and highly available.

[0104] This disclosure provides another ranging method, referring to... Figure 4 As shown, the method may include the following steps:

[0105] In step 401, the first device and the second device negotiate to determine the initial phase.

[0106] In one possible implementation, the second device can directly determine an initial phase and inform the first device. For example, if the second device determines that the initial phase is 0, then the second device can directly send information to the first device indicating that the initial phase is 0.

[0107] In another possible implementation, the second device may determine an initial phase range and inform the first device, which then determines an initial phase within that range and informs the second device. For example, the second device determines the initial phase range as [0, 40], and the first device determines the initial phase to be 0 within that range and sends information indicating that the initial phase is 0 to the second device.

[0108] In another possible implementation, the second and first devices determined through the above negotiation can be interchanged. For example, the first device can directly determine an initial phase and inform the second device. Alternatively, the first device can determine an initial phase range and inform the second device, which then determines an initial phase within that range and informs the first device.

[0109] The above is merely an illustrative example. In practical applications, any scheme in which the initial phase is determined through negotiation between the first device and the second device should fall within the scope of protection of this disclosure.

[0110] In step 402, the first device and the second device perform UWB ranging to determine a reference distance value.

[0111] The first device can calculate the reference distance value using formulas 2 and 3 above. The specific implementation method has been described in step 103 and will not be repeated here.

[0112] In step 403, the second device sends ranging signals to the first device at at least one target time point in at least two ultra-wideband UWB channels using the same initial phase.

[0113] The target time point is any point in time during the UWB ranging process between the second device and the first device, or any point in time after the UWB ranging process ends.

[0114] In step 404, the first device, in response to receiving ranging signals transmitted by the second device in at least two ultra-wideband UWB channels, measures the target phase of the ranging signals reaching the first device.

[0115] The implementation of step 404 is similar to that of step 101 above, and will not be repeated here.

[0116] In step 405, the first device determines an alternative distance value between the first device and the second device based on the difference between each pair of the target phases.

[0117] The implementation of step 405 is similar to that of step 102 above, and will not be repeated here.

[0118] In step 406, the first device corrects the candidate distance value based on the reference distance value to obtain the target distance value.

[0119] The implementation of step 406 is similar to that of step 103 above, and will not be repeated here.

[0120] In the above embodiments, UWB ranging and phase ranging can be combined to achieve the maximum ranging distance of UWB ranging while improving ranging accuracy.

[0121] Corresponding to the aforementioned embodiments of the application function implementation method, this disclosure also provides embodiments of the application function implementation apparatus.

[0122] Reference Figure 5 , Figure 5 This is a block diagram of a ranging device according to an exemplary embodiment, the device being applied to a first device, comprising:

[0123] Measurement module 501 is configured to, in response to receiving ranging signals transmitted by a second device in at least two ultra-wideband UWB channels, respectively, measure the target phase of the ranging signals arriving at the first device; wherein the ranging signals are signals transmitted by the second device in the at least two channels using the same initial phase;

[0124] The first determining module 502 is configured to determine an alternative distance value between the first device and the second device based on the difference between each pair of the target phases.

[0125] The second determining module 503 is configured to correct the candidate distance value based on a reference distance value to obtain a target distance value; wherein the reference distance value is the distance between the first device and the second device determined by UWB ranging.

[0126] Optionally, the first determining module is further configured to:

[0127] Based on the one-to-one correspondence between the phase difference and the candidate distance value, the candidate distance value corresponding to the difference between each pair of the target phase is determined; wherein, the candidate distance value is less than or equal to a preset distance value, and the preset distance value is the least common multiple between each pair of channel wavelengths.

[0128] Optionally, the second determining module is further configured to:

[0129] Determine the quotient of the reference distance value and the preset distance value; wherein the preset distance value is the least common multiple of all pairwise channel wavelengths;

[0130] When the quotient is 0, the reference distance value is determined as the target distance value;

[0131] When the quotient is greater than 0, the product of the quotient and the preset distance value is determined;

[0132] The sum of the product and the candidate distance values ​​is determined as the target distance value.

[0133] The specific implementation method is the same as described above. Figure 1 The implementation of the illustrated embodiments is similar and will not be described again here.

[0134] Optionally, the device further includes:

[0135] The third determination module ( Figure 5 (not shown in the image), is configured to negotiate with the second device to determine the initial phase.

[0136] Reference Figure 6 , Figure 6 This is a block diagram of a ranging device according to an exemplary embodiment, the device being applied to a second device, comprising:

[0137] The transmitting module 601 is configured to transmit ranging signals to the first device at at least one target time point in at least two ultra-wideband UWB channels using the same initial phase; wherein the target time point is any time point during the UWB ranging process between the second device and the first device, or any time point after the UWB ranging process ends.

[0138] The specific implementation method is the same as described above. Figure 3 The implementation of the illustrated embodiments is similar and will not be described again here.

[0139] Optionally, the device further includes:

[0140] Fourth determination module ( Figure 6 (not shown in the image), is configured to negotiate with the first device to determine the initial phase.

[0141] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative, and 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 modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0142] Accordingly, this disclosure also provides a computer-readable storage medium storing a computer program for performing any of the ranging methods described above.

[0143] Accordingly, this disclosure also provides a ranging device, comprising:

[0144] processor;

[0145] Memory used to store processor-executable instructions;

[0146] The processor is configured to execute any of the ranging methods described above.

[0147] Figure 7 This is a block diagram illustrating a ranging device 700 according to an exemplary embodiment. For example, device 700 can be a mobile phone, tablet computer, e-book reader, multimedia playback device, wearable device, in-vehicle user equipment, iPad, smart TV, or other terminal. This terminal can serve as a sharing device and / or a vehicle owner's device.

[0148] Reference Figure 7 The device 700 may include one or more of the following components: processing component 702, memory 704, power supply component 706, multimedia component 708, audio component 710, input / output (I / O) interface 712, sensor component 716, and communication component 718.

[0149] Processing component 702 typically controls the overall operation of device 700, such as operations associated with display, telephone calls, data ranging, camera operation, and recording. Processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the ranging method described above. Furthermore, processing component 702 may include one or more modules to facilitate interaction between processing component 702 and other components. For example, processing component 702 may include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702. Alternatively, processing component 702 may read executable instructions from memory to implement the steps of a ranging method provided in the above embodiments.

[0150] Memory 704 is configured to store various types of data to support the operation of device 700. Examples of this data include instructions for any application or method operating on device 700, contact data, phonebook data, messages, pictures, videos, etc. Memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0151] Power supply assembly 706 provides power to various components of device 700. Power supply assembly 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 700.

[0152] The multimedia component 708 includes a display screen that provides an output interface between the device 700 and the user. In some embodiments, the multimedia component 708 includes a front-facing camera and / or a rear-facing camera. When the device 700 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera can receive external multimedia data. Each front-facing camera and rear-facing camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

[0153] Audio component 710 is configured to output and / or input audio signals. For example, audio component 710 includes a microphone (MIC) configured to receive external audio signals when device 700 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 704 or transmitted via communication component 718. In some embodiments, audio component 710 also includes a speaker for outputting audio signals.

[0154] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0155] Sensor assembly 716 includes one or more sensors for providing state assessments of various aspects of device 700. For example, sensor assembly 716 may detect the on / off state of device 700, the relative positioning of components such as the display and keypad of device 700, changes in the position of device 700 or a component of device 700, the presence or absence of user contact with device 700, the orientation or acceleration / deceleration of device 700, and temperature changes of device 700. Sensor assembly 716 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 716 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 716 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0156] Communication component 718 is configured to facilitate wired or wireless communication between device 700 and other devices. Device 700 can access wireless networks based on communication standards, such as Wi-Fi, 2G, 3G, 4G, 5G, or 6G, or combinations thereof. In one exemplary embodiment, communication component 718 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 718 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0157] In an exemplary embodiment, the device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the ranging method described above on either the sharing end device or the vehicle owner end device.

[0158] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0159] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A distance measurement method, characterized in that, The method is performed by a first device and includes: In response to receiving ranging signals transmitted by a second device in at least two ultra-wideband UWB channels, the target phase of the ranging signals arriving at the first device is measured respectively; wherein the ranging signals are signals transmitted by the second device in the at least two channels using the same initial phase; Based on the differences between each pair of target phases, alternative distance values ​​between the first device and the second device are determined; Based on the reference distance value, the candidate distance value is corrected to obtain the target distance value; wherein, the reference distance value is the distance between the first device and the second device determined by UWB ranging. The step of correcting the candidate distance values ​​based on the reference distance value to obtain the target distance value includes: Determine the quotient of the reference distance value and the preset distance value; wherein the preset distance value is the least common multiple of all pairwise channel wavelengths; When the quotient is 0, the reference distance value is determined as the target distance value; When the quotient is greater than 0, the product of the quotient and the preset distance value is determined; The sum of the product and the candidate distance values ​​is determined as the target distance value.

2. The method according to claim 1, characterized in that, The step of determining the alternative distance values ​​between the first device and the second device based on the pairwise differences between the target phases includes: Based on the one-to-one correspondence between the phase difference and the candidate distance value, the candidate distance value corresponding to the difference between each pair of the target phase is determined; wherein, the candidate distance value is less than or equal to a preset distance value, and the preset distance value is the least common multiple between each pair of channel wavelengths.

3. The method according to claim 1 or 2, characterized in that, The method further includes: The initial phase is determined through negotiation with the second device.

4. A distance measurement method, characterized in that, The method is performed by a second device and includes: At at least one target time point, in at least two ultra-wideband (UWB) channels, ranging signals are transmitted to a first device using the same initial phase; wherein, the target time point is any time point during the UWB ranging process between the second device and the first device, or any time point after the UWB ranging process ends; wherein, the ranging signals are used by the first device to measure the target phase of the ranging signals arriving at the first device, and based on the differences between each pair of target phases, to determine candidate distance values ​​between the first device and the second device, and to correct the candidate distance values ​​based on a reference distance value to obtain a target distance value; wherein, the reference distance value is the distance between the first device and the second device determined by the UWB ranging method; wherein, when the quotient of the reference distance value and a preset distance value is 0, the first device determines the reference distance value as the target distance value, and when the quotient of the reference distance value and the preset distance value is greater than 0, the first device determines the sum of the product of the quotient and the preset distance value and the candidate distance value as the target distance value.

5. The method according to claim 4, characterized in that, The method further includes: The initial phase is determined through negotiation with the first device.

6. A ranging device, characterized in that, The device is applied to the first equipment and includes: A measurement module is configured to, in response to receiving ranging signals transmitted by a second device in at least two ultra-wideband UWB channels, respectively, measure the target phase of the ranging signals arriving at the first device; wherein the ranging signals are signals transmitted by the second device in the at least two channels using the same initial phase; The first determining module is configured to determine an alternative distance value between the first device and the second device based on the difference between each pair of the target phases. The second determining module is configured to correct the candidate distance value based on a reference distance value to obtain a target distance value; wherein the reference distance value is the distance between the first device and the second device determined by UWB ranging. The second determining module is also configured to: Determine the quotient of the reference distance value and the preset distance value; wherein the preset distance value is the least common multiple of all pairwise channel wavelengths; When the quotient is 0, the reference distance value is determined as the target distance value; When the quotient is greater than 0, the product of the quotient and the preset distance value is determined; The sum of the product and the candidate distance values ​​is determined as the target distance value.

7. A ranging device, characterized in that, The device is applied to a second device and includes: A transmitting module is configured to transmit ranging signals to a first device at at least one target time point in at least two ultra-wideband (UWB) channels using the same initial phase. The target time point can be any point in the UWB ranging process between the second device and the first device, or any point after the UWB ranging process ends. The ranging signals are used by the first device to measure the target phase of the ranging signals arriving at the first device, determine candidate distance values ​​between the first and second devices based on the differences between each pair of target phases, and correct the candidate distance values ​​based on a reference distance value to obtain a target distance value. The reference distance value is the distance between the first and second devices determined by the UWB ranging method. When the quotient of the reference distance value and a preset distance value is 0, the first device determines the reference distance value as the target distance value; when the quotient of the reference distance value and the preset distance value is greater than 0, the first device determines the target distance value as the sum of the product of the quotient and the preset distance value and the candidate distance value.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for executing the ranging method according to any one of claims 1-5.

9. A ranging device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the ranging method according to any one of claims 1-5.

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